Title 90D3 / 90E3
Learning Control Operator’s Manual
Draw No.
A - 63639E - 108
01 ‘05.04.20 N.Sonoda Newly designed Sheet 026
Edit Date Design Description
/ 064
Standard : 0
Set by the following expression. fc : Cut-off frequency [Hz], τ : Sampling time [sec.]
(Setting value) = 4096 × exp(-2π×fc×τ)
(Example 1) Case of normal axis (τ = 1msec.) and fc = 300 [Hz]
No.2067 = 4096 × exp(-2π×300×0.001) = 622
(Example 2) Case of Learning HRV2 (τ = 0.5msec), No.2227#2=1 and fc = 300 [Hz]
No.2067 = 4096 × exp(-2π×200×0.0005) = 1596
(Example 3) Case of Learning HRV2, No.2227#2=1, Velocity loop proportional high-speed processing
function (τ = 125μsec.) and fc = 300 [Hz]
No.2067 = 4096 × exp(-2π×300×0.000125) = 3236
Normal axis
(τ = 1ms)
High Gain axis
(τ = 0.5ms)
No.74 or No.75
(τ = 125μs)
80Hz 2478 3186 3847
100Hz 2185 2992 3787
120Hz 1927 2810 3728
140Hz 1700 2638 3669
160Hz 1499 2478 3612
180Hz 1322 2327 3556
200Hz 1166 2185 3501
250Hz 851 1868 3366
300Hz 622 1596 3236
350Hz 454 1364 3112
400Hz 332 1166 2992
Note
1) You select above normal axis setting in case of Learning HRV2 control and N2227#2=0.
2) If Velocity loop proportional high-speed processing function is valid, Torque command filter
is inside set to 300Hz regardless of No.2067=0. In this case, it is possible to make invalid
by the following setting.
HRV1 and HRV2 No.2067=-4157
HRV3 and HRV4 No.2067=-11348
2067
FILTER Torque command filter coefficient (for cutting)
2156
FILTER Torque command filter coefficient (for rapid traverse)
No.2227#2=1