JP6463285B2 - Label roll inspection machine - Google Patents

Description

  The present invention relates to a label roll inspection machine that discriminates pass / fail of each inspected label sheet of a label roll (“good product: pass”, “defective product: fail”).

  As a technique for determining the quality of a label to be inspected, Patent Document 1 discloses a label tape inspection apparatus that feeds a label tape from an unwinding reel and winds it on a take-up reel. The label tape inspection machine images the label of the label tape sent from the unwinding reel with a line sensor, compares the label image with the reference image, and determines the quality of the label. The label tape inspection apparatus includes first and second driving rollers that send out a label and a plurality of pressing rollers, and presses the pressing rollers against the driving rollers to optimize the tension of the label tape.

JP 2007-58386 A

  However, in patent document 1, in order to make the tension (tension) of a label tape appropriate, it is necessary to provide a some pressing roller, and an apparatus structure becomes complicated.

  An object of the present invention is to provide a label roll inspection apparatus capable of maintaining a tension of a label sheet at a target tension value (a constant tension) with a simple configuration.

Claim 1 of the present invention has a long base sheet, in parallel at intervals in the longitudinal direction of the long base sheet, a plurality of the inspection label is adhered to the elongated base surface of the sheet A label roll inspecting machine for determining the quality of the inspected label of the label roll, the label roll comprising the label sheet and rolling the label sheet, and holding the label roll, An unwinding rotation shaft for feeding the label sheet from the label roll, a winding rotation shaft for winding the label sheet fed from the label roll in a normal rotation onto the winding roll, and the unwinding rotation shaft A unwinding motor for rotating the unwinding rotation shaft, and a motor shaft connected to the winding rotation shaft for rotating the winding rotation shaft. Winding motor and the label sheet Guiding rollers for guiding, imaging means for imaging each inspected label of the label sheet, and outputting inspected label image data of each inspected label, and reference label image data for inspection for the inspected label Storing means for storing, comparing each of the inspected label image data and the reference label image data, detecting a quality of each inspected label, and detecting a rotation angle of the guide roller A label position detection encoder that outputs a position pulse to the control device; and a winding side detection encoder that detects a rotation angle of a motor shaft of the winding motor and outputs a winding side pulse to the control device. The control device rotates the motor shaft of the unwinding motor in the forward direction, controls the normal rotation speed of the motor shaft of the unwinding motor, and sets the linear velocity (V2) of the label roll Controls the marked line velocity (Vx), said control device, the motor shaft of the take-up motor rotates forward, the measurement time (ds), the take-up rotating the winding side pulse of the winding-side detection encoder counted as a pulse (xqt), based on the one pulse angle of rotation of the take-up pulse (.theta.1a) and the winding number of rotation pulses (xqt), calculated rotation angle of the motor shaft of the winding motor (d? 1) For the measurement time (ds) , the position pulse of the label position detection encoder is counted as the number of label rotation pulses (Xqf) , the one-pulse rotation angle (θ1a) of the position pulse, the outer diameter radius (rg) of the guide roller and based on said label rotation pulse count (XQF), the delivery amount of the label sheet (dL) calculates a rotation angle (d? 1)及 beauty discharging amount of the label sheet of the motor shaft of the take-up motor (d L), the outer diameter radius (r1a) of the winding roll is calculated, and the winding motor is calculated based on the rotation angle (dθ1) of the motor rotating shaft of the winding motor and the measurement time (ds). The angular acceleration (α1) of the motor shaft and the rotational speed (W1a) of the motor shaft of the winding motor are calculated, and the motor of the winding motor is calculated at each rotational torque value with no load on the motor shaft of the winding motor Correction based on the correction torque value function [fM (rev)] indicating the relationship between the maximum rotation value obtained when the shaft is rotated and each rotation torque value, and the rotation speed (W1a) of the motor shaft of the winding motor The torque value (Ta1) is calculated, the tension generation torque value (Tb1) is calculated by the following formula (1) based on the target tension value (F) and the outer diameter radius (r1a) of the winding motor, and the unwinding the moment of inertia of the rotating body with the exception of motor I0a), moment of inertia (Ia), the take-up roll width (h), the winding roll density of the winding roll axis ([rho), the inner diameter radius of the winding roll (r0), delivered amount of the label sheet (dL), Based on the rotation angle (dθ1) of the motor shaft of the winding roll and the angular acceleration (α1) of the motor shaft of the winding motor, the winding roll acceleration / deceleration torque value (Tc1) is expressed by the following formulas (2) and ( 3), the winding motor acceleration / deceleration torque value (Td1) is calculated from the following equation (4) based on the moment of inertia (M0a) of the winding motor and the angular acceleration (α1) of the motor shaft of the winding motor. Based on the friction coefficient (μ) , the winding roll density (ρ) , the initial friction torque value (T0a) of the winding motor, and the outer diameter radius (r1a) of the winding roll, formula torque value (Te1) (5) More calculated control torque value (Tm1) was calculated by the following equation (6), the rotational torque of the motor shaft of the winding motor is controlled based on the control torque value (Tm1), sent from said label roll a feature and be Lula Beruroru inspection machine to control the tension of the label sheet to be the target tension value (F).

According to a second aspect of the present invention, there is provided a motor shaft connected to the winding rotation shaft via a reduction gear having a reduction ratio (1 / z), and the winding rotating the winding rotation shaft. A take- up motor , and the control device is configured to reduce a reduction ratio (1) based on a rotation angle (dθ1) of a motor shaft of the take-up motor, a feed amount (dL) of the label sheet, and a reduction ratio (1 / z). The outer diameter radius (r1a) of the winding roll at / Z) is calculated, and the outer diameter radius (r1a) of the winding roll at the target tension value (F), reduction ratio (1 / Z) and the reduction ratio (1 / z), the tension generation torque value (Tb1) at the reduction ratio (1 / Z) is calculated by the following formula (7), and the inertia moment (I0a) and the reduction ratio (1) of the rotating body excluding the unwinding motor are calculated. / Z) Winding roll shaft moment of inertia (Ia), winding roll width (h), winding roll density (Ρ), inner radius (r0) of the take-up roll, feed amount (dL) of the label sheet, rotation angle (dθ1) of the motor shaft of the take-up motor, angular acceleration (α1) of the motor shaft of the take-up motor ) And the reduction ratio (1 / z), the winding roll acceleration / deceleration torque value (Tc1) at the reduction ratio (1 / Z) is calculated by the following equations (8) and (9), and the friction coefficient (μ ), Take-up roll density (ρ), take-up roll width (h), initial friction torque value of the take-up motor (T0a), feed amount of the label sheet (dL), rotation of the motor shaft of the take-up motor Based on the angle (dθ1) and the reduction ratio (1 / z), the winding roll friction torque value (Te1) at the reduction ratio (1 / Z) is calculated by the following equation (10), and the corrected torque value (Ta1) , Tension generation torque value (Tb1) at reduction ratio (1 / Z), reduction ratio The winding roll acceleration / deceleration torque value (Tc1) at (1 / Z), the winding motor acceleration / deceleration torque value (Td1), and the winding roll friction torque value (Te1) at the reduction ratio (1 / Z) are added. The control torque value (Tm1) at the reduction ratio (1 / Z) is calculated, and the rotational torque value of the motor shaft of the winding motor is controlled based on the control torque value (Tm1) at the reduction ratio (1 / Z). The roll label inspection machine according to claim 1, wherein the tension of the label sheet delivered from the label roll is controlled to a target tension value (T).
Claim 3 of the present invention, prior to detecting the rotation angle of the motor shaft of Kimakide motor, comprising a wind-off side detection encoder for outputting unwinding side pulse to the control device, said control device, For the measurement time (ds) , the position pulse of the label position detection encoder is counted as the number of label rotation pulses ( Xqf) , the one-pulse rotation angle ( θfa) of the position pulse, the outer diameter radius ( rg) of the guide roller, and the based on the label rotation pulse count (XQF), to calculate the transmission amount of the label sheet (dL), for said measured time (ds), unwind rotation pulse number unwinding side pulse of the unwinding side detection encoder ( counted as XQD), based on the one pulse angle of rotation of the unwinder-side pulse (? 2a) and said unwinding rotation pulse count (XQD), calculates the rotation angle of the motor shaft of the unwinder motor (d? 2), before The outer diameter radius (r2a) of the label roll is calculated based on the feed amount (dL) of the label sheet and the rotation angle (dθ2) of the motor shaft of the unwinding motor, and the rotation of the motor shaft of the unwinding motor Based on the angle (dθ2) , the outer radius (r2a) of the label roll and the measurement time (ds) , the linear velocity (V2) of the label roll is calculated, and the linear velocity (V2) of the label roll and the label roll A differential linear velocity value (Vs) of the target linear velocity value (Vx) is calculated, and based on the differential linear velocity value (Vs) , the rotational speed of the motor shaft of the unwinding motor is controlled, and the line of the label roll a label roll inspection machine according to claim 1 or claim 2, characterized in that to control speed (V2) to the target line speed value (Vx).

  According to the first aspect of the present invention, by controlling the rotational torque of the motor shaft of the take-up motor, the tension of the label sheet can be maintained at the target tension value (constant tension), and the apparatus configuration is simplified.

According to the first aspect of the present invention, since the rotational torque of the motor shaft of the winding motor is controlled to the control torque value Tm1, the outer diameter radius of the label roll and the outer diameter radius of the winding roll are increased with time. Even if it changes, the tension of the label sheet delivered from the label roll to the take-up roll can be maintained at the target tension value (constant tension).
According to claim 1 of the present invention, theoretically, the rotational torque of the motor shaft of the take-up motor, the control tension generated torque value Ta1 (outer diameter radius ra1 of target tension value F × winding roll) of formula (1) Then, the tension of the label sheet can be set to the target tension value F. However, in reality, when the motor shaft of the take-up motor is rotated, it is affected by a loss torque caused by friction and the like, and the tension of the label sheet is set to the target tension value F only by the tension generation torque value of Equation (1). Can not. Therefore, claim 1 according to the present invention, when controlling the rotational torque of the motor shaft of the take-up motor, various torque value as a loss Ta1, Tc1, Td1, Te1 was added to the tension generating torque Tb1 Thus, the control torque value Tm1 is set. In particular, in addition to the torque values Tc1, Td1, and Te1, the loss torque resulting from the rotational speed of the motor shaft of the take-up motor is added to the control torque value Tm1 as the correction torque value Ta1, so the tension of the label sheet Can be accurately controlled to the target tension value F.
According to claim 1 of the present invention, the motor shaft of the take-up motor as the reference (the motor shaft), calculates a correction torque value by the correction torque value function fM (rev), equation (1) to (5) The torque values Ta1, Tb1, Tc1, Td1, and Te1 are calculated to obtain the control torque value Tm1.

According to the third aspect of the present invention, at the measurement time ds, the differential linear velocity value Vs between the linear velocity V2 of the label roll and the target linear velocity value Vx is calculated, and based on the differential linear velocity value Vs, the unwinding motor By controlling the positive rotation speed, the linear velocity V2 of the label roll can be maintained at the target linear velocity value Vx.
If the linear velocity V2 of the label roll is maintained at the target linear velocity value Vx, the delivery speed of the label sheet delivered from the label roll to the take-up roll can be made constant.

It is a front perspective view which shows a label roll inspection machine. It is a back perspective view showing a label roll inspection machine. It is a top view which shows a label roll inspection machine. It is a front expansion perspective view which shows a label roll inspection machine. It is an upper surface expansion perspective view which shows a label roll inspection machine. It is a figure which shows a label roll test | inspection machine, Comprising: It is a front perspective view which hold | maintained the label roll with the winding rotation axis | shaft, and hold | maintained the core pipe (winding roll) with the winding rotation axis | shaft. It is a figure which shows a label roll test | inspection machine, Comprising: It is a back perspective view which hold | maintained the label roll with the winding rotation axis | shaft, and hold | maintained the core pipe (winding roll) with the winding rotation axis | shaft. It is a figure which shows a label roll test | inspection machine, Comprising: It is a front expansion perspective view which hold | maintained the label roll with the unwinding rotation axis | shaft, and hold | maintained the core pipe (winding roll) with the winding rotation axis | shaft. It is a figure which shows a label roll inspection machine, Comprising: It is an upper surface expansion perspective view which hold | maintained the label roll with the unwinding rotation axis | shaft, and hold | maintained the core pipe (winding roll) with the winding rotation axis | shaft. It is a schematic diagram which shows a label roll inspection machine. It is a front view which shows before a core sheet and a label sheet before winding a label sheet on a label roll. It is a figure which shows a label roll, Comprising: (a) is a perspective view, (b) is a top view. The core tube and label sheet before winding up a label sheet on a winding roll are shown, The figure which hypothesized the winding roll, Comprising: (a) is a perspective view, (b) is a top view. It is the schematic diagram which expanded a part of FIG. It is a label roll inspection machine, and is a block diagram of an imaging means, a label inspection means, an image display means, a control device, and various encoders. It is a figure which shows reference | standard label image data. It is a figure which shows the correction torque value pattern table and the correction torque value function fM (rev). It is a figure which shows to-be-inspected label image data. It is a figure which shows the inspection time and line acceleration pattern table. It is a figure which shows a reference | standard and linear velocity pattern table. It is a figure which shows the relationship between a label detection means and a label sheet | seat, Comprising: (a) is a figure which detects a elongate sheet | seat by a label detection means, (b) detects the label edge of a to-be-inspected label by a label inspection means It is a figure to do. It is a figure which shows the inspection time and the line deceleration pattern table. It is an enlarged view which shows a 1st position pattern in defective label exchange mode. It is an enlarged view showing an intermediate position pattern in the defective label exchange mode. It is an enlarged view showing the 2nd position pattern in defective label exchange mode. It is a figure which comprises the 1st exchange and linear velocity pattern table, the 2nd exchange and linear velocity pattern table, or the rewinding and linear velocity pattern table from the reference | standard and linear velocity pattern table. It is a figure which shows the 1st exchange and linear velocity pattern table including the constant linear velocity pattern of the 1st target linear velocity value, the 2nd exchange and linear velocity pattern table, and the rewinding and linear velocity pattern table. It is a figure which shows the 1st exchange and linear velocity pattern table including the constant velocity linear velocity pattern of the 2nd target linear velocity value, the 2nd exchange and linear velocity pattern table, and the rewinding and linear velocity pattern table. It is a figure which shows the 1st exchange and linear velocity pattern table including the constant linear velocity pattern of the 3rd target linear velocity value, the 2nd exchange and linear velocity pattern table, and the rewinding and linear velocity pattern table. It is a principal part enlarged view of FIG. It is a figure which shows the 1st exchange and linear velocity pattern table which does not include the constant linear velocity pattern of each target linear velocity value, the 2nd exchange and linear velocity pattern table, and the rewinding and linear velocity pattern table. FIG. 7 is an enlarged view of a replacement / inspected label conveyed from the label detection means to the label roll side in a rewind mode (label inspection resumption preparation mode). It is a flowchart (1) of a to-be-inspected label discrimination | determination process in label inspection mode. It is a flowchart (2) of a to-be-inspected label discrimination | determination process following label FIG. 33 in label inspection mode. It is a flowchart (1) of a label position acquisition process in label inspection mode. 36 is a flowchart (2) of a label position acquisition process continued from FIG. 35 in the label inspection mode. It is a flowchart which shows an inspection time and motor starting process in label inspection mode. It is a flowchart (1) which shows the time of inspection and acceleration torque control processing in label inspection mode. FIG. 39 is a flowchart (2) illustrating the inspection time / acceleration torque control process continued from FIG. 38 in the label inspection mode. FIG. 40 is a flowchart (3) showing an inspection time / acceleration torque control process continued from FIG. 39 in the label inspection mode. It is a flowchart (1) which shows an inspection time and constant speed torque control process in label inspection mode. FIG. 42 is a flowchart (2) illustrating an inspection time / constant speed torque control process continued from FIG. 41 in the label inspection mode. FIG. 43 is a flowchart (3) showing the inspection time / constant speed torque control processing continued from FIG. 42 in the label inspection mode. It is a flowchart (1) which shows an inspection time and deceleration torque control process in label inspection mode. FIG. 45 is a flowchart (2) illustrating the inspection / deceleration torque control process continued from FIG. 44 in the label inspection mode. 46 is a flowchart (3) of the inspection / deceleration torque control process continued from FIG. 45 in the label inspection mode. It is a flowchart (1) of defective label exchange mode. 48 is a flowchart (2) of a defective label exchange mode following FIG. FIG. 49 is a flowchart (3) of a defective label exchange mode following FIG. 48. FIG. It is a flowchart which shows a motor starting process at the time of the 1st exchange in defective label exchange mode. It is a flowchart (1) which shows an acceleration torque control process at the time of the 1st exchange in defective label exchange mode. 52 is a flowchart (2) illustrating a first replacement / acceleration torque control process continued from FIG. 51 in the defective label replacement mode. It is a flowchart (1) which shows a constant speed torque control process at the time of the 1st exchange in defective label exchange mode. FIG. 54 is a flowchart (2) illustrating a first replacement / constant speed torque control process continued from FIG. 53 in the defective label replacement mode. FIG. 57 is a flowchart (3) illustrating a first replacement / constant speed torque control process continued from FIG. 54 in the defective label replacement mode. It is a flowchart (1) which shows a deceleration torque control process at the time of the 1st exchange in defective label exchange mode. FIG. 57 is a flowchart (2) illustrating a first replacement / deceleration torque control process continued from FIG. 56 in the defective label replacement mode. It is a flowchart which shows a motor starting process at the time of the 2nd exchange in defective label exchange mode. It is a flowchart (1) which shows an acceleration torque control process at the time of the 2nd exchange in defective label exchange mode. 60 is a flowchart (2) of a second replacement / acceleration torque control process continued from FIG. 59 in the defective label exchange mode. It is a flowchart (1) which shows the constant speed torque control process at the time of the 2nd exchange in defective label exchange mode. FIG. 62 is a flowchart (2) illustrating a second replacement / constant speed torque control process continued from FIG. 61 in the defective label replacement mode. FIG. 67 is a flowchart (3) illustrating a second replacement / constant speed torque control process continued from FIG. 62 in the defective label replacement mode. It is a flowchart (1) which shows a deceleration torque control process at the time of the 2nd exchange in defective label exchange mode. FIG. 67 is a flowchart (2) illustrating a second replacement / deceleration torque control process continued from FIG. 64 in the defective label replacement mode. It is a flowchart of rewind mode (label inspection resumption preparation mode). It is a flowchart which shows a motor starting process at the time of rewinding in rewinding mode. It is a flowchart (1) which shows a rewinding and acceleration torque control process in rewinding mode. 69 is a flowchart (2) illustrating a rewind / acceleration torque control process continued from FIG. 68 in the rewind mode. It is a flowchart (1) which shows a rewind / constant speed torque control process in rewind mode. 71 is a flowchart (2) illustrating a rewinding / constant speed torque control process continued from FIG. 70 in the rewinding mode. 72 is a flowchart (3) illustrating a rewinding / constant speed torque control process continued from FIG. 71 in the rewinding mode. It is a flowchart (1) which shows a rewinding and deceleration torque control process in the rewinding mode. FIG. 74 is a flowchart (2) illustrating a rewind / deceleration torque control process continued from FIG. 73 in the rewind mode.

  A label roll inspection machine according to the present invention will be described with reference to FIGS.

1 to 74, the label roll inspection machine X determines pass / fail of the inspected label KS of the label roll R2 (“good product: pass”, “defective product: fail”).
The label roll inspection machine X determines the quality of each inspected label KS using the reference label image data MSD.

  First, for convenience of explanation, the label roll R2 will be described with reference to FIGS.

<Label roll R2>
11 and 12, the label roll R2 includes a label sheet RS and a core tube HK (paper tube). The label roll R2 is formed by rolling a label sheet RS.

As shown in FIGS. 11 and 12, the label sheet KS includes a long base sheet DS and a plurality of labels to be inspected KS.
The long base sheet DS is formed in a rectangular band shape (rectangular band shape). The long base sheet DS is made of, for example, a rectangular strip-shaped release sheet.
The long table sheet DS (label sheet RS) has sheet ends DSa and DSb (short sides) in the sheet longitudinal direction NT (hereinafter referred to as “longitudinal direction NT”) of the long table sheet DS.
The long table sheet DS has a sheet width h in the sheet width direction HT. The sheet width direction HT is a direction orthogonal to the sheet longitudinal direction NT.

Each inspected label KS is a label to be inspected as shown in FIGS. On the surface of each inspected label KS, figures (designs), characters, etc. are printed (printed).
Each inspected label KS is disposed between the sheet ends DSa and DSb in the longitudinal direction NT.
The inspected labels KS are arranged at intervals in the longitudinal direction NT. Each inspection label KS is attached to the surface DSA of the long table sheet DS.
Each inspected label KS has label ends KSa and KSb in the longitudinal direction NT. As shown in FIG. 11, each adjacent label KS to be inspected is stuck to the long sheet DS with a sticking gap HG between the label ends KSa and KSb.
Each inspected label KS has an adhesive layer (not shown) on the back surface, and the adhesive layer is attached to the front surface DSA of the long table sheet DS, and is arranged on the long table sheet DS.
Each inspected label KS has a label length Lk (label length dimension Lk between label ends RSa and RSb) in the longitudinal direction NT.

As shown in FIG. 11, the label sheet RS has a label-free region S where the inspection label KS is not attached to the label end DSa side of the long table sheet DS.
As a result, the long table sheet DS forms a non-label region S in which the inspected label KS is not pasted on one short side DSa side in the longitudinal direction NT.
The non-label region S is formed in the longitudinal direction NT, for example, without attaching a plurality (three) of labels KS to be inspected.

  As shown in FIGS. 11 and 12, the core tube HK is formed into a cylindrical tube.

In the label roll R2, the label sheet RS has one sheet end DSa side attached to the outer peripheral surface of the core tube HK as shown in FIG.
The label sheet KS is attached to the core tube HK by bringing the back surface DSB of the long base sheet DS into contact with the outer peripheral surface of the core tube HK.
The label sheet KS is rolled around the core tube HK and formed on the label roll R2.
The label roll R2 has a roll width h (same as the label width h) in the label width direction HT. The label roll R2 has an inner radius r3 (same as the outer radius of the core tube HK) and an outer radius r2.

■ Label roll inspection machine X
Next, the label roll inspection machine X will be described with reference to FIGS. 1 to 10 and FIGS. 14 to 19.

  As shown in FIGS. 1 to 10 and FIG. 14, the label roll inspection machine X includes a machine base 1, an unwinding rotation shaft 2, a winding rotation shaft 3, and a plurality of guide rollers (first to fourth). (Guide rollers) 4 to 7, image pickup means 8, label detection means 9, defective label exchange station 10, image display means 11, operation means 12, and mounting plate 23.

As shown in FIGS. 1 to 9, the machine base 1 includes a machine base body 13 and an inspection stage 14.
The machine base body 13 is formed in a rectangular parallelepiped (box) with a plurality of frame members. The machine base body 13 is placed (installed) on an installation plane 15 such as a floor.
The inspection stage 14 is installed at the upper end of the machine base body 13 in the vertical direction UD of the machine base 1 (hereinafter referred to as “vertical direction UD”). The inspection stage 14 is arranged in parallel to the installation plane 15 and is made of, for example, a flat plate material.

The unwinding rotation shaft 2 is installed in the machine base body 13 (machine base 1) as shown in FIGS. The unwinding rotation shaft 2 is disposed on the inspection stage 14.
The unwinding rotation shaft 2 is arranged with the axis center line 2a orthogonal to the inspection stage 14 (planar plate material) and in the vertical direction UD. The unwinding rotation shaft 2 has a rotation stage disk 2A. The rotating stage disk 2A is disposed concentrically with the unwinding rotation shaft 2 and is fixed to one axial end side of the unwinding rotation shaft 2.
One shaft end side of the unwinding rotation shaft 2 is pivotally supported by the machine base 1 (machine base body 13) by arranging the rotation stage disk 2A on the same plane as the inspection stage 14. The rotating stage disk 2 </ b> A is disposed on the inspection stage 14 with a gap and is parallel to the inspection stage 14. The unwinding rotation shaft 2 is composed of, for example, a rotation roller (unwinding side / rotation roller).
The unwinding rotation shaft 2 holds the label roll R2 as shown in FIGS. The unwinding rotation shaft 2 feeds the label sheet RS from the label roll R2 in the forward rotation (direction of arrow A in FIG. 10), and labels the label sheet RS in the reverse rotation (direction of arrow B in FIG. 10). Rewind to roll R2.

The winding rotation shaft 3 is installed in the machine base body 13 (machine base 1) as shown in FIGS. The winding rotation shaft 3 is disposed on the inspection stage 14.
The winding rotation shaft 3 is juxtaposed with the winding rotation shaft 2 at an interval in the left-right direction LR perpendicular to the up-down direction UD.
The winding rotation shaft 3 is arranged with the axial center line 3a orthogonal to the inspection stage 14 (planar plate material) and in the vertical direction UD. The winding rotation shaft 3 has a rotation stage disk 3A. The rotation stage disk 3 </ b> A is disposed concentrically with the winding rotation shaft 3 and is fixed to one axial end side of the winding rotation shaft 3.
One shaft end side of the winding rotation shaft 3 is pivotally supported by the machine base 1 (machine base body 13) by arranging the rotation stage disk 3A on the same plane as the inspection stage. The rotating disk 3A is arranged with a gap in the inspection stage 14 in the vertical direction UD, and is parallel to the inspection stage 14. The winding rotation shaft 3 is composed of, for example, a rotation roller (winding side / rotation roller).
As shown in FIGS. 6 to 10, the winding rotation shaft 3 winds the label sheet RS sent from the label roll R2 around the winding roll R1 in the normal rotation (in the direction of arrow A in FIG. 10). The label sheet RS is fed back from the take-up roll R1 by reverse rotation (in the direction of arrow B in FIG. 10).

The guide roller 4 (first guide roller) is installed in the machine base body 13 (machine base 1) as shown in FIGS.
The guide roller 4 is disposed on the inspection stage 14.
The guide roller 4 is disposed between the left end 13a of the machine base body 13 and the unwinding rotation shaft 2 in the left-right direction LR.
The guide roller 4 is disposed between the front end 13c of the machine base body 1 and the unwinding rotation shaft 2 in the front-rear direction FR. The front-rear direction FR is a direction orthogonal to the up-down direction UD and the left-right direction LR.
The guide roller 4 is disposed with the axial center line 4a orthogonal to the inspection stage 14 and in the vertical direction UD. One shaft end side of the guide roller 4 is rotatably supported by the inspection stage 14.

The guide roller (second guide roller) 5 is installed in the machine base body 13 (machine base 1) as shown in FIGS. The guide roller 5 is disposed on the inspection stage 14.
The guide roller 5 is disposed between the unwinding rotation shaft 2 and the winding rotation shaft 3 in the left-right direction LR.
The guide roller 5 is disposed between the front end 13 c of the machine base body 13 and the guide roller 4 in the front-rear direction FR.
The guide roller 5 is arranged with the axial center line 5a orthogonal to the inspection stage 14 and in the vertical direction UD. One shaft end side of the guide roller 5 is rotatably supported by the inspection stage 14.

The guide roller (third guide roller) 6 is installed in the machine base body 13 (machine base 1) as shown in FIGS. The guide roller 6 is disposed on the inspection stage 14.
The guide roller 6 is disposed between the guide roller 4 and the guide roller 5 in the left-right direction LR.
The guide roller 6 is disposed between the front end 13c of the machine base body 13 and the guide roller 5 in the front-rear direction FR.
The guide roller 6 is arranged with the axial center line 6a orthogonal to the inspection stage 14 and in the vertical direction UD. One shaft end side of the guide roller 6 is rotatably supported by the inspection stage 14.

As shown in FIGS. 1 to 4, 6 to 8, and 10, the guide roller (fourth guide roller) 7 is installed in the machine base body 13 (machine base 1). The guide roller 7 is disposed on the inspection stage 14.
The guide roller 7 is disposed between the right end 13b of the machine base body 13 and the winding rotation shaft 3 in the left-right direction LR.
The guide roller 7 is disposed between the front end 13c of the machine base body 13 and the guide roller 5 in the front-rear direction FR, and is arranged in parallel with the guide roller 6 at an interval in the left-right direction LR.
The guide roller 7 is arranged with the axial center line 7a orthogonal to the inspection stage 14 and in the vertical direction UD. One shaft end side of the guide roller 7 is rotatably supported by the inspection stage 14.

In the guide roller 4 and the guide roller 5, the shaft center lines 4a and 5a are arranged in parallel in the front-rear direction FR with an interval of the roller diameter (each roller radius: rg) as shown in FIG. Further, in the guide roller 5 and the guide roller 6, the shaft center lines 5a and 6a are arranged in parallel with each other with a roller diameter (each roller radius: rg) in the front-rear direction as shown in FIG.
As described above, when the guide roller 5 and the guide roller 6 are arranged in parallel, the contact angle θm (for example, θm = 180 degrees) of the label sheet RS wound around the guide roller 6 can be always constant. Slip of the label sheet RS is suppressed.
Each guide roller 4-7 forms the conveyance path | route C of label sheet RS, as shown in FIG.3 and FIG.10. The transport path C includes a transport path C1 between the label roll R2 (unwinding rotation shaft 2) and the guide roller 4, a transport path C2 between the guide rollers 4 and 5, a transport path C3 between the guide rollers 5 and 6, A conveyance path C4 between the guide rollers 6 and 7 and a conveyance path C5 between the guide roller 7 and the winding roll R1 (winding rotation shaft 3).

The imaging means 8 is installed in the machine base body 13 (machine base 1) as shown in FIGS. The imaging means 8 is disposed on the inspection stage 14.
The imaging means 8 is disposed between the left end 13a of the machine base body 13 and the guide roller 6 in the left-right direction LR. The imaging means 8 is disposed between the front end 13c of the machine base body 13 and the guide roller 4 in the front-rear direction FR.
The imaging unit 8 captures a color image of the label sheet RS including each inspection label KS, and outputs label sheet image data RSD including each inspection label KS.

  The imaging unit 8 includes a light source 16 and an image sensor 17. As illustrated in FIG. 10, the light source 16 includes, for example, a light emitting diode (LED). The light source 16 irradiates light toward the guide roller 6 (label sheet RS) (see FIG. 10).

The image sensor 17 is composed of, for example, a line image sensor (linear image sensor).
The image sensor 17 includes a plurality of photoelectric conversion elements (imaging elements: not shown) and a plurality of microlenses (not shown), and each photoelectric conversion element is arranged in association with each microlens.
As shown in FIGS. 4, 5, and 8 to 10, the image sensor 17 is disposed at a distance from the guide roller 6 in the left-right direction LR. The image sensor 17 linearly aligns the photoelectric conversion elements and the micro lenses in the vertical direction UD along the axis 6 a of the guide roller 6.
The image sensor 17 continuously captures color images of the label sheet RS including each inspection label KS, and outputs label sheet image data RSD (color image data) including each inspection label RS.
The image sensor 17 makes the three primary colors of light imaged (condensed) by each microlens enter each photoelectric conversion element, and uses the three primary color information (electrical signals) of light as label sheet image data RSD including each inspection label KS. Output.
As the image sensor 17, for example, a CCD image sensor and a CMOS image sensor in which three primary color filters are interposed between each microlens and each photoelectric conversion element, or an image sensor including three primary color layers of light (lamination of three primary color layers) can be adopted.

As shown in FIGS. 3, 5, 9, 10 and 14, the label detection means 9 detects the label end KSa of each inspected label KS of the label sheet RS.
The label detection means 9 is installed on the machine base body 13 (machine base 1). The label detection means 9 is disposed on the inspection stage 14. The label detection means 9 is disposed between the guide rollers 5 and 6.
As shown in FIGS. 5, 9, and 10, the label detection unit 9 includes, for example, a projector 18 and a light receiver 19. As shown in FIG. 10, the light projector 18 and the light receiver 19 are installed on both sides of the transport path C3 in the front-rear direction FR.
The light projector 18 generates detection light that passes through the long sheet DS of the sticking gap HG in the label sheet RS. The light receiver 19 detects (receives) transmitted light that passes through the label sheet RS (each inspected label KS and the long sheet DS of the sticking gap HG).

As shown in FIGS. 1 to 10, the defective label exchange station 10 is installed in the machine base body (machine base 1). The defective label exchange station 10 is disposed on the inspection stage 14.
The defective label exchange station 10 is disposed between the guide rollers 6 and 7 and is adjacent to the guide rollers 6 and 7.
The defective label exchange station 10 is composed of, for example, a flat plate material. The defective label exchange station 10 is erected on the inspection stage 14 with the exchange surface 10 </ b> A facing the front end 13 c of the machine base body 13. As shown in FIG. 14, the defective label exchange station 10 is arranged with the exchange surface 10A parallel to the transport path C4.

As shown in FIGS. 1 to 3, 6, and 7, the image display unit 11 is installed in the machine base body 13 (machine base 1). The image display means 11 is attached to the right end 13 b of the machine base body 13.
The image display means 11 is composed of, for example, a liquid crystal display, and displays a label sheet image including each inspection label KS.

As shown in FIGS. 1, 3, and 6, the operating means 12 is installed in the machine base body 13 (machine base 1). The operating means 12 is attached to the front end 13 c of the machine base body 13.
The operation means 12 includes an inspection start / inspection restart button 20 (inspection start / inspection restart switch), a normal stop button 21 (normal stop switch), and an emergency stop button 22 (emergency stop switch).

  As shown in FIGS. 1 to 3, 6 and 7, the mounting plate 23 is installed on the machine base body 13 (machine base 1). The work plate 23 is attached to the front end 13 c of the machine base body 13. Input means 61 (not shown) such as a keyboard and a mouse is disposed on the mounting plate 23.

In the label roll inspection machine X, as shown in FIGS. 6 to 10 and FIG. 14, the label roll R2 is formed on the rotary stage disk 2A by fitting the core tube HK to the unwinding rotary shaft 2. Placed. The unwinding rotation shaft 2 passes through the core tube HK of the label roll R2 and holds the label roll R2.
The label roll R2 is rotated forward together with the unwinding rotating shaft 2 (including the rotating disk 2A) by the forward rotation (in the direction of arrow A in FIG. 10) of the unwinding rotating shaft 2.
Thereby, the unwinding rotating shaft 2 sends out the label sheet RS from the label roll R2.
The label roll R2 is reversely rotated together with the unwinding rotation shaft 2 (including the rotation disk 3A) by the reverse rotation of the unwinding rotation shaft 2 (in the direction of arrow B in FIG. 10).
Thereby, the unwinding rotating shaft 2 rewinds the label sheet RS to the label roll R2.

The winding rotation shaft 3 holds a core tube HP (paper tube) as shown in FIGS. The core tube HP has the same configuration as the core tube HK of the label roll R2 (see FIG. 13).
The core tube HP is fitted on the winding rotary shaft 3 and placed on the rotary stage disk 3A.

In the label roll R2 held on the unwinding rotation shaft 2, the label sheet RS is fed from the label roll R2 and guided from the left end 13c side of the machine base body 13 as shown in FIGS. 6 to 10 and FIG. It is wound around the outer peripheral surface of the roller 4. The guide roller 4 is brought into contact with the label sheet RS.
The label sheet RS is wound from the guide roller 4 to the outer peripheral surface of the guide roller 5 and further wound around the outer peripheral surface of the guide roller 6. The guide rollers 5 and 6 are brought into contact with the label sheet RS.
The label sheet RS is wound around the outer peripheral surface of the guide roller 7 from the guide roller 6. The label end DSb side of the label sheet RS (long table sheet DS) is attached to the outer peripheral surface of the core tube HP as shown in FIG. The guide roller 7 is brought into contact with the label sheet RS.
The label sheet RS is arranged between the light projector 18 and the light receiver 19 with each inspection label KS facing the light projector 18 (see FIG. 14).
The label sheet RS is disposed between the guide roller 6 and the imaging unit 8 with each inspection label KS facing the imaging unit 8 (the light source 16 and the image sensor 17) (see FIG. 14).
The label sheet RS is arranged between the guide rollers 6 and 7 on the front side of the replacement table plane 10 </ b> A of the defective label replacement station 10.

The core tube HP is rotated forward together with the winding rotary shaft 3 (including the rotary disc 3A) by the normal rotation of the winding rotary shaft 3 (in the direction of arrow A in FIG. 10).
Thereby, the winding rotation shaft 3 winds the label sheet RS around the core tube HP to form a winding roll R1. As shown in FIG. 13, the winding roll R1 has an inner radius r0 (same as the outer radius of the core tube HP) and a roll width h (same as the label width h). The winding roll R1 has an outer diameter radius r1. The winding roll R1 is rotated forward together with the core tube HP.
The winding roll R1 (core tube HP) is reversely rotated together with the winding rotary shaft 3 (including the rotary disc 3A) by the reverse rotation of the winding rotary shaft 3 (in the direction of arrow B in FIG. 10). The
Thereby, the winding rotation axis | shaft 3 sends back label sheet | seat RS from the winding roll R2 to the label roll R2 side (guide roller 7 side).

In this way, the label roll inspection machine X rotates the rotary shafts 2 and 3 forward (in the direction of arrow A in FIG. 10) to move the label sheet RS from the label roll R2 to the guide roll 4 side (winding rotary shaft). 3 side) and is wound around the core tube HP as a winding roll R1. At this time, the label sheet RS delivered from the label roll R2 is conveyed to the conveyance path C while being guided (guided) by the guide rollers 4 to 7, and is conveyed between the projector 18 and the light receiver 19 through the conveyance path C3. Subsequently, it is transported between the imaging means 8 (image sensor 17) and the guide roll 6, transported to the front side of the replacement surface 10A of the defective label replacement station 10 on the transport path C4, and further transported to the transport path C5. It is wound around the core tube HP (see FIGS. 6 to 10 and FIG. 14).
Further, the label roll inspection machine X rotates the rotary shafts 2 and 3 in the reverse direction (in the direction of arrow B in FIG. 10) to move the label sheet RS from the take-up roll R1 to the guide roll 7 side (label roll R2 side). Sending back and rewinding to the label roll R2 (see FIGS. 6 to 10 and FIG. 14).

  As shown in FIGS. 1 to 10, 14 and 15, the label roll inspection machine X includes an unwinding motor (first motor) 25, a winding motor (second motor) 26, an unwinding side detection encoder (first 1 detection encoder) 27, a winding side detection encoder (second detection encoder) 28, a label position detection encoder 29, and a control device 30.

The unwinding motor 25 is composed of a servo motor, for example. The unwinding motor 25 has a motor shaft 25A as shown in FIG.
The unwinding motor 25 connects the motor shaft 25 </ b> A to the unwinding rotation shaft 2. The motor shaft 25 </ b> A connects one shaft end to one shaft end of the unwinding rotation shaft 25.

The winding motor 26 is constituted by a servo motor, for example. As shown in FIG. 10, the winding motor 26 has a motor shaft 26A.
The take-up motor 26 connects the motor shaft 26 </ b> A to the take-up rotation shaft 3. The motor shaft 26 </ b> A connects one shaft end to one shaft end of the winding rotation shaft 3.

The unwinding side detection encoder 27 is constituted by, for example, a pulse encoder. The unwinding side detection encoder 27 is connected to the motor shaft 25A of the unwinding motor 25 as shown in FIGS.
The unwinding side detection encoder 27 is connected to the other shaft end of the motor shaft 25A, detects the rotation angle θ2 (rad) of the motor shaft 25A (unwinding motor 25), and detects the unwinding side pulse q2 (hereinafter, “pulse q2”). Is output to the control device 30.
The unwinding side detection encoder 27 outputs q pulses in one rotation [2π (rad)] of the motor shaft 25A. The one-pulse rotation angle θ2a of the unwinding side pulse q2 is θ2a = 2π / q (rad).

The winding side detection encoder 28 is constituted by, for example, a pulse encoder. The winding side detection encoder 28 is connected to the motor shaft 26A of the winding motor 26 as shown in FIGS.
The winding side detection encoder 28 is connected to the other end of the motor shaft 26A, detects the rotation angle θ1 (rad) of the motor shaft 26A (winding motor 26), and takes up the winding side pulse q1 (hereinafter referred to as “pulse q1”). Is output to the control device 30.
The winding side detection encoder 28 outputs q pulses for one rotation [2π (rad)] of the motor shaft 26A. The one-pulse rotation angle θ1a of the winding side pulse q1 is θ1a = 2π / q (rad).

The label position detection encoder 29 is composed of, for example, a pulse encoder. As shown in FIGS. 4, 5, 8, and 9, the label position detection encoder 29 is disposed above the guide roller 6 in the vertical direction UD.
As shown in FIGS. 10 and 14, the label position detection encoder 29 is connected to the rotation shaft 6A of the guide roller 6, detects the rotation angle θf (rad) of the guide roller 6, and detects a position pulse qf (hereinafter referred to as “pulse”). qf ”) to the control device 30.
The label position inspection encoder 29 outputs q pulses for one rotation [2π (rad)] of the rotating shaft 6A (guide roller 6). The one-pulse rotation angle θfa of the position pulse qf is θfa = 2π / q (rad).

  As shown in FIG. 15, the control device 30 includes a storage unit 35, an image processing unit 36, and a control unit 37.

In the control device 30, the storage means 35 stores a torque calculation constant CS.
Torque calculation constant CS is
(1) Winding roll width h (m) of winding roll R1
(2) Label roll width h (m) of label roll R2
(3) Winding roll density ρ (m ³ / kg) of winding roll R1
(4) Label roll density ρ (m ³ / kg) of the label roll
(5) Pi ratio π
(6) Gravitational acceleration g (m / s ² )
(7) Friction coefficient μ
(8) Target tension F (N)
(9) Inner radius r0 (m) of take-up roll R1
(10) Inner radius r3 (m) of label roll R2
(11) Moment of inertia I0a (kg · m ² ) of the rotating body excluding the unwinding motor 25
(12) Moment of inertia I0b (kg · m ² ) of the rotating body excluding the winding motor 26
(13) Moment of inertia M0a of the take-up motor 26 (kg · m ² )
(14) Moment of inertia M0b (kg · m ² ) of unwinding motor 25
(15) Initial friction torque value T0a (N · m) of the winding motor 26
(16) Initial friction torque value T0b (N · m) of the unwinding motor 25
(17) One pulse distance value Lr (m)
(18) 1-pulse rotation angle θ1a (rad)
(19) 1-pulse rotation angle θ2a (rad)
It becomes.

  The inertia moment I0a of the rotating body excluding the unwinding motor 25 is a value obtained by adding the inertia moments of the guide rollers 4 to 7, the winding motor 26, the winding side detection encoder 28, and the label position detection encoder 29.

  The inertia moment I0b of the rotating body excluding the winding motor 26 is a value obtained by adding the inertia moments of the guide rollers 4 to 7, the unwinding motor 25, the unwinding side detection encoder 27, and the label position detection encoder 29.

The 1-pulse distance value Lr is the arc length Lr of the guide 6 with respect to the 1-pulse rotation angle θfa.
As shown in FIG. 14, the one-pulse distance value Lr [m] is Lr = θfa × rg when the outer diameter radius rg of the guide roller 6 and the one-pulse rotation angle θfa of the label position inspection encoder 29 are set.

The storage means 35 stores a table creation constant CT.
The table creation constant CT is
(A) During inspection / Target linear velocity value Vx (m / s)
(B) Inspection time / acceleration time Sk (s)
(C) Inspection / Deceleration time Sg (s)
(D) Reference / target linear velocity value Vy (m / s)
(E) Reference / acceleration time Sr (s)
(F) Reference / Deceleration time Sv (s)
(G) First target linear velocity value Vy1 (m / s)
(H) Second target linear velocity value Vy2 (m / s)
(I) Third target linear velocity value Vy3 (m / s)
It becomes.

  The storage means 35 stores the allowable pulse number σq. The allowable number of pulses σq is set to 0 (zero) ± γq (−γq to 0 to + γq), for example, 0 (zero) ± 5 pulses (−5 to 0 to +5).

The storage means 35 stores reference label image data MSD as shown in FIG.
The reference label image data MSD is configured by capturing a color image of a reference label (not shown), and is composed of light three primary color information. The reference label is a label for inspection corresponding to each label KS to be inspected, and is a label having no defects such as pin pole, chipping, rubbing, thickening, and thinning. The reference label is a label that serves as an inspection standard.
A color image of the reference label is picked up by a CCD image sensor or a CMOS image sensor, and stored in the storage means 35 as reference label image data MSD.
As shown in FIG. 16, the reference label image data MSD is composed of pixels Gp (pixels: p = 1, 2, 3,..., P) in a plurality of columns s and a plurality of rows t. In the reference label image data MSD, each pixel Gp is designated by column s × row t, for example, the first pixel G1 is designated by (column s, row t) = (1, 1), and the second The pixel G2 is specified by (column s, row t) = (1, 2), and the p-th pixel Gp is specified by (column s, row t) = (p, p).

As shown in FIG. 17, the storage unit 35 stores a correction torque value pattern table TB1 and a correction torque value function fM (rev).
The correction torque value pattern table TB1 takes the maximum rotational speed W (rpm) on the vertical axis (Y axis / rotational speed axis) and the rotational torque value T (N · m) on the horizontal axis (X axis / rotational torque axis). 4 is a table showing the relationship between the rotational torque value T (N · m) and the maximum rotational speed W (rpm). As shown in FIG. 17, the correction torque value pattern table TB1 is a motor shaft 26A or motor at each rotational torque value T when the motor shaft 26A of the winding motor 26 or the motor shaft 25A of the unwinding motor 25 is unloaded. The maximum rotational speed W obtained when the shaft 25A is rotated is actually measured and plotted.

In FIG. 17, for example, the actual measurement range of the rotational torque value T: 0.07 to 0.2 (N · m) and the actual measurement point of the rotational torque value T: 14, the maximum obtained by the rotational torque value T at each actual measurement point. The rotational speed W is measured.
The correction torque value function fM (rev) includes the maximum rotational speed W (rpm) obtained when the motor shaft 26A (or the motor shaft 25A) is rotated at each rotational torque value T, and each rotational torque value T (N · m). A function (for example, a linear function) showing the relationship between As shown in FIG. 17, the correction torque value function fM (rev) is, for example, the maximum rotation obtained by the rotational torque values T1 and T2 at the two actual measurement points and the rotational torque values T1 and T2 at the two actual measurement points. This function is expressed by a linear function based on the numbers W1 and W2 and approximated to each actual measurement value and the maximum rotational speed W.
As shown in FIG. 17, the corrected torque value function fM (rev) is expressed by the equation (2) when the rotational torque values T1 and T2 at two actually measured points and the maximum rotational speeds W1 and W2 of the rotational torque values T1 and T2 are given. A).

The storage means 35 stores the exchange distance pulse number εq. The number of exchange distance pulses εq is the same as the exchange distance Lp between the label detection means 9 (light projector 18 and light receiver 19) and the intermediate point 10B (intermediate position) of the defective label exchange station 10 in the transport path C. This is the value converted to the number of pulses.
As shown in FIG. 14, the exchange distance Lp is a detection-side linear distance Lp1 (m) between the label detection means 9 (light projector 18, light receiver 19) and the axial center line 6a of the guide roller 6 in the conveyance path C3, and the guide. In the roller 6, the arc distance Lp2 (m) where the label sheet RS abuts on the outer peripheral surface 6B of the guide roller 6, and the axis center line 6a of the guide roller 6 and the intermediate point 10B of the defective label exchange station 10 in the transport path C4. The station side linear distance Lp3 (m) is added (Lp = Lp1 + Lp2 + Lp3).
As shown in FIG. 14, when the arc distance Lr2 is defined as the outer diameter radius rg (m) of the guide roller 6 and the contact angle θm (rad) of the label sheet RS that contacts the outer peripheral surface 6B of the guide roller 6, Lr2 = θm × rg (m).

  The exchange distance pulse number εq is εq = Lp / Lr (m) when the one-pulse distance value Lr of the label position detection encoder 29 and the exchange distance Lp are used.

The storage means 35 stores the label long pulse number βq. The label length pulse number βq is a value obtained by converting the label length Lk (see FIG. 11) of the inspected label KS into the pulse number of the label position inspection encoder 26.
The label length pulse number βq is βq = Lk / Lr (m) where 1 pulse distance value Lr and label length Lk are used.

In the control device 30, the image processing means 36 is connected to the image sensor 17 (imaging means 8) and the image display means 11 as shown in FIG. 15.
The image processing means 36 receives the label sheet image data RSD from the image sensor 17 and extracts each inspected label image data KSD. Each inspected label image data KSD is composed of light three primary color information. Each inspected label image data KSD is composed of pixels Gp (pixels: p = 1, 2, 3,..., P) in a plurality of columns s and a plurality of rows t, as shown in FIG. In each inspected label image data KSD, each pixel Gp is designated by column s × row t, for example, the first pixel G1 is designated by (column s, row t) = (1, 1), 2 The th pixel G2 is specified by (column s, row t) = (1, 2), and the p th pixel Gp is specified by (column s, row t) = (p, p).
The image processing means 36 outputs each inspection label image data KSD to the control means 37.

  As shown in FIG. 15, the image processing means 36 outputs label sheet image data RSD including each inspection label KS to the image display means 11. The image display means 11 displays a label sheet image.

The control device 30 has a label inspection mode, a defective label replacement mode, and a rewind mode (label inspection resumption preparation mode).
In the control device 30, the control means 37 switches to the label inspection mode, the defective label replacement mode, and the rewind mode (label re-inspection preparation mode), and executes each mode.

The control means 37 is composed of, for example, a CPU (Central Processing Unit).
In the label inspection mode, the control means 37 executes an inspected label discrimination process to discriminate pass / fail of the inspected label KS (“good product: pass”, “defective product: fail”), and label position acquisition processing To obtain the position of each inspected label KS.
In the label inspection mode, the control means 37 executes an inspection / motor start process, an inspection / acceleration torque control process, an inspection / constant speed torque control process, and an inspection / deceleration torque control process, The positive rotation speed (positive rotation speed) of the 25 motor shafts 25A is controlled (speed control), and the rotational torque of the motor shaft 26A of the winding motor 26 is controlled (torque control).

The control unit 37 transports the defective / inspected label NKS to the defective label replacement station 10 in the defective label replacement mode.
In the defective label replacement mode, the control means 37 performs a replacement / motor start process (first replacement or second replacement / motor start process), replacement / acceleration torque control process (first replacement or second replacement).・ Acceleration torque control processing), during replacement ・ Constant speed torque control processing (at the time of the first replacement or at the second replacement, constant speed torque processing), and at the time of replacement ・ At the time of the deceleration torque control processing (at the time of the first replacement or the second replacement) (Deceleration torque control processing) is executed to control the rotational speed (rotational speed) and rotational torque (speed control or torque control) of the motor shaft 25A of the unwinding motor 25 and the motor shaft 26A of the winding motor 26.

In the rewind mode (label inspection resumption preparation mode), the control means 37 rewinds the exchanged / inspected label KSA to the label roll R2, and places the exchanged / inspected label KSA in the inspection resuming position (from the label detection means 9 to the guide roller). 5 side).
In the rewind mode, the control means 37 executes rewinding / motor start processing, rewinding / acceleration torque control processing, rewinding / constant speed torque control processing, and rewinding / deceleration torque control processing. The reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 is controlled (speed control), and the rotational torque of the motor shaft 25A of the unwinding motor 25 is controlled (torque control).

The control means 37 creates (sets) the inspection / line acceleration pattern table TB2 as shown in FIG.
The control unit 37 reads the inspection / target linear velocity value Vx and the inspection / acceleration time Sk from the storage unit 35, and based on the inspection / target linear velocity value Vx and the inspection / acceleration time Sk, A line acceleration pattern table TB2 is created (set).
In FIG. 19, the inspection / line acceleration pattern table TB2 includes a linear velocity V (m / s) on the vertical axis (Y axis / linear velocity axis) and a time S (s) on the horizontal axis (X axis / time axis). Is a table showing the relationship between the inspection time / target linear velocity Vx and the inspection time / acceleration time Sk (s) as a linear function linear velocity pattern δ2.
The control means 37 calculates the linear velocity pattern δ2 from the inspection time / target linear velocity value Vx and the inspection time / acceleration time Sk by, for example, a linear function [V (or slope): ak = (Vx / Sk). δ2) = (Vx / Sk) × S]. Further, the slope (gradient) ak = (Vx / Sk) of the linear function is an inspection time / linear acceleration value (m / s ² ) for accelerating the label roll R2 inspection time / line velocity V2 (hereinafter, “ Inspection time and linear acceleration value ak)).
As shown in FIG. 19, the control means 37 converts the inspection time / acceleration time Sk and the linear velocity pattern δ2 into a plurality of acceleration control sections s1, s2, s3,. , Δ2k.
In addition, on the time axis (horizontal axis / X axis) of the inspection / line acceleration pattern table TB2, each acceleration control section s1, s2, s3,..., Sk has a control time St [St = (Sk / k)]. Become.
In the inspection / line acceleration pattern table TB2, the first (k = 1) acceleration control section s1 has a first (k = 1) section linear velocity pattern δ21. As shown in FIG. 19, the first section linear velocity pattern δ21 has a slope (gradient): ak = (Vx / Sk), and a linear velocity value V = zero (= 0) and a linear velocity value V. = Take the linear velocity value between (Vx / k). The second (k = 2) acceleration control section s2 has a second (k = 2) section linear velocity pattern δ22. The second section linear velocity pattern δ22 has an inclination (gradient): ak = (Vx / Sk), and a linear velocity value V = (Vx / k) and a linear velocity value V = [(2 × Vx). / K] is taken. The kth acceleration control section sk has a kth section linear velocity pattern δ2k. The k-th section linear velocity pattern δ2k has an inclination (gradient): ak = (Vx / Sk), a linear velocity value V = [(k−1) × Vx / k], and a linear velocity value V =. A linear velocity value of [(k × Vx) / k] is taken (where k = 1, 2, 3,..., K: natural number).
In the first control (k = 1), the control unit 37 controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 based on the first section linear speed pattern δ21 ( Acceleration control), and at the control time St, the linear velocity V2 at the time of inspection of the label roll R2 is linear from the linear velocity value V = zero (= 0) along the inclination (gradient): ak = (Vx / Sk). Speed value V = (control to Vx / k (acceleration control).
In the second control (k = 2), the control means 37 controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 based on the second section linear speed pattern δ22 ( Acceleration control) and at the control time St, the linear velocity V2 at the time of inspection of the label roll R2 is changed from the linear velocity value V = (Vx / k) along the inclination (gradient) ak = (Vx / Sk). Control (acceleration control) to value V = [(2 × Vx) / k].
That is, in the k-th control, the control unit 37 controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 based on the k-th section linear speed pattern δ2k (acceleration control). Then, during the control time St, the inspection time / linear velocity V2 of the label roll R2 is changed along the inclination (gradient): ak = (Vx / Sk) to the linear velocity value V = [(k−1) × Vx / k. ] To linear velocity value V = [(k × Vx) / k] (acceleration control).
In this way, the control means 37 controls the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25 a plurality of times (k times) in the inspection / acceleration torque control process, so that the label roll R2 During inspection, the linear velocity V2 is accelerated stepwise, and finally the inspection / linear velocity V2 is set to the inspection / target linear velocity value Vx.
When the inspection / line acceleration pattern table TB2 is created (set), the control unit 37 stores the inspection / line acceleration pattern table TB2 and the inspection / line acceleration value ak = (Vx / Sk) in the storage unit 35 ( FIG. 15).

The control means 37 creates (sets) a reference / linear velocity pattern table TB5 as shown in FIG.
The control unit 37 reads out the reference / target linear velocity value Vy, the first to third target linear velocity values Vy1, Vy2, Vy3 and the reference / acceleration time Sr from the storage unit 35, and outputs the reference / target linear velocity value Vy and each target. A reference / linear velocity pattern table TB5 is created (set) based on the linear velocity values Vy1, Vy2, Vy3 and the reference / acceleration time Sr.
In FIG. 20, the reference / linear velocity pattern table TB5 has a linear velocity value V (m / s) on the vertical axis A (Y axis / linear velocity axis) and a position pulse on the horizontal axis B (X axis / pulse number axis). It is a table in which the pulse number Q of qf is taken and the relationship between the linear velocity value V and the pulse number Q is shown by a linear function linear velocity pattern δ5.
The linear velocity pattern δA has an acceleration linear velocity pattern δ5 as shown in FIG.
The acceleration linear velocity pattern δ5 is set to a linear function [V = (Vy / Sr) × Q] of an inclination (gradient) ar = (Vy / Sr). The reference / target linear velocity value Vr is, for example, the inspection / target linear velocity value Vx (Vy = Vx), and the reference / acceleration time Sr is, for example, the inspection / acceleration time Sk (Sr = Sk). . Further, the slope (gradient) ar = (Vy / Sr) of the linear function is a linear acceleration value (m / s ² ) that accelerates the linear velocity of the label sheet RS (hereinafter referred to as “linear acceleration value ar”). .
As shown in FIG. 20, the linear velocity pattern δA has a plurality of constant velocity linear velocity patterns δ6, δ7, and δ8 having different target linear velocities.
The constant velocity linear velocity pattern δ6 has the first target linear velocity value Vy1, intersects and continues at the linear velocity value Vy1 of the acceleration linear velocity pattern δ5, and is parallel to the pulse number axis B (horizontal axis / X axis). Then, the constant velocity value Vy1 is indicated by the inclination (gradient) αr = 0 (zero). In the constant velocity linear velocity pattern δ6, the first target linear velocity value Vr1 is set to a constant velocity value (Vy1 <Vy) slower than the reference / target linear velocity value Vy (inspection / target linear velocity value Vx).
The constant velocity linear velocity pattern δ7 has a second target linear velocity value Vr2, intersects and continues at the linear velocity value Vy2 of the acceleration linear velocity pattern δ5, and has a pulse number axis B (horizontal axis / X axis) and a constant velocity. A constant velocity value Vy2 is indicated by an inclination (gradient) αr = 0 (zero) in parallel with the fast linear velocity pattern δ6. The second target linear velocity value Vr2 is faster than the first target linear velocity value Vy1 (Vy2> Vr1), and is a constant velocity value (Vy2 <Vy) slower than the reference / target linear velocity value Vy (during inspection / target linear velocity value Vx). ).
The constant velocity linear velocity pattern δ8 has a third target linear velocity value Vy3, and is continuously intersected by the linear velocity value Vy3 of the acceleration linear velocity pattern δ5, and the pulse number axis B (horizontal axis / X axis) and each A constant velocity value Vy3 having an inclination (gradient) ar = 0 (zero) is shown in parallel with the constant velocity linear velocity patterns δ6 and δ7. The third target linear velocity value Vy3 is faster than the first and second target linear velocity values Vy1 and Vy2 (Vy3>Vy2> Vy1) and slower than the reference / target linear velocity value Vy (during inspection / reference target value Vx). Set to velocity value Vy3.
Further, as shown in FIG. 20, the control means 37 divides the pulse number axis B (pulse number axis / horizontal axis) into a plurality of pulse number intervals e1, e2, e3,. The pulse number section is divided into, for example, first to third pulse number sections e1, e2, and e3, and the first pulse number section e1 is in the range of pulse number: 0 (zero) to 100, and the second pulse number. The section e2 is divided into a range of 101 to 200 pulses, and the third pulse number section e3 is divided into a number of pulses of 201 or more (for example, a range of 201 to 300).
Further, the control unit 37 reads the reference / target linear velocity value Vy and the reference / deceleration time Sv from the storage unit 35, and based on the reference / target linear velocity value Vy and the reference / deceleration time Sv, as shown in FIG. The deceleration linear velocity pattern δ9 is set.
As shown in FIG. 20, the deceleration linear velocity pattern δ9 is set to a linear function [V = − (Vr / Sv) × Q] of an inclination (gradient) av = − (Vy / Sv). The reference / target linear velocity value Vr is, for example, the inspection / target linear velocity value Vx (Vy = Vx), and the reference / deceleration time Sv is, for example, the inspection / deceleration time Sg (Sv = Sg). Further, the slope (gradient) av = − (Vr / Sv) of the linear function is a linear acceleration value (m / s ² ) that reduces the linear velocity of the label sheet RS (hereinafter referred to as “linear acceleration value av”). ).
The control unit 37 stores the reference / linear velocity pattern table TB5 (the linear velocity patterns δ5 to δ9 and the linear acceleration values ar and av) in the storage unit 35.

  As shown in FIG. 15, the control unit 37 is connected to each button 20, 21, 22 (each switch) of the operation unit 12.

  The control means 37 is connected to the unwinding motor 25 and the winding motor 26 as shown in FIG.

  As shown in FIG. 15, the control means 37 includes a label position pulse counter 42, a label rotation angle pulse counter 43, an unwinding rotation angle pulse counter 44, a winding rotation angle pulse counter 45, a control start timing timer 46, and a measurement timing timer. 47.

As shown in FIG. 15, the control unit 37 is connected to the unwinding side detection encoder 27, and counts (counts) the pulse q <b> 2 of the unwinding side detection encoder 27 with the unwinding rotation angle pulse counter 44.
As shown in FIG. 15, the control unit 37 is connected to the winding side detection encoder 28, and counts the pulse q <b> 1 of the winding side detection encoder 28 with the winding rotation angle pulse counter 45.
As shown in FIG. 15, the control unit 37 is connected to the label position detection encoder 29 and counts (counts) the pulse qf of the label position detection encoder 29 with the label position counter 42 and the rotation angle pulse counter 43.

The control means 37 measures the control start time Sx by the control start time timer 46. When measuring the control start time Sx, the control unit 37 resets the control start time timer 46 (clears to zero), and measures a new control start time Sx by the measurement start time timer 46.
The control means 37 measures the measurement time ds (measurement time ds <control start time Sx) with the measurement time timer 47. When measuring the measurement time ds, the control means 37 resets the measurement time timer 47 (clears to zero).

  As shown in FIG. 15, the control means 37 is connected to the projector 18 and the light receiver 19 (label detection means 9).

■ Label inspection mode, defective label replacement mode, and rewind mode (label inspection preparation mode)
Next, the label inspection mode, defective label replacement mode, and rewind mode (label reinspection resume preparation mode) will be described with reference to FIGS.

As shown in FIGS. 6 to 10 and 14, a person who performs a label inspection (hereinafter referred to as “inspector”) holds the label roll R2 on the unwinding rotation shaft 2 and winds the core tube HP. It is held on the take-off rotating shaft 3.
The inspector pulls out the label sheet RS from the label roll R1 and winds it around the guide rollers 4-7.
Subsequently, as shown in FIG. 13, the inspector attaches the sheet end Sb side of the label sheet TS (long table sheet DS) to the core tube HP of the winding rotation shaft 3.

  As shown in FIG. 15, the inspector operates the input unit 61 to generate a torque calculation constant CS, a table creation constant CT, a correction torque value table TB1, a correction torque value function fM (rev), and reference label image data MSD ( Color image data), exchange distance pulse number εq, label length pulse number βq, and allowable pulse number σq are input and output to the controller 30.

In the control device 30, the control means 37 includes a torque calculation constant CS, a table creation constant CT, a correction torque value table TB1, a correction torque value function fM (rev), reference label image data MSD, exchange distance pulse number εq, label length pulse. When the number βq and the allowable number of pulses σq are input, they are stored in the storage means 35.
Further, the control unit 37 creates (sets) the inspection / linear acceleration pattern table TB2 and the reference / linear velocity pattern table TB5 based on the table creation constant CT, and stores them in the storage unit 35.

1. Label inspection mode:
Hereinafter, the label inspection mode will be described with reference to FIGS. 1 to 19, 21 and 22, and FIGS. 33 to 46.

As shown in FIG. 15, the inspector operates the inspection start / inspection restart button 20 (inspection start / inspection restart switch) to output an inspection start signal to the control means 37.
Thereby, the control means 37 sets the label inspection mode, the inspected label discrimination processing, the label position acquisition processing, the inspection / motor start processing, the inspection / acceleration torque control processing, the inspection / constant speed torque control processing. And, the inspection / deceleration torque control process is executed.

<1> Inspected label discrimination process (FIGS. 33 and 34: ST201 to ST209)
The inspected label discrimination process for discriminating the quality of the inspected label KS will be described.

  When the control means 37 receives the inspection start signal (FIG. 33: ST201, Yes), the imaging means 8 (light source 16 and image sensor 17), label detection means 9 (light projector 18 and light receiver 19), unwinding side detection encoder 27, the winding side detection encoder 28 and the label position detection encoder 29 are activated (FIG. 33: ST202).

Subsequently, the control means 37 normally rotates the motor shaft 25A of the unwinding motor 25 (in the direction of arrow A in FIG. 10), and rotates forward the motor shaft 26A of the winding motor 26 (in the direction of arrow A in FIG. 10). (FIG. 33: ST203).
At this time, the control means 37 executes the inspection / motor starting process to start the unwinding motor 25 and the take-up motor 26 in the normal direction, and performs the inspection / acceleration torque control process and the inspection / constant speed torque control. The process is executed to control (acceleration control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 and to control (torque control) the rotational torque of the motor shaft 26A of the winding motor 26. .

When the motor shafts 25A and 26A of the motors 25 and 26 are rotated forward, the unwinding rotation shaft 2 and the winding rotation shaft 3 are also rotated forward, and the label sheet RS is transferred from the label roll R2 to the guide roller 4 side (core pipe HP). Side / winding rotary shaft 3 side).
As shown in FIGS. 6 to 10, the label sheet RS is conveyed from the label roll R2 to the guide roller 4 side. The label sheet RS is conveyed along the conveyance path C1 from the label roll R2 toward the guide roller 4, and is conveyed along the conveyance path C2 from the guide roller 4 toward the guide roller 5. The label sheet RS is transported from the guide roller 5 toward the guide roller 6 along the transport path C3, and is transported from the guide roller 6 toward the guide roller 7 along the transport path C4. Further, the label sheet RS is conveyed from the guide roller 7 to the unwinding rotation shaft 3 through the conveyance path C5, and is wound around the core tube HP as a winding roll R1.
The label sheet RS is transported between the projector 18 and the light receiver 19 (label detection means 9) in the transport path C3, transported between the image sensor 17 (light source 16) and the guide roller 6, and defective in the transport path C4. It is transported to the front side of the label exchange station 10 (exchange surface 10A).
When the label sheet RS is conveyed from the label roll R2 to the core tube HP (winding rotation shaft 3), the guide rollers 4 to 7 are rotated by the label sheet RS to guide the label sheet RS to the conveyance paths C1 to C5. (Guide)

  The image sensor 17 captures a color image of the label sheet RS including the inspection label RS having the conveyance number 1 (N = 1) with respect to the label sheet RS conveyed between the guide rollers 6, and Label sheet image data RSD including the inspection label KS is output to the image processing means 36. The image sensor 17 continuously captures color images of the label sheets RS (each inspected label KS) conveyed between the guide rollers 6, and continuously outputs the label sheet image data RSD including each inspected label KS. And output to the image processing means 36.

Upon receiving the label sheet image data RSD (color image data), the image processing means 36 extracts the inspected label image data KSD of the inspected label KS with the transport number 1 (N = 1), and receives the inspected label image data KSD with the transport number 1. Inspection label image data KSD (color image data) is output to the control means 37. The image processing unit 36 outputs the label sheet image data RSD to the image display unit 11. The image display means 11 displays the label sheet image data RSD.
The image processing means 36 extracts each inspected label image data (transport number N = 1, 2, 3,..., N) from the label sheet image data RSD, and controls each inspected label image data KSD. To 37.

  When the first inspected label image data KSD is input (FIG. 33: ST204), the control means 37 reads the reference label image data MSD from the storage means 35 (FIG. 33: ST205).

Subsequently, the control unit 37 compares the inspected label image data KSD of the transport number 1 (N = 1) and the reference label image data MSD, and determines whether the inspected label KS of the transport number 1 is good or bad (“non-defective product: pass”, "Defective product: rejected") is determined (FIG. 34: ST206).
As shown in FIG. 16, the control unit 37 extracts the three primary color values Ap (p = 1, 2, 3,..., P) for each pixel Gp from the reference label image data MSD. The three primary color values Ap are R values (red: red), G values (green: green), and B values (blue: blue) (RGB values). The three primary colors Ap are designated by numerical values of 0 to 254 (255 gradations) (the same applies hereinafter).
As shown in FIG. 18, the control means 37 extracts the three primary color values Ap for each pixel Gp from the inspected label image data KSD of the transport number 1.
Subsequently, the control means 37 determines “impossible” and “possible” for the inspected label image data KSD and the reference label image data MSD of the transport number 1 for each pixel Gp in the same column s and the same row t.
For example, for each pixel Gp of the reference label image data MSD, the control unit 37 sets an allowable range [Ap (min) to Ap (max)] for the three primary color values Ap, and the inspection label image data KSD of the conveyance number 1 is set. If the three primary color values Ap of each pixel Gp are within the allowable range [Ap (min) to Ap (max)], it is determined as “possible”. Further, the control means 37 determines “impossible” when the three primary color values Ap of each pixel Gp of the inspection label image data KSD of the conveyance number 1 are outside the allowable range [Ap (min) −Ap (max)]. .
When the continuous number of “impossible” pixels Gp is greater than or equal to the set number for the inspected label image data KSD of transport number 1, the control means 37 sets the inspected label KS of transport number 1 as “defective product: rejected”. If the number is less than the set number, the inspected label KS of the conveyance number 1 is determined as “non-defective product: pass”.

The control means 37 discriminates the inspected label KS “non-defective product: passed” with the transport number (N = 1) (FIG. 34: ST207, No), and the inspected label image data KSD with the transport number 2 (N = 2). When input (FIG. 33: ST204), the reference label image data MSD is read from the storage means 35 (FIG. 33: ST205).
The control means 37 compares the inspected label image data KS of the transport number 2 and the reference label image data MSD to determine whether the inspected label KSD of the transport number 2 is good (“good: pass”, “defective: fail”). ) Is determined (FIG. 34: ST206).
As described above, the control unit 37 repeatedly executes ST204 to ST207 in FIGS. 33 and 34, thereby determining whether each inspection label KS of the transport number N is good (“good: pass”, “defective: fail”). )).

When the control means 37 determines that the inspected label “defective product: rejected” of the transport number N (FIG. 34: Yes at ST207), the control means 37 stores the transport number N in the storage means 35 as the defective / inspected label NKS (FIG. 34). 34: ST208).
Further, when the control means 37 determines that the label to be inspected with the conveyance number N is “defective product: rejected” (FIG. 34: ST207, Yes), it outputs a rotation stop command to the winding motor 25 and the winding motor 26. Then, the rotation of the motor shaft 25A of the winding motor 25 is stopped, and the rotation of the motor shaft 26A of the winding motor 26 is stopped (FIG. 34: ST209).
At this time, the control means 37 executes inspection / deceleration torque control processing to control (deceleration control) the positive rotation speed (normal rotation speed) of the motor shaft 25A of the unwinding motor 25, and the winding motor 26. The rotational torque of the motor shaft 26A is controlled (torque control).

  If the inspection start signal is not input (FIG. 33: ST201, No), the control unit 37 does not determine whether the inspected label KS is good or bad.

<2> Label position acquisition processing (FIGS. 35 and 36: ST221 to ST229)
Processing for acquiring the position of each inspection label KS (label position pulse number Xqn) will be described.

The control means 37 acquires the label position from the start of rotation of the motor shafts 25A and 26A of the motors 25 and 26 for each inspected label KS of the conveyed label sheet RS in the label inspection mode.
The label position of each inspected label KS is the number of pulses of the label position detection encoder 29 (label position pulse number Xqn).
Further, the control means 37 acquires the total number Xq of position pulses of the label position inspection encoder 29 between the start of rotation and the stop of rotation of the motor shafts 25A and 26B of the motors 25 and 26.
The control means 37 executes the acquisition of the label position (label position pulse number Xqn) and the position pulse total number Xq in parallel with the inspected label pass / fail determination process.

  The control means 37 includes a transport number N (N = 1, 2, 3,..., N) for each inspected label KS, and a detection number n (n = 1, 2, 3,..., N) for the number Xqn of label position pulses. And “N → 0 (N = 0)”, “n → 0 (n = 0)”, and “Xq → 0 (Xq = 0)” are set (FIG. 35: ST221).

When the motor shafts 25A, 26A of the motors 25, 26 are rotated forward (FIG. 35: ST222), the control means 37 inputs the pulse qf of the label position detection encoder 29.
At this time, the control means 37 executes the inspection / motor starting process to start the unwinding motor 25 and the take-up motor 26 in the normal direction, and performs the inspection / acceleration torque control process and the inspection / constant speed torque control. The process is executed to control (acceleration control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 and to control (torque control) the rotational torque of the motor shaft 26A of the winding motor 26. .
The label position detection encoder 29 outputs a pulse qf to the control means 37 when the guide roller 6 rotates forward as the motor shafts 25A and 26A of the motors 25 and 26 rotate forward.

  When the control means 37 receives the pulse qf from the label position detection encoder 29, the label position counter 42 counts the pulse qf (FIG. 35: ST223). The label position counter 42 adds and counts the pulse qf to obtain the position pulse total number Xq.

  The label detecting means 9 detects the label end KSa of each inspected label KS for the sheet label KS transported between the projector 18 and the light receiver 19, and outputs a label detection signal to the control means 37. As shown in FIG. 21, the label detecting means 9 irradiates the label sheet RS (each inspected label KS) conveyed with the detection light from the projector 18, and based on the transmitted light received by the light receiver 19, the label to be inspected. The label edge KSa of KS is detected. In the label detection means 9, the light receiver 19 transmits transmitted light that passes through the long base sheet DS with the attachment interval HG [see FIG. 21A] and transmitted light that passes through the label end KSa of the label KS to be inspected [ The label end KSa of the label KS to be inspected is detected based on the difference in the amount of transmission from that shown in FIG.

When the control means 37 receives the label detection signal (FIG. 35: ST224, Yes), “N → 0 + 1 (N = 1)” and “n → 0 + 1 (n = 1)” for the transport number N and the detection number n. (FIG. 35: ST225).
The control means 37 reads the position pulse total number Xq from the label position pulse counter 42, and sets the read position pulse total number Xq as the label position pulse number Xq1.
Subsequently, the control means 37 stores the transport number 1 (N = 1) and the label position pulse number Xqn (n = 1) in the storage means 35 (FIG. 35: ST226).
The control unit 37 stores the label position pulse number Xqn (n = 1) in the storage unit 35 in association with the transport number N (N = 1).
As a result, in the inspected label KS having the transport number 1 (N = 1), the label position becomes the label position pulse number Xq1. Note that the inspection label KS of the conveyance number 1 is the inspection label KS that first passes between the projector 18 and the light receiver 19 from the start of rotation of the motor shafts 25A and 26A of the motors 25 and 26.

Subsequently, the control means 37 inputs a label detection signal (FIG. 35: ST224) without outputting a rotation stop command to each of the motors 25 and 26 (FIG. 36: ST227, No). For n, “N → 1 + 1 (N = 2)” and “n → 1 + 1 (n = 2)” are set (FIG. 35: ST225).
The label detection means 9 detects the inspected label KS (label end KSa) of the transport number 2 (N = 2) and outputs a label detection signal to the control means 37.
Further, when the label detecting signal is inputted (FIG. 35: ST224, Yes), the control means 37 reads the position pulse total number Xq from the label position counter 42, and the read position pulse total number Xq is read as the label position pulse number Xq2 (Xq2>). Xq1).
Subsequently, the control means 37 stores the transport number N (N = 2) and the label position pulse number Xqn (n = 2) in the storage means 37 (FIG. 35: ST226).
The control unit 37 stores the label position pulse number Xq2 in the storage unit 35 in association with the transport number N2.
Thereby, in the inspected label KS of the conveyance number 2 (N = 2), the label position becomes the label position pulse number Xq2.

  The control means 37 repeatedly executes ST224 to ST227 of FIGS. 35 and 36, whereby the number of label position pulses for each inspected label KS of the transport number N (N = 1, 2, 3,..., N). Xqn (n = 1, 2, 3,... N) is acquired, and the label position pulse number Xqn is stored in the storage means 35 in association with the transport number N.

When the control means 37 outputs a rotation stop command to the motors 25 and 26 (FIG. 36: ST227, Yes), the control means 37 stops the normal rotation of the motor shafts 25A and 25B of the motors 25 and 26 (FIG. 36: ST228).
At this time, if the control means 37 determines that the inspected label KS is “defective product: rejected” (FIG. 34: Yes, ST207), it outputs a rotation stop command to each of the motors 25 and 26.
Further, the control means 37 executes inspection / deceleration torque control processing to control (deceleration control) the normal rotational speed (normal rotational speed) of the motor shaft 25A of the unwinding motor 25 and to control the winding motor 26. The rotational torque of the motor shaft 26A is controlled (torque control).

Subsequently, the control means 37 reads the position pulse total number Xq from the label position pulse counter 42, and stores the read position pulse total number Xq in the storage means 35 (FIG. 36: ST229).
The label position pulse counter 42 counts the pulse qf from the start of rotation of the guide roller 6 to the stop of rotation as the total number of position pulses Xq. The label position pulse counter 42 counts the total number of position pulses Xq (Xq → Xq + 1) by forward rotation of the guide roller 6 (forward rotation of the motors 25 and 26) or reverse rotation of the guide roller 6 (respective motors). The total number of position pulses Xq is subtracted and counted (Xq → Xq-1).

Further, when the label detection signal is not input (FIG. 35: ST224, No), the control means 37 stops the rotation of the motor shafts 25A, 26A of the motors 25, 26 (FIG. 36: ST228), and the total number of position pulses Xq Is stored in the storage means 35 (FIG. 36: ST229).
When the label sheet RS of the label roll R2 is wound around the take-up roll R1, a label-free region S is disposed between the light projector 18 and the light receiver 19 as shown in FIG. Thereby, the label inspection means 9 does not output a label inspection signal to the control means 37.

(2) Next, in the label inspection mode, the inspection / motor start processing, the inspection / acceleration torque control processing, the inspection / constant speed torque processing, and the inspection / deceleration torque control processing will be described.

<A> Inspection / Motor start-up process (FIG. 37: ST240 to ST243)
When the inspection start signal is input (FIG. 37: ST240, Yes), the control means 37 sets “k → 0 (zero)” and “m → 0 (zero)” for the control counts k and m (FIG. 37). : ST241).
Subsequently, the control unit 37 outputs a forward rotation starting bias voltage to the unwinding motor 25 and the winding motor 26 (FIG. 37: ST242).
As a result, the motor shaft 25A of the unwinding motor 25 and the motor shaft 26A of the winding motor 26 are rotated forward against the static friction torque by the positive rotation starting bias voltage.

When the guide roller 6 is rotated forward along with the forward rotation of the motors 25 and 26, the label position detection encoder 29 outputs a pulse qf to the control means 37. The control means 37 counts (adds) the pulse qf from the label position pulse counter 42 as the position pulse total number Xq.
Along with the normal rotation of the motors 25 and 26, the label sheet RS is sent out from the label roll R2, conveyed by the guide rollers 4 to 7, and taken up as the take-up roll R1.

When the control unit 37 detects the conveyance (start of conveyance) of the label sheet RS (FIG. 37: Yes, ST243, Yes), the control unit 37 executes an inspection / acceleration torque control process and an inspection / constant speed torque control process.
The control means 37 detects the start of conveyance of the label sheet RS by inputting the pulse qf of the label position detection encoder 29.

  If the control unit 37 does not detect the conveyance (start of conveyance) of the label sheet RS (FIG. 37: ST243, NO), it continues to output the positive rotation starting bias voltage to the motors 25, 26 (FIG. 37: ST242).

<B> Acceleration torque control process during inspection (FIGS. 38 to 40: ST253 to ST268)
The control means 37 controls (acceleration control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and the label roll R2 is inspected / linear speed V2 is inspected / target linear speed value Vx. Accelerate to.
The control means 37 controls the rotational torque of the motor shaft 26A of the winding motor 26 to the inspection / control torque value Tm1 in parallel with the acceleration control of the winding motor 25. The inspection / linear velocity V2 (inspection / target linear velocity value Vx) is a feeding speed of the label sheet RS that is fed from the label roll R2 and wound as the winding roll R1.

When detecting the conveyance (start of conveyance) of the label sheet RS (FIG. 38: ST253, Yes), the control unit 37 sets “k → 0 + 1 (k = 1)” for the control count k (FIG. 38: ST254). .
The continuation control means 37 reads the first (K = 1) section linear velocity pattern δ21 from the inspection / linear acceleration pattern table TB2 based on the number of times of control (k = 1), and the inspection / linear acceleration value. ak [ak = (Vx / Sk)] is read from the storage means 35 (FIG. 38: ST255).

The control means 37 measures the control start time Sx with the control start time timer 46 and measures the measurement time ds with the measurement time timer 47.
The control means 37 counts (adds and counts) the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 simultaneously with the start of the measurement time ds, and outputs the pulse q1 to the winding rotation angle pulse counter 45. Count (addition count) as the number of winding rotation pulses Xqt.

Subsequently, when measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the winding rotation pulse number Xqt from the winding rotation angle pulse counter 45.
When the control unit 37 reads the label rotation pulse number Xqf and the winding rotation pulse number Xqt, the control unit 37 resets (clears to zero) each of the pulse counters 43 and 45.

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 35 and calculates the inspection time / label sheet delivery amount dL for the measurement time ds based on the one-pulse distance value Lr and the label rotation pulse number Xqf. To do. The label sheet delivery amount dL is the amount of label sheet delivered from the label roll R2 to the take-up roll R1 at the measurement time ds.
At the time of inspection, the label sheet delivery amount dL (m) is dL = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

The control unit 37 reads the one-pulse rotation angle θ1a from the storage unit 35, and based on the one-pulse rotation angle θ1a and the number of winding rotation pulses Xqt, the motor shaft 26A (winding roll) of the winding motor 26 for the measurement time ds. At the time of inspection R1), the rotation angle dθ1 is calculated.
The inspection time / rotation angle dθ1 (rad) is dθ1 = θ1a × Xqt, where 1 pulse rotation angle θ1a and winding rotation pulse number Xqt.
Further, the control means 37 calculates the outer diameter radius r1a during the inspection of the winding roll R1 for the measurement time ds based on the inspection time / label sheet delivery amount dL and the inspection time / rotation angle dθ1.
The inspection / outer radius r1a (m) is r1a = dL / dθ1 when the inspection / label sheet delivery amount dL and the inspection / rotation angle dθ1 are set.

Subsequently, the control unit 37 reads the inspection / linear acceleration value ak from the storage unit 35, and the winding motor 26 for the measurement time ds based on the inspection / linear acceleration value ak and the inspection / external radius r1a. When the motor shaft 26A (winding roll R1) is inspected, the angular acceleration α1 is calculated (FIG. 38: ST256).
Inspection time and angular acceleration α1 (rad / s ² ) is calculated by the equation (B).

Further, the control means 37 calculates the inspection time / rotation speed W1a of the motor shaft 26A (winding roll R1) of the winding motor based on the inspection time / rotation angle dθ1 and the measurement time ds (FIG. 38: ST256). .
At the time of inspection, the rotation speed W1a (rpm) is calculated by the equation (C).

Subsequently, the control means 37 calculates the inspection time / control torque value Tm1 for the measurement time ds based on the inspection time / angular acceleration α1 and the inspection time / rotation speed W1a (FIG. 38 and FIG. 39: ST257- ST262).
The inspection / control torque value Tm1 (N · m) includes the inspection / correction torque value Ta1, the inspection / tension generation torque value Tb1, the inspection / winding roll acceleration / deceleration torque value Tc1, and the winding motor acceleration / deceleration torque value. It consists of Td1 and winding roll friction torque value Te1.

■ During inspection / correction torque value Ta1 (Nm)
The control unit 37 reads the correction torque value function fM (rev) from the storage unit 35 and calculates the inspection / correction torque value Ta1 based on the inspection / rotation speed W1a and the correction torque value function fM (rev) ( FIG. 38: ST257).
The inspection / correction torque value Ta1 (N · m) is calculated by substituting the inspection time / rotation speed W1a for “W” in the equation (A) of the correction torque value function fM (rev).

■ Inspection ・ Tension generation torque Tb1 (N ・ m)
The control unit 37 reads the target tension value F from the storage unit 35, and based on the target tension value F and the inspection / outer radius radii r1a (the outer radius of the winding roll R1), the inspection / tension generation torque value Tb1. Is calculated (FIG. 38: ST258).
The inspection and tension generation torque value Tb1 (N · m) is calculated by the equation (1).

■ During inspection / winding roll acceleration / deceleration torque value Tc1 (N · m)
First, the control means 37 reads the winding roll density ρ, the winding roll width h, and the inner radius r0 of the winding roll R1 from the storage means 37, and takes up the winding roll density ρ, the winding roll width h, and the winding roll. Based on the inner radius r0 of R1, the time of inspection / label sheet delivery amount dL and the time of inspection / rotation angle dθ1, the moment of inertia Ia of the winding roll shaft at the time of inspection is calculated.
At the time of inspection, the inertia moment Ia (kg · m ² ) of the take-up roll shaft is calculated by the equation (3).

Subsequently, the control means 37 reads the inertia moment I0a of the rotating body excluding the unwinding motor from the storage means 35, and based on the inertia moments Ia, I0a and the inspection / angular acceleration α1, Deceleration torque value Tc1 is calculated (FIG. 38: ST259).
The inspection / winding roll acceleration / deceleration torque value Tc1 (N · m) is calculated by the equation (2).

■ During inspection / winding motor acceleration / deceleration torque value Td1 (Nm)
The control means 37 reads the inertia moment M0a of the winding motor 26 from the storage means 35, and calculates the inspection / winding motor acceleration / deceleration torque value Td1 based on the inertia moment M0a and the inspection / angular acceleration α1 (FIG. 39: ST260).
The inspection / winding motor acceleration / deceleration torque value Td1 (N · m) is calculated by the equation (4).

■ During inspection / winding roll friction torque value Te1 (Nm)
The control means 37 reads the winding roll density ρ, the winding roll width h, the initial friction torque value T0a of the winding motor 26 and the friction coefficient μ from the storage means 35, and takes up the winding roll density ρ, the winding roll width h, Based on the initial friction torque value T0a, the friction coefficient μ, and the inspection and outer diameter radius r1a (the outer diameter radius of the winding roll R1), the inspection and winding roll friction torque value Te1 is calculated (FIG. 39: ST261). .
The inspection and winding roll friction torque value Te1 (N · m) is calculated by the equation (5).

■ During inspection / control torque value Tm1 (N · m)
Based on the calculated torque values Ta1, Tb1, Tc1, Td1, and Te1, the control means 37 calculates the inspection / control torque value Tm1 (FIG. 39: ST262).
For the inspection / control torque value Tm1, the torque values Ta1 to Te1 are calculated (added) by the equation (6).

Subsequently, the control means 37 controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and at the control time Sx, the inspection time / linear speed V2 of the label roll R2 is the first. Is accelerated from the linear velocity value V = 0 (= 0) to the linear velocity value V = (Vk / k) along the slope (gradient) ak of the section linear velocity pattern δ21 (FIG. 39: ST263).
At this time, the control unit 37 calculates (or converts to an acceleration voltage value) an acceleration voltage value along the slope (gradient) αk of the first (k = 1) section linear velocity pattern δ21, and controls the control time St. , The acceleration voltage is output to the unwinding motor 25 to control (acceleration control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25.
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26, and controls the rotational torque of the motor shaft 26A of the winding motor 26 to the inspection / control torque value Tm1 during the control time St. (FIG. 39: ST264).
At this time, the control means 37 calculates (converts to an acceleration torque voltage value) an acceleration torque voltage value corresponding to the inspection / control torque value Tm1, and transmits the acceleration torque voltage to the take-up motor 26 during the control time St. The rotation torque of the motor shaft 26A of the winding motor 26 is controlled.

When measuring the control start time Sx (FIG. 39: Yes), the control means 37 measures the measurement time ds with the measurement time timer 47.
The control means 37 counts (adds and counts) the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 simultaneously with the start of the measurement time ds, and the pulse q2 at the unwinding rotation angle pulse counter 44. Is counted (added count) as the number of unwinding rotation pulses Xqd.

  When measuring the measurement time ds, the control means 37 calculates the inspection time / linear velocity V2 of the label roll R2 (FIG. 39: ST266).

  When measuring time ds, the control means 37 reads the unwinding rotation pulse number Xqd from the unwinding rotation angle pulse counter 44 and reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43. When the control means 37 reads out the unwinding rotation pulse value Xqd and the label rotation pulse number Xqf, the control means 37 resets the pulse counters 44 and 45 (clears to zero).

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 35 and calculates the inspection time / label sheet delivery amount dL based on the one-pulse distance value Lr and the label rotation pulse number Xqf.
At the time of inspection, the label sheet delivery amount dL (m) is dL = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

The control means 37 reads the 1-pulse rotation angle θ2a from the storage means 35, and checks the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the 1-pulse rotation angle θ2a and the unwinding rotation pulse number Xqd. The rotation angle dθ2 is calculated.
At the time of inspection, the rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, where 1 pulse rotation angle θ2a and unwinding rotation pulse number Xqd.

Subsequently, the control unit 37 calculates an outer diameter radius r2a (r2a <r2) of the label roll R2 at the time of inspection based on the inspection / label sheet delivery amount dL and the inspection / rotation angle dθ2.
The inspection / outer radius r2a (m) is r2a = dL / dθ2 when the inspection / label sheet delivery amount dL and the inspection / rotation angle dθ2 are set.

The control unit 37 calculates the inspection time / linear velocity V2 of the label roll R2 based on the inspection time / rotation angle dθ2, the inspection time / outer diameter radius r2a, and the measurement time ds (FIG. 39: ST266).
The inspection time / linear velocity V2 (m / s) is calculated by the equation (D).

  Subsequently, the control unit 37 reads the inspection / target linear velocity value Vx from the storage unit 35 (FIG. 40: ST267), and compares the inspection / linear velocity V2 with the inspection / target linear velocity value Vk.

If the inspection / linear velocity V2 is the inspection / target linear velocity value Vk (V2≈Vx) (FIG. 40: ST268, Yes), the control means 37 executes the inspection / constant speed torque control process.
When the inspection / linear velocity V2 is not the inspection / target linear velocity value Vk (V2 <Vx) (FIG. 40: ST268, No), the control means 37 sets “k → 1 + 1 (k = 2)” Is set (FIG. 38: ST254).
Subsequently, the control means 37 reads the second (k = 2) section linear velocity pattern δ22 from the inspection / line acceleration pattern table TB2 based on the number of times of control (k = 2), and the inspection time / line. The acceleration value αk is read from the storage means 35 (FIG. 38: ST255).
The control means 37 executes ST256 of FIG. 38 based on the inspection time / linear acceleration value ak, and for the measurement time ds, the inspection time / outer diameter radius r1a of the winding roll R1, the winding motor 26 motor shaft 2A. In the inspection, the angular acceleration α1 and the inspection time of the motor shaft 26A of the winding motor 26 are calculated.
Subsequently, the control means 37 performs ST257 in FIGS. 38 and 39 based on the inspection / rotational speed W1a, the inspection / angular acceleration α1, and the inspection / outer radius r1a (outer radius of the winding roll R1). To ST261, during inspection / correction torque value Ta1, during inspection / tension generation torque value Tb1, during inspection / winding roll acceleration / deceleration torque value Tc1, during inspection / winding motor acceleration / deceleration torque value Td1, and inspection The hour / winding roll friction torque value Te1 is calculated.
The inspection / correction torque value Ta1 is calculated from the correction torque function fM (rev) and the inspection / rotation speed W1a, and the inspection / tension generation torque value Tb1 is calculated by the equation (1). During inspection / winding roll acceleration / deceleration torque value Tc1 is calculated by Equation (2) and Equation (3), and during inspection / winding motor acceleration / deceleration torque value Td1 is calculated by Equation (4), and during inspection -Winding roll friction torque value Te1 is calculated by Formula (5).
The control means 37 calculates the inspection / control torque value Tm1 according to the equation (6) (FIG. 39: ST262).

Subsequently, the control means 37 controls (acceleration control) the positive rotation speed (the number of positive lines) of the motor shaft 25A of the unwinding motor 25, and sets the label roll R2 inspection time / line speed V2 to the second ( The linear velocity value V = ((Vx / k)) to the linear velocity value V = [(2 × Vk) / along the section linear velocity pattern δ22 [slope (gradient): ak = (Vx / Sk)] of k = 2). k] (FIG. 39: ST263).
At this time, the control means 37 calculates (or converts to an acceleration voltage value) the acceleration voltage value along the slope (gradient) ak of the second (k = 2) section linear velocity pattern δ22, and controls the control time St. , An acceleration voltage is output to the unwinding motor 25 to control (acceleration control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25.
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26, and controls the rotational torque of the motor shaft 26A of the winding motor 26 to the inspection / control torque value Tm1 during the control time St. (FIG. 39: ST264).
At this time, the control means 37 calculates an acceleration torque voltage value corresponding to the inspection / control torque value Tm1 (or converts it into an acceleration torque voltage value), and transmits the acceleration torque voltage to the take-up motor 26 during the control time St. The rotation torque of the motor shaft 26A of the winding motor 26 is controlled.

In this way, the control means 37 continues until ST254 to ST267 in FIGS. 38 to 40 until the label roll R2 is inspected / linear velocity V2 is accelerated to the inspection / target linear velocity value Vx (FIG. 40: ST268, Yes). Is repeatedly executed.
At this time, the control means 37 determines the k-th (k = 1, 2, 3,...) Section linear velocity pattern δ2k based on the control count k (k = 1, 2, 3,. The linear acceleration pattern table TB2 is read out, and the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25 is controlled. Control (acceleration) from linear velocity value V = [(k−1) × Vx / k] to linear velocity value V = [(k × Vx) / k] along the slope (gradient) ak of the section linear velocity pattern δ2k. Control.
That is, the control means 37 controls the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwind motor 25 a plurality of times, and the label roll R2 inspection time / line speed V2 is set to the section linear speed for each control time. .., Δ2k is gradually accelerated along the gradient (gradient) ak, and finally the inspection / linear velocity V2 is set to the inspection / target linear velocity value Vx.
Further, the control means 37 calculates the inspection / control torque value Tm1 in each control cycle, and controls the rotational torque of the motor shaft 26A of the winding motor 26 to the inspection / control torque value Tm1.

  If it is not the control start time Sx (FIG. 39: ST265, No), the control means 37 repeatedly executes ST263 and ST264 of FIG.

In the inspection / acceleration torque control process, the control means 37 immediately executes the inspection / deceleration torque control process when a rotation stop command is output to each of the motors 25 and 26.
If the control means 37 determines that the label to be inspected is “defective product: rejected” (FIG. 34: ST207, Yes), it outputs a rotation stop command to each of the motors 25, 26 or does not input a label detection signal (FIG. 35: ST244, No), a rotation stop command is output to each motor 25, 26 (the same applies hereinafter).

<C> Constant speed torque control process during inspection (FIGS. 41 to 43: ST301 to ST318)
The control means 37 controls the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25, so that the label roll R2 is inspected / measured linear velocity V2 is inspected / target linear velocity value Vx (constant). (Linear velocity value).
In parallel with the constant speed control of the unwinding motor 25, the control means 37 controls the rotational torque of the motor shaft 26A of the winding motor 26 to the inspection / control torque value Tm1 (a constant torque value).

  When the label roll R1 is inspected / linear velocity V2 is accelerated to the inspection / target linear velocity Vx (FIG. 40: Yes, ST268), the control means 37 measures the control start time Sx by the control start time timer 46.

When the control means 37 counts the control start time Sx (FIG. 41: ST301, Yes), it measures the measurement time ds by the measurement time timer 47.
At the same time as the measurement time ds is started, the control means 37 counts the pulse qf as the label rotation pulse number Xqf by the label rotation angle pulse counter 43, and outputs the pulse q2 by the unwinding rotation angle pulse counter 44. Count as a number Xqd, and the winding rotation angle pulse counter 45 counts the pulse q1 as a winding rotation pulse number Xqt.

  When measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd from each of the pulse counters 43 and 44. When the control unit 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd, the pulse counters 43 and 44 are reset (cleared to zero).

Subsequently, the control unit 37 reads the one-pulse distance value dL from the storage unit 35 and calculates the inspection time / label sheet delivery amount dL based on the one-pulse distance value dL and the label rotation pulse number Xqf (FIG. 41 :). ST302).
The inspection and label delivery amount dL (m) is dL = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

Subsequently, the control means 37 reads the one-pulse rotation angle θ2a from the storage means 35, and based on the one-pulse rotation angle θ2a and the number of unwinding rotation pulses Xqd, the motor shaft 25A (label roll R2) of the unwinding motor 25. At the time of inspection, the rotation angle dθ2 is calculated (FIG. 41: ST302).
At the time of inspection, the rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, where 1 pulse rotation angle θ2a and unwinding rotation pulse number Xqd.

The control means 37 calculates the outer diameter radius r2a of the label roll R2 at the time of inspection based on the inspection time / label sheet delivery amount dL and the inspection time / rotation angle dθ2 (FIG. 41: ST303).
The inspection / outer radius r2a (m) is r2a = dL / dθ2 when the inspection / label sheet delivery amount dL and the inspection / rotation angle dθ2 are set.

Subsequently, the control unit 37 calculates the inspection time / linear velocity V2 of the label roll R2 based on the inspection time / outer diameter radius r2a, the inspection time / rotation angle dθ2, and the measurement time ds (FIG. 41: ST304). .
The inspection time / linear velocity V2 (m / s) is calculated by the equation (D).

The control unit 37 reads the inspection / target linear velocity value Vx from the storage unit 35 (FIG. 41: ST305), and based on the inspection / target linear velocity value Vx and the inspection / linear velocity V2, the inspection / difference A linear velocity value Vs is calculated (FIG. 41: ST306).
The inspection / differential linear velocity value Vs (m / s) is Vs = Vx−V2 when the inspection / target linear velocity value Vx and the inspection / linear velocity V2 are set.
The inspection / difference linear velocity value Vs indicates that the inspection / linear velocity V2 does not exceed the inspection / target linear velocity value Vx (V2 <Vx). Speed (+ Vs) ”.
When the inspection / linear velocity value Vs exceeds the inspection / target linear velocity value Vx (V2> Vx) (V2> Vx), a negative (minus) linear velocity value (hereinafter, “negative differential linear velocity”). (−Vs) ”).
The inspection / differential linear velocity value Vs becomes (V2 = Vx) and Vs = 0 (zero) when the inspection / linear velocity V2 is the inspection / target linear velocity value Vx.

  Further, the control means 37 reads the winding rotation pulse number Xqt from the winding rotation pulse counter 43 when measuring the measurement time ds. When the control unit 37 reads the winding rotation pulse number Xqt, the control unit 37 resets the winding rotation angle pulse counter 45 (clears to zero).

Further, the control unit 37 reads the one-pulse rotation angle θ1a from the storage unit 35, and based on the one-pulse rotation angle θ1a and the number of winding rotation pulses Xqt, the motor shaft 26A (winding roll R1) of the winding motor 26. At the time of inspection, the rotation angle dθ1 is calculated (FIG. 41: ST307).
The inspection time / rotation angle dθ1 (rad) is dθ1 = θ1a × Xqt, assuming the inspection time / rotation angle θ1a and the number of winding rotation pulses Xqt.

The control means 37 calculates the outer diameter radius r1a during the inspection of the winding roll R1 based on the inspection time / label sheet delivery amount dL and the inspection time / rotation angle dθ1 (FIG. 41: ST308).
The inspection / outer radius r1a (m) is r1a = dL / dθ1 when the inspection / label sheet delivery amount dL and the inspection / rotation angle dθ1 are set.
The inspection time / label sending amount dL is calculated in ST302 of FIG.

Subsequently, the control unit 37 calculates the inspection time / angular acceleration α1 of the motor shaft 26A (winding roll R1) of the winding motor 26 based on the inspection time / rotation angle dθ1 and the measurement time ds (FIG. 42 :). ST309).
Inspection time and angular acceleration α1 (rad / s ² ) is calculated by the equation (E).

Based on the inspection time / rotation angle dθ1 and the measurement time ds, the control means 37 calculates the inspection time / rotation speed W1a of the motor shaft 26A (winding roll R1) of the winding motor 26 (FIG. 42: ST309). .
At the time of inspection, the rotation speed W1a (rpm) is calculated by the equation (C).

Subsequently, the control unit 37 calculates the inspection / control torque value Tm1 based on the inspection / angular acceleration α1, the inspection / rotation speed W1a, and the inspection / outer radius r1a (FIG. 42: ST310 to ST315). ).
The control means 37 reads the correction torque value function fM (rev), and calculates the correction torque value Ta1 based on the correction torque value function fM (rev) and the inspection time / rotation speed W1a (FIG. 42: ST310). The corrected torque value Ta1 is calculated by substituting “W1a” for “W” in the equation (A) of the corrected torque value function fM (rev).
In the same way as described in the inspection / acceleration torque control processing (FIGS. 38 and 39: ST258 to ST261), the control means 37 performs the inspection / tension generation torque value Tb1, according to the equations (1) to (5). During inspection / winding roll acceleration / deceleration torque value Tc1, during inspection / winding motor acceleration / deceleration torque value Td1, and during inspection / winding roll friction torque value Te1 are calculated (FIG. 42: ST311 to ST314).
Further, the control unit 37 calculates the inspection / control torque value Tm1 based on the calculated torque values Ta1, Tb1, Tc1, Td1, and Te1 (FIG. 42: ST315).
For the inspection / control torque value Tm1, the torque values Ta1 to Te1 are calculated (added) by the equation (6).

Subsequently, the control means 37 controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and the label roll R2 is inspected / linear speed V2 is inspected / target linear speed value Vx ( Constant linear velocity value) (FIG. 43: ST316).
At this time, the control means 37 calculates the differential fast voltage value corresponding to the inspection / differential linear velocity value Vs (or converts it to the differential fast voltage value), outputs the differential fast voltage to the unwinding motor 25, The positive rotation speed of the motor shaft 25A of the unwinding motor 25 is controlled (acceleration control or deceleration control).
The control means 37 accelerates the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 to the positive differential linear velocity value (+ Vs), and the linear velocity V2 during inspection of the label roll R2 is increased. Set to the target linear velocity value Vx (constant linear velocity) during inspection.
If the negative differential linear velocity value (−Vs) is obtained, the control means 37 decelerates the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and the label roll R2 is inspected at the linear speed V2. Is set to the target linear velocity value Vx (constant linear velocity) during inspection.
The control means 37 does not control the normal rotation of the motor shaft 25A of the unwinding motor 25 when the inspection time / differential linear velocity value Vs = 0 (zero).
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26 to control the rotational torque of the motor shaft 26A of the winding motor 26 to the control torque value Tm1 (a constant torque value) at the time of inspection. (FIG. 43: ST317).
At this time, the control means 37 calculates a constant speed torque voltage value corresponding to the inspection / control torque value Tm1 (or converts it to a constant speed torque voltage value), and outputs the constant speed torque voltage to the take-up motor 26. Thus, the rotational torque of the motor shaft 26A of the winding motor 26 is controlled.

When the control means 37 counts the control start time Sx (FIG. 41: ST301, Yes) without outputting a rotation stop command to each of the motors 25 and 26 (FIG. 43: ST318, No), the control unit 37 of FIGS. By repeatedly executing ST302 to ST317 and controlling the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25 (acceleration control or deceleration control), the label roll R2 is inspected and the linear velocity V2 is set. During inspection, the target linear velocity value Vx (constant linear velocity) is controlled.
Further, the control means 37 repeatedly executes ST302 to ST317 in FIGS. 41 to 43 to control the rotational torque of the motor shaft 26A of the take-up motor 26 to the inspection / control torque value Tm (a constant torque value). .

  When the control means 37 outputs a rotation stop command to each of the motors 25 and 26 (FIG. 43: ST318, Yes), it executes the inspection / deceleration torque control process.

<D> Inspection / Deceleration Torque Control Process (FIGS. 44 to 46: ST351 to ST368)
The control means 37 controls (deceleration control) the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25, and stops the normal rotation of the motor shaft 25A of the unwinding motor 25.
The control means 37 controls the motor of the take-up motor 26 while controlling the rotational torque of the motor rotating shaft 26A of the take-up motor 26 to the inspection / control torque value Tm1 in parallel with the deceleration control of the take-up motor 25. The forward rotation of the shaft 26A is stopped.

When the control means 37 outputs rotation stop commands to the motors 25 and 26 (FIG. 44: ST351, Yes), the control start time Sx is measured by the control start time timer 46, and the measurement time ds is measured by the measurement time timer 47. Timed at.
The control means 37 counts (adds) the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 simultaneously with the start of the measurement time ds, and outputs the pulse q2 at the unwinding rotation angle pulse counter 44. Count (addition counting) as the number of unwinding rotation pulses Xqd.

  When the measurement time ds is counted, the control unit 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the unwinding rotation pulse number Xqd from the unwinding rotation angle pulse counter 44. When the control unit 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd, the pulse counters 43 and 44 are reset (cleared to zero).

Subsequently, the control means 37 reads the one-pulse distance value Lr from the storage means 35, and calculates the label roll R2 inspection / label sheet delivery amount dL based on the one-pulse distance value Lr and the label rotation pulse number Xqf. (FIG. 44: ST352).
At the time of inspection, the label sheet delivery amount dL (m) is dL = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

The control means 37 reads the 1-pulse rotation angle θ2a from the storage means 35, and checks the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the 1-pulse rotation angle θ2 and the unwinding rotation pulse number Xqd. The rotation angle dθ2 is calculated (FIG. 44: ST352).
The inspection time / rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, assuming the inspection time / rotation angle θ2a and the number of unwinding rotation pulses Xqd.

Further, the control means 37 calculates the outer diameter radius r2a of the label roll R2 during inspection based on the inspection / label sheet delivery amount dL and the inspection / rotation angle dθ2 (FIG. 44: ST353).
The inspection / outer radius r2a is r2a = dL / dθ2 when the inspection / label sheet feed amount dL and the inspection / rotation angle dθ2.

Subsequently, the control unit 37 performs inspection / linear velocity V2 of the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the measurement time ds, the inspection / rotation angle dθ2 and the inspection / outer radius r2a. Is calculated (FIG. 44: ST354).
The inspection time / linear velocity V2 (m / s) is calculated by the equation (D).

As shown in FIG. 22, the control means 37 creates (sets) the inspection / linear deceleration pattern table TB3 (FIG. 44: ST355).
The control means 37 reads the inspection / deceleration time Sg from the storage means 35 and creates (sets) the inspection / linear deceleration pattern table TB3 based on the inspection / linear velocity V2 and the inspection / deceleration time Sg.
In FIG. 22, the inspection / linear deceleration pattern table TB3 includes a linear velocity value V (m / s) on the vertical axis (Y axis / linear velocity axis) and a time S (s on the horizontal axis (X axis / time axis). ), And the relationship between the inspection time / linear velocity V2 and the inspection time / deceleration time Tb is a linear function linear velocity pattern δ3.
The control means 37 calculates a linear velocity pattern δ3 from the inspection time / linear velocity V2 and the inspection time / deceleration time Sg, for example, a linear function [V (or δ3) of an inclination (gradient): ag = − (V2 / Sg). = − (V2 / Sg) × S]. Further, the slope (gradient) αg = − (V2 / Sg) of the linear function is an inspection time / linear acceleration value (m / s ² ) for decelerating the label sheet RS (hereinafter, “inspection time / linear acceleration” Value ag)).
As shown in FIG. 22, the control means 37 converts the inspection / deceleration time Sg and the linear velocity pattern δ3 into a plurality of deceleration control sections u1, u2, u3,... Um and section linear velocity patterns δ31, δ32, δ33,. Divide into δ3m.
In the time axis (horizontal axis / X axis) of the inspection / line deceleration pattern table TB3, the deceleration control sections u1, u2, u3,. Become.
In the inspection / line deceleration pattern table TB3, the first (m = 1) deceleration control section u1 has a first (m = 1) section linear velocity pattern δ31. The first section linear velocity pattern δ31 has an inclination (gradient): ag = − (V2 / Sg), and the linear velocity value V = V2 and the linear velocity value V = [(V2− (V2 / m)]. The second (m = 2) deceleration control section u2 has a second (m = 2) section linear speed pattern δ 32. The second section linear speed pattern δ 32 is , Slope (gradient): ag = − (V2 / Sg), linear velocity value V = [V2− (V2 / m)] and linear velocity value V = [V2-2 × (V2 / m)] The m-th deceleration control section δ3m has an m-th section linear speed pattern δ3m, and the m-th linear speed pattern δ3n has an inclination (gradient): αg = − (V2 / Sg), and the linear velocity value V = [V2− (m−1) × (V2 / m)] and the linear velocity value V = V2−m × (V2 / m) It takes the speed value (however, m = 1,2,3, ..., n: a natural number).
After creating the inspection / line deceleration pattern table TB3, the control unit 37 stores the inspection / line deceleration pattern table TB3 and the inspection / line acceleration ag in the storage unit 35.

  Subsequently, the control unit 37 sets “m → 0 + 1 (m = 1)” for the control count m (FIG. 44: ST356).

  Based on the number of times of control (m = 1), the control means 37 reads the first (m = 1) section linear velocity pattern δ31 from the inspection / line deceleration pattern table TB3, and the inspection / linear acceleration αg. Reading from the storage means 35 (FIG. 44: ST357).

Subsequently, when the control unit 37 counts the control start time Sx, the control unit 37 counts the measurement time ds by the measurement timing timer 47.
The control means 37 measures the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 simultaneously with the start of the measurement time ds, and winds the pulse q1 at the winding rotation angle pulse counter 45. Time is measured as the number of rotation rotation pulses Xqt.

When measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the winding rotation pulse number Xqt from the winding rotation angle pulse counter 45.
When the control unit 37 reads the label rotation pulse number Xqf and the winding rotation pulse number Xqt, the control unit 37 resets (clears to zero) each of the pulse counters 43 and 45.

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 35 and calculates the inspection time / label sheet delivery amount dL based on the one-pulse distance value Lr and the label rotation pulse number Xqf.
At the time of inspection, the label sheet delivery amount dL (m) is dL = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

Further, the control unit 37 reads the one-pulse rotation angle θ1a from the storage unit 35, and based on the one-pulse rotation angle θ1a and the number of winding rotation pulses Xqt, the motor shaft 26A (winding roll R1) of the winding motor 26. At the time of inspection, the rotation angle dθ1 is calculated.
The inspection time / rotation angle dθ1 (rad) is dθ1 = θ1a × Xqt, where 1 pulse rotation angle θ1 and winding rotation pulse number Xqt.

Subsequently, the control unit 37 calculates the outer diameter radius r1a during the inspection of the winding roll R1 for the measurement time ds based on the inspection time / label sheet delivery amount dL and the inspection time / rotation angle dθ1.
The inspection / outer radius r1a (m) is r1a = dL / dθ1 when the inspection / label sheet delivery amount dL and the inspection / rotation angle dθ1 are set.

Subsequently, the control unit 37 reads out the inspection / linear acceleration value ag from the storage unit 35 and, based on the inspection / line acceleration value ag and the inspection / external radius r1a, for the measurement time ds, the winding motor 26. When the motor shaft 26A (winding roll R1) is inspected, the angular acceleration α1 is calculated (FIG. 45: ST358).
Inspection time / angular acceleration α1 (rad / s ² ) is calculated by equation (F).

Further, the control unit 37 calculates the inspection time / rotation speed W1a of the motor shaft 26A (winding roll R1) of the winding motor 26 based on the inspection time / outer diameter radius r1a and the measurement time ds (FIG. 45: ST358).
At the time of inspection, the rotation speed W1a (rpm) is calculated by the equation (C).

Subsequently, the control means 37 calculates the inspection / control torque value Tm1 based on the inspection / angular acceleration α1, the inspection / rotational speed W1a, and the inspection / outer radius r1a (FIG. 45: ST359 to ST364). ).
The control means 37 reads the correction torque value function fM (rev), and calculates the correction torque value Ta1 based on the correction torque value function fM (rev) and the inspection / rotation speed W1a (FIG. 45: ST359). The corrected torque value Ta1 is calculated by substituting “W1a” for “W” in the equation (A) of the corrected torque value function fM (rev).
In the same way as described in the inspection / acceleration torque control processing (FIGS. 38 and 39: ST258 to ST261), the control means 37 performs the inspection / tension generation torque value Tb1, according to the equations (1) to (5). The inspection time / winding roll acceleration / deceleration torque value Tc1, the inspection time / winding motor acceleration / deceleration torque value Td1, and the inspection / winding roll friction torque value Te1 are calculated (FIG. 45: ST360 to ST363).
Further, the control means 37 calculates the inspection / control torque value Tm1 based on the calculated torque values Ta1, Tb1, Tc1, Td1, and Te1 (FIG. 45: ST364).
For the inspection / control torque value Tm1, the torque values Ta1 to Te1 are calculated (added) by the equation (6).

Subsequently, the control means 37 controls the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25, and controls the linear velocity V2 during the inspection of the label roll R2 for the first time during the control time Sw. The linear velocity value V = V2 is decelerated from the linear velocity value V = V2 to the linear velocity value V = [V2- (V2 / m)] along the section linear velocity pattern δ31 of (m = 1) (FIG. 46: ST365).
At this time, the control means 37 calculates the deceleration voltage value along the slope (gradient) ag of the first section linear velocity pattern δ31 (or converts it to the deceleration voltage value), and sets the deceleration voltage at the control time Sw. It outputs to the unwinding motor 25 and controls (deceleration control) the normal rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25.
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26, and controls the rotational torque of the winding motor 26 to the inspection / control torque value Tm1 during the control time Sw (FIG. 46: FIG. 46). ST366).
At this time, the control means 37 calculates (or converts to a deceleration torque voltage value) a deceleration torque voltage value corresponding to the inspection / control torque value Tm1, outputs the deceleration torque voltage to the winding motor 26, and performs winding. The rotational torque of the motor shaft 26A of the take-up motor 26 is controlled.

  If it is not the control start time Sx (FIG. 46: ST367, No), the control means 37 repeats ST365 and ST366 of FIG.

  The control means 37 measures the control start time Sx (FIG. 46: ST367, Yes), and if the normal rotation of the motors 25, 25 is not stopped (FIG. 46: ST368, No), for the number of control m, “m → 1 + 1 (m = 2) ”is set (FIG. 44: ST356).

Subsequently, the control unit 37 reads the section linear velocity pattern δ32 from the inspection / line deceleration pattern table TB3 and the inspection / acceleration value ag from the storage unit 35 based on the number of times of control (m = 2). (FIG. 44: ST357).
The control means 37 executes ST358 of FIG. 45 based on the inspection time / acceleration value ag, and for the measurement time ds, the inspection roll outer diameter radius r1a and the motor shaft 26A of the winding motor 26 are measured. In the inspection, the angular acceleration α1 and the inspection time of the motor shaft 26A of the winding motor 26 are calculated.
Subsequently, the control unit 37 executes ST359 to ST363 in FIG. 45 based on the inspection / rotational speed W1a, the inspection / angular acceleration α1 and the inspection / outer radius r1a, and the inspection / correction torque value. Ta1, inspection / tension generation torque value Tb1, inspection / winding roll acceleration / deceleration torque value Tc1, inspection / winding motor acceleration / deceleration torque value Td1, and inspection / winding roll friction torque value Te1 are calculated.
The inspection / correction torque value Ta1 is calculated from the correction torque value function fM (rev) and the inspection / rotation speed W1a, and the inspection / tension generation torque value Tb1 is calculated by the equation (1). The take-up roll acceleration / deceleration torque value Tc1 is calculated by the equations (2) and (3), and the inspection / winding motor acceleration / deceleration torque value Td1 is calculated by the equation (4). The friction torque value Te1 is calculated by equation (5).
The control means 37 calculates the inspection / control torque value Tm1 according to the equation (6) (FIG. 46: ST364).

Subsequently, the control means 37 controls (decelerates control) the normal rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25, and determines the label roll R2 inspection / linear velocity V2 for the second time. The linear velocity value V = [V2− (V2 / m)] is decelerated from the linear velocity value V = [V2− (2 × V2) / m] along the slope (gradient) ag of the section linear velocity pattern δ32 (FIG. 46: ST365).
At this time, the control means 37 calculates the deceleration voltage value along the slope (gradient) ag of the second section linear velocity pattern δ32 (or converts it to the deceleration voltage value), and winds the deceleration voltage during the control time Sw. It outputs to the take-out motor 25 and controls (deceleration control) the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwind motor 25.
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26, and controls the rotational torque of the motor shaft 26A of the winding motor 26 to the inspection / control torque value Tm1 during the control time Sw. (FIG. 46: ST366).
At this time, the control means 37 calculates (or converts to a deceleration torque voltage value) a deceleration torque voltage value corresponding to the inspection / control torque value Tm1, outputs the deceleration torque voltage to the winding motor 26, and performs winding. The rotational torque of the motor shaft 26A of the take-up motor 26 is controlled.

As described above, the control unit 37 repeatedly executes ST356 to 367 in FIGS. 44 to 46 until the forward rotation of the motors 25 and 26 is stopped (FIG. 46: Yes).
At this time, the control means 37 determines the m-th (m = 1, 2, 3,. It reads out from the linear deceleration pattern table TB3, controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and controls the label roll R2 during inspection and the linear speed V2 at the mth in the control time Sw. The linear velocity value V = [V2− (m−1) × V2 / m] is controlled from the linear velocity value V = [V2−m × V2 / m] along the slope (gradient) ag of the section linear velocity pattern δ3m. (Deceleration control).
That is, the control means 37 controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 a plurality of times, and controls the linear speed V2 during the inspection of the label roll R2 in the section linear speed pattern for each control time. ..., δ3m slope (gradient) aggravated stepwise, and finally the inspection time / linear velocity V2 is set to zero (V2 = 0).
Further, the control means 37 calculates the inspection / control torque value Tm1 in each control cycle, and controls the rotational torque of the motor shaft 26A of the winding motor 26 to the inspection / control torque value Tm1.

In this way, the control means 37 is used to check the rotational torque of the motor shaft 26A of the winding motor 26 in the inspection / acceleration torque control processing, inspection / constant speed torque control processing, and inspection / deceleration torque control processing. Since the control torque value Tm1 is controlled, even if the outer diameter radius r1a of the winding roll R1 and the outer diameter radius r2a of the label roll R2 change with time, the label roll R2 sends the winding roll R1 to the winding roll R1. The tension of the label sheet RS can be maintained at the target tension value F (a constant tension).
The control means 37 calculates the correction torque value Ta1 with the correction torque value function fM (rev) using the motor shaft 26A of the winding motor 26 as a reference (motor shaft conversion), and the equations (1) to (5). The torque values Tb1, Tc1, Td1, and Te1 are calculated to obtain the control torque value Tm1.
Theoretically, the tension of the label sheet RS can be controlled to the target tension value F by controlling the motor shaft 26A of the winding motor 26 to the inspection / tension generation torque value Tb1 of the equation (1). However, in actuality, when the motor shaft 26A of the winding motor 26 is rotated forward, it is affected by a loss torque caused by friction or the like, and the label sheet RS is obtained only at the time of inspection of the equation (1) and the tension generation torque value Tb1. Cannot be set to the target tension value F. For this reason, when the control means 37 controls the rotational torque of the motor shaft 26A of the winding motor 26, the control means 37 adds the torque values Ta1, Tc1, Td1, and Te1 that are lost to the inspection and tension generation torque value Tb1. Thus, the inspection / control torque value Tm1 is calculated. In particular, in addition to the torque values Tc1, Td1, Te1, the loss torque caused by the rotation speed of the motor shaft 26A of the winding motor 26 is added to the inspection / control torque value Tm1 as the inspection / correction torque value Ta1. Therefore, the tension of the label sheet RS can be accurately controlled to the target tension value F.

2. Bad label replacement mode:
Hereinafter, the defective label exchange mode will be described with reference to FIGS. 6 to 10, 15, 17, 17, 20, 23 to 31, and 47 to 65. FIG.

  In the control device 30, the control means 37 determines that the inspection label of the conveyance number N is “defective product: rejected” (FIG. 34: Yes), and stops the forward rotation of the unwinding motor 25 and the winding motor 26. Then (FIG. 34: ST209), the label inspection mode is switched to the defective label replacement mode.

In the defective label exchange mode, the control means 37 reads the conveyance number N of the defective / inspected label NKS from the storage means 35 (FIG. 47: ST401), and based on the read conveyance number N, the label position pulse of the conveyance number N The number Xqn is read from the storage means 35 (FIG. 47: ST402).
For example, the control means 37 determines that the label KS to be inspected with the transport number 1 (N = 1) “defective product: rejected”, the number of label position pulses with the transport number 1 based on the transport number 1 (N = 1). Xq1 is read from the storage means 35.

  The control means 37 reads the total position pulse number Xq, the exchange distance pulse number εq, and the label length pulse number βq from the storage means 35 (FIG. 47: ST403).

Subsequently, the control unit 37 calculates the number of label return pulses τq as shown in FIGS. 23 to 25 (FIG. 47: ST404).
As shown in FIGS. 23 to 25, the label return pulse number τq is a distance between the label width intermediate point KSm (Lk / 2) of the defective / inspected label NKS and the intermediate point 10B of the defective label exchange station 10 ( This is a value obtained by converting the deviation) into the number of pulses of the label position inspection encoder 29.

  First, the control means 37 calculates a subtracted pulse value λq by subtracting the half value (βp / 2) of the label position pulse number Xqn and the label length pulse number βq from the position pulse total number Xq. The subtraction value λq is λq = Xq− [Xqn + (βq / 2)]. As shown in FIGS. 23 to 25, the half value of the label length pulse number βq becomes an intermediate point KSm of the label length Lk (hereinafter referred to as “label length intermediate point KSm”) in the longitudinal direction NT.

  Subsequently, the control unit 37 compares the subtraction pulse value λq and the exchange distance pulse number εq, the subtraction pulse value λq exceeds the exchange distance pulse number εq, and Xq− [Xqn + (βq / 2)]> εq. Then, the number of label return pulses τq is calculated by equation (G).

In the relationship of subtraction pulse value λq = Xq− [Xqn + (βq / 2)]> number of exchange distance pulses εq, the label length intermediate point KSm of the defective / inspected label NKS is, as shown in FIG. 10 is a pattern located on the guide roller 7 side (winding rotation shaft 3 side) beyond the intermediate point 10B of 10 (hereinafter referred to as “first position pattern”).
In the first position pattern, the label return pulse number τq is “minus pulse number (−τq)” (hereinafter referred to as “label return pulse number (−τq)”).

When the subtraction pulse value λq is equal to the exchange distance pulse number εq and Xq− [Xqn + (βq / 2)] = εq, the control unit 37 sets the label return pulse number τq to τq = 0.
In the relationship of subtraction pulse number λq = exchange distance pulse number εq, label length intermediate point KSm of defective / inspected label NKS is a pattern located at intermediate point 10B of defective label replacement station 10, as shown in FIG. (Hereinafter referred to as “intermediate position pattern”).

  When the subtraction pulse number λq is less than the exchange distance pulse number εq and Xq− [Xqn + (βq / 2)] <εq, the control means 37 calculates the label return pulse number τq by the equation (G).

In the relationship of subtraction pulse number λq <exchange distance pulse number εq, the label length intermediate point KSm of the defective / inspected label NKS does not exceed the intermediate point 10B of the defective label replacement station 10 as shown in FIG. This is a pattern located on the roller 6 side (unwinding rotation shaft 2 side) (hereinafter referred to as “second position pattern”).
In the second position pattern, the label return pulse number τp is “plus pulse number (+ τq)” (hereinafter referred to as “label return pulse number (+ τq)”).

Subsequently, the control unit 37 determines the first position pattern, the second position pattern, and the intermediate position pattern based on the label return pulse number τq (FIG. 47: ST405).
The control means 37 determines that the label return pulse number (−τq): “−τq (minus pulse number)” is the first position pattern, and the label return pulse number (+ τq): “+ τq (plus pulse). Number) ”, it is determined as the second position pattern, and when“ τq = 0 ”, it is determined as the intermediate position pattern.

  The control means 37 controls the rotation of the motor shaft 25A of the unwinding motor 25 and the motor shaft 26A of the winding motor 26 to control the first position pattern defect / inspected label NKS or the second position pattern defect / covered. The inspection label NKS is transported to the intermediate point 10B of the defective label exchange station 10.

■ First position pattern:
Hereinafter, the conveyance of the defective / inspected label NKS of the first position pattern will be described with reference to FIGS. 20, 23, 26 to 31, 47, 48, and 50 to 57.

The control means 37 reads the allowable pulse number σp from the storage means 35 and compares the label return pulse number (−τp) with the allowable pulse number σp (FIG. 47: ST406).
When the label return pulse number (−τp) exceeds the allowable pulse number σq [0 (zero) ± γq] (FIG. 47: No in ST406), the control means 37 performs the first replacement linear velocity pattern table. TB6 is created (set) (FIG. 47: ST407).
First, the control unit 37 reads the reference / linear velocity pattern table TB5 and the deceleration linear velocity pattern δ9 from the storage unit 35.
Subsequently, as shown in FIG. 20, the control means 37 determines the pulse number interval based on the label return pulse number (−τp) and the reference / linear velocity pattern table TB5.
The control means 35 takes the absolute value (| −τp |) of the label return number (−τp) and determines the pulse number section to which it belongs.
For example, if the number of label return pulses (| −τp = −50 |) = 50, the control means 37 determines that it belongs to the first pulse number interval e1, and determines the number of label return pulses (| −τp | = If −121 |) = 121, it is determined that it belongs to the second pulse number interval e2, and if the label return pulse number (| −τp = −253 |) = 253, the third pulse number interval e3 It is determined that it belongs.
Subsequently, the control means 37 determines the constant velocity linear velocity patterns δ6 to δ8 (first to third) based on the first to third label number intervals e1 to e3 to which the label return pulse number (| −τp |) belongs. One constant velocity linear velocity pattern is selected from the target linear velocity values Vy1 to Vy3).
As shown in FIG. 20, when the label return pulse number (| −τp |) belongs to the first pulse number section e1, the control means 37 determines the constant speed linear velocity pattern δ6 (first target linear velocity Vy1). Is selected, the constant velocity linear velocity pattern δ7 (second target linear velocity value Vy2) is selected, and if it belongs to the third pulse number interval e3, the constant velocity linear velocity pattern δ8 is selected. (Third target linear velocity value Vy3) is selected.

Subsequently, as shown in FIG. 20 and FIG. 26, the control unit 37 selects the constant speed linear velocity patterns δ6 to δ8, the acceleration linear velocity pattern δ5 [slope (gradient) ar = (Vy / Sr)], and the deceleration. Based on the linear velocity pattern δ9 [slope (gradient) av = − (Vy / Sv)], the first replacement linear velocity pattern table TB6 is created (set).
First, as shown in FIG. 26, the control means 37 applies the deceleration linear velocity pattern δ9 to the pulse number axis B with the number of label return pulses (| −τp |) on the pulse number axis B (horizontal axis / X axis). It intersects, and the deceleration linear velocity pattern δ9 intersects the selected constant velocity linear velocity patterns δ6 to δ8 (or directly, the acceleration linear velocity pattern δ5).
As shown in FIGS. 27 to 31, the control means 37 performs a line from the intersection fa among the selected constant velocity linear velocity patterns δ6 to δ8 and the acceleration linear velocity pattern δ5 that intersects the selected constant velocity linear velocity patterns δ6 to δ8. The acceleration linear velocity pattern δ5 on the “zero point (0 point)” side of the velocity axis A and the pulse number axis B (the acceleration linear velocity pattern δ5 between the intersection fa and “zero point (0 point)”), and the selected constant linear velocity Among the deceleration linear velocity patterns δ9 that intersect the patterns δ6 to δ8, deceleration linear velocity patterns δ9 on the pulse number axis B side from the intersection fb (deceleration lines between the constant velocity linear velocity patterns δ6, δ7, δ8 and the pulse number axis B) The speed pattern δ9) is extracted to construct (create) the first exchange / linear speed pattern TB6. The “zero point (0 point)” is a point where the linear velocity axis A (vertical axis / Y axis) and the pulse number axis B (horizontal axis / X axis) are orthogonal to each other. The intersection fa is a point where the acceleration linear velocity pattern δ5 and the constant velocity linear velocity patterns δ6 to δ8 intersect. The intersection fb is a point where the deceleration linear velocity pattern δ9 and each constant velocity linear velocity δ6 to δ8 intersect.

In FIG. 27, the first replacement linear velocity pattern table TB6 includes a constant velocity linear velocity pattern δ6, an acceleration linear velocity pattern δ5 between the intersection fa and “zero point (0 point)”, and an intersection fb (constant velocity linear velocity pattern δ6). ) And the deceleration linear velocity pattern δ9 between the pulse number axes B is extracted (configured).
In the first replacement / linear velocity pattern table TB6 of FIG. 27, if the reference / acceleration time Sr1 (s) is the reference / target linear velocity value Vy and the reference / acceleration time Sr, then Sr1 = (Sr × Vy1) / Vr. It is.
As shown in FIG. 27A, the control means 37 sets the reference / acceleration time Sr1 and the acceleration linear velocity pattern δ5 to a plurality of acceleration control sections D1, D2, D3,..., Di and a plurality of section acceleration linear velocity patterns δ51. , Δ52, δ53, ..., δ5i. In the first replacement / linear velocity pattern table TB6, in the pulse number axis B (horizontal axis / X axis), each acceleration control section D1, D2, D3,..., Di has a control time Sp [Sp = (Sr1 / i)].
In the i-th control, the control unit 37 rotates the rotation speed (rotation) of the motor shaft 26A of the winding motor 26 (or the motor shaft 25A of the unwinding motor 25) based on the i-th section acceleration linear velocity pattern δ5i. The linear velocity of the winding roll R1 (or the linear velocity of the label roll R2) is controlled along the slope (gradient) ar = (Vy / Sr) at the control time Sp. Control (acceleration control) is performed from (i-1) × Vr1 / i] to the linear velocity value V = [(i × Vr1) / i] (the number of times of control i = 1, 2,..., I: natural number).
Further, in the first replacement / linear velocity pattern table TB6 of FIG. 27, if the reference / deceleration time Sv1 (s) is the reference / target linear velocity value Vy and the reference / deceleration time Sv, Sv1 = (Sv × Vy1). / Vy.
As shown in FIG. 27 (b), the control unit 37 sets the reference / deceleration time Sv1 and the deceleration linear velocity pattern δ5 to a plurality of deceleration control sections E1, E2, E3,. , Δ92, δ93, ..., δ9j. In the first exchange / linear velocity pattern table TB6, in the pulse number axis B (horizontal axis / X axis), each acceleration control section E1, E2, E3,..., Ej has a control time Sq [Sq = (Sv1 / j)].
In the j-th control, the control unit 37 rotates the rotation speed (rotation) of the motor shaft 26A of the winding motor 26 (or the motor shaft 25A of the unwinding motor 25) based on the j-th zone deceleration linear speed pattern δ9j. In the control time Sq, the linear velocity of the winding roll R1 (or the linear velocity of the label roll R2) is changed along the inclination (gradient) av = − (Vy / Sv) to the linear velocity value V = Control (deceleration control) from [Vr1- (j × Vr1) / j] to linear velocity value V = [Vr1- (j−1) × Vr1 / j] (control count j = 1, 2,..., J: Natural number).

In FIG. 28, the first replacement / linear velocity pattern table TB6 includes a constant linear velocity pattern δ7, an acceleration linear velocity pattern δ5 between the intersection fa and “zero point (0 point)”, and an intersection fb (constant linear velocity pattern δ7). ) And the deceleration linear velocity pattern δ9 between the pulse number axes B is extracted (configured).
In the first replacement / linear velocity pattern table TB6 in FIG. 28, the control means 37, as explained in FIG. 27, D1, D2, D3,..., Di and a plurality of section acceleration linear velocity patterns δ51, δ52, Partition into δ53,..., δ5i. In the i-th control, the control unit 37 rotates the rotation speed (rotation) of the motor shaft 26A of the winding motor 26 (or the motor shaft 25A of the unwinding motor 25) based on the i-th section acceleration linear velocity pattern δ5i. The linear velocity of the winding roll R1 (or the linear velocity of the label roll R2) is controlled along the slope (gradient) ar = (Vy / Sr) at the control time Sp. Control (acceleration control) from (i-1) × Vr2 / i] to linear velocity value V = [(i × Vr2) / i] (control count i = 1, 2,..., I: natural number) [FIG. (See (b)].
Further, the control means 37 divides into a plurality of deceleration control sections E1, E2, E3,..., Ej and a plurality of section deceleration linear velocity patterns δ91, δ92, δ93,. . In the j-th control, the control unit 37 rotates the rotation speed (rotation) of the motor shaft 26A of the winding motor 26 (or the motor shaft 25A of the unwinding motor 25) based on the j-th zone deceleration linear speed pattern δ9j. In the control time Sq, the linear velocity of the winding roll R1 (or the linear velocity of the label roll R2) is changed along the inclination (gradient) av = − (Vy / Sv) to the linear velocity value V = Control (deceleration control) from [Vr2- (j × Vr2) / j] to a linear velocity value V = [Vr2- (j−1) × Vr2 / j] (control count j = 1, 2,..., J: Natural number) [see FIG. 28 (c)].

In FIG. 29, the first replacement linear velocity pattern table TB6 includes a constant linear velocity pattern δ8, an acceleration linear velocity pattern δ5 between the intersection fa and “zero point (0 point)”, and an intersection fb (constant linear velocity pattern). The deceleration linear velocity pattern δ9 between δ8) and the pulse number axis B is extracted (configured).
In the first replacement / linear velocity pattern table TB6 of FIG. 29, the control means 37, as described with reference to FIG. 27, D1, D2, D3,..., Di and a plurality of section acceleration linear velocity patterns δ51, δ52, Partition into δ53,..., δ5i. In the i-th control, the control unit 37 rotates the rotation speed (rotation) of the motor shaft 26A of the winding motor 26 (or the motor shaft 25A of the unwinding motor 25) based on the i-th section acceleration linear velocity pattern δ5i. The linear velocity of the winding roll R1 (or the linear velocity of the label roll R2) is controlled along the slope (gradient) ar = (Vy / Sr) at the control time Sp. Control (acceleration control) is performed from (i-1) × Vr3 / i] to linear velocity value V = [(i × Vr3) / i] (control count i = 1, 2,..., I: natural number) [FIG. (See (a)].
Further, the control means 37 divides into a plurality of deceleration control sections E1, E2, E3,..., Ej and a plurality of section deceleration linear velocity patterns δ91, δ92, δ93,. . In the j-th control, the control unit 37 rotates the rotation speed (rotation) of the motor shaft 26A of the winding motor 26 (or the motor shaft 25A of the unwinding motor 25) based on the j-th zone deceleration linear speed pattern δ9j. In the control time Sq, the linear velocity of the winding roll R1 (or the linear velocity of the label roll R2) is changed along the inclination (gradient) av = − (Vy / Sv) to the linear velocity value V = Control (deceleration control) from [Vr3- (j × Vr3) / j] to a linear velocity value V = [Vr3- (j−1) × Vr3 / j] (control count j = 1, 2,..., J: Natural number) [see FIG. 30 (b)].

In FIG. 31, when the label return pulse number (| −τq |) is small and approaches the zero pulse number (0 pulse number), the deceleration linear velocity pattern δ9 does not intersect the constant velocity linear velocity pattern δ6. Directly intersects the acceleration linear velocity pattern δ5. At this time, as shown in FIG. 31, the control means 37 extracts an acceleration linear velocity pattern δ5 between the intersection fa and “zero point (0 point)”, and a deceleration linear velocity pattern δ9 between the intersection fa and the pulse number axis B. Thus, the first replacement / linear velocity pattern table TB6 is configured (created).
In the first replacement / linear velocity pattern table TB6 of FIG. 31, the control means 37, as described in FIG. 27, D1, D2, D3,..., Di and a plurality of section acceleration linear velocity patterns δ51, δ52, Partition into δ53,..., δ5i. In the i-th control, the control unit 37 rotates the rotation speed (rotation) of the motor shaft 26A of the winding motor 26 (or the motor shaft 25A of the unwinding motor 25) based on the i-th section acceleration linear velocity pattern δ5i. The linear velocity of the winding roll R1 (or the linear velocity of the label roll R2) is controlled along the slope (gradient) ar = (Vy / Sr) at the control time Sp. Control (acceleration control) from (i-1) × Vr1 / i] to linear velocity value V = [(i × Vr1) / i] (control count i = 1, 2,..., I: natural number) [FIG. (See (b)].
Further, the control means 37 divides into a plurality of deceleration control sections E1, E2, E3,..., Ej and a plurality of section deceleration linear velocity patterns δ91, δ92, δ93,. . In the j-th control, the control unit 37 rotates the rotation speed (rotation) of the motor shaft 26A of the winding motor 26 (or the motor shaft 25A of the unwinding motor 25) based on the j-th zone deceleration linear speed pattern δ9j. In the control time Sq, the linear velocity of the winding roll R1 (or the linear velocity of the label roll R2) is changed along the inclination (gradient) av = − (Vy / Sv) to the linear velocity value V = Control (deceleration control) from [Vr1- (j × Vr1) / j] to linear velocity value V = [Vr1- (j−1) × Vr1 / j] (control count j = 1, 2,..., J: Natural number) [see FIG. 31 (c)].

Subsequently, as shown in FIGS. 27 to 31, the control unit 37 calculates the number of intersection pulses (−ωq1) at the intersection fa and the number of intersection pulses (−ωq2) at the intersection fb.
The number of intersection pulses (−ωq1) is calculated from the linear function of the acceleration linear velocity pattern δ5a: V = (Vx / Sk) × Q by the equation (H).

  In the equation (H), the number of intersection pulses (−ωq1) = Q is the target linear velocity value Vy1, Vy2, Vy3 to which the label return pulse number (| −τ |) belongs, and “V” in the equation (H). Substitute for and calculate (however, the fractional part is rounded down or rounded up).

  The number of intersection pulses (−ωq2) is calculated from the linear function of the deceleration linear velocity pattern δ5e: V = − (Vy / Sv) × Q by the formula (I).

  In the equation (I), the intersection pulse number (−ωq2) is assigned to each target linear velocity value Vy1, Vy2, Vy3 to which the label return pulse number (| −τq |) belongs to “V” in the equation (I). (However, the decimal part is rounded down or rounded up).

Subsequently, the control means 37 reads the position pulse total number Xq from the storage means 35, and calculates the first switching pulse total number Xqx based on the position pulse total number Xq and the intersection pulse number (−ωq1) (FIG. 48: ST408). .
The first switching pulse total number Xqx is Xqx = Xq-ωq1 where the total number of position pulses Xq and the number of intersection pulses (−ωq1) are set.
Further, the control unit 37 calculates the second switching pulse total number Xqy based on the position pulse total number Xq and the intersection pulse number (−ωq2) (FIG. 48: ST408).
The second total number Xqy of switching pulses is Xqy = Xq−ωq2 where the total number of position pulses Xq and the number of intersection pulses (−ωq2).
For example, the control unit 37 creates (sets) the first exchange / linear velocity pattern table TB6 in FIG. 27, and sets the first exchange / linear velocity pattern table TB6 and the total number of first and second switching pulses Xqx, Xqy. It memorize | stores in the memory | storage means 35 (FIG. 48: ST409).
In the first exchange / linear velocity pattern table TB6 of FIG. 31, the number of intersection pulses (−ωq1) is calculated, and the first total number of switching pulses Xqx based on the total number of position pulses Xq and the number of exchange pulses (−ωq1). (The second switching pulse total number Xqy is not calculated).

  When the label return pulse number (−τq) is within the allowable pulse number σq (FIG. 47: Yes at ST406), the control unit 37 determines that the defective / inspected label NKS of the first position pattern is in the defective label exchange station 10. It is determined that it is located at the intermediate point 10B. At this time, the control means 37 executes the first replacement / motor start processing, the first replacement / acceleration torque control processing, the first replacement / constant speed torque control processing, and the first replacement / deceleration torque control processing. do not do.

<A> At first replacement / motor start-up process (FIG. 50: ST440 to ST442)
When the control means 37 stores the first exchange / constant velocity linear velocity pattern table TB6 and the like (FIG. 48: ST409), the control times i and j are “i → 0 (zero)” and “j → 0 (zero). ) ”Is set (FIG. 50: ST440).
Moreover, the control means 37 outputs a reverse rotation starting bias voltage to the unwinding motor 25 and the winding motor 26 (FIG. 50: ST441).
Thereby, the motor shaft 25A of the unwinding motor 25 and the motor shaft 26A of the winding motor 26 are reversely rotated against the static friction torque by the reverse rotation starting bias voltage.

  When the motors 25 and 26 are rotated in the reverse direction, the label sheet RS is rewound from the take-up roll R1 to the label roll R2. The label sheet RS is rewound onto the label roll R2 while being guided by the guide guides 4 to 7 from the take-up roll R1.

  When the guide roller 6 is reversely rotated along with the reverse rotation of the motors 25 and 26, the label position detection encoder 29 outputs a pulse qf to the control means 37. The control means 37 counts (subtracts) the pulse qf with the label position pulse counter 42 as the position pulse total number Xq. In the label inspection mode, the label position pulse counter 42 subtracts and counts from the total number Xq of position pulses obtained by counting (adding) the pulse qf (Xq → Xq−1).

When the control unit 37 detects the conveyance (start of conveyance) of the label sheet RS (FIG. 50: ST442, Yes), the first exchange / acceleration torque control process, the first exchange / constant speed torque control process, and the first Executes deceleration torque control processing during replacement.
The control unit 37 detects the start of conveyance of the label sheet RS by inputting the pulse qf of the label position detection encoder 29.

  If the control means 37 does not detect the conveyance (start of conveyance) of the label sheet RS (FIG. 50: ST442, No), it continues to output the reverse rotation starting bias voltage to the motors 25, 26 (FIG. 50: ST441).

<B> First exchange / acceleration torque control process (FIGS. 51 and 52: ST453 to ST467)
The control means 37 controls (acceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26, and sets the linear speed V1 during the first replacement / winding roll R1 to the first target linear speed. Accelerate to the value Vy1.
Further, in parallel with the acceleration control of the winding motor 26, the control means 37 controls the rotational torque of the unwinding motor 25A to the first replacement / control torque value Tm2.
The first replacement / linear velocity V1 (first target linear velocity Vy1) is a rewinding speed of the label sheet RS that is fed back from the winding roll R1 and rewinded to the label roll R2.

When the control unit 37 detects the conveyance (start of conveyance) of the label sheet RS (FIG. 51: ST453, Yes), the control unit 37 sets “i → 0 + 1 (i = 1)” for the control count i (FIG. 51: ST454). .
Subsequently, the control means 37 reads the first (i = 1) section acceleration linear velocity pattern δ51 from the first replacement / linear velocity pattern table TB6 based on the number of times of control (i = 1), and the line The acceleration value ar is read from the storage means 35 (FIG. 51: ST455).

The control means 37 measures the control start time Sx with the control start time timer 46 and measures the measurement time ds with the measurement time timer 47.
The control means 37 counts the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 at the same time as the measurement time ds starts, and unwinds and rotates the pulse q2 at the unwind rotation angle pulse counter 44. Count as the number of pulses Xqd.

Subsequently, when measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the unwinding rotation pulse number Xqd from the unwinding rotation angle pulse counter 44.
When the control unit 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd, the control unit 37 resets the pulse counters 43 and 44 (clears to zero).

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 37 and, based on the one-pulse distance value Lr and the label rotation pulse number Xqf, for the measurement time ds at the first replacement / label sheet return amount. dM is calculated.
At the time of the first replacement, the label sheet return amount dM (m) is dM = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf. The label sheet return amount dM is the label sheet amount returned from the take-up roll R1 to the label roll R2 for the measurement time ds.

The control unit 37 reads the one-pulse rotation angle θ2a from the storage unit 35, and based on the one-pulse rotation angle θ2a and the number of unwinding rotation pulses Xqd, the motor shaft 25A (label roll R2) of the unwinding motor 25 for the measurement time ds. ) At the first replacement and rotation angle dθ2.
At the time of the first exchange, the rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, where 1 pulse rotation angle θ2a and unwinding rotation pulse number Xqd.
Further, the control means 37 sets the outer diameter radius r2a at the first replacement of the label roll R2 for the measurement time ds based on the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ2. calculate.
The outer diameter radius r2a (m) at the first replacement is r2a = dM / dθ2 when the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ2.

Subsequently, the control unit 37 reads the linear acceleration value ar from the storage unit 35 and, based on the linear acceleration value ar and the first replacement / outer diameter radius r2a, for the measurement time ds, the motor shaft 25A of the unwinding motor 25. At the time of the first replacement of (label roll R2), angular acceleration α2 is calculated (FIG. 51: ST456).
At the time of the first replacement, the angular acceleration α2 (rad / s ² ) is calculated by the equation (J).

Further, the control means 37 calculates the first replacement time / rotation speed W2a of the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the first replacement time / rotation angle dθ2 and the measurement time ds (FIG. 51: ST456).
At the time of the first replacement, the rotation speed W2a (rpm) is calculated by the equation (K).

  Subsequently, the control means 37 calculates the first replacement / control torque value Tm2 for the measurement time ds based on the first replacement / angular acceleration α2 and the first replacement / rotation speed W2a (FIG. 51). And FIG. 52: ST457 to ST462).

  During the first replacement / control torque value Tm2 (N · m), during the first replacement / correction torque value Ta2, during the first replacement / tension generation torque value Tb2, during the first replacement / label roll acceleration / deceleration torque value Tc2, It consists of the unwinding motor acceleration / deceleration torque value Td2 during the first replacement and the label roll friction torque value Te2 during the first replacement.

■ During the first replacement ・ Correction torque value Ta2 (N ・ m)
The control means 37 reads the correction torque value function fM (rev) from the storage means 35, and calculates the correction torque value Ta2 based on the first replacement / rotation speed W2a and the correction torque value function fM (rev) (FIG. 51: ST457).
The first replacement / correction torque value Ta2 (N · m) is calculated by substituting the first replacement / rotation speed W2a for “W” in the formula (A) of the correction torque value function fM (rev).

■ During the first replacement ・ Tension generation torque value Tb2 (N ・ m)
The control means 37 reads the target tension value F from the storage means 35, and calculates the first exchange / tension generation torque value Tb2 based on the target tension value F and the first exchange / outer radius r2a (FIG. 51). : ST458).
At the time of the first replacement, the tension generation torque value Tb2 (N · m) is calculated by the equation (i).

■ During the first replacement ・ Label roll acceleration / deceleration torque value Tc2 (N ・ m)
First, the control means 37 reads the label roll density ρ, the label roll width h, and the inner diameter radius r3 of the label roll R2 from the storage means 35, and the label roll density ρ, the label roll width h, the inner diameter radius r3 of the label roll R2, Based on the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ2, the inertia moment Ib of the label roll shaft is calculated based on the first replacement / rotation angle dθ2.
At the time of the first replacement, the moment of inertia Ib (kg · m ² ) of the label roll shaft is calculated by the formula (iii).

Subsequently, the control means 37 reads out the inertia moment Ib of the rotating body excluding the winding motor from the storage means 35, and based on the respective inertia moments Ib, I0b and the first exchange / angular acceleration α2, A label roll acceleration / deceleration torque value Tc2 is calculated (FIG. 51: ST459).
At the time of the first replacement, the label roll acceleration / deceleration torque value Tc2 (N · m) is calculated by the equation (ii).

■ During first replacement ・ Tuning motor acceleration / deceleration torque value Td2 (N ・ m)
The control unit 37 reads out the inertia moment M0b of the unwinding motor 25 from the storage unit 35, and based on the inertia moment M0b and the first replacement / angular acceleration α2, the control unit 37 calculates the unwinding motor acceleration / deceleration torque value Td2 during the first replacement. Calculate (FIG. 52: ST460).
At the time of the first replacement, the unwinding motor acceleration / deceleration torque value Td2 (N · m) is calculated by the equation (iv).

■ Label roll friction torque value Te2 (N ・ m)
The control means 37 reads the label roll density ρ, the label roll width h, the initial friction torque value T0b of the unwinding motor 25 and the friction coefficient μ from the storage means 35, and reads the label roll density ρ, the label roll width h, the initial friction torque value. The label roll friction torque value Te2 is calculated based on T0b, the friction coefficient μ, and the first replacement / outer diameter radius r2a (the outer diameter radius of the label roll R2) (FIG. 52: ST461).
The label roll friction torque value Te2 (N · m) is calculated by the equation (v).

■ During the first replacement ・ Control torque value Tm2 (N ・ m)
Based on the calculated torque values Ta2, Tb2, Tc2, Td2, and Te2, the control means 37 calculates the first replacement / control torque value Tm2 (FIG. 52: ST462).
For the first replacement / control torque value Tm2 (N · m), each torque value Ta2 to Te2 is calculated (added) by the equation (vi).

Subsequently, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, so that the first exchange / linear speed V1 of the take-up roll R1 is the first acceleration. The linear velocity value V = zero (= 0) is accelerated to the linear velocity value V = (Vy1 / i) along the slope (gradient) ar of the linear velocity pattern δ51 (FIG. 52: ST463).
At this time, the control means 37 calculates an acceleration voltage value (or converts it into an acceleration voltage value) along the slope (gradient) ar of the first (i = 1) acceleration linear velocity pattern δ51, and calculates the acceleration voltage. Output to the winding motor 26, and control (acceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 in the control time Sp.
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25 to control the rotational torque of the motor shaft 25A of the unwinding motor 25 to the control torque value Tm2 during the first replacement (FIG. 52). : ST464).
At this time, the control means 37 calculates (or converts to an acceleration torque voltage value) an acceleration torque voltage value corresponding to the first exchange / control torque value Tm2, and outputs the acceleration torque voltage to the unwinding motor 25. During the control time Sp, the rotational torque of the motor shaft 25A of the unwinding motor 25 is controlled to the first replacement / control torque value Tm2.

  Subsequently, the control means 37 reads the first switching pulse total number Xqx from the storage means 35 and reads the position pulse total number Xq from the label position pulse counter 42 (FIG. 52: ST465), and the first switching pulse total number Xqx and the position The total number of pulses Xq is compared.

When the position pulse total number Xq is the first switching pulse total number Xqx (Xq = Xqx) (FIG. 52: ST466, Yes), the control means 37 executes the first replacement / constant speed torque control process.
Further, the control means 37 counts the control start time Sx (FIG. 52: ST467, Yes) when the position pulse total number Xq is not the first switching pulse total number Xqx (Xq <Xqx) (FIG. 52: ST466, No). For the control count i, “i → 1 + 1 (i = 2)” is set (FIG. 51: ST454).
Subsequently, the control means 37 reads the second (i = 2) section acceleration linear velocity pattern δ52 from the first replacement / linear velocity pattern table TB6 based on the number of times of control (i = 2), and the line The acceleration value ar is read from the storage means 35 (FIG. 51: ST455).
The control means 37 executes ST456 in FIG. 51 based on the linear acceleration ar, and at the time of the first replacement of the label roll R2 and the outer radius r2a and the angle and angle of the first replacement of the label roll R2 for the measurement time ds. Acceleration α2, label roll R2 (unwinding motor 25) at the time of the first replacement, rotation speed W2a is calculated.
Subsequently, the control means 37 executes ST457 to ST461 of FIGS. 51 and 52 based on the first replacement / rotation speed W2a, the first replacement / angular acceleration α2, and the first replacement / outer radius r2a. During the first replacement / correction torque value Ta2, during the first replacement / tension generation torque value Tb2, during the first replacement / label roll acceleration / deceleration torque value Tc2, during the first replacement / unwinding motor acceleration / deceleration torque value Td2 , And a label roll friction torque value Te2.
The first replacement / correction torque value Ta2 is calculated from the correction torque function fM (rev) and the first replacement / rotation speed W2a, and the first replacement / tension generation torque value Tb2 is calculated from the equation (i). . At the time of the first replacement, the label roll acceleration / deceleration torque value Tc2 is calculated by the equations (ii) and (iii). At the time of the first replacement, the unwinding motor acceleration / deceleration torque value Td2 is calculated by the equation (iv), And at the time of the first replacement, the label roll friction torque value Te2 is calculated by the equation (v).
The control means 37 calculates the control torque value Tm2 at the time of the first replacement by the equation (vi) (FIG. 52: ST462).

Subsequently, the control means 37 controls (acceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and sets the linear velocity V1 during the first replacement of the take-up roll R1. The linear velocity value V = [(2) from the linear velocity value V = (Vr1 / i) along the second (i = 2) section acceleration linear velocity pattern δ52 [slope (gradient): ar = (Vy / Sr)]. XVy1) / i] (FIG. 52: ST463).
At this time, the control means 37 calculates (or converts into an acceleration voltage value) an acceleration voltage value along the slope (gradient) ar of the second (i = 2) section acceleration linear velocity pattern δ52, and controls the control time. In Sp, an acceleration voltage is output to the take-up motor 26, and the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 is controlled (acceleration control).
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25, and the rotational torque of the motor shaft 25A of the unwinding motor 25 is set to the control torque value Tm2 during the first replacement at the control time Sr. Control is performed (FIG. 52: ST464).
At this time, the control means 37 calculates (or converts to an acceleration torque voltage value) the acceleration torque voltage value corresponding to the first replacement / control torque value Tm2, and outputs the acceleration torque voltage in the control time Sr. The rotational torque of the motor shaft 25A of the unwinding motor 25 is controlled.

In this way, the control unit 37 repeatedly executes ST454 to ST465 of FIGS. 51 and 52 until the position pulse total number Xq reaches the first switching pulse total number Xqx (FIG. 52: Yes, ST466).
At this time, based on the number of times of control i (i = 1, 2, 3,...), The control unit 37 sets the i-th (i = 1, 2, 3,...) Section acceleration linear velocity pattern δ5k to the first. At the time of replacement / reading from the linear acceleration pattern table TB6, the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the unwinding motor 26 is controlled, and during the control time Sp, at the first replacement / line speed of the winding roll R1 V2 is changed from the linear velocity value V = [(i−1) × Vy1 / i] to the linear velocity value V = [(i × Vy1) along the slope (gradient) ar of the i-th interval acceleration linear velocity pattern δ5i. / I] (acceleration control).
That is, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 a plurality of times, so that the first change / linear speed V1 of the take-up roll R1 is changed for each control cycle. ..., Δ5i is gradually accelerated along the slope (gradient) ar of the section acceleration linear velocity patterns δ51, δ52, δ53,. To do.
Further, the control means 37 calculates the control torque value Tm2 at the time of the first replacement in each control time, and controls the rotational torque of the motor shaft 25A of the unwinding motor 25 to the control torque value Tm2 at the time of the first replacement.

  If it is not the control start time Sx (FIG. 52: ST467, No), the control means 37 repeats ST463 to ST465 of FIG.

<B> First Speed / Constant Speed Torque Control Process (FIGS. 53 to 55: ST501 to ST519)
The control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, so that the linear speed V1 during the first replacement of the take-up roll R1 becomes the first target linear speed value Vy1 (constant Linear velocity value).
In parallel with the constant speed control of the winding motor 26, the control means 37 controls the rotational torque of the motor shaft 25A of the unwinding motor 25 to the control torque value Tm2 (a constant torque value) during the first replacement.

  When the total number Xq of position pulses reaches the first total number Xqx of switching pulses (FIG. 52: ST466, Yes), the control means 37 counts the control start time Sx with the control start timing timer 46.

When measuring the control start time Sx (FIG. 53: ST501, Yes), the control means 37 measures the measurement time ds with the measurement time timer 47.
At the same time as the measurement time ds is started, the control means 37 counts the pulse qf as the label rotation pulse number Xqf by the label rotation angle pulse counter 43, and outputs the pulse q2 by the unwinding rotation angle pulse counter 44. Count as a number Xqd, and the winding rotation angle pulse counter 45 counts the pulse q1 as a winding rotation pulse number Xqt.

  When measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf and the winding rotation pulse number Xqt from each of the pulse counters 43 and 45. When the control unit 37 reads the label rotation pulse number Xqf and the winding rotation pulse number Xqt, the pulse counters 43 and 45 are reset (cleared to zero).

Subsequently, the control unit 37 reads the one-pulse distance value dL from the storage unit 35 and calculates the first replacement / label sheet return amount dM based on the one-pulse distance value dL and the label rotation pulse number Xqf ( FIG. 53: ST502).
At the time of the first exchange, the label return amount dM (m) is dM = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

Subsequently, the control means 37 reads the one-pulse rotation angle θ1a from the storage means 35, and based on the one-pulse rotation angle θ1a and the winding rotation pulse number Xqt, the motor shaft 25A (winding roll R1) of the winding motor 25. The first exchange / rotation angle dθ1 is calculated (FIG. 53: ST502).
At the time of the first replacement, the rotation angle dθ1 (rad) is dθ1 = θ1a × Xqt, where 1 pulse rotation angle θ1a and winding rotation pulse number Xqt.

The control means 37 calculates the outer radius r1a during the first replacement of the take-up roll R1 based on the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ1 (FIG. 53: ST503).
The first replacement / outer radius r1a (m) is r1a = dM / dθ1 when the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ1.

Subsequently, the control means 37 calculates the linear velocity V1 during the first replacement of the winding roll R1 based on the first replacement / outer radius r1a, the first replacement / rotation angle dθ1, and the measurement time ds. (FIG. 53: ST504).
The first exchange / linear velocity V1 (m / s) is calculated by the equation (L).

The control unit 37 reads the first target linear velocity value Vy1 from the storage unit 35 (FIG. 53: ST505), and based on the first target linear velocity value Vy1 and the first replacement / linear velocity V1, The differential linear velocity value Vu is calculated (FIG. 53: ST506).
The first differential / velocity difference linear velocity value Vu (m / s) is Vu = Vy1−V1 when the first target linear velocity value Vy1 and the first replacement / linear velocity V1 are used.
The differential linear velocity value Vu at the time of the first exchange is a positive (plus) linear velocity value [hereinafter, “if the linear velocity V1 does not exceed the first target linear velocity value Vy1 (V1 <Vy1)”. Plus differential linear velocity (+ Vu) ”.
When the first replacement / linear velocity V1 exceeds the first target linear velocity value Vy1 (V1> Vy1), the negative linear velocity value (hereinafter referred to as “minus”). Difference linear velocity (−Vu) ”.
The first exchange / differential linear velocity value Vu becomes (V1 = Vy1) and Vu = 0 (zero) when the first exchange / linear velocity V1 is the first target linear velocity value Vy1.

  Further, the control means 37 reads the unwinding rotation pulse number Xqd from the unwinding rotation angle pulse counter 44 when measuring the measurement time ds. When the control means 37 reads the unwinding rotation pulse number Xqd, it resets (unclears) the unwinding rotation angle pulse counter 44.

Further, the control means 37 reads the 1-pulse rotation angle θ2a from the storage means 35, and based on the 1-pulse rotation angle θ2a and the unwinding rotation pulse number Xqd, the control shaft 37 of the motor shaft 25A (label roll R2) of the unwinding motor 25 At the time of replacement, the rotation angle dθ2 is calculated (FIG. 53: ST507).
The first exchange / rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, assuming the first exchange / rotation angle θ2a and the number of unwinding rotation pulses Xqd.

Based on the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ2, the control means 37 calculates the outer radius r2a of the label roll R2 during the first replacement (FIG. 54: ST508). ).
The outer diameter radius r2a (m) at the first replacement is r2a = dM / dθ2 when the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ2.
Note that the first exchange / label return amount dM is calculated in ST502 of FIG.

Subsequently, the control unit 37 calculates the first replacement time / angular acceleration α2 of the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the first replacement time / rotation angle dθ2 and the measurement time ds ( FIG. 54: ST509).
At the time of the first replacement, the angular acceleration α2 (rad / s ² ) is calculated by the equation (M).

Based on the first replacement / rotation angle dθ2 and the measurement time ds, the control unit 37 calculates the first replacement / rotation speed W2a of the motor shaft 25A (label roll R2) of the unwind motor 25 (FIG. 54). : ST509).
At the time of the first replacement, the rotation speed W2a (rpm) is calculated by the equation (K).

Subsequently, the control means 37 calculates the control torque value Tm2 during the first replacement based on the first replacement / angular acceleration α2, the first replacement / rotation speed W2a, and the first replacement / outer radius r2a. (FIGS. 54 and 55: ST510 to ST515).
The control means 37 reads the correction torque value function fM (rev) and calculates the first replacement / correction torque value Ta2 based on the correction torque value function fM (rev) and the first replacement / rotation speed W2a ( FIG. 54: ST510). The first replacement / correction torque value Ta2 is calculated by substituting “W2a” into “W” in the equation (A) of the correction torque value function fM (rev).
Similarly to the description of the first replacement / acceleration torque control process (FIGS. 51 and 52: ST458 to ST461), the control means 37 performs the first replacement / tension generation torque according to the equations (i) to (v). The value Tb2, the first replacement / label roll acceleration / deceleration torque value Tc2, the first replacement / unwinding motor acceleration / deceleration torque value Td2, and the first replacement / label roll friction torque value Te2 are calculated (FIG. 54 and FIG. 55: ST511-ST514).
Further, the control means 37 calculates the first replacement / control torque value Tm2 based on the calculated torque values Ta2, Tb2, Tc2, Td2, and Te2 (FIG. 55: ST515).
For the first replacement / control torque value Tm2, the torque values Ta2 to Te2 are calculated (added) by the equation (vi).

Subsequently, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26, and sets the linear speed V1 during the first replacement of the winding roll R1 to the first target linear speed value. Vy1 (constant linear velocity value) is set (FIG. 55: ST516).
At this time, the control means 37 calculates (or converts to) a differential speed voltage value corresponding to the first exchange / differential linear speed value Vu and outputs the differential speed voltage to the winding motor 26. Thus, the reverse rotation speed of the motor shaft 26A of the winding motor 26 is controlled (acceleration control or deceleration control).
The control means 37 accelerates the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 when the positive differential linear speed value (+ Vu) is obtained, and the first change time / line of the take-up roll R1 The velocity V1 is set to the first target linear velocity value Vy1 (constant linear velocity).
When the negative differential linear velocity value (−Vu) is obtained, the control means 37 decelerates the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and at the time of the first replacement of the take-up roll R1. The linear velocity V1 is set to the first target linear velocity value Vy1 (constant linear velocity).
The control means 37 does not control the reverse rotation of the motor shaft 26A of the winding motor 26 when the first replacement / differential linear velocity value Vu = 0 (zero).
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25 to change the rotational torque of the motor shaft 25A of the unwinding motor 25 at the first replacement / control torque value Tm2 (constant torque value). (FIG. 55: ST517).
At this time, the control means 37 calculates (or converts to a constant speed torque voltage value) a constant speed torque voltage value corresponding to the first replacement / control torque value Tm2, and supplies the constant speed torque voltage to the unwind motor 25. It outputs and controls the rotational torque of the motor shaft 25A of the unwinding motor 25.

  Subsequently, the control means 37 reads the second switching pulse total number Xqy from the storage means 35, and reads the position pulse total number Xq from the label position pulse counter 42 (FIG. 55: ST518). The total number of pulses Xq is compared.

When the control means 37 counts the control start time Sx without the total number of position pulses Xq exceeding the second total number of switching pulses Xqy (Xq <Xqy) (FIG. 55: ST519, No), FIG. 53: ST501, Yes. 53 to 55 are repeatedly executed to control the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 (acceleration control or deceleration control). At the time of the first replacement, the linear velocity V1 is controlled to the first target linear velocity value Vy1 (constant linear velocity).
Further, the control means 37 repeatedly executes ST502 to ST518 of FIGS. 53 to 55 to change the rotational torque of the motor shaft 25A of the unwinding motor 25 to the control torque value Tm2 (constant torque value) at the time of the first replacement. Control.

In the control means 37, the position pulse total number Xq is the second switching pulse total number Xqy (Xq ≧ Xqy).
If it is (FIG. 55: ST519, Yes), at the time of the first replacement, the deceleration torque control process is executed.

<C> Deceleration torque control process during first replacement (FIGS. 56 and 57: ST551 to ST563)
The control means 37 controls (deceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 and stops the reverse rotation of the motor shaft 26A of the winding motor 26.
The control means 37 controls the rotational torque of the motor rotation shaft 25A of the unwinding motor 25 to the control torque value Tm2 during the first replacement in parallel with the deceleration control of the unwinding motor 26. The reverse rotation of the motor shaft 25A is stopped.

  Subsequently, the control means 37 sets “j → 0 + 1 (j = 1)” for the control count j (FIG. 56: ST551).

Based on the number of times of control (j = 1), the control means 37 reads the first (j = 1) section deceleration linear velocity pattern δ91 from the first replacement / line deceleration pattern table TB6, and the linear acceleration value av Is read from the storage means 35 (FIG. 56: ST552).
The control means 37 measures the control start time Sx by the control start time timer 46 and measures the measurement time ds by the measurement time timer 47.
The control means 37 measures the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 simultaneously with the start of the measurement time ds, and winds the pulse q2 at the unwinding rotation angle pulse counter 44. Time is counted as the number of outgoing rotation pulses Xqd.

When measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the unwinding rotation pulse number Xqd from the unwinding rotation angle pulse counter 44.
When the control unit 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd, the control unit 37 resets the pulse counters 43 and 44 (clears to zero).

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 35 and calculates the first replacement / label sheet return amount dM based on the one-pulse distance value Lr and the label rotation pulse number Xqf.
At the time of the first replacement, the label sheet return amount dM (m) is dM = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

Further, the control means 37 reads the 1-pulse rotation angle θ2a from the storage means 35, and based on the 1-pulse rotation angle θ2a and the unwinding rotation pulse number Xqd, the control shaft 37 of the motor shaft 25A (label roll R2) of the unwinding motor 25 At the time of replacement, the rotation angle dθ2 is calculated.
At the time of the first exchange, the rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, where 1 pulse rotation angle θ2a and unwinding rotation pulse number Xqd.

Subsequently, the control means 37 performs the measurement time ds based on the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ2 during the first replacement / outer radius r2a of the label roll R2. Is calculated.
The outer diameter radius r2a (m) at the first replacement is r2a = dM / dθ2 when the first replacement / label sheet return amount dM and the first replacement / rotation angle dθ2.

Subsequently, the control means 37 performs the measurement time ds based on the linear acceleration value av and the first replacement / outer radius r2a, during the first replacement of the motor shaft 25A (label roll R2) of the unwinding motor 25. The angular acceleration α2 is calculated (FIG. 56: ST553).
At the time of the first exchange, the angular acceleration α2 (rad / s ² ) is calculated by the equation (N).

Further, the control means 37 calculates a first replacement time / rotation speed W2a of the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the first replacement time / outer diameter radius r2a and the measurement time ds ( FIG. 56: ST553).
At the time of the first replacement, the rotation speed W2a (rpm) is calculated by the equation (K).

Subsequently, the control means 37 calculates the control torque value Tm2 during the first replacement based on the first replacement / angular acceleration α2, the first replacement / rotation speed W2a, and the first replacement / outer radius r2a. (FIGS. 56 and 57: ST554 to ST559).
The control means 37 reads the correction torque value function fM (rev) and calculates the first replacement / correction torque value Ta2 based on the correction torque value function fM (rev) and the first replacement / rotation speed W2a ( Fig. 56: ST554). The first replacement / correction torque value Ta2 is calculated by substituting “W2a” into “W” in the equation (A) of the correction torque value function fM (rev).
The control means 37 is similar to that described in the first replacement / acceleration torque control process (FIGS. 51 and 52: ST458 to ST462), and the first replacement / tension generation is performed according to the equations (i) to (v). The torque value Tb2, the first replacement / label roll acceleration / deceleration torque value Tc2, the first replacement / unwinding motor acceleration / deceleration torque value Td2, and the first replacement / label roll friction torque value Te2 are calculated (FIG. 56 and FIG. 56). FIG. 57: ST555 to ST558).
Further, the control means 37 calculates the first replacement / control torque value Tm2 based on the calculated torque values Ta2, Tb2, Tc2, Td2, and Te2 (FIG. 57: ST559).
For the first replacement / control torque value Tm2, the torque values Ta2 to Te2 are calculated (added) by the equation (vi).

Subsequently, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and at the control time Sq, the first replacement linear speed V1 of the take-up roll R1 is The linear velocity value V = Vy1 is decelerated from the linear velocity value V = Vy1 to the linear velocity value V = [Vy1- (Vy1 / j)] along the first (j = 1) zone deceleration linear velocity pattern δ91 (FIG. 57: ST560).
At this time, the control means 37 calculates a deceleration voltage value along the slope (gradient) av of the first section deceleration linear velocity pattern δ91 (or converts it into a deceleration voltage value), and at the control time Sq, the deceleration voltage Is output to the take-up motor 26, and the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 is controlled (deceleration control).
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25, and controls the rotational torque of the unwinding motor 25 to the control torque value Tm2 during the first replacement in the control time Sq (FIG. 57: ST561).
At this time, the control means 37 calculates (or converts to a deceleration torque voltage value) a deceleration torque voltage value corresponding to the first exchange / control torque value Tm2, and outputs the deceleration torque voltage to the unwind motor 25. The rotational torque of the motor shaft 25A of the unwinding motor 25 is controlled.

  If it is not the control start time Sx (FIG. 57: ST562, No), the control means 37 repeats ST560 and ST561 in FIG.

  The control means 37 counts the control start time Sx (FIG. 57: ST562, Yes), and if the reverse rotation of the motors 25, 25 is not stopped (FIG. 57: ST563, No), for the control count j, “j → 1 + 1 (j = 2) "is set (FIG. 56: ST551).

Subsequently, the control unit 37 reads the zone deceleration linear velocity pattern δ92 from the first replacement / linear velocity pattern table TB6 and the acceleration value av from the storage unit 35 based on the number of times of control (j = 2). (FIG. 56: ST552).
The control means 37 executes ST553 in FIG. 56 based on the acceleration value av, and at the time of the first replacement of the label roll R2 and the outer radius r2a, the first of the motor shaft 25A of the unwinding motor 25 for the measurement time ds. At the time of one replacement, the angular acceleration α2 and the time of the first replacement of the motor shaft 25A of the unwinding motor 25 are calculated.
Subsequently, the control means 37 executes ST554 to ST558 of FIGS. 56 and 57 based on the first replacement / rotation speed W2a, the first replacement / angular acceleration α2, and the first replacement / outer radius r2a. During the first replacement / correction torque value Ta2, during the first replacement / tension generation torque value Tb2, during the first replacement / label roll acceleration / deceleration torque value Tc2, during the first replacement / unwinding motor acceleration / deceleration torque value Td2 , And a label roll friction torque value Te2.
The first replacement / correction torque value Ta2 is calculated from the correction torque value function fM (rev) and the first replacement / rotation speed W2a, and the first replacement / tension generation torque value Tb2 is calculated by the equation (i). In the first replacement / label roll acceleration / deceleration torque value Tc2 is calculated by the equations (ii) and (iii), and in the first replacement / unwinding motor acceleration / deceleration torque value Td2 is calculated by the equation (iv). And, at the time of the first replacement, the label roll friction torque value Te2 is calculated by the equation (v).
The control means 37 calculates the control torque value Tm2 at the time of the first replacement according to the equation (vi) (FIG. 57: ST559).

Subsequently, the control means 37 controls (deceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and sets the linear velocity V1 during the first replacement of the take-up roll R1. From the linear velocity value V = [Vy1- (Vr1 / j)] to the linear velocity value V = [Vy1- (2 × Vy1) / j] along the slope (gradient) av of the second section deceleration linear velocity pattern δ92. Decelerate (FIG. 57: ST560).
At this time, the control means 37 calculates a deceleration voltage value along the slope (gradient) av of the second section deceleration linear velocity pattern δ92 (or converts it to a deceleration voltage value), and calculates the deceleration voltage during the control time Sq. Output to the take-up motor 26 to control (decelerate control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26.
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25, and at the control time Sq, the rotational torque of the motor shaft 25A of the unwinding motor 25 is changed to the control torque value Tm2 at the first replacement time. Control is performed (FIG. 57: ST561).

Thus, the control means 37 repeatedly executes ST551 to ST562 in FIGS. 56 and 57 until the reverse rotation of the motors 25 and 26 is stopped (FIG. 57: Yes).
At this time, the control means 37 sets the j-th (j = 1, 2, 3,...) Section deceleration linear velocity pattern δ9j to the first based on the control count j (j = 1, 2, 3,...). During replacement / reading from the linear deceleration pattern table TB6, the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 is controlled, and during the first replacement of the winding roll R1 during the control time Sq. V1 is changed from linear velocity value V = [Vy1− (j−1) × Vy1 / j] along the gradient (gradient) av of the jth zone deceleration linear velocity pattern δ9j to V = [Vy1−n]. × Vy1 / j] (deceleration control).
That is, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 a plurality of times, and sets the linear velocity V1 at the time of the first replacement of the winding roll R1 for each control cycle. .., Δ9j is decelerated stepwise along the slope (gradient) av, and finally the first exchange / linear velocity V1 is set to zero (V1 = 0).
Further, the control means 37 calculates the control torque value Tm2 during the first replacement in each control cycle, and controls the rotational torque of the motor shaft 26A of the unwinding motor 26 to the control torque value Tm2 during the first replacement.

Thus, the control means 37 reversely rotates each motor and conveys the label sheet RS by the number of label return pulses (−τq), so that the first position pattern defect / inspected label NKS is defective. It is located at an intermediate point 10B of the label exchange station 10 (see FIGS. 23 and 24).
The inspector recognizes the inspected label KS located at the intermediate point 10B of the defective label exchange station 10 as a defective / inspected label NKS, and removes the defective / inspected label NKS from the long sheet DS of the label sheet KS. Thus, the replacement / inspection label KSA can be replaced (see FIG. 24).

The control means 37 determines the rotational torque of the motor shaft 25A of the unwinding motor 25 during the first replacement / acceleration torque control processing, the first replacement / constant speed torque control processing, and the first replacement / deceleration torque control processing. Since the control torque value Tm2 is controlled at the time of one replacement, even if the outer diameter radius r2a of the label roll R2 and the outer diameter radius r1a of the winding roll R1 change with time, the winding roll R1 to the label roll R2 It is possible to maintain the tension of the label sheet RS rewound to the target tension value F (a constant tension).
The control means 37 calculates the correction torque value Ta2 with the correction torque value function fM (rev) using the motor shaft 25A of the unwinding motor 25 as a reference (motor shaft conversion), and the equations (i) to (v) The torque values Tb2, Tc2, Td2, and Te2 are calculated to obtain the control torque value Tm2.
Theoretically, the tension of the label sheet RS can be controlled to the target tension value F by controlling the motor shaft 25A of the unwinding motor 25 to the first-replacement / tension generation torque value Tb2 of the equation (i). However, in actuality, when the motor shaft 25A of the unwinding motor 25 is rotated in the reverse direction, it is affected by the loss torque caused by friction and the like. The tension of the sheet RS cannot be set to the target tension value F. For this reason, when the control means 37 controls the rotational torque of the motor shaft 25A of the unwinding motor 25, the torque values Ta2, Tc2, Td2, and Te2 that are lost are changed to the torque generation torque value Tb2 during the first replacement. Addition is performed to calculate the control torque value Tm2 during the first replacement. In particular, in addition to the torque values Tc2, Td2, and Te2, the loss torque caused by the rotation speed of the motor shaft 25A of the unwinding motor 25 is set as the first replacement / correction torque value Ta2, and the first replacement / control torque value. Since it is added to Tm2, the tension of the label sheet RS can be accurately controlled to the target tension value F.

■ Second pattern position:
Hereinafter, the conveyance of the defective / inspected label NKS of the second position pattern will be described with reference to FIGS. 20, 24 to 31, 49, 58 to 65.

The control unit 37 reads the allowable pulse number σq from the storage unit 35, and compares the label return pulse number (+ τq) with the allowable pulse number σq (FIG. 49: ST415).
When the label return pulse number (+ τq) exceeds the allowable pulse number σq [0 (zero) ± γq] (FIG. 49: ST415, Yes), the control means 37 performs the second exchange / linear velocity pattern table TB7. Is created (set) (FIG. 49: ST416).
First, the control unit 37 reads the reference / linear velocity pattern table TB5 and the deceleration linear velocity pattern δ9 from the storage unit 35.
Subsequently, in the first position pattern, the control means 37, as described in FIG. 26 to FIG. 31 (FIG. 47: ST408), the number of label return pulses (+ τq), the reference / linear velocity pattern table TB5, and Based on the deceleration linear velocity pattern δ9, a second exchange / linear velocity pattern table TB7 is created (set).
As shown in FIGS. 20 and 26, the control means 37 selects one pulse number section to which the label return pulse number (+ τq) belongs from each of the pulse number sections e1 to e3, and the selected pulse number section Based on the constant linear velocity patterns δ6 to δ8, one constant linear velocity pattern is selected.
Subsequently, the control unit 37 intersects the deceleration linear velocity pattern δ9 with the pulse return axis number (+ τq) of the pulse number axis B on the pulse number axis B and the selected constant velocity linear velocity pattern (FIG. 26). reference).
The control means 37 extracts the selected constant speed linear velocity pattern, the acceleration linear velocity pattern data δ5 between the intersection fa and “zero point (0 point)”, and the deceleration linear velocity pattern δ9 between the intersection fb and the pulse number axis B. Thus, the second replacement / linear velocity pattern table TB7 is configured (created) (see FIGS. 26 to 31).
In the second replacement / linear velocity pattern table TB7, the control means 37 has a plurality of acceleration control sections D1, D2, D3,..., Di and a plurality of section acceleration linear velocities, as described with reference to FIGS. , Δ5i, and a plurality of deceleration control sections E1, E2, E3,..., Ej and a plurality of section deceleration linear velocity patterns δ91, δ92,.

Further, as described in the first position pattern, the control unit 37 calculates the number of intersection pulses (+ ωq1) at the intersection fa and the number of intersection pulses (+ ωq2) at the intersection fb.
The intersection pulse numbers ωq1 and ωq2 are calculated.

  The number of intersection pulses (+ ωq1) is calculated by equation (O).

  In the equation (O), the intersection pulse number (+ ωq1) = Q is obtained by substituting the target linear velocity values Vy1, Vy2, Vy3 to which the label return pulse number (+ τq) belongs into “V” in the equation (O). Calculate (however, the fractional part is rounded down or rounded up).

  The number of intersection pulses (+ ωq2) is calculated by equation (P).

  In the equation (P), the intersection pulse number (+ ωq1) = Q is obtained by substituting the target linear velocity values Vy1, Vy2, Vy3 to which the label return pulse number (+ τq) belongs into “V” in the equation (P). Calculate (however, the fractional part is rounded down or rounded up).

Subsequently, the control unit 37 reads the position pulse total number Xq from the storage unit 35, and calculates the first switching pulse total number Xqx based on the position pulse total number Xq and the intersection pulse number (+ ωq1) (FIG. 49: ST417).
The first switching pulse total number Xqx is Xqx = Xq + ωq1 when the total position pulse number Xq and the intersection pulse number (+ ωq1) are used.
Further, the control unit 37 calculates the second switching pulse total number Xqy based on the position pulse total number Xq and the intersection pulse number (+ ωq2) (FIG. 49: ST417).
The second switching pulse total number Xqy is Xqy = Xq + ωq2 when the total position pulse number Xq and the intersection pulse number (+ ωq2) are used.
For example, the control unit 37 creates (sets) the second replacement / linear velocity pattern table TB7 similar to that described with reference to FIG. The total number of pulses Xqx, Xqy is stored in the storage means 35 (FIG. 49: ST418).

  When the label return pulse number (+ τq) is within the allowable pulse number σq (FIG. 49: ST415, No), the control unit 37 determines that the second position pattern defect / inspected label NKS is in the middle of the defective label exchange station 10. It is determined that it is located at the point 10B. At this time, the control means 37 executes the second replacement / motor starting process, the second replacement / acceleration torque control process, the second replacement / constant speed torque control process, and the second replacement / deceleration torque control process. do not do.

<A> At the time of the second replacement / motor starting process (FIG. 58: ST640 to ST642)
When the control means 37 stores the second exchange / constant speed linear velocity pattern table TB7 and the like (FIG. 49: ST418), the control times i and j are “i → 0 (zero)” and “j → 0 (zero). ) ”Is set (FIG. 58: ST640).
Further, the control means 37 outputs a positive rotation starting bias voltage to the unwinding motor 25 and the winding motor 26 (FIG. 58: ST641).
As a result, the motor shaft 25A of the unwinding motor 25 and the motor shaft 26A of the winding motor 26 are rotated forward against the static friction torque by the positive rotation starting bias voltage.

  When the motors 25 and 26 are rotated forward, the label sheet RS is sent from the label roll R2 to the take-up roll R1. The label sheet RS is wound around the winding roll R1 while being guided by the guide guides 4 to 7 from the label roll R2.

  When the guide roller 6 is rotated forward along with the forward rotation of the motors 25 and 26, the label position detection encoder 29 outputs a pulse qf to the control means 37. The control means 37 counts (adds) the pulse qf as the total number Xq of position pulses by the label position pulse counter 42. In the label inspection mode, the label position pulse counter 42 performs addition counting from the total number Xq of position pulses obtained by counting (adding counting) the pulse qf (Xq → Xq + 1).

When the control means 37 detects the conveyance (start of conveyance) of the label sheet RS (FIG. 58: ST642, Yes), the second exchange / acceleration torque control process, the second exchange / constant speed torque control process, and the second Executes deceleration torque control processing during replacement.
The control unit 37 detects the start of conveyance of the label sheet RS by inputting the pulse qf of the label position detection encoder 29.

  If the control means 37 does not detect the conveyance (start of conveyance) of the label sheet RS (FIG. 58: ST642, No), it continues to output the positive rotation starting bias voltage to the motors 25, 26 (FIG. 58: ST641).

<B> Acceleration torque control process during second replacement (FIGS. 59 and 60: ST653 to ST667)
The control means 37 controls (acceleration control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and sets the linear roll V2 during the second replacement of the label roll R2 to the first target linear speed value. Accelerate to Vy1.
Further, in parallel with the acceleration control of the unwinding motor 25, the control means 37 controls the rotational torque of the winding motor 26 to the second replacement / control torque value Tm1.

When the controller 37 detects the conveyance (start of conveyance) of the label sheet RS (FIG. 59: ST653, Yes), the control unit 37 sets “i → 0 + 1 (i = 1)” as the number of times of control (FIG. 59: ST654). .
Subsequently, the control means 37 reads the first (i = 1) section acceleration linear velocity pattern δ51 from the second replacement / linear velocity pattern table TB7 based on the number of times of control (i = 1), and the line The acceleration value ar is read from the storage means 35 (FIG. 59: ST655).

The control means 37 measures the control start time Sx with the control start time timer 46 and measures the measurement time ds with the measurement time timer 47.
The control means 37 counts the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 simultaneously with the start of the measurement time ds, and winds and rotates the pulse q1 at the winding rotation angle pulse counter 45. Count as the number of pulses Xqt.

Subsequently, when measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the winding rotation pulse number Xqt from the winding rotation angle pulse counter 45.
When the control unit 37 reads the label rotation pulse number Xqf and the winding rotation pulse number Xqt, the control unit 37 resets (clears to zero) each of the pulse counters 43 and 45.

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 37 and, based on the one-pulse distance value Lr and the label rotation pulse number Xqf, for the measurement time ds at the second replacement / label sheet delivery amount dL. Is calculated.
At the time of the second replacement, the label sheet delivery amount dL (m) is dL = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

The control unit 37 reads the one-pulse rotation angle θ1a from the storage unit 35, and based on the one-pulse rotation angle θ1a and the number of winding rotation pulses Xqt, the motor shaft 26A (winding roll) of the winding motor 26 for the measurement time ds. At the time of the second replacement of R1), the rotation angle dθ1 is calculated.
At the time of the second replacement, the rotation angle dθ1 (rad) is dθ1 = θ1a × Xqt, where 1 pulse rotation angle θ1a and winding rotation pulse number Xqt.
Further, the control means 37 determines the outer diameter radius r1a during the second replacement of the winding roll R1 for the measurement time ds based on the second replacement / label sheet delivery amount dL and the second replacement / rotation angle dθ1. calculate.
The outer radius r1a (m) at the second replacement is r1a = dL / dθ1 when the second replacement / label sheet feed amount dL and the second replacement / rotation angle dθ1.

Subsequently, the control unit 37 reads the linear acceleration value ar from the storage unit 35, and based on the linear acceleration value ar and the second replacement / outer diameter radius r1a, the motor shaft 26A of the winding motor 26 is measured for the measurement time ds. At the time of the second replacement of the (winding roll R1), the angular acceleration α1 is calculated (FIG. 59: ST656).
At the time of the second exchange, the angular acceleration α1 (rad / s ² ) is calculated by the equation (Q).

Further, the control unit 37 calculates the second replacement time / rotation speed W1a of the motor shaft 26A (winding roll R1) of the winding motor 26 based on the second replacement time / rotation angle dθ1 and the measurement time ds ( Figure 59: ST656).
At the time of the first replacement, the rotation speed W1a (rpm) is calculated by the equation (C).

Subsequently, the control means 37 calculates the control torque value Tm1 during the second replacement based on the second replacement / angular acceleration α1, the second replacement / rotation speed W1a, and the second replacement / outer radius r1a. (FIGS. 59 and 60: ST657 to ST662).
The control means 37 reads the correction torque value function fM (rev) and calculates the second replacement / correction torque value Ta1 based on the correction torque value function fM (rev) and the second replacement / rotation speed W1a ( FIG. 59: ST657). The second replacement / correction torque value Ta1 is calculated by substituting “W1a” into “W” in the equation (A) of the correction torque value function fM (rev).
The control means 37, as described in the inspection / acceleration torque control processing (FIGS. 38 and 39: ST258 to ST261), uses the equations (1) to (5) to calculate the second replacement / tension generation torque value. Tb1, the second rollover / winding roll acceleration / deceleration torque value Tc1, the second rollover / winding motor acceleration / deceleration torque value Td1, and the second replacement / winding roll friction torque value Te1 are calculated (FIG. 59 and FIG. 59). FIG. 60: ST658 to ST661).
Further, the control means 37 calculates the second replacement / control torque value Tm1 based on the calculated torque values Ta1, Tb1, Tc1, Td1, and Te1 (FIG. 60: ST662).
For the second replacement / control torque value Tm1, the torque values Ta1 to Te1 are calculated (added) according to the equation (6).

Subsequently, the control means 37 controls the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25, and the second interval / linear speed V2 of the label roll R2 is accelerated in the first section. The linear velocity value V = zero (= 0) is accelerated to the linear velocity value V = Vy1 (first target linear velocity value) along the slope (gradient) ar of the linear velocity pattern δ51 (FIG. 60: ST663).
At this time, the control means 37 calculates (or converts to an acceleration voltage value) an acceleration voltage value along the slope (gradient) ar of the first (i = 1) section acceleration linear velocity pattern δ51, and the acceleration voltage Is output to the unwinding motor 25, and the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25 is controlled (acceleration control) during the control time Sp.
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26 to control the rotational torque of the motor shaft 26A of the winding motor 26 to the control torque value Tm1 during the second replacement (FIG. 60). : ST664).
At this time, the control means 37 calculates (or converts to an acceleration torque voltage value) an acceleration torque voltage value corresponding to the second replacement / control torque value Tm1, and outputs the acceleration torque voltage to the take-up motor 26. During the control time Sp, the rotational torque of the motor shaft 26A of the take-up motor 26 is controlled to the second replacement / control torque value Tm1.

  Subsequently, the control means 37 reads the first switching pulse total number Xqx from the storage means 35, and reads the position pulse total number Xq from the label position pulse counter 42 (FIG. 60: ST665). The total number of pulses Xq is compared.

When the position pulse total number Xq is the first switching pulse total number Xqx (Xq = Xqx) (FIG. 60: Yes), the control unit 37 executes the second replacement / constant speed torque control process.
Further, the control means 37 counts the control start time Sx (FIG. 60: ST667, Yes) when the position pulse total number Xq is not the first switching pulse total number Xqx (Xq <Xqx) (FIG. 60: ST666, No). For the control count i, “i → 1 + 1 (i = 2)” is set (FIG. 59: ST654).
Subsequently, the control unit 37 obtains the second (i = 2) section linear velocity pattern δ52 and the linear acceleration value ar from the second replacement / linear velocity pattern table TB7 based on the number of times of control (i = 2). Reading is performed (FIG. 59: ST655).
The control means 37 executes ST656 in FIG. 59 based on the linear acceleration ar, and at the time of the second replacement of the take-up roll R21 and the outer radius r1a and the motor shaft 26A of the take-up motor 26 for the measurement time ds. At the time of the second replacement, the angular acceleration α1, and at the time of the second replacement of the motor shaft of the winding motor 26, the rotational speed W1a is calculated.
Subsequently, the control means 37 executes ST657 to ST661 in FIGS. 59 and 60 based on the second replacement / rotation speed W1a, the second replacement / angular acceleration α1, and the second replacement / outer radius r1a. During the second replacement / correction torque value Ta1, during the second replacement / tension generation torque value Tb1, during the second replacement / winding roll acceleration / deceleration torque value Tc1, during the second replacement / winding motor acceleration / deceleration torque value Td1 and the second replacement / winding roll friction torque value Te1 are calculated.
The second replacement / correction torque value Ta1 is calculated from the correction torque function fM (rev) and the second replacement / rotation speed W1a, and the second replacement / tension generation torque value Tb1 is calculated from the equation (1). . At the time of the second replacement, the winding roll acceleration / deceleration torque value Tc1 is calculated by Equation (2) and Equation (3), and at the time of the second replacement, the winding motor acceleration / deceleration torque value Td1 is calculated by Equation (4). , And the second replacement / winding roll friction torque value Te1 is calculated by the equation (5).
The control means 37 calculates the control torque value Tm1 at the time of the second replacement according to the equation (6) (FIG. 60: ST662).

Subsequently, the control means 37 controls (acceleration control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and sets the second speed / linear speed V2 of the label roll R2 to the second speed. The linear velocity value V = (Vr / i) to the linear velocity value V = [(2 × Vy) along the th (i = 2) interval linear velocity pattern δ52 [slope (gradient): ar = (Vy / Sr)]. ) / I] (FIG. 60: ST663).
At this time, the control unit 37 calculates (or converts to an acceleration voltage value) an acceleration voltage value along the slope (gradient) ar of the second (i = 2) section linear velocity pattern δ52, and controls the control time Sp. , The acceleration voltage is output to the unwinding motor 25 to control (acceleration control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25.
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26, and at the control time Sr, the rotational torque of the motor shaft 26A of the winding motor 26 is set to the control torque value Tm1 during the second replacement. Control is performed (FIG. 60: ST664).
At this time, the control means 37 calculates (or converts to an acceleration torque voltage value) an acceleration torque voltage value corresponding to the second replacement / control torque value Tm1, and at the control time Sr, the acceleration torque voltage is calculated. The rotational torque of the motor shaft 26A of the winding motor 26 is controlled.

As described above, the control unit 37 repeatedly executes ST654 to ST665 in FIG. 59 and FIG. 60 until the position pulse total number Xq reaches the first switching pulse total number Xqx (FIG. 60: Yes).
At this time, based on the number of times of control i (i = 1, 2, 3,...), The control unit 37 sets the i-th (i = 1, 2, 3,. At the time of replacement, read from the linear acceleration pattern table TB7, and control the positive rotational speed (positive rotational speed) of the motor shaft 25A of the take-up motor 25, during the second replacement of the label roll R2 and the linear speed V2 during the control time Sp. Along the slope (gradient) ar of the i-th zone acceleration linear velocity pattern δ5i, from the linear velocity value V = [(i−1) × Vy1 / i] to the linear velocity value V = [(i × Vy1) / i] (acceleration control).
That is, the control means 37 controls the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25 a plurality of times, and changes the second replacement / linear speed V2 of the label roll R2 to the section of each control time. Acceleration stepwise along the slope (gradient) ar of the acceleration linear velocity patterns δ51, δ52, δ53,. .
Further, the control means 37 calculates the second exchange / control torque value Tm2 in each control cycle, and controls the rotational torque of the motor shaft 26A of the winding motor 26 to the second exchange / control torque value Tm1.

  If it is not the control start time Sx (FIG. 60: ST667, No), the control means 37 repeats ST663 to ST665 of FIG.

<C> Constant speed torque control process during second replacement (FIGS. 61 to 63: ST701 to ST719)
The control means 37 controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and sets the linear speed V2 during the second replacement of the label roll R2 to the first target linear speed value Vy1 (constant (Linear velocity value).
In parallel with the constant speed control of the unwinding motor 25, the control means 37 controls the rotational torque of the motor shaft 26A of the winding motor 26 to the control torque value Tm1 (a constant torque value) during the second replacement.

  When the position pulse total number Xq becomes the first switching pulse total number Xqx (FIG. 60: Yes in ST666), the control means 37 counts the control start time Sx with the control start timing timer 46.

When the control means 37 measures the control start time Sx (FIG. 61: ST701, Yes), it measures the measurement time ds with the measurement time timer 47.
At the same time as the measurement time ds is started, the control means 37 counts the pulse qf as the label rotation pulse number Xqf by the label rotation angle pulse counter 43, and outputs the pulse q2 by the unwinding rotation angle pulse counter 44. Count as a number Xqd, and the winding rotation angle pulse counter 45 counts the pulse q1 as a winding rotation pulse number Xqt.

  When measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd from each of the pulse counters 43 and 44. When the control unit 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd, the pulse counters 43 and 44 are reset (cleared to zero).

Subsequently, the control means 37 reads the one-pulse distance value dL from the storage means 35, and calculates the second replacement / label sheet delivery amount dL based on the one-pulse distance value dL and the label rotation pulse number Xqf (FIG. 61: S702).
At the time of the second exchange, the label transmission amount dL (m) is dL = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

Subsequently, the control means 37 reads the one-pulse rotation angle θ2a from the storage means 35, and based on the one-pulse rotation angle θ1a and the number of unwinding rotation pulses Xqd, the motor shaft 25A (label roll R2) of the unwinding motor 25. At the time of the second replacement, the rotation angle dθ2 is calculated (FIG. 61: ST702).
At the time of the second replacement, the rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, where 1 pulse rotation angle θ2a and unwinding rotation pulse number Xqd.

Based on the second replacement / label sheet delivery amount dL and the second replacement / rotation angle dθ2, the control unit 37 calculates the outer radius r2a of the label roll R2 during the second replacement (FIG. 61: ST703). .
The outer radius r2a (m) at the second replacement is r2a = dL / dθ2 when the second replacement / label sheet feed amount dL and the second replacement / rotation angle dθ2.

Subsequently, the control means 37 calculates the second replacement / linear velocity V2 of the label roll R2 based on the second replacement / outer diameter radius r2a, the second replacement / rotation angle dθ2, and the measurement time ds. (FIG. 61: ST704).
The second exchange / linear velocity V2 (m / s) is calculated by the equation (D).

The control unit 37 reads the first target linear velocity value Vy1 from the storage unit 35 (FIG. 61: ST705), and based on the first target linear velocity value Vy1 and the second replacement / linear velocity V2, The differential linear velocity value Vw is calculated (FIG. 61: ST706).
When the second replacement / differential linear velocity value Vw (m / s) is the first target linear velocity value Vy1 and the second replacement / linear velocity V2, Vw = Vy1-V2.
When the second exchange / difference linear velocity value Vw does not exceed the first target linear velocity value Vy1 (V2 <Vy1), the positive (plus) linear velocity value [hereinafter, “ Plus differential linear velocity (+ Vw) ”.
When the second exchange / differential linear velocity value Vw exceeds the first target linear velocity value Vy1 (V2> Vy1), the negative linear velocity value (hereinafter referred to as “minus”). Difference linear velocity (−Vw) ”.
The second exchange / differential linear velocity value Vw becomes (V2 = Vy1) and Vu = 0 (zero) when the second exchange / linear velocity V2 is the first target linear velocity value Vy1.

  Further, the control means 37 reads the winding rotation pulse number Xqt from the winding rotation angle pulse counter 45 when measuring the measurement time ds. When the control unit 37 reads the winding rotation pulse number Xqt, the control unit 37 resets the winding rotation angle pulse counter 45 (clears to zero).

Further, the control unit 37 reads the one-pulse rotation angle θ1a from the storage unit 35, and based on the one-pulse rotation angle θ1a and the number of winding rotation pulses Xqt, the motor shaft 26A (winding roll R1) of the winding motor 26. At the time of the second replacement, the rotation angle dθ1 is calculated (FIG. 62: ST707).
At the time of the second replacement, the rotation angle dθ1 (rad) is dθ1 = θ1a × Xqt, where 1 pulse rotation angle θ1a and winding rotation pulse number Xqt.

Based on the second replacement / label sheet delivery amount dL and the second replacement / rotation angle dθ1, the control means 37 calculates the outer diameter radius r1a during the second replacement / winding roll R1 (FIG. 62: ST708). ).
The outer radius r1a (m) at the second replacement is r1a = dL / dθ1 when the second replacement / label sheet feed amount dL and the second replacement / rotation angle dθ1.
Note that the second exchange / label sending amount dL is calculated in ST656 of FIG.

Subsequently, the control means 37 calculates the second replacement / angular acceleration α1 of the motor shaft 26A (winding roll R1) of the winding motor 26 based on the second replacement / rotation angle dθ1 and the measurement time ds. (FIG. 62: ST709).
At the time of the second exchange, the angular acceleration α1 (rad / s ² ) is calculated by the equation (E).

The control means 37 calculates the second replacement / rotation speed W1a of the motor shaft 26A (winding roll R1) of the winding motor 26 based on the second replacement / rotation angle dθ1 and the measurement time ds (FIG. 62: ST709).
At the time of the second exchange, the rotation speed W1a (rpm) is calculated by the formula (C).

Subsequently, the control means 37 calculates the control torque value Tm1 during the second replacement based on the second replacement / angular acceleration α1, the second replacement / rotation speed W1a, and the second replacement / outer radius r1a. (FIGS. 62 and 63: ST710 to ST715).
The control means 37 reads the correction torque value function fM (rev) and calculates the second replacement / correction torque value Ta1 based on the correction torque value function fM (rev) and the second replacement / rotation speed W1a ( Figure 62: ST710). The second replacement / correction torque value Ta1 is calculated by substituting “W2a” into “W” in the equation (A) of the correction torque value function fM (rev).
The control means 37, as described in the inspection / acceleration torque control processing (FIGS. 38 and 39: ST258 to ST261), uses the equations (1) to (5) to calculate the second replacement / tension generation torque value. Tb1, a second replacement / winding roll acceleration / deceleration torque value Tc1, a second replacement / winding motor acceleration / deceleration torque value Td1, and a second replacement / winding roll friction torque value Te1 are calculated (FIG. 62 and FIG. FIG. 63: ST711 to ST714).
Further, the control means 37 calculates the second replacement / control torque value Tm1 based on the calculated torque values Ta1, Tb1, Tc1, Td1, and Te1 (FIG. 63: ST715).
For the second replacement / control torque value Tm1, the torque values Ta1 to Te1 are calculated (added) according to the equation (6).

Subsequently, the control means 37 controls the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25, and sets the linear speed V2 during the second replacement of the label roll R2 to the first target linear speed value Vy1. (Constant linear velocity value) (FIG. 63: ST716).
At this time, the control means 37 calculates (or converts to) a differential speed voltage value corresponding to the second exchange / differential linear speed value Vw and outputs the differential speed voltage to the unwinding motor 25. Thus, the normal rotation speed of the motor shaft 25A of the unwinding motor 25 is controlled (acceleration control or deceleration control).
The control means 37 accelerates the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 to the positive differential linear speed value (+ Vw), and at the second replacement / linear speed of the label roll R2. V2 is set to the first target linear velocity value Vy1 (constant linear velocity).
The control means 37 decelerates the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25 when it is a negative differential linear speed value (−Vw), and the second replacement line / line of the label roll R2 The velocity V2 is set to the first target linear velocity value Vy1 (constant linear velocity).
The control means 37 does not control the reverse rotation of the motor shaft 25A of the unwinding motor 25 when the second replacement / differential linear velocity value Vw = 0 (zero).
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26 to change the rotational torque of the motor shaft 26A of the winding motor 26 at the second replacement / control torque value Tm1 (constant torque value). (FIG. 63: ST717).
At this time, the control means 37 calculates a constant speed torque voltage value corresponding to the second replacement / control torque value Tm1 (or converts it to a constant speed torque voltage value), and sends the constant speed torque voltage to the take-up motor 26. The rotation torque of the motor shaft 26A of the winding motor 26 is controlled.

  Subsequently, the control means 37 reads the second switching pulse total number Xqy from the storage means 35, and reads the position pulse total number Xq from the label position pulse counter 42 (FIG. 63: ST718). The total number of pulses Xq is compared.

When the control means 37 measures the control start time Sx without the total number of position pulses Xq exceeding the second total number of switching pulses Xqy (Xq <Xqy) (FIG. 63: ST719, No), FIG. 61: ST701, Yes. By repeatedly executing ST702 to ST719 of FIGS. 61 to 63 and controlling the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25 (acceleration control or deceleration control), (2) At the time of replacement, the linear velocity V2 is controlled to the first target linear velocity value Vy1 (constant linear velocity).
Further, the control means 37 repeatedly executes ST702 to ST719 in FIGS. 61 to 63 to change the rotational torque of the motor shaft 26A of the winding motor 26 to the control torque value Tm1 (constant torque value) at the time of the second replacement. Control.

In the control means 37, the position pulse total number Xq is the second switching pulse total number Xqy (Xq ≧ Xqy).
If it is (FIG. 63: ST719, Yes), the second replacement / deceleration torque control process is executed.

<D> Deceleration torque control process during second replacement (FIGS. 64 and 65: ST751 to ST763)
The control means 37 controls (deceleration control) the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25, and stops the normal rotation of the motor shaft 25A of the unwinding motor 25.
Further, in parallel with the deceleration control of the unwinding motor 25, the control means 37 controls the rotational torque of the motor rotation shaft 26A of the winding motor 26 to the control torque value Tm1 at the time of the second replacement, and the winding motor 26. The forward rotation of the motor shaft 26A is stopped.

  Subsequently, the control means 37 sets “j → 0 + 1 (j = 1)” for the control count j (FIG. 64: ST751).

Based on the number of times of control (j = 1), the control means 37 reads the first (j = 1) zone deceleration linear velocity pattern δ91 from the second replacement / line deceleration pattern table TB7, and the linear acceleration value av Is read from the storage means 35 (FIG. 64: ST752).
The control means 37 measures the control start time Sx by the control start time timer 46 and measures the measurement time ds by the measurement time timer 47.
The control means 37 measures the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 simultaneously with the start of the measurement time ds, and winds the pulse q2 at the winding rotation angle pulse counter 45. Time is counted as the number of outgoing rotation pulses Xqt.

When measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the winding rotation pulse number Xqt from the winding rotation angle pulse counter 45.
When the control unit 37 reads the label rotation pulse number Xqf and the winding rotation pulse number Xqt, the control unit 37 resets (clears to zero) each of the pulse counters 43 and 45.

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 35 and calculates the second replacement / label sheet delivery amount dL based on the one-pulse distance value Lr and the label rotation pulse number Xqf.
At the time of the second replacement, the label sheet delivery amount dL (m) is dL = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

Further, the control unit 37 reads the one-pulse rotation angle θ1a from the storage unit 35, and based on the one-pulse rotation angle θ1a and the number of winding rotation pulses Xqt, the motor shaft 26A (winding roll R1) of the winding motor 26. During the second replacement / rotation angle dθ1 is calculated.
At the time of the second replacement, the rotation angle dθ1 (rad) is dθ1 = θ1a × Xqt, where 1 pulse rotation angle θ1a and winding rotation pulse number Xqt.

Subsequently, the control unit 37 determines the outer diameter radius at the second replacement time of the winding roll R1 for the measurement time ds based on the second replacement time / label sheet return amount dL and the second replacement time / rotation angle dθ1. r1a is calculated.
The outer radius r1a (m) at the second replacement is r1a = dL / dθ1 when the second replacement / label sheet feed amount dL and the second replacement / rotation angle dθ1.

Subsequently, the control means 37 performs the second replacement of the motor shaft 26A (winding roll R1) of the winding motor 26 for the measurement time ds based on the linear acceleration value av and the second replacement / outer radius r1a. The angular acceleration α1 is calculated (FIG. 64: ST753).
At the time of the second exchange, the angular acceleration α1 (rad / s ² ) is calculated by the equation (R).

Further, the control means 37 calculates the second replacement / rotation speed W1a of the motor shaft 26A (winding roll R1) of the winding motor 26 based on the second replacement / outer radius r1a and the measurement time ds. (FIG. 64: ST753).
At the time of the second exchange, the rotation speed W1a (rpm) is calculated by the formula (C).

Subsequently, the control means 37 calculates the control torque value Tm1 during the second replacement based on the second replacement / angular acceleration α1, the second replacement / rotation speed W1a, and the second replacement / outer radius r1a. (FIGS. 64 and 65: ST754 to ST759).
The control means 37 reads the correction torque value function fM (rev) and calculates the second replacement / correction torque value Ta1 based on the correction torque value function fM (rev) and the second replacement / rotation speed W1a ( Figure 64: ST754). The second replacement / correction torque value Ta1 is calculated by substituting “W1a” into “W” in the equation (A) of the correction torque value function fM (rev).
The control means 37, as described in the inspection / acceleration torque control processing (FIGS. 38 and 39: ST258 to ST261), uses the equations (1) to (5) to calculate the second replacement / tension generation torque value. Tb1, the second replacement / winding roll acceleration / deceleration torque value Tc1, the second replacement / winding motor acceleration / deceleration torque value Td1, and the second replacement / winding roll friction torque value Te1 are calculated (FIG. 64 and FIG. 64). FIG. 65: ST755 to ST758).
Further, the control means 37 calculates the second replacement / control torque value Tm1 based on the calculated torque values Ta1, Tb1, Tc1, Td1, and Te1 (FIG. 65: ST759).
For the second replacement / control torque value Tm1, the torque values Ta1 to Te1 are calculated (added) according to the equation (6).

Subsequently, the control means 37 controls the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25, and at the control time Sq, the second replacement / linear speed V2 of the label roll R2 is changed to the first speed. Deceleration is performed from the linear velocity value V = Vy1 to the linear velocity value V = [Vy1- (Vy1 / j)] along the first (j = 1) section deceleration linear velocity pattern δ91 (FIG. 65: ST760).
At this time, the control means 37 calculates a deceleration voltage value along the slope (gradient) av of the first section deceleration linear velocity pattern δ91 (or converts it into a deceleration voltage value), and at the control time Sq, the deceleration voltage Is output to the unwinding motor 25 to control (decelerate control) the positive rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25.
Further, the control means 37 controls the reverse rotation of the motor shaft 26A of the winding motor 26, and controls the rotational torque of the winding motor 25 to the control torque value Tm1 during the second replacement in the control time Sq (FIG. 65: ST761).
At this time, the control means 37 calculates (or converts to a deceleration torque voltage value) a deceleration torque voltage value corresponding to the second replacement / control torque value Tm1, and outputs the deceleration torque voltage to the take-up motor 26. The rotational torque of the motor shaft 26A of the winding motor 26 is controlled.

  If it is not the control start time Sx (FIG. 65: ST762, No), the control means 37 repeats ST760 and ST761 of FIG.

  The control means 37 measures the control start time Sx (FIG. 65: ST762, Yes), and if the reverse rotation of the motors 25, 25 is not stopped (FIG. 65: ST763, No), the control count j is “j → 1 + 1 (j = 2) "is set (FIG. 64: ST751).

Subsequently, the control unit 37 reads the zone deceleration linear velocity pattern δ92 from the second replacement / linear velocity pattern table TB7 and the acceleration value av from the storage unit 35 based on the number of times of control (j = 2). (FIG. 64: ST752).
The control means 37 executes ST753 in FIG. 64 based on the acceleration value av, and at the time of the second replacement of the take-up roll R1 and the outer radius r1a and the motor shaft 26A of the take-up motor 26 for the measurement time ds. At the time of the second replacement, the angular acceleration α1 and the time of the second replacement of the motor shaft 26A of the winding motor 26 are calculated.
Subsequently, the control means 37 executes ST754 to ST758 of FIGS. 64 and 65 based on the second replacement / rotation speed W1a, the second replacement / angular acceleration α1, and the second replacement / outer radius r1a. During the second replacement / correction torque value Ta1, during the second replacement / tension generation torque value Tb1, during the second replacement / winding roll acceleration / deceleration torque value Tc1, during the second replacement / winding motor acceleration / deceleration torque value Td1 and the second replacement / winding roll friction torque value Te1 are calculated.
The second replacement / correction torque value Ta1 is calculated from the correction torque value function fM (rev) and the second replacement / rotation speed W1a, and the second replacement / tension generation torque value Tb1 is calculated by the equation (1). At the time of the second replacement, the winding roll acceleration / deceleration torque value Tc1 is calculated by the equations (2) and (3), and at the time of the second replacement, the winding motor acceleration / deceleration torque value Td1 is calculated by the equation (4). The second replacement / winding roll friction torque value Te1 is calculated by the equation (5).
The control means 37 calculates the control torque value Tm1 at the time of the second replacement according to the equation (6) (FIG. 65: ST759).

Subsequently, the control means 37 controls (decelerates control) the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25, and sets the second change / linear velocity V2 of the label roll R2 to the second value. Decelerate from linear velocity value V = [Vy1− (Vr1 / j)] to linear velocity value V = [Vy1− (2 × Vy1) / j] along the slope (gradient) av of the second zone deceleration linear velocity pattern δ92. (FIG. 65: ST760).
At this time, the control means 37 calculates a deceleration voltage value along the slope (gradient) av of the second section deceleration linear velocity pattern δ92 (or converts it to a deceleration voltage value), and calculates the deceleration voltage during the control time Sq. It outputs to the unwinding motor 25 and controls (deceleration control) the normal rotational speed (positive rotational speed) of the motor shaft 25A of the unwinding motor 25.
Further, the control means 37 controls the forward rotation of the motor shaft 26A of the winding motor 26, and at the control time Sq, the rotational torque of the motor shaft 26A of the winding motor 26 is set to the control torque value Tm1 during the second replacement. Control is performed (FIG. 65: ST761).

In this way, the control means 37 repeatedly executes ST751 to ST762 in FIGS. 64 and 65 until the reverse rotation of the motors 25 and 26 stops (FIG. 65: ST763, Yes).
At this time, the control means 37 sets the j-th (j = 1, 2, 3,...) Section deceleration linear velocity pattern δ9j to the first based on the control count j (j = 1, 2, 3,...). At the time of replacement / reading from the linear deceleration pattern table TB6, the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25 is controlled, and during the second replacement of the label roll R2 / linear speed V2 during the control time Sq. The linear velocity value V = [Vy1-n ×] from the linear velocity value V = [Vy1− (j−1) × Vy1 / j] along the slope (gradient) av of the jth zone deceleration linear velocity pattern δ9j. Vy1 / j] (deceleration control).
That is, the control means 37 controls the positive rotation speed (positive rotation speed) of the motor shaft 25A of the unwinding motor 25 a plurality of times, and decelerates the linear speed V2 during the second replacement of the label roll R2 for each control cycle. .., Δ9j is gradually decelerated along the gradient (gradient) av of the linear velocity patterns δ91, δ92, δ93,..., Δ9j, and finally the second exchange / linear velocity V2 is made zero (V1 = 0).
Further, the control means 37 calculates the second exchange / control torque value Tm1 in each control cycle, and controls the rotational torque of the motor shaft 25A of the winding motor 25 to the second exchange / control torque value Tm1.

In this way, the control unit 37 rotates each motor in the forward direction and conveys the label sheet RS by the number of label return pulses (+ τq), thereby labeling the defective / inspected label NKS of the second position pattern as a defective label. It is located at an intermediate point 10B of the exchange station 10 (see FIGS. 24 and 25).
Thus, the defective / inspected label NKS can have the label length intermediate point KSm positioned at the intermediate point 10B of the defective label exchange station 10.
The inspector recognizes the inspected label KS located at the intermediate point 10B of the defective label exchange station 10 as a defective / inspected label NKS, and removes the defective / inspected label NKS from the long sheet DS of the label sheet KS. Thus, the replacement / inspection label KSA can be replaced (see FIG. 24).

The control means 37 determines the rotational torque of the motor shaft 26A of the take-up motor 26 over the second exchange / acceleration torque control process, the second exchange / constant speed torque control process, and the second exchange / deceleration torque control process. 2 Since the control torque value is controlled to the control torque value Tm1, even if the outer diameter radius r2a of the label roll R2 and the outer diameter radius r1a of the winding roll R1 change with time, the label roll R2 to the winding roll R1 It is possible to maintain the tension of the label sheet RS wound around the target tension value F (a constant tension).
The control means 37 calculates the correction torque value Ta1 with the correction torque value function fM (rev) using the motor shaft 26A of the winding motor 26 as a reference (motor shaft conversion), and the equations (1) to (5). The torque values Tb1, Tc1, Td1, and Te1 are calculated to obtain the control torque value Tm1.
Theoretically, the tension of the label sheet RS can be controlled to the target tension value F by controlling the motor shaft 26A of the winding motor 26 to the inspection / tension generation torque value Tb1 of the equation (1). However, in actuality, when the motor shaft 26A of the winding motor 26 is rotated forward, it is affected by the loss torque caused by friction and the like, and the label is obtained only at the second replacement / tension generation torque value Tb1 of the equation (1). The tension of the sheet RS cannot be set to the target tension value F. Therefore, when the control means 37 controls the rotational torque of the motor shaft 26A of the take-up motor 26, the torque values Ta1, Tc1, Td1, Te1 that are lost are changed to the torque generation torque value Tb1 during the second replacement. In addition, the control torque value Tm1 at the time of the second replacement is calculated. In particular, in addition to the torque values Tc1, Td1, and Te1, the loss torque caused by the rotation speed of the motor shaft 26A of the winding motor 26 is used as the second replacement / correction torque value Ta1 during the second replacement / control torque value. Since it is added to Tm1, the tension of the label sheet RS can be accurately controlled to the target tension value F.
When the control unit 37 determines that the pattern is an intermediate position pattern (FIG. 47: ST405), the defective / inspected label NKS is located at the intermediate point 10B of the defective label exchange station 10, and thus does not rotate each motor.

3. Rewind mode (label inspection resume preparation mode):
Hereinafter, the rewind mode (label inspection resumption preparation mode) will be described with reference to FIGS. 1 to 10, 20, 26 to 32, and 66 to 74.

  When the inspector replaces the defective / inspected label NKS with the inspected / inspected label KSA, the inspector operates the inspection start / inspection restart button 20 (inspection start / inspection restart switch) and outputs an inspection restart preparation signal to the control means 37. To do.

  When the inspection restart signal is input (FIG. 66: ST801, Yes), the control unit 37 switches from the label exchange mode to the rewind mode (label inspection restart preparation mode).

The control means 37 reads the exchange distance pulse number εq from the storage means 35 (FIG. 66: ST802), and creates (sets) the rewinding / linear velocity pattern table TB8 (FIG. 66: ST803).
First, the control unit 37 reads the reference / linear velocity pattern table TB5 and the deceleration linear velocity pattern δ9 from the storage unit 35.
Subsequently, in the first position pattern (label exchange mode), the control unit 37 performs the same as described with reference to FIGS. 26 to 31, the exchange distance pulse number εq, the reference / linear velocity pattern table TB5, and the deceleration linear velocity pattern. Based on δ9, a rewinding / linear velocity pattern table TB8 is created (set).
As shown in FIG. 20 and FIG. 26, the control means 37 selects one pulse number section to which the exchange distance pulse number εq belongs from each pulse number section e1 to e3, and based on the selected pulse number section, One constant velocity linear velocity pattern is selected from the constant velocity linear velocity patterns δ6 to δ8.
Subsequently, in the reference / linear velocity pattern table TB5, the control unit 37 intersects the deceleration linear velocity pattern δ9 with the pulse number axis B at the exchange distance pulse number εq of the pulse number axis B, and the selected constant velocity linear velocity pattern. (See FIG. 26).
The control means 37 extracts the selected constant velocity linear velocity pattern, the acceleration linear velocity pattern δ5 between the intersection fa and the “zero point (0 point)”, and the deceleration linear velocity pattern δ9 between the intersection fb and the pulse number axis B, The rewind / linear velocity pattern table TB8 is configured (created) (see FIGS. 26 to 31).
Similarly to the description with reference to FIGS. 26 to 31, the control means 37 has a plurality of acceleration control sections D1, D2, D3,..., Di and a plurality of acceleration linear velocity patterns δ51 in the rewinding / linear velocity pattern table TB8. , Δ52, δ53, ..., δ5i, and a plurality of deceleration control sections E1, E2, E3, ..., Ej and a plurality of deceleration linear velocity patterns δ91, δ92, ..., δ9j.
As described in the first position pattern (label exchange mode), the control unit 37 determines the number of intersection pulses (−ωq1) = − (Sk / Vy) × V, (−ωq2) = − εq + (Sk / Vy). ) × V is calculated by substituting each target linear velocity belonging to the number of exchange distance pulses into “V” in each equation.
Subsequently, as shown in FIG. 25, the control means 37 calculates the first switching pulse total number from the half value (βq / 2) of the label length pulse number βq and the number of intersection pulses (−ωq1) and (−ωq2). Xqx = [Xq + (βq / 2)] − ωq1 and second switching pulse total number Xqy = [Xq + (βq / 2)] − ωq2 are calculated (FIG. 66: ST804).

  The control means 37 creates, for example, the rewinding / linear velocity pattern table TB8 shown in FIGS. 29 and 30, and stores the rewinding / linear velocity pattern table TB8 and the first and second switching pulse total number Xqx, Xqy. 35 (FIG. 66: ST805).

<A> Rewinding / motor starting process (FIG. 67: ST840 to ST842)
When the control means 37 stores the rewinding / speed linear velocity pattern table TB8 and the like (FIG. 66: ST405), “i → 0 (zero)” and “j → 0 (zero)” for the control times i and j. Is set (FIG. 67: ST840).
Moreover, the control means 37 outputs a reverse rotation starting bias voltage to the unwinding motor 25 and the winding motor 26 (FIG. 67: ST841).
Thereby, the motor shaft 25A of the unwinding motor 25 and the motor shaft 26A of the winding motor 26 are reversely rotated against the static friction torque by the reverse rotation starting bias voltage.

  When the motors 25 and 26 are rotated in the reverse direction, the label sheet RS is rewound from the take-up roll R1 to the label roll R2. The label sheet RS is rewound onto the label roll R2 while being guided by the guide guides 4 to 7 from the take-up roll R1.

  When the guide roller 6 is reversely rotated along with the reverse rotation of the motors 25 and 26, the label position detection encoder 29 outputs a pulse qf to the control means 37. The control means 37 counts (subtracts) the pulse qf with the label position pulse counter 42 as the position pulse total number Xq. In the defective label exchange mode, the label position pulse counter 42 subtracts and counts from the total number Xq of position pulses obtained by counting (adding or subtracting) the pulse qf (Xq → Xq−1).

When the control unit 37 detects the conveyance (start of conveyance) of the label sheet RS (FIG. 67: ST842, Yes), the rewinding / acceleration torque control process, the rewinding / constant speed torque control process, and the rewinding / A deceleration torque control process is executed.
The control unit 37 detects the start of conveyance of the label sheet RS by inputting the pulse qf of the label position detection encoder 29.

  If the control means 37 does not detect the conveyance (start of conveyance) of the label sheet RS (FIG. 67: ST842, No), it continues to output the reverse rotation starting bias voltage to the motors 25, 26 (FIG. 678: ST841).

<B> Rewinding / acceleration torque control processing (FIGS. 68 and 69: ST853 to ST867)
The control means 37 controls (acceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and sets the rewind / linear speed V1 of the take-up roll R1 to the third target linear speed value. Accelerate to Vy3.
The control means 37 controls the rotational torque of the unwinding motor 25A to the rewinding / control torque value Tm2 in parallel with the acceleration control of the winding motor 26.
The rewinding / linear velocity V1 (third target linear velocity Vy3) is a rewinding speed of the label sheet RS that is fed back from the winding roll R1 and rewinded to the label roll R2.

When the control unit 37 detects the conveyance (start of conveyance) of the label sheet RS (FIG. 68: ST853, Yes), the control unit 37 sets “i → 0 + 1 (i = 1)” for the control count i (FIG. 68: ST854). .
Subsequently, the control means 37 reads the first (i = 1) section acceleration linear velocity pattern δ51 from the rewind / linear velocity pattern table TB8 based on the number of times of control (i = 1), and the linear acceleration. The value ar is read from the storage means 35 (FIG. 68: ST855).

The control means 37 measures the control start time Sx with the control start time timer 46 and measures the measurement time ds with the measurement time timer 47.
The control means 37 counts the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 at the same time as the measurement time ds starts, and unwinds and rotates the pulse q2 at the unwind rotation angle pulse counter 44. Count as the number of pulses Xqd.

Subsequently, when measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the unwinding rotation pulse number Xqd from the unwinding rotation angle pulse counter 44.
When the control unit 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd, the control unit 37 resets the pulse counters 43 and 44 (clears to zero).

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 37 and, based on the one-pulse distance value Lr and the label rotation pulse number Xqf, for the measurement time ds, the rewinding / label sheet return amount dM. Is calculated.
The rewind / label sheet return amount dM (m) is dM = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

The control unit 37 reads the one-pulse rotation angle θ2a from the storage unit 35, and based on the one-pulse rotation angle θ2a and the number of unwinding rotation pulses Xqd, the motor shaft 25A (label roll R2) of the unwinding motor 25 for the measurement time ds. ) And the rotation angle dθ2 are calculated.
The rewinding / rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, where 1 pulse rotation angle θ2a and unwinding rotation pulse number Xqd.
Further, the control means 37 calculates a rewinding / outer radius r2a of the label roll R2 for the measurement time ds based on the rewinding / label sheet rewinding amount dM and the rewinding / rotation angle dθ2.
The unwinding / outer radius r2a (m) is r2a = dM / dθ2 when the unwinding / label sheet feed amount dM and the unwinding / rotation angle dθ2.

Subsequently, the control unit 37 reads the linear acceleration value ar from the storage unit 35 and, based on the linear acceleration value ar and the rewinding / outer radius r2a, for the measurement time ds, the motor shaft 25A ( At the time of rewinding the label roll R2), the angular acceleration α2 is calculated (FIG. 68: ST856).
The unwinding / angular acceleration α2 (rad / s ² ) is calculated by the equation (J).

Further, the control means 37 calculates the rewinding / rotational speed W2a of the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the rewinding / rotating angle dθ2 and the measurement time ds (FIG. 68: ST856).
Rewinding / rotational speed W2a (rpm) is calculated by equation (K).

Subsequently, the control means 37 calculates the rewinding / control torque value Tm2 based on the rewinding / angular acceleration α2, the rewinding / rotational speed W2a, and the rewinding / outer radius R2a (see FIG. 68 and FIG. 69: ST857 to ST862).
The control means 37 reads the correction torque value function fM (rev), and calculates the rewinding / correction torque value Ta2 based on the correction torque value function fM (rev) and the rewinding / rotational speed W2a (FIG. 68). : ST857). The rewinding / correction torque value Ta2 is calculated by substituting “W2a” into “W” in the equation (A) of the correction torque value function fM (rev).
The control means 37 is the same as described in the first replacement / acceleration torque control process (FIGS. 51 and 52: ST457 to ST461), and uses the formulas (i) to (v) to calculate the rewinding / tension generation torque value. Calculate Tb2, unwinding / label roll acceleration / deceleration torque value Tc2, unwinding / unwinding motor acceleration / deceleration torque value Td2, and unwinding / label roll friction torque value Te2 (FIG. 68 and FIG. 69: ST858-). ST861).
Further, the control means 37 calculates the rewinding / control torque value Tm2 based on the calculated torque values Ta2, Tb2, Tc2, Td2, and Te2 (FIG. 69: ST862).
For rewinding / control torque value Tm2, each torque value Ta2 to Te2 is calculated (added) according to equation (vi).

Subsequently, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and rewinds / linear speed V1 of the take-up roll R1 in the first section acceleration. The linear velocity value δ51 is accelerated from the linear velocity value V = zero (= 0) to the linear velocity value V = (Vy3 / i) along the slope (gradient) ar of the linear velocity pattern δ51 (FIG. 69: ST863).
At this time, the control means 37 calculates (or converts to an acceleration voltage value) an acceleration voltage value along the slope (gradient) ar of the first (i = 1) section acceleration linear velocity pattern δ51, and the acceleration voltage Is output to the winding motor 26, and the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 is controlled (acceleration control) in the control time Sp.
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25 to control the rotational torque of the motor shaft 25A of the unwinding motor 25 to the rewinding / control torque value Tm2 (FIG. 69: ST864).
At this time, the control means 37 calculates (or converts to an acceleration torque voltage value) an acceleration torque voltage value corresponding to the rewinding / control torque value Tm2, and outputs the acceleration torque voltage to the unwinding motor 25. During the control time Sp, the rotational torque of the motor shaft 25A of the unwind motor 25 is controlled to the rewind / control torque value Tm2.

  Subsequently, the control means 37 reads the first switching pulse total number Xqx from the storage means 35, and reads the position pulse total number Xq from the label position pulse counter 42 (FIG. 69: ST865). The total number of pulses Xq is compared.

When the position pulse total number Xq is the first switching pulse total number Xqx (Xq = Xqx) (FIG. 69: ST866, Yes), the control means 37 executes rewinding / constant speed torque control processing.
Further, the control means 37 counts the control start time Sx (FIG. 69: ST867, Yes) when the position pulse total number Xq is not the first switching pulse total number Xqx (Xq <Xqx) (FIG. 69: ST866, No). For the control count i, “i → 1 + 1 (i = 2)” is set (FIG. 68: ST854).
Subsequently, the control unit 37 reads the second (i = 2) section line acceleration speed pattern δ52 from the rewinding / line speed pattern table TB8 based on the number of times of control (i = 2), and the linear acceleration. The value ar is read from the storage means 35 (FIG. 68: ST855).
The control means 37 executes ST856 in FIG. 68 based on the linear acceleration ar, and at the measurement time ds, when the label roll R2 is rewound, the outer radius r2a, and the motor shaft 25A of the unwinding motor 25 is rewound. The time / angular acceleration α2 and the unwinding / rotational speed W2a of the motor shaft 25A of the unwinding motor 25 are calculated.
Subsequently, the control means 37 executes ST857 to ST861 in FIGS. 68 and 69 based on the rewinding / rotational speed W2a, the rewinding / angular acceleration α2, and the rewinding / outer radius r2a. During rewinding / correction torque value Ta2, during rewinding / tension generating torque value Tb2, during rewinding / label roll acceleration / deceleration torque value Tc2, during rewinding / rewinding motor acceleration / deceleration torque value Td2, and during rewinding / A label roll friction torque value Te2 is calculated.
The unwinding / correction torque value Ta2 is calculated from the correction torque function fM (rev) and the unwinding / rotation speed W2a, and the unwinding / tension generation torque value Tb2 is calculated by the equation (i). The unwinding / label roll acceleration / deceleration torque value Tc2 is calculated by the equations (ii) and (iii), and the unwinding / unwinding motor acceleration / deceleration torque value Td2 is calculated by the equation (iv). The return / label roll friction torque value Te2 is calculated by the equation (v).
The control means 37 calculates the rewinding / control torque value Tm2 from the equation (vi) (FIG. 69: ST862).

Subsequently, the control means 37 controls (acceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and sets the rewinding / linear speed V1 of the take-up roll R1 to the second speed. The linear velocity value V = [(2 × 2) from the linear velocity value V = (Vr3 / i) along the section acceleration linear velocity pattern δ52 [slope (gradient): ar = (Vy / Sr)]. Vy3) / i] (FIG. 69: ST863).
At this time, the control means 37 calculates (or converts into an acceleration voltage value) an acceleration voltage value along the slope (gradient) ar of the second (i = 2) section acceleration linear velocity pattern δ52, and controls the control time. In Sp, an acceleration voltage is output to the take-up motor 26, and the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 is controlled (acceleration control).
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25, and controls the rotational torque of the motor shaft 25A of the unwinding motor 25 to the control torque value Tm2 during rewinding during the control time Sr. (FIG. 69: ST864).
At this time, the control means 37 calculates an acceleration torque voltage value corresponding to the rewinding / control torque value Tm2 (or converts it into an acceleration torque voltage value), and outputs the acceleration torque voltage at the control time Sr. And the rotational torque of the motor shaft 25A of the unwinding motor 25 is controlled.

In this way, the control means 37 repeatedly executes ST854 to ST865 in FIG. 68 and FIG. 69 until the position pulse total number Xq reaches the first switching pulse total number Xqx (FIG. 69: ST866, Yes).
At this time, the control means 37 rewinds the i-th (i = 1, 2, 3,...) Section acceleration linear velocity pattern δ5i based on the control count i (i = 1, 2, 3,...). The time / line acceleration pattern table TB8 is read out, the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the unwinding motor 26 is controlled, and the rewinding / linear speed V1 of the winding roll R1 is controlled during the control time Sp. The linear velocity value V = [(i × Vy3) / i from the linear velocity value V = [(i−1) × Vy3 / i] along the slope (gradient) ar of the i-th section acceleration linear velocity pattern δ5i. ] (Acceleration control).
That is, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 a plurality of times, and sets the rewinding / linear speed V2 of the take-up roll R1 for each control cycle. Acceleration stepwise along the gradient (gradient) ar of the acceleration linear velocity patterns δ51, δ52, δ53,..., Δ5i, and finally the rewinding / linear velocity V1 is set to the third target linear velocity value Vy3.
Further, the control means 37 calculates the rewinding / control torque value Tm2 in each control round, and controls the rotational torque of the motor shaft 25A of the unwinding motor 25 to the rewinding / control torque value Tm2.

  If it is not the control start time Sx (FIG. 69: ST867, No), the control means 37 repeats ST863 to ST865 of FIG.

<B> Rewind / Constant Speed Torque Control Process (FIGS. 70 to 72: ST901 to ST919)
The control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and sets the rewind / linear speed V1 of the take-up roll R1 to the third target linear speed value Vy3 (constant (Linear velocity value).
The control means 37 controls the rotational torque of the motor shaft 25A of the unwinding motor 25 to a rewind / control torque value Tm2 (a constant torque value) in parallel with the constant speed control of the winding motor 26.

  When the position pulse total number Xq becomes the first switching pulse total number Xqx (FIG. 69: ST866, Yes), the control means 37 counts the control start time Sx with the control start timing timer 46.

When the control means 37 measures the control start time Sx (FIG. 70: ST901, Yes), it measures the measurement time ds with the measurement time timer 47.
At the same time as the measurement time ds is started, the control means 37 counts the pulse qf as the label rotation pulse number Xqf by the label rotation angle pulse counter 43, and outputs the pulse q2 by the unwinding rotation angle pulse counter 44. Count as a number Xqd, and the winding rotation angle pulse counter 45 counts the pulse q1 as a winding rotation pulse number Xqt.

  When measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf and the winding rotation pulse number Xqt from each of the pulse counters 43 and 45. When the control unit 37 reads the label rotation pulse number Xqf and the winding rotation pulse number Xqt, the pulse counters 43 and 45 are reset (cleared to zero).

Subsequently, the control unit 37 reads the one-pulse distance value dL from the storage unit 35, and calculates the rewinding / label sheet return amount dM based on the one-pulse distance value dL and the label rotation pulse number Xqf (FIG. 70: ST902).
The rewind / label return amount dM (m) is dM = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf are used.

Subsequently, the control means 37 reads the one-pulse rotation angle θ1a from the storage means 35, and based on the one-pulse rotation angle θ1a and the winding rotation pulse number Xqt, the motor shaft 26A (winding roll R1) of the winding motor 26. The unwinding / rotation angle dθ1 is calculated (FIG. 70: ST902).
Rewinding / rotation angle dθ1 (rad) is dθ1 = θ1a × Xqt, where 1 pulse rotation angle θ1a and winding rotation pulse number Xqt.

The control means 37 calculates the outer diameter radius r1a at the time of rewinding of the winding roll R1 based on the rewinding / label sheet return amount dM and the rewinding / rotation angle dθ1 (FIG. 70: ST903).
The rewind / outer radius r1a (m) is r1a = dM / dθ1 when the rewind / label sheet feed amount dM and the rewind / rotation angle dθ1.

Subsequently, the control unit 37 calculates the rewinding / linear velocity V1 of the winding roll R1 based on the rewinding / outer radius radius r1a, the rewinding / rotation angle dθ1, and the measurement time ds (FIG. 70: ST904).
The rewinding / linear velocity V1 (m / s) is calculated by the equation (L).

The control unit 37 reads the third target linear velocity value Vy3 from the storage unit 35 (FIG. 70: ST905), and based on the third target linear velocity value Vy3 and the rewinding / linear velocity V1, the rewinding / difference line. Speed value Va is calculated (FIG. 70: ST906).
The rewinding / differential linear velocity value Va (m / s) is Va = Vy3-V1 when the third target linear velocity value Vy3 and the rewinding / linear velocity V1 are used.
When the rewinding / difference linear velocity value Va does not exceed the third target linear velocity value Vy3 (V1 <Vy3), the positive (plus) linear velocity value [hereinafter, “plus difference” Linear velocity (+ Va) ”.
When the rewinding / difference linear velocity value Va exceeds the third target linear velocity value Vy3 (V1> Vy3), the negative (minus) linear velocity value (hereinafter referred to as “negative difference line”). Speed (−Va) ”).
The rewinding / differential linear velocity value Va is (V1 = Vy3) and Va = 0 (zero) when the rewinding / linear velocity V1 is the third target linear velocity value Vy3.

  Further, the control means 37 reads the unwinding rotation pulse number Xqd from the unwinding rotation angle pulse counter 44 when measuring the measurement time ds. When the control means 37 reads the unwinding rotation pulse number Xqd, it resets (unclears) the unwinding rotation angle pulse counter 44.

Further, the control means 37 reads the one-pulse rotation angle θ2a from the storage means 35, and winds the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the one-pulse rotation angle θ2a and the unwinding rotation pulse number Xqd. Return time / rotation angle dθ2 is calculated (FIG. 70: ST907).
The rewind / rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, where rewind / rotation angle θ2a and unwinding rotation pulse number Xqd.

Based on the rewinding / label sheet feed amount dM and the rewinding / rotation angle dθ2, the control means 37 calculates the rewinding / outer radius r2a of the label roll R2 (FIG. 71: ST908).
The unwinding / outer radius r2a (m) is r2a = dM / dθ2 when the unwinding / label sheet feed amount dM and the unwinding / rotation angle dθ2.
Note that the rewind / label return amount dM is calculated in ST902 of FIG.

Subsequently, the control means 37 calculates the rewinding / angular acceleration α2 of the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the rewinding / rotation angle dθ2 and the measurement time ds (FIG. 71). : ST909).
The rewinding / angular acceleration α2 (rad / s ² ) is calculated by the equation (M).

The control means 37 calculates the rewinding / rotational speed W2a of the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the rewinding / rotating angle dθ2 and the measurement time ds (FIG. 71: ST909). ).
Rewinding / rotational speed W2a (rpm) is calculated by equation (K).

Subsequently, the control means 37 calculates a rewinding / control torque value Tm2 based on the rewinding / angular acceleration α2, the rewinding / rotational speed W2a, and the rewinding / outer radius r2a (FIG. 71). And FIG. 72: ST910-ST915).
The control means 37 reads the correction torque value function fM (rev), and calculates the rewinding / correction torque value Ta2 based on the correction torque value function fM (rev) and the rewinding / rotational speed W2a (FIG. 71). : ST910). The rewinding / correction torque value Ta2 is calculated by substituting “W2a” into “W” in the equation (A) of the correction torque value function fM (rev).
The control means 37 is the same as described in the first replacement / acceleration torque control processing (FIGS. 51 and 52: ST458 to ST461), and uses the equations (i) to (v) to calculate the rewinding / tension generation torque value. Calculate Tb2, unwinding / label roll acceleration / deceleration torque value Tc2, unwinding / unwinding motor acceleration / deceleration torque value Td2, and unwinding / label roll friction torque value Te2 (FIGS. 71 and 72: ST9111). ST914).
Further, the control means 37 calculates the rewinding / control torque value Tm2 based on the calculated torque values Ta2, Tb2, Tc2, Td2, and Te2 (FIG. 72: ST915).
For rewinding / control torque value Tm2, each torque value Ta2 to Te2 is calculated (added) according to equation (vi).

Subsequently, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 to set the rewind / linear speed V1 of the take-up roll R1 to the third target linear speed value Vy3. (Constant linear velocity value) (FIG. 72: ST916).
At this time, the control means 37 calculates (or converts to) a differential speed voltage value corresponding to the rewinding / differential linear speed value Va, and outputs the differential speed voltage to the take-up motor 26. The reverse rotation speed of the motor shaft 26A of the winding motor 26 is controlled (acceleration control or deceleration control).
The control means 37 accelerates the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 to have a positive differential linear speed value (+ Va), and the rewinding / linear speed of the take-up roll R1. V1 is set to the third target linear velocity value Vy3 (constant linear velocity).
The control means 37 decelerates the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 when the negative differential linear speed value (−Va) is obtained, and when the take-up roll R1 is unwound / wired. The speed V1 is set to the third target linear speed value Vy3 (constant linear speed).
The control means 37 does not control the reverse rotation of the motor shaft 26A of the winding motor 26 when the rewinding / differential linear velocity value Va = 0 (zero).
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25 so that the rotational torque of the motor shaft 25A of the unwinding motor 25 becomes the control torque value Tm2 (a constant torque value) during rewinding. Control is performed (FIG. 72: ST917).
At this time, the control means 37 calculates (or converts to a constant speed torque voltage value) a constant speed torque voltage value corresponding to the rewinding / control torque value Tm2, and outputs the constant speed torque voltage to the unwinding motor 25. Then, the rotational torque of the motor shaft 25A of the unwinding motor 25 is controlled.

  Subsequently, the control means 37 reads the second switching pulse total number Xqy from the storage means 35, and reads the position pulse total number Xq from the label position pulse counter 42 (FIG. 72: ST918). The total number of pulses Xq is compared.

When the control means 37 measures the control start time Sx without the total number of position pulses Xq exceeding the second total number of switching pulses Xqy (Xq <Xqy) (FIG. 72: ST919, No), FIG. 70: ST501, Yes. 70 to 72 are repeatedly executed to control the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 (acceleration control or deceleration control). At the time of rewinding, the linear velocity V1 is controlled to the third target linear velocity value Vy3 (constant linear velocity).
Further, the control means 37 repeatedly executes ST902 to ST918 in FIGS. 70 to 72 to control the rotational torque of the motor shaft 25A of the unwinding motor 25 to the rewinding / control torque value Tm2 (constant torque value). To do.

In the control means 37, the position pulse total number Xq is the second switching pulse total number Xqy (Xq ≧ Xqy).
(FIG. 72: ST919, Yes), the rewinding / deceleration torque control process is executed.

<D> Rewinding / deceleration torque control processing (FIGS. 73 and 74: ST951 to ST963)
The control means 37 controls (deceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 and stops the reverse rotation of the motor shaft 26A of the winding motor 26.
Further, in parallel with the deceleration control of the winding motor 26, the control means 37 controls the rotational torque of the motor rotating shaft 25A of the unwinding motor 25 to the rewinding / control torque value Tm2 while controlling the unwinding motor 25. The reverse rotation of the motor shaft 25A is stopped.

  Subsequently, the control means 37 sets “j → 0 + 1 (j = 1)” for the control count j (FIG. 73: ST951).

Based on the number of times of control (j = 1), the control means 37 reads the first (j = 1) section deceleration linear velocity pattern δ91 from the rewind / line deceleration pattern table TB8, and obtains the linear acceleration value av. Reading from the storage means 35 (FIG. 73: ST952).
The control means 37 measures the control start time Sx by the control start time timer 46 and measures the measurement time ds by the measurement time timer 47.
The control means 37 measures the pulse qf as the label rotation pulse number Xqf at the label rotation angle pulse counter 43 simultaneously with the start of the measurement time ds, and winds the pulse q2 at the unwinding rotation angle pulse counter 44. Time is counted as the number of outgoing rotation pulses Xqd.

When measuring the measurement time ds, the control means 37 reads the label rotation pulse number Xqf from the label rotation angle pulse counter 43 and reads the unwinding rotation pulse number Xqd from the unwinding rotation angle pulse counter 44.
When the control unit 37 reads the label rotation pulse number Xqf and the unwinding rotation pulse number Xqd, the control unit 37 resets the pulse counters 43 and 44 (clears to zero).

Subsequently, the control unit 37 reads the one-pulse distance value Lr from the storage unit 35 and calculates the rewinding / label sheet return amount dM based on the one-pulse distance value Lr and the label rotation pulse number Xqf.
The rewind / label sheet return amount dM (m) is dM = Lr × Xqf, where 1 pulse distance value Lr and label rotation pulse number Xqf.

Further, the control means 37 reads the 1-pulse rotation angle θ2a from the storage means 35, and calculates the rewinding / rotation angle dθ2 of the label roll R2 based on the 1-pulse rotation angle θ2a and the unwinding rotation pulse number Xqd.
The rewinding / rotation angle dθ2 (rad) is dθ2 = θ2a × Xqd, where 1 pulse rotation angle θ2a and unwinding rotation pulse number Xqd.

Subsequently, the control means 37 calculates the outer diameter radius r2a at the time of rewinding the label roll R2 for the measurement time ds based on the rewinding / label sheet return amount dM and the rewinding / rotation angle dθ2. .
The unwinding / outer radius r2a (m) is r2a = dM / dθ2 when the unwinding / label sheet feed amount dM and the unwinding / rotation angle dθ2.

Subsequently, the control unit 37 reads the linear acceleration value av from the storage unit 35 and, based on the linear acceleration value av and the unwinding / outer diameter radius r2a, for the measurement time ds, the motor shaft 25A ( At the time of rewinding the label roll R2), the angular acceleration α2 is calculated (FIG. 73: ST953).
The unwinding / angular acceleration α2 (rad / s ² ) is calculated by the equation (N).

Further, the control means 37 calculates the rewinding / rotational speed W2a of the motor shaft 25A (label roll R2) of the unwinding motor 25 based on the rewinding / outer diameter radius r2a and the measurement time ds (FIG. 73). : ST953).
Rewinding / rotational speed W2a (rpm) is calculated by equation (K).

Subsequently, the control means 37 calculates a rewinding / control torque value Tm2 based on the rewinding / angular acceleration α2, the rewinding / rotational speed W2a, and the rewinding / outer radius r2a (FIG. 73). And FIG. 74: ST954-ST959).
The control means 37 reads the correction torque value function fM (rev), and calculates the rewinding / correction torque value Ta2 based on the correction torque value function fM (rev) and the rewinding / rotational speed W2a (FIG. 73). : ST954). The rewinding / correction torque value Ta2 is calculated by substituting “W2a” into “W” in the equation (A) of the correction torque value function fM (rev).
The control means 37 performs the rewinding / tension generating torque according to the equations (i) to (v) in the same manner as described in the first replacement / acceleration torque control process (FIGS. 51 and 52: ST458 to ST462). The value Tb2, the rewinding / label roll acceleration / deceleration torque value Tc2, the rewinding / unwinding motor acceleration / deceleration torque value Td2, and the rewinding / label roll friction torque value Te2 are calculated (FIGS. 73 and 74: ST955). -ST958).
Further, the control means 37 calculates the rewinding / control torque value Tm2 based on the calculated torque values Ta2, Tb2, Tc2, Td2, and Te2 (FIG. 74: ST959).
For rewinding / control torque value Tm2, each torque value Ta2 to Te2 is calculated (added) according to equation (vi).

Subsequently, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and sets the rewinding / linear velocity V1 of the take-up roll R1 during the control time Sq. Deceleration is performed from the linear velocity value V = Vy3 to the linear velocity value V = [Vy3− (Vy3 / j)] along the first (j = 1) section deceleration linear velocity pattern δ91 (FIG. 74: ST960).
At this time, the control means 37 calculates a deceleration voltage value along the slope (gradient) av of the first section deceleration linear velocity pattern δ91 (or converts it into a deceleration voltage value), and at the control time Sq, the deceleration voltage Is output to the take-up motor 26, and the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 is controlled (deceleration control).
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25, and controls the rotational torque of the unwinding motor 25 to the rewind / control torque value Tm2 during the control time Sq (FIG. 74). : ST961).
At this time, the control means 37 calculates (or converts to a deceleration torque voltage value) a deceleration torque voltage value corresponding to the rewinding / control torque value Tm2, and outputs the deceleration torque voltage to the unwinding motor 25. The rotational torque of the motor shaft 25A of the unwinding motor 25 is controlled.

  If it is not the control start time Sx (FIG. 74: ST962, No), the control means 37 repeats ST960 and ST961 of FIG.

  The control means 37 measures the control start time Sx (FIG. 74: ST962, Yes), and if the reverse rotation of each motor 25, 25 is not stopped (FIG. 74: ST963, No), the control count j is set to “j → 1 + 1 (j = 2) ”is set (FIG. 73: ST951).

Subsequently, the control unit 37 reads the zone deceleration linear velocity pattern δ92 from the rewind / linear velocity pattern table TB8 and the acceleration value av from the storage unit 35 based on the number of times of control (j = 2) ( FIG. 73: ST952).
Based on the acceleration value av, the control unit 37 executes ST953 of FIG. 73, and unwinds the label roll R2 at the time of unwinding / outer diameter radius r2a and unwinds the motor shaft 25A of the unwinding motor 25 for the measurement time ds. The hour / angular acceleration α2 and the unwinding / rotational speed W2a of the motor shaft 25A of the unwinding motor 25 are calculated.
Subsequently, the control means 37 executes ST955 to ST958 in FIG. 73 and FIG. 74 based on the rewinding / rotational speed W2a, the rewinding / angular acceleration α2, and the rewinding / outer radius r2a. Rewinding / correction torque value Ta2, Rewinding / tension generating torque value Tb2, Rewinding / label roll acceleration / deceleration torque value Tc2, Rewinding / unwinding motor acceleration / deceleration torque value Td2, and Rewinding / label A roll friction torque value Te2 is calculated.
The rewinding / correction torque value Ta2 is calculated from the correction torque value function fM (rev) and the rewinding / revolution speed W2a, and the rewinding / tension generation torque value Tb2 is calculated by the equation (i). The return / label roll acceleration / deceleration torque value Tc2 is calculated by the equations (ii) and (iii), and the rewind / unwinding motor acceleration / deceleration torque value Td2 is calculated by the equation (iv). The hour / label roll friction torque value Te2 is calculated by the equation (v).
The control means 37 calculates the rewinding / control torque value Tm2 from the equation (vi) (FIG. 74: ST959).

Subsequently, the control means 37 controls (deceleration control) the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26, and sets the rewinding / linear velocity V1 of the take-up roll R1 to the second speed. Decelerate from linear velocity value V = [Vy3− (Vr3 / j)] to linear velocity value V = [Vy3− (2 × Vy3) / j] along the slope (gradient) av of the second zone deceleration linear velocity pattern δ92. (FIG. 74: ST960).
At this time, the control means 37 calculates a deceleration voltage value along the slope (gradient) av of the second section deceleration linear velocity pattern δ92 (or converts it to a deceleration voltage value), and at the control time Sq, the deceleration voltage Is output to the take-up motor 26, and the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 is controlled (deceleration control).
Further, the control means 37 controls the reverse rotation of the motor shaft 25A of the unwinding motor 25, and controls the rotational torque of the motor shaft 25A of the unwinding motor 25 to the rewind / control torque value Tm2 during the control time Sq. (FIG. 74: ST961).

As described above, the control unit 37 repeatedly executes ST951 to ST962 in FIGS. 73 and 74 until the reverse rotation of the motors 25 and 26 is stopped (FIG. 74: Yes).
At this time, the control means 37 rewinds the j-th (j = 1, 2, 3,...) Section deceleration linear velocity pattern δ9j based on the control count j (j = 1, 2, 3,...). It is read from the time / line deceleration pattern table TB8, the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the winding motor 26 is controlled, and during the first replacement of the winding roll R1 / linear speed V1 during the control time Sq. The linear velocity value V = [Vy3-j ×] from the linear velocity value V = [Vy3− (j−1) × Vy3 / j] along the gradient (gradient) av of the j-th zone deceleration linear velocity pattern δ9j. Vy1 / j] (deceleration control).
That is, the control means 37 controls the reverse rotation speed (reverse rotation speed) of the motor shaft 26A of the take-up motor 26 a plurality of times, and reduces the rewinding / linear speed V1 of the take-up roll R1 for each control cycle. The linear velocity patterns δ91, δ92, δ93,..., Δ9j are gradually decelerated along the gradient (gradient) av, and finally the rewinding / linear velocity V1 is set to zero (V1 = 0).
Further, the control means 37 calculates the rewinding / control torque value Tm2 in each control cycle, and controls the rotational torque of the motor shaft 26A of the unwinding motor 26 to the rewinding / control torque value Tm2.

In this way, the control unit 37 rotates the motors 25 and 26 in the reverse direction, and, as shown in FIG. 25, the label sheet RS is changed to a half value (βq / 2) of the exchange distance pulse number εq and the label length pulse number βq. ), The replacement / inspection label KSA is positioned closer to the guide roller 5 than the label detection means 9 (see FIG. 32).
At this time, as shown in FIG. 32, the exchanged / inspected label KSp moves the label end KSa to the inspection restart position on the guide roller 5 side (label roll R2 side) from the label inspection means 9 (light projector 18 and light receiver 19). To position.

The control means 37 controls the rotational torque of the motor shaft 25A of the unwinding motor 25 during rewinding / acceleration control processing, rewinding / constant speed control processing, and rewinding / deceleration control processing. Since the outer diameter radius r2a of the label roll R2 and the outer diameter radius r1a of the winding roll R1 change with time, the label sheet RS is rewound from the winding roll R1 to the label roll R2. Can be maintained at the target tension value F (constant tension) during rewinding.
The control means 37 calculates the correction torque value Ta2 with the correction torque value function fM (rev) using the motor shaft 25A of the unwinding motor 25 as a reference (motor shaft conversion), and the equations (i) to (v) The torque values Tb2, Tc2, Td2, and Te2 are calculated to obtain the control torque value Tm2.
Theoretically, the tension of the label sheet RS can be controlled to the target tension value F by controlling the motor shaft 25A of the unwinding motor 25 to the unwinding / tension generation torque value Tb2 of the equation (i). However, in actuality, when the motor shaft 25A of the unwinding motor 25 is rotated in the reverse direction, it is affected by a loss torque caused by friction or the like, and the label sheet is obtained only by the rewinding / tension generating torque value Tb2 of the equation (i). RS tension cannot be set to the target tension value F. For this reason, when the control means 37 controls the rotational torque of the motor shaft 25A of the unwinding motor 25, the torque values Ta2, Tc2, Td2, and Te2 that are lost are changed to the torque generation torque value Tb2 during rewinding. In addition, the rewinding / control torque value Tm2 is calculated. In particular, in addition to the torque values Tc2, Td2, and Te2, the loss torque caused by the rotation speed of the motor shaft 25A of the unwinding motor 25 is set to the rewinding / control torque value Tm2 as the rewinding / correction torque value Ta2. Since the addition is performed, the tension of the label sheet RS can be accurately controlled to the target tension value F.

  When the inspector operates the inspection start / inspection restart button 20 again, the control unit 37 switches from the rewind mode label inspection resumption preparation mode to the label inspection mode and executes the label inspection mode.

In the label roll inspection machine X, in the inspection / constant speed torque control processing and in the second replacement / constant speed torque control processing, the label roll R2 is inspected / linear velocity V2 (or second replacement / linear velocity V2). Is maintained (controlled) at the time of inspection / target linear velocity value Vx (or first target linear velocity value Vy1).
Since the change in the outer radius r1a of the take-up roll R1 is very small during the measurement time ds, it is assumed that the change is constant, so that the inspection time / constant speed torque control processing and the second replacement / constant speed torque control processing can be performed. In each torque control of the motor shaft 26A of the winding motor 26, it can be considered that the angular acceleration α1 = 0 of the winding roll R1 (motor shaft 26A).
As a result, in the inspection / constant speed torque control process and the second replacement / constant speed torque control process, α1 = 0 in Expression (2) and Expression (4), and substantially the winding roll acceleration / deceleration torque The value Tc1 = 0 and the winding motor acceleration / deceleration torque value Td1 = 0.
Therefore, the inspection / control torque value Tm1 (or the second replacement / control torque value Tm1) is calculated by adding the correction torque value Ta1, the tension generation torque value Tb1, and the winding roll friction torque value Te1. You can also.
Further, in the torque control of the motor shaft 25A of the unwinding motor 25 in the first replacement / constant speed torque control process and in the rewind / constant speed torque control process, the angular acceleration α2 of the label roll R2 (motor shaft 25A) is also achieved. = 0.
Thus, in the first replacement / constant speed torque control process and the rewind / constant speed torque control process, α2 = 0 in the expressions (ii) and (vi), and the label roll acceleration / deceleration torque is substantially obtained. The value Tc2 = 0 and the unwinding motor acceleration / deceleration torque value Td2 = 0.
Therefore, the first replacement / control torque value Tm2 (or rewind / control torque value Tm2) is calculated by adding the correction torque value Ta2, the tension generation torque value Tb2, and the label roll friction torque value Te2. You can also.

In the label roll inspection machine X, as shown in FIG. 17, the correction torque value function fM (rev) is configured by a linear function [formula (A)], but is not limited thereto, and is configured by a quadratic function or the like. Also good.
In the label roll inspection machine X, the unwinding motor 25 and the winding motor 26 are the same, and the correction torque value Ta1 is calculated using the same correction torque value function fM (rev). However, the present invention is not limited to this. Alternatively, different motors such as outputs may be used. In this case, as shown in FIG. 17, for each of the motors 25 and 26, the relationship between each rotational torque value T and the maximum rotational speed W is measured, and a corrected torque value function fM (rev) is set.

In the label inspection machine X, the motor shaft 25A of the unwinding motor 25 and the unwinding side rotating shaft 2 are connected via a reduction gear (not shown) with a reduction ratio (1 / z), and the winding motor 26 The motor shaft 26A and the winding side rotation shaft 3 may be interposed with a reduction gear (not shown) having a reduction ratio (1 / z). The storage means 35 stores the reduction ratio (1 / z).
As described in the label inspection mode, the control means 37 is used for the inspection / rotation angle dθ1 (or the second replacement / rotation angle dθ1) of the motor shaft 26A of the winding motor 26, and for the inspection / label sheet delivery. The amount dL (or the second exchange / label sending amount dL) is calculated. Subsequently, the control unit 37 reads the reduction ratio (1 / z) from the storage unit 35, and calculates the outer diameter radius r1a (m) at the time of the inspection of the winding roll R1 in the reduction ratio (1 / z) (S ).
In the defective label exchange mode, the outer diameter radius r1a at the time of the second exchange in the reduction ratio (1 / z) is calculated in the same manner.

The control means 37 calculates an inspection time / tension generation torque value Tb1 at the reduction ratio (1 / z) by the equation (7).
The outer diameter radius r1a calculated by the equation (S) is substituted into the equation (7) to calculate the tension generation torque value Tb1 at the reduction ratio (1 / z).
In the defective label exchange mode, the second exchange / tension generation torque value Tb1 at the reduction ratio (1 / z) is calculated in the same manner.

Similarly to the description in the label inspection mode, the control unit 37 calculates the angular acceleration α1 at the time of inspection of the motor shaft 26A of the winding motor, and at the time of inspection at the reduction ratio (1 / z), Deceleration torque value Tc1 is calculated by equations (8) and (9).
In the defective label exchange mode, the second roll / winding roll acceleration / deceleration torque value Tc1 in the reduction ratio (1 / z) is calculated in the same manner.

  First, the control means 37 calculates the moment of inertia Ia of the take-up roll shaft at the reduction ratio (1 / z) by the equation (9).

  Subsequently, the control means 37 calculates the winding roll acceleration / deceleration torque at the reduction ratio (1 / z) based on the inertia moment Ia of the winding roll shaft calculated by the equation (9) and the inertia moment I0a of the winding motor. The value Tc1 is calculated by equation (8).

更に、制御手段３７は、減速比（１／ｚ）における検査時・巻取ロール摩擦トルク値Ｔｅ１を式（１０）により算出する。

Further, the control means 37 calculates an inspection time / winding roll friction torque value Te1 in the reduction ratio (1 / z) according to the equation (10).

At the reduction ratio (1 / z), the control unit 37 calculates the inspection / tension generation torque value Ta1 by the equation (7), and the inspection / winding roll acceleration / deceleration torque value Tc1 by the equations (8) and ( 9), and at the time of inspection / winding motor acceleration / deceleration torque value Td1 is calculated by equation (4), and at the time of inspection / winding roll friction torque value Te1 is calculated by equation (10). The inspection / correction torque value Ta1 is calculated by a correction torque value function fM (rev). The control means 37 adds the torque value Tb1, Tc1, Td1, Te1 calculated by the inspection / correction torque value Ta1 and the equations (4), (7) to (10), and the reduction ratio (1 The control torque value Tm1 at the time of inspection at / z) is calculated.
In the defective label exchange mode, the control torque value Tm1 at the time of the second exchange at the reduction ratio (1 / z) is calculated in the same manner.

On the other hand, the control means 37 is the same as described in the defective label replacement mode, when the first replacement of the motor shaft 25A of the unwinding motor 25, the rotation angle θ2a (or when rewinding, the rotation angle θ2a), and the first At the time of replacement, the label sheet return amount dM (or the rewind time / label sheet return amount dM) is calculated. Subsequently, the control means 37 reads the reduction ratio (1 / z) from the storage means 35, and calculates the outer radius r2a (m) at the time of the first replacement of the label roll at the reduction ratio (1 / z) by the equation (T). Calculated by
In the rewind mode, the outer diameter radius r2a at the time of rewinding at the reduction ratio (1 / z) is calculated in the same manner.

The control means 37 calculates the tension generation torque value Tb2 at the time of the first replacement at the reduction ratio (1 / z) by the equation (vii).
The outer diameter radius r1a calculated by the equation (T) is substituted into the equation (vii) to calculate the tension generation torque value Tb2 at the reduction ratio (1 / z).
In the rewind mode, the rewind / tension generation torque value Tb2 at the reduction ratio (1 / z) is calculated in the same manner.

Further, the control means 37 calculates the angular acceleration α2 at the time of the first replacement of the motor shaft 25A of the unwinding motor 25 as described in the defective label replacement mode, and performs the first replacement at the reduction ratio (1 / z). The hour / label roll acceleration / deceleration torque value Tc2 is calculated by the equations (viii) and (ix).
In the rewind mode, the rewind / label roll acceleration / deceleration torque value Tc2 at the reduction ratio 1 / z is calculated in the same manner.

  First, the control means 37 calculates the inertia moment Ib of the label roll shaft at the reduction ratio (1 / z) by the equation (ix).

  Subsequently, the control means 37 calculates the label roll acceleration / deceleration torque value Tc2 at the reduction ratio (1 / z) based on the inertia moment Ib of the label roll shaft and the inertia moment I0b of the unwinding motor calculated by the equation (ix). Calculated according to equation (viii).

Furthermore, the control means 37 calculates the label roll friction torque value Te2 at the time of the first replacement at the reduction ratio (1 / z) by the equation (x).
In the rewind mode, the rewind / label roll friction torque value Te2 at the reduction ratio (1 / z) is calculated in the same manner.

At the reduction ratio (1 / z), the control means 37 calculates the first exchange / tension generation torque value Ta2 by the equation (vii), and the first exchange / label roll acceleration / deceleration torque value Tc2 by the equation (viii). And the formula (ix), the first unwinding / unwinding motor acceleration / deceleration torque value Td2 is calculated by the formula (iv), and the first replacement / label roll friction torque value Te2 is calculated by the formula (x). To do. The first replacement / correction torque value Ta2 is calculated by a correction torque value function fM (rev). The control means 37 adds the torque value Tb2, Tc2, Td2, Te2 calculated by the first replacement / correction torque value Tba2 and the equations (iv), (vii) to (x), and the reduction ratio. At the time of the first replacement at (1 / z), the control torque value Tm2 is calculated.
In the rewind mode, the rewind / control torque value Tm2 at the reduction ratio (1 / z) is calculated in the same manner.

  In the label roll inspection machine X, in the acceleration torque control process in each mode, the motor shaft 25 of the unwind motor 25 is used by using the inspection / line acceleration table TB2, the inspection / line deceleration table TB3, and the linear velocity tables TB6 to TB8. Accelerating or decelerating, and based on the acceleration values ak, ag, ar, av of the tables TB2, TB3, TB6, TB7, TB8, during inspection, angular acceleration α1 (second replacement, angular acceleration α1), Alternatively, the first replacement / angular acceleration α2 (rewinding / angular acceleration α2) is calculated, but is not limited thereto. For example, the measurement time ds is counted for each control start time Sx from the forward rotation start (or reverse rotation start) of each motor 25, 26, and the label roll linear velocity V2 (or take-up roll R1) is measured for this measurement time ds. The linear velocity V2 of the label roll (or the linear velocity V1 of the take-up roll) is calculated by calculating the linear velocity V) of the motor 25 and 26A and controlling the forward rotation or reverse rotation of the motor shaft 25A. You may control to target linear velocity value Vx, Vy1, Vy3. Further, the control unit 37 counts the measurement time ds for each control start time Sx, and the angular acceleration α1 of the motor shaft 26A of the winding motor 26 (or the angle of the motor shaft 25A of the unwinding motor 25) for the measurement time ds. The acceleration α2) may be calculated. At this time, the linear velocity V2 of the label roll R2 and the angular acceleration α1 of the motor shaft 26A of the winding motor 26 are calculated in the same manner as described in the inspection / constant speed torque control process, and the linear velocity V1 of the winding roll R1 is calculated. The angular acceleration α2 of the motor shaft 25 of the unwinding motor 25 is calculated in the same manner as described in the first replacement / constant speed torque control process.

  The present invention is most suitable for determining the quality of the label to be inspected of the label roll.

X Label roll inspection machine R1 Winding roll R2 Label roll DS Long stand sheet RS Label sheet KS Inspected label KSD Inspected label image data MSD Reference label image data 2 Unwinding side rotating shaft 3 Rewinding side rotating shaft 9 Image pickup means 25 Unwind motor 25A Motor shaft 26 Take-up motor 26A Motor shaft 30 Controller 35 Storage means 37 Control means

Claims (3)

The label sheet comprises a long table sheet and a label sheet having a plurality of labels to be inspected that are arranged in parallel in the longitudinal direction of the long table sheet and are adhered to the surface of the long table sheet. Is a label roll inspection machine that determines the quality of the inspected label of the label roll,
An unwinding rotation shaft for holding the label roll and feeding the label sheet from the label roll in a forward rotation;
And winding Tomawa shaft for winding the label sheet winding roll sent from the label roll in the normal rotation,
An unwinding motor having a motor shaft coupled to the unwinding rotation shaft and rotating the unwinding rotation shaft;
A take-up motor having a motor shaft, for rotating the winding Tomawa shaft coupled to the winding pivot shaft,
A guide roller for guiding the label sheet;
Imaging means for imaging each inspection label of the label sheet and outputting inspection label image data of each inspection label;
It has a storage means for storing a reference label image data for inspection for the inspection label, before Symbol compares each inspection label image data and the reference label image data to determine the acceptability of each inspected label A control device;
A label position detection encoder that detects a rotation angle of the guide roller and outputs a position pulse to the control device;
A winding-side detection encoder that detects a rotation angle of a motor shaft of the winding motor and outputs a winding-side pulse to the control device;
With
The control device includes:
Before the forward rotation of the motor shaft of Kimakide motor, by controlling the forward rotation speed of the motor shaft of the unwinder motor, to control the linear velocity of the label roll (V2) to the target line speed value (Vx),
The control device includes:
The motor shaft of the winding motor is rotated forward,
For the measurement time (ds), the winding side pulse of the winding side detection encoder is counted as the number of winding pulses (Xqt), and one pulse rotation angle (θ1a) of the winding side pulse and the number of winding rotation pulses are counted. Based on (Xqt), the rotation angle (dθ1) of the motor shaft of the winding motor is calculated,
For the measurement time (ds), the position pulse of the label position detection encoder is counted as the number of label rotation pulses (Xqf), the one-pulse rotation angle (θfa) of the position pulse, the outer diameter radius (rg) of the guide roller, and Based on the number of label rotation pulses (Xqf), the amount of label sheet delivered (dL) is calculated,
Based on the rotation angle (dθ1) of the motor shaft of the winding motor and the feed amount (dL) of the label sheet, the outer diameter radius (r1a) of the winding roll is calculated,
Based on the rotation angle (dθ1) of the motor shaft of the winding motor and the measurement time (ds), the angular acceleration (α1) of the motor shaft of the winding motor and the rotation speed of the motor shaft of the winding motor ( W1a)
A correction torque value function [fM () that indicates the relationship between the maximum rotation value obtained when the motor shaft of the winding motor is rotated at each rotational torque value and the rotational torque value without load on the motor shaft of the winding motor. rev)], and a rotation speed (W1a) of the motor shaft of the winding motor, a correction torque value (Ta1) is calculated,
Based on the target tension value (F) and the outer diameter radius (r1a) of the winding roll, the tension generation torque value (Tb1) is calculated by the following formula (1),
The moment of inertia of the rotating body excluding the unwinding motor (I0a), the moment of inertia of the winding roll shaft (Ia), the winding roll width (h), the winding roll density (ρ), the inner radius of the winding roll (r0) ), The winding amount of the take-up roll (dL), the rotation angle (dθ1) of the motor shaft of the take-up motor, and the angular acceleration (α1) of the motor shaft of the take-up motor. (Tc1) is calculated by the following formula (2) and formula (3),
Based on the inertia moment (M0a) of the winding motor and the angular acceleration (α1) of the motor shaft of the winding motor, the winding motor acceleration / deceleration torque value (Td1) is calculated by the following equation (4),
Based on the friction coefficient (μ), the winding roll density (ρ), the winding roll width (h), the initial friction torque value (T0a) of the winding motor and the outer diameter radius (ra1) of the winding roll, The winding roll friction torque value (Te1) is calculated by the following formula (5),
The control torque value (Tm1) is calculated by the following formula (6),
The rotational torque of the motor shaft of the winding motor is controlled based on the control torque value (Tm1), and the tension of the label sheet delivered from the label roll is controlled to the target tension value (F). Label roll inspection machine.

A motor shaft connected to the winding rotation shaft via a reduction gear having a reduction ratio (1 / z), and a winding motor for rotating the winding rotation shaft ;
The control device includes:
The outer diameter of the winding roll at the reduction ratio (1 / Z) based on the rotation angle (dθ1) of the motor shaft of the winding motor, the feed amount (dL) of the label sheet, and the reduction ratio (1 / z). Calculate the radius (r1a)
Based on the target tension value (F), the outer diameter radius (r1a) of the winding roll at the reduction ratio (1 / Z), and the reduction ratio (1 / z), the tension generation torque value at the reduction ratio (1 / Z) (Tb1) is calculated by the following equation (7),
Moment of inertia (I0a) of the rotating body excluding the unwinding motor, moment of inertia (Ia) of the winding roll shaft at the reduction ratio (1 / Z), winding roll width (h), winding roll density (ρ), The inner radius (r0) of the take-up roll, the feed amount (dL) of the label sheet, the rotation angle (dθ1) of the motor shaft of the take-up motor, the angular acceleration (α1) and the reduction ratio of the motor shaft of the take-up motor Based on (1 / z), the winding roll acceleration / deceleration torque value (Tc1) at the reduction ratio (1 / Z) is calculated by the following equations (8) and (9).
Friction coefficient (μ), take-up roll density (ρ), take-up roll width (h), initial friction torque value (T0a) of the take-up motor, feed amount (dL) of the label sheet, Based on the rotation angle (dθ1) and the reduction ratio (1 / z) of the motor shaft, the winding roll friction torque value (Te1) at the reduction ratio (1 / Z) is calculated by the following formula (10).
The correction torque value (Ta1), the tension generation torque value (Tb1) at the reduction ratio (1 / Z), the winding roll acceleration / deceleration torque value (Tc1) at the reduction ratio (1 / Z), and the winding motor acceleration / deceleration torque The value (Td1) and the winding roll friction torque value (Te1) at the reduction ratio (1 / Z) are added to calculate the control torque value (Tm1) at the reduction ratio (1 / Z),
The rotational torque value of the motor shaft of the winding motor is controlled based on the control torque value (Tm1) at the reduction ratio (1 / Z), and the tension of the label sheet sent from the label roll is set to the target tension value (T roll label inspection machine according to claim 1, characterized in that the controlled).

Before detecting the rotation angle of the motor shaft of Kimakide motor, comprising a wind-off side detection encoder for outputting unwinding side pulse to the control device,
The control device includes:
Measurement Time (ds), said counting the position pulse of the label position detection encoder as the label number of rotation pulses (Xqf), 1 pulse rotational angle position pulse (? FA), an outer diameter radius (rg) of the guide roller and Based on the number of label rotation pulses (Xqf) , the amount of label sheet delivered (dL) is calculated,
For the measurement time (ds) , the unwinding side pulse of the unwinding side detection encoder is counted as the unwinding rotation pulse number (Xqd) , and the 1-pulse rotation angle ( θ2a) of the unwinding side pulse and the unwinding rotation pulse are counted. based on the number (XQD), the unwinding calculates the rotation angle of the motor shaft of the motor (d? 2),
Based on the feed amount (dL) of the label sheet and the rotation angle (dθ2) of the motor shaft of the unwinding motor, the outer radius (r2a) of the label roll is calculated,
Based on the rotation angle (dθ2) of the motor shaft of the unwinding motor, the outer radius (r2a) of the label roll and the measurement time (ds) , the linear velocity (V2) of the label roll is calculated,
Calculating a linear velocity value (Vs) of the linear velocity (V2) of the label roll and the target linear velocity value (Vx) ;
The rotational speed of the motor shaft of the unwinding motor is controlled based on the differential linear velocity value (Vs), and the linear velocity (V2) of the label roll is controlled to the target linear velocity value (Vx). label roll inspection machine according to claim 1 or claim 2,.

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