Title 90D3 / 90E3
Learning Control Operator’s Manual
A - 63639E - 108
01 ’05.04.20 N.Sonoda Newly designed Sheet 052
Edit Date Design Description / 064
9-5. Servo parameter alarm for Learning control
If you set the value out of appropriate range in parameters for learning control, the illegal parameter alarm
occurs immediately after G05 was executed, and the detail number 83 is displayed on N352 in DGN. In this
case, if the following parameters are set, furthermore detailed alarm information is displayed on N353 in
DGN. This value has to convert decimal one to binary one and check the said bit parameter.
The value of N353 in DGN
B3 : Filter frequency band of low pass filter (N2512) was out of range.
B4 : Profile number (N2511) was out of range.
B5 : Learning period (N2517,N2519,N2521,N2523,N2525) was out of range.
B6 : Total profile number (N2510) was out of range.
B7 : Learning memory clear hasn’t been completed yet.
B8 : When total profile number (N2510) wasn’t zero, profile number (N2511) was set to zero.
B9 : Learning period was too long.
9-6. Synchronized between Learning axes and the other axes
(1) Case of Learning control
Learning axis is controlled that error (delayed value) is zero. On the other hand, it is necessary to go ahead
the delayed value for normal axis before G05 in case of synchronized operation, because delayed value
occurs in normal axis.
Generally you should execute G05 after advancing steady-state error.
Example) rotary normal axis (position gain : Pg=30 s
) speed 600 min
, and Learning axis
Delayed value = 600 [min
] / 60 / 30 [s
] × 360 [deg/rev] = 120 [deg]
If feed-forward function is available, substantial position gain is raise. For example, in case that
feed-forward coefficient is α [%], substantial position gain is 1/(1-α/100) times.
(2) Case of Preview repetitive control
1) Learning axis and normal servo axis
It is necessary to set Preview repetitive control at all servo axes in series 16
i if Preview repetitive control is
applied to at least one axis. But in series 30
i, it is unnecessary to set it. Therefore you can set it to each
2) Learning axis and Cs axis
It is necessary to consider the delay of normal axis against Adaptive preview control axis in series 16
in series 30
i, it is unnecessary to consider it.