Title 90D3 / 90E3
Learning Control Operator’s Manual
A - 63639E - 108
01 ‘05.04.20 N.Sonoda Newly designed Sheet 033
Edit Date Design Description
6.2 Adaptive Preview Control Parameters
INVSYS Adaptive Preview Control (Option) is
1 : Available. ♦ CNC software option is necessary
0 : Not available.
ADAPT Feed-forward coefficient FORW1-6 is
1 : Adapted by using ADPCE (During adaptation, Learning control is invalid
0 : Not changed
TRASMT Set this to zero usually. After FORW1-6 is decided
by adaptation, set this to one in
order to transmit them to No.2544-49, then turn it back to zero.
1 : Transmit FORW1-6 automatically to No.2544-49 with adaptive mode each time at
0 : Not transmit FORW1-6.
ADRERSL Adaptive control uses
1 : the velocity error.
0 : the position error. (Standard)
(Note) Usually this is applied to rotary axis, which the command changes.
Data range : 0 to 1000
Standard : 50
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.
Data range : -32768 to 32767
Standard : 0
Feed forward coefficients FORWi are usually decided by Adaptive mode. Also you can calculate by the
ADPCE Adaptation coefficient
− Feed forward coefficients W1 - W6