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Learning Control Operator’s Manual
A - 63639E – 108
01 ’05.04.20 N.Sonoda Newly designed Sheet 010
Edit Date Design Description / 064
4. Explanation of Learning Control
4.1 Summary of Learning Control
What is “Learning Function” ?
It is a function for realizing high-speed and high-precision cutting by using Learning Control (Repetitive
Control) or Preview Repetitive Control. Preview Repetitive control is the superset for Learning control.
So one of each is necessary not both to set ordering.
Configuration of Learning function
Learning Control (Repetitive Control) is realized by Learning controller. And Preview Repetitive Control is
realized by combination with Learning controller and Adaptive Preview controller.
Feature of Control
Learning controller minimizes the position error by learning the repetitive command of specific period or
the disturbance synchronized with learning period. And Adaptive Preview controller follows rapidly the
command by means of doing the suitable feed-forward control decided by Adaptive control.
How does “Preview Repetitive control” apply?
The convergence of error (Learning speed) by Preview Repetitive control is faster than that by only
Learning controller. Learning control can be even applied for the case that the periodic command
gradually changes the shape. If the change of the shape is comparatively rapid and large, you should
adopt Preview Repetitive control.
FANUC Learning function