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
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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
01 ’97.12.08 K.Maeda Newly designed Sheet 03Edit Date Design Description / 069
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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
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(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)
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
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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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
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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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
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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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
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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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
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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
2229 HSSATUSTPREDTAWAMI
2200 OVRNSPPFBSFTPK2VSF
2201 CROFRUNLVLVOCECM
2067 FILTER Tcmd filter coefficient
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
01 ’97.12.08 K.Maeda Newly designed Sheet 031Edit Date Design Description / 069
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)
Data range : 0 to 4000
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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
(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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
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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
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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,.
01 ’97.12.08 K.Maeda Newly designed Sheet 049Edit Date Design Description / 069
(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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
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.
01 ’97.12.08 K.Maeda Newly designed Sheet 055Edit Date Design Description / 069
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
01 ’97.12.08 K.Maeda Newly designed Sheet 056Edit Date Design Description / 069
(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) 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
01 ’97.12.08 K.Maeda Newly designed Sheet 057Edit Date Design Description / 069
(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.
Standard parameter setting for Learning control 3/4Motor Model α30/1200 α30/1200 αM40/2000Motor Spec. 0151 0151 0170
01 ’97.12.08 K.Maeda Newly designed Sheet 058Edit Date Design Description / 069
(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
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
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
01 ‘97.12.08 K.Maeda Newly designed Sheet 060 Edit Date Design Description / 069
2 / 5
Standard Special9070
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 - - - - -
Servo Software series
Functions
Functions for Editions of Servo Software series
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
01 ‘97.12.08 K.Maeda Newly designed Sheet 061 Edit Date Design Description / 069
3 / 5
Standard Special9070
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 -
Servo Software series
Functions
Functions for Editions of Servo Software series
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
01 ‘97.12.08 K.Maeda Newly designed Sheet 062 Edit Date Design Description / 069
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Standard Special9070
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 - - - - -
Servo Software series
Functions
Functions for Editions of Servo Software series
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
01 ‘97.12.08 K.Maeda Newly designed Sheet 063 Edit Date Design Description / 069
5 / 5
Standard Special9070
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
Functions for Editions of Servo Software series
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
01 ‘97.12.08 K.Maeda Newly designed Sheet 064 Edit Date Design Description / 069
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 ;
Title 9083 / 9087 / 90A3 / 90A7Learning Control Operator’s Manual
• Skip function ..................................................................................................................................... 51
• Special hunting control ..................................................................................................................... 44