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FANUC AC Servo Software 90D3 Series, 90E3 Series Learning

1. CNC software option is necessary invalid TRASMT Set this to zero usually After FORW1 6 is decided by adaptation set this to one in order to transmit them to No 2544 49 then turn it back to zero Transmit FORW1 6 automatically to No 2544 49 with adaptive mode each time at G05 end Not transmit FORW1 6 ADRERSL Adaptive control uses 1 the velocity error 0 the position error Standard Note Usually this is applied to rotary axis which the command changes 2543 ADPCE Adaptation coefficient Datarange 0 to 1000 Standard 50 This parameter gives an influence of the adaptation speed and final error Set to the biggest value so far the error is not diverge 2544 2549 Feed forward coefficients W1 W6 Datarange 32768 to 32767 Standard 0 Feed forward coefficients FORWi are usually decided by Adaptive mode Also you can calculate by the following expression Title 90D3 90E3 Lic p Learning Control Operator s Manual Lo A 63639E 108 ERES 1 _ _ Lot 050420 N Newly designed 1 FANUC LTD FANUC LTD 16 SMDR2 1 2 amp x x PPLS 1 80 fi 3 516 PULCO FORWi 100 100 L fi is feed forward coefficient 96 And PULCO is No 2023 PPLS is No 2024 SMDR1 is No 2084 SDMR2 is No 2085 L is movable distance detection unit per one rotation of motor Above formula is for semi closed system o
2. Setting value 4096 x 2 Example 1 Case of normal axis 1msec and fc 300 Hz No 2067 4096 2 300 0 001 622 Example 2 Case of Learning HRV2 0 5msec No 2227 2 1 and fc 300 Hz No 2067 4096 x exp 21x200x0 0005 1596 Example 3 Case of Learning HRV2 No 2227 2 1 Velocity loop proportional high speed processing function 125usec and fc 300 Hz No 2067 4096 x exp 21x300x0 000125 3236 No 2227 2 1 SN t 1ms t 0 5ms 125us Note 1 You select above normal axis setting in case of Learning HRV2 control and N2227 2 0 2 If Velocity loop proportional high speed processing function is valid Torque command filter is inside set to 300Hz regardless of No 2067 0 In this case it is possible to make invalid by the following setting HRV1 and HRV2 No 2067 4157 HRV3 and HRV4 No 2067 11348 Title 90D3 90E3 Learning Control Operator s Manual A 63639E 108 05 04 20 Newly designed FANUC LTD 6 Learning Control function 6 1 Learning Control parameters 2019 DPFBCT SLEN INSYS SUPRSY LEBFEX UNDE 0006 SLEN Learning control Option is 1 Available 0 Not available sTPRED ADERSL VCMDCL UNTSL 5 ADAPT aM Compensation data mode is ICM LCON Available Not available Learning Mode 0 Suspension Continuation Learning control is Compensation data suspens
3. changes from the plus to the minus the minus value is added When Motion command changes from the minus to the plus the plus value is added This method is like to the backlash compensation e Restrict Odd axis in N1023 only L axis Only during High speed cycle cutting G05 e Feature Torsion compensation value is added to Error counter when the sign of latest Mcmd reverses against the sign of the former Mcmd except Mcmd 0 Title 90D3 90E3 DEM RENE RE RR Learning Control Operator s Manual pF raw vo A 63639E 108 ee FANUC LTD m 7 4 Tandem Learning control function 7 4 1 Summary Tandem Learning control is Learning control combined with Tandem control By means that two motors are controlled as one axis and Learning control is added this function can achieve high precision processing in the special applications Note This function is available with series 90D3 version 02 or later 1 Position Tandem Learning control Merit It can realize high accuracy to learn the position deviation with both sides of long workpiece which have weak stiffness chucked and driven by two motors Applicable machine Cam grinder Crankshaft grinder and etc Grinder Cutting force 2 Torque tandem Learning control Merit Large torque of double motor can achieve leaning of the position deviation due to large cutting torque ais300 or ais500 requires torque tandem in spite of single motor because they have double coils
4. software Blinking RESET indicates on transmission Note When loading No 2510 of total profile number is checked automatically whether it is the same or not as it was saved beforehand If they are not identical the transmission alarm occurs 3 Set No 2511 to an appropriate value and then start to run Learning function Caution It is necessary for you to manage the Learning Data together with its parts program command It would be dangerous because of the unexpected movement if you ran the parts program different from correspondent Learning Data Furthermore you must be conscious of the profile number No 2511 which have Learning data that should be handle always together with the command data Hard Disk LOAD Learning Memory Learning Memory Profile No 1 Profile No 1 Write Data p Profile No 2 Profile No 2 Profile Profile No 3 Lump deal method Partial deal method Fig 7 2 load Learning Data by two ways of the Lump deal method No 2511 0 and the Partial deal method No2511 2 Title 90D3 90E3 DECRE REG RR Learning Control Operator s Manual FANUC LTD Edit Date Design Description 064 Edit Date Design Description 7 2 5 Examples 1 Correspondence with processing program and Work Total profile number 00001 G10 L50 N2510 P Axis R Total profile number Profile Profile j G10 L50 N2511 P R Profile number i N2516 P Axis R Learning count N2517 P
5. Edit Date Design Description Appendix 1 Notes on the order 1 1 Servo axis Card i series You must specify the following Servo axis card for 90D3 series e 8 axes A02B 0303 H088 A20B 3300 0450 1 2 CPU card CPU card for CNC is required 128MB DRAM type B3 High speed 02 0303 005 1 3 Servo software series You need to specify the following digital servo software for Learning Control 90D3 series A02B 0303 H590 90D3 6 6057 509 9003 1 4 Software options Necessary items e Learning Control A02B xxxx J705 Preview Repetitive control A02B xxxx J706 e High Speed cycle cutting A02B xxxx J832 High speed binary operation A02B xxxx J516 e Setting unit IS C A02B xxxx J805 If High speed binary operation is applied Date Server or Open CNC is required Handle interrupt function during High speed cycle cutting is included J832 At the need arises e Learning Memory expanded function A02B xxxx J976 e High speed cycle cutting skip function A02B xxxx S662 e Retract function during High speed cycle cutting A02B xxxx J663 e High cycle cutting data variable A02B xxxx J745 J746 e Tandem Disturbance Elimination control function A02B xxxx S660 e Pole Position Detection function A02B xxxx S744 e Macro executor A02B xxxx J888 The above xxxx is the following value corresponding to each CNC 30i A 0303 31i A 0307 31i A5 0306 Title 90D3 90E3 DECRE REG RR Learning Control Operator s
6. When Available Unavailable Available feedback No 2066 No 2017 7 1 Integral gain PK1V Manual setting Automatic No 2043 converting PK4V No 2044 Manual setting Automatic Manual setting converting Title 90D3 90E3 KNEE e Learning Control Operator s Manual a a A 63639E 108 re 05 04 20 Newly designed FANUC LTD Manual setting Manual setting 5 2 Setting High gain parameter In case of using Learning control for Cam grinder etc if the position error does not converge due to the influence of big disturbance you apply Learning HRV2 control for the High gain by the following procedure Refer to Appendix 3 Parameter table for Learning control Learning HRV2 control means HRV2 control with velocity loop period 0 5msec 1 Set the standard parameter with referring to 5 1 3 Setting servo parameters 2 Set the following parameters with the emergency ON ESP ON e No 1825 set to 6000 Position Gain e 200383 set to 1 PI control e No 2004 set to xx1x0001 Don t change x bit No 2019 6 or 5 set to 1 Learning control axis e No 2044 set to twice of HRV1 standard PK2V 8 Set Learning control parameters e No 2512 set to 200 Frequency band of the low pass filter e No 2526 set to 10 Maximum order of Gx e No 2527 set to 0 Minimum order of Gx e No 2528 set to 64 Coefficient 1 e No 2529 set to 32 Coeff
7. pto Maximum coefficient of Gx 2248 No 2528 Cid Cid Cid pee Cid No 2266 2525 Title 90D3 90E3 Learning Control Operator s Manual 21100100 A 63639E 108 m FANUC LTD 064 1 Difference of velocity loop characteristic between 90D3 series and 90B3 series There are the difference between 90D3 and 90B3 in the characteristic of velocity loop as follows In 90D3 series PK1V No 2043 and PK4V No 2046 are calculated automatically according to velocity sampling period Furthermore there are the following difference in Velocity loop high speed proportional processing function No 2017 7 1 e 300Hz torque command filter becomes valid regardless of No 2067 0 e Torque command filter No 2067 is calculated automatically according to velocity sampling period e Acceleration feedback function No 2066 lt 0 is unavailable If you change over servo parameters from series 167 to series 30i set compatible bit No 2227 2 to 1 In the detail parameter refer to 5 1 4 Caution in case of servo parameter setting and Appendix 6 Parameter number difference between series 167 and 302 The setting for motor ID No 74 049 or No 75 aL6 If you use the parameter set for motor ID No 74 or No 75 on series 16i and transfer it to series 30i refer to Standard parameters for Learning control 1 4 in Appendix 3 Par
8. 11 1 Average speed C axis 1 12 Average speed L1 L2 C axis rotation period Fig 3 3 3 Cutting Chart when profile 1 L1 Command period PRIOD Repetitive count RPTCT 0 Approach X axis position __ Learning start 9 C axis one rotation C axis speed 1 L1 Average speed G05 start L1 L2 C axis rotation period G05 End Fig 3 3 4 Cutting Chart 2 Profile 1 Title 90D3 90E3 MEME REND Learning Control Operator s Manual 0 sme LTD 7 FANUC LTD T 4 Explanation of Learning Control 4 1 Summary of Learning Control FANUC Learning function Preview Repetitive Learning control control Learning Learning Adaptive Preview controller controller controller What is Learning Function It is a function for realizing high speed and high precision cutting by using Learning Control Repetitive Control or Preview Repetitive Control Preview Repetitive control is the superset for Learning control So one of each is necessary not both to set ordering Configuration of Learning function Learning Control Repetitive Control is realized by Learning controller And Preview Repetitive Control is realized by combination with Learning controller and Adaptive Preview controller Feature of Control Learning controller minimizes the position error by learning the repetitive command of specific period or the disturbance synchronized with learning perio
9. No 2518 or etc 2512 FBND Frequency band of low pass filter Hz Data range 0 to 700 stepping up every 50 When Velocity 0 5msec 0 to 350 stepping up every 25 When Velocity 1msec Standard Refer to Appendix 3 Parameter table for Learning control FBND decides the band width of Learning controller so the higher is the better as far as being stable The maximum value in the range where there is no vibration is set Be careful if the command by user includes the high frequency spectrum exceeds FBND the error of the frequency spectrum does not converge Note If you set 0 Learning control isn t performed You can disable Learning control without power off 2526 GODMX Maximum order of Gx Datarange 0 to 20 Standard Refer to Appendix 3 Parameter table for Learning control 2527 GODMN Minimum order of Gx Datarange 0 to GODMX Standard 1 Refer to Appendix 3 Parameter table for Learning control Note In case of Expanded Gx being enable No 2443 3 1 set GXDMN to 0 2528 GCOEF EXGXK1 Coefficient of Gx Coefficient 1 of expanded Gx Datarange 0 to 128 Standard 64 When No 2443 3 0 Note In case of Expanded Gx being enable No 2443 3 1 Refer to Appendix 3 Parameter table for Learning control Title 90D3 90E3 Lic p Learning Control Operator s Manual A 63639E 108 et ee et 05 04 20 N Sonoda Newly designed FANUC LTD In case of Expanded
10. Set only to Sub axis Set zero usually Regarding Preload and Damping compensation and how to tune the Tandem refer to 4 16 Tandem control function in FANUC AC SERVO MOTOR a i series Parameter manual B 65270E 7 4 3 External signal interface Supposing Main and Sub motors are ready to chuck the each edge of one work piece Before chucking both motor can be driven independently When both motor connected by workpiece for the cutting you send Coupling flag to servo software through PMC in advance to enable Sub axis separate function then G05 operation start Torque tandem Learning control After cutting of G05 finished Coupling flag allows the independent drive of both motors If you want Position tandem Learning control instead of Torque tandem use Synchronous Learning function instead of Sub axis separate function Signal address G321 SVDI28 SVDI27 SVDI26 SVDI25 SVDI24 SVDI23 SVDI22 SVDI21 The position of above bit means the axis of NC For example bit 0 is first axis of NC 0 coupling 1 non coupling Title 90D3 90E3 DECRE e o Learning Control Operator s Manual 1 XL R 220220 oe FANUC LTD 064 7 4 4 Mode table TANDEM N1817 6 SBDYCH N2007 2 main SYSLRN N2228 0 main Remark 0 0 Independence normal 0 0 Tandem Fixed N2018 7 1 X 1 Independence Main axis learning Tandem disturbance e
11. Standard 0 Learning control starts usually from non zero command after the High speed cutting G05 starts If this parameter is set to LESTTM Learning control starts at LESTTM msec late from non zero command appeared Regarding use example see Fig 3 3 3 2513 BRCT Learning suspension count cycle Datarange 0 to 32767 Standard 60 When Position gain is 30s 10 When Position gain is 1805 In case of Suspension mode or Compensation data suspension mode set the suspension times of Learning data to BRCT with Learning period being one until you want to stop the renewal You have to determine BRCT to reduce the position error to minimize by Learning control Position gain affected BRCT value If position gain is smaller the more BRCT is required So make sure of actual BRCT by the practical machine 2542 SHKRDC Shock reducing counter msec Datarange 10 20 Velocity 1msec 1to5 Velocity 0 5msec Note This parameter must be below Command period No 2517 etc Standard 0 This parameter is useful for reducing the mechanical shock at finishing Learning control The Learning controller halts to output Learning data for SHKRDC msec from the end during the final Title 90D3 90E3 es p cms Learning Control Operator s Manual A 63639E 108 et ee et 05 04 20 N Sonoda Newly designed FANUC LTD cycle Servo software judges the final cycle by the Learning count No 2516
12. Therefore 524k words data transmission takes about 18 4 sec Furthermore it is possible to transfer learning data until 4 axes at the same time 7 2 3 Servo parameter In order to transmit save and load the below setting is necessary No 2019 6 1 Enable Learning Control No 2443 6 1 Enable Compensation data mode You must take care the following parameters when you save and load the Learning Data No 201 9 3 1 Learning memory expanded function Option 2511 Profile number 2510 PRFALL Total Profile number Title 90D3 90E3 DEM E RE RR Learning Control Operator s Manual FANUC LTD Edit Date Design Description 064 Edit Date Design Description 7 2 4 How to transmit Learning Data To SAVE Learning Data Servo HD 1 All of the first you must confirm the error of Learning control converged well 2 Set No 2511 of Profile number to zero in case of the deal method Check No 2510 of Total Profile number beforehand Note You can SAVE Learning Data every the profile data which is called the partial deal method The transmitted area of Learning Data is the shade of Fig 7 1 The Jump deal method No 2511 0 Saving all Learning data of an axis The partial deal method No 2511 Profile number Saving the specified Learning Data 3 Set CNC to EDIT mode and then you can transmit it to HD on PC using your application software Blinking RESET denotes busy state on transmit 1 Y
13. 108 7050420 N Sonoda designed LTD FANUC LTD puc Eur Ny Ooo S 2211 5 5 Servo parameter detail If not necessary don t change the standard parameters of Auto loading by motor ID In case of specifying series and edition you can use the function from that edition or later 2019 HRV3 Servo HRV3 control is 1 useful 0 1 not useful normal Note After setting Servo HRV2 control you must set this bit on VFBH Velocity feedback is 1 High speed processing 0 Normal speed processing 2014 Eq ar curs dE 11 HRV4 Servo HRV4 control is 1 useful 0 not useful normal Note After setting Servo HRV2 control you must set this bit on PK2V25 Velocity loop proportional high speed processing function is 1 1 useful 0 1 not useful normal 2018 IN Motor feedback is taken from Sub axis only 1 L axis 0 M axis standard Note In case of ais300 or ais500 or connected Linear motor set this bit to 1 with Tandem control EX2V Velocity proportional gain weight 1 1 1 4 0 Normal setting Note When parameter alarm is caused by large Load inertia ratio set to 1 OVRNSP Detecting of runaway in full closed system is not useful useful In case that rotation direction is fixed in initial setting set this bit 1 Title 90D3 90E3 Learning Control Operator s Manual A 63639E 108 05 04 20 New
14. Axis R Learning period each step CAM work GH G05 Profile i command Above case consists of six profiles in one camshaft supposing all have different G10 L50 Profile number j profile each other N2511 P Axis R N2516 P Axis R Learning count N2517 P Axis R Learning period Max 24 profiles are available ee each step ee 811 G05 Profile command File on computer earning memory In case of partial deal method each file size is small but you need to manage Total profile Profile j number and Profile number by yourself Lo qo oo Tite 90D3 90E3 111 Learning Control Operator s Manual Draw No A 63639E 108 FANUC LTD FANUC LTD 2 Example of file management by Partial deal method We describe the case that Work 1 and Work 2 on right figure is processed in that order This case supposes PC has already Learning data in the HD of A B C D E F 1 At first you should fix Total profile number PRFALL to 4 5 9 2 According to the process of Work 1 you should load Learning data of Profile A B C and D to corresponded servo memory area Profile number 1 2 3 and 4 3 You should process Work 1 making each command correspond to Profile number 4 When the next process of Work 2 you should load the Learning data of Profile A E F and D to corresponded servo memory
15. N Sonoda Newly designed FANUC LTD 2229 TAWAMI STPRED HSSATU E RCNEG TIMADJ ABSEN STPRED The first period subsequent to Learning step switching 1 Doesn t renew Learning data in Learning memory 0 Renew Learning data in Learning memory standard Note In case of Compensation mode this function reduces a mechanical shock at switch of Learning step by suspending the renewal of Learning data only during the first period subsequent to switch of Learning step This might have good result on such grinding application that have many and rapid Learning step switch 2516 RPTCT 1 Learning count Repetition count cycle Datarange 0 to 32767 Standard 32767 After Learning data is renewed to the renewal is stopped You can temporally disable Learning control by setting RPTCT to zero before G05 2517 PRIOD 1 Learning period Command period msec Datarange 15 to 32000 You should set Command data period PRIOD corresponding to spindle rotary speed usually Servo software regards this as Learning period You can set integer times of the command period to PRIOD Max value is 32sec and correspond to 1 875 min of Min spindle rotary speed Example When spindle speed is 60min 1 set to 1000 msec in case of No 2442 3 0 2518 RPTCT2 2 earning count Repetition count cycle 2519 PRIOD2 om Learning period Command period msec 2520 RPTCT3 Learning count Repetition count cycle 2521 PRIOD3 3 Le
16. No 2532 No 2533 Lis6000B2 0412 92 0 5ms Piston Ring 80Ap 5000 00001000 00100001 Lis600A1 422 125 0 5ms 40Ap 5000 00001000 00100001 Lis900A1 423 126 5000 00001000 00100001 00000010 00000000 XlXXXXXX 00000100 XXXXXl 00000010 00000000 XlXXXXXX 00000100 720 5537 763 00000010 00000000 1 00000100 XXXXXlXX 480 3691 763 16 1073 24708 21 1894 319 7282 32685 1041 3089 1293 0 Note 1 You need to set the Learning parameter value because of not auto Loading Note 2 Regarding High gain parameter setting for the other motor refer to 5 2 Setting High gain parameters Title 90D3 90E3 E Learning Control Operator s Manual COC T 102 Tm L L i i FANUC LTD 064 Standard Parameter for Learning Control for HRV2 3 4 Motor type Motor spec Motor ID Velocity Remarks Amplifiler No 1825 No 2003 No 2004 No 2017 No 2019 No 2013 3000 0 0 0 0011 00000000 XlXXXXXX XXXXXXX 3000 0 0 0011 00000000 0 1 0 1 0001 XlXXXXXX XXXXXXX No 2040 No 2041 No 2042 No 2043 No 2044 No 2046 No 2053 No 2054 No 2055 No 2060 No 2062 No 2063 No 2065 No 2086 No 2110 No 2512 No 2526 No 2527 No 2528 No 2529 No 2530 No 2531 No 2532 No 2533 Note 1 You need to set t
17. Regarding Learning HRV3 HRV4 setting for the other motor refer to 5 3 Setting Learning HRV3 HRV4 po Tite 9003 90E3 11121 Learning Control Operator s Manual PY m i A 63639E 108 sro LTD FANUC LTD 7 Appendix 4 Functions table for Servo edition Standard Special Servo Software series Learning control ontrol topping motor function at alarm happened earning buffer expanding function earning data transmission function earning buffer compelling clear elf learning control elf learning control improvement Expansion Gx etc igh speed interpolation 0 25ms igh speed interpolation 0 5ms igh speed interpolation for 2 axes ervo trace function uto sampling rate Self Learning control hock reducing function Self Learning control tep Shock reducing function igh speed cycle cutting Skip function ew Hunting control function pecial Hunting control function elocity Control period 0 25msec elocity Integral saturation High speed axis ariable Velocity feedback the latest 0 25msec or 0 5msec or elocity feedback the latest 2msec orsion compensation during high speed cycle orsion compensation for 2 axes andem Learning function rror output through check board Mcmd output through check board Itra high precision feedback function RON type Itra high precision feedback function RCN type P or PI variable current control otch filter by cu
18. Velocity feedback average function is invalid valid normal setting Not on Tandem control On Tandem control This bit synchronizes with No 1817 6 Ep Common motor feedback function Set only Sub axis Sub axis uses the sub axis feedback Sub axis uses the main axis feedback In Torque Tandem Learning control for 016300 ais500 you should set PFBCPY to one for double coil tandem control In case of the sub axis having the feedback set PFBCPY to zero peque nn 9003 90E3 Learning Control Operator s Manual PY raw No m A 63639E 108 a ee isro LTD 57 FANUC LTD RA SYNLRN Synchronous Learning function Set only Main axis 0 Ignore coupling flag which is external user signal through PMC 1 Learning control for both Main and Sub axes executes by coupling flag This bit is used in Position Tandem control Synchronous Learning function works with Main and Sub axes connected by work piece driven by the same Learning compensation data 2087 Preload torque Note Set for both Main and Sub axes Set zero in case of double coil tandem or the position tandem learning control 2006 Damping compensation Gain Ke compensation Damping compensation Gain Ke Ke Note Set only to Main axis 2036 Damping compensation phase coefficient compensation phase Damping compensation phase coefficient a Note
19. area But you have only to load Profile E and F to corresponded servo memory area Profile number 2 and 3 because Profile A and D already exist 5 You should process Work 2 making each command correspond to Profile number You must always manage the correspondence between a Profile data a G05 command and the Learning data Furthermore you must manage the correspondence between Work and Profile number Total profile number Title 90D3 90E3 ele REN Learning Control Operator s Manual FANUC LTD 064 7 3 Torsion compensation during High speed cycle cutting function This function adds the compensation at the point of the command reversing sign during High speed cycle cutting G05 This function is useful for the case that the reverse point of work piece has sharp drop because it is easy to bend for the weakness This function works only during G05 different from normal backlash compensation function And this function forces the sum of compensation always to be zero during G05 Therefore this function can be used in case that the compensation value is changed every work piece which is useful properties for the machining 7 3 1 Parameters 2229 wow 0111 11 10 TAWAMI Torsion compensation during G05 1 useful is not useful Standard 2544 Torsion compensation Torsion compensation during GOS Least detective unit Torsion compensation during GOS Least detective unit Least detective unit When Motion command
20. connecting with the same FSSB path Control Maximum number of Amplifier Outer detection unit HRV2 16 2 HRV3 10 2 HRV4 4 1 Title 90D3 90E3 Learning Control Operator s Manual E eene Pe 5 01 05 04 20 N Sonoda FANUC LTD 5 4 Servo parameters List The following parameters for FS30i The shaded parameters are detailed in this manual R7 R6 R5 B4 B3 B2 R1 RO 1 1 1 1 1 1 111 2014 2018 2283 Title 90D3 90E3 Learning Control Operator s Manual p ee oe A 63639E 108 N Sonoda Newly designed Design FANUC LTD 1 05 04 20 Edit Date Acceleration feedback gain negative value Torque command filter AMR1 conversion coefficient AMROFS AMR offset Torque command filter at cutting Maximum amplifier current PSMPYL Position feedback pulses conversion coefficient OVC magnification for HRV3 Current gain magnification HRV3 Velocity gain magnification HRV3 PRFALL Total profile number PRFNO Profile number FBND Frequency band of the low pass filter Hz BRCT Learning suspension cycle cycle LESTTM Learning start time STPRPT Step repetition number RPTCT 17 repetition count cycle PRIOD 1 Learning period msec Title 90D3 90E3 Learning Control Operator s Manual 63639E 108 Lot 050420 N Sonoda Newly desired FANIUC LTD FANUC LTD RPTCT2 2
21. inside one motor and use two amplifiers We call this double coil tandem control as a special case of torque tandem Applicable machine Helical gear shaper without helical slide Helical broach machine Accurate press etc Amplifier Amplifier Amplifier Amplifier Title 90D3 90E3 Learning Control Operator s Manual Draw No A 63639E 108 Edit Date Design Description 064 Edit Date Design Description 7 4 2 Parameters Lu Lm 12121101 1 TANDEM Tandem control Power must be off NC Option 0 Available 1 Not available In case of Torque Tandem Learning control that main and sub motors don t disconnect mechanically set this bit to 1 But in case of the application that both motors disconnect by the operator such as double side chucking set this bit to 0 Of course the double coils tandem requires TANDEM to be one due to the former case 1023 Sarvoaxisallocation Sarvoaxisallocation allocation You should set Main axis to the odd L axis Sub axis to the subsequent the even M axis 1 Sub axis separation function Set only main axis Ignore coupling flag external user signal through PMC On OFF of Tandem disturbance elimination control and Velocity feedback average function switched by coupling flag TANDEM Learning bit must be zero Dumping compensation function is applied to sub axis only both main and sub axis normal setting
22. machine such as the crank pin grinding required very high accuracy As far as grinding technology allows the constant C axis speed within one rotation is preferable for the application of high accuracy 6 Both X axis and C axis are used Compensation data continuation mode of the Preview repetitive control In case of the profile processed by a few repetitive cycles 3 Set the total C axis rotation involving Approach as Learning period 4 Compensation data continuation mode of the Preview repetitive control is used with Repetition count set to one 5 You need to repeat about ten times trial of G05 till the sufficient convergence of the error achieved 6 If you don t want to renew the compensation data at each grinding you have to set compensation data suspension mode active and Repetition count to zero 7 Make sure to set Shock reducing counter GHKRDC effective Profile 1 Profile 2 Profile 3 Profile 4 X axis A 005 0005 G05 005 1 Fig 3 3 2 Movement of the Tool along each Axis Title 90D3 90E3 IMEEM Learning Control Operator s Manual 00 sme FANG LTD 7 FANUC LTD T 151 cutting step 2 nd cutting step 3 rd cutting step 005 start G05 end LESTTM L2 PRIOD2 L1 PRIOD __ Learning start The 2 nd Repetitive count Repetitive count RPTCT2 RPTCT 2
23. s Manual FANUC LTD Edit Date Design Description 064 Edit Date Design Description 7 2 Learning Data Transmission Function 7 2 1 Overview For the purpose of preserving Learning data after NC powered off Learning data can be preserved in nonvolatile flash ROM which store Learning data through CNC and load it the memory of servo control Learning data transmission function This function will be effective not only for the power off but also for saving the learning time in case of handling many profile of work piece This allows user to manage the command data parts program and Learning data corresponding to flash ROM This function allows you not to need to learn again every NC power off Learning EC d data 7 2 2 Necessary Software construction 1 Servo software series 90D3 01 or later 2 CNC software Series 30i A A0O2B 0303 H501 G002 G012 G022 version 10 or later Series 31i A AO2B 0307 H501 G101 9111 version 10 or later Series 31i A5 AO2B 0306 H501 G121 6131 version 10 or later The equal or over version of above CNC software is available for this function 3 Application program by user on PC Application program made by user practically saves and loads the learning data between HD of PC and the servo memory The software library is supplied by FANUC for this purpose You can read and write the learning data using this library 4 Transmission time Usually transmission time is 128 words data per 4 msec
24. 0min in P code data 3 Cautions 1 You should not insert the command to move servo axis between G11 and G05 such as GOO or G01 2 You should set for example 3 axis 3 You can also change the following parameters for Learning control by G10 in NC program No 2511 PRFNO Profile number No 2514 LESTTM Learning start number No 2518 No 2520 No 2522 No 2524 Learning count Repetition count No 2519 No 2521 No 2523 No 2525 Learning period Command period Title 90D3 90E3 Learning Control Operator s Manual 21100100 A 63639E 108 ae a FANUC LTD 064 Appendix 6 Parameter number difference between series 16 and 30 16i 3 Remarks 90Bx 90Dx Learning control Adaptive Preview control Learning control 2008 5 201986 Adaptive Preview control No 200877 No 2019 5 No 2007 No 2442 Function bits 3 No 2008 No 2443 exept 5 7 No 2228 Function bits 1 No 2229 x gam ee ee Er ose d 2226 e i y Function bis Nea pne iti 1 st st h m 01 lt lt Maximum order of Gx No 2246 No 2526 Minimum order of Gx No 2247 No 2527 Coefficient 4 of expanded No 2251 No 2531 Coefficient 5 of expanded No 2252 No 2532 Minimum coefficient of Gx No 2249 No 2529 Forward order 2254 Coefficient 3 of expanded No 2250 No 2530 21 i
25. 2 24708 21 0 82 6918 32614 1925 5716 12222222 XLXXXXXXX 0 1527 5069 BORON 0 1828 8109 ais8 4000 0235 285 0 5ms HS Piston 18000 00001000 00100001 oe 0 0 825 5173 1307 17 294 8235 21 1894 319 7282 32609 1993 5920 1253 519 Note 1 You need to set the Learning parameter value because of not auto Loading Note 2 These are parameters for Piston Lathe or Lead cutting machine You need the auto loading by the Motor No 74 for 9 Note3 After you did the auto loading by the Motor No 285 for ais8 set the following parameters No 2017 7 1 No 2227 2 1 No 2040 standard 1 5 No 2041 standard 1 5 No 2043 standard 2 Velocity gain 700 05 04 20 Newly designed Title 90D3 90E3 Learning Control Operator s Manual A 63639E 108 Standard Parameter for Learning Control for Linear motor 2 4 Motor type Motor spec Motor ID Velocity Remarks Amplifiler No 1825 No 2003 No 2004 No 2005 No 2017 No 2019 No 2010 No 2227 No 2040 No 2041 No 2042 No 2043 No 2044 No 2046 No 2053 No 2054 No 2055 No 2060 No 2062 No 2063 No 2065 No 2086 No 2110 No 2512 No 2526 No 2527 No 2528 No 2529 No 2530 No 2531
26. 3 100 Set the feed forward coefficients to all 0 No 2544 2549 all 0 And Learning control is invalid automatically during adaptation Caution As soon as the error begins divergence stop G05 by reset key on MDI to protect the machine from excessive shock Operate the machine about several ten times of the learning cycle with a practical part program including G05 Check the position error with Servo guide or the servo tuning display Step up adaptation coefficient No 2543 every about 50 Check Convergence of the position error by using the possible biggest coefficient as far as the error diverges Invalidate the adaptive mode No 2442 1 0 The feed forward coefficients decided by the adaptive mode are not transported from servo to CNC on this phase To transmit the feed forward coefficients to NC nonvolatile memory No 2544 49 set No 2442 2 1 If the feed forward coefficients change from initial value to another one the transportation to CNC parameter has finished Set No 2442 2 0 Finish with adaptive process These processes can decide the feed forward coefficients Make sure No 2443 1 and 2 to be 0 Title 90D3 90E3 Lic p Learning Control Operator s Manual A 63639E 108 et ee et 05 04 20 N Sonoda Newly designed FANUC LTD 7 Functions detail 7 1 Learning Memory expanded function Learning Memory expanded function allows the application to take a
27. 4 Q1 This setting is fixed in the high speed HRV current control mode with not only cutting mode G01 but also other mode Title 90D3 90E3 KNEE e Learning Control Operator s Manual a a A 63639E 108 re 05 04 20 N Sonoda Newly designed FANUC LTD 5 3 4 FSSB connection 1 Case of one FSSB path All axes connected with one FSSB path require setting to the same HRV control Therefore if Learning control is applied in one axis at least other all axes require Servo HRV3 control Servo axis control card Servo Amplifier Servo Amplifier Servo Amplifier Outer detect I F Learning HRV3 HRV3 HRV3 unit HRV3 2 Case of two FSSB paths Even if two FSSB path is used all axes connected with each FSSB path require setting to the same HRV control Therefore if Learning HRV3 control is applied in one axis at least other all axes that include another FSSB path require Servo HRV3 control Servo axis control card Servo Amplifier Servo Amplifier Servo Amplifier Outer detect I F Learning HRV3 HRV3 HRV3 Unit HRV3 If Learning axis is full closed system outer detection I F unit must be connected with the same path as Learning axis Servo axis control card Servo Amplifier Outer detect I F Servo Amplifier Servo Amplifier Leaning HRV3 unit HRV3 HRV3 There is the following restriction with regard to the possible number of unit
28. 43E FS 30173001 300is A User s Manual B 63944E FS 30173001 300is A Maintenance Manual B 63945E FS 307 300i 300is A Parameter Manual B 63950E Title 90D3 90E3 REND REPRE Learning Control Operator s Manual Ine al Mc sp 63639 108 or eua Sonata Wwwyssger FANUC LTD 5515 FANUC LTD 12 2 System Configuration There are three below cases about High speed cutting G05 Fig 2 1 shows a system configuration 1 Memory operation by High speed cycle cutting a Produce cutting data by Open CNC or personal computer and down load to P code area in CNC b Produce cutting data by Macro executor and write to P code area After cutting data was prepared by personal computer or Open CNC 2 Data Server operation by High speed binary operation c Produce cutting data by Open CNC or personal computer and down load via Ethernet to Data server and run Data Server by High speed binary operation 3 DNC operation that Open CNC or personal computer run directly CNC through HSSB d User s program including DNC operation library e DNC operation management package in BOP2 Basic Operation Package 2 In case of 3 there is a possibility that transmission rate isn t always guaranteed due to the personal computer performance If you need to have the transmission rate guaranteed you should select the method of c You can switch the Memory operation and either Data Server operation or DNC operation in one sys
29. 5 F322 getting 1 during memory clear pec eee REN N Sonoda Newly designed Description Grinding condition change Set Total profile number according to camshaft Change Total profile number or Compensation mode invalid Clear out all learning buffer When Total profile number is changed Compensation data mode is invalid all learning memory is cleared How to clear out the learning memory for specified profile Set profile number Set profile clear bit Clear out for specified profile End After clear profile clear bit No 2226 6 is reset automatically Don t set profile clear bit in G10 Title 90D3 90E3 Learning Control Operator s Manual A 63639E 108 FANUC LTD 7 1 3 Cautions Learning memory expanded function realizes the expansion of learning memory by altering a sample rate It has automatically the sampler gather the data roughly every 2 to Nth power in case of long Learning period or many profiles and Learning steps because of which case many compensation data run out of the memory belong to servo DSP There is the possibility for rough sampling to make the accuracy inferior to one without Thinning out Calculation method of the sampling period in case of Total profile number PRFALL 0 Definition BUFSIZE is the buffer size of which possible capacity depends on the installed memory on PCB controlling axis BUFSIZE is follow
30. 90E3 series because it is developing 90E3 series corresponding to 90E0 series enables to control 4 axes per one DSP Learning control only works during G05 execution which is High speed cutting in the part program As you can set Learning control to each axis you can mix Learning axes and Normal axes In the servo axis allocation No 1023 Learning axis No 2019 6 1 must be allocated to the odd axis L axis The subsequent even axis M axis can be used as the normal axis Learning control requires specific servo axis card A20B 3300 0450 Refer to Appendix 1 Notes on the order Never use the servo software out of accord with the above table Table 1 1 90D3 90E3 series support all function of normal servo software 9000 90 series For that reason the parameter number for Learning control is different between series 167 and series 30i Refer to Appendix 6 Parameter number difference between series 16 and 307 The special parameters described in this manual are applied only to Learning axis The servo parameters except for Learning parameters are the same as that for general cutting tools Concerning the other servo parameters except for Learning parameters described in this manual and adjustments refer to FANUC AC Servo Motor a is a i B is series Parameter Manual B 65270E Refer to the following CNC manual FS 30173001 300is A Specification Manual B 63942E FS 30773001 300is A Connection Manual function B 639
31. ET Id gt Monitoring lt gt Monitoring flag rises during Error monitoring finish time flag monitoring 1 If even position error once exceeds the threshold level during monitoring flag is 1 range over flag does a latch to 1 Servo software does not clear this flag until next Learning flag becomes from 0 to 1 2 Range over flag is output to outer signal F321 The bit position of F321 means NC axis number 3 You should tune both monitoring start time and monitoring finish time within the range that is not influence in cutting precision to avoid becoming range over in case of excess reply in the movement beginning or stop Title 90D3 90E3 NN Learning Control Operator s Manual 11 1 0 rave A 63639E 108 m 2222 2271 Edit Date Design Description 064 Edit Date Design Description Tuning Regarding Learning control you don t need to tune parameters basically But servo system needs to be stable before the application of Learning control If oscillation occurs you need to make stable by tuning Load inertia ratio No 2021 Acceleration feedback No 2066 Tcmd filter 2067 Observer function No 2003 2 and etc 8 1 Tuning method Check of Error _ Is Error converge yes Not converge diverge step by step Is machine oscillate s Learning parameter without Learning setting right Servo parameter d
32. FANUC AC SERVO SOFTWARE 90D3 Series 90E3 Series LEARNING FUNCTION Operator s Manual Overview System Configuration Application Examples Explanation of Learning Control Servo parameters Learning Control functions Functions detail Tuning Attentions 1 2 3 4 5 6 7 8 9 Appendix 1 Notes on the order Appendix 2 Making method for cutting data Appendix 3 Parameter table for Learning Control Appendix 4 Functions table for Servo edition Appendix 5 Method of changing parameter in CNC Program Appendix 6 Parameter number difference between series 167 and 307 Index CAUTION The contents of this manual may be changed as a result of improvements to the servo software or other improvements 9008 90 Learning Control Operator s Manual mE RN RN FREE ee ee eee e i es deod FANUC LTD e FANUC LTD 12 Contents Overview System Configuration Application Examples 3 1 Lead Cutting 3 2 Piston Lathe 3 3 Cam grinder Explanation of Learning Control 4 1 Summary of Learning Control 4 2 Learning Control 4 3 Preview Repetitive Control Servo parameters 51 Setting parameters 5 2 Setting High gain parameter 5 3 Setting Learning HRV3 HRV4 5 4 Servo parameters List 5 5 Servo parameters detail Learning Control functions 6 1 Learning Control parameters 6 2 Adaptive Preview Control parameters 6 3 Adaptive method Functions detail 7 1 Le
33. For example in case that feed forward coefficient is 76 substantial position gain is 1 1 a 100 times 2 Case of Preview repetitive control 1 Learning axis and normal servo axis It is necessary to set Preview repetitive control at all servo axes in series 167 if Preview repetitive control is applied to at least one axis But in series 30i it is unnecessary to set it Therefore you can set it to each axis independently 2 Learning axis and Cs axis It is necessary to consider the delay of normal axis against Adaptive preview control axis in series 16i But in series 30i it is unnecessary to consider it Title 90D3 90E3 DECRE e oo Learning Control Operator s Manual 111000 raw vc A 63639E 108 ae t regm Edit Date Design Description 064 Edit Date Design Description 9 7 Difference between Standard and Learning servo software series in velocity loop proportional high speed processing function When 90B3 series replaces 9003 series on series 307 there is a case that you can t set the same velocity gain in state of HRV2 No 2017 7 1 In this case you should set Compatible bit No 2227 2 to 1 9 8 AMR offset for Linear motor There is a description to tune an AMR offset in Linear motor parameter setting 65150 B 65270 Title 90D3 90E3 DEM RENE RE RR Learning Control Operator s Manual 111000 raw vc A 63639E 108 ae t regm Edit Date Design Description 064
34. Gx chosen with EXGX No 2443 3 one set you need to set for the following parameters 2529 EXGXK2 Coefficient 2 of expanded Gx 2530 EXGXK 3 Coefficient 3 of expanded Gx 2531 EXGXK 4 Coefficient 4 of expanded Gx 2532 EXGXK 5 Coefficient 5 of expanded Gx 2533 EXGXK 6 Coefficient 6 of expanded Gx Standard Dynamic characteristic compensation Gx is composed from three parameters No 2526 No 2527 No 2528 which symbols are GODMX GODMN GCOEF respectively Furthermore six successive parameters from No 2528 to No 2533 are named Expanded Gx Attention to No 2528 double assigned by both Gx and Expanded Gx Either of Gx or Expanded Gx is to be active not both In usual case you need not to change Gx or Expanded Gx from Appendix 3 Parameter table for Learning control so long as the problem of the accuracy doesn t occur If it occurs you need to tune three parameters of Gx after reset EXGX 2443 3 to zero Due to many parameters of Expanded Gx it is recommended to disable it by EXGX 0 Gx compensates the characteristic of controlled object GODMX and GODMN improve the phase characteristics of controlled object The greater both values are the more advance value of phase it have GCOEF is the compensation parameter to improve the gain characteristics of controlled object As the values are greater the value of gain gets greater There is a predetermined parameter set fit to each properties of the motor such as velocity gain and positi
35. Manual pF raw vo A 63639E 108 ee x FANUC LTD Appendix 2 Making method for cutting data PROFILE 2 PROFILE 1 X axis RIFT C axis ANGLE MMC or Personal Computer X axis RIFT C axis ANGLE A ne X axis Command per C axis Command per Distribution cycle Distribution cycle Distribution cycle 0 5msec 1msec 2msec Down Load or Parts P Remote Buffer Operation ans Program 00001 4 G10 L50 High speed cycle cutting G05 N2511 P1 R1 High speed DNC G05 N2514 P1 R200 SERVO N2516 P1 R100 2517 P1 R1084 learning control cnc Setting of self The Self learning Control G11 05 P10001 L1 Profile 1 G05 10004 L1 Profile 2 Title 90D3 90E3 Learning Control Operator s Manual FANUC LTD 064 Appendix 3 Parameter table for Learning control Standard Parameter for Learning Control for Piston 1 4 Motor type Motor spec Motor ID Velocity Remarks Amplifiler No 1825 No 2003 No 2004 No 2005 No 2007 No 2017 No 2019 No 2013 No 2227 No 2040 No 2041 No 2042 No 2043 No 2044 No 2046 No 2053 No 2054 No 2055 No 2060 No 2062 No 2063 No 2065 No 2086 No 2110 No 2512 No 2526 No 2527 No 2528 No 2529 No 2530 No 2531 No 2532 No 2533 00001000 11110001 0 5ms HS Lead Cam 00001000 11110001 0564 74 250us HS Piston 220520 XXXXXXX lXXXXXXX 0 1527 5069 2691 25 185
36. ameter Manual Be careful in the following items 1 Hardware Servo axis control card Servo Amplifier Outer detector I F unit 2 Software CNC software Servo software 3 Parameters setting Title 90D3 90E3 Learning Control Operator s Manual w M A 63639E 108 05 04 20 N Sonoda Newly designed FANUC LTD Description 5 1 3 Setting servo parameters For the detail refer to FANUC AC SERVO MOTOR a is a i is series Parameter Manual You should set it for each axis because all servo parameters No 2000 No 2269 are axis type 1 Set the following parameters fitted each motor and machine No 2000 1 0 set to 00 e No 2001 7 0 set to 00000000 e No 2020 set to the Motor ID number from 251 e No 2021 set to Load Inertia ratio e No 2022 set to the motor rotary direction 111 or 111 e No 2023 set to 8192 No 2024 set to 12500 e No 2084 set to SDMR1 e No 2085 set to SDMR2 Example 1 Lead pitch of ball screw is 12mm rev detective unit 0 1 120000 v d SDMRI E gt 1000000 100 SDMR2 Example 2 Rotary axis 4 10000 degree detective unit and 900000 pulses rev 900000 _ 90 SDMRI gt 1000000 100 SDMR2 Example 3 Linear motor LS486 20um pitch and 0 1 detective unit 5 0 1 _ 50 SDMRI 128 x 20 20 128 SDMR2 Example 4 Full closed rotary axis Outer serial rotary encoder a1000 1 1000 degree dete
37. ameter table for Learning control Please modify the following parameters at an emergency stop Take care because the parameter No 2007 No 2008 N0 2230 No 2266 were changed at series 30i No 2005 4 1 gt 0 High speed axis No 2007 0 1 gt 0 No 2017 7 0 gt 1 Velocity loop high speed proportional processing function No 2227 2 0 gt 1 Compatible bit No 2066 and No 2067 leave the same value The setting for Learning HRV2 control HRV2 control Velocity 0 5msec If you use Learning HRV2 control on series 167 and transfer it to series 307 refer to Standard parameters for Learning control 3 4 in Appendix 3 Parameter table for Learning control Take care because the parameter No 2007 No 2008 N0 2230 No 2266 were changed at series 307 No 2227 2 0 gt 1 Compatible bit No 2066 and No 2067 leave the same value If Velocity loop high speed proportional processing function is used No 2017 7 0 1 The setting for Feed forward control with Learning HRV2 control If you use the coefficient No 2068 for Feed forward control with Learning HRV2 control on series 16i you should use the coefficient No 2092 for advanced Feed forward control on series 30i Title 90D3 90E3 Learning Control Operator s Manual 21100100 A 63639E 108 ae a FANUC LTD 1084 Adaptive preview control Backup module for power failure Command data period Learning period Compensation data Continuation mode Da
38. ange in parameters for learning control the illegal parameter alarm occurs immediately after G05 was executed and the detail number 83 is displayed on N352 in In this case if the following parameters are set furthermore detailed alarm information is displayed on N353 in DGN This value has to convert decimal one to binary one and check the said bit parameter N2115 0 N2151 6265 1879h The value of N353 in DGN Filter frequency band of low pass filter N2512 was out of range B4 Profile number N2511 was out of range B5 Learning period N2517 N2519 N2521 N2523 N2525 was out of range B6 Total profile number N2510 was out of range B7 Learning memory clear hasn t been completed yet B8 When total profile number N2510 wasn t zero profile number N2511 was set to zero B9 Learning period was too long 9 6 Synchronized between Learning axes and the other axes 1 Case of Learning control Learning axis is controlled that error delayed value is zero On the other hand it is necessary to go ahead the delayed value for normal axis before G05 in case of synchronized operation because delayed value occurs in normal axis Generally you should execute G05 after advancing steady state error Example rotary normal axis position gain Pg 30 57 speed 600 min and Learning axis Delayed value 600 min 60 30 s x 360 deg rev 120 deg If feed forward function is available substantial position gain is raise
39. ar to Continuation mode for the first high speed cutting after the power is turned on The second and subsequent the High speed cutting is performed using Learning data created by learning at the last G05 The created Learning data isn t deleted unless the power is turned off This mode is normally Title 90D3 90E3 Learning Control Operator s Manual 63639E 108 i eee eee eee e Sooda deod LO FANUC LTD 177 FANUC LTD 56 used for the cam grinding machine which the shortening of cycle time is required or the command within one profile gradually change due to cutting feed such as single slide mechanism Compensation data mode means that Learning data isn t clear at the end of G05 Both Suspension and Continuation mode clear it every time at the end of G05 And it takes some times to clear So when you execute two or more successive G05 it might be necessary to add G04 to wait the time after G05 before starting the next G05 Refer to 7 2 2 processing flow for the time 4 3 Preview Repetitive Control Preview Repetitive Control Adaptive Preview Controller Learning Controller po O Position Position Error t Command Position Motor Gain Position feedback Merit Learning controller decides the final error while Adaptive preview controller accelerates to decrease the error Adaptive preview control is effective for a case that Command gradually changes Adapti
40. arning memory expanded function 7 2 Learning data transmission function 7 8 Torsion compensation during high speed cycle cutting function 7 4 Tandem Learning control function 7 5 Position error monitoring function Adjustment Attentions Appendix 1 Notes on the order Appendix 2 Making method for cutting data Appendix 3 Parameter table for Learning Control Appendix 4 Functions table for Servo edition Appendix 5 Method of changing parameter in CNC Program Appendix 6 Parameter number difference between series 167 and 307 Title 9003 90E3 DRM e e Learning Control Operator s Manual Loo DrawNo A 63639E 108 ee ee eee e i es Newly covers LTD e FANUC LTD xd 1 Overview This manual only describes the special functions and parameters in FANUC Digital AC Servo applied to Learning control with High speed Cutting G05 High speed Cutting G05 means Memory operation by High speed Cycle Cutting DNC operation by Personal Computer through HSSB or Data Server operation by High speed binary operation The merit and major specification of Learning control The Learning control by digital servo software enables high precision control for the command and the cutting disturbance given repeatedly at specified intervals For example the lead for video cam drum the piston or the camshaft for car engine is usually produced with a conventional cam machine using mechanical way Lea
41. arning period Command period msec RPTCT4 A 2522 Learning count Repetition count cycle 2523 PRIOD4 Learning period Command period msec 2524 RPTCT5 Learning count Repetition count cycle ase sse 2520 EE 2522 EN 258 ees 2525 PRIOD5 Learning period Command period msec If the multiple Learning period is necessary you use 2 Learning 3 Learning and etc This function assumes the cam grinding machine as the work is finished changing the Learning period According to Fig 3 3 3 example use these parameters Title 90D3 90E3 Learning Control Operator s Manual 0 A 63639 108 05 04 2 Sonoda Newly designed FANUC LTD 2515 STPRPT Step repetition count When this parameter is set Learning controller repeats the learning steps Example In case No 2232 2 Learning steps exist up to the 87 Learning step 1 gt ond 53 gt 1 gt ond gt grd gt 17 ond gt 39 Ne Ne ee 2510 PRFALL Total profile number Data range 0 to 16 Standard 0 With regard to Total profile number details refer to 7 1 Learning memory expanded function 2511 PRENO Profle number Profile number Data range 0 to PRFALL profile number Standard 1 0 Learning result is memorized by each profile 2514 LESTTM Learning start time msec Datarange to 16000 When No 2007 3 1 to 32000 Velocity sampling time
42. ctive unit and 360000 pulses rev gear ratio 1 20 360000 _ 36 SDMRI gt 1000000 100 SDMR2 No 2024 12500 20 625 Example 5 Full closed linear axis linear scale 44m pitch High precision serial output circuit 860 0333 501 512 division Ball screw 8mm rev 0 1 detective unit Feedback pulses before F F G per one motor rotation 8mm 4um 512 21 024 000 P rev 800000 _ 80 SDMRI gt 10240000 1024 SDMR2 No 2024 1024 000 100 10 240 No 2185 100 Example 6 Full closed linear axis linear scale 4um pitch High precision serial output circuit A860 0333 T701 2048 division Ball screw 8mm rev 0 1um detective unit Feedback pulses before F F G per one motor rotation 8mm 4um 2048 24 096 000 P rev 4 um 2048 40 _ 5 SDMRI 0 1 um 2048 256 SDMR2 No 2024 4096000 400 10 240 No 2185 400 Title 90D3 90E3 Learning Control Operator s Manual A 63639E 108 05 04 20 N Sonoda Newly designed FANUC LTD 2 Turn off the power supply then turn it on Auto loading of parameter for each motor 1 In case of Learning axis set the following parameters and turn off on the power supply e No 2019 6 set to 1 for Learning axis e No 2019 5 set to 1 for Preview repetitive axis 2 In case of Linear motor set the following parameters and turn off on the power supply In detail refer to FANUC AC SERVO MOTOR a is a i i
43. d And Adaptive Preview controller follows rapidly the command by means of doing the suitable feed forward control decided by Adaptive control How does Preview Repetitive control apply The convergence of error Learning speed by Preview Repetitive control is faster than that by only Learning controller Learning control can be even applied for the case that the periodic command gradually changes the shape If the change of the shape is comparatively rapid and large you should adopt Preview Repetitive control Title 90D3 90E3 MEME REND Learning Control Operator s Manual Ine al Mc sp A 63639E 108 eua sme LTD FANUC LTD 4 2 Learning Control Learning controller O Suspension Continuation Command Position Error Position Motor Gain Position feedback Merit Replacing the mechanical cam tracing method with the electric master cam Minimized position error for repetitive command with specified period Ability to remove periodical disturbance synchronized with command period Algorithm Learning control starts from non zero command in G05 a Learning controller takes Position error within one period to create the compensation data called Learning data b The new Learning data is compared with old one which sampled in previous period c The new Learning data is renewed to reduce the position error d The new Learning data within one pe
44. dle Y axis 3 axis Learning axis If No 1023 is set to 128 it gets dummy axis A 63639E 108 Eoo Tite 9003 90E3 pe as Learning Control Operator s Manual ___ FANUC LTD Example 2 In the following configuration with ais 300 or ais 500 set 1 3 5 and 6 for No 1023 Axis name Servo axis number X axis 1 axis Learning axis Z axis 3 axis Learning axis C axis 5 axis Tandem axis axis 6 axis High speed axis e ais 300 or ais 500 must be set to Tandem axis This motor occupies two servo axes that are the odd and the subsequent even number e You must set No 1817 6 of both main and sub axes to 1 Tandem control is the software option e You must set No 2018 7 of the sub axis to 1 5 1 2 FSSB setting You should think the allocation of axis number No 1023 and amplifier number No 14340 because the connection from CNC to amplifier is serially linked by optical cable FSSB2 interface Refer to the following example LEES 1905 1936 1023 Axis Name 0 Ix o oj t Path 1 1 190547 46 01 Servo Axis Number Fig 5 1 2 FSSB2 setting example If you made mistake about FSSB setting you have to pull out FSSB cable and modify FSSB setting In case of using HRV3 or HRV4 control refer to the item of servo HRV3 HRV4 control in FANUC AC SERVO MOTOR a is a i B is series Par
45. dvantage of many profiles up to Max Profile number and many learning steps up to Max Learning step number as the following table Option Max Profile number Max Learning Step number Standard spec Expanded spec 7 1 1 Parameter explanation 2019 1 1 1 SM 0 i LEBFEX Learning Memory expanded function is 1 Available New spec 0 Not available Old spec Note Learning Memory expanded function also requires NC option besides 2510 PRFALL Total PRFALL Total Profile number 00000000 number Data range 1 to 16 New spec Old spec is 0 In case of Cam grinding total profile number for one camshaft is set before processing 2511 PRENO Profile number sd Profile number Datarange 1 to PRFALL New spec Old spec is 0 to 5 Set the Profile number at the entry of G05 cutting the next profile if you want to change the profile When PRFNO 0 you can t use the second and after Learning period and repeat number Only PRIOD and RPTCT of the first Learning parameter are available When the following parameter No 2537 isn t equal to zero Learning period is expressed as the product of No 2537 and No 2517 In this case Learning steps from second step are unavailable 2537 EXPRIOD Expansion coefficient of Learning period Data range 0 to 32767 If 0 it regards as 1 2517 PRIOD 1 Learning period msec Example f you want to set whole process 64sec as Learning period the setting is as f
46. ecease frequency Learning parameter tuning of low pass filter set rightly make contact with SLS0Q Gx tuning 1 Seek the least error by added No 2526 to 1 or 1 2 Seek the least error by added No 2527 to 1 or 1 Title 90D3 90E3 DEM oe RR Learning Control Operator s Manual NER Draw No A 63639E 108 ae VENE eee FANUC LTD m 9 Attentions 9 1 ITP Delay Alarm In case that CNC operation is delayed during G05 High speed cycle cutting or High speed DNC operation work piece is not processed normally For this reason High speed axis checks this delay ITP delay during G05 You can confirm whether this delay happened by bit 1 of ALARM4 in servo tuning screen If CNC operation has been delayed once this bit is 1 This bit is not cleared until power off On the other hand when No 7501 7 1 CNC is monitoring the following cases and displays PS alarm N179 at the finish G05 e The delay of High speed remote buffer e The above ITP delay alarm 9 2 Position check You can check the integrated value of command pulses that Servo software receives from CNC and the integrated value of position feedback pulses on DGN screen e DGN No 360 Integrated value of command pulses without compensation that CNC send to Servo e DGN No 362 Integrated value of command pulses that Servo software receives from CNC e DGN No 363 Integrated value of position feedback pulses 9 3 Countermeasure for p
47. he Learning parameter value because of not auto Loading Note 2 Regarding Learning HRV2 setting for the other motor refer to 5 2 Setting High gain parameters Note 3 The xxxx or blank frames show standard setting Title 90D3 90E3 E Learning Control Operator s Manual COC T 102 Tm L L i i FANUC LTD 064 Standard Parameter for Learning Control for HRV3 HRV4 4 4 Motor type Motor spec Motor ID Velocity Remarks Amplifiler No 1825 No 2003 No 2004 No 2019 No 2013 No 2014 No 2017 No 2283 No 2040 No 2041 No 2042 No 2043 No 2044 No 2046 No 2053 No 2054 No 2055 No 2060 No 2062 No 2063 No 2065 No 2086 No 2110 No 2334 No 2512 No 2526 No 2527 No 2528 No 2529 No 2530 No 2531 No 2532 No 2533 1 0 1 0 0 0011 02023 XXXXXXXl SOOOCOOOL 1 0001 20024 1 POKER XR OXXXXXXX 1 Standard x2 1 0 0 dI MP 1 IL Standard x1 5 Standard x1 5 Standard x2 0 XXXXXXX BORO 1 OXXXXXXX XXXXXXXl Standard x1 Standard x1 Standard x2 Note 1 You need to set the Learning parameter value because of not auto Loading Note 2 The xxxx or blank frames show standard setting Note 3
48. icient 2 4 Turn Off ON the power supply 5 Set the other Learning control parameter if necessary 6 If Adaptive preview control is used you should adapt the feed forward coefficients according to 6 3 Adaptive Method Servo axes existing on the same DSP must be set to the same sampling rate Therefore all these axes are required to set No 2004 to the above value For example the sequent even axis with Learning axis must be set No 2004 to the same value as Learning axis Be careful that the parameter number for learning control is different from series 167 High gain setting of series 167 is similar to Learning HRV2 control of series 30i In Learning HRV2 control if the position error exceeds 30 000 pulses without Learning control it is necessary to apply either Feed forward control or Adaptive preview control in order to suppress the error to less than 30 000 pulses Please use No 2092 as the coefficient for Feed forward control Title 90D3 90E3 Learning Control Operator s Manual A 63639E 108 05 04 20 N Sonoda Newly designed FANUC LTD 5 3 Setting Learning HRV3 HRV4 control Servo HRV3 HRV4 control is available with Learning series 90D3 The setting bases on standard series refer to FANUC AC SERVO MOTOR ais ai Bis series Parameter Manual B 65270E The following describes about the special points in Learning series 5 3 1 Setting Learning HRV3 contr
49. ing Servo Software PCB order spec BUFSIZE sample data 90D3 A02B 0303 H088 290816 90B3 90B7 A02B 0236 H088 76800 Maximum Learning period Max_PRIOD is Learning period PRIOD that have largest period among from 1 st to 511 Learning steps Total profile number PRFALL is No 2512 Learning step number in use STEPNO is the number you are using as Learning step setting from No 2518 to No 2525 Max_PRIOD x STEPNO 2 4 BUFSIZE PRFALL Exponent of 2 n is calculated by above formula and the sampling period is the multiple of 2 to n th power Learning period automatically samples every above MULT and the parameter PRIOD should be set to the multiple of MULT 2 MULT n 0 1 2 Example Supposing you use 24 profiles in one camshaft which means PRFALL 24 A profile of them is ground using 5 Learning steps among which the longest Learning period is 6000 msec That is Max PRIOD 26000 msec STEPNO 5 BUFSIZE 290816 Above formula result in n 2 meaning MULT 4 Therefore sampling period gets fourth time Note Because of Max_PRIOD of a profile deciding one MULT another step of the profile have the same sampling rate as result This mean though one profile has the common sampling rate all over there is possibility the different sampling rate may be used on different profile Exceptionally in case of PRFALL 0 calculate above with it to five Title 90D3 90E3 DEM RENE RE RR Learning Control Operator
50. ing parameter e No 1004 Bit type B1 1 BO 0 IS C 0 1m setting e No 1820 Word axis type set to CMR e No 1825 Word axis type set to Position Loop Gain e No 7501 6 4 Bit type set to Interpolated period ITP for G05 111 0 5msec 011 1msec 001 2msec 010 4msec e No 7501 7 Bit axis type set to 1 Detection function for ITP delay e No 7502 0 Bit axis type set to 0 Acceleration Deceleration isn t used during 005 e No 7505 1 Bit axis type set the magnification for G05 data 0 x1 times Usual case 1 x 10 times Special case described below In case that the setting unit of a rotary is 0 0001 degree and G05 data exceeds 1 word 32767 e No 7510 Word type set to maximum control axes during G05 e The interpolated period 0 25 msec is unavailable so far due to CNC software condition e All axes commanded by High speed Cutting must be allocated to stuff the first and subsequent CNC axis without Not High speed cutting mixed 2 Set the following parameter to allocate each axis No 1023 Word axis type set to servo axis number Learning axis must be allocated to an odd number axis 1 or 3 or 5 axis e The subsequent even axis is available as the normal axis Example 1 In the following configuration set 1 2 1 and 3 for No 1023 Axis name Servo axis number X axis 1 axis Learning axis Z axis 2 axis normal axis C axis Gs axis Spin
51. ion Suspension mode Compensation data continuation Continuation mode Dynamic characteristic compensation Gx is Expanded Gx Normal Gx standard Note Expanded Gx makes the compensation of high precision According to Gx setting refer to Appendix 3 Parameter table for Learning Control UNTSL The unit of command period No 2517 No 2519 etc and Learning starting time No 2514 and Shock reducing counter No 2542 is 1 data number command period msec Velocity period msec 0 msec standard Example When UNTSL 1 you must set No 2542 to 125 in case that Command period is 62 5msec and Velocity loop is 1msec 2226 MEMCL PRFCLR lorD FFEXP sveoce oucksr MEMCLR At 0005 finish Learning memory is 1 clear in 0 clear in 1 compensation mode not clear in ICM 0 standard Note After Learning memory clear this bit is set to O cf 7 1 2 Processing flow PRFCLR In case of ICM 1 Compensation mode 1 Learning memory specified by profile number No 2511 is anytime cleared out 0 1 Learning memory is not cleared out Note After Learning memory clear this bit is reset to 0 cf 7 1 2 Processing flow QUCKST Learning control is executed at High speed cutting G05 at High speed cutting G05 and not zero command Title 90D3 90E3 Lic p Learning Control Operator s Manual A 63639E 108 et ee et 05 04 20
52. limination filter OFF Synchronism Synchronous Learning Tandem disturbance elimination filter ON Note When Synchronous Learning function is available Tandem disturbance elimination control and Velocity feedback average function are switched by Coupling flag regardless of Sub axis separation function Title 90D3 90E3 DEM RENE RE RR Learning Control Operator s Manual 1 XL R 220220 oe FANUC LTD Edit Date Design Description 064 1 5 Error monitoring function Error monitoring function is useful for watching accuracy of work during processing and for judging convergence of position error 2550 LERRLV Error monitoring level detective unit Data range 0 to 32767 Note If this value is 0 position error monitoring function is not available 2551 ERMOST Error monitoring start time msec Data range 0 to 32767 Standard 0 2552 ERMOFN Error monitoring finish time msec Data range 0 to 32767 Standard 0 This position error monitoring function is effective in case that you judge convergence of position error at creating Learning data or in case that you judge easily work precision at mass production Position error monitoring function is the following 95 6 95 5 Threshold level Pos errog Ss If absolute value of error A exceeds No 2550 Range Learning flag Monitoring over flag rises 4 MOR
53. ly designed FANUC LTD ee 7712 At emergency stop current offset is re taken in not re taken in standard Lh ANGLNG SNGREF GOKAN ERRCHK PARTLE When the velocity loop proportional high speed processing is applied servo characteristic is compatible with 90B3 series servo characteristic is compatible with 9000 series Note Itis called Compatible bit parameter 2229 TAWAMI STPRED 21221 RCNEG TIMADJ ABSEN Average torque is 1 outputted Note You must set 1 for No 2208 7 at same time 0 not outputted HRV3AL Always enabling high speed HRV current control without G05 4 he High speed HRV current control is executed with G01 executed with both G01 and G05 4 2066 K2AUX Acceleration feedback gain negative value Note Normally Acceleration feedback function is unavailable when Velocity loop proportional high speed processing function is valid But it is available if Compatible bit No 2227 2 is set to 1 Acceleration feedback function is kept compatible with 90B3 series by this bit Title 90D3 90E3 Learning Control Operator s Manual A 63639E 108 05 04 20 Newly designed FANUC LTD 2067 FILTER Torque command filter coefficient for cutting 2156 FILTER Torque command filter coefficient for rapid traverse Standard 0 Set by the following expression Cut off frequency Hz Sampling time sec
54. ment of Y axis and C axis don t stop 3 The tool 2 is fed along the X axis and the lead surface is finished Process B 4 Both Y axis and C axis use either Suspension mode or Continuation mode of Learning control T Y axis Learning Start Const Learning period Cutting Start PRIOD L Lc y Ly or Lc should be the longer time Learning complete to converge the position error Fig 3 1 2 Axes Movement of the velocity at the start G05 End C axis Repetition count RPTCT axis 2 axis m Lead finish cutting 1 lt gt Offset for Tool change Fig 3 1 3 Axes Movement of the velocity at End Title 90D3 90E3 REND REPRE Learning Control Operator s Manual Loo DrawNo A 63639E 108 ee ee eee FANUC LTD FANUC LTD TT 3 2 Piston Lathe Piston axis eee lt gt 9 NU ____ amp Y axis Oval cross Section X axis amp Double slide mechanism Z axis Fig 3 2 1 Configuration example of piston lathe Cutting Sequence 1 The piston outline is finished by rotating C axis moving the tool back forth along Y axis By feeding the tool along the Z axis the cylindrical piston is gradually cut 2 Both Y axis and C axis are used either Suspension mode or Continuation mode of Learning control When the command of Y axis gradually changes Y axis sho
55. ol Set Learning HRV2 control according to 5 2 Setting High gain parameter No 2013 0 set to 1 Servo HRV3 control No 2334 set to 150 Current loop gain magnification No 2335 set from 100 to 400 Velocity loop gain magnification No 2283 0 set to 1 High speed HRV current control with cutting mode 5 3 2 Setting Learning HRV4 control Set Learning HRV2 control according to 5 2 Setting High gain parameter No 2004 set to 0 0011 Don t change x bit No 2014 0 set to 1 Servo HRV4 control No 2040 set to 1 5 times of HRV2 standard No 2041 set to 1 5 times of HRV2 standard No 2334 set to 200 Current loop gain magnification No 2335 set from 100 to 400 Velocity loop gain magnification No 2283 0 set to 1 High speed HRV current control with cutting mode This setting is different from standard HRV3 HRV4 setting and doesn t require the NC program G05 4 Q1 which changes the mode into High speed HRV current control only during cutting mode G01 Fixed HRV control bit No 2271 0 set to 1 in order to be High speed HRV current control mode at all time regardless of cutting mode G01 etc 5 3 3 Setting Learning HRV3 control for Piston lathe Lead cutting Piston axis or Turner axis is set parameters referring to Appendix 3 Parameter table for Learning control Take care of the parameters No 2003 0 1 and No 2004 11111010 This setting is different from standard HRV3 setting which does not require the NC program G05
56. ollows No 2517 6 400 No 2537 10 Actual Learning period 6 400 10 64 000msec Note These parameters enable to set over 32sec as Learning period But according to the formula from 7 1 3 Cautions there is some possibility that the accuracy getting worse because of rough sampling In this case it is necessary to reduce the total profile number Title 90D3 90E3 e oo Learning Control Operator s Manual FANUC LTD Edit Date Design Description 064 Edit Date Design Description 7 1 2 Processing flow Grinding start Select Grinding program Set Profile number Command data period Repetition count Memory clear bit etc High speed cycle cutting executes and finishes Compensation mode Yes memory clear bit Clear out the learning buffer according to profile number Do you grind next cam According to detail refer to 3 3 Cam grinder Do you grind next cam shaft No Note end Set 0 for the Repetition count and Command data period of Learning steps you don t use How much time is necessary to clear all Learning memory 9003 2 3 seconds Regardless of HRV3 HRV4 e 90B3 90B7 2 0 seconds Clear time is 9 0 sec at HRV3 18 0 sec at HRV4 If GO5 is executed before finishing memory clear illegal servo parameter setting alarm occurs In order to avoid the alarm please confirm the following signal before starting G0
57. on gain If there is not a parameter set you want to use please consult to our sales Title 90D3 90E3 Lic p Learning Control Operator s Manual raw Wo 81 58 2108 UIS _ s FANUC LTD Profile 1 Command L G05 Profile 5 Command d G05 Learning Controller SSS When ICM 0 MC is available at time of 905 finish Memory clear switch MC Low pass filter No 2512 All profile number 2510 Suspension LCON 2 Dynamic characteristic Profile number compensation No 2511 No 2526 No 2533 G05 Position Error Feedback Fig 6 1 1 Learning control block diagram Processing chart L3 12 No 2521 No 2519 L1 No 2517 L1 L2 L3 C axis rotation period 1st Learning 2nd Learning 3rd Learning No 2516 No 2518 No 2520 Fig 6 1 2 Processing chart Learning Step Title 90D3 90E3 Learning Control Operator s Manual 63639E 108 05 04 20 N Sonoda Newly designed FANUC LTD 6 2 Adaptive Preview Control Parameters 2019 SLEN INVSYS SUPRSY LBUFEX TRANDE 0 INVSYS Adaptive Preview Control Option is Available Not available VCMDCL UNTSL ADAPT Feed forward coefficient FORW1 6 is Adapted by using ADPCE During adaptation Learning control is automatically Not changed
58. ou can t change parameter or run with parts program simultaneously with this function 2 The format of Learning Data is not disclosed which is the binary data Don t edit it otherwise there might be possibility not to transmit well 3 It takes about 18 seconds for transmission from Servo to CNC in case of the lump deal method Hard Disk Learning Memory Learning Memory ProfileNo 1 Profile No 1 UNE Data Profile No 2 Profile No 2 Profile 3 Profile No 3 Lump deal method Partial deal method Fig 7 1 To SAVE Learning Data by two ways of the Lump deal method No 2510 0 and the Partial deal method No2510 2 Title 90D3 90E3 DECRE REG RR Learning Control Operator s Manual FANUC LTD Edit Date Design Description 064 Edit Date Design Description ToLOAD Learning Data HD Servo 1 Set No 2511 of the Profile number to zero in case of the lump deal method Learning Data saved by the lump deal method must be loaded by the lump deal method Check No 2510 of the total number of Profile to be same value as saved before It must be so Set No 2511 0 when the Learning Data was saved by the lump deal method before Set No 2511 Profile number when it was saved by the partial deal method Note You can load Learning Data to the number different from it when saved before in just case of the partial deal method 2 Set CNC to EDIT mode and transmit Learning Data from HD to servo memory through your application
59. ower failure In case that power failure happens during synchronous operation such as G05 there is a possibility that work piece or cutting tool breaks because of no keeping synchronous relation As the countermeasure of this case you need to detect power failure and to retract to safety position by other axis independent from 905 execution and to stop G05 operation keeping synchronous relations among axes By using both Back up module for power failure and Signal retract function you can rapidly get under shelter in keeping synchronous operation after power failure Refer the following manual e Signal retract Specification e Control sequence of Back up module for power failure e Connection of Back up module for power failure 9 4 Retract When you need to stop the machine due to some reason if RESET used during G05 there is a possibility to damage the work piece or tool For this case the retract movement by external signal is able to stop safely the machine by the following functions Refer to the following manual e Retract of high speed cycle cutting Specification Option e Skip of high speed cycle cutting Specification Option Title 90D3 90E3 oii oe RR Learning Control Operator s Manual 111000 raw vc A 63639E 108 ae t regm Edit Date Design Description 064 Edit Date Design Description 9 5 Servo parameter alarm for Learning control If you set the value out of appropriate r
60. r separated serial rotary encoder system Below formula is generalization The more the summation of all coefficients is near 10096 the more it is better result Ex 1 In case of semi closed system with 200 000 pulses per motor revolution The parameters are set to PULCO 8192 PPLS 12500 N2084 20 N2085 100 FORWi 100 100 x 2 x 8192 200000 2684 The summation of all coefficients must adapt to near 2684 after adaptive mode Ex 2 In case of full closed system with 1 32 reduction and 3600 000 pulses per C axis revolution The motor revolution is 3600000 32 112500 FORWi 100 100 2 8192 12500 4772 If the adaptive mode doesn t work well due to constant speed set each coefficient to 4772 6 795 And you are able to get the same effect as feed forward 100 Ex In case of changing from SDMR1 10 SDMR2 100 SDMR1 5 SDMR2 100 FORWi new FORWi old x 10 100 100 5 FORWi old x 2 Title 90D3 90E3 Lic p Learning Control Operator s Manual Lo A 63639E 108 ERES Lot 050420 _ N Newly designed FANUC LTD FANUC LTD 6 3 Adaptive method The feed forward coefficients of the Adaptive preview control are decided with the following procedure A 1 Validate the Adaptive preview control and the Adaptive mode No 2019 5 1 and No 2442 1 1 A 2 Set the parameter of the adaptation coefficient to standard setting No 254
61. repetition count cycle PRIOD2 2 Learning period msec RPTCT3 3 repetition count cycle PRIOD3 3 Learning period msec RPTCT4 4 repetition count cycle PRIOD4 4 Learning period msec RPTCT5 5 repetition count cycle PRIOD5 5 Learning period msec GODMX Maximum order of Gx GODMN Minimum order of Gx GCOEF EXGXK1 coefficient of Gx Coefficient 1 of expanded Gx EXGXK2 Min coefficient of Gx Coefficient 2 of expanded Gx EXGXK3 Coefficient 3 of expanded Gx EXGXK4 Coefficient 4 of expanded Gx EXGXK5 Coefficient 5 of expanded Gx EXGXK6 Coefficient 6 of expanded Gx SHKRDC Shock reducing counter SFTTH1 Manual thinning count TAWA1L Torsion compensation coefficient during G05 MSCKLV Maximum speed check ADPCE Adaptive coefficient FORW1 Feed forward coefficient Title 90D3 90E3 Learning Control Operator s Manual ae A 63639E 108 05 04 20 N Sonoda Newly designed LTD Edit Date Description FANUC LTD aie FORW2 Feed forward coefficient W2 FORW3 Feed forward coefficient W3 FORWA Feed forward coefficient W FORW5 Feed forward coefficient W FORW6 Feed forward coefficient Ws LERRLV Error monitoring level detection unit ERMOST Error monitoring start time msec ERMOFN Error monitoring finish time msec Title 90D3 90E3 Learning Control Operator s Manual 7 1 2 a qas A 63639E
62. riod is kept into memory in Learning controller as the old one By repeating from a to d Learning data continue to renew itself in order to minimize position error Mode Select one from four below mode fitted with your application 1 Suspension mode For each High speed cutting G05 Learning data continues to renew up to Learning suspension count BRCT parameter Then the learning is suspended and the last Learning data is used for control without the renewal BRCT is set for the position error to converge by the learning This mode is usually used on the lead cutting machine When BRCT is zero Servo does not renewal the Learning memory 2 Continuation mode While High speed cutting is executed Learning data renew itself up to the end This mode is used on the command gradually changes though the period is constant This mode is normally used on the piston lathe 3 Compensation data suspension mode This mode is similar to Suspension mode for the first High speed cutting after the power is turned on The second and subsequent High speed cutting is performed using Learning data created by Learning at the last G05 The created Learning data isn t deleted unless the power is turned off This mode is normally used for the cam grinding machine which the shortening of cycle time is required or in case that the command doesn t include the cutting feed such as double slide mechanism 4 Compensation data continuation mode This mode is simil
63. rning control enables the customer s program to replace a conventional cam machine with a CNC machine Learning period Learning memory size Pulse distribution period Frequency Band Profile number Learning step number Learning data transmission speed Max 262 sec 524 288 words Min 0 25 msec Max 1 400 Hz Max 24 profiles Max 5 steps 32 000 words sec between CNC and Servo All data transmission is 18 4 sec Possible to transfer 4 axes at the same time 262 sec as Learning period Depending on CNC software version only Learning HRV4 control Learning data clear speed 128 000 words sec All data clear takes 4 5 sec Note Boldface is improved from series 167 Table 1 1 Combinations of Servo Software Series and CNC type Sevo cnc Sev CNC 9080 Series 16 C 18 C 9083 Series 15 B 9087 For general cutting tools For High speed d tools 9090 Series 167 A Series 187 A 90A0 Series 167 A 90A3 90 0 Series 16i A 90B3 90D0 Series 30i A 90D3 lul NM Series 30i A Series 31i A Series 32i A 05 04 20 N Sonoda Newly designed Series 16 B 18 B Series 16 C 18 C Y Y Y Series 167 A Series 18i A Series 16i A B Series 18i A B Series 30i A Series 31i A Series 30i A Series 31i A Title 90D3 90E3 Learning Control Operator s Manual PING A 63639E 108 1 Learning control requires Servo software 90D3 or 90E3 called Learning series This manual doesn t mention about
64. rrent loop ax feed forward speed 196m min for high speed I F axis vailable for C series servo amplifier Dead band review repetitive control function review repetitive control improvement 5 gt 11 review repetitive control improvement Posit or Veloc elieving restriction for Adaptive advanced preview control daptive advanced preview control for 2 axes orrespondence to High speed cycle retract earning data transmission function High Speed I F arts Learning control function 92 lt output through check board c 5 BEEEHEDGBHBSEBBSSBBBSERBESESBEEBSSSSSSEBESSHESEEREE ES BREEREEBSEEBGESEBSEHBESHHBEHEREBSIREBBSEBEDRDBBSEEBENIEXIT 2 111 2 41 1 E 214 5 Fee 2 2 2 12 111111 H 1 Pee gt H gt t 2 2 pree 1111 eeke T Peel I T 41 1 boce oro 90D3 90E3 Learning Control Operator s Manual Eo qo A 63639E 108 NERA 2 4 ee ee Edl Date Design Desorption FANUC LTD 064 Appendix 5 Method of changing parameter in CNC Program 1 Overview Learning control is available only during High speed cycle cut
65. s series Parameter Manual Example Linear scale 15486 20um pitch Lis6000B2 magnetic pitch 60mm No 2010 2 set to 1 e No 2023 set to 5 000 e No 2024 set to 16 000 e No 2112 set o 512 60 20 1 536 5 1 4 Caution for servo parameter setting for transferring from 167 The parameter number for Learning control is different between series 16i and series 307 Refer to Appendix 6 Parameter number difference between series 167 and 307 Learning servo software 9003 series is fully upper compatible with standard servo software 90D0 series Learning parameters for 90D3 series have been moved because the part of Leaning parameters for conventional 90B3 90B7 series have overlapped with parameters of other function for standard 90 series Velocity loop proportional high speed processing function performs velocity proportional routine with high speed sampling The part of parameters in conventional 90B3 90B7 series had to be set by manual depending on sampling rate But these parameters in 90D3 series are automatically set the converted parameter to inside parameter In order to keep compatibility with conventional parameter the compatible bit parameter No 2227 2 is prepared 90B3 90B7 9003 series Remark Function series No 2227 2 0 No 2227 2 1 filter When 10500520 Invalid Valid 300 2 Invalid No 201747 1 Temd filter Manual setting Automatic When No 2067 converting No 2017 7 1 Acceleration
66. ta Server operation DNC operation G10 Programmable data input High gain High speed axis High speed cycle cutting High speed distribution High speed binary High speed proportional processing function HRV control illegal parameter alarm for Learning control Interpolated period for G05 ITP delay Learning axis Learning memory expanded function Profile number Retract Sampling rate Skip function Suspension mode Total profile number Title 90D3 90E3 Learning Control Operator s Manual FANUC LTD 064
67. tem You can switch two operations by G05 code or M198 code in your cutting program The call of binary program from Data server is available with M198 code not M98 code In case of Memory operation you can use High speed cycle skip function or High speed cycle retract function In case of 2 or 3 you can use High speed binary retract function but you can t use High speed binary skip function In case that you store Learning data and recycle it refer to 7 2 Learning data transmission function Series 30 NC Software Personal Computer Producing cutting data Digital Servo User Program Software Library by Fanuc Learning Position control Command Flash memory card Binary data Title 90D3 90E3 Learning Control Operator s Manual A 63639 108 Sheet 05 Edi Descr FANUC LTD 3 Application example 3 1 Lead cutting Double slide mechanism Axial cross section zoom up Tape running D surface A Lead surface B Fig 3 1 1 Configuration example of Lead Machining Tool Cutting Sequence 1 The surface running tape is finished synchronizing with C axis rotation moving the tool 1 back and forth along the Y axis By feeding the tool along the Z axis the lead surface is gradually cut deeper Process A 2 To finish the lead surface the tool retreats along the X axis temporarily and moves along the Z axis offset And the tool is changed to tool 2 Then the move
68. ting G05 You can change some parameters for Learning control in program by using G10 code Programmable data input before G05 execution For example by changing Command period PRIOD or Repetition count RPTCT by G10 you can change the rotation speed of C axis or control suspension of Learning control during G05 2 Setting Method The procedure for creating a program is as follows You insert G10 code before the High speed cycle cutting G05 in program to use this function If G10 is not used the values which already set as servo parameter are used The following program example is a case of Lead cutting For example end turning is performed at 1500 min with G05 without using Learning control then high precision cutting is performed at 120 min using Learning control In a left sample Learning control is invalid during next G05 G10 L50 because Repetition count RPTCT No 2516 is 0 N2516 P axis num 0 In this case this line doesn t need 1500min N2517 P axis num R 40 911 GOS P TO001 L 1 Learning control is invalid during G05 due to RPTCT 0 You should set RPTCT in order to use Learning control during next G05 If Learning control doesn t stop halfway G10 L50 during G05 you should set 32767 as maximum number of N2516 P axis num R Learning count RPTCT N2517 P axis num R Learning period 4 911 G05 P10002 L1 Set 500 corresponded with 120 min when there are High speed cutting data of 12
69. uld be used Continuation mode of Preview repetitive control If the changing rate of the command is small you might be able to get the sufficient accuracy with Continuation mode only 005 start G05 end C axis N Repetitive count RPTCT 4 5 Command data period PRIOD Ly should be longer than the the time the learning complete to minimize the error Z axis Ly Cutting start X axis Retract Approach Fig 3 2 2 Movement of the tool along each axis when processing gt Y axis Learning start Title 90D3 90E3 Learning Control Operator s Manual FANUC LTD 064 3 3 Cam Grinding Machine Profile 1 Profile 3 A A cross section Profile 2 Profile 4 Grinding tool CAM work Spiral grinding Single slide mechanism Fig 3 3 1 Example of Configuration of Cam Grinding Machine Grinding Sequence 1 The cam form is ground by synchronizing with C axis rotation moving grinder back forth along X axis 2 Each profile is processed with High speed cutting G05 but G05 stops while Z axis moves to next profile In case of the profile processed by many repetitive cycles 3 Set one rotation of C axis as Learning period 4 Though the finishing can get down the rotation speed of C axis not to change the rotation speed of C axis L1 L2 is recommended from the precision point of view 5 The rotation speed of C axis can vary within one rotation of C axis There might be the special
70. ve preview control is effective for the application to change the reiterated command period at halfway through G05 Algorithm Preview repetitive control is realized by combination with Learning controller and Adaptive Preview controller Adaptive preview control does the suitable feed forward control by using Adaptive control Feed forward coefficients are calculated so as to reduce the position error by utilizing the repetition of command As this result position error decreases without Learning controller The position error due to disturbance is gotten rid of by Learning controller of Preview repetitive control because Adaptive Preview controller is ineffective to disturbance Feed forward coefficients are decided in Adaptive mode of Adaptive preview control During this time Learning control is disabled automatically The decided coefficients are transmitted to CNC for the purpose of holding it even at Power off It is called Transmitting mode of Adaptive preview control You should process in Fix mode of Adaptive preview control in which the coefficients is not renewed Then Learning control gets valid Title 90D3 90E3 Learning Control Operator s Manual Ine al Mc H e 3108 FANUC LTD m 5 Servo parameters 5 1 Setting parameters 5 1 1 Setting CNC parameters The following explanation is CNC parameters setting related to High speed Cutting G05 For the detail refer to Parameter Manual of CNC 1 Set the follow

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