Title
9083 / 9087 / 90A3 / 90A7
Learning Control Operator’s Manual
03 '00.06.07 N.Sonoda Qualified 2'nd issue Draw No.
02 ’99.01.14 K.Maeda Qualified 1’st issue
A - 63639E - 034
01 ’97.12.08 K.Maeda Newly designed Sheet 011
Edit Date Design Description / 070
4.2 Learning Control
[ Merit ]
l Replacing the mechanical cam tracing method with the electric master cam.
l Minimized position error for repetitive command with specified period.
l Ability to remove periodical disturbance synchronized to command period.
[ Algorithm ]
Learning control starts from non-zero command in G05.
a) Learning controller takes Position error within one period as the new compensation data .
b) The new compensation data is compared with old one, which sampled in previous period.
c) The new compensation data is renewed to reduce the position error.
d) The new compensation data within one period is kept in Learning controller as the old one.
By repeating from a) to d) , compensation data continue to renew itself in order to minimize position error.
[ Mode ]
Select one from four below mode fitted with your application. (Refer to No.2008)
(1)
Suspension mode
For each High-speed cycle cutting (G05), the compensation data continue to renew up to Learning
suspension count BRCT parameter. Then the learning is suspended and the last compensation data is used
for control without the renewal. BRCT is set for the position error to converge by the learning. This mode is
usually used on the lead cutting machine.
When BRCT is zero, Servo does not renewal the Learning memory.
(2)
Continuation mode
While High-speed cycle cutting is executed, the compensation data renew itself up to the end . This mode
is used on the command gradually changes, though the period is constant. This mode is normally used on
the piston lathe.
(3)
Compensation data suspension mode
This mode is similar to Suspension mode for the first High-speed cycle cutting after the power is turned on.
The second and subsequent High-speed cycle cutting is performed using the compensation data created by
Learning at the last G05. The created compensation data is not deleted unless the power is turned off. This
mode is normally used on the cam grinding machine which the shortening of cycle time is required and the
command does not include the cutting feed but only profile data, such as the case of double slide
mechanism.
(4)
Compensation data continuation mode
This mode is similar to Continuation mode for the first high-speed cycle cutting after the power is turned on.
The second and subsequent the High-speed cycle cutting is performed using the compensation data created
by learning at the last G05. The created compensating data is not deleted unless the power is turned off.
This mode is normally used on the cam grinding machine which the shortening of cycle time is required and
Learning
controller
Suspension
Continuation
Position Error
Command
+
+
+
-
1
s
Position
Gain
Motor
G0(s)
Kp
Position feedback