FANUC A-63639E-050_01_051104

TECHNICAL REPORT (MANUAL) No. TMS 99 /

Date 28 , Jan .1999

General Manager of

Servo Laboratory

Notice of the revision of Digital Servo ROM 90A3 series

1. Distribute this report to the destinations marked with

Your information

GE Fanuc-N, GE Fanuc-E

Fanuc Robotics-NA, Fanuc Robotics-E

CINCINNATI MILACRON

Machine tool builder

Sales agency

End user

2. Summary for Sales Documents (Sales guide, Functional comparison list, etc)

This document reports the revised edition of the Digital Servo Software 90A3 series for

FS16i, FS18i for Learning control.

3. Another Information

4. Attached Document

Drawing A-63639E-050 (1/2 - 2/2)

No. A-63639E-034 / 02 (1/69 - 69/69)

5. Registration of Order List data (In case of Order List)

Type of Data Lotus 123/Win • Oasys

Manager Chief

Original section of issue

IDE

01 / 02DescriptionDesign.DateEd.

01 99. 01. 28

SHEET

DRAW. No. CUST.

TITLE

Maeda Newly designed

Revision ofDigital Servo ROM 90A3 series

A-63639E-050

FANUC LTD

Revision of Digital Servo ROM 90A3 series

1. Type of applied documents

Name FANUC AC SERVO software 9083 / 9087 / 90A3 / 90A7 series Learning

Function Operator’s manual

Spec. No./Ver. A-63639E-034 / 02

2. Summary of Change

Group Name / Outline New, Add

Correct, Del

Applicable

Date

Basic Function 1. Common motor feedback function is available.

2. FSSB dummy function is available.

3. Resonance eliminate filter is available.

4. Current offset compensation function is available.

Add

Add

Add

Add

1999.01

1999.01

1999.01

1999.01

Optional

Function

1. Tcmd Tandem control function is available.

Add

1999.01

Unit

Maintenance

Parts

Notice

Correction

Another

02 / 02DescriptionDesign.DateEd.

01 99. 01. 28

SHEET

DRAW. No. CUST.

TITLE

Maeda Newly designed

Revision ofDigital Servo ROM 90A3 series

A-63639E-050

FANUC LTD

Revision of Digital Servo ROM 90A3 series

We report the revision of Digital Servo ROM 90A3 series.

1. Update Edition

ROM series Old edition New edition Available CNC

90A3 001A 001B FS16i,18i

(for Self-Learning function)

2. Content of change

a) Tandem control function except Full-preload function is available. (For α300 or α400).

(option) A02B-0236-J733 (FS16i-TA) A02B-0237-J733 (FS16i-MA)

A02B-0238-J733 (FS18i-TA) A02B-0239-J733 (FS18i-MA)

b) Common motor feedback function is available.

You can drive the α300 or α400.

(Parameters) No.1817#6 = 1 Tandem control (Main and Sub axes)

No.2018#7 = 1 Common motor feedback (Sub axis only)

c) FSSB dummy function is available.

d) Resonance eliminate filter is available.

e) Current offset compensation function is available.

(Parameters) No.2175 R-phase offset shift value

No.2176 S-phase offset shift value

3. Attached material

1 ) “FANUC AC SERVO software 9083 / 9087 / 90A3 / 90A7 series Learning function Operator’s manual”

(A-63639E-034 / 02) 1 / 69 - 69 / 69

Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual

Draw No.

02 ’99.01.14 K.Maeda Qualified 1’st issueA - 63639E - 034

01 ’97.12.08 K.Maeda Newly designed Sheet 01Edit Date Design Description / 069

1. Overview

2. System Configuration

3. Application Examples

4. Explanation of Learning Control

5. Servo parameters

6. Learning Control functions

7. Functions detail

8. Adjustment

9. Attentions

Appendix 1. Notes on the order

Appendix 2. Making method for cutting data

Appendix 3. Parameter table for Learning Control

Appendix 4. Functions table for Servo edition

Appendix 5. Method of changing parameter in CNC Program

Appendix 6. Checking Position Error by Check-board

Appendix 7. Notes on using SD.EXE

Index

FANUC AC SERVO SOFTWARE

9083 / 9087 Series90A3 / 90A7 Series

LEARNING FUNCTION

Operator’s Manual

(CAUTION)The contents of this manual may be changed as a result of

improvements to the servo software or other improvements.


Draw No.



Contents1. Overview ……………………………………………………………………………………. 32. System Configuration ………..…………………………………………….…….………... 53. Application Examples ………..…………………………………………….…….………... 6

3.1 Lead Cutting ……..……………………………………………………….…….…….. 63.2 Piston Lathe …….…..…………………………………………………….…….…..… 7

3.3 Cam grinder ………..…………………………………………………….…….…….. 84. Explanation of Learning Control ……………………………………………..…………... 10

4.1 Summary of Learning Control ……….……………………………………………..… 10

4.2 Self-Learning Control ………..……………………………………………………….. 11

4.3 Preview Repetitive Control ……………………………………………………..……..125. Servo parameters …………………………………………………………….…….……... 13

5.1 Setting parameters ……………….…..…………………………………………...…..13

5.2 Setting High-gain parameters ………….…………………………………………….. 175.3 Servo parameters List …………..……….…………………………………………… 18

5.4 Servo parameters detail ………..……….…………………………………………… 21

6. Learning Control functions …………………………………………….……….………… 246.1 Learning Control parameters …..……….……………………………………………. 24

6.2 Adaptive Preview Control parameters …..…………………………………………….29

6.3 Adaptive method …..……….……………………………………………………….…307. Functions detail …………………………………………………….…………….…….….. 31

7.1 Servo trace function …..……….……………………………………………………... 31

7.2 Learning memory expanded function …..……….…………………………………… 357.3 Learning data transmission function …...………………………………………...….. 38

7.4 Ultra high precision Velocity feedback function …..……….………………………… 43

7.5 Torsion compensation during high speed cycle cutting function ……………………. 447.6 Tandem Learning control function .…………………………………………………... 47

8. Adjustment ……………………………………………………………….….…….……….. 50

9. Attentions …………………….…………………………………………….…..……..……. 51

Appendix 1. Notes on the order …………………………………………………….……… 53

Appendix 2. Making method for cutting data ………………………………………………. 54Appendix 3. Parameter table for Learning Control ………………………………………...55

Appendix 4. Functions table for Servo edition …………………………………………….. 59

Appendix 5. Method of changing parameter in CNC Program …………………………...64Appendix 6. Checking Position Error by Check-board …………………………………….65

Appendix 7. Notes on using SD.EXE ………………………………………………………. 66

Index ………….…………………………………………………………………………………69


Draw No.



1. OverviewThis manual describes the only special servo functions and parameters relating to High-speed Cutting and

Learning function used in FANUC Digital AC Servo. With respect to the information of the standard servo

function for general cutting tools, you can get it from FANUC AC SERVO MOTOR α series PARAMETER

MANUAL B65150E.

• High-speed Cutting means "High-speed Cycle Cutting" on NC memory or “DNC operation” by PersonalComputer through HSSB, or “Data Server Operation” with High-speed binary operation.

• Learning function works only during G05 execution, which is High-speed cutting in the part program.

• As you can set Learning function for each axis, you can mix Leaning axes and Normal axes.

Major specification of Learning control

• Command period Max. 16sec (C-axis minimum speed 3.75rpm for Cam application)

• Pulse distribution period Min. 0.5msec (for αL6 or αL9 etc, the other is 1msec ∗1)

• Frequency Band Max. 500Hz (for αL6 or αL9 etc, the other 200Hz ∗1)

• Profile number Max. 16 profiles (Cam grinder)

• Learning step number Max. 5 steps (Cam grinder)

Note ∗1) Refer to “Appendix 3 Parameter table for Learning control”. The item of “velocity” and “FBND” is Min.

distribution period and Max. Frequency Band in the order. Remark is important for the application.

The parameters for High-speed Cutting tools different from those for general cutting tools are described in

5.3 Servo parameters list and explained in 5.4 Parameter details.

• For the other standard Servo parameters described in this manual and adjustments, refer to

"FANUC AC Servo Motor α series Parameter Manual" B-65150E.

Servo ROM series for High-speed Cutting tools and for general cutting tools are listed as follows.

Table 1-1. Combinations of Servo Software Series and CNC type

For general cutting tools For High-speed cutting tools

Servo CNC Servo CNC

9030 Series 0-C

Series 15-A

9033 Series 0-C(Series 15-A)

9050

9060

Series 16-A, 18-A

Series 15-B

9053 Series 16-A

9070 Series 16-B, 18-B

Series 15-B

9073 Series 16-B, 18-BSeries 16-C, 18-C

9080 Series 16-C, 18-CSeries 15-B

90839087

Series 16-B, 18-BSeries 16-C, 18-C

9090 Series 16i-A,

Series 18i-A

90A0 Series 16i-A,

Series 18i-A

90A390A7

Series 16i-A,Series 18i-A


Draw No.



(Note 1) A High-speed axis or a Learning axis occupies one Servo CPU, and can not coexist with another

axis.A High-speed axis or a Learning axis must be allocated to L-axis (odd number axis).A High-speed axis is the axis supporting High-speed Interface (G05 activates the interface).• High-speed axis : No.2005 Bit4 (HSPEED) =1 of the axis FS16.• Learning axis : No.2008 Bit5 (SLEN) =1 of the axis FS16.

♦ There is not the above under-line restriction in 90A7 series. But a Learning axis must be allocatedto L-axis.

(Note 2) The Learning function by digital servo software enables high-precision control for the commandthat is given repeatedly at specified intervals. For example, the lead for video cam drum, thepiston or the cam shaft for car engine are usually made with a conventional cam machine usingmechanical way. Learning function enables the customer’s program to replace a conventionalcam machine with a CNC machine.

(Note 3) The parameters described in this manual for High-speed Cutting tools are applied only to a High-speed axis and Learning axis.The servo parameters except a High-speed axis are the same as that for general cutting tools.(This axis is called the normal axis in this manual from now on.)

(Note 4) You can use 9083 or 9087 series in either Series 16B or Series 16C. You should use 90A3 or 90A7in i-series.

Never use the servo software out of accord with the above table (Table 1-1)

(Note 5) You should choose 90x3 or 90x7 series based on the following criteria.

Lead Cutting Machine or Piston Lathe …………………………………….. 9083 or 90A3

Cam Grinder or Crank Shaft Grinder ………………………………………. 9087 or 90A7

“Ultra high precision velocity feedback function” is available for 9087 or 90A7.

(Note 6) Refer to the following manual for the general servo parameter and adjustment.• " FANUC AC Servo Amplifier maintenance Manual " : B-65005E etc.• " FANUC AC Servo Motor α series parameter Manual " : B-65150E etc.As for specifications and usage of High-speed cycle cutting (G05), refer to the following CNCmanual.• " FS16/18 Operator's Manual (Tuning) " : B-61804E• " FS16/18 Maintenance Manual " : B-61805E

(Note 7) 90A7 series has a large difference from the other Learning series.

• This series supports the High-speed interface without High-speed axis setting. (No.2005#4=0).If you still set a High-speed axis (No.2005#4=1), one axis occupies one Servo CPU as usual.

• You must allocate a Learning axis (No.2008#5=1) to L-axis as usual.The Learning memory area of 1st axis or 3rd axis is different from the area of 5th axis. Regarding tothe detail, refer to 7.2 Learning memory expanded function.

• A Learning axis does not occupy a CPU, so you can allocate the other normal axis to M-axis.• This series supports the Tandem control. But this function has partially different specification from

the Tandem control in standard servo series because of the premise used together with Learningcontrol. Regarding to the detail, refer to 7.6 Tandem Learning control function.

• This series does not support the Servo trace function. (90A7 series only)


Draw No.



2. System Configuration

High-speed cutting (G05) can be achieved using three below cases. Fig.2-1 shows a system configuration.

(1) Memory operation by “High speed cycle cutting”

a) To produce cutting data by Open CNC or personal computer and down load to P-code area of CNC.

b) To produce cutting data by Macro executor and write to P-code area.

After preparing the cutting data by Personal Computer or Open CNC.

(2) Data Server operation with High-speed binary operation.

c)To produce cutting data by Open CNC or personal computer and down load via Ethernet to Data server

and run “High speed binary operation by Data Server”.

(3) DNC operation that Open CNC or Personal compute run directly CNC through HSSB

using the next two ways.

(d) User’s program including DNC operation library.

(e) DNC operation management package in BOP (Basic Operation Package).

(Note) In case of (3) , there is a possibility that transmission rate can not keep always due to the personal

computer performance. In individual case, consult with Software technique department. If you need

to have the transmission rate guaranteed, you must select the method of c) .

♦ You can choose the Memory operation or (either Data Server operation or DNC operation) in onesystem. You can change two operations by G05 code or M198 code in your cutting program.

Personal Computer

Producing cutting data

Hard Disk(Binary data)

c)Ethernet

Learning

function

Digital ServoSoftware

Data ServerBinary Op.

P-code variablesMemory Op.

Series 16 (NC Software)

a) RS232C or HSSB

G05

d) HSSB

F-bus

Macro executor

b)

User Program

(+Library by Fanuc)

User Program(Parts Prog. Oxxx)

(1)

(2)

(3)

PositionCommand

Fig. 2-1 System configuration selection


Draw No.



3. Application example

3.1 Lead cutting machine

(1) The tape running surface is cut synchronized to the spindle rotation, moving the tool 1 back and forthalong the Y-axis. By feeding the tool along the Z axis, the lead surface is gradually cut deeper.( Process A )

(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 the Suspension mode or the Continuation mode of the Self-learningcontrol.

X axis

Byte 1

C axis

Y axis

Tape driving surface

B

Byte 2

Double slide mechanism

Tape driving surface : A

Lead surface : B

Zoom Up(cross section) A

Cutter movement

Z axis

Fig. 3.1.1 Cnfigulation example of Lead Cutting Machine

TimeConst

Learning period

PRIOD

Lc

RPTCT

G05 Start

C axis

Y axis

TY axis Learning Start

C axis

Ly

Fig. 3.1.2 Axes Movement of the velocity at the start

Cutting Start

Ly or Lc should be the longer time Learningcomplete to converge the position error

C axis

Y axis

Z axis

X axis

Fig. 3.1.3 Axes Movement of the velocity at End

Offset for Tool change

Lead finish cutting

Repetition count RPTCT

G05 End


Draw No.



3.2 Piston Lathe

* Cutting Sequence

(1) The piston outside is cut by rotating the spindle to move the tool back and forth along the Y axis. By feeding

the tool along the Z axis, the piston outside is gradually cut deeper.

(2) Both Y axis and C axis use the Suspension mode or the Continuation mode of the Learning control. When

the command of Y axis gradually changes, Y axis should use the Continuation mode of the Preview

repetitive control. If changing rate of the command is small, the Continuation mode of the Learning control

might be sufficient for Y axis.

Oval cross Section

Z axis

Piston axis

Double slide mechanism

Piston Work

Fig. 3.2.1 Configuration example of piston lathe

Y axis

X axis

C axis

Y axis

Z axis

X axis

G05 endG05 start

Approach

Retract

Command data period PRIOD

Y axis Learning start

Cutting start

Ly should be longer than the the time thelearning complete to minimize the error.

Fig. 3.2.2 Movement of the tool along each axis when processing

Ly

Repetitive count RPTCT


Draw No.



3.3 Cam Grinding Machine

* Grinding Sequence

(1) The cam form is ground synchronized to C axis rotation with the grinder back and forth moved along X axis.

(2) Each profile is processed by the High-speed cycle cutting (G05), but changing the profile fall out of G05 with

Z axis moved.

The way in case of many repetition cycle in a profile.

(3) Setting the period of one C rotation to Learning period.

(4) Though the finishing can get down the rotation speed of C axis, from the precision point of view, it is

recommended for the rotation speed of C axis not to change with L1=L2.

(5) The rotation speed of C axis can vary during one rotation of C axis. There might be the special machine such

as the crank-shaft pin grinding that requires very high accuracy. As far as grinding technology allows, The

constant C speed during one rotation is more preferable for the application of high accuracy.

(6) Both X axis and C axis use the Compensation data continuation mode of the Preview repetitive control.

The way in case of a few repetition cycle in a profile.

(3) Setting the total C rotation involving the Approach to Learning period.

(4) Compensation data continuation mode of the Preview repetitive control is used with Repetition count set to

one.

(5) You need to repeat about ten times trial of G05 till the sufficient convergence of the error achieved.

(6) In case you don’t want to renew the compensation data at the grinding of Learning function, you have to set

compensation data suspension mode active, and Repetition count to zero.

(7) Make sure to set Shock reducing counter (SHKRDC) effective.

GrinderCAM work

Spiral grinding

A

A'

A - A' cross section

Grinding tool

C axis

Z axis

Profile 1

Profile 2

Profile 3

Profile 4

CAM work

Single slide mechanism

Fig. 3.3.1 Example of Configuration of Cam Grinding Machine.

X axis

G05 G05 G05 G05

Profile 1 Profile 2 Profile 3 Profile 4

C axis

X axis

Z axis

Fig. 3.3.2 Movement of the Tool along each Axis.


Draw No.



1'st cutting step 2'nd cutting step 3'rd cutting step

L1L2 PRIOD2

L1 , L2 : C axis rotation period

Learning startRepetitive count RPTCT

L1 PRIOD

The 2'nd Repetitive count RPTCT2

G05 start G05 end

1/L1 Average speed 1/ L2 Average speed

ApproachLESTTM

Fig. 3.3.3 Cutting Chart (when profile 1)

X axis

C axis

L1 , L2 : C axis rotation period

Learning start

Repetitive count RPTCT=0

L1 Command period (PRIOD)

G05 start

1/L1 Average speed

Approach

Fig. 3.3.4 Cutting Chart 2 (Profile 1)

X axis position

C axis speed

G05 End

C axis one rotation


Draw No.



4. Explanation of Learning Control4.1 Summary of Learning Control

l What is “Learning Function” ?

It is a function for realizing high-speed and high-precision cutting by using Learning Control (Repetitive

Control) or Preview Repetitive Control. Preview Repetitive control is the superset for Learning control.

So one of each is necessary not both to set ordering.

l Configuration of Learning function

Learning Control (Repetitive Control) is realized by Learning controller. And Preview Repetitive Control is

realized by combination with Learning controller and Adaptive Preview controller.

l Feature of Control

Learning controller minimizes the error by learning the repetitive command of specific period or the

disturbance synchronized with command period. And Adaptive Preview controller follows rapidly the

command by means of doing the best suited feed-forward control decided by Adaptive control.

l When is “Preview Repetitive control” applied ?

The convergence of error (Learning speed) by Preview Repetitive control is faster than that by only

Learning controller. Learning control can be applied even for the case which the periodic command change

gradually the shape. If the change of the shape is comparatively rapid and large, you should adopt Preview

Repetitive control.

FANUC Learning function

Learning control Preview Repetitivecontrol

Learningcontroller

Adaptive Previewcontroller

Learningcontroller


Draw No.



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 modeFor each High-speed cycle cutting (G05), the compensation data continue to renew up to Learningsuspension count BRCT parameter. Then the learning is suspended and the last compensation data is usedfor control without the renewal. BRCT is set for the position error to converge by the learning. This mode isusually used on the lead cutting machine.

When BRCT is zero, Servo does not renewal the Learning memory.

(2) Continuation modeWhile High-speed cycle cutting is executed, the compensation data renew itself up to the end . This modeis used on the command gradually changes, though the period is constant. This mode is normally used onthe piston lathe.

(3) Compensation data suspension modeThis 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 byLearning at the last G05. The created compensation data is not deleted unless the power is turned off. Thismode is normally used on the cam grinding machine which the shortening of cycle time is required and thecommand does not include the cutting feed but only profile data, such as the case of double slidemechanism.

(4) Compensation data continuation modeThis 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 datacreated by learning at the last G05. The created compensating data is not deleted unless the power isturned off. This mode is normally used on the cam grinding machine which the shortening of cycle time is

Learningcontroller

Suspension Continuation

Position Error

Command+

++-

1s

PositionGain

Motor

G0(s)

Kp

Position feedback


Draw No.



required and the command within one profile gradually change due to cutting feed, such as the case ofsingle slide mechanism.

(Note) Compensation data mode means that compensation data is not clear at G05 finish. Both Suspension and Continuation mode clear it every time G05 finish. And it takes some times to

clear. So when you execute two or more successive G05, it might be necessary to add G04 to waitthe time after G05 before starting the next G05. Refer to 7.2.2 processing flow for the time.

4.3 Preview Repetitive Control

[ Merit ]l Learning controller decides the final error, and Adaptive preview controller hasten to converge the error.l Adaptive control is effective for a case that Command change the shape gradually.l Adaptive control is effective for the application to change the command period halfway through G05.

[ Algorithm ]l Preview repetitive control is realized by combination with Learning controller and Adaptive Preview

controller.l Adaptive preview control does the best suited feed-forward control by using Adaptive control.l Feed-forward coefficients are calculated so as to reduce the position error by making use of repetition of

command.l As this result, position error decreases without Learning controller. Because Adaptive Preview controller

itself has no effect for disturbance, the error due to disturbance is gotten rid of by Learning controller inPreview repetitive control.

l Feed-forward coefficients are decided in the Adaptive mode of Adaptive preview control. During this time,Learning control is disabled automatically.

l You need to transmit the decided coefficients to CNC for the purpose of holding it even at Power off.l You should process in “Fix mode” of Adaptive repetitive control in which the coefficients is not renewed.

You need to enable Learning control this time.

1s

Adaptive PreviewController

LearningController

Preview Repetitive Control

Position ErrorPositionCommand

Kp

+ - +

+ +

+

PositionGain

Motor

G0(s)

Position feedback


Draw No.

02 ‘99.01.14 K.Maeda Qualified 1’st issue A - 63639E - 034

01 ‘97.12.08 K.Maeda Newly designed Sheet 013Edit Date Design Description / 069

5. Servo parameters

5.1 Setting parameters (Series 16)

5.1.1 Setting CNC parameters

CNC parameters setting related to High-speed Cutting are explained.

According to the detail, refer to the “FANUC Series 16 / 18 manual”.

(1) Set the following parameter.

• No.1004 (Bit type) B1=1, B0=1 (IS-C : 0.1µm setting).

• No.1816 (Bit axis type) B6=1, B5=1, B4=1. (DMR=111)

• No.1820 (Word axis type) set to CMR.

• No.1825 (Word axis type) set to Position Loop Gain.

(Note) Generally you should set Position Loop Gain to 18000 or 24000 in case of αL9 or αL6 for Piston

Lathe or Lead cutting machine, and set Position Loop Gain to 3000 in the other case not specified

particularly.

• No.7501#6 - #4 (Bit type) set to Interpolated period for G05.

111 : 0.5msec

011 : 1msec

001 : 2msec

010 : 4msec

• No.7502#0 (Bit axis type) set to 0. (Acceleration/Deceleration is not used during G05 : M-series)

• No.7505#0 (Bit axis type) set to 1 only for High-speed distribution axis.

(Note) In case High-speed distribution, you must set 1 for both CNC side (No.7505#0) and Servo side

(No.2005#4). In 90A7 series, you should set 1 only for CNC side (No.7505#0).

• No.7505#1 (Bit axis type) to magnification for G05 data.

0 : x 1 times (Usual case)

1 : x 10 times (Special case described below)

(Note) In case that the least input increment is 0.0001 deg for a rotary axis and G05 data exceeds 1 word

(32767) at the high speed.

• No.7510 (Word type) set to maximum control axes during G05.

(2) Set the following parameter to allocate each axis

• No.1023 (Word axis type) set to servo axis number.

Note 1) As a High-speed axis or a Learning axis occupies a servo CPU, allocate it an odd number axis (1st or

3rd or 5th axis). The another axis can not be allocated to the even number axis.

However, 90A7 series can assign the normal axes at even number axis together with High-speed

or Learning axis assigned at the odd number axis.

Note 2) When allocating each axis by No.1023, refer to the following samples.

(Example 1) In the following configuration, set 1, 2, -1 and 3 for No.1023.

Axis name Servo axis number

X axis 1st axis

Z axis 2nd axis

C axis Cs axis (Spindle)

Y axis 3rd axis (High-speed axis or Learning axis)


Draw No.



(Example 2) In the following configuration, set 1, 2, 3 and 5 for No.1023.


X axis 1st axis

Z axis 2nd axis

C axis 3rd axis (Learning axis)

Y axis 5th axis (High speed axis)

(Note) In case setting Learning axis for the 3rd axis, you can not allocate a normal axis for the 4th axis. In

90A7 series, you can allocate a normal axis for the 4th axis.

(Note) If you set –128 for No.1023, the axis is recognized as a dummy.

(Example 3) In the following configuration with α300 or α400, set 1, 3, 4 and 5 for No.1023.


X axis 1st axis

C1 axis 3rd axis (Tandem axis)

C2 axis 4th axis (Tandem axis)

Y axis 5th axis (High speed axis)

(Note) You should set α300 or α400 to Tandem axis. This motor occupies two servo axes that are the odd

and the subsequent even number.

• You must set No.1817#6 of both main and sub axes to 1. (Tandem control is the software option.)

• You must set No.2018#7 of the sub axis to 1.

♦ Tandem control is available from the following edition.

9083/02 or later, 9087/02 or later (plan), 90A3/02 or later, 90A7/01 or later

5.1.2 FSSB setting

You should think the allocation of axis number (No.1023) and amplifier number (No.1910-) because the

connection from CNC to amplifier is serially linked by optical cable (FSSB interface) in i-series.

Refer to the following example.

Fig. 5.1.2 FSSB setting example

CNCAxis

Path 1

1020Name

1905#0

1936 1023

1

2

3

4

5

6

7

8

X

Z

C

Y

A

0

0

−

0

1

0

−

−

−

−

1

5

-1

3

6

1 − 0

Axis Card

1

2

3

4

5

6

7

8

9

10

0

2

4

5

16

40

40

40

40

40

1910- Slave

Fast X

Y

Z

A

Servo Amp.

Fast

Fast

Slow

1905#7,#6 = 01

M1

Scale

2 − 1

3 − 2

4 − 3

5 − 4

6 − 5

7 − 6

8 − 7

Servo Axis Number


Draw No.



5.1.3 Setting servo parameters (In case semi-closed and 0.1µm :Serial pulse coder A, α1000 or α64)

According to the detail, refer to “AC SERVO MOTOR α series Parameter Manual”.

Because all servo parameters (No.2000 - No.2269) are axis type, you should set it for each axis.

(1) Set the following parameters fitted each motor and machine.

• No.2000#1 - #0 set to 01.

• No.2001#7 - #0 set to 00000000.

• No.2020 set to the Motor number.

• No.2021 set to Load Inertia ratio.

• No.2022 set to the motor rotation direction. ( 111 or –111)

• No.2023 set to 819.

• No.2024 set to 1250.

• No.2084 set to SDMR1.

• No.2085 set to SDMR2.

(Example 1) Lead pitch of ball screw is 12 mm/rev. (0.1 µm)

SDMR2

SDMR1

100

12

1000000

120000→=

(Example 2) Rotary axis, 4/10000 deg detective unit and 900000 pulses/rev

SDMR2

SDMR1

100

90

1000000

900000→=

(Example 3) Linear motor, LS486 and 0.1µm detective unit

( ) SDMR2

SDMR1

128

50

20/20128

1.0/5→=

×

(2) Turn off the power supply, then turn it on. (Auto loading)

(Note 1) In case of High-speed axis, set the following parameter, turn on and off the power supply.

• No.2005#4 set to 1 for High-speed axis.

♦ You don’t need this process in 90A7 series.

(Note 2) In case of Learning axis, set the following parameter, turn on and off the power supply.

• No.2008#5 set to 1 for Learning axis.

(Note 3) In case of Linear motor, set the following parameter, turn on and off the power supply.

• No.2010#2 set to 1.

• No.2023 set to 5000/10.

• No.2024 set to 160000/10.

• No.2112 set o 512∗(60/20)=1536.


Draw No.



5.1.4 Caution in case of servo parameter setting for High-speed axis

High-speed axis is the axis that can accept the high-speed distribution data from CNC.

In case that you set a High-speed distribution axis (No.7505#0 = 1) on CNC side, you must set certainly

High-speed axis bit (No.2005#4 = 1) on corresponding Servo side. But in case that you set to a High-speed

axis on Servo side, you don’t have to set necessarily to High-speed distribution for the corresponded axis

(No.7505#0).

Note) In 90A7 series, you don’t have to set necessarily to High-speed axis on Servo side, even if High-speed

distribution axis is set (No.7505#0 = 1).

(1) With regard to αL9 or αL6 used for Piston lathe or Lead cutting machine, the parameters for High-speed

cutting are designed for the application. You should set No.2020 to 74 for αL9, to 75 for αL6.

(Note) Refer to “Appendix 3. Parameter table for Learning control”.

(2) With regard to the other motor, you should set the Learning parameter with referring to “Appendix 3.

Parameter table for Learning control” .

(3) For the purpose of more robustness against disturbance, there is a case of High gain setting.

In this case, you need to set to High-speed axis (No.2005#4 = 1) on Servo side regardless of High-speed

distribution axis on CNC side.


Draw No.



5.2 Setting High gain parameter

In case of using Learning control for Cam grinder etc, and the position error does not converge due to the

influence of disturbance, it is recommended to use the High gain setting.

Refer to “Appendix 3. Parameter table for Learning control”.

(Note) This is not the case of the αL9 or αL6 for Piston lathe etc.

(1) You should set the standard parameter with referring to ”5.1.2 Setting servo parameters”.

(2) Set the following parameters on the emergency ON(*ESP ON),

• No.1825 set to 6000. (Position Gain)

• No.2003#3 set to 1. (PI control)

• No.2004 set to xx1x0001. (Note) You don’t change “x” bit.

• No2005#4 set to 1. (High-speed axis) In 90A7, set to 0.

• No.2008#5 set to 1. (Learning control axis)

• No.2040 set to twice. (PK1)

• No.2041 set to twice. (PK2)

• No.2044 set to twice. (PK2V)

(3) Set Learning control parameters.

• No.2244 set to 200. (Frequency band of the low pass filter)

• No.2246 set to 10. (Maximum order of Gx)

• No.2247 set to 0. (Minimum order of Gx)

• No.2248 set to 64. (Coefficient 1)

• No.2249 set to –32 or 0. (Coefficient 2)

(4) Turn Off / ON the power supply.

(5) Set the other Learning control parameter if necessary.

(6) In case of Adaptive preview control, you should decide the feed-forward coefficients again according to “6.3

Adaptive Method”.

You should take care of No.2254 (Forward order) setting because the Velocity loop of High gain setting is

0.5msec.

(Reference) In case of using the expanded Gx, set the following parameters. You had better not use expanded

Gx because of the hardness of tuning on site. The following is reference only.

• No.2008#3 = 1 (expanded Gx)

• No.2246 = 5 (Maximum order)

• No.2246 = 0 (Minimum order)

• No.2248 = 743 (Coefficient 1)

• No.2249 = –283 (Coefficient 2)






Draw No.



5.3 Servo parameters List

The following parameters number are for FS16. The shaded parameters are detailed in this manual.

2000 PLC0DGPRPGEX

B7 B6 B5 B4 B3 B2 B1 B0

2002

2003 OBEN TGALPIENNPSPBLENOVSCVOFS

2004 TIA0TRW0 TIB0TRW1DLY2TIB1DLY0DLY1

2005 36RPC FEEDHSPEEDBRKCSFCM

2006 FCBLPKVESBSPVEACCFAPCCHKDCBERIPPLE

2007 VELHSPTRASMT ADAPTUNTSLVCMDCLADERSLILMTRL

2008 LSTPMSCHK (TNDM)EXGXLCONSLENICMINVSYS

2009 SERDADBLPK1VUPANALOGBLCUBLST

2010 LINE TLIMCGBLTE

2011 MKH125 FFALWYPLCRSTRCCLBKLISC

2012 MSFEOVERPIVCM1VCM2STNG

2017 HTNGOVCR

2018 PFBCPY

2019 LBUFEX

2229 HSSATUSTPREDTAWAMI

2200 OVRNSPPFBSFTPK2VSF

2201 CROFRUNLVLVOCECM

2228 SYSLRNHSBLCVFB1MSVFB500VFB2MS FRQ

2016


Draw No.



2198 JAINBL Special Hunting control gain (Extra semi-closed) 9087/A

2199 JTOVL Special Hunting control conversion coefficient 9087/A

2230 IPPIL Current IP or PI coefficient

2231 MSCKLV Maximum speed check level

2232 STPRPT Step repetition count Don’t use. fix to 0

2233 PRFNO Profile number

2234 LESTTM Learning start time

2235 RPTCT2 2nd repetition count (cycle)

2236 PRIOD2 2nd Learning period (msec)

2237 RPTCT3 3rd repetition count (cycle)

2238 PRIOD3 3rd Learning period (msec)

2239 RPTCT4 4th repetition count (cycle)

2240 PRIOD4 4th Learning period (msec)

2241 SFTTH1 Manual thinning count Don’t use. fix to 0

2242 RPTCT 1st repetition count (cycle)

2243 PRIOD 1st Learning period (msec)

2244 FBND Frequency band of the low pass filter (Hz)

2245 BRCT Learning suspension cycle (cycle)

2067 FILTER Tcmd filter coefficient

2110 MGSTCM Magnetic saturation compensation coefficient 9083/A

2175 RSHFTL R-phase current offset compensation coefficient

2176 SSHFTL S-phase current offset compensation coefficient

2177 Cut-off frequency for resonance eliminate filter (Hz) 90A3/B

2113 Center frequency for resonance eliminate filter (Hz) 90A3/B


Draw No.



♦ Gx : Dynamic characteristic compensation

2255 ADPCE Adaptive coefficient

2252 EXGXK5 Coefficient 5 of expanded Gx


2254 ADVDM Forward order

2256 FORW1 Feed forward coefficient W1






2262 SHKRDC Shock reducing counter

2263 TAWA1L Torsion compensation coefficient during G05 9083/B

2264 PRFALL Total profile number 9087/A

2265 RPTCT5 5th repetition count (cycle) 9087/A

2266 PRIOD5 5th Learning period (msec) 9087/A

2246 GODMX Maximum order of Gx

2247 GODMN Minimum order of Gx

2248 GCOEF / EXGXK1 Max. coefficient of Gx / Coefficient 1 of expanded Gx

2249 EXGXK2 Min. coefficient of Gx / Coefficient 2 of expanded Gx




Draw No.



5.4 Servo parameter detail

If not necessary, Don’t change the standard parameters of Auto loading.

In case of specifying Series and edition, you can use the function from that edition or later.

PIEN Velocity loop is

1 : PI control0 : IP control

HSPEED High-speed I/F axis bit1 : High-speed axis (1 axis / 1 DSP) ♦ Odd axis except 90A7.0 : Normal axis (2 axes / 1 DSP)

VELHSP Velocity loop is controlled using1 : Proportional gain of P-I or I-P control calculated at the current loop. Used for a9L of the

piston axis etc. This is called as “High-speed Proportional gain”0 : Normal proportional gain

ILMTRL Output from Integrator of velocity loop at High-speed Proportional gain is1 : not clump.0 : clump.

MSCHK Maximum speed is1 : checked relating to No.2231.0 : not checked.

(TNDM) This bit is reflected by No.1817#6 (Tandem bit). You cannot change this bit.

PFBCPY Motor feedback is taken from (Sub axis only)1 : L-axis.0 : M-axis. (standard)

♦ In case of α300 or α400 or connected Linear motor, set this bit to 1 with Tandem control.

2003 OBEN TGALPIENNPSPBLENOVSCVOFS

2005 36RPC FEEDHSPEEDBRKCSFCM



2018 PFBCPY


Draw No.



PK2VSF Velocity proportional weight (9087/01 or later)1 : 1/4 ♦ There is a possibility of causing Parameter alarm in case of large0 : Normal setting Load inertia ratio. In this case, set to 1.

PFBSFT Conversion coefficient of hunting control (No.2033) is (9083/01 or later)1 : 1/4.0 : Normal setting.

OVRNSP Detecting of runaway in full-closed system is (9083/01 or later)1 : not useful. ♦ In case that rotation direction is fixed in initial setting,0 : useful. set this bit 1.

VOCECM Voltage neutral point compensation is (9083/01 or later)1 : not available.0 : available.

CROF At emergency stop, current offset is (9083/02 or later)1 : re-taken in.0 : not re-taken in. (standard)

VFB2MS Velocity feedback is (9087/01 or later)1 : special. (2msec) ♦ This bit is effective to reduce high frequency0 : standard. (1msec) oscillation in High gain setting.

VFB500 In High-speed Proportional gain, velocity feedback to P is (9083/02 or later)1 : Average during 500µsec ♦ This bit is effective to reduce high frequency0 : standard. (250 µsec) oscillation in No.2007#0 = 1.

VFB1MS High-speed Proportional gain, velocity feedback to P is (9083/02 or later)1 : Average during 1 msec ♦ This bit is a use of reducing high frequency0 : standard. (250 µsec) oscillation in No.2007#0 = 1.

HSSATU In High-speed Proportional gain (No.2007#0 = 1) (9087/01 or later)1 : Wind-up of Velocity Integral is suppressed.0 : Not suppressed (Standard at No.2007#7=0,which is usually used in No.2007#0 = 1)

Standard : 0Set by the following expression. fc : Cut-off frequency [Hz], τ : Sampling time [sec]

(Setting value) = 4096 × exp(-2π×fc×τ)

(Example 1) Case of normal axis (τ = 1msec) and fc = 100 [Hz]

2228 SYSLRNHSBLCVFB1MSVFB500FRQVFB2MS


2200 OVRNSPPFBSFTPK2VSF

2201 CROFRUNLVLVOCECM

2067 FILTER Tcmd filter coefficient


Draw No.



No.2067 = 4096 × exp(-2π×100×0.001) = 2185

(Example 2) Case of high gain axis (τ = 0.5msec) and fc = 100 [Hz]

No.2067 = 4096 × exp(-2π×100×0.0005) = 2992

(Example 3) Case of high speed axis (αL6, αL9, τ = 125µsec) and fc = 100 [Hz]

No.2067 = 4096 × exp(-2π×100×0.000125) = 3787

Standard : 0

You should not change this parameter from standard setting value.

(Note) Motor type No. 75 applied to αL6 (Motor No.75) or αL9 (Motor No.74) have the special value

designed to optimize with HRV control, so that the torque increase than without HRV.

Data range : from –20 to +20

Standard : 0


If the current offset caused the torque ripple of a quarter every one motor revolution because of noise, you

could set this parameter to improve it..

Data range : 0 to 2048 ( mean 0 to 0.5)

Standard : 0


The increase of this parameter fasten the response of current loop trading off the stability of current.

Data range : 0 to 32767

Standard : 0

Use this function in case of full-closed system whose linear scale has lower limitation of speed than that of

the motor. If this function is used and then it detected, you can use the stop control at the alarm

(No.2005#6) of which kind are MSCHK alarm as well as OVL alarm.

Setting value: MSCKLV= L/B x 6554

L : detective level for the scale (mm/sec), B: ball screw pitch (mm/rev)

2110 MSGTCM Magnetic saturation compensation coefficient 9083/A

2231 MSCKLV Max. Speed check level

Relating ParameterNo.2008#2

2175 RSHFTL R-phase current offset compensation coefficient 9083/B

2176 SSHFTL S-phase current offset compensation coefficient 9083/B

2230 IPPIL Current loop PI-IP coefficient 9083/B


Draw No.



6. Learning Control function

6.1 Learning Control parameters

SLEN Learning control (Option) is1 : Available. ♦ If you change SLEN, you must turn off and on CNC.0 : Not available. (Power must be off)

ICM Compensation data mode is1 : Available.0 : Not available.

LCON Learning control is1 : Suspension mode.0 : Continuation mode.

EXGX Dynamic characteristic compensation (Gx) is1 : Expanded Gx.0 : Normal Gx. (standard)

(Expanded Gx does compensation of high precision.)According to Gx setting, refer to Appendix 3. Parameter table for Learning Control.

UNTSL The unit of command period (No.2243, No.2236, etc) and Learning starting

time (No.2234) is

1 : data number. ( command period (msec) / Velocity period (msec) )

0 : msec. (standard)

(Example) When UNTSL = 1, you must set to 125 for No.2243 in case that Command period is 62.5msecand Velocity loop is 1msec.

STPRED The first period subsequent to Learning step switching, (90A3/01, 90A7/01 or later)

1 : Doesn’t renew the compensation data in Learning memory.0 : Renew the compensation data in Learning memory. (standard)

(Note) In case of Compensation mode, it could reduce a mechanical shock at Learning step change to stop

the renewal of the compensation data only during the first period subsequent to Learning step

switching. This might have good result on such grinding application that have many and rapid

Learning step change.


Standard : 32767

Up to RPTCT counting, a period compensation data is renewed and then stop the renewal.

You can temporally disable Learning control with setting RPTCT to zero before G05. This is useful

ICM LCON Learning Mode

0 0 Suspension

0 1 Continuation

1 0 Compensation data suspension

1 1 Compensation data continuation

2242 RPTCT 1st Learning count (Repetition count) [cycle]


2007 VELHSPTRASMT ADAPTUNTSLADERSLSTPREDILMTRL VCMDCL



Draw No.



because of no need to power off compared to the way of disabling SLEN (No.2008#0).

Data range : 15 to 16000 ( If No.2007#3 = 1, to 32000)

You should set Command data period PRIOD corresponding to spindle rotation speed usually. Servo

software regards this as Learning period. You can set integer times of the command period to PRIOD.

Max. value is 16sec and correspond to 3.75 min-1 of Min. spindle rotation speed.

(Example) When spindle speed is 60min-1, set to 1000 (msec) in case of No.2007#3 = 1.

In case of long PRIOD, Built in auto sampling algorithm samples a Learning data every 2 to N’th power for the

purpose of appropriate allocation of Learning memory preventing the memory overrun. This also concerns to

the accuracy. Refer to 7.2 Learning Memory expanding function.

In case of the multiple Learning period necessary, you use 2nd Learning , 3rd Learning, and etc. This function

assumes the cam grinding machine as the work is finished in the low speed changing the Learning period.

According to Fig.3-3-3 example, use this parameters.


Standard : 0

If you can use PRFALL=PRFNO=0 in your case, it is recommended to set PRFALL=PRFNO=1 instead for the

future compatibility that take advantage of the above auto sampling algorithm.

With regard to Total profile number details, refer to 7.2 Learning memory expanded function.

Data range : 0 to PRFALL (Total profile number)

Standard : 0

2243 PRIOD 1st Learning period (Command period) [msec]

2235 RPTCT2 2nd Learning count (Repetition count) [cycle]

2236 PRIOD2 2nd Learning period (Command period) [msec]

2237 RPTCT3 3rd Learning count (Repetition count) [cycle]

2238 PRIOD3 3rd Learning period (Command period) [msec]

2239 RPTCT4 4th Learning count (Repetition count) [cycle]

2265 RPTCT5 5th Learning count (Repetition count) [cycle]

2266 PRIOD5 5th Learning period (Command period) [msec]

2233 PRFNO Profile number

2264 PRFALL Total profile number 9087/A

2240 PRIOD4 4th Learning period (Command period) [msec]


Draw No.



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.


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]


Draw No.





Data range : 0 to GODMX


(Note) In case of Expanded Gx being enable (No.2008#3 = 1) , set GXDMN to 0.


Standard : 64 (When No.2008#3 = 0)

(Note) In case of Expanded Gx being enable (No.2008#3 = 1), Refer to

Appendix 3. Parameter table for Learning control.

Dynamic characteristic compensation Gx is composed from three parameters No.2246, No.2247, No.2248,

which symbols are GODMX, GODMN, GCOEF respectively. Furthermore six successive parameters from

No.2248 to No.2253 are named Expanded Gx. Attention to No.2248 double assigned by both Gx and

Expanded Gx. Either of Gx or Expanded Gx is to be active, not both.

In usual case you need not to change Gx or Expanded Gx from Appendix 3. Parameter table for Learning

control so long as the accuracy convergence problem doesn’t occur.

If it occurs, you need to tune three parameters of Gx after reset EXGX (No.2008#3) to zero. Due to many

parameters of Expanded Gx, it is recommended to disable it by EXGX=0.

Gx improves the characteristic of controlled object. GODMX and GODMN improve the phase characteristics

of controlled object. The greater both values are, The more advance value of phase it have. GCOEF is the

compensation parameter to improve the gain characteristics of controlled object. As the values are greater, the

value of gain gets greater. There is a predetermined parameter set fit to each properties of the motor such as

velocity gain and position gain. If there is not a parameter set you want to use, please consult to Kyushu branch

office, Servo Laboratory through the charged person of your nearest FANUC or GEFanuc office.

In case of Expanded Gx chosen with EXGX (No.2008#3 ) one set, you need to set for the following parameters.

Standard : 0

2246 GODMX Maximum order of Gx

2247 GODMN Minimum order of Gx

2248 GCOEF / EXGXK1 Coefficient of Gx / Coefficient 1 of expanded Gx

2252 EXGXK 5 Coefficient 5 of expanded Gx






Draw No.



Fig.6-1 (1) Learning control block diagram

Fig.6-1 (2) Processing chart (Learning Step)

F(z-1)

Kp

Profile 1

Command

Profile 5

Command

Learning Controller

Go(s)

Gx(z)

Mem ory clear switch (MC)

G05 G05

Profile 1(Memory)

Position Error

G05Command

Feedback

Profile 2(Memory)

Profile 5(Memory)

+

+ 1s

+

+

+ -

Low pass filterNo.2244

Suspension(LCON)

Profile num berNo.2233

SLEN

All profile numberNo.2264

W hen ICM=0, MC isavailable at time ofG05 finish.

Dynamic characteristiccompensation

No.2246 - No.2253

Control subject

1st. LearningNo.2242

2nd. LearningNo.2235

3rd. LearningNo.2237

Processing chart

L1No.2243

L2No.2236

L3No.2238

L1,L2,L3 : C-axis rotation period


Draw No.



6.2 Adaptive Preview Control Parameters

INVSYS Adaptive Preview Control is1 : Available. ♦ CNC software option is necessary0 : Not available.

(Note) If you use this function, you must set to 1 for all axes used in G05 to align other axis timing.

ADAPT Feed-forward coefficient FORW1-6 is 1 : Adapted by using ADPCE (During adaptation, Learning control is invalid automatically)0 : Not changed

TRASMT Set this to zero usually. After FORW1-6 is decided by adaptation, set this to one to

transfer them to No.2256-61, then turn it back to zero.1 : Transfer FORW1-6 automatically to No.2256-61 during adaptive mode each time at

G05 end.0 : Not transfer FORW1-6.

ADRERSL Adaptive control uses1 : the velocity error.0 : the position error. (Standard)

(Note) The velocity error is normally used in case of short period as a piston lathe, in only case which the

position error can’t be converged by ADRERSL=0. It mainly depends on the command whether

converge or not.


Standard : 4 (Velocity loop 1msec)

8 (Velocity loop 0.5msec)

(Note) Even if this function is valid only for 1 axis, this parameter should be set for all axes. When mix 0.5msec

and 1msec of the velocity loop, you must set the value which (velocity loop) × (forward order) is same for

each axis. If doesn't mix, you must set the same value for all axes.

This ADVDM is valid only when INVSYS (No.2008#7) is one.


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.


2255 ADPCE Adaptation coefficient

2254 ADVDMForward order



Draw No.



Data range : -32768 to 32767

Standard : 0

Feed forward coefficients FORWi are usually decided by Adaptive mode. Also you can calculate by the

following expression.

80

1

SDMR1

SDMR2

PPLS

PULCO2

10016 ××××= if

FORWi

fi is feed forward coefficient (%). And PULCO (No.2023), PPLS (No.2024), SMDR1 (No.2084),

SDMR2 (No.2085).

(Example) In case of changing from SDMR1 = 10, SDMR2 = 100 to SDMR1 = 5, SDMR2 = 100,

FORWi (new) = FORWi (old) × 10 / 100 × 100 / 5

= FORWi (old) × 2

6.3 Adaptive method

The feed forward coefficients of the Adaptive preview control are decided with the following procedure.

A-1 Validate the Adaptive preview control and the Adaptive mode.

( No.2008#7 = 1 and No.2007#1 =1 )

A-2 Set the parameter of the forward order and the adaptation coefficient to standard setting.

( No.2254=4 and No.2255 =50 )

Set the feed forward coefficients to all 0. ( No.2256 - 2261 = all 0 )

And Learning control is invalid automatically during adaptation.

(Note) As soon as the error begins divergence, stop G05 by reset key on MDI to protect the machine from

excessive shock.

A-3 Operate the machine about several ten times of the learning cycle with a practical part program including

G05.

A-4 Check the position error with the checking board or the servo tuning display.

A-5 Step up adaptation coefficient (No.2255) every about 50.

Check Convergence of the position error to use the biggest coefficient so far as the error diverges.

A-6 Invalidate the adaptive mode. (No.2007#1 = 0)

The feed forward coefficients decided by the adaptive mode is not transported from servo to CNC on this

phase.

A-7 To transfer the feed forward coefficients to NC nonvolatile memory No.2256-61, set No.2007#2 = 1.

A-8 If the feed forward coefficients change from initial value to another one, the transportation to CNC

parameter has finished.

A-9 Set No.2007#2 = 0.

Finish with adaptive process.

The feed forward coefficients can be decided by these processes. Make sure No.2007#1 and #2 to be 0.

Note) In 90A7 series, you can use Adaptive preview control for both L-axis and M-axis.

2256

-

2261

FORW1

− Feed forward coefficient W1 - W6

FORW6


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7. Functions detail

7.1 Servo trace functionServo Trace function transmits inner servo data to CNC program area for analyzing the servo variables suchas the actual motor position or the torque command.You can output servo data to a personal computer through RS232C.You can do the same analysis by the way of “SD.EXE” and Digital check-board. (Refer to Appendix. 7)(Note) 90A7 series does not support this function.

7.1.1 Description of parameters

TRC (Bit axis type) Servo Trace function is

1 : Available0 : Not available (Standard)

(Note) In case of changing this bit, you should turn off and on CNC.

Data range : 1 to 9999 (Word axis type)


In case of long time trace, you should set sampling interval by a unit of msec.(Note) If you set 0, sampling interval is each control loop period the tracing data sampled. Refer to the

explanation of No.2027 as to the control loop period.(Note) In case of B2, B3, and B5 in No.2027, data range of sampling interval is from 0 to 8000.(Note) You must set 0 for No.2025 in case of B0, B1, or B7 in No.2027 due to the nature of itself.

You must set 0 for No.2025 in case that B4 and B8 in No.2027 are simultaneously sampled.

Data range : 0 to 1024 (In case of High-speed axis or Learning axis, 0 to 2048)

This value muse be the number of 8 times.

(Note) If you set 0, trace function is disabled.

1870 Program number stored each trace data

1800 TRC

2025 DTSMP Sampling interval of trace data [msec]

2026 DTNUM Sampling number of trace data


Draw No.



B0 : Position feedback (Position loop) B1 : Motion command (Position loop) B2 : Position Error (Position loop) B3 : Velocity command (Position loop) ∗B4 : Σ Motion command (Position loop) ∗B5 : Σ Position feedback (Position loop) B6 : Torque command (Velocity loop)∗∗B8 : Σ Motor position feedback (Current loop)

(Note) You can trace the data marked “∗” only for high-speed axis or Learning axis.

You can trace the data marked “∗∗” only for high-speed axis.

(Note) You should set decimal notation converted from each trace data bit.(Example) In case that you trace Σ Motion command (B4) and Σ Position feedback (B8) at same

time,

DTKND = 272 ← (100010000)2

(Note) You can trace two or more data at once, but the order of trace data is not predetermined.

In only case of B4 and B5, the trace data are ΣMotion command and ΣPosition feedback in that order.

If possible, you should trace one kind of data.

(Note) You must trace B4 and B8 at the same time, and don’t trace together with the other data. This analysis

is often used at the piston lath in which the motor movement corresponding to work cross section is

drawn on Personal computer compared to user command.

In case of B4 and B8, the first data is ΣMotion command. The next N data are ΣMotor position feedback.

Till then this combination repeats.

N = (Velocity loop period) / (Current loop period)

(Note) If you don’t use this servo trace, you must set No.2025, No.2026, and No.2027 to 0.

7.1.2 Trace data unit

B0 : Position feedback Detective unit (Pulse / Position loop period) B1 : Motion command Detective unit (Pulse / Position loop period) B2 : Error Detective unit (Pulse) B3 : Velocity command 0.915527/64 (min-1) ∗B4 : Σ Motion command Detective unit (Pulse) ∗B5 : Σ Position feedback Detective unit (Pulse) B6 : Torque command Max. amplifier current / 7282 (Ap) ∗B8 : Σ Motor position feedback 1/221 (rev) ∗∗

(Note) These data reverse the sign beyond −32767 to +32767 because these data are 16 bits.

For analysis, you need to connect the data consistently taking the overflow in consideration.

(Note) Caution the value with the summation (B4, B5, and B8).

These data are always accumulated from Power supply ON.

These summation is 0 cleared only when trace cancel is canceled in servo trace screen.

(Refer to 7.1.3 Operation of servo trace.)

(Note) Take care of full-closed system in which data unit of B7, B8 is detective unit (Pulse).

2027 DTKND Kinds of trace data


Draw No.



7.1.3 Operation of Servo trace

(1) How to open Servo trace screen

A-1 Push SYSTEM key on MDI.

A-2 Push [ ] of Soft-key, and push [SV-PRM] of soft-key.

A-3 Push [SV.TRC] of soft-key, and push [(OPRT)].

Then [TRACE] and [TRNSF] of soft-key display in Servo trace screen.

(Note) [TRNSF] displays only in EDIT mode.

(2) How to Servo trace

A-1 Set the parameters of sampling period, sampling number, and kinds of trace data.

And set program number stored trace data.

A-2 If you want to set initial value of summation data (B4, B5, and B8) to 0, move at initial position you want,and push CAN key on MDI in Servo trace screen. Refer to A-6 (Note).

A-3 In Servo trace screen, push [TRACE] of soft-key to trigger on timing when you trace.

When Servo trace starts, “LSK” displays under right screen.

If “LSK” does not display, check parameters.

When Servo trace finishes, “LSK” erases. So far the trace data is stored in the memory of servo DSP.

A-4 Push [TRNSF] of soft-key in Servo trace screen in EDIT mode.

Then trace data are transmitted to program area of NC, so called C-MOS memory.

“EDIT” displays under left screen during transmitting.

When data transmission finishes, “EDIT” erases.

A-5 Well you get the data created in your selected program number as the following form.

Onnnn ; ← “nnnn” is selected by No.1860.

Pxxxxx ; ← “xxxxx” is decimal notation with sign.

⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅Pxxxxx ;

%

A-6 The trace data is a parts program form already familiar with, and you can output the data to your

computer through RS232C and analyze the data in your computer.

A-7 If you cancel the trace on the way, push CAN key on MDI in Servo trace screen.

(Note) At cancel, summation data (B4, B5, and B8) are set to 0.

7.1.4 Examples of analysis of trace data

(1) Case of Lead cam lathe

A-1 Select Position feedback (No.2027 = 1), and trace the

data.

A-2 Output the selected Program with the trace data to your

computer through RS232C.A-3 Sum and draw this data using the tool such as Excel,

then result as Fig. 7-1-4

A-4 By calculating the subtraction “πD•tanθ” from the center of this marked point “X”, you can analyze a

motor position on Lead surface. (D : Lead cam’s diameter, θ : Lead angle)

θ

Fig. 7-1-4


Draw No.



(2) Case of Piston lathe (semi-closed)

A-1 Select Σ Motion command (B4) and Σ Position feedback (B8) as the kind of trace data.

(No.2027 set to 272.)

And get these data in your computer by tracing these data.

A-2 The 1st data is Σ Motion command. The next N data are Σ Position feedback data. These order repeat.

(Note) N = (Position loop period) / (Current loop period) In case of Motor No.74, N is 4.

(Note) These data reverse the sign above –32768 to +32767 because these data are 16 bits.

For analysis, you need to check the continuity and to connect these data.

(Example) Case next data of +32767 (00007FFFh) is –32764 (FFFF8004h), this data must be

change to +32772 (00008004h) by your tool of PC.

A-3 These Σ Position feedback data unit are 1 / 221 (rev).

For converting these data to mm unit, multiply by (Lead a rotation) / 221.

(Note) In case of full-closed, multiply by (detective unit) for mm conversion.

A-4 You can get a motor position of mm unit by making the tool of PC calculate above.


Draw No.



7.2 Learning Memory expanded function

Learning Memory expanded function allows the application to take advantage of many profiles up to Max.

Profile number and many learning steps up to Max. Learning step number as the following table. (Option)

This function is available in the following edition.

• 9083/02 , 9087/01 or later

• 90A3/01 , 90A7/01 or later

7.2.1 Parameter explanation

LEBFEX Learning Memory expanded function is (9083/B, 9087, 90A3, 90A7)

1 : Available (New spec.)0 : Not available (Old spec.)

(Note) Learning Memory expanded function also requires NC option besides.

Data range : 1 to 16 (New spec.) Old spec is 0.

♦ You should set the total profile number for one cam-shaft before processing.

Data range : 1 to PRFALL (New spec.) Old spec. is 0 to 5.

♦ Set the Profile number at the entry of G05 cutting the next profile, if you want to change the profile.

♦ When PRFNO = 0, you can not use the second and after Learning period and repeat number. Only PRIOD

and RPTCT of the first Learning parameter are available.

The following parameters are useful under the New specification (LEBFEX=1).

Max. Profile number Max. Learning Step number

Old spec. 5 2

New spec. 16 5

2264 PRFALL Total Profile number 9087/A

2019 LEBFEX

2233 PRFNO Profile number 9087/A

2237 RPTCT 3 3rd Learning repeat number (cycle) 9087/A

2238 PRIOD 3 3rd Learning period (msec) 9087/A

2239 RPTCT 4 4th Learning repeat number (cycle) 9087/A

2240 PRIOD 4 4th Learning period (msec) 9087/A

2241 RPTCT 5 5th Learning repeat number (cycle) 9087/A

2242 PRIOD 5 5th Learning period (msec) 9087/A


Draw No.



7.2.2 Processing flow

Grinding start

Set Total profile numberaccording to camshaft

Clear out alllearning buffer

Set Profile number,Command data period,Repetition count, etc.

High speed cyclecutting executes, and

finishes

Clear out the learningbuffer according to

profile number

end

G10

G10

G05

Yes

No

Yes

No

Yes

Yes

No

No

Did you change Totalprofile number ?

Compensationmode ?

Do you grindnext cam ?

Do you grind nextcam shaft ?

∗

∗

∗

♦ When old spec. (LEBFEX = 0), you

don’t use the marked “∗”.

♦ When Total profile number is changed or

Compensation data mode is invalid, all

learning memory is cleared.

Note 1)

Set the Repetition count and Command

data period of Learning steps which you

don’t use to 0.

♦ According to detail, refer to 3.3 Cam grinder.

How much time is necessary to clear all Learning buffer ?

• 9083, 9087, 90A3/A ------ 10 seconds• 90A3/B ------ 5 seconds• 90A7 (The 1’st, 3’rd axis) --- 23 seconds

(The 5’th axis) --- 5 seconds


Draw No.



7.2.3 Cautions

Learning memory expanded function realize the specification by the learning memory to alter a sample

rate. It have automatically the sampler gather the data roughly every 2 to Nth power in case of long

Learning period or many profiles and Learning steps, because of which case many compensation data

run out of the memory belong to servo DSP. There is the possibility for rough sampling to make the

accuracy inferior to one without Thinning out.

l Calculation method of the sampling period in case of Total profile number PRFALL = 0

Definition: BUFSIZE is the buffer-size of which possible capacity depends on the installed memory on

PCB controlling axis. As of 17.Dec ’98, BUFSIZE is following.

Servo Software PCB order spec. BUFSIZE (sample data)

9087 A02B-022x-H004-006 20736

90A3 A02B-0236-H015-018 18080

90A7 1’st ,3’rd axis A02B-0236-H019 97440

90A7 5’th axis A02B-0236-H019 17600

Maximum Learning period :Max_PRIOD is Learning period PRIOD that have largest period among

from 1’st to 5’th Learning steps.

Total profile number: PRFALL is No.2264

Learning step number in use: STEPNO is the number you are using as Learning step setting from

No.2235 to No.2240 and No.2265,66.

Exponent of 2: n is calculated by following formula and the sampling period is the multiple of 2 to n’th

power.

Learning period automatically samples every above MULT and the parameter PRIOD should be set to

the multiple of MULT. (Exceptionally in case of PRFALL=0, calculate above with it to five.)

[Example] 9087 case and Supposing you use 16 profiles in one cam shaft, this means PRFALL=16. A

profile of them is ground using 3 Learning step, among which the longest Learning period is 2000 msec.

That is Max_PRIOD=2000 (msec), STEPNO=3, BUFSIZE=20736.

Above formula result in n=3 meaning MULT=8. Therefore PRIOD should be set as (…249, 250, 251 …)

x 8 = …1992, 2000, 2008,….

(Note) Because of Max_PRIOD of a profile deciding one MULT, another step of the profile have the

same sampling rate as result. This mean though one profile have the common sampling rate all over,

there is possibility the different sampling rate may be used on different profile.

......),2,1,0(2 ==≤−

×nMULTn

135PRFALLBUFSIZE

STEPNOMax_PRIOD


Draw No.

02 ’99.01.14 K.Maeda Qualified 1’st issue A - 63639E - 034


7.3 Learning Data Transmission Function

7.3.1 OverviewFor the purpose of preserving the servo learning data after NC powered off, The learning data can be

preserved in the hard disk device (HD), which store the learning data through CNC and load it the

memory of servo control. (Learning data transmission function)

This function will be effective not only for the power off but also for saving the learning time in case of

handling many profile of work piece.

This allows user to manage the command data (parts program) and the learning data corresponding to it

on Personal Computer which connect to NC through HSSB.

This function allows for you not to need to learn again every NC power off.

*Abbreviation: Learning Data (Servo learning data), HD (Hard disk), PC (Personal Computer)

*The following description is concerned only for a axis because Learning Data is independent among the

axes. That means if you need to use this transmission function on X and C axes, you must deal this

function with two axes.

7.3.2 Necessary Software construction1) Servo software

9083/B, 9087 ,90A3, 90A7 over or equal the first version is available.

9087 under 160 MC, TC and 180 MC, TC

90A3,90A7 under 160iMA, TA and 180i MA, TA

2) CNC software

160-MC: B0B1ver.13, -TC: B1B1ver.13 180-MC:BDB1ver.11, -TC:BEB1ver.14

160i-MA:B0F1ver.14, i-TA:B1F1ver.13 180i-MA:BDF1ver.14, i-TA:BEF1ver.13

The equal or over version of above CNC software is available for this function.

3) Application program by user on PC

Application program made by user practically saves and loads the learning data between HD of PC and the

servo memory. The software library is supplied by FANUC for this purpose.

You can read and write the learning data using this library.

7.3.3 Servo parameterIn order to transmit (save and load), the below setting is necessary.

No.2008#5=1 : Enable Learning Control

No.2008#6=1 : Enable Compensation data mode

You must take care the following parameters when you save and load the Learning Data.

No.2233 : PRFNO: Profile number

No.2264 : PRFALL: Total Profile number (Available only when Learning memory

expanded function enabled: A02B-02xx-J796)

LearningData

User’sprogram

saveBuffer

load

read

write

Command

+Learning data

Hard Disk (HD) Personal Computer Open CNC Servo

HSSB

or

Built-in


Draw No.



7.3.4 How to transmit Learning Data

l To SAVE Learning Data (Servo → HD)1) All of the first, you must confirm the error of Learning control converged well.

2) Set No.2233 of Profile number to zero in case of the lump deal method.

Check No.2264 of Total Profile number beforehand.

Note) You can SAVE Learning Data every the profile data, which is called the partial deal method.

(The transmitted area of Learning Data is the shade of Fig.7.1.)

The lump deal method: No.2233=0 ;Saving all Learning data of a axis.

The partial deal method : No.2233= Profile number ;Saving the specified Learning Data.

3) Set CNC to EDIT mode and then you can transmit it to HD on PC using your application software. Blinking

"RESET" denotes busy state on transmit.

Note) You can't change parameter or run with parts program simultaneously with this function.

Note) The format of Learning Data is not disclosed which is the binary data. Don't edit it, otherwise there might

be possibility not to transmit well.

Note) It takes about 40 seconds for transmission from Servo to CNC in case of the lump deal method. (1000

words per second; 1 word is two bytes)

Profile No 1

Profile No 2

Profile No 3

….

Learning Memory

Profile No 1

Profile No 2

Profile No 3

….

Learning Memory

Lump deal method Partial deal method

SAVE

(Read)

Hard Disk

Learning Datafile

Fig 7.1 To SAVE Learning Data by two ways ofthe Lump deal method (No.2233=0)and the Partial deal method (No2233=2)


Draw No.



l To LOAD Learning Data (HD → Servo )

1) Set No.2233 of the Profile number to zero in case of the lump deal method.

Learning Data saved by the lump deal method must be loaded by the lump deal method.

Check No.2264 of the total number of Profile to be same value as saved before.(It must be so!)

l Set No.2233 =0 when the Learning Data was saved by the lump deal method before.

l Set No.2233=Profile number when it was saved by the partial deal method.

Note) You can load Learning Data to the number different from it when saved before in just case of the partial

deal method.

2) Set CNC to EDIT mode and transmit Learning Data from HD to servo memory through your application

software. Blinking RESET indicates on transmission.

Note) When loading, No.2264 of total profile number is checked automatically whether it is the same or not as

it was saved beforehand. If they are not identical, the transmission alarm occurs

3) Set No.2233 to an appropriate value and then start to run Learning function.

It is necessary for you to manage the Learning Data together with it's parts program (:command). It

would be dangerous because of the unexpected movement if you ran the parts program different

from correspondent Learning Data. Furthermore you must be conscious of the profile number

No.2233 which have Learning data that should be handle always together with the command data.

Profile No 1

Profile No 2

Profile No 3

….

Learning Memory

Profile No 1

Profile No 2

Profile No 3

….

Learning Memory

Lump deal method Partial deal method

LOAD

(Write)

Hard Disk

Learning Datafile

Fig 7.2 To load Learning Data by two ways ofthe Lump deal method (No.2233=0)and the Partial deal method (No2233=2)


Draw No.



Fixed size

41kW

Examples(1) Correspondence with processing program and Work

Learning memory

��

Profile i

��

��

Profile j

Profile i

��

Profile i

��

��

Profile j

File on computer

In case of partial deal method, each file size is

small, but you need to manage Total profile

number and Profile number by yourself.

Profile j

O0001 ;

G10 L50 ;

N2264 P (Axis) R (Total profile number) ;

G11 ;

��

G10 L50 ;

N2233 P (Axis) R (Profile number i) ;

N2242 P (Axis) R (Learning count) ;

N2243 P (Axis) R (Learning period) ;

�� (each step) ��

G11 ;

G05 (Profile i command) ;

��

G10 L50 ;

N2233 P (Axis) R (Profile number j) ;

N2242 P (Axis) R (Learning count) ;

N2243 P (Axis) R (Learning period) ;

�� (each step) ��

G11 ;

G05 (Profile j command) ;

��

Grinding

C axisProfile i Profile j

CAM workX axis

Total profile number

Above case consists of six profiles in onecamshaft, supposing all have differentprofile each other.

(Max. 16 profiles are available )


Draw No.



A B C D

A E F D

Work 2

Work 1

(2) Example of file management by Partial deal method

We describe the case that Work 1 and Work 2 on right figure is processed in that order. This case suppose PC

has already Learning data in the HD of A,B,C,D,E,F.

1) At first you should fix Total profile number PRFALL to 4 .

2) According to the process of Work 1, you should load

Learning data of Profile A, B, C, and D to corresponded

servo memory area (Profile number 1, 2, 3, and 4).

3) You should process Work 1 making each command

correspond to Profile number.

4) When the next process of Work 2, you should load the

Learning data of Profile A, E, F, and D to corresponded

servo memory area. But you have only to load Profile E

and F to corresponded servo memory area (Profile

number 2 and 3) because Profile A and D already exist.

5) You should process Work 2 making each command correspond to Profile number.

You must always manage the correspondence between a Profile data (a G05 command) and the

Learning data. Furthermore you must manage the correspondence between Work and Profile number

(Total profile number).


Draw No.



7.4 Ultra high precision Velocity feedback function (Separate semi-closed)

7.4.1 SummaryIn 9087 series, Ultra high precision Velocity feedback (Abbreviation : separate semi-closed) function can be

realized by using the rotary encoder RON8xx (36000 slits) or RON7xx(18000 slits) made by Heiden-Hain

and High precision serial output circuit (A860-0333-T501, 512 times interpolator) made by FANUC.

This function combined with Learning function allows the rotary axis to achieve the high precision, which

have a good achievement on the C axis direct driven by the motor with the encoder close attached to it.

(Note) This function is NC option. Refer to “Appendix 1. Notes of order”.

(Note) This function does not support the absolute system at present.

7.4.2 Cable connection method

(1) Series 16-B (type–A I/F)

(Note) In order to detect rotor position, this function makes use of M-axis (Even axis).

(2) Series 16-C (type-B I/F)

(Note) Because DC5V is not supplied for JSj connector, take in it from 5th Pin of JF2j connector.

(Note) In order to detect rotor position, this function makes use of M-axis (Even axis).

Series 16 B(TYPE-A I/F)

ServoMotor

Encoder

Work

JVi

JFi

JF2i

JF2j

SERVO

SCALE

POWER

ServoAmp.

TYPE-A

SerialOutput

Circuit 1

Encoder

i=odd (1,3)j=even (2,4)

A860-0333-T501

SerialOutput

Circuit 2

JFj

Series 16 C(TYPE-B I/F)

ServoMotor

Encoder

Work

JSi

JSj

JF2i

JF2j

SERVO

SCALE

POWER

ServoAmp.

TYPE-BSerialOutput

Circuit 1

+5V(9)-J

Encoder

i=odd (1,3)j=even (2,4)

PD(15)-A*PD(16)-DPRQ(17)-F

*PRQ(18)-G 5

A860-0333-T501

SerialOutput

Circuit 2


Draw No.



(3) Series 16i-A (FSSB I/F)

At this stage, this function is not available for series 16i.

We will support this function from 90A7 series / 2nd edition.

7.4.3 Parameter setting concerned to Position feedbackThe following parameter must be set for this function available.

• Set No.2006#3 to 1. Ultra high precision velocity feedback is available.

(Note) Power must be OFF.

This is valid for only High-speed axis (No.2005#4 = 1) or Learning axis (No.2008#5 = 1)

Example) In case of RON8xx (36000 slits) in FS-16B or FS16-C.

Suppose Least input unit 1/10000 deg, Least detective unit 2/100000 deg,

and 18000000 pulses a C axis revolution

• No.1815#1 = 0. Semi-closed

• No.1820 = 10. CMR = 5

• No.1821 =18000000. Reference counter

• No.2000#0 = 0.

• No.2006#3 = 1. Using Ultra high precision velocity feedback

• No.2023 = 9000. PULCO (Slits / 4)

• No.2024 = 9000. PPLS (Slits / 4)

• No.2084 = 500 . SDMR1 (18000000 = Slits × SDMR1)

• No.2085 = 512. SDMR2

• No.2121 = 2048. Conversion coefficient (Slits × 512 / PULCO)

7.4.4 Special hunting control function

The standard hunting control works between Motor feedback and Scale feedback. This Special hunting

control works between Motor feedback and Ultra high precision velocity feedback mounted closer on the

motor shaft.

Further in case of separate position feedback (No.1815#1 = 1), you can use Normal hunting control together

with this function.

Data range : from -10000 to +10000

Data range : Set to Slits / 16.

(Example) Set to 2250 in case of 36000 slits, 1125 in case of 18000 slits.

(Note) Either No.2198 or No.2199 is set to 0, this function is invalid.

2199 Conversion coefficient for Special hunting control 9087/A

2198 Gain for Special Hunting 9087/A


Draw No.



7.4.5 Cautions

1) Rotation direction of Rotary encoder

• Because the signal from Rotary encoder is used as the velocity feedback, connect the A-phase and B-

phase as positive feedback returns when Rotary encoder rotates the CCW (Counter Clock-wise) direction

from view of Motor shaft side. You can make sure the positive feedback by means that the diagnostic

screen No.300 Servo error shows the negative value when you rotate CCW the motor shaft by hand

without the excitation.

Note) In order to stop the motor if you mistake signal connection, set No.2200#0 to 0 at initial setting to

enable the motor runaway detection. If the signal connection is right, set No.2200#0 to 1.

Note) In case of full-closed (No.1815#1 = 1), Signal can be reversed by setting No.2018#0 to 1.

2) Limit of rotation speed

• The limit of Rotary encoder RON8xx is 300 min-1.

• When you drive motor by G05, Rotation speed is limited to 65536000 pulses/sec for 0.5 msec velocity loop.

If 18000000 pulses/rev, the maximum speed is 218 min-1.

In case of 1msec velocity loop, the maximum speed is a half of above, that is 109 min-1.

3) Installation of Rotary encoder

As this function takes in velocity feedback from Rotary encoder, it is very important for you to install it

directly on motor shaft from view point of stability.

4) Setting for High precision serial output circuit

The Jumper pin in High precision serial output circuit is set to “A” at shipment from the factory. When you

use this circuit, you need to change this jumper pin to “B”.

Refer to “High precision serial output circuit manual” (A-56731-0079)

5) Reference point return

This function is usually in rotary axis possible to rotate only a direction by user program. As far as you keep

to control the position by using G00, G01, or G05 command, this have no problem. If you used PMC

velocity command switching from the position control mode, you might experience the position gap different

from right position after the zero return. This is because servo software can not support the feedback not

having 2 to n’th power slit in the rotary encoder such as RONxx.

At the present system, don’t use PMC velocity command with this function.


Draw No.



7.5 Torsion compensation during high speed cycle cutting function

This function adds the compensation at the point of the command reversing sign during high speed I/F mode

(G05), This function is useful for the case that the reverse point of work piece has sharp drop because it is

easy to bend for the weakness.

This function works only during G05, different from normal backlash compensation function. And this function

forces the sum of compensation always to be zero during G05. Therefore this function can be use in case that

compensation value is changed every work piece, which is useful properties for the machining.

• This function is available from 9087 / 01, 9083/02.

• This function is available from 90A3 / 01 or 90A7 / 01.

7.5.1 Parameters

TAWAMI Torsion compensation during G05

1 : useful.0 : is not useful. (Standard)

When Motion command (Mcmd) changes from the plus to the minus, the minus value is added.

When Motion command (Mcmd) changes from the minus to the plus, the plus value is added.

(This method is like to the backlash compensation.)

• Restrict Available only for High speed axis (No.2005#4=1)

only during High speed I/F (G05)

• Feature

Torsion compensation value is added to Error counter when the sign of latest Mcmd reverses against the

sign of the former Mcmd except Mcmd = 0.

********************************************************************************************************************Following is reference only. Don’t set HSBLC to one for the future compatibility, because above Torsion

compensation is superset including below HSBLC=1.

HSBLC Backlash compensation function during G05 is

1 : Available.

0 : Not available.

• Restrict High-speed axis (No.2005#4 = 1) only• Function

During G05, normal backlash compensation works at the moment when servo accepts backlashcompensation data from CNC. The other side, this function adds that data to Error counter when the signof latest Mcmd reverses against the sign of the former Mcmd except Mcmd = 0.This is why this function works at the right point in case of the following command,.

-1, 0, -1, -1, -1, 0, -1, -1 , -1, 0, 1, 1, 0, 0, 1, 0 ↑ ↑

Normal backlash compensation Right point modified with this function

2229 TAWAMI

2261 Torsion compensation during G05 (Least detective unit)

2228 HSBLC


Draw No.



7.6 Tandem Learning control function (only 90A7 series)

7.6.1 SummaryTandem Learning control is a Learning control combined with Tandem control. By means that two motors are

controlled as one axis, and Learning control is added, this function achieves high precision processing in the

special applications.

1) Position Tandem Learning control

Merit : To Achieve high accuracy to learn the position deviation with both sides of long

workpiece which have weak stiffness chucked and driven by two motors.

Applicable machine : Cam grinder, Crank shaft grinder, and etc

2) Torque tandem Learning control

Merit : Large torque of double motor can achieve leaning of the position deviation due to

large cutting torque. α 400 or α300 requires torque tandem in spite of single motor,

because they have double coils in one motor and use two amplifiers. We call this

“double coil tandem control” as a special case of torque tandem.

Applicable machine : Helical gear shaper without helical slide, Helical broach machine, Accurate press, etc

7.4.2 Parameters

TANDEM Tandem control (Power must be off) (NC Option)

0 : Available.

1 : Not available

In case of Torque Tandem Learning control that main and sub motor don’t disconnect mechanically, set

Cutting force

Grinder

MotorMotorWork

Servo

Largetorque

Amplifier

Motor

Motor

Amplifier

Motor

Amplifier

Servo

Amplifier

Largetorque

1817 TANDEM


Draw No.



this bit to 1. But in case of the application that both motors disconnect by the operator such as double side

chucking, set this bit to 0 to enable “Sub axis separation function” exclusively or “Synchronous Learning

function”. Of course the double coil tandem requires TANDEM to be one due to the former case.

You should set Main axis to the odd (L-axis), Sub axis to the subsequent the even (M-axis).

VCMDM Velocity command tandem control (Set only Sub axis)

0 : Torque command tandem. (standard)

1 : Velocity command tandem.

If you need to use “High-speed Proportional gain” for α300 or α400 with the double coil tandem control,

use the Velocity tandem control instead of Torque Tandem Learning control.

SBDYCH Sub axis separation function (Set only Sub axis)

0 : Ignore Coupling flag (external user signal through PMC).

1 : Sub axis changes between Torque tandem control and Normal axis control only by

Coupling flag. (TANDEM bit must be zero)

In case of the standard Tandem control for the general cutting tools, you must not take off mechanical

connection of two motors. But by using this function, you can switch dynamically Torque Tandem control

and normal control for sub axis by Coupling flag when a work piece is put on or taken off.

(TNDM) Read only and display the status

0 : Not on Tandem control

1 : On Tandem control (This bit synchronizes with No.1817#6.)

(Note) Damping compensation function and Velocity feedback average function are always working.

PFBCPY Common motor feedback function (Set only Sub axis)

0 : Sub axis uses the sub axis feedback.

1 : Sub axis uses the main axis feedback.

In Torque Tandem Learning control for α300 or α400, you should set PFBCPY to one for double coil

tandem control. In case of the sub axis having the feedback, set PFBCPY to zero.

SYNLRN Synchronous Learning function (Set only Main axis and No.1817#6=0)

0 : Ignore Coupling flag which is external user signal through PMC

1 : Learning control for both Main and Sub axes executes by Coupling flag.

This bit is used in Position Tandem control. Synchronous Learning function works with Main and Sub axes

connected by work piece driven by the same Learning compensation data.

1023 Servo axis allocation

2008 (TNDM)VCMDM SBDYCH

2228 SYSLRN

2018 PFBCPY


Draw No.



(Note) Set for both Main and Sub axes.Set zero in case of double coil tandem or the position tandem learning control.

Set a value that is as small as possible but greater than the static friction torque. A set preloadtorque is applied to each motor at all times. So, set a value that does not exceed the rated statictorque of each motor. As a guideline, specify a value equal to one–third of the rated static torque.As a preload torque is added in any case. So, set the preload torque directions as follows:l When the rotation directions of the main axis and sub–axis are the same : Different signsl When the rotation directions of the main axis and sub–axis are different : Same sign

For the α22/3000 (Servo module SVM1–130) When a preload torque of 50 kgfcm is to be applied,the torque constant is 7.0 kgfcm/Arms according to the specifications of the servo motor. So, thepeak value is 4.95 kgfcm/Ap. The torque is converted to a current value as follows: 50/4.95 = 10.1Ap. The amplifier limit is 130 Ap, so that the value to be set is: 10.1/130 x 7282 = 566So, set 566 for the main axis, and –566 for the sub–axis (when the directions of rotation of the twomotors are the same). When movement of the table is stopped, check whether the system is intension. If not, increase this value gradually.

(Note) Set only to Main axis.Data range : 0 to 32767Setting method : Kc x 32768 (0 < Kc <0.5)

(Note) Set only to Sub axis. Set zero usually

Regarding Preload and Damping compensation, and how to tune the Tandem, refer to 4.20 Tandem

control function in “FANUC AC SERVO MOTOR α series Parameter manual” (B-65150E).

7.4.3 External signal interface

Supposing Main and Sub motors are ready to chuck the each edge of one work piece. Before chucking both

motor can be driven independently. When both motor connected by workpiece for the cutting, you send

Coupling flag to servo software through PMC in advance to enable “Sub axis separate function”, then G05

operation start Torque tandem Learning control. After cutting of G05 finished, Coupling flag allows the

independent drive of both motor. If you want Position tandem Learning control instead of Torque tandem, use

“Synchronous Learning function” instead of “Sub axis separate function”.

In addition, you should set Simple synchronous control (option) in order to use Coupling flag.

When you set bit in G139 corresponded with Sub axis, Coupling flag is sent to servo software.

Signal address (T-series, M-series)

You set No.8311 for the relation between Main and Sub axis. Refer to 1.6 Simple Synchronous control in

2036 Damping compensation Gain Kc

2036 Damping compensation phase coefficient α

G139 SYNx1SYNx3 SYNx2SYNx5SYNx6SYNx7SYNx8 SYNx4

2087 Preload torque


Draw No.



“FANUC Series 16i-Model A Connection Manual (Function)” (B-63003EN).

In addition, Coupling flag is available from the following CNC software edition.

B0F1/20 (FS16i-MA), B1F1/18 (FS16i-TA), BDF1/20 (FS16i-MA), BEF1/18 (FS16i-TA)

7.4.4 The others1) In condition Simple synchronous control is available and Synchronous mode (bits on G138 are active), you

can not use High speed cutting (G05). You can use G05, after disabling Synchronous mode by turning off

G138 signal.

2) In case that you use Position tandem Learning control or Torque tandem Learning control using “Sub axis

separation function”, you must command the same data to both Main and Sub axes during G05. In case of

without “Sub axis separation function”, Torque tandem Learning doesn’t need Sub axis command.

8. Tuning

Regarding Learning control, you don’t need to tune parameters basically.

But servo system need to be stable before Learning control. If oscillation occurs, you need to make stable by

tuning Load inertia ratio (No.2021), Acceleration feedback (No.2066), Tcmd filter (No.2067), Observer function

(No.2003#2), and etc.

8.1 Tuning method

Start

Check of Error

Is Error converge ?

Is Learning parameter setting right ?

divergestep by step

yes

yes

Learning parameterset rightly

no

Is machine oscillatewithout Learning ?

yes

no

Servo parametertuning

Not converge.

End

make contactwith SLS0Q

decease frequencyof low pass filter


Draw No.



9. Cautions

9-1. ITP Delay Alarm

In case that CNC operation is delayed during G05 (High speed cycle cutting or High speed DNC operation),

work piece is not processed normally. For this reason, High speed axis checks this delay (ITP delay) during

G05.

You can confirm that whether this delay happened by bit 1 of ALARM4 in servo tuning screen. If CNC

operation has been delayed once, this bit is 1. This bit is not cleared until power off.

On the other hand, when No.7501#7 = 1, CNC is monitoring the following cases, and displays the alarm at

the finish G05.

• The delay of High speed remote buffer

• The above ITP delay alarm

9-2. Countermeasure for power failure

In case that power failure happens during synchronous operation such as G05, there is a possibility that work

piece or cutting tool breaks because of no keeping synchronous relation. As the countermeasure of this case,

you need to detect power failure and to retract to safety position by other axis independent from G05

execution, and to stop G05 operation keeping synchronous relations among axes.

By using both “Back-up module for power failure” and “Signal retract function”, you can rapidly get under

shelter in keeping synchronous operation after power failure. Refer the following manual.

• ” Signal retract Specification” (Software Laboratory)

• ” Control sequence of Back-up module for power failure” (Servo Laboratory)

• ” Connection of Back-up module for power failure” (Servo Laboratory)

9-3. Retract

When you need to stop the machine due to some reason, if RESET used during G05, there is a possibility to

damage the work-piece or tool. For this case, the retract movement by external signal is able to stop safely

the machine by the following functions.

Refer to the following manual.

• ” Retract of high-speed cycle cutting Specification” (Option) (Software Laboratory)

• ” Skip of high-speed cycle cutting Specification” (Option) (Software Laboratory)

9-4. HRV control

9083/01 and 9087/01 don’t not support a part of HRV control in standard series (9080 series etc). Therefore

you must set the following parameters to 0 to avoid HC alarm in this edition after parameter loading

automatically.

You don’t need to set this in 9083/02 or later, 9087/02 or later, 90A3 and 90A7 series because those series

support all functions of HRV control.

• Set No.2056 to 0. ← Case that standard parameter is negative.

• Set No.2127 to 0.

• Set No.2128 to 0.

• Set No.2129 to 0.


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9-5. Full-closed system

In series 16 or 18 (Model B or C), Servo axis module (A20B-2902-0061) for Learning control does not support

separate serial pulse coder. You should use the scale or encoder of A/B phase type.

In addition, Servo axis module for standard (A20B-2092-0070) does not have this restriction.

In i-series, you can use separate serial pulse coder by preparing for Pulse Module of FSSB interface.

(A02B-0236-C203, -C204).

9-6. Axis allocation of 2 controlled paths in i-series

In case that you allocate Servo axis by No.1023 in 2 controlled paths in i-series, you must not allocate the

servo axes of the another controlled path to one servo DSP.

(Bad example) [1st path]

X1 axis No.1023 = 1 → L-axis of 2 axes amplifier• • • •

[2nd path]X2 axis No.1023 = 2 → M-axis of 2 axes amplifier• • • •

(Good example) [1st path]

X1 axis No.1023 = 1 → L-axis of 2 axes amplifier• • • •

[2nd path]X2 axis No.1023 = 4 → M-axis of 2 axes amplifier• • • •


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Appendix 1. Notes on the order

1-1. Servo axis Module (series 16) or Servo axis Card (i-series)You must specify the Main CPU board for Learning Control in series 16 or series 18.

• 2 axes A02B-022x-H004 • 4 axes A02B-022x-H005• 4 axes A02B-022x-H006(Note) Servo Module : A20B-2902-0061

You must specify the Main CPU card for Learning Control in i-series.• 2 axes A02B-0236-H015 • 4 axes A02B-0236-H016• 6 axes A02B-0236-H017 • 8 axes A02B-0236-H018

You must specify the following Servo axis card for 90A7 series.• 6 axes A02B-0236-H019

1-2. Servo software series

You need to specify the following digital servo software for Learning Control.

• 9083 series A02B-0200-H591#9083 (Series 16-B, 18-B, 16-C, 18-C)

• 9087 series A02B-0200-H591#9087 (Series 16-B, 18-B, 16-C, 18-C)

• 90A3 series A02B-0236-H591#90A3 (Series 16i-A, 18i-A)

• 90A7 series A02B-0236-H591#90A7 (Series 16i-A, 18i-A)

1-3. Servo Amplifier

You need to specify the following servo amplifier for αL9 or αL6 using Piston Lathe or Lead cutting machine.

• Alpha series Servo module (αSVM1-80) A06B-6079-H105#J008

• Alpha series Servo unit (αSVU1-80) A06B-6089-H105#J001

• Alpha series Servo unit (αSVUC1-80) A06B-6090-H006#J010

This αSVUC1-80 is a maintenance amplifier replacing from old C-series Amplifier (A06B-6066-H006).

(Note) Regarding i-series, you need to specify the same αSVM1-80 (A06B-6096-H105) without J008 or

βSVUC-80 (A06B-6093-H113) as standard.

1-4. Software options

[Necessary items]• Learning Control A02B-xxxx-J705 or • Preview Repetitive control A02B-xxxx-J706

• High Speed cycle cutting A02B-xxxx-J832 or • High speed remote buffer A A02B-xxxx-J905

• Setting unit 1/10 A02B-xxxx-J805

• Programmable data input (G10) A02B-xxxx-J872

[At the need arises]• Ultra high precision velocity feedback function A02B-xxxx-J975

• Learning Memory expanded function A02B-xxxx-J976

• Reader Puncher I/F A02B-xxxx-J900

• Macro executor A02B-xxxx-J888

♦ The above “xxxx” is the following value correspond to each CNC.

16-TB : 0200 16-MB : 0201 18-TB : 0216 18-MB : 0217

16-TC : 0222 16-MC : 0223 18-TC : 0228 18-MC : 0229

16i-TA : 0236 16i-MA : 0237 18i-TA : 0238 18i-MA : 0239


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Appendix 2. Making method for cutting data

P10004

X-axis RIFT

C-axis ANGLE

PROFILE 2PROFILE 1

X-axis RIFT

1cycle

C-axis ANGLE

1cycle

X-axis Command per

Distribution cycle

C-axis Command per

Distribution cycle

MMC or Personal Computer

∗ Distribution cycle = 0.5msec, 1msec, 2msec

O0001;

G10 L50;N2233 P1 R1;N2234 P1 R200N2242 P1 R100;N2243 P1 R1084;

G11;G05 P10001 L1;G04;G01 Z_C_;

G05 P10004 L1;

High-speed cycle cutting G05

SERVO

The Self-learning Control

FS16B

Down Load or Remote Buffer Operation

P10001

Parts Program

Setting of self-learning control

Profile 1

Profile 2Motor

BINARY DATA


Draw No.



Appendix 3. Parameter table for Learning control

(Note 1) You need to set the Learning parameter value because of not auto-Loading.In case of adding “( )” at Motor ID, you need to set value to No.2228 and below with coloring frameafter auto-Loading.

(Note 2) These are parameters for Piston Lathe or Lead cutting machine.You need the auto-loading by the Motor No.74 for αL9, or the Motor No.75 for αL6 for this purpose.And this purpose requires the special servo amplifier. Refer to Appendix 1. Notes on order.

Standard parameter setting for Learning control 1/4Motor Model αL9 αL9 αL9 αL6 αL6Motor Spec. 0564 0564 0564 0562 0562

Motor ID. 74 74 (74) 75 75Velocity 0.5ms High 0.5ms High 0.5ms High 0.5ms High 0.5ms HighRemark Piston Lead (Piston) Lead Lead

Amp. 80Ap (re) 80Ap (re) 80Ap (re) 80Ap (re) 80Ap (re)Pg No.1825 18000 18000 18000 24000 24000PI No.2003 00001000 00001000 00001000 00001000 00001000INT. etc No.2004 11110001 11110001 11110001 11110001 11110001High speed No.2005 00010000 00010000 00010000 00010000 00010000Functions No.2006 00000000 00000000 00000100 00000000 00000000HS veloc. No.2007 00000001 00000001 00000001 00000001 00000001Learning No.2008 00110000 00110000 00110000 00110000 00111000PK1 No.2040 1527 1527 1400 3646 3646PK2 No.2041 -5069 -5069 -4970 -10664 -10664PK3 No.2042 -2691 -2691 -2691 -2689 -2689PK1V No.2043 25 25 25 13 13PK2V No.2044 -1852 -1852 -1852 -937 -937PK4V No.2046 -24708 -24708 -6177 -6177 -6177PPMAX No.2053 21 21 21 21 21PDDP No.2054 0 0 0 0 0PHYST No.2055 82 82 82 82 82TRQLIM No.2060 6918 6918 6918 5826 5826POVC1 No.2062 32614 32614 32614 32698 32698POVC2 No.2063 1925 1925 1925 877 877POVCLM No.2065 5716 5716 5716 2602 2602RTCURR No.2086 1760 1760 1760 1187 1187PIIPL No.2230 0 0 2048 0 0FBND No.2244 500 300 500 400 500GODMX No.2246 5 6 4 5 4GODMN No.2247 3 5 2 4 0GCOEF No.2248 64 64 64 64 137EXGX K2 No.2249 -32 -32 -32 -32 -53EXGX K3 No.2250 0 0 0 0 -27EXGX K4 No.2251 0 0 0 0 -75EXGX K5 No.2252 0 0 0 0 91EXGX K6 No.2253 0 0 0 0 -41


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(Note 2) Regarding High-gain parameter setting for the other motor, refer to 5.2 Setting High-gainparameters.

Standard parameter setting for Learning control 2/4Motor Model 6000B αM9 α12/2000 α22/3000 α100Motor Spec. 0412 0163 0142 0148 332

Motor ID. (92) (26) (18) (21) 40Velocity 0.5ms 0.5ms 0.5ms 0.5ms 1msRemark Piston ring Cam Cam X for Cam Gear shaper

Amp. 80Ap 80Ap 40Ap 130Ap 240ApPg No.1825 5000 6000 6000 6000 3000PI No.2003 00001000 00001000 00001000 00001000 00001000INT. etc No.2004 00100001 00100001 00100001 00100001 01000110High speed No.2005 00010010 00010000 00010000 00010000 00000000HS veloc. No.2007 00000000 00000000 00000000 00000000 00000000Learning No.2008 00111000 00110000 00110000 00110000 00110000PK1 No.2040 6833 1496 6242 1762 1451PK2 No.2041 -12667 -4084 -9906 -5518 -6000PK3 No.2042 -1603 -2632 -3052 -3052 -2259PK1V No.2043 23 61 188 214 130PK2V No.2044 -623 -1100 -3367 -3842 -1165PK4V No.2046 -14412 -8235 -8235 -8235 -8235PPMAX No.2053 21 21 21 21 21PDDP No.2054 1894 1894 1894 1894 3787PHYST No.2055 319 319 319 319 319TRQLIM No.2060 7282 7282 7282 7282 6560POVC1 No.2062 32670 32692 32568 32518 32499POVC2 No.2063 1222 955 2505 3128 3358POVCLM No.2065 3626 2832 7445 9305 9990RTCURR No.2086 1402 1238 2008 2245 2326PIIPL No.2230 0 0 0 0 0FBND No.2244 200 200 200 50 100GODMX No.2246 5 10 10 10 10GODMN No.2247 0 0 0 0 0GCOEF No.2248 384 64 64 64 64EXGX K2 No.2249 -51 -32 -32 -32 -32EXGX K3 No.2250 -223 0 0 0 0EXGX K4 No.2251 -214 0 0 0 0EXGX K5 No.2252 -1 0 0 0 0EXGX K6 No.2253 137 0 0 0 0


Draw No.




Standard parameter setting for Learning control 3/4Motor Model α30/1200 α30/1200 αM40/2000Motor Spec. 0151 0151 0170

Motor ID. (28) 28 (109)Velocity 0.5ms 1ms 0.5ms HighRemark Cam Cam Gear shaper

Amp. 80Ap 40Ap 240ApPg No.1825 6000 3000 16000PI No.2003 00001000 00000000 00001000INT. etc No.2004 00100001 00000110 01100001High speed No.2005 00010000 00000000 00010000HS veloc. No.2007 00000000 00000000 10000001Learning No.2008 00111000 00111000 00110000PK1 No.2040 10120 5060 2917PK2 No.2041 -19846 -9923 -6604PK3 No.2042 -2705 -2705 -2716PK1V No.2043 147 147 30PK2V No.2044 -2626 -1313 -1682PK4V No.2046 -8235 -8235 -24706PPMAX No.2053 21 21 21PDDP No.2054 1894 1894 3787PHYST No.2055 319 319 319TRQLIM No.2060 7282 7282 7282POVC1 No.2062 32665 32665 32648POVC2 No.2063 1283 1283 1503POVCLM No.2065 3809 3809 8920RTCURR No.2086 1436 1436 2180BITLCL No.2228 0 0 00010000FBND No.2244 200 150 150GODMX No.2246 5 5 8GODMN No.2247 0 0 5GCOEF No.2248 743 2719 64EXGX K2 No.2249 -283 -2206 -32EXGX K3 No.2250 -419 -1668 0EXGX K4 No.2251 -238 -129 0EXGX K5 No.2252 51 1313 0EXGX K6 No.2253 178 3 0


Draw No.



(Note 1) You need to set the Learning parameter value because of not auto-Loading.(Coloring frame)

(Note 2) The “xxxx” or blank frames show standard setting.(Note 3) Regarding High-gain parameter setting for the other motor, refer to 5.2 Setting High-gain

parameters.

Standard parameter setting for Learning control 4/4Motor Model IP-control PI-control High gainMotor Spec.

Motor ID. Velocity 1ms 1ms 0.5msRemark C-axis C-axis

Amp.Pg No.1825 3000 3000 6000PI No.2003 xxxx0xxx xxxx1xxx xxxx1xxxINT. etc No.2004 xx0x0110 xx0x0110 xx1x0001High speed No.2005 00000000 00000000 00000000HS veloc. No.2007 00000000 00000000 00010000Learning No.2008 00110000 00110000 00110000PK1 No.2040 standard x2PK2 No.2041 standard x2PK3 No.2042PK1V No.2043PK2V No.2044 standard x2PK4V No.2046PPMAX No.2053PDDP No.2054PHYST No.2055TRQLIM No.2060POVC1 No.2062POVC2 No.2063POVCLM No.2065RTCURR No.2086PIIPL No.2230FBND No.2244 100 100 200GODMX No.2246 15 13 10GODMN No.2247 0 0 0GCOEF No.2248 64 64 64EXGX K2 No.2249 -32 -32 -32EXGX K3 No.2250 0 0 0EXGX K4 No.2251 0 0 0EXGX K5 No.2252 0 0 0EXGX K6 No.2253 0 0 0


Draw No.


01 ‘97.12.08 K.Maeda Newly designed Sheet 059 Edit Date Design Description / 069

Appendix 4. Functions table for Servo edition

1 / 5

Standard Special9070

9080

9090

90A0

9073

9083

9087

90A3

90A7

2 steps Backlash Acceleration F A C A - - - - -2 steps Backlash Acceleration offset K C A - - - - -2 steps Backlash Acceleration only Cutting K J C A - - - - -2 steps Backlash Acceleration with Timer N E A - - - - -Abnormal load Alarm output at hard disconnect - O F A - - - - -Absolute position output non-synchronized - S - - - - - - -Acceleration Feedback A (1ms) A A C A A A A A AAcceleration Feedback C (250us) A A C A A A A A AAcquisition of offset current - T - B B AAcquisition of offset current - U - B B AAdvanced Preview control function A A C A - - - - -Advanced Preview control function for RISC A A C A - - - - -Advanced Preview control function for RISC - C C A - - - - -Amplifier axis number transfer function - - E - - -Amplifier Number Transfer function - - E - - -AMR connection (Power OFF/ON) - - G - - -AMR connection for detach - - G - - -AMR offset for Linear motor - A C A - A A A AAnalogue interface A A E A A AAnalogue Tcmd interface - - - - - - -Arbitrary data high speed serial output A - - -Arbitrary data serial output A A C A B A A A AAuto setting for Dead-band - - D - - - B AAuto tuning by personal computer H A C A - A A A AAvailable 4000rpm D A C A A A A A AAvailable for Alpha amplifier (PWM 3 lines) G A C A B A A A AAvailable for serial pulse coder (type A or B ) A A C A A A A A AAvailable for serial pulse coder (type C) A A - - - - - - -Available for serial pulse coder type a) A A C A A A A A ABacklash acceleration D(Conventional) A A C A A A A A ABacklash acceleration E (New type) A A C A A A A A ABacklash compensation (cutting/rapid) - F C A -Backlash compensation (minus) A A C A A A A A ABacklash Compensation with Dual + RISC V D - - - - -Break control of gravity axis A A C A A A A A ACurrent loop 1/2 PI - K C A - B B ACurrent loop gain 4 times R D - ACurrent loop gain down depended on Tcmd at deceleration - M C A - B A ACurrent loop gain variability depended on Tcmd A A C A A A A A ACurrent loop gain variable depended on Tcmd A A C A A A A A ACurrent loop update 125usec - E C A A A A A ACurrent offset detecting during ESP - A C A - B A ACurrent phase-leading comp. at deceleration A A C A A A A A ACurrent phase-leading comp. variability depended on Tcmd A A C A A A A A A

Servo Software series

Functions

Functions for Editions of Servo Software series


Draw No.



2 / 5


9080

9090

90A0

9073

9083

9087

90A3

90A7

DB stop distance reduction for Alpha motor C A C A A A A A ADetecting Alarm of both axes S - - - -Detecting Soft disconnect - K C A -Detection of Position difference A A C A - - - - -d-phase current at high speed - E C A - B A ADual position feedback function A A C C - - - - -Dual position feedback function (Improve Zero Width) - K C C - - - - -EGB Tandem function S - - -Electric Gear Box function A A C C - - - - -Electric gear box function with Tandem S - - - - -Enlargement of Position gain setting range A A C A A A A A AError Counter output by Serial Link - - - C - - - - -Expanded Arbitrary data serial output A -Expanded Servo parameter area (Block 0 - 23) - - - - - - - - -Expanded Servo parameter area (Block 0 - 31) F A C A B A A A AExtra serial pulse coder - A C A - A A A AFAD (cutting/rapid) - U D - - - - -FAD + Rigid Tap - N E A - - - - -FAD + Risc - J C A - - - - -FAD Bell type acceleration - K E A - - - - -FAD Linear type acceleration - K E A - - - - -Feed forward coefficient variable - - - - - -Feed forward control A A C A A A A A AFlexible feed gear function A A C A A A A A AFSSB dummy - E C A - - - AFSSB dummy improvement - - D - - -FSSB interface - - C A - - - A AFull-closed velocity Feedback function A A A C C A A A A AFull-closed velocity Feedback function B A A C C A A A A AHigh Response Vector control - E C A - A A A AHigh Speed Interpolation(1msec) 2axes/1DSP A A C A - - - - AHigh speed positioning function O F A - - - - -High speed Velocity loop (IP) - A C A A A A A AHigh speed Velocity loop (PI) G A C A A A A A AHold function of peak of actual current - G C A - - -HRV control available - E C A - B A AHunting control at Full-closed D A C C - A A A AI/O Module - - I D - - -Integration during low speed A A C A - - - - -Integration off during low speed at cutting - - - E - - - - -ITP 1ms - - - E - - - - -Linear motor - A C A - A A A AMeandering compensation - - - - - - - -MP Scale A A C A - - - - -


Functions



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3 / 5


9080

9090

90A0

9073

9083

9087

90A3

90A7

MP Scale for Alpha Pulco - - - C - - - - -N Pulse Suppress A A C A A A A A ANano meter interpolation - - - - - - - -New current saturation - - - - -New G/A (SALF2) available - - J B - - - B ANon linear control A A C A A A A A ANotch filter A A C A - - - BNotch filter 500us C A C A - - - BObserver coefficient 10 times C A C A A A A A AObserver function A A C A A A A A AObserver function disable at stop H A C A - A A A AOVC Alarm improvement - E C A - A A A AOVC Alarm release - P F A - B AOVC data output by Check-board - - - - - - - - -Overshoot compensation (error range) A A C A A A A A AOvershoot compensation (TYPE-2) K C A - - - - -Parameter Alarm detail output - N C A -Phase delaying comp. at deceleration - M C A - B A APhase leading comp. depended on Tcmd A A C A A - - - -Pitch error compensation S D - - - - -Position FB output by Check-board C A C A A A A A APosition gain change (cutting/rapid) - - - - -PWM period changing (cutting/rapid) - - - - - -Quick stop at OVC Alarm or OVL Alarm - - E - - -Radius error data output by Check-board A A C A - - - - -Resonance eliminate filter - - E - - - BRewrite Amplifier ID - - F A - - - B ARunaway Alarm - A C A - A A A ARunaway Alarm improvement - F C A - A A A ASemi-Full Alarm at Full-closed - K C A - - - - -Serial Communication delay compensation SSerial pulse coder dummy function E A C C A A A A AServo tuning screen(actual speed etc.) A A C A A A A A AShortening Stop distance at hard disconnect - N E A -Static friction compensation A A C A A A A A ASwitching between IP and PI for Laser D A C A - - - - -Switching semi-closed or full-closed under dual position FB - U - - - - -Tandem control function A A C A - B - B ATandem control function (2 axes use common feedback) A C A - B - B ATandem control function (damping compensation) A C A - - - B ATandem control function (full preloaded function) A C A - - - - -Tandem control function (switching of position feedback) A C A - - - - -Tandem control function (velocity tandem control) D A C A - - - B ATorque coefficient down compensation - S -


Functions



Draw No.



4 / 5


9080

9090

90A0

9073

9083

9087

90A3

90A7

Torque command Filter A A C A A A A A ATorque command Filter (cutting/rapid) - F C A -Torque compensation A A C A A A A A ATorque control (TYPE-1) - F C A - - - - -Torque control (TYPE-2) - - - - - - - - -Torque limit override with sign A A C A A A A A ATorque limit variability depended on actual current A A C A A - - - -Torque offset for torque skip - - - - - -Torque ripple compensation A A C A - B A ATorque ripple compensation (for Alpha-E) H C A - B A ATorque ripple compensation (for Linear motor) - E C A - A A A ATorque ripple compensation with communication delay (for Linear motor)- G - - -Ultra precision cutting function - - - - - - - - -Unexpected disturbance torque detection A A C A - - - - -Unexpected disturbance torque detection (rapid/cutting) G C A - - - - -Unexpected disturbance torque detection for HRV G C A - - - - -Variable Current gain depended on Vcmd A A C A A A A A AVariable proportional gain at stop F A C A - - - - -Variable proportional gain at stop is improved - U D - - - - -Variable Vcmd data output by Check-board A A C A A A A A AVcmd A A C A - - - - -Vcmd (TYPE 2) M E A - - - - -Vcmd offset function A A C A A A A A AVelocity Control period 0.5msec A A C A A A A A AVelocity gain 400% limit - U D -Velocity gain override F A C A - - -Velocity gain switching (cutting/rapid) - P F A -Velocity loop 1/2 PI (cutting/rapid) - X E - - - - -Velocity proportional gain format change - U D - - - AVoltage command dq depending Limit - - G - - - - -


Functions



Draw No.



5 / 5


9080

9090

90A0

9073

9083

9087

90A3

90A7

Adaptive advanced preview control for 2 axes - - - - - - - B AAuto sampling rate (Self-Learning control) - - - - B A A A AAvailable for C series servo amplifier (Dead-band) - - - - A A A A ACorrespondence to High speed cycle retract - - - - - A A A AError output through check board - - - - A A A A AHigh speed cycle cutting Skip function - - - - - B A A AHigh speed interpolation (0.25ms) - - - - A A A A AHigh speed interpolation (0.5ms) - - - - A A A A AHigh speed interpolation for 2 axes - - - - - - - B AIP or PI variable current control - - - - A B B ALearning buffer expanding function - - - - - B A A ALearning data transmission function - - - - - B A A AMax. feed forward speed 196m/min for high speed I/F axis - - - - - A A A AMcmd output through check board - - - - A A A A ANew Hunting control function - - - - - - A -Notch filter by current loop - - - - - - -Preview repetitive control function - - - - A A A A APreview repetitive control improvement (5 -> 11) - - - - A A A A APreview repetitive control improvement (Posit or Veloc) - - - - A A A A ARelieving restriction for Adaptive advanced preview control - - - - - A A A ASelf learning control - - - - A A A A ASelf learning control improvement (Expansion Gx etc.) - - - - A A A A AServo trace function - - - - A A A A -Shock reducing function (Self-Learning control) - - - - B A A A ASpecial Hunting control function - - - - - - -Step Shock reducing function - - - - - B A AStopping motor function at alarm happened - - - - A A A A ATandem Learning function - - - - - - - B ATorsion compensation during high speed cycle - - - - - B A A ATorsion compensation for 2 axes - - - - - - - B AUltra-high precision feedback function - - - - - - A -Variable Velocity feedback the latest 0.25msec or 0.5msec or 1msec- - - - - A A A AVelocity Control period 0.25msec - - - - A A A A AVelocity feedback the latest 2msec - - - - - A A A AVelocity Integral saturation (High-speed axis) - - - - - B A A

Servo Softwareseries

Functions



Draw No.



Appendix 5. Method of changing parameter in CNC Program

1. Overview

Learning control is available only during High-speed cycle cutting (G05). You can change some parameters

for Learning control in program by using G10 code (Programmable data input) before G05 execution. For

example, by changing Command period (PRIOD) or Repetition count (RPTCT) by G10, you can change the

rotation speed of C-axis, or control suspension of Learning control during G05.

2. Setting Method

The procedure for creating a program is as follows. You insert G10 code before the High-speed cycle cutting

(G05) in program to use this function. If G10 is not used, the values which already set as servo parameter

are used.

The following program example is a case of Lead cutting.For example, end turning is performed at 1500 min-1 withG05 without using Learning control, then high-precisioncutting is performed at 120 min-1 using Learning control.

In a left sample, Learning control is invalid during next G05because Repetition count RPTCT (No.2242) is 0.In this case, this line doesn't need. 1500min-1 = 40msec/rev

Learning control is invalid during G05 due to RPTCT=0.

You should set RPTCT in order to use Learning controlduring next G05. If Learning control doesn't stop halfwayduring G05, you should set 32767 as maximum number ofRPTCT.

Set 500 corresponded with 120 min-1 when there are High-speed cutting data of 120min-1 in P-code data.

3. Cautions(1) You should not insert the command to move servo axis between G11 and G05 such as G00 or G01.

(2) You can also change other parameters for Learning control except Repetition count RPTCT(No.2242) and

Command period PRIOD (No.2243) by G10.

O0001;

⋅⋅⋅⋅⋅⋅G10 L50;

N2242 P(axis num.) R 0 ;

N2243 P(axis num.) R 40 ;

G11 ;

G05 P10001 L1 ;

⋅⋅⋅⋅⋅⋅(another program code)

⋅⋅⋅⋅⋅⋅G10 L50 ;

N2242 P(axis num.) R(Learning count) ;

N2243 P(axis num.) R(Learning period) ;

G11 ;

G05 P10002 L1 ;

⋅⋅⋅⋅⋅⋅

(another program code)

⋅⋅⋅⋅⋅⋅

M30 ;


Draw No.



Appendix 6. Checking Position Error by Check-board

1. Setting

Learning axis can put out the position error to Check-board. The output signal range is ±5V. Conversion

value is variable by both No.2012#5 and #4 as follows.

Parameter B5 B4 Magnification Pulses / 5VLeast detect 0.1µm

0.1µm / V

Least detect 0.003deg

deg / V

0 0 1 64 1.28 0.0384

0 0 16 1024 20.48 0.6144

0 0 256 16384 327.68 9.8304

No.2012

0 0 4096 262144 5242.88 157.2864

2. Output channel

The channel of output signal is as follows. Vcmd signal is not put out at Learning axis.

• Normal axis

• Learning axis (No.2008#5 = 1) or High-speed axis (No.2005#4 = 1)

• Learning axis (90A7 series)

(Note) When No.2007#0 = 1, the marked “∗” shows Vcmd + Feed-forward.

(Note) To use check-board, the servo wave checking adapter (A02B-0120-C211) needs.

In i-series, you must use the other adapter (A02B-0236-K822).

3. The other signal conversion

In the High-speed axis, the output conversion values are different from normal axis as follows.

Output signal Normal axis High-speed axis

Vcmd 0.1875 (min-1 / V)

Tcmd 9 ∗ Imax / 40 *1 (Ap / V) Same left

Mcmd 2.458 (m/min / V) *2

Vcmd+F.F. 0.1875 (min-1 / V)

TSA 750 (min-1 / V) Same left

(Note 1) Imax shows the max. current value of servo amplifier.

(Note 2) The conversion value of Mcmd is used when Least detective unit is 0.1µm, Velocity loop is 1msec.

If Velocity loop is 0.5msec, that value is 4.916 (m/min / V).

CH6TSA (M)

CH5TSA (L)

CH4Tcmd (M)

CH3Vcmd (M)

CH2Tcmd (L)

CH1Vcmd (L)

CH6CH5TSA (L)

CH4∗

CH3Mcmd (L)

CH2Tcmd (L)

CH1Error (L)

CH6TSA (M)

CH5TSA (L)

CH4Tcmd (M)

CH3Error (M)

CH2Tcmd (L)

CH1Error (L)


Draw No.



Appendix 7. Notes on using SD.EXE

In the servo software for Learning control, The using way of SD.EXE is different from in standard servo

software. We describe the difference and cautions. Regarding the details of SD.EXE, refer to the manual

attached SD.EXE.

7.1 Dip-switch and data contents

You can select the data content by Dip-switch (4 bits) on Digital check-board.

Dip-switch (B3, B2, B1, B0) Standard series Learning series

0, 0, 0, 0 Vcmd (L-axis) Error (L-axis) Error (L-axis)

0, 0, 0, 1 Tcmd (L-axis) Tcmd (L-axis) Tcmd (L-axis)

0, 0, 1, 0 Vcmd (M-axis) Mcmd (L-axis) Error (M-axis)

0, 0, 1, 1 Tcmd (M-axis) Tcmd (M-axis)

0, 1, 0, 0 TSA (L-axis) TSA (L-axis) TSA (L-axis)

0, 1, 0, 1 TSA (M-axis) TSA (M-axis)

0, 1, 1, 0 Pos. (L-axis) Pos. (L-axis)

0, 1, 1, 1 Pos. (M-axis) Pos. (M-axis)

1, 0, 0, 0 Pos. (L-axis) *1 Pos. (L-axis) *1

1, 0, 0, 1 Pos. (M-axis) *1

1) Regarding to the display unit, you should select “POS” in SYSTEM setting screen of SD.EXE, and set the

following.

Error Display unit (mm) : 1pulse=Least detective unit (mm) / 32

Mcmd Display unit (mm/sec) : 1pulse=Least detective unit (mm) / 32 / Velocity loop period (sec)

2) If you set non-zero value for No.2115, TSA is not output.

3) When you set 4788 for No.2115, the marked “*1” is output.

7-2. Limit of measurement

The speed which it is possible to measure is below 1024 Least detective unit per Velocity loop period.

(Example) When Velocity loop 1ms and 0.1µm Least detective unit, the speed limit is 6m/min.

You can expand the speed limit.

No.2115 Limit of measurement *2 Display unit *3

4787 2048 2 times of Least detective unit



4784 16384 16 times of Least detective

unit

*2 Least detective unit per Velocity loop period

*3 “POS” in SYSTEM setting screen of SD.EXE

In case that the speed gets over the above limit, there is a possibility of interpolation by “CTRL-j” in

SD.EXE after gathering the data.


Draw No.



7.3 Connection

In case of connecting JA8A (JA26) connector of CNC with CNI3 connector of Digital check-board, the

relation of the axis on SD.EXE and servo axis on CNC is the following.

SD.EXE Digital check-board Servo axis

X : CH0 AXIS1 1st axis or 5th axis ∗4

Y : CH1 AXIS2 2nd axis or 6th axis ∗4

Z : CH2 AXIS3 3rd axis

4 : CH3 AXIS4 4th axis

In case of connecting JA8A connector of CNC, the data of the 1st , 2nd , 3rd , and 4th axis is output.

In case of connecting JA26 connector of CNC, the data of the 5th and 6th axis is output.

Note 1) The relation of Servo axis and CNC controlled axis is set for No.1023. You must allocate a High-speed

axis or Learning axis to odd axis (1st, 3rd, or 5th axis).

Note 2) The odd axis of Servo axis corresponds to L axis, the even axis corresponds to M axis.

Note 3) In case of gathering the data of 1st , 2nd , 5th , and 6th axis, you should use two Servo wave check

adapter, and connect the flat cables of to CNI1 and CNI2.

Note 4) TEST1 connector of servo wave check adapter corresponds to the 1st or 2nd axis of Servo axis.

TEST2 connector of servo wave check adapter corresponds to the 3rd or 4th axis of Servo axis.

Note 5) CNI1 of Digital check-board corresponds to AXIS1 or AXIS2 of Dip-switch. And CNI2 corresponds to

AXIS3 or AXIS4.

Note 6) In series 16i, you should connect CA54 connector of CNC with CN0 connector of Servo wave check

adapter (A02B-0236-K822).

TESTA connector of servo wave check adapter corresponds to the 1st , 2nd , 3rd, or 4th axis of Servo

axis.

TESTB connector of servo wave check adapter corresponds to the 5th , 6th , 7th , or 8th axis of Servo

axis.

7.4 The others

1-1. Device setting

In correspondence to the number of axes, you should set the device (environment variable) in DOS mode on

personal computer (PC).

1 axis : set device=0003

2 axes : set device=0033



CNC

FS16

OUT

IN

Personal computer

Servo waveCheck adapter

Digital check-board

OUT

CNI1

CNI2

JA8A

IN

OUT

(A02B-0120-C211)(A06B-6057-H610)

CNI3

CNA1or


Draw No.



1-2. Setting of sampling period

In High-speed axis or High gain axis, you can accept the data every 0.5msec. The sampling period of

SD.EXE is minimum 1msec. If 0.5msec sampling, you need to modify “sdp=0.xxx” to “sdp=0.0005” in the

“SD.CFG” file by editor.

When you gather the data of Velocity loop 1msec and 0.5msec at the same time, you set the sampling

period to 1msec.

1-3. Cautions of gathering data

High-speed axis or Learning axis occupies the DSP by itself. In case that you gather the data of this axis

and the other axes, you must gather the dummy data of AXIS2.

(Example) 1st servo axis (High-speed axis), 2nd servo axis (Nothing), 3rd servo axis (High-speed axis)

If you gather the data of 1st and 3rd axes, you need to set the following.

Device setting : set device=0333 (for 3 axes)

Dip-switch setting : AXIS1=0000 (Error), AXIS3=0000 (Error), AXIS2=0001 (dummy Tcmd)

1-4. Expansion of data number

By setting the following on personal computer, you can expand the data number. The limit of data number

depends on the memory size of personal computer.

(Example) set bufsize=12000 (environment variable)

1-5. Bit-map output

By the following operating, you can output the screen image to Bit-map file.

The file name is “ddhhmmss.BMP”. (dd : date, hh : hour, mm : minute, ss : second)

Shift-key + ‘b’ (capital ‘B’)

1-6. FFT analysis

By the following operating, you can analysis the data in XTYT mode according to FFT.

Ctrl-key + ‘f’

1-7. Changing the sampled time

By the following operating, you can change the sampled time. When you change the sampled time, the

data file name (xxxxxxxx.BIN or xxxxxxxx.BMP) is changed.

Shift-key + ‘.’ increment

Shift-key + ‘,’ decrement

1-8. Displaying HELP

By the following operating, on-line HELP displays.

Shift-key + ‘/’

1-9. I/O wait setting

In case that you gather the data of plural axes at the same time, if you can not gather the 2nd axis data, you

should increase the I/O wait from 1 (default) to 5 in SYSTEM setting screen of SD.EXE.


Draw No.

02 ’99.01.14 K.Maeda Qualified 1’st issue A - 63639 - 034


Index

• Adaptive preview control .................................................................................................... 10,12,29,30

• Backup module for power failure ....................................................................................................... 51

• Command data period (Learning period) ................................................................................. 19,25,37

• Continuation ................................................................................................................................ 11,24

• Data Server operation ..................................................................................................................... 3,5

• DNC operation ................................................................................................................................ 3,5

• Dynamic characteristic compensation element (Gx) .....................................................…....... 24,27,55

• Expanded Gx (Dynamic characteristic compensation) ...................................................…...... 24,27,55

• G10 (Programmable data input) .................................................................................................. 53,64

• High gain ................................................................................................................................ 17,56,58

• High precision serial output circuit .................................................................................................... 43

• High-speed axis ........................................................................................................................ 3,15,21

• High-speed cycle cutting ........................................................................................................ 3,5,13,53

• High-speed distribution ..................................................................................................................... 13

• High-speed binary operation ............................................................................................................. 13

• High speed velocity loop ................................................................................................................... 21

• ITP delay .......................................................................................................................................... 51

• Learning axis ................................................................................................................................. 4,14

• Learning memory expanded function ........................................................................................... 35,53

• Learning data transmission function ............................................................................................. 38,53

• Low pass filter (Fc) ...................................................................................................................... 26,55

• Option .............................................................................................................................................. 53

• Profile ..................................................................................................................................... 19,26,35

• Profile number ................................................................................................................... 25,35,37,38

• Retract ............................................................................................................................................. 51

• Sampling rate ................................................................................................................................... 37

• Skip function ..................................................................................................................................... 51

• Special hunting control ..................................................................................................................... 44

• Suspension mode ........................................................................................................................ 11,24

• Total profile number ........................................................................................................... 25,35,37,38

• Ultra high precision velocity feedback function ................................................................................. 43

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