90D3 / 90E3
Learning Control Operator’s Manual
A - 63639E – 108
01 ’05.04.20 N.Sonoda Newly designed Sheet 012
Edit Date Design Description / 064
used for the cam grinding machine, which the shortening of cycle time is required, or the command within
one profile gradually change due to cutting feed such as single slide mechanism.
Compensation data mode means that Learning data isn’t clear at the end of G05. Both
Suspension and Continuation mode clear it every time at the end of G05. And it takes some times
to clear. So when you execute two or more successive G05, it might be necessary to add G04 to
wait the time after G05 before starting the next G05. Refer to 7.2.2 processing flow for the time.
4.3 Preview Repetitive Control
[ Merit ]
Learning controller decides the final error, while Adaptive preview controller accelerates to decrease the
Adaptive preview control is effective for a case that Command gradually changes.
Adaptive preview control is effective for the application to change the reiterated command period at
halfway through G05.
[ Algorithm ]
Preview repetitive control is realized by combination with Learning controller and Adaptive Preview
Adaptive preview control does the suitable feed-forward control by using Adaptive control.
Feed-forward coefficients are calculated so as to reduce the position error by utilizing the repetition of
As this result, position error decreases without Learning controller. The position error due to disturbance
is gotten rid of by Learning controller of Preview repetitive control, because Adaptive Preview controller is
ineffective to disturbance.
Feed-forward coefficients are decided in Adaptive mode of Adaptive preview control. During this time,
Learning control is disabled automatically.
The decided coefficients are transmitted to CNC for the purpose of holding it even at Power off.
It is called Transmitting mode of Adaptive preview control.
You should process in Fix mode of Adaptive preview control in which the coefficients is not renewed.
Then Learning control gets valid.
Preview Repetitive Control