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 026
Edit Date Design Description / 070
Learning result is memorized by each profile.
Data range : 0 to 16000 (When No.2007#3 = 1, to 32000 [Velocity sampling time])
Standard : 0
Learning control starts usually from non-zero command after the High-speed cycle cutting (G05) starts. If this
parameter is set to LESTTM, Learning control starts at LESTTM [msec] late from non-zero command
appeared. Regarding use example, see Fig.3-3-3.
Data range : 0 to 32767
Standard : 60 (When Position gain is 30s
-1
)
10 (When Position gain is 180s
-1
)
In case of Suspension mode or Compensation data suspension mode, set the renewal times of
compensation data to BRCT with a Learning period being one unit until you want to stop the renewal. You have
to determine BRCT to reduce the position error to minimize by Learning controller.
Position gain affected BRCT value. The smaller the position gain, the more BRCT is required, so make sure
of actual BRCT by the practical machine.
Data range : 10 to 20 (Velocity 1msec)
1 to 5 (Velocity 0.5msec)
(Note) This parameter must be below Command period (No.2243 etc).
Standard : 0
This parameter is useful for reducing the mechanical shock at finishing Learning control.
The Learning controller halt to output the compensation data for SHKRDC [msec] from the end during the final
cycle.
Servo software judges the final cycle by the Learning count (No.2242, No.2235, or etc).
Data range : 0 to 700 stepping up every 100 (When Velocity 0.5msec)
0 to 350 stepping up every 50 (When Velocity 1msec)
Standard : Refer to Appendix 3. Parameter table for Learning control.
FBND decide the band-width of Learning controller, so the higher the better as far as being stable. The
maximum value in the range where there is no vibration is set. Be careful, if the command by user includes
the high frequency spectrum exceeds FBND, the error of the frequency spectrum does not converge.
(Note) If you set 0, no learning is performed. You can disable Learning control without power off.
2244
FBND Frequency band of low pass filter [Hz]
2245
BRCT Learning suspension count [cycle]
2234
LESTTM Learning start time [msec]
2262
SHKRDC Shock reducing counter [msec]