Fanuc A-63639e-050 - 01 - 051104

TECHNICAL REPORT (MANUAL)
No.
TMS 99 /
Date
28 , Jan .1999
General Manager of Servo Laboratory Notice of the revision of Digital Servo ROM 90A3 series 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILACRON Machine tool builder Sales agency End user 2. Summary for Sales Documents (Sales guide, Functional comparison list, etc) This document reports the revised edition of the Digital Servo Software 90A3 series for FS16i, FS18i for Learning control. 3. Another Information
4. Attached Document Drawing No. A-63639E-050 A-63639E-034 / 02 (1/2 - 2/2) (1/69 - 69/69)
5. Registration of Order List data
(In case of Order List)
Type of Data
Lotus 123/Win
Oasys
Original section of issue IDE Manager Chief
Revision of Digital Servo ROM 90A3 series
1. Type of applied documents

Name FANUC AC SERVO software 9083 / 9087 / 90A3 / 90A7 series Learning Function Operators manual Spec. No./Ver. A-63639E-034 / 02
2. Summary of Change
Group Name / Outline New, Add Correct, Del Basic Function 1. Common motor feedback function is available. 2. FSSB dummy function is available. 3. Resonance eliminate filter is available. 4. Current offset compensation function is available. Add Add Add Add Applicable Date 1999.01 1999.01 1999.01 1999.01
Optional Function Unit
1. Tcmd Tandem control function is available.
Add
1999.01
Maintenance Parts Notice
Correction
Another
TITLE
Revision of Digital Servo ROM 90A3 series A-63639E-050

SHEET CUST.
01 99. 01. 28 Ed .
Date
Maeda Design.
Newly designed Description
DRAW. No.
FANUC LTD
01 / 02
Revision of Digital Servo ROM 90A3 series

We report the revision of Digital Servo ROM 90A3 series. 1. Update Edition ROM series Old edition New edition Available CNC FS16i,18i (for Self-Learning function)
90A3
001A
001B
2. Content of change a) Tandem control function except Full-preload function is available. (For 300 or 400). (option) A02B-0236-J733 A02B-0238-J733 (FS16i-TA) (FS18i-TA) A02B-0237-J733 A02B-0239-J733 (FS16i-MA) (FS18i-MA)
b) Common motor feedback function is available.
You can drive the 300 or 400. (Parameters) No.1817#6 = 1 Tandem control (Main and Sub axes) No.2018#7 = 1 Common motor feedback (Sub axis only)
c) FSSB dummy function is available.
d) Resonance eliminate filter is available.

e) Current offset compensation function is available.
(Parameters)
No.2175 R-phase offset shift value No.2176 S-phase offset shift value
3. Attached material 1 ) FANUC AC SERVO software 9083 / 9087 / 90A3 / 90A7 series Learning function Operators manual (A-63639E-034 / 02) 1 / 69 - 69 / 69
TITLE
Revision of Digital Servo ROM 90A3 series A-63639E-050

SHEET CUST.
01 99. 01. 28 Ed .
Date
Maeda Design.
Newly designed Description
DRAW. No.
FANUC LTD
02 / 02
FANUC AC SERVO SOFTWARE 9083 / 9087 Series 90A3 / 90A7 Series LEARNING FUNCTION Operators Manual
1. Overview 2. System Configuration 3. Application Examples 4. Explanation of Learning Control 5. Servo parameters 6. Learning Control functions 7. Functions detail 8. Adjustment 9. 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. Checking Position Error by Check-board Appendix 7. Notes on using SD.EXE Index
(CAUTION) The contents of this manual may be changed as a result of improvements to the servo software or other improvements.
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Contents 1. Overview . 3 2. System Configuration ....... 5 3. Application Examples ....... 6 3.1 Lead Cutting ...... 6 3.2 Piston Lathe ....... 7 3.3 Cam grinder ...... 8 4. Explanation of Learning Control ..... 10 4.1 Summary of Learning Control ... 10 4.2 Self-Learning Control .... 11 4.3 Preview Repetitive Control .... 12 5. Servo parameters ..... 13 5.1 Setting parameters ........ 13 5.2 Setting High-gain parameters ... 17 5.3 Servo parameters List ... 18 5.4 Servo parameters detail ... 21 6. Learning Control functions .. 24 6.1 Learning Control parameters .... 24 6.2 Adaptive Preview Control parameters ...29 6.3 Adaptive method .... 30 7. Functions detail ..... 31 7.1 Servo trace function ...... 31 7.2 Learning memory expanded function ... 35 7.3 Learning data transmission function ........ 38 7.4 Ultra high precision Velocity feedback function ... 43 7.5 Torsion compensation during high speed cycle cutting function . 44 7.6 Tandem Learning control function .... 47 8. Adjustment ..... 50 9. Attentions ....... 51 Appendix 1. Notes on the order . 53 Appendix 2. Making method for cutting data . 54 Appendix 3. Parameter table for Learning Control ... 55 Appendix 4. Functions table for Servo edition .. 59 Appendix 5. Method of changing parameter in CNC Program ... 64 Appendix 6. Checking Position Error by Check-board . 65 Appendix 7. Notes on using SD.EXE . 66 Index .69
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1. Overview
This manual describes the only special servo functions and parameters relating to High-speed Cutting and Learning function used in FANUC Digital AC Servo. With respect to the information of the standard servo function for general cutting tools, you can get it from FANUC AC SERVO MOTOR series PARAMETER MANUAL B65150E. High-speed Cutting means "High-speed Cycle Cutting" on NC memory or DNC operation by Personal Computer through HSSB, or Data Server Operation with High-speed binary operation. Learning function works only during G05 execution, which is High-speed cutting in the part program. As you can set Learning function for each axis, you can mix Leaning axes and Normal axes. Major specification of Learning control Command period Pulse distribution period Frequency Band Profile number Learning step number Max. 16sec Min. 0.5msec Max. 500Hz Max. 16 profiles Max. 5 steps (C-axis minimum speed 3.75rpm for Cam application) (for L6 or L9 etc, the other is 1msec 1) (for L6 or L9 etc, the other 200Hz 1) (Cam grinder) (Cam grinder)
Note 1) Refer to Appendix 3 Parameter table for Learning control. The item of velocity and FBND is Min. distribution period and Max. Frequency Band in the order. Remark is important for the application. The parameters for High-speed Cutting tools different from those for general cutting tools are described in 5.3 Servo parameters list and explained in 5.4 Parameter details. For the other standard Servo parameters described in this manual and adjustments, refer to "FANUC AC Servo Motor series Parameter Manual" B-65150E. Servo ROM series for High-speed Cutting tools and for general cutting tools are listed as follows.
Table 1-1. Combinations of Servo Software Series and CNC type For High-speed cutting tools For general cutting tools
Servo 9030 9050 9060 9070 9080 9090 90A0 CNC Series 0-C Series 15-A Series 16-A, 18-A Series 15-B Series 16-B, 18-B Series 15-B Series 16-C, 18-C Series 15-B Series 16i-A, Series 18i-A Series 16i-A, Series 18i-A 90A3 90A7 Series 16i-A, Series 18i-A 9053 9073 9083 9087 Servo 9033 CNC Series 0-C (Series 15-A) Series 16-A Series 16-B, 18-B Series 16-C, 18-C Series 16-B, 18-B Series 16-C, 18-C
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(Note 1) A High-speed axis or a Learning axis occupies one Servo CPU, and can not coexist with another axis. A High-speed axis or a Learning axis must be allocated to L-axis (odd number axis). A High-speed axis is the axis supporting High-speed Interface (G05 activates the interface). High-speed axis : No.2005 Bit4 (HSPEED) =1 of the axis FS16. Learning axis : No.2008 Bit5 (SLEN) =1 of the axis FS16. There is not the above under-line restriction in 90A7 series. But a Learning axis must be allocated to L-axis. (Note 2) The Learning function by digital servo software enables high-precision control for the command that is given repeatedly at specified intervals. For example, the lead for video cam drum, the piston or the cam shaft for car engine are usually made with a conventional cam machine using mechanical way. Learning function enables the customers program to replace a conventional cam machine with a CNC machine. (Note 3) The parameters described in this manual for High-speed Cutting tools are applied only to a Highspeed axis and Learning axis. The servo parameters except a High-speed axis are the same as that for general cutting tools. (This axis is called the normal axis in this manual from now on.) (Note 4) You can use 9083 or 9087 series in either Series 16B or Series 16C. You should use 90A3 or 90A7 in i-series. Never use the servo software out of accord with the above table (Table 1-1) (Note 5) You should choose 90x3 or 90x7 series based on the following criteria. Lead Cutting Machine or Piston Lathe .. 9083 or 90A3 Cam Grinder or Crank Shaft Grinder . 9087 or 90A7 Ultra high precision velocity feedback function is available for 9087 or 90A7. (Note 6) Refer to the following manual for the general servo parameter and adjustment. " FANUC AC Servo Amplifier maintenance Manual " : B-65005E etc. " FANUC AC Servo Motor series parameter Manual " : B-65150E etc. As for specifications and usage of High-speed cycle cutting (G05), refer to the following CNC manual. " FS16/18 Operator's Manual (Tuning) " : B-61804E " FS16/18 Maintenance Manual " : B-61805E (Note 7) 90A7 series has a large difference from the other Learning series. This series supports the High-speed interface without High-speed axis setting. (No.2005#4=0). If you still set a High-speed axis (No.2005#4=1), one axis occupies one Servo CPU as usual. You must allocate a Learning axis (No.2008#5=1) to L-axis as usual. The Learning memory area of 1st axis or 3rd axis is different from the area of 5th axis. Regarding to the detail, refer to 7.2 Learning memory expanded function. A Learning axis does not occupy a CPU, so you can allocate the other normal axis to M-axis. This series supports the Tandem control. But this function has partially different specification from the Tandem control in standard servo series because of the premise used together with Learning control. Regarding to the detail, refer to 7.6 Tandem Learning control function. This series does not support the Servo trace function. (90A7 series only)
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2. System Configuration
High-speed cutting (G05) can be achieved using three below cases. Fig.2-1 shows a system configuration.
(1) Memory operation by High speed cycle cutting a) To produce cutting data by Open CNC or personal computer and down load to P-code area of CNC. b) To produce cutting data by Macro executor and write to P-code area.
After preparing the cutting data by Personal Computer or Open CNC. (2) Data Server operation with High-speed binary operation. c)To produce cutting data by Open CNC or personal computer and down load via Ethernet to Data server and run High speed binary operation by Data Server. (3) DNC operation that Open CNC or Personal compute run directly CNC through HSSB using the next two ways. (d) Users program including DNC operation library. (e) DNC operation management package in BOP (Basic Operation Package).
(Note) In case of (3) , there is a possibility that transmission rate can not keep always due to the personal computer performance. In individual case, consult with Software technique department. If you need to have the transmission rate guaranteed, you must select the method of c) .
You can choose the Memory operation or (either Data Server operation or DNC operation) in one system. You can change two operations by G05 code or M198 code in your cutting program. Series 16 (NC Software) Macro executor a) RS232C or HSSB d) HSSB (+Library by Fanuc) (3) (1) User Program (Parts Prog. Oxxx) (2) c)Ethernet F-bus G05
Position Command
Personal Computer Producing cutting data User Program
b) P-code variables Memory Op. Digital Servo Software
Learning function
Hard Disk (Binary data)
Data Server Binary Op.
Fig. 2-1 System configuration selection
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3. Application example
3.1
Lead cutting machine

Double slide mechanism Z axis X axis Byte 1 Y axis Byte 2 Cutter movement
C axis Tape driving surface : A
Zoom Up (cross section)
B A Tape driving surface
Lead surface : B
Fig. 3.1.1 Cnfigulation example of Lead Cutting Machine (1) The tape running surface is cut synchronized to the spindle 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 movement 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 the Suspension mode or the Continuation mode of the Self-learning control.
G05 Start C axis T Time Const RPTCT Y axis Learning Start
Y axis
C axis
Learning period PRIOD Ly Lc
Cutting Start
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 Y axis
Z axis Offset for Tool change X axis
Lead finish cutting
Fig. 3.1.3 Axes Movement of the velocity at End

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3.2 Piston Lathe
Piston axis
Y axis Piston Work X axis Double slide mechanism
Oval cross Section
Z axis
Fig. 3.2.1 Configuration example of piston lathe * Cutting Sequence (1) The piston outside is cut by rotating the spindle to move the tool back and forth along the Y axis. By feeding the tool along the Z axis, the piston outside is gradually cut deeper. (2) Both Y axis and C axis use the Suspension mode or the Continuation mode of the Learning control. When the command of Y axis gradually changes, Y axis should use the Continuation mode of the Preview repetitive control. If changing rate of the command is small, the Continuation mode of the Learning control might be sufficient for Y axis.
G05 start G05 end
C axis
Repetitive count RPTCT
Y axis
Command data period PRIOD Y axis Learning start Ly should be longer than the the time the learning complete to minimize the error.
Z axis
Ly Cutting start Retract Approach
X axis
Fig. 3.2.2 Movement of the tool along each axis when processing
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3.3 Cam Grinding Machine

Profile 1 C axis Profile 3 Profile 2 Profile 4 CAM work Grinder Grinding tool X axis Single slide mechanism A' CAM work Z axis Spiral grinding A A - A' cross section
Fig. 3.3.1 Example of Configuration of Cam Grinding Machine.
* Grinding Sequence (1) The cam form is ground synchronized to C axis rotation with the grinder back and forth moved along X axis. (2) Each profile is processed by the High-speed cycle cutting (G05), but changing the profile fall out of G05 with Z axis moved.
The way in case of many repetition cycle in a profile.

(3) Setting the period of one C rotation to Learning period. (4) Though the finishing can get down the rotation speed of C axis, from the precision point of view, it is recommended for the rotation speed of C axis not to change with L1=L2. (5) The rotation speed of C axis can vary during one rotation of C axis. There might be the special machine such as the crank-shaft pin grinding that requires very high accuracy. As far as grinding technology allows, The constant C speed during one rotation is more preferable for the application of high accuracy. (6) Both X axis and C axis use the Compensation data continuation mode of the Preview repetitive control.
The way in case of a few repetition cycle in a profile.

(3) Setting the total C rotation involving the Approach to 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) In case you dont want to renew the compensation data at the grinding of Learning function, you have to set compensation data suspension mode active, and Repetition count to zero. (7) Make sure to set Shock reducing counter (SHKRDC) effective. Profile 1 C axis X axis G05 Z axis Fig. 3.3.2 Movement of the Tool along each Axis.
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Profile 2
Profile 3
Profile 4
G05
G05
G05
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1'st cutting step

G05 start Approach LESTTM
2'nd cutting step
3'rd cutting step

G05 end
L1
L2 PRIOD2
X axis
L1 PRIOD Learning start Repetitive count RPTCT The 2'nd Repetitive count RPTCT2
1/L1 Average speed
C axis
1/ L2 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
C axis one rotation
C axis speed
1/L1 Average speed G05 start G05 End
L1 , L2 : C axis rotation period
Fig. 3.3.4 Cutting Chart 2 (Profile 1)
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4. Explanation of Learning Control

4.1 Summary of Learning Control
FANUC Learning function
Learning control
Preview Repetitive control
Learning controller
Learning controller
Adaptive Preview controller
l 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. l 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. l Feature of Control Learning controller minimizes the error by learning the repetitive command of specific period or the disturbance synchronized with command period. And Adaptive Preview controller follows rapidly the command by means of doing the best suited feed-forward control decided by Adaptive control. l When is Preview Repetitive control applied ? The convergence of error (Learning speed) by Preview Repetitive control is faster than that by only Learning controller. Learning control can be applied even for the case which the periodic command change gradually the shape. If the change of the shape is comparatively rapid and large, you should adopt Preview Repetitive control.
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4.2
Learning Control Learning controller Suspension Command Continuation
G0(s)
+
Kp
Position Error Position feedback
+
Position Gain
1 s
Motor
[ Merit ] l Replacing the mechanical cam tracing method with the electric master cam. l Minimized position error for repetitive command with specified period. l Ability to remove periodical disturbance synchronized to command period. [ Algorithm ] Learning control starts from non-zero command in G05. a) Learning controller takes Position error within one period as the new compensation data . b) The new compensation data is compared with old one, which sampled in previous period. c) The new compensation data is renewed to reduce the position error. d) The new compensation data within one period is kept in Learning controller as the old one. By repeating from a) to d) , compensation data continue to renew itself in order to minimize position error. [ Mode ] Select one from four below mode fitted with your application. (Refer to No.2008) (1) Suspension mode For each High-speed cycle cutting (G05), the compensation data continue to renew up to Learning suspension count BRCT parameter. Then the learning is suspended and the last compensation 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 cycle cutting is executed, the compensation 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 cycle cutting after the power is turned on. The second and subsequent High-speed cycle cutting is performed using the compensation data created by Learning at the last G05. The created compensation data is not deleted unless the power is turned off. This mode is normally used on the cam grinding machine which the shortening of cycle time is required and the command does not include the cutting feed but only profile data, such as the case of double slide mechanism. (4) Compensation data continuation mode This mode is similar to Continuation mode for the first high-speed cycle cutting after the power is turned on. The second and subsequent the High-speed cycle cutting is performed using the compensation data created by learning at the last G05. The created compensating data is not deleted unless the power is turned off. This mode is normally used on the cam grinding machine which the shortening of cycle time is
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required and the command within one profile gradually change due to cutting feed, such as the case of single slide mechanism. (Note) Compensation data mode means that compensation data is not clear at G05 finish. Both Suspension and Continuation mode clear it every time G05 finish. 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
+ + Kp G0(s) 1 s
Motor
Position Command
- Position Error
+
Position Gain
Position feedback
[ Merit ] l Learning controller decides the final error, and Adaptive preview controller hasten to converge the error. l Adaptive control is effective for a case that Command change the shape gradually. l Adaptive control is effective for the application to change the command period halfway through G05. [ Algorithm ] l Preview repetitive control is realized by combination with Learning controller and Adaptive Preview controller. l Adaptive preview control does the best suited feed-forward control by using Adaptive control. l Feed-forward coefficients are calculated so as to reduce the position error by making use of repetition of command. l As this result, position error decreases without Learning controller. Because Adaptive Preview controller itself has no effect for disturbance, the error due to disturbance is gotten rid of by Learning controller in Preview repetitive control. l Feed-forward coefficients are decided in the Adaptive mode of Adaptive preview control. During this time, Learning control is disabled automatically. l You need to transmit the decided coefficients to CNC for the purpose of holding it even at Power off. l You should process in Fix mode of Adaptive repetitive control in which the coefficients is not renewed. You need to enable Learning control this time.
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5. Servo parameters
5.1 Setting parameters (Series 16)
5.1.1 Setting CNC parameters CNC parameters setting related to High-speed Cutting are explained. According to the detail, refer to the FANUC Series 16 / 18 manual. (1) Set the following parameter. No.1004 (Bit type) B1=1, B0=1 (IS-C : 0.1m setting). No.1816 (Bit axis type) B6=1, B5=1, B4=1. (DMR=111) No.1820 (Word axis type) set to CMR. No.1825 (Word axis type) set to Position Loop Gain. (Note) Generally you should set Position Loop Gain to 18000 or 24000 in case of L9 or L6 for Piston Lathe or Lead cutting machine, and set Position Loop Gain to 3000 in the other case not specified particularly. No.7501#6 - #4 (Bit type) set to Interpolated period for G05. 111 : 0.5msec 011 : 1msec 001 : 2msec 010 : 4msec No.7502#0 (Bit axis type) set to 0. (Acceleration/Deceleration is not used during G05 : M-series) No.7505#0 (Bit axis type) set to 1 only for High-speed distribution axis. (Note) In case High-speed distribution, you must set 1 for both CNC side (No.7505#0) and Servo side (No.2005#4). In 90A7 series, you should set 1 only for CNC side (No.7505#0). No.7505#1 (Bit axis type) to magnification for G05 data. 0 : x 1 times 1 : x 10 times (Usual case) (Special case described below)
(Note) In case that the least input increment is 0.0001 deg for a rotary axis and G05 data exceeds 1 word (32767) at the high speed. No.7510 (Word type) set to maximum control axes during G05. (2) Set the following parameter to allocate each axis No.1023 (Word axis type) set to servo axis number. Note 1) As a High-speed axis or a Learning axis occupies a servo CPU, allocate it an odd number axis (1st or 3rd or 5th axis). The another axis can not be allocated to the even number axis. However, 90A7 series can assign the normal axes at even number axis together with High-speed or Learning axis assigned at the odd number axis. Note 2) When allocating each axis by No.1023, refer to the following samples. (Example 1) In the following configuration, set 1, 2, -1 and 3 for No.1023. Axis name X axis Z axis C axis Y axis Servo axis number 1st axis 2 axis Cs axis (Spindle) 3rd axis (High-speed axis or Learning axis)
nd
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(Example 2) In the following configuration, set 1, 2, 3 and 5 for No.1023. Axis name Servo axis number X axis 1st axis Z axis 2nd axis C axis 3rd axis (Learning axis) Y axis 5th axis (High speed axis) (Note) In case setting Learning axis for the 3rd axis, you can not allocate a normal axis for the 4th axis. In 90A7 series, you can allocate a normal axis for the 4th axis. (Note) If you set 128 for No.1023, the axis is recognized as a dummy. (Example 3) In the following configuration with 300 or 400, set 1, 3, 4 and 5 for No.1023. Axis name Servo axis number X axis 1st axis C1 axis 3rd axis (Tandem axis) C2 axis 4th axis (Tandem axis) Y axis 5th axis (High speed axis) (Note) You should set 300 or 400 to Tandem axis. This motor occupies two servo axes that are the odd and the subsequent even number. You must set No.1817#6 of both main and sub axes to 1. (Tandem control is the software option.) You must set No.2018#7 of the sub axis to 1. Tandem control is available from the following edition. 9083/02 or later, 9087/02 or later (plan), 90A3/02 or later, 90A7/01 or later
5.1.2 FSSB setting You should think the allocation of axis number (No.1023) and amplifier number (No.1910-) because the connection from CNC to amplifier is serially linked by optical cable (FSSB interface) in i-series. Refer to the following example.
CNC 1020 1905 1936 Axis Name #0 Path 1 1 2 3 4 5 6 7 8 X Z C Y A 0 0 0 1 0 1023 1 5 -1 3 6
Axis Card 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7
1910- Slave 0 2 4 5 16 40 40 40 40 1 2 3 4 5 6 7 8 9 10
Servo Amp.
Fast Fast Fast Slow
X Y Z A M1
Scale
1905#7,#6 = 01
Servo Axis Number
40
Fig. 5.1.2 FSSB setting example
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5.1.3 Setting servo parameters (In case semi-closed and 0.1m :Serial pulse coder A, 1000 or 64) According to the detail, refer to AC SERVO MOTOR series Parameter Manual. Because all servo parameters (No.2000 - No.2269) are axis type, you should set it for each axis. (1) Set the following parameters fitted each motor and machine. No.2000#1 - #0 set to 01. No.2001#7 - #0 set to 00000000. No.2020 set to the Motor number. No.2021 set to Load Inertia ratio. No.2022 set to the motor rotation direction. ( 111 or 111) No.2023 set to 819. No.2024 set to 1250. No.2084 set to SDMR1. No.2085 set to SDMR2. (Example 1) Lead pitch of ball screw is 12 mm/rev. (0.1 m)
120000 1000000 900000 1000000
12 100 90 100
SDMR1 SDMR2 SDMR1 SDMR2 SDMR1 SDMR2
(Example 2) Rotary axis, 4/10000 deg detective unit and 900000 pulses/rev
50 128
(Example 3) Linear motor, LS486 and 0.1m detective unit
5 / 0 .1 128 (20 / 20
(2) Turn off the power supply, then turn it on. (Auto loading) (Note 1) In case of High-speed axis, set the following parameter, turn on and off the power supply. No.2005#4 set to 1 for High-speed axis. You dont need this process in 90A7 series. (Note 2) In case of Learning axis, set the following parameter, turn on and off the power supply. No.2008#5 set to 1 for Learning axis. (Note 3) In case of Linear motor, set the following parameter, turn on and off the power supply. No.2010#2 set to 1. No.2023 set to 5000/10. No.2024 set to 160000/10. No.2112 set o 512(60/20)=1536.
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5.1.4 Caution in case of servo parameter setting for High-speed axis High-speed axis is the axis that can accept the high-speed distribution data from CNC. In case that you set a High-speed distribution axis (No.7505#0 = 1) on CNC side, you must set certainly High-speed axis bit (No.2005#4 = 1) on corresponding Servo side. But in case that you set to a High-speed axis on Servo side, you dont have to set necessarily to High-speed distribution for the corresponded axis (No.7505#0). Note) In 90A7 series, you dont have to set necessarily to High-speed axis on Servo side, even if High-speed distribution axis is set (No.7505#0 = 1). (1) With regard to L9 or L6 used for Piston lathe or Lead cutting machine, the parameters for High-speed cutting are designed for the application. You should set No.2020 to 74 for L9, to 75 for L6. (Note) Refer to Appendix 3. Parameter table for Learning control. (2) With regard to the other motor, you should set the Learning parameter with referring to Appendix 3. Parameter table for Learning control . (3) For the purpose of more robustness against disturbance, there is a case of High gain setting. In this case, you need to set to High-speed axis (No.2005#4 = 1) on Servo side regardless of High-speed distribution axis on CNC side.
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5.2 Setting High gain parameter

In case of using Learning control for Cam grinder etc, and the position error does not converge due to the influence of disturbance, it is recommended to use the High gain setting. Refer to Appendix 3. Parameter table for Learning control. (Note) This is not the case of the L9 or L6 for Piston lathe etc.
(1) You should set the standard parameter with referring to 5.1.2 Setting servo parameters. (2) Set the following parameters on the emergency ON(*ESP ON), No.1825 set to 6000. No.2003#3 set to 1. No.2004 set to xx1x0001. No2005#4 set to 1. No.2008#5 set to 1. No.2040 set to twice. No.2041 set to twice. No.2044 set to twice. (3) Set Learning control parameters. No.2244 set to 200. No.2246 set to 10. No.2247 set to 0. No.2248 set to 64. No.2249 set to 32 or 0. (4) Turn Off / ON the power supply. (5) Set the other Learning control parameter if necessary. (6) In case of Adaptive preview control, you should decide the feed-forward coefficients again according to 6.3 Adaptive Method. You should take care of No.2254 (Forward order) setting because the Velocity loop of High gain setting is 0.5msec. (Reference) In case of using the expanded Gx, set the following parameters. You had better not use expanded Gx because of the hardness of tuning on site. The following is reference only. No.2008#3 = 1 No.2246 No.2246 No.2248 No.2249 No.2250 No.2251 No.2252 No.2253 =5 =0 = 743 = 283 = 419 = 238 = 51 = 178 (expanded Gx) (Maximum order) (Minimum order) (Coefficient 1) (Coefficient 2) (Coefficient 3) (Coefficient 4) (Coefficient 5) (Coefficient 6) (Frequency band of the low pass filter) (Maximum order of Gx) (Minimum order of Gx) (Coefficient 1) (Coefficient 2) (Position Gain) (PI control) (Note) You dont change x bit. (High-speed axis) In 90A7, set to 0. (Learning control axis) (PK1) (PK2) (PK2V)
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5.3 Servo parameters List

The following parameters number are for FS16. The shaded parameters are detailed in this manual.
B7 B6 B5 B4 B3 B2 B1 B0
2000 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2016 2017 2018 2019 2200 2201 2228 2229
VFB2MS FRQ PK2VSF
VOCECM
PGEX
DGPR
PLC0
VOFS DLY1 SFCM RIPPLE ILMTRL INVSYS BLST
OVSC DLY0 BRKC DCBE
BLEN TIB1
NPSP DLY2 HSPEED
PIEN TRW1
OBEN TRW0 36RPC
TGAL TIB0 FEED FCBL TIA0
APCCHK
ACCF
SBSPVE
PKVE
ADERSL VCMDCL UNTSL TRASMT ADAPT VELHSP ICM BLCU SLEN LCON EXGX MSCHK (TNDM) ADBL LINE TLIMCG LSTP SERD
ANALOG PK1VUP BLTE
BKLISC STNG
RCCL VCM2
PLCRST VCM1 OVERPI
MKH125 FFALWY MSFE
OVCR PFBCPY
HTNG
LBUFEX PFBSFT RUNLVL HSBLC OVRNSP CROF SYSLRN
VFB500 VFB1MS
TAWAMI STPRED HSSATU
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2067 2110 2113 2175 2176 2177 2198 2199 2230 2231 2232 2233 2234 2235 2236 2237 2238 2239 2240 2241 2242 2243 2244 2245
FILTER MGSTCM
Tcmd filter coefficient Magnetic saturation compensation coefficient Center frequency for resonance eliminate filter (Hz) 9083/A 90A3/B
RSHFTL SSHFTL
R-phase current offset compensation coefficient S-phase current offset compensation coefficient Cut-off frequency for resonance eliminate filter (Hz) 90A3/B 9087/A 9087/A
JAINBL JTOVL IPPIL MSCKLV STPRPT PRFNO LESTTM RPTCT2 PRIOD2 RPTCT3 PRIOD3 RPTCT4 PRIOD4 SFTTH1 RPTCT PRIOD FBND BRCT
Special Hunting control gain (Extra semi-closed) Special Hunting control conversion coefficient Current IP or PI coefficient Maximum speed check level Step repetition count Profile number Learning start time 2nd repetition count (cycle) 2nd Learning period 3rd repetition count (cycle) 3rd Learning period (msec) 4th repetition count (cycle) 4 Learning period (msec) Manual thinning count 1st repetition count (cycle) 1 Learning period (msec) Frequency band of the low pass filter (Hz) Learning suspension cycle (cycle)
st th
Dont use. fix to 0
(msec)
Dont use. fix to 0
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2246 2247 2248 2249 2250 2251 2252 2253 2254 2255 2256 2257 2258 2259 2260 2261 2262 2263 2264 2265 2266
GODMX GODMN
Maximum order of Gx Minimum order of Gx
GCOEF / EXGXK1 Max. coefficient of Gx / Coefficient 1 of expanded Gx EXGXK2 EXGXK3 EXGXK4 EXGXK5 EXGXK6 ADVDM ADPCE FORW1 FORW2 FORW3 FORW4 FORW5 FORW6 SHKRDC TAWA1L PRFALL RPTCT5 PRIOD5 Min. coefficient of Gx / Coefficient 2 of expanded Gx Coefficient 3 of expanded Gx Coefficient 4 of expanded Gx Coefficient 5 of expanded Gx Coefficient 6 of expanded Gx Forward order Adaptive coefficient Feed forward coefficient W 1 Feed forward coefficient W 2 Feed forward coefficient W 3 Feed forward coefficient W 4 Feed forward coefficient W 5 Feed forward coefficient W 6 Shock reducing counter Torsion compensation coefficient during G05 Total profile number 5 repetition count (cycle) 5th Learning period (msec)
th
9083/B 9087/A 9087/A 9087/A
Gx : Dynamic characteristic compensation
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5.4 Servo parameter detail

If not necessary, Dont change the standard parameters of Auto loading. In case of specifying Series and edition, you can use the function from that edition or later.
2003
PIEN 1 0 : :
VOFS
OVSC
BLEN
NPSP
PIEN
OBEN
TGAL
Velocity loop is PI control IP control SFCM BRKC HSPEED 36RPC FEED
2005
HSPEED 1 0
: :
High-speed I/F axis bit High-speed axis (1 axis / 1 DSP) Normal axis (2 axes / 1 DSP)
Odd axis except 90A7.
2007 2008
VELHSP 1 0 ILMTRL 1 0 MSCHK 1 0 (TNDM)
ILMTRL INVSYS ICM
ADERSL VCMDCL UNTSL TRASMT ADAPT VELHSP SLEN LCON EXGX MSCHK (TNDM) LSTP
: : : : : :
Velocity loop is controlled using Proportional gain of P-I or I-P control calculated at the current loop. Used for a9L of the piston axis etc. This is called as High-speed Proportional gain Normal proportional gain Output from Integrator of velocity loop at High-speed Proportional gain is not clump. clump. Maximum speed is checked relating to No.2231. not checked. This bit is reflected by No.1817#6 (Tandem bit). You cannot change this bit.
2018
PFBCPY 1 0
PFBCPY Motor feedback is taken from L-axis. M-axis. (standard) (Sub axis only)
: :
In case of 300 or 400 or connected Linear motor, set this bit to 1 with Tandem control.
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2200 2201
PK2VSF 1 0 PFBSFT 1 0 OVRNSP 1 0 VOCECM 1 0 CROF 1 0
PK2VSF
VOCECM
PFBSFT RUNLVL
OVRNSP CROF
: : : : : : : : : :
Velocity proportional weight (9087/01 or later) 1/4 There is a possibility of causing Parameter alarm in case of large Normal setting Load inertia ratio. In this case, set to 1. Conversion coefficient of hunting control (No.2033) is 1/4. Normal setting. (9083/01 or later)
Detecting of runaway in full-closed system is (9083/01 or later) not useful. In case that rotation direction is fixed in initial setting, useful. set this bit 1. Voltage neutral point compensation is not available. available. At emergency stop, current offset is re-taken in. not re-taken in. (standard) (9083/01 or later)
(9083/02 or later)
2228 2229
VFB2MS
FRQ
VFB500 VFB1MS
HSBLC
SYSLRN
TAWAMI STPRED HSSATU
VFB2MS 1 0 VFB500 1 0 VFB1MS 1 0 HSSATU 1 0
: : : : : : : :
Velocity feedback is special. (2msec) standard. (1msec)
(9087/01 or later) This bit is effective to reduce high frequency oscillation in High gain setting.
In High-speed Proportional gain, velocity feedback to P is (9083/02 or later) Average during 500sec This bit is effective to reduce high frequency standard. (250 sec) oscillation in No.2007#0 = 1. High-speed Proportional gain, velocity feedback to P is (9083/02 or later) Average during 1 msec This bit is a use of reducing high frequency standard. (250 sec) oscillation in No.2007#0 = 1. In High-speed Proportional gain (No.2007#0 = 1) (9087/01 or later) Wind-up of Velocity Integral is suppressed. Not suppressed (Standard at No.2007#7=0,which is usually used in No.2007#0 = 1)
2067
FILTER
Tcmd filter coefficient : Sampling time [sec]
Standard : 0 Set by the following expression.
fc : Cut-off frequency [Hz],
(Setting value) = 4096 exp(-2fc) (Example 1) Case of normal axis ( = 1msec) and fc = 100 [Hz]
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No.2067 = 4096 exp(-21000.001) = 2185 (Example 2) Case of high gain axis ( = 0.5msec) and fc = 100 [Hz] No.2067 = 4096 exp(-21000.0005) = 2992 (Example 3) Case of high speed axis (L6, L9, = 125sec) and fc = 100 [Hz] No.2067 = 4096 exp(-21000.000125) = 3787
2110
Standard :
MSGTCM 0
Magnetic saturation compensation coefficient
9083/A
You should not change this parameter from standard setting value. (Note) Motor type No. 75 applied to L6 (Motor No.75) or L9 (Motor No.74) have the special value designed to optimize with HRV control, so that the torque increase than without HRV.
2175 2176
Data range Standard : :
RSHFTL SSHFTL from 20 to +20 0
R-phase current offset compensation coefficient S-phase current offset compensation coefficient
9083/B 9083/B
You should not change this parameter from standard setting value. If the current offset caused the torque ripple of a quarter every one motor revolution because of noise, you could set this parameter to improve it..
2230
IPPIL 0 to 2048 0
Current loop PI-IP coefficient ( mean 0 to 0.5)
9083/B
You should not change this parameter from standard setting value. The increase of this parameter fasten the response of current loop trading off the stability of current.
2231
MSCKLV
Max. Speed check level
Relating Parameter Data range : 0 to 32767 No.2008#2 Standard : 0 Use this function in case of full-closed system whose linear scale has lower limitation of speed than that of the motor. If this function is used and then it detected, you can use the stop control at the alarm (No.2005#6) of which kind are MSCHK alarm as well as OVL alarm. Setting value: MSCKLV= L/B x 6554 L : detective level for the scale (mm/sec),
B: ball screw pitch (mm/rev)
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6. Learning Control function

6.1 Learning Control parameters
2007 2008
SLEN 1 0 ICM 1 0 LCON 1 0 EXGX 1 0 ILMTRL STPRED ADERSL VCMDCL UNTSL TRASMT ADAPT VELHSP INVSYS ICM SLEN LCON EXGX MSCHK (TNDM) LSTP
: : : : : : : :
Learning control (Option) is Available. If you change SLEN, you must turn off and on CNC. Not available. (Power must be off) Compensation data mode is Available. Not available. Learning control is Suspension mode. Continuation mode. ICM 0 0 1 1 LCON Learning Mode 0 1 0 1 Suspension Continuation Compensation data suspension Compensation data continuation
Dynamic characteristic compensation (Gx) is Expanded Gx. Normal Gx. (standard) (Expanded Gx does compensation of high precision.) According to Gx setting, refer to Appendix 3. Parameter table for Learning Control. The unit of command period (No.2243, No.2236, etc) and Learning starting time (No.2234) is
UNTSL 1 0 : :
data number. ( command period (msec) / Velocity period (msec) ) msec. (standard)
(Example) When UNTSL = 1, you must set to 125 for No.2243 in case that Command period is 62.5msec and Velocity loop is 1msec.
2229
STPRED
TAWAMI STPRED HSSATU The first period subsequent to Learning step switching, (90A3/01, 90A7/01 or later)
1 : Doesnt renew the compensation data in Learning memory. 0 : Renew the compensation data in Learning memory. (standard) (Note) In case of Compensation mode, it could reduce a mechanical shock at Learning step change to stop the renewal of the compensation data only during the first period subsequent to Learning step switching. This might have good result on such grinding application that have many and rapid Learning step change.
2242
RPTCT 0 to 32767 32767
1st Learning count (Repetition count) [cycle]
Up to RPTCT counting, a period compensation data is renewed and then stop the renewal. You can temporally disable Learning control with setting RPTCT to zero before G05. This is useful
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because of no need to power off compared to the way of disabling SLEN (No.2008#0).
2243
PRIOD
1st Learning period (Command period) [msec]
Data range : 15 to 16000 ( If No.2007#3 = 1, to 32000) You should set Command data period PRIOD corresponding to spindle rotation speed usually. Servo software regards this as Learning period. You can set integer times of the command period to PRIOD. Max. value is 16sec and correspond to 3.75 min-1 of Min. spindle rotation speed. (Example) When spindle speed is 60min-1, set to 1000 (msec) in case of No.2007#3 = 1. In case of long PRIOD, Built in auto sampling algorithm samples a Learning data every 2 to Nth power for the purpose of appropriate allocation of Learning memory preventing the memory overrun. This also concerns to the accuracy. Refer to 7.2 Learning Memory expanding function.
2235 2236 2237 2238 2239 2240 2265 2266
RPTCT2 PRIOD2 RPTCT3 PRIOD3 RPTCT4 PRIOD4 RPTCT5 PRIOD5
2nd Learning count (Repetition count)
[cycle]
2nd Learning period (Command period) [msec] 3rd Learning count (Repetition count) [cycle]
3rd Learning period (Command period) [msec] 4th Learning count (Repetition count) 4th Learning period (Command period) 5th Learning count (Repetition count) [cycle] [msec] [cycle]
5th Learning period (Command period) [msec]
In case of the multiple Learning period necessary, you use 2nd Learning , 3rd Learning, and etc. This function assumes the cam grinding machine as the work is finished in the low speed changing the Learning period. According to Fig.3-3-3 example, use this parameters.
2264
Data range :
PRFALL 0 to 16
Total profile number
9087/A
Standard : 0 If you can use PRFALL=PRFNO=0 in your case, it is recommended to set PRFALL=PRFNO=1 instead for the future compatibility that take advantage of the above auto sampling algorithm. With regard to Total profile number details, refer to 7.2 Learning memory expanded function.
2233
PRFNO
Profile number
0 to PRFALL (Total profile number) 0

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Learning result is memorized by each profile.
2234
Data range :
LESTTM
Learning start time [msec]
0 to 16000 (When No.2007#3 = 1, to 32000 [Velocity sampling time])
Standard : 0 Learning control starts usually from non-zero command after the High-speed cycle 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.
2245
BRCT
Learning suspension count [cycle]
0 to 32767 60 (When Position gain is 30s-1) 10 (When Position gain is 180s-1) In case of Suspension mode or Compensation data suspension mode, set the renewal times of compensation data to BRCT with a Learning period being one unit until you want to stop the renewal. You have to determine BRCT to reduce the position error to minimize by Learning controller. Position gain affected BRCT value. The smaller the position gain, the more BRCT is required, so make sure of actual BRCT by the practical machine.
2262
Data range :
SHKRDC
Shock reducing counter [msec]
10 to 20 (Velocity 1msec) 1 to 5 (Velocity 0.5msec) (Note) This parameter must be below Command period (No.2243 etc).
Standard : 0 This parameter is useful for reducing the mechanical shock at finishing Learning control. The Learning controller halt to output the compensation data for SHKRDC [msec] from the end during the final cycle. Servo software judges the final cycle by the Learning count (No.2242, No.2235, or etc).
2244
FBND Frequency band of low pass filter [Hz] 0 to 700 stepping up every 100 (When Velocity 0.5msec) 0 to 350 stepping up every 50 (When Velocity 1msec) Refer to Appendix 3. Parameter table for Learning control.
FBND decide the band-width of Learning controller, so the higher 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, no learning is performed. You can disable Learning control without power off.
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2246
GODMX
Maximum order of Gx
0 to 20 Refer to Appendix 3. Parameter table for Learning control. GODMN Minimum order of Gx
2247
0 to GODMX Refer to Appendix 3. Parameter table for Learning control.
(Note) In case of Expanded Gx being enable (No.2008#3 = 1) , set GXDMN to 0.
2248
GCOEF
/ EXGXK1
Coefficient of Gx / Coefficient 1 of expanded Gx
Data range : 0 to 128 Standard : 64 (When No.2008#3 = 0) (Note) In case of Expanded Gx being enable (No.2008#3 = 1), Refer to Appendix 3. Parameter table for Learning control. Dynamic characteristic compensation Gx is composed from three parameters No.2246, No.2247, No.2248, which symbols are GODMX, GODMN, GCOEF respectively. Furthermore six successive parameters from No.2248 to No.2253 are named Expanded Gx. Attention to No.2248 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 accuracy convergence problem doesnt occur. If it occurs, you need to tune three parameters of Gx after reset EXGX (No.2008#3) to zero. Due to many parameters of Expanded Gx, it is recommended to disable it by EXGX=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. In case of Expanded Gx chosen with EXGX (No.2008#3 ) one set, you need to set for the following parameters.
2249 2250 2251 2252 2253

Standard :
EXGXK2 EXGXK 3 EXGXK 4 EXGXK 5 EXGXK 6 0
Coefficient 2 of expanded Gx Coefficient 3 of expanded Gx Coefficient 4 of expanded Gx Coefficient 5 of expanded Gx Coefficient 6 of expanded Gx
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Profile 1
Profile 5
Com m and
Com m and
G05
G05
Learning Controller
Mem ory clear switch (MC)
W hen ICM=0, MC is available at time of G05 finish.
Profile 1 (Memory)
Low pass filter No.2244 +
Profile 2 (Memory)
All profile num ber No.2264
F(z-1)
+
Suspension (LCON) Profile 5 (Memory) Dynamic characteristic com pensation No.2246 - No.2253 Control subject
Profile num ber No.2233
Gx(z)
SLEN
G 05 Com m and
Go(s) + Kp 1 s
Position Error Feedback
Fig.6-1 (1) Learning control block diagram
Processing chart
L3 L2
No.2236 No.2238
L1
No.2243
L1,L2,L3 : C-axis rotation period 2nd. Learning

No.2235
1st. Learning
No.2242
3rd. Learning
No.2237
Fig.6-1 (2) Processing chart (Learning Step)

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6.2 Adaptive Preview Control Parameters
2007 2008
ILMTRL INVSYS ICM
ADERSL VCMDCL UNTSL TRASMT ADAPT VELHSP SLEN LCON EXGX MSCHK (TNDM) LSTP
INVSYS Adaptive Preview Control is 1 : Available. CNC software option is necessary 0 : Not available. (Note) If you use this function, you must set to 1 for all axes used in G05 to align other axis timing. ADAPT 1 0 Feed-forward coefficient FORW1-6 is Adapted by using ADPCE (During adaptation, Learning control is invalid automatically) Not changed
: :
TRASMT 1 0 : :
Set this to zero usually. After FORW1-6 is decided by adaptation, set this to one to transfer them to No.2256-61, then turn it back to zero. Transfer FORW1-6 automatically to No.2256-61 during adaptive mode each time at G05 end. Not transfer FORW1-6.
ADRERSL 1 : 0 :
Adaptive control uses the velocity error. the position error. (Standard)
(Note) The velocity error is normally used in case of short period as a piston lathe, in only case which the position error cant be converged by ADRERSL=0. It mainly depends on the command whether converge or not.
2254
ADVDMForward order 0 to 11 4 (Velocity loop 1msec) 8 (Velocity loop 0.5msec)
(Note) Even if this function is valid only for 1 axis, this parameter should be set for all axes. When mix 0.5msec and 1msec of the velocity loop, you must set the value which (velocity loop) (forward order) is same for each axis. If doesn't mix, you must set the same value for all axes. This ADVDM is valid only when INVSYS (No.2008#7) is one.
2255
ADPCE 0 to 1000 50
Adaptation coefficient
This parameter gives an influence of the adaptation speed and final error. Set to the biggest value so far as the error is not diverge.
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2256 2261
FORW1 FORW6 Feed forward coefficient W1 - W6
Data range : -32768 to 32767 Standard : 0 Feed forward coefficients FORWi are usually decided by Adaptive mode. Also you can calculate by the following expression.
FORWi
fi PULCO 2 16 100 PPLS
SDMR2 SDMR1
1 80
fi is feed forward coefficient (%). And PULCO (No.2023), PPLS (No.2024), SMDR1 (No.2084), SDMR2 (No.2085). (Example) In case of changing from SDMR1 = 10, SDMR2 = 100 to SDMR1 = 5, SDMR2 = 100, FORWi (new) = FORWi (old) 10 / 100 100 / 5 = FORWi (old) 2
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.2008#7 = 1 and No.2007#1 =1 ) A-2 Set the parameter of the forward order and the adaptation coefficient to standard setting. ( No.2254=4 and No.2255 =50 ) Set the feed forward coefficients to all 0. ( No.2256 - 2261 = all 0 ) And Learning control is invalid automatically during adaptation. (Note) As soon as the error begins divergence, stop G05 by reset key on MDI to protect the machine from excessive shock. A-3 Operate the machine about several ten times of the learning cycle with a practical part program including G05. A-4 Check the position error with the checking board or the servo tuning display. A-5 Step up adaptation coefficient (No.2255) every about 50. Check Convergence of the position error to use the biggest coefficient so far as the error diverges. A-6 Invalidate the adaptive mode. (No.2007#1 = 0) The feed forward coefficients decided by the adaptive mode is not transported from servo to CNC on this phase. A-7 To transfer the feed forward coefficients to NC nonvolatile memory No.2256-61, set No.2007#2 = 1. A-8 If the feed forward coefficients change from initial value to another one, the transportation to CNC parameter has finished. A-9 Set No.2007#2 = 0. Finish with adaptive process. The feed forward coefficients can be decided by these processes. Make sure No.2007#1 and #2 to be 0. Note) In 90A7 series, you can use Adaptive preview control for both L-axis and M-axis.
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7. Functions detail
7.1 Servo trace function
Servo Trace function transmits inner servo data to CNC program area for analyzing the servo variables such as the actual motor position or the torque command. You can output servo data to a personal computer through RS232C. You can do the same analysis by the way of SD.EXE and Digital check-board. (Refer to Appendix. 7) (Note) 90A7 series does not support this function.
7.1.1 1800
Description of parameters TRC
TRC (Bit axis type) Servo Trace function is 1 : Available 0 : Not available (Standard) (Note) In case of changing this bit, you should turn off and on CNC.
1870
Data range :
Program number stored each trace data 1 to 9999 (Word axis type)
2025
DTSMP
Sampling interval of trace data [msec]
Data range : 0 to 4000 In case of long time trace, you should set sampling interval by a unit of msec. (Note) If you set 0, sampling interval is each control loop period the tracing data sampled. Refer to the explanation of No.2027 as to the control loop period. (Note) In case of B2, B3, and B5 in No.2027, data range of sampling interval is from 0 to 8000. (Note) You must set 0 for No.2025 in case of B0, B1, or B7 in No.2027 due to the nature of itself. You must set 0 for No.2025 in case that B4 and B8 in No.2027 are simultaneously sampled.
2026
Data range :
DTNUM
Sampling number of trace data
0 to 1024 (In case of High-speed axis or Learning axis, 0 to 2048) This value muse be the number of 8 times. (Note) If you set 0, trace function is disabled.
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2027
DTKND
Kinds of trace data (Position loop) (Position loop) (Position loop) (Position loop) (Position loop) (Position loop) (Velocity loop) (Current loop)
B0 : Position feedback B1 : Motion command B2 : Position Error B3 : Velocity command B4 : Motion command B5 : Position feedback B6 : Torque command B8 : Motor position feedback
(Note) You can trace the data marked only for high-speed axis or Learning axis. You can trace the data marked only for high-speed axis. (Note) You should set decimal notation converted from each trace data bit. (Example) In case that you trace Motion command (B4) and Position feedback (B8) at same time, DTKND = 272 (100010000)2 (Note) You can trace two or more data at once, but the order of trace data is not predetermined. In only case of B4 and B5, the trace data are Motion command and Position feedback in that order. If possible, you should trace one kind of data. (Note) You must trace B4 and B8 at the same time, and dont trace together with the other data. This analysis is often used at the piston lath in which the motor movement corresponding to work cross section is drawn on Personal computer compared to user command. In case of B4 and B8, the first data is Motion command. The next N data are Motor position feedback. Till then this combination repeats. N = (Velocity loop period) / (Current loop period) (Note) If you dont use this servo trace, you must set No.2025, No.2026, and No.2027 to 0.
7.1.2
Trace data unit

Detective unit (Pulse / Position loop period) Detective unit (Pulse / Position loop period) Detective unit (Pulse) 0.915527/64 (min-1) Detective unit (Pulse) Detective unit (Pulse) Max. amplifier current / 7282 (Ap) 1/221 (rev)
B0 : Position feedback B1 : Motion command B2 : Error B3 : Velocity command B4 : Motion command B5 : Position feedback B6 : Torque command B8 : Motor position feedback
(Note) These data reverse the sign beyond 32767 to +32767 because these data are 16 bits. For analysis, you need to connect the data consistently taking the overflow in consideration. (Note) Caution the value with the summation (B4, B5, and B8). These data are always accumulated from Power supply ON. These summation is 0 cleared only when trace cancel is canceled in servo trace screen. (Refer to 7.1.3 Operation of servo trace.) (Note) Take care of full-closed system in which data unit of B7, B8 is detective unit (Pulse).
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7.1.3
Operation of Servo trace
(1) How to open Servo trace screen A-1 Push A-2 Push A-3 Push [ SYSTEM key on MDI. [SV-PRM] of soft-key.
] of Soft-key, and push
[SV.TRC] of soft-key, and push [(OPRT)].
Then [TRACE] and [TRNSF] of soft-key display in Servo trace screen. (Note) [TRNSF] displays only in EDIT mode.
(2) How to Servo trace A-1 Set the parameters of sampling period, sampling number, and kinds of trace data. And set program number stored trace data. A-2 If you want to set initial value of summation data (B4, B5, and B8) to 0, move at initial position you want, and push CAN key on MDI in Servo trace screen. Refer to A-6 (Note). A-3 In Servo trace screen, push [TRACE] of soft-key to trigger on timing when you trace. When Servo trace starts, LSK displays under right screen. If LSK does not display, check parameters. When Servo trace finishes, LSK erases. So far the trace data is stored in the memory of servo DSP. A-4 Push [TRNSF] of soft-key in Servo trace screen in EDIT mode. Then trace data are transmitted to program area of NC, so called C-MOS memory. EDIT displays under left screen during transmitting. When data transmission finishes, EDIT erases.
A-5 Well you get the data created in your selected program number as the following form. Onnnn ; nnnn is selected by No.1860. Pxxxxx ; xxxxx is decimal notation with sign. Pxxxxx ; % A-6 The trace data is a parts program form already familiar with, and you can output the data to your computer through RS232C and analyze the data in your computer. A-7 If you cancel the trace on the way, push CAN key on MDI in Servo trace screen.
(Note) At cancel, summation data (B4, B5, and B8) are set to 0.
7.1.4
Examples of analysis of trace data
(1) Case of Lead cam lathe A-1 Select Position feedback (No.2027 = 1), and trace the data. A-2 Output the selected Program with the trace data to your computer through RS232C. Sum and draw this data using the tool such as Excel, then result as Fig. 7-1-4
Fig. 7-1-4
A-3
A-4 By calculating the subtraction Dtan from the center of this marked point X, you can analyze a motor position on Lead surface. (D : Lead cams diameter, : Lead angle)
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(2) Case of Piston lathe (semi-closed) A-1 Select Motion command (B4) and Position feedback (B8) as the kind of trace data. (No.2027 set to 272.) And get these data in your computer by tracing these data. A-2 The 1st data is Motion command. The next N data are Position feedback data. These order repeat. (Note) N = (Position loop period) / (Current loop period) In case of Motor No.74, N is 4. (Note) These data reverse the sign above 32768 to +32767 because these data are 16 bits. For analysis, you need to check the continuity and to connect these data. (Example) Case next data of +32767 (00007FFFh) is 32764 (FFFF8004h), this data must be change to +32772 (00008004h) by your tool of PC. A-3 These Position feedback data unit are 1 / 221 (rev). For converting these data to mm unit, multiply by (Lead a rotation) / 221. (Note) In case of full-closed, multiply by (detective unit) for mm conversion. A-4 You can get a motor position of mm unit by making the tool of PC calculate above.
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7.2
Learning Memory expanded function

Learning Memory expanded function allows the application to take advantage of many profiles up to Max. Profile number and many learning steps up to Max. Learning step number as the following table. (Option) This function is available in the following edition. 9083/02 , 9087/01 or later 90A3/01 , 90A7/01 or later Max. Profile number Old spec. New spec. 5 16 Max. Learning Step number 2 5
7.2.1 2019
Parameter explanation
LEBFEX Learning Memory expanded function is : : Available Not available (New spec.) (Old spec.) (9083/B, 9087, 90A3, 90A7)
LEBFEX 1 0
(Note) Learning Memory expanded function also requires NC option besides.
2264
Data range :
PRFALL
Total Profile number
9087/A
1 to 16 (New spec.) Old spec is 0.
You should set the total profile number for one cam-shaft before processing.
2233
Data range :
PRFNO
Profile number
9087/A
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 not use the second and after Learning period and repeat number. Only PRIOD and RPTCT of the first Learning parameter are available. The following parameters are useful under the New specification (LEBFEX=1).
2237 2238 2239 2240 2241 2242
RPTCT 3 PRIOD 3 RPTCT 4 PRIOD 4 RPTCT 5 PRIOD 5
3rd Learning repeat number 3rd Learning period 4th Learning repeat number 4th Learning period 5th Learning repeat number 5th Learning period
(cycle) (msec) (cycle) (msec) (cycle) (msec)
9087/A 9087/A 9087/A 9087/A 9087/A 9087/A
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7.2.2
Processing flow
Grinding start
Set Total profile number according to camshaft
G10
When old spec. (LEBFEX = 0), you dont use the marked .
Did you change Total profile number ?

No
Yes
Clear out all learning buffer
When Total profile number is changed or Compensation data mode is invalid, all learning memory is cleared. Note 1) Set the Repetition count and Command data period of Learning steps which you
Set Profile number, Command data period, Repetition count, etc. High speed cycle cutting executes, and finishes Compensation mode ?
Yes
G10
G05
dont use to 0.
No
Clear out the learning buffer according to profile number
Yes
Do you grind next cam ?

No
Yes
Do you grind next cam shaft ?

No
According to detail, refer to 3.3 Cam grinder.
end
How much time is necessary to clear all Learning buffer ? 9083, 9087, 90A3/A -----90A3/B -----90A7 (The 1st, 3rd axis) --(The 5th axis) --10 seconds 5 seconds 23 seconds 5 seconds
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7.2.3
Cautions
Learning memory expanded function realize the specification by the learning memory to alter a sample rate. It have 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. l
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. As of 17.Dec 98, BUFSIZE is following.
Servo Software 9087 90A3 90A7 1st ,3rd axis 90A7 5th axis
PCB order spec. A02B-022x-H004-006 A02B-0236-H015-018 A02B-0236-H019 A02B-0236-H019
BUFSIZE (sample data) 20736 18080 97440 17600
Maximum Learning period :Max_PRIOD is Learning period PRIOD that have largest period among from 1st to 5th Learning steps. Total profile number: PRFALL is No.2264 Learning step number in use: STEPNO is the number you are using as Learning step setting from No.2235 to No.2240 and No.2265,66. Exponent of 2: n is calculated by following formula and the sampling period is the multiple of 2 to nth power.
Max_PRIOD STEPNO 2 n = MULT BUFSIZE PRFALL 135
( n = 0 ,1, 2,......)
Learning period automatically samples every above MULT and the parameter PRIOD should be set to the multiple of MULT. (Exceptionally in case of PRFALL=0, calculate above with it to five.) [Example] 9087 case and Supposing you use 16 profiles in one cam shaft, this means PRFALL=16. A profile of them is ground using 3 Learning step, among which the longest Learning period is 2000 msec. That is Max_PRIOD=2000 (msec), STEPNO=3, BUFSIZE=20736. Above formula result in n=3 meaning MULT=8. Therefore PRIOD should be set as (249, 250, 251 ) x 8 = 1992, 2000, 2008,. (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 have the common sampling rate all over, there is possibility the different sampling rate may be used on different profile.
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7.3 Learning Data Transmission Function

7.3.1
Overview
For the purpose of preserving the servo learning data after NC powered off, The learning data can be preserved in the hard disk device (HD), which store the 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 the learning data corresponding to it on Personal Computer which connect to NC through HSSB. This function allows for you not to need to learn again every NC power off. *Abbreviation: Learning Data (Servo learning data), HD (Hard disk), PC (Personal Computer) *The following description is concerned only for a axis because Learning Data is independent among the axes. That means if you need to use this transmission function on X and C axes, you must deal this function with two axes.
Hard Disk (HD) read Command +Learning data write Users program Personal Computer HSSB or Built-in Open CNC save Buffer load Servo
Learning Data
7.3.2 Necessary Software construction 1) Servo software 9083/B, 9087 ,90A3, 90A7 over or equal the first version is available. 9087 under 160 MC, TC and 180 MC, TC 90A3,90A7 under 160iMA, TA and 180i MA, TA 2) CNC software 160-MC: B0B1ver.13, -TC: B1B1ver.13 180-MC:BDB1ver.11, -TC:BEB1ver.14 160i-MA:B0F1ver.14, i-TA:B1F1ver.13 180i-MA:BDF1ver.14, i-TA:BEF1ver.13 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. 7.3.3
Servo parameter
In order to transmit (save and load), the below setting is necessary. No.2008#5=1 : Enable Learning Control No.2008#6=1 : Enable Compensation data mode You must take care the following parameters when you save and load the Learning Data. No.2233 : PRFNO: Profile number No.2264 : PRFALL: Total Profile number (Available only when Learning memory expanded function enabled: A02B-02xx-J796)
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7.3.4
How to transmit Learning Data
l To SAVE Learning Data (Servo HD)

1) All of the first, you must confirm the error of Learning control converged well. 2) Set No.2233 of Profile number to zero in case of the lump deal method. Check No.2264 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 lump deal method: No.2233=0 ;Saving all Learning data of a axis. The partial deal method : No.2233= 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. Note) You can't change parameter or run with parts program simultaneously with this function. Note) 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. Note) It takes about 40 seconds for transmission from Servo to CNC in case of the lump deal method. (1000 words per second; 1 word is two bytes)
Hard Disk
SAVE (Read)
Learning Memory Profile No 1 Profile No 2 Profile No 3

.

.
Learning Data file
Lump deal method Fig 7.1
Partial deal method
To SAVE Learning Data by two ways of the Lump deal method (No.2233=0)and the Partial deal method (No2233=2)
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l To LOAD Learning Data (HD Servo )

1) Set No.2233 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.2264 of the total number of Profile to be same value as saved before.(It must be so!) l Set No.2233 =0 when the Learning Data was saved by the lump deal method before. l Set No.2233=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 software. Blinking RESET indicates on transmission. Note) When loading, No.2264 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.2233 to an appropriate value and then start to run Learning function. It is necessary for you to manage the Learning Data together with it's 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.2233 which have Learning data that should be handle always together with the command data.
Hard Disk
LOAD (Write)

.

.
Learning Data file
Lump deal method Fig 7.2
Partial deal method
To load Learning Data by two ways of the Lump deal method (No.2233=0)and the Partial deal method (No2233=2)
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Examples
(1) Correspondence with processing program and Work
Total profile number O0001 ; G10 G11 ; L50 ; P (Axis) R (Total profile number) ; C axis N2264 Profile i Profile j
G10 L50 ; N2233 P (Axis) N2242 N2243 P (Axis) P (Axis) Grinding R (Profile number i) ; R (Learning count) ; R (Learning period) ; X axis CAM work
(each step)
G11 ; G05 (Profile i command) ;
G10 L50 ; N2233 P (Axis) N2242 N2243 P (Axis) R (Profile number j) ; R (Learning count) ;
Above case consists of six profiles in one camshaft, supposing all have different profile each other. (Max. 16 profiles are available )
P (Axis) R (Learning period) ; (each step)
G11 ; G05 (Profile j command) ;
File on computer
Learning memory Profile i
Fixed size 41kW
Profile i
Profile j
Profile j
Profile i In case of partial deal method, each file size is small, but you need to manage Total profile number and Profile number by yourself. Profile j
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(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 suppose 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 . 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 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.
Work 2 A E F D Work 1 A B C D
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).
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7.4 Ultra high precision Velocity feedback function (Separate semi-closed)

7.4.1 Summary In 9087 series, Ultra high precision Velocity feedback (Abbreviation : separate semi-closed) function can be realized by using the rotary encoder RON8xx (36000 slits) or RON7xx(18000 slits) made by Heiden-Hain and High precision serial output circuit (A860-0333-T501, 512 times interpolator) made by FANUC. This function combined with Learning function allows the rotary axis to achieve the high precision, which have a good achievement on the C axis direct driven by the motor with the encoder close attached to it. (Note) This function is NC option. Refer to Appendix 1. Notes of order. (Note) This function does not support the absolute system at present. 7.4.2 Cable connection method
(1) Series 16-B (typeA I/F)
Series 16 B (TYPE-A I/F)

SERVO JVi
Servo Amp. TYPE-A POWER JFi
i=odd (1,3) j=even (2,4) SCALE
JFj JF2i JF2j
Servo Motor
E n c o d e r
Work
E n c o d e r
Serial Output Circuit 1 A860-0333-T501
Serial Output Circuit 2
(Note) In order to detect rotor position, this function makes use of M-axis (Even axis). (2) Series 16-C (type-B I/F)
Series 16 C (TYPE-B I/F)

SERVO JSi JSj PD(15)-A *PD(16)-D PRQ(17)-F *PRQ(18)-G 5
Servo Amp. TYPE-B
A860-0333-T501 Serial Output Circuit 1
i=odd (1,3) j=even (2,4)
POWER Servo Motor

E n c o d e r
Work
E n c o d e r
SCALE
JF2i JF2j
+5V(9)-J
Serial Output Circuit 2
(Note) Because DC5V is not supplied for JSj connector, take in it from 5th Pin of JF2j connector. (Note) In order to detect rotor position, this function makes use of M-axis (Even axis).
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(3) Series 16i-A (FSSB I/F) At this stage, this function is not available for series 16i. We will support this function from 90A7 series / 2nd edition.
7.4.3 Parameter setting concerned to Position feedback The following parameter must be set for this function available.
Set No.2006#3 to 1. (Note) Power must be OFF. This is valid for only High-speed axis (No.2005#4 = 1) or Learning axis (No.2008#5 = 1) Example) In case of RON8xx (36000 slits) in FS-16B or FS16-C. Suppose Least input unit 1/10000 deg, Least detective unit 2/100000 deg, and 18000000 pulses a C axis revolution No.1815#1 = 0. No.1820 = 10. No.1821 =18000000. No.2000#0 = 0. No.2006#3 = 1. No.2023 = 9000. No.2024 = 9000. No.2084 = 500 No.2085 = 512. No.2121 = 2048. . Using Ultra high precision velocity feedback PULCO (Slits / 4) PPLS (Slits / 4) SDMR1 (18000000 = Slits SDMR1) SDMR2 Conversion coefficient (Slits 512 / PULCO) Semi-closed CMR = 5 Reference counter Ultra high precision velocity feedback is available.
7.4.4
Special hunting control function
The standard hunting control works between Motor feedback and Scale feedback. This Special hunting control works between Motor feedback and Ultra high precision velocity feedback mounted closer on the motor shaft. Further in case of separate position feedback (No.1815#1 = 1), you can use Normal hunting control together with this function.
2198
Data range :
Gain for Special Hunting from -10000 to +10000
9087/A
2199
Data range : Set to Slits / 16.
Conversion coefficient for Special hunting control
9087/A
(Example) Set to 2250 in case of 36000 slits, 1125 in case of 18000 slits. (Note) Either No.2198 or No.2199 is set to 0, this function is invalid.
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7.4.5
Cautions
1) Rotation direction of Rotary encoder Because the signal from Rotary encoder is used as the velocity feedback, connect the A-phase and Bphase as positive feedback returns when Rotary encoder rotates the CCW (Counter Clock-wise) direction from view of Motor shaft side. You can make sure the positive feedback by means that the diagnostic screen No.300 Servo error shows the negative value when you rotate CCW the motor shaft by hand without the excitation. Note) In order to stop the motor if you mistake signal connection, set No.2200#0 to 0 at initial setting to enable the motor runaway detection. If the signal connection is right, set No.2200#0 to 1. Note) In case of full-closed (No.1815#1 = 1), Signal can be reversed by setting No.2018#0 to 1.
2) Limit of rotation speed The limit of Rotary encoder RON8xx is 300 min-1. When you drive motor by G05, Rotation speed is limited to 65536000 pulses/sec for 0.5 msec velocity loop. If 18000000 pulses/rev, the maximum speed is 218 min-1. In case of 1msec velocity loop, the maximum speed is a half of above, that is 109 min-1.
3) Installation of Rotary encoder As this function takes in velocity feedback from Rotary encoder, it is very important for you to install it directly on motor shaft from view point of stability.
4) Setting for High precision serial output circuit The Jumper pin in High precision serial output circuit is set to A at shipment from the factory. When you use this circuit, you need to change this jumper pin to B. Refer to High precision serial output circuit manual (A-56731-0079)
5) Reference point return This function is usually in rotary axis possible to rotate only a direction by user program. As far as you keep to control the position by using G00, G01, or G05 command, this have no problem. If you used PMC velocity command switching from the position control mode, you might experience the position gap different from right position after the zero return. This is because servo software can not support the feedback not having 2 to nth power slit in the rotary encoder such as RONxx. At the present system, dont use PMC velocity command with this function.
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7.5
Torsion compensation during high speed cycle cutting function
This function adds the compensation at the point of the command reversing sign during high speed I/F mode (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 use in case that compensation value is changed every work piece, which is useful properties for the machining. This function is available from 9087 / 01, 9083/02. This function is available from 90A3 / 01 or 90A7 / 01.
7.5.1 2229
TAWAMI
Parameters
TAWAMI Torsion compensation during G05
1
0
:
:
useful.
is not useful. (Standard) Torsion compensation during G05 (Least detective unit)
2261
When Motion command (Mcmd) changes from the plus to the minus, the minus value is added. When Motion command (Mcmd) changes from the minus to the plus, the plus value is added. (This method is like to the backlash compensation.) Restrict 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. Available only for High speed axis (No.2005#4=1) only during High speed I/F (G05)
********************************************************************************************************************
Following is reference only. Dont set HSBLC to one for the future compatibility, because above Torsion compensation is superset including below HSBLC=1.
2228
HSBLC 1 0 : : Backlash compensation function during G05 is Available. Not available.
HSBLC
Restrict High-speed axis (No.2005#4 = 1) only Function During G05, normal backlash compensation works at the moment when servo accepts backlash compensation data from CNC. The other side, this function adds that data to Error counter when the sign of latest Mcmd reverses against the sign of the former Mcmd except Mcmd = 0. This is why this function works at the right point in case of the following command,. -1, 0, -1, -1, -1, 0, -1, -1 , -1, 0, 1, 1, 0, 0, 1, 0 Normal backlash compensation Right point modified with this function
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7.6
Tandem Learning control function (only 90A7 series)
7.6.1 Summary Tandem Learning control is a Learning control combined with Tandem control. By means that two motors are controlled as one axis, and Learning control is added, this function achieves high precision processing in the special applications.
1) Position Tandem Learning control Merit : To Achieve 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, Crank shaft grinder, and etc
Grinder Motor Motor
Work
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. 400 or 300 requires torque tandem in spite of single motor, because they have double coils in 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 Motor Large torque
Amplifier
Large torque Servo
Servo
Motor
Amplifier
7.4.2 1817
TANDEM 0 : 1 : In case of Torque Parameters
Motor
Amplifier
TANDEM Tandem control (Power must be off) (NC Option) Available. Not available Tandem Learning control that main and sub motor dont disconnect mechanically, set Title 9083 / 9087 / 90A3 / 90A7 Learning Control Operators Manual
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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 to enable Sub axis separation function exclusively or Synchronous Learning function. Of course the double coil tandem requires TANDEM to be one due to the former case.
1023
Servo axis allocation
You should set Main axis to the odd (L-axis), Sub axis to the subsequent the even (M-axis).
2008
VCMDM
VCMDM Velocity command tandem control
SBDYCH (Set only Sub axis)
(TNDM)
0 : Torque command tandem. (standard) 1 : Velocity command tandem. If you need to use High-speed Proportional gain for 300 or 400 with the double coil tandem control, use the Velocity tandem control instead of Torque Tandem Learning control. SBDYCH 0 1 : : Sub axis separation function (Set only Sub axis)
Ignore Coupling flag (external user signal through PMC). Sub axis changes between Torque tandem control and Normal axis control only by Coupling flag. (TANDEM bit must be zero) In case of the standard Tandem control for the general cutting tools, you must not take off mechanical connection of two motors. But by using this function, you can switch dynamically Torque Tandem control and normal control for sub axis by Coupling flag when a work piece is put on or taken off. (TNDM) 0 : 1 : Read only and display the status Not on Tandem control On Tandem control (This bit synchronizes with No.1817#6.)
(Note) Damping compensation function and Velocity feedback average function are always working.
2018
PFBCPY
PFBCPY
Common motor feedback function
(Set only Sub axis)
0 : Sub axis uses the sub axis feedback. 1 : Sub axis uses the main axis feedback. In Torque Tandem Learning control for 300 or 400, you should set PFBCPY to one for double coil tandem control. In case of the sub axis having the feedback, set PFBCPY to zero.
2228
SYNLRN Synchronous Learning function
SYSLRN (Set only Main axis and No.1817#6=0)
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.
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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.
Set a value that is as small as possible but greater than the static friction torque. A set preload torque is applied to each motor at all times. So, set a value that does not exceed the rated static torque of each motor. As a guideline, specify a value equal to onethird of the rated static torque. As a preload torque is added in any case. So, set the preload torque directions as follows: l When the rotation directions of the main axis and subaxis are the same : Different signs l When the rotation directions of the main axis and subaxis are different : Same sign For the 22/3000 (Servo module SVM1130) When a preload torque of 50 kgfcm is to be applied, the torque constant is 7.0 kgfcm/Arms according to the specifications of the servo motor. So, the peak value is 4.95 kgfcm/Ap. The torque is converted to a current value as follows: 50/4.95 = 10.1 Ap. The amplifier limit is 130 Ap, so that the value to be set is: 10.1/130 x 7282 = 566 So, set 566 for the main axis, and 566 for the subaxis (when the directions of rotation of the two motors are the same). When movement of the table is stopped, check whether the system is in tension. If not, increase this value gradually.
2036
Damping compensation Gain Kc
(Note) Set only to Main axis. Data range : 0 to 32767 Setting method : Kc x 32768 (0 < Kc <0.5)
2036
Damping compensation phase coefficient
(Note) Set only to Sub axis. Set zero usually
Regarding Preload and Damping compensation, and how to tune the Tandem, refer to 4.20 Tandem control function in FANUC AC SERVO MOTOR series Parameter manual (B-65150E).
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 motor. If you want Position tandem Learning control instead of Torque tandem, use Synchronous Learning function instead of Sub axis separate function. In addition, you should set Simple synchronous control (option) in order to use Coupling flag. When you set bit in G139 corresponded with Sub axis, Coupling flag is sent to servo software. Signal address (T-series, M-series)
G139
SYNx8
SYNx7
SYNx6
SYNx5
SYNx4
SYNx3
SYNx2
SYNx1
You set No.8311 for the relation between Main and Sub axis. Refer to 1.6 Simple Synchronous control in
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FANUC Series 16i-Model A Connection Manual (Function) (B-63003EN). In addition, Coupling flag is available from the following CNC software edition. B0F1/20 (FS16i-MA), B1F1/18 (FS16i-TA), BDF1/20 (FS16i-MA), BEF1/18 (FS16i-TA)
7.4.4 The others 1) In condition Simple synchronous control is available and Synchronous mode (bits on G138 are active), you can not use High speed cutting (G05). You can use G05, after disabling Synchronous mode by turning off G138 signal.
2) In case that you use Position tandem Learning control or Torque tandem Learning control using Sub axis separation function, you must command the same data to both Main and Sub axes during G05. In case of without Sub axis separation function, Torque tandem Learning doesnt need Sub axis command.
8. Tuning
Regarding Learning control, you dont need to tune parameters basically. But servo system need to be stable before Learning control. If oscillation occurs, you need to make stable by tuning Load inertia ratio (No.2021), Acceleration feedback (No.2066), Tcmd filter (No.2067), Observer function (No.2003#2), and etc.
8.1 Tuning method

Start
Check of Error
yes
Is Error converge ? diverge step by step
Not converge.
Is machine oscillate without Learning ? yes Servo parameter tuning
no
Is Learning parameter setting right ? no
yes
decease frequency of low pass filter
Learning parameter set rightly
make contact with SLS0Q End
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9. Cautions
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 that 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 the alarm at the finish G05. The delay of High speed remote buffer The above ITP delay alarm
9-2. Countermeasure for power 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 G05 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. Signal retract Specification Control sequence of Back-up module for power failure Connection of Back-up module for power failure (Software Laboratory) (Servo Laboratory) (Servo Laboratory)
9-3. 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. Retract of high-speed cycle cutting Specification (Option) (Software Laboratory) (Software Laboratory) Skip of high-speed cycle cutting Specification (Option)
9-4. HRV control

9083/01 and 9087/01 dont not support a part of HRV control in standard series (9080 series etc). Therefore you must set the following parameters to 0 to avoid HC alarm in this edition after parameter loading automatically. You dont need to set this in 9083/02 or later, 9087/02 or later, 90A3 and 90A7 series because those series support all functions of HRV control. Set No.2056 to 0. Case that standard parameter is negative. Set No.2127 to 0. Set No.2128 to 0. Set No.2129 to 0.
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9-5. Full-closed system

In series 16 or 18 (Model B or C), Servo axis module (A20B-2902-0061) for Learning control does not support separate serial pulse coder. You should use the scale or encoder of A/B phase type. In addition, Servo axis module for standard (A20B-2092-0070) does not have this restriction. In i-series, you can use separate serial pulse coder by preparing for Pulse Module of FSSB interface. (A02B-0236-C203, -C204).
9-6. Axis allocation of 2 controlled paths in i-series

In case that you allocate Servo axis by No.1023 in 2 controlled paths in i-series, you must not allocate the servo axes of the another controlled path to one servo DSP. (Bad example) [1st path] X1 axis No.1023 = 1 [2nd path] X2 axis No.1023 = 2 (Good example) [1st path] X1 axis No.1023 = 1 [2nd path] X2 axis No.1023 = 4
L-axis of 2 axes amplifier
M-axis of 2 axes amplifier
L-axis of 2 axes amplifier
M-axis of 2 axes amplifier
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Appendix 1. Notes on the order

1-1. Servo axis Module (series 16) or Servo axis Card (i-series) You must specify the Main CPU board for Learning Control in series 16 or series 18. 2 axes A02B-022x-H004 4 axes A02B-022x-H005 4 axes A02B-022x-H006 (Note) Servo Module : A20B-2902-0061 You must specify the Main CPU card for Learning Control in i-series. 2 axes A02B-0236-H015 4 axes A02B-0236-H016 6 axes A02B-0236-H017 8 axes A02B-0236-H018 You must specify the following Servo axis card for 90A7 series. 6 axes A02B-0236-H019 1-2. Servo software series
You need to specify the following digital servo software for Learning Control. 9083 series 9087 series 90A3 series 90A7 series A02B-0200-H591#9083 A02B-0200-H591#9087 A02B-0236-H591#90A3 A02B-0236-H591#90A7 (Series 16-B, 18-B, 16-C, 18-C) (Series 16-B, 18-B, 16-C, 18-C) (Series 16i-A, 18i-A) (Series 16i-A, 18i-A)
1-3. Servo Amplifier

You need to specify the following servo amplifier for L9 or L6 using Piston Lathe or Lead cutting machine. Alpha series Servo module (SVM1-80) A06B-6079-H105#J008 Alpha series Servo unit (SVU1-80) A06B-6089-H105#J001 Alpha series Servo unit (SVUC1-80) A06B-6090-H006#J010 This SVUC1-80 is a maintenance amplifier replacing from old C-series Amplifier (A06B-6066-H006). (Note) Regarding i-series, you need to specify the same SVM1-80 (A06B-6096-H105) without J008 or SVUC-80 (A06B-6093-H113) as standard. 1-4. Software options [Necessary items] Learning Control A02B-xxxx-J705 or Preview Repetitive control High Speed cycle cutting A02B-xxxx-J832 or High speed remote buffer A Setting unit 1/10 A02B-xxxx-J805 Programmable data input (G10) A02B-xxxx-J872 [At the need arises] Ultra high precision velocity feedback function Learning Memory expanded function Reader Puncher I/F Macro executor A02B-xxxx-J975 A02B-xxxx-J976 A02B-xxxx-J900 A02B-xxxx-J888 A02B-xxxx-J706 A02B-xxxx-J905
The above xxxx is the following value correspond to each CNC. 16-TB : 0200 16-MB : 0201 18-TB : 0216 18-MB : 0217 16-TC : 0222 16-MC : 0223 18-TC : 0228 18-MC : 0229 16i-TA : 0236 16i-MA : 0237 18i-TA : 0238 18i-MA : 0239
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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
1cycle
1cycle P10004
BINARY DATA
P10001 C-axis Command per Distribution cycle
X-axis Command per Distribution cycle
Distribution cycle = 0.5msec, 1msec, 2msec Down Load or Remote Buffer Operation FS16B High-speed cycle cutting G05 SERVO The Self-learning Control Parts Program O0001; G10 L50; N2233 P1 N2234 P1 N2242 P1 N2243 P1 R1; R200 R100; R1084;
Setting of selflearning control
G11; G05 P10001 L1; G04; G01 Z_C_; G05 P10004 L1;
Profile 1
Profile 2
Motor
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Appendix 3. Parameter table for Learning control

1/4 Standard parameter setting for Learning control Motor Model L9 L9 L9 L6 L6 Motor Spec. 0564 0564 0564 0562 0562 Motor ID. 74 74 (74) 75 75 Velocity 0.5ms High 0.5ms High 0.5ms High 0.5ms High 0.5ms High Remark Piston Lead (Piston) Lead Lead Amp. 80Ap (re) 80Ap (re) 80Ap (re) 80Ap (re) 80Ap (re) Pg No.1825 18000 18000 18000 24000 24000 PI No.2003 00001000 00001000 00001000 00001000 00001000 INT. etc No.2004 11110001 11110001 11110001 11110001 11110001 High speed No.2005 00010000 00010000 00010000 00010000 00010000 Functions No.2006 00000000 00000000 00000100 00000000 00000000 HS veloc. No.2007 00000001 00000001 00000001 00000001 00000001 Learning No.2008 00110000 00110000 00110000 00110000 00111000 PK1 No.2040 1527 1527 1400 3646 3646 PK2 No.2041 -5069 -5069 -4970 -10664 -10664 PK3 No.2042 -2691 -2691 -2691 -2689 -2689 PK1V No.2043 25 25 25 13 13 PK2V No.2044 -1852 -1852 -1852 -937 -937 PK4V No.2046 -24708 -24708 -6177 -6177 -6177 PPMAX No.2053 21 21 21 21 21 PDDP No.2054 0 0 0 0 0 PHYST No.2055 82 82 82 82 82 TRQLIM No.2060 6918 6918 6918 5826 5826 POVC1 No.2062 32614 32614 32614 32698 32698 POVC2 No.2063 1925 1925 1925 877 877 POVCLM No.2065 5716 5716 5716 2602 2602 RTCURR No.2086 1760 1760 1760 1187 1187 PIIPL No.2230 0 0 2048 0 0 FBND No.2244 500 300 500 400 500 GODMX No.2246 5 6 4 5 4 GODMN No.2247 3 5 2 4 0 GCOEF No.2248 64 64 64 64 137 EXGX K2 No.2249 -32 -32 -32 -32 -53 EXGX K3 No.2250 0 0 0 0 -27 EXGX K4 No.2251 0 0 0 0 -75 EXGX K5 No.2252 0 0 0 0 91 EXGX K6 No.2253 0 0 0 0 -41 (Note 1) You need to set the Learning parameter value because of not auto-Loading. In case of adding ( ) at Motor ID, you need to set value to No.2228 and below with coloring frame after 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 L9, or the Motor No.75 for L6 for this purpose. And this purpose requires the special servo amplifier. Refer to Appendix 1. Notes on order.
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Pg PI INT. etc High speed HS veloc. Learning PK1 PK2 PK3 PK1V PK2V PK4V PPMAX PDDP PHYST TRQLIM POVC1 POVC2 POVCLM RTCURR PIIPL FBND GODMX GODMN GCOEF EXGX K2 EXGX K3 EXGX K4 EXGX K5 EXGX K6
Motor Model 6000B Motor Spec. 0412 Motor ID. (92) Velocity 0.5ms Remark Piston ring Amp. 80Ap No.1825 5000 No.2003 00001000 No.2004 00100001 00010010 No.2005 No.2007 00000000 No.2008 00111000 No.2040 6833 No.2041 -12667 No.2042 -1603 No.2043 23 No.2044 -623 No.2046 -14412 No.2053 21 No.2054 1894 No.2055 319 No.2060 7282 No.2062 32670 No.2063 1222 No.2065 3626 No.2086 1402 No.2230 0 No.2244 200 No.2246 5 No.2247 0 No.2248 384 No.2249 -51 No.2250 -223 No.2251 -214 No.2252 -1 No.2253 137
2/4 Standard parameter setting for Learning control M9 12/2000 22/3000 100 0163 0142 0148 332 (26) (18) (21) 40 0.5ms 0.5ms 0.5ms 1ms Cam Cam X for Cam Gear shaper 80Ap 40Ap 130Ap 240Ap 6000 6000 6000 3000 00001000 00001000 00001000 00001000 00100001 00100001 00100001 01000110 00010000 00010000 00010000 00000000 00000000 00000000 00000000 00000000 00110000 00110000 00110000 00110000 1496 6242 1762 1451 -4084 -9906 -5518 -6000 -2632 -3052 -3052 -2259 61 188 214 130 -1100 -3367 -3842 -1165 -8235 -8235 -8235 -8235 21 21 21 21 1894 1894 1894 3787 319 319 319 319 7282 7282 7282 6560 32692 32568 32518 32499 955 2505 3128 3358 2832 7445 9305 9990 1238 2008 2245 2326 0 0 0 0 200 200 50 100 10 10 10 10 0 0 0 0 64 64 64 64 -32 -32 -32 -32 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
(Note 1) You need to set the Learning parameter value because of not auto-Loading. In case of adding ( ) at Motor ID, you need to set value to No.2228 and below with coloring frame after auto-Loading. (Note 2) Regarding High-gain parameter setting for the other motor, refer to 5.2 Setting High-gain parameters.
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Standard parameter setting for Learning control

Motor Model 30/1200 30/1200 M40/2000 Motor Spec. 0151 0151 0170 Motor ID. (28) 28 (109) Velocity 0.5ms 1ms 0.5ms High Gear shaper Remark Cam Cam Amp. 80Ap 40Ap 240Ap No.1825 6000 3000 16000 No.2003 00001000 00000000 00001000 No.2004 00100001 00000110 01100001 No.2005 00010000 00000000 00010000 No.2007 00000000 00000000 10000001 No.2008 00111000 00111000 00110000 No.2040 10120 5060 2917 No.2041 -19846 -9923 -6604 No.2042 -2705 -2705 -2716 No.2043 147 147 30 No.2044 -2626 -1313 -1682 No.2046 -8235 -8235 -24706 No.2053 21 21 21 No.2054 1894 1894 3787 No.2055 319 319 319 No.2060 7282 7282 7282 No.2062 32665 32665 32648 No.2063 1283 1283 1503 No.2065 3809 3809 8920 No.2086 1436 1436 2180 No.2228 0 0 00010000 No.2244 200 150 150 No.2246 5 5 8 No.2247 0 0 5 No.2248 743 2719 64 No.2249 -283 -2206 -32 No.2250 -419 -1668 0 No.2251 -238 -129 0 No.2252 51 1313 0 No.2253 178 3 0
3/4
Pg PI INT. etc High speed HS veloc. Learning PK1 PK2 PK3 PK1V PK2V PK4V PPMAX PDDP PHYST TRQLIM POVC1 POVC2 POVCLM RTCURR BITLCL FBND GODMX GODMN GCOEF EXGX K2 EXGX K3 EXGX K4 EXGX K5 EXGX K6
(Note 1) You need to set the Learning parameter value because of not auto-Loading. In case of adding ( ) at Motor ID, you need to set value to No.2228 and below with coloring frame after auto-Loading.
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Pg PI INT. etc High speed HS veloc. Learning PK1 PK2 PK3 PK1V PK2V PK4V PPMAX PDDP PHYST TRQLIM POVC1 POVC2 POVCLM RTCURR PIIPL FBND GODMX GODMN GCOEF EXGX K2 EXGX K3 EXGX K4 EXGX K5 EXGX K6
Motor Model Motor Spec. Motor ID. Velocity Remark Amp. No.1825 No.2003 No.2004 No.2005 No.2007 No.2008 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.2230 No.2244 No.2246 No.2247 No.2248 No.2249 No.2250 No.2251 No.2252 No.2253
Standard parameter setting for Learning control IP-control PI-control High gain 1ms 1ms 0.5ms C-axis C-axis
3000 xxxx0xxx xx0x0110 00000000 00000000 00110000 3000 xxxx1xxx xx0x0110 00000000 00000000 00110000 6000 xxxx1xxx xx1x0001 00000000 00010000 00110000 standard x2 standard x2 standard x2
4/4
100 15 0 64 -32 0 0 0 0
100 13 0 64 -32 0 0 0 0
200 10 0 64 -32 0 0 0 0
(Note 1) You need to set the Learning parameter value because of not auto-Loading. (Coloring frame) (Note 2) The xxxx or blank frames show standard setting. (Note 3) Regarding High-gain parameter setting for the other motor, refer to 5.2 Setting High-gain parameters.
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Appendix 4. Functions table for Servo edition
Functions for Editions of Servo Software series

Servo Software series Functions 2 steps Backlash Acceleration 2 steps Backlash Acceleration offset 2 steps Backlash Acceleration only Cutting 2 steps Backlash Acceleration with Timer Abnormal load Alarm output at hard disconnect Absolute position output non-synchronized Acceleration Feedback A (1ms) Acceleration Feedback C (250us) Acquisition of offset current Acquisition of offset current Advanced Preview control function Advanced Preview control function for RISC Advanced Preview control function for RISC Amplifier axis number transfer function Amplifier Number Transfer function AMR connection (Power OFF/ON) AMR connection for detach AMR offset for Linear motor Analogue interface Analogue Tcmd interface Arbitrary data high speed serial output Arbitrary data serial output Auto setting for Dead-band Auto tuning by personal computer Available 4000rpm Available for Alpha amplifier (PWM 3 lines) Available for serial pulse coder (type A or B ) Available for serial pulse coder (type C) Available for serial pulse coder type a) Backlash acceleration D(Conventional) Backlash acceleration E (New type) Backlash compensation (cutting/rapid) Backlash compensation (minus) Backlash Compensation with Dual + RISC Break control of gravity axis Current loop 1/2 PI Current loop gain 4 times Current loop gain down depended on Tcmd at deceleration Current loop gain variability depended on Tcmd Current loop gain variable depended on Tcmd Current loop update 125usec Current offset detecting during ESP Current phase-leading comp. at deceleration Current phase-leading comp. variability depended on Tcmd 9 0 7 0 F K A A A A A A H D G A A A A A A A A A A A Standard 9 9 9 0 0 0 8 9 A 0 0 0 A C A K C A J C A N E A O F A S A C A A C A T U A C A A C A C C A E E G G A C A A E A A C A D A C A A C A A C A A C A A A C A A C A A C A F C A A C A V D A C A K C A R D M C A A C A A C A E C A A C A A C A A C A 9 0 7 3 A A A B A B A A A A A A A A A A A Special 9 9 0 0 8 8 3 7 A A A A B B A A A A A A A A A A A A A A A A A A A A A A B B A A A B A A A A
1/5 9 0 A 3 A A B B 9 0 A 7 A A A A -
A B A A A A A A A A A B A A A A A A A
A A A A A A A A A A A A A A A A A A A A
A A A A A
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Servo Software series Functions DB stop distance reduction for Alpha motor Detecting Alarm of both axes Detecting Soft disconnect Detection of Position difference d-phase current at high speed Dual position feedback function Dual position feedback function (Improve Zero Width) EGB Tandem function Electric Gear Box function Electric gear box function with Tandem Enlargement of Position gain setting range Error Counter output by Serial Link Expanded Arbitrary data serial output Expanded Servo parameter area (Block 0 - 23) Expanded Servo parameter area (Block 0 - 31) Extra serial pulse coder FAD (cutting/rapid) FAD + Rigid Tap FAD + Risc FAD Bell type acceleration FAD Linear type acceleration Feed forward coefficient variable Feed forward control Flexible feed gear function FSSB dummy FSSB dummy improvement FSSB interface Full-closed velocity Feedback function A Full-closed velocity Feedback function B High Response Vector control High Speed Interpolation(1msec) 2axes/1DSP High speed positioning function High speed Velocity loop (IP) High speed Velocity loop (PI) Hold function of peak of actual current HRV control available Hunting control at Full-closed I/O Module Integration during low speed Integration off during low speed at cutting ITP 1ms Linear motor Meandering compensation MP Scale 9 0 7 0 C A A A A F A A A A A G D A A Standard 9 9 9 0 0 0 8 9 A 0 0 0 A C A S K C A A C A E C A A C C K C C S A C C S A C A - C A A C A A C A U D N E A J C A K E A K E A A C A A C A E C A D - C A A C C A C C E C A A C A O F A A C A A C A G C A E C A A C C I D A C A - E - E A C A A C A 9 0 7 3 A A B A A A A A A Special 9 9 0 0 8 8 3 7 A A B A A A A A A A A A A B A A A A A A A A A A A A A A -
2/5 9 0 A 3 A A A A A A A 9 0 A 7 A
A A A A A A A A A A A A A A A A A -
A A A A A A A A A -
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Servo Software series Functions MP Scale for Alpha Pulco N Pulse Suppress Nano meter interpolation New current saturation New G/A (SALF2) available Non linear control Notch filter Notch filter 500us Observer coefficient 10 times Observer function Observer function disable at stop OVC Alarm improvement OVC Alarm release OVC data output by Check-board Overshoot compensation (error range) Overshoot compensation (TYPE-2) Parameter Alarm detail output Phase delaying comp. at deceleration Phase leading comp. depended on Tcmd Pitch error compensation Position FB output by Check-board Position gain change (cutting/rapid) PWM period changing (cutting/rapid) Quick stop at OVC Alarm or OVL Alarm Radius error data output by Check-board Resonance eliminate filter Rewrite Amplifier ID Runaway Alarm Runaway Alarm improvement Semi-Full Alarm at Full-closed Serial Communication delay compensation Serial pulse coder dummy function Servo tuning screen(actual speed etc.) Shortening Stop distance at hard disconnect Static friction compensation Switching between IP and PI for Laser Switching semi-closed or full-closed under dual position FB Tandem control function Tandem control function (2 axes use common feedback) Tandem control function (damping compensation) Tandem control function (full preloaded function) Tandem control function (switching of position feedback) Tandem control function (velocity tandem control) Torque coefficient down compensation 9 0 7 0 A A A C C A H A A C A E A A D A Standard 9 9 9 0 0 0 8 9 A 0 0 0 - C A C A J B A C A A C A A C A A C A A C A A C A E C A P F A A C A K C A N C A M C A A C A S D A C A E A C A E - F A A C A F C A K C A S A C C A C A N E A A C A A C A U A C A A C A A C A A C A A C A A C A S 9 0 7 3 A A A A A A A A A A Special 9 9 0 0 8 8 3 7 A A A A A A A A A A A A A B A A A A A A B B A -
3/5 9 0 A 3 A B A B B A A A A B A A A 9 0 A 7 A A A
A A A A A A A A
A A A A A A -
B B A A A A A B B B B
A A A A A A A A A A
D -
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Standard 9 9 9 0 0 0 Functions 8 9 A 0 0 0 Torque command Filter A C A Torque command Filter (cutting/rapid) F C A Torque compensation A C A Torque control (TYPE-1) F C A Torque control (TYPE-2) Torque limit override with sign A C A Torque limit variability depended on actual current A C A Torque offset for torque skip Torque ripple compensation A C A Torque ripple compensation (for Alpha-E) H C A Torque ripple compensation (for Linear motor) - E C A Torque ripple compensation with communication delay (for Linear- motor) G Ultra precision cutting function Unexpected disturbance torque detection A A C A Unexpected disturbance torque detection (rapid/cutting) G C A Unexpected disturbance torque detection for HRV G C A Variable Current gain depended on Vcmd A A C A Variable proportional gain at stop F A C A Variable proportional gain at stop is improved - U D Variable Vcmd data output by Check-board A A C A Vcmd A A C A Vcmd (TYPE 2) M E A Vcmd offset function A A C A Velocity Control period 0.5msec A A C A Velocity gain 400% limit - U D Velocity gain override F A C A Velocity gain switching (cutting/rapid) - P F A Velocity loop 1/2 PI (cutting/rapid) - X E Velocity proportional gain format change - U D Voltage command dq depending Limit - G Servo Software series 9 0 7 0 A A A A A 9 0 7 3 A A A A A A A A Special 9 9 0 0 8 8 3 7 A A A A B B A A A A A A A -
4/5 9 0 A 3 A A A A A A A A A A 9 0 A 7 A A A A A A A A A A
A A A A A -
A -
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Standard 9 9 9 series 0 0 0 7 8 9 Functions 0 0 0 Adaptive advanced preview control for 2 axes Auto sampling rate (Self-Learning control) Available for C series servo amplifier (Dead-band) Correspondence to High speed cycle retract Error output through check board High speed cycle cutting Skip function High speed interpolation (0.25ms) High speed interpolation (0.5ms) High speed interpolation for 2 axes IP or PI variable current control Learning buffer expanding function Learning data transmission function Max. feed forward speed 196m/min for high speed I/F axis Mcmd output through check board New Hunting control function Notch filter by current loop Preview repetitive control function Preview repetitive control improvement (5 -> 11) Preview repetitive control improvement (Posit or Veloc) Relieving restriction for Adaptive advanced preview control Self learning control Self learning control improvement (Expansion Gx etc.) Servo trace function Shock reducing function (Self-Learning control) Special Hunting control function Step Shock reducing function Stopping motor function at alarm happened Tandem Learning function Torsion compensation during high speed cycle Torsion compensation for 2 axes Ultra-high precision feedback function Variable Velocity feedback the latest 0.25msec or 0.5msec or 1msec Velocity Control period 0.25msec Velocity feedback the latest 2msec Velocity Integral saturation (High-speed axis) Servo Software 9 0 A 0 9 0 7 3 B A A A A A A A A A A A A B A A Special 9 9 0 0 8 8 3 7 A A A A A A A A B A A A A A B B A B A A A A A - A A A A A A A A A B A B A A A B A A A A A A A A
5/5 9 0 A 3 B A A A A A A A B B A A A A A A A A A A A A A A B A B A A A A 9 0 A 7 A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A
A A A A A A
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Appendix 5. Method of changing parameter in CNC Program

1. Overview Learning control is available only during High-speed cycle cutting (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-1 with G05 without using Learning control, then high-precision cutting is performed at 120 min-1 using Learning control. O0001; In a left sample, Learning control is invalid during next G05 because Repetition count RPTCT (No.2242) is 0. G10 L50; In this case, this line doesn't need. 1500min-1 = 40msec/rev N2242 P(axis num.) R 0 ; N2243 P(axis num.) R 40 ; G11 ; Learning control is invalid during G05 due to RPTCT=0. G05 P10001 L1 ; You should set RPTCT in order to use Learning control during next G05. If Learning control doesn't stop halfway (another program code) during G05, you should set 32767 as maximum number of RPTCT. G10 L50 ; N2242 P(axis num.) R(Learning count) ; N2243 P(axis num.) R(Learning period) ; G11 ; G05 P10002 L1 ; (another program code) M30 ; 3. Cautions (1) You should not insert the command to move servo axis between G11 and G05 such as G00 or G01. (2) You can also change other parameters for Learning control except Repetition count RPTCT(No.2242) and Command period PRIOD (No.2243) by G10. Set 500 corresponded with 120 min-1 when there are Highspeed cutting data of 120min-1 in P-code data.
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Appendix 6. Checking Position Error by Check-board

1. Setting
Learning axis can put out the position error to Check-board. The output signal range is 5V. Conversion value is variable by both No.2012#5 and #4 as follows. Least detect 0.1m Parameter B5 0 No.2012 0 0 0 B4 0 0 0 0 Magnification 1 16 256 4096 Pulses / 5V 64 1024 16384 262144 0.1m / V 1.28 20.48 327.68 5242.88 Least detect 0.003deg deg / V 0.0384 0.6144 9.8304 157.2864
2. Output channel
The channel of output signal is as follows. Vcmd signal is not put out at Learning axis. Normal axis CH1 Vcmd (L) CH2 Tcmd (L) CH3 Vcmd (M) CH4 Tcmd (M) CH5 TSA (L) CH6 TSA (M)
Learning axis (No.2008#5 = 1) or High-speed axis (No.2005#4 = 1) CH1 Error (L) CH2 Tcmd (L) CH3 Mcmd (L) CH4 CH5 TSA (L) CH6
Learning axis (90A7 series) CH1 Error (L) CH2 Tcmd (L) CH3 Error (M) CH4 Tcmd (M) CH5 TSA (L) CH6 TSA (M)
(Note) When No.2007#0 = 1, the marked shows Vcmd + Feed-forward. (Note) To use check-board, the servo wave checking adapter (A02B-0120-C211) needs. In i-series, you must use the other adapter (A02B-0236-K822).
3. The other signal conversion

In the High-speed axis, the output conversion values are different from normal axis as follows. Output signal Vcmd Tcmd Mcmd Vcmd+F.F. TSA 750 (min / V)
-1
Normal axis 0.1875 9 Imax / 40 (min / V) *1 (Ap / V)

-1
High-speed axis
Same left 2.458 0.1875 Same left (m/min / V) *2 (min-1 / V)
(Note 1) Imax shows the max. current value of servo amplifier. (Note 2) The conversion value of Mcmd is used when Least detective unit is 0.1m, Velocity loop is 1msec. If Velocity loop is 0.5msec, that value is 4.916 (m/min / V).
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Appendix 7. Notes on using SD.EXE

In the servo software for Learning control, The using way of SD.EXE is different from in standard servo software. We describe the difference and cautions. Regarding the details of SD.EXE, refer to the manual attached SD.EXE.
7.1 Dip-switch and data contents

You can select the data content by Dip-switch (4 bits) on Digital check-board. Dip-switch (B3, B2, B1, B0) 0, 0, 0, 0 0, 0, 0, 1 0, 0, 1, 0 0, 0, 1, 1 0, 1, 0, 0 0, 1, 0, 1 0, 1, 1, 0 0, 1, 1, 1 1, 0, 0, 0 1, 0, 0, 1 following. Error Mcmd Display unit (mm) Display unit (mm/sec) : 1pulse=Least detective unit (mm) / 32 : 1pulse=Least detective unit (mm) / 32 / Velocity loop period (sec) Vcmd (L-axis) Tcmd (L-axis) Vcmd (M-axis) Tcmd (M-axis) TSA (L-axis) TSA (M-axis) Pos. (L-axis) Pos. (M-axis) Pos. (L-axis) *1 TSA (L-axis) Standard series Error (L-axis) Tcmd (L-axis) Mcmd (L-axis) Learning series Error (L-axis) Tcmd (L-axis) Error (M-axis) Tcmd (M-axis) TSA (L-axis) TSA (M-axis) Pos. (L-axis) Pos. (M-axis) Pos. (L-axis) *1 Pos. (M-axis) *1
1) Regarding to the display unit, you should select POS in SYSTEM setting screen of SD.EXE, and set the
2) If you set non-zero value for No.2115, TSA is not output. 3) When you set 4788 for No.2115, the marked *1 is output.
7-2. Limit of measurement

The speed which it is possible to measure is below 1024 Least detective unit per Velocity loop period. (Example) When Velocity loop 1ms and 0.1m Least detective unit, the speed limit is 6m/min. You can expand the speed limit. No.2115 4787 4786 4785 4784 Limit of measurement 2048 4096 8192 16384 *2 Display unit *3 2 times of Least detective unit 4 times of Least detective unit 8 times of Least detective unit 16 times of Least detective unit *2 Least detective unit per Velocity loop period *3 POS in SYSTEM setting screen of SD.EXE In case that the speed gets over the above limit, there is a possibility of interpolation by CTRL-j in SD.EXE after gathering the data.
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7.3 Connection In case of connecting JA8A (JA26) connector of CNC with CNI3 connector of Digital check-board, the relation of the axis on SD.EXE and servo axis on CNC is the following.
SD.EXE X : CH0 Y : CH1 Z : CH2 4 : CH3 Digital check-board AXIS1 AXIS2 AXIS3 AXIS4
st nd rd
Servo axis 1 axis or 5th axis 2 axis or 6 axis 3 axis 4th axis
th
4 4
In case of connecting JA8A connector of CNC, the data of the 1st , 2nd , 3rd , and 4th axis is output. In case of connecting JA26 connector of CNC, the data of the 5th and 6th axis is output. Note 1) The relation of Servo axis and CNC controlled axis is set for No.1023. You must allocate a High-speed axis or Learning axis to odd axis (1st, 3rd, or 5th axis). Note 2) The odd axis of Servo axis corresponds to L axis, the even axis corresponds to M axis. Note 3) In case of gathering the data of 1st , 2nd , 5th , and 6th axis, you should use two Servo wave check adapter, and connect the flat cables of to CNI1 and CNI2. Note 4) TEST1 connector of servo wave check adapter corresponds to the 1st or 2nd axis of Servo axis. TEST2 connector of servo wave check adapter corresponds to the 3rd or 4th axis of Servo axis. Note 5) CNI1 of Digital check-board corresponds to AXIS1 or AXIS2 of Dip-switch. And CNI2 corresponds to AXIS3 or AXIS4. Note 6) In series 16i, you should connect CA54 connector of CNC with CN0 connector of Servo wave check adapter (A02B-0236-K822). TESTA connector of servo wave check adapter corresponds to the 1st , 2nd , 3rd, or 4th axis of Servo axis. TESTB connector of servo wave check adapter corresponds to the 5th , 6th , 7th , or 8th axis of Servo Servo wave Check adapter
(A02B-0120-C211) OUT IN OUT or
Digital check-board
(A06B-6057-H610) IN CNI1 CNI2 CNA1 CNI3 OUT
Personal computer
CNC
FS16
JA8A
axis.
7.4 The others 1-1. Device setting

In correspondence to the number of axes, you should set the device (environment variable) in DOS mode on personal computer (PC). 1 axis : set device=0003 2 axes : set device=0033 3 axes : set device=0333 4 axes : set device=3333
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1-2. Setting of sampling period In High-speed axis or High gain axis, you can accept the data every 0.5msec. The sampling period of SD.EXE is minimum 1msec. If 0.5msec sampling, you need to modify sdp=0.xxx to sdp=0.0005 in the SD.CFG file by editor. When you gather the data of Velocity loop 1msec and 0.5msec at the same time, you set the sampling period to 1msec. 1-3. Cautions of gathering data High-speed axis or Learning axis occupies the DSP by itself. In case that you gather the data of this axis and the other axes, you must gather the dummy data of AXIS2. (Example) 1st servo axis (High-speed axis), 2nd servo axis (Nothing), 3rd servo axis (High-speed axis) If you gather the data of 1st and 3rd axes, you need to set the following. Device setting : set device=0333 (for 3 axes) Dip-switch setting : AXIS1=0000 (Error), AXIS3=0000 (Error), AXIS2=0001 (dummy Tcmd) 1-4. Expansion of data number By setting the following on personal computer, you can expand the data number. The limit of data number depends on the memory size of personal computer. (Example) set bufsize=12000 (environment variable) 1-5. Bit-map output By the following operating, you can output the screen image to Bit-map file. The file name is ddhhmmss.BMP. (dd : date, hh : hour, mm : minute, ss : second) Shift-key + b (capital B) 1-6. FFT analysis By the following operating, you can analysis the data in XTYT mode according to FFT. Ctrl-key + f 1-7. Changing the sampled time By the following operating, you can change the sampled time. When you change the sampled time, the data file name (xxxxxxxx.BIN or xxxxxxxx.BMP) is changed. Shift-key + . increment Shift-key + , decrement 1-8. Displaying HELP By the following operating, on-line HELP displays. Shift-key + / 1-9. I/O wait setting In case that you gather the data of plural axes at the same time, if you can not gather the 2nd axis data, you should increase the I/O wait from 1 (default) to 5 in SYSTEM setting screen of SD.EXE.
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Index
Adaptive preview control .................................................................................................... 10,12,29,30 Backup module for power failure ....................................................................................................... 51 Command data period (Learning period) ................................................................................. 19,25,37 Continuation ................................................................................................................................ 11,24 Data Server operation ..................................................................................................................... 3,5 DNC operation ................................................................................................................................ 3,5 Dynamic characteristic compensation element (Gx) ............................................................ 24,27,55 Expanded Gx (Dynamic characteristic compensation) ......................................................... 24,27,55 G10 (Programmable data input) .................................................................................................. 53,64 High gain ................................................................................................................................ 17,56,58 High precision serial output circuit .................................................................................................... 43 High-speed axis ........................................................................................................................ 3,15,21 High-speed cycle cutting ........................................................................................................ 3,5,13,53 High-speed distribution ..................................................................................................................... 13 High-speed binary operation ............................................................................................................. 13 High speed velocity loop ................................................................................................................... 21 ITP delay .......................................................................................................................................... 51 Learning axis ................................................................................................................................. 4,14 Learning memory expanded function ........................................................................................... 35,53 Learning data transmission function ............................................................................................. 38,53 Low pass filter (Fc) ...................................................................................................................... 26,55 Option .............................................................................................................................................. 53 Profile ..................................................................................................................................... 19,26,35 Profile number ................................................................................................................... 25,35,37,38 Retract ............................................................................................................................................. 51 Sampling rate ................................................................................................................................... 37 Skip function ..................................................................................................................................... 51 Special hunting control ..................................................................................................................... 44 Suspension mode ........................................................................................................................ 11,24 Total profile number ........................................................................................................... 25,35,37,38 Ultra high precision velocity feedback function ................................................................................. 43
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TECHNICAL REPORT (MANUAL)

5. Registration of Order List data

(In case of Order List)

Original section of issue IDE Manager Chief

Revision of Digital Servo ROM 90A3 series

1. Type of applied documents

Optional Function Unit

1. Tcmd Tandem control function is available.

Maintenance Parts Notice

Revision of Digital Servo ROM 90A3 series A-63639E-050

Newly designed Description

Revision of Digital Servo ROM 90A3 series

b) Common motor feedback function is available.

d) Resonance eliminate filter is available.

Revision of Digital Servo ROM 90A3 series A-63639E-050

Newly designed Description

Title Draw No.

9083 / 9087 / 90A3 / 90A7 Learning Control Operators Manual

99.01.14 97.12.08 Date

K.Maeda Qualified 1st issue K.Maeda Newly designed Design Description

Title Draw No.

9083 / 9087 / 90A3 / 90A7 Learning Control Operators Manual

99.01.14 97.12.08 Date

K.Maeda Qualified 1st issue K.Maeda Newly designed Design Description

Title Draw No.

9083 / 9087 / 90A3 / 90A7 Learning Control Operators Manual

99.01.14 97.12.08 Date

K.Maeda Qualified 1st issue K.Maeda Newly designed Design Description

Title Draw No.

9083 / 9087 / 90A3 / 90A7 Learning Control Operators Manual

99.01.14 97.12.08 Date

K.Maeda Qualified 1st issue K.Maeda Newly designed Design Description

Personal Computer Producing cutting data User Program

b) P-code variables Memory Op. Digital Servo Software

Hard Disk (Binary data)

Data Server Binary Op.

Fig. 2-1 System configuration selection

Title Draw No.

9083 / 9087 / 90A3 / 90A7 Learning Control Operators Manual

99.01.14 97.12.08 Date

K.Maeda Qualified 1st issue K.Maeda Newly designed Design Description

Lead cutting machine

C axis Tape driving surface : A

Zoom Up (cross section)

B A Tape driving surface

Learning period PRIOD Ly Lc

Fig. 3.1.2 Axes Movement of the velocity at the start

Z axis Offset for Tool change X axis

Lead finish cutting

Fig. 3.1.3 Axes Movement of the velocity at End

9083 / 9087 / 90A3 / 90A7 Learning Control Operators Manual

99.01.14 97.12.08 Date

K.Maeda Qualified 1st issue K.Maeda Newly designed Design Description

3.2 Piston Lathe

Y axis Piston Work X axis Double slide mechanism

Oval cross Section

Title Draw No.

9083 / 9087 / 90A3 / 90A7 Learning Control Operators Manual

99.01.14 97.12.08 Date

K.Maeda Qualified 1st issue K.Maeda Newly designed Design Description

3.3 Cam Grinding Machine

Fig. 3.3.1 Example of Configuration of Cam Grinding Machine.

The way in case of many repetition cycle in a profile.