Title 90D3 / 90E3
Learning Control Operator’s Manual
A - 63639E - 108
01 ’05.04.20 N.Sonoda Newly designed Sheet 06
Edit Date Design Description / 064
3. Application example
3.1 Lead cutting machine
* Cutting Sequence
(1) The surface running tape is finished synchronizing with C-axis rotation, moving the tool 1 back and
forth along the Y-axis. By feeding the tool along the Z-axis, the lead surface is gradually cut deeper.
(2) To finish the lead surface, the tool retreats along the X-axis temporarily and moves along the Z-axis
(offset). And the tool is changed to tool 2. Then, the movement of Y-axis and C-axis don't stop.
(3) The tool 2 is fed along the X-axis and the lead surface is finished. (Process B)
(4) Both Y-axis and C-axis use either Suspension mode or Continuation mode of Learning control.
Y axis Learning Start
Fig. 3.1.2 Axes Movement of the velocity at the start
Ly or Lc should be the longer time Learning
complete to converge the position error
Fig. 3.1.3 Axes Movement of the velocity at End
Offset for Tool change
Lead finish cutting