FANUC AC Servo Software 90B3 / 90B7 Series Angle based Learning Control Specification Manual Additional Manual Page 7
Additional Manual
Title 90B3 / 90B7 Angle Based
Learning Control Specification Manual
Draw No.
A - 63639E - 119
01 ’04.02.23 K.Maeda Newly designed Sheet 07
Edit Date Design Description / 10
We suggest that you select minimum time period as the quotient of (Angle based Learning period)
divided by (delayed memory number) is integer.
2244
(FS16i )
Learning frequency band
2657
(FS15i )
(Setting range) Case of sampling 1msec, from 0 to 350
Case of sampling 0.5msec, from 0 to 700
(Setting unit) Hz
(Standard) Case of sampling 1msec, 100
Case of sampling 0.5msec, 150
Dlelayed memory number δ
δδ
δ and Learning frequency band fs decide Learning frequency band in angle
area fn. This fn means that Angle based Learning controller haves frequency band of fn times higher
harmonics for Learning period. This frequency band does not depend on speed, but changes in
proportion to speed from point of view of usual time area. And 0 Hz means that Learning control does
not work.
fn = fs ×δ
δδ
δ×t = fs × L (t is sampling, δ
δδ
δ is delayed memory number, L is mimimum time period)
2245
(FS16i )
Learning suspension time
2658
(FS15i )
(Setting range) from 0 to 32767 (0 is not suspension.)
(Setting unit) msec
You should set not suspension cyclces of times in usual Time based Learning control but suspension
time in Angle based Learning control. This specification is compatible with Spindle Learning control.
This parameter does not relate with No.2008#4 (suspension / continuation) in Angle based.
2246
(FS16i )
Maximum order of Gx
2659
(FS15i )
(Note) Gx : Dynamic characteristic compensation
2247
(FS16i )
Mimimum order of Gx
2660
(FS15i )
(Setting range) from 0 to 32767 (Minimun order < Maximum order)
This setting is compatible with usual Time based Learning control. If Maximum order is 0, servo
software sets 12 internally.
2248
(FS16i )
Maximum coefficient of Gx
2661
(FS15i )
2249
(FS16i )
Mimimum coefficient of Gx
2662
(FS15i )
(Setting range) from –32767 to +32767
This setting is compatible with usual Time based Learning control. If Maximum coeficient is 0, servo
software sets 64 internally. And if Mimimum coeficient is 0, servo software sets (32 – Maximum
coeficient) internally.
Contents Summary of FANUC AC Servo Software 90B3 / 90B7 Series Angle based Learning Control Specification Manual Additional Manual
- Page 1FANUC AC SERVO SOFTWARE 90B3 / 90B7 Series Angle based Learning Control Specification Manual 1. Overview 2. Configuration 3. Application servo software series / edition 4. Parameters 5. PMC signals 6. Alarm (CAUTION) The contents of this manual may be changed as a result of improvements to the servo
- Page 21. Overview We have developed Angle based Learning control to usual Time based Learning control. This function merit is the following. • This function provides not time but angle as Learning period. Therefore this function can apply to variable time period application that is difficult to realize by
- Page 32. Configuration The start of Angle based Learning control are the usual way to synchronize the start of High-speed cutting (G05) and the new way to synchronize the start of PMC signal. It is necessary to refer to angle as a standard. You can select position feedback or position command as this refe
- Page 4You can apply Spindle Learning control with angle based to rotary axis. 2) Application example in Flexible Synchronous Control Synchronous shaving machine CNC Servo control or Spindle control FSC Learning Learning Master axis controller controller Command Kp Kp Position error Gear Ratio Reference Sl
- Page 53. Application servo software series / edition • 90B7 / 13(M) or later • 90B3 / 14 (N) or later (next edition planning) 4. Parameters Function bit #7 #6 #5 #4 #3 #2 #1 #0 2008 (FS16i ) SLEN 1952 (FS15i ) SLEN (#5) Learning control is (L-axis only) 0: not available. 1: available. (Option) #7 #6 #5 #4
- Page 6♦ Relation between Angle based Learning controller and Parameters N2243 N2244 Fx Delayed Memory Convert Convert Reference Position N2246 One rotation = N2241×N2242 N2247 Gx N2248 N2249 G05 or G320 + Position error + HRV control *1 Fx : Learning band. The higher you set Leaning band, precision is hig
- Page 7We suggest that you select minimum time period as the quotient of (Angle based Learning period) divided by (delayed memory number) is integer. 2244 (FS16i ) Learning frequency band 2657 (FS15i ) (Setting range) Case of sampling 1msec, from 0 to 350 Case of sampling 0.5msec, from 0 to 700 (Setting un
- Page 82250 (FS16i ) Delay compensation 2663 (FS15i ) (Setting range) from –32767 to +32767 (Plus is forward, Minus is delay) (Setting unit) nsec When reference to M-axis (M-axis : N2227#5 = 1), one sampling is delayed. Angle based Learning controller compensates sampling delay of reference position by thi
- Page 95. PMC signal If you input the following PMC signal, Angle based Learning control starts and finishes at point of any time without G05. This function can be used in Series 16i –B with supported General purpose DI/DO. #7 #6 #5 #4 #3 #2 #1 #0 G0320 SVDI08 SVDI07 SVDI06 SVDI05 SVDI04 SVDI03 SVDI02 SVDI
- Page 106. Alarm In case that there is a problem in parameter setting, the following "PARAMETER INCORRECT" displays. Alarm Parameter No. Parameter No. derail No. (FS15i ) (FS16i ) Cause Measures 2402 2241 Case that the quotient 1) Minimum time period is 2242 which divides Angle increased. based Learning per