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FANUC AC Servo Software 90D3 Series, 90E3 Series Learning Control for Parts cutting, Operator Additional Manual Page 15

Additional Manual
Title 90D3 / 90E3 Learning Control
for Parts cutting Operator’s Manual
Draw No.
A - 63639E - 115
01 ’05.04.05 K.Maeda Newly designed Sheet 015
Edit Date Design Description / 018
Data range : 0 to 20
Standard : 10
Data range : 0 to GODMX
Standard : 0
Data range : 0 to 128
Standard : 64
Data range : -96 to 0
Standard : -32
(Note) If this value is 0, internally this value is worked as (32 – No.2528).
Dynamic characteristic compensation Gx is composed from three parameters No.2526, No.2527, No.2528,
and No.2529, which symbols are GODMX, GODMN, GCOEF, and EXGXK2 respectively.
Usually you should set the followings value. GCOEF = 64, EXGXK2 = -32
• In case of HRV2, GODMX = 12, GODMN = 0.
• In case of HRV2 and No.2017#7 = 1, GODMX = 10, GODMN = 0.
• In case of HRV3 and No.2017#7 = 1, GODMX = 8, GODMN = 0.
Gx improves 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 position gain. If there is not a parameter set you want to use, please consult to Kyushu
branch office, Servo Laboratory through the charged person of your nearest FANUC or GEFanuc office.
2526
GODMX Maximum order of Gx
2527
GODMN Minimum order of Gx
2528
GCOEF Maximum coefficient of Gx
2529
EXGXK2 Minimum coefficient of Gx
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Contents Summary of FANUC AC Servo Software 90D3 Series, 90E3 Series Learning Control for Parts cutting, Operator Additional Manual

  • Page 1FANUC AC SERVO SOFTWARE 90D3 Series 90E3 Series Learning Control for Parts cutting Operator’s Manual 1. Overview 2. Necessary things 3. Specifications 4. Parameters setting 5. Enforcement sequence 6. Screen 7. Parameters List 8. Parameters detail 9. Limitative items (CAUTION) The contents of this ma
  • Page 21. Overview “Learning Control for Parts cutting” can realize High precision in case of producing many works with a same profile. Normal Learning Control is effective only during G05 (High speed cycle cutting or High speed binary operation). If you insert Learning start code (G5.6 Pn *1) and Learning
  • Page 3• Parts profile : Max. 24 profiles per a work • Functions : Full compatible with standard 90D0 / 90E0 series • Limit of axis number : Learning axes are 4 axes within maximum 8 axes in 90D3 series. Learning axes are 4 axes within maximum 16 axes in 90E3 series. (plan) 4. Parameters setting For the de
  • Page 4c [GX MAX DIM] Set 10 for maximum order of Gx (Parameter No.2526). d [GX MIN DIM] Set 0 for minimum order of Gx (Parameter No.2527). e [GX MAX COF] Set 64 for maximum coefficient of Gx (Parameter No.2528). f [GX MIN COF] Set –32 for minimum coefficient of Gx (Parameter No.2529). g [FILTER(HZ)] Set 1
  • Page 5(Note 4) The method of tuning No.2512. If there is lower resonance frequency, you set down No.2512 its frequency. If you set No.2512 higher, tracing performance for position command increases. (Note 5) In case of error monitoring, you should set parameters as follows. • No.2227#1 = 1 (This function
  • Page 65. Enforcement sequence Learning data is created by the repetition execution of NC program in Learning mode. After the mode is switched to Product mode, mass product is done. [Learning mode] [Product mode] c To monitor position error under repeating c Learning data is loaded on Current backup screen
  • Page 7• Commentary of Enforcement sequence [Learning mode] 1) During Learning, you must not change velocity over-ride. However, when you really execute a program first, you need to execute that program under over-ride down. In this case, you can invalidate Learning control temporarily. You should push sof
  • Page 86. Screen of Learning Control for Parts cutting The following operation and display are possible by the screen for Learning Control for Parts cutting. • Learning state display • Parameter input • Learning data input / output • Graph display (It is the same as Y-time graph of servo guide mate.) The s
  • Page 9[Monitor screen 1] c g k d h l e i n f j o p c [LEARN STAT] [LEARN] is displayed during executing Learning control. d [ERROR MONI] [CHECK] is displayed during monitoring position error. e [RANGE OVER] [OVER] is displayed when position error is over setting range. It is latched until next Learning st
  • Page 10[Monitor screen 2] c i p d j e k f l g n h o q (Note) Gx means dynamic characteristic compensation elements. c [GX MAX DIM] Setting maximum order of Gx (Parameter No.2526). d [GX MIN DIM] Setting minimum order of Gx (Parameter No.2527). e [GX MAX COF] Setting maximum coefficient of Gx (Parameter No.
  • Page 11[Current data screen] c d e f g h i c [STATUS] Current data (Learning data) is displayed what status. • NO DATA : Data does not exist. • CLEARING : Data is clearing. • WRITING : Data is writing. (Executing Learning control) • UPDATED DATA : Writing data is completed. Data has not been backed up. • T
  • Page 12• Transferring Learning data [Current backup screen] c d h e c [STATUS] Current data (Learning data) is displayed what status. • NO DATA : Data does not exist. • DATA EXIST : Data exist. • TRANSFERRING(***%) : Data is transferring. *** is transfer percentage. d [AT-TRNS] Setting automatic restore of
  • Page 137. Parameters List B7 B6 B5 B4 B3 B2 B1 B0 2019 DPFBCT SLEN INVSYS LBUFEX TANDMP PLC0 2226 MEMCLR PRFCLR 2227 ERRCHE PARTLE 2228 FRQ SYSLRN 2229 TAWAMI STPRED RCNEG TIMADJ ABSEN 2442 ADERSL VCMDCL UNTSL TRASMT ADAPT 2443 ICM LCON EXGX MSCHK LSTP 2512 FBND Frequency band of low pass filter [Hz] 2513
  • Page 148. Parameters detail 2227 ERRCHE PARTLE PARTLE Learning Control for Parts cutting (Option) is 1 : Available. ♦ If you change PARTLE, you must turn off and on CNC. 0 : Not available. (Power must be off) ERRCHE Error monitoring function is 1 : Available. 0 : Not available. 2442 ADERSL VCMDCL UNTSL TRA
  • Page 152526 GODMX Maximum order of Gx Data range : 0 to 20 Standard : 10 2527 GODMN Minimum order of Gx Data range : 0 to GODMX Standard : 0 2528 GCOEF Maximum coefficient of Gx Data range : 0 to 128 Standard : 64 2529 EXGXK2 Minimum coefficient of Gx Data range : -96 to 0 Standard : -32 (Note) If this val
  • Page 162550 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 :
  • Page 179. Limitation items (1) Applicable work Leaning Control for Parts cutting is available only in case of cutting many works with same profile. This function supports every minute feed (Time based Learning control). This function does not support every rotation feed. It is impossible to apply once cutt
  • Page 18(6) Transfer time of Learning data Please refer the following transfer time for Learning data of maximum Learning time (262sec). When Learning data is transferred with memory card, transfer time might be change by the memory card used. Transfer status Two Learning axes Four Learning axes c Current d