SERVO LEARNING CONTROL
90G3 / 90J3 Series
HIGH PRECISION LEARNING CONTROL
Operator’s Manual
(Angle based Learning control)
Series 30i/31i-B use
1.
Overview
2.
3.
4.
5.
6.
Application Examples
Order specification
Signals
Parameters
High gain setting
8.
Alarm
(CAUTION)
The contents of this manual are subject to change without notice for
the purpose of improvements to the servo software.
02
01
Edit
'14.02.19
’11.06.26
Date
N.Sonoda Change of function name
N. Sonoda Newly designed Y.Toyozawa
Design
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
01
/ 20
1. Overview
 Servo Learning Control is FANUC original art for high speed and high precision.
In this control, there are the following options depending on use.
Servo Learning Control
1) High Precision
2) High Precision
3) Learning
Learning Control A Learning Control C
Control for Parts
and B
Cutting A
Time base
Angle base
Time base
or Angle base
General
Limitation
Option*1)
Method
Use
Application
Piston lathe
Lens cutting
Crank-pin grinding
Cam grinding
Gear cutting
Jig grinding
Scroll machining
4) Spindle
Learning Control
Angle base
Spindle Cs control
Gear cutting
This manual is for High Precision Learning Control of above 1) and 2). Especially this manual describes
Angle based method. This control is abbreviated as “Learning control” for the rest. As for other Learning
control in above table, please refer to the following manuals.
"High Precision Learning Control Operator’s Manual (Time based Learning control)" A-63639E-200
“Learning Control for Parts Cutting A Operator’s Manual” A-63639E-201
“Spindle Learning Control Operator’s Manual” A-63639E-132
*1) In option name for 30i-A, "Preview Repetitive Control" corresponds with “High Precision Learning Control A”,
"Learning Control" corresponds with “High Precision Learning Control B”, and “Compact Learning Control
corresponds with “High Precision Learning Control C”.
Merit of Learning control
Learning control is the control method to minimize the effect of disturbance and following error in the
reiterating command or disturbance. Learning controller generates the compensation data (learning data)
into the special volatile memory (learning memory) to minimize control deviation caused by the reiterated
movement.
There are two methods in Learning control so called Time based method and Angle based method. Time
based method requires the exact repetitive command and disturbance with the period in the time unit. Then
this method requires the special program such as High-speed cycle cutting (G05) or High-speed binary
operation by which the exact time unit in the period can specify.
On the other hand, Angle based method requires the exact repetitive command and disturbance with the
period in the angle or in position unit. In this case, the method is available with usual NC program by ISO
code because the exact repetitive time isn’t required as learning period.
Angle based Learning controller
Learning memory
1 2
Referential
position
m
＋
＋
Command
＋
Error
－
HRV
Control
Feedback
Angle based method requires referential position for learning period. As this referential position, either the
position of learning axis to apply Learning control or the position of the axis synchronizing with learning axis
02
01
Edit
'14.02.19
’11.06.26
Date
N.Sonoda ②Addition of overview
N. Sonoda Newly designed Y.Toyozawa
Design
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
02
/ 20
is used. Furthermore this referential position requires the character of either monotonous increase or
monotonous decrease. Therefore Angle based method is available in rotary axis rotating to one direction or
in liner axis synchronizing with said rotary axis.
The features of Angle based method
High precision to reiterating movement
This method realizes high precision machining to the reiterating command or cutting disturbance.
Quick following to speed variation
This method enables to specify not time but angle or position as learning period. Therefore this method
can adapt the variation of time period that is difficult to realize in Time based method. For example, this
method enables to apply Learning control to “Constant surface speed cutting” at which learning period
gets decreased.
Easy programming
This method enables to start Learning control not only by usual High-speed cycle cutting (G05) or
High-speed binary operation but also by PMC external start signal. Therefore Learning control can work
under usual NC program.
Optimum command speed
In case of Time based method, the available command speed is discrete because Learning period is
specified with “msec” unit. On the other hand, in case of Angle based method, the available command
speed can be selected continuously because learning period is not time base but angle base. For example,
in gear cutting machine it is possible to select the optimum cutting speed.
Time based method : learning period = Sampling time [msec.]  N (N: integer)
Angle based method : learning period = 360 [degrees]
Minimum speed without restriction
Usually lower working speed requires a lot of learning memory because of longer time period in Time
based method. Therefore there is a restriction on minimum speed depending on the available learning
memory. On the other hand, Angle based method is available with lower speed because the necessary
learning memory doesn’t depend on time period.
Note) Time Based method is suited to the following application.
1) The application has no referential axis for the axis to apply Learning control (cf. section 5.3).
2) The application needs several learning data preserved in learning memory, which are used depending on plural
works. The examples are such as a part of Cam grinding machine or Clank-pin grinding machine.
2. Application Examples
2.1 Clank-pin grinding machine using High-speed cycle cutting (G05)
Clank-pin grinding machine grinds cylindrical pin by the reciprocating grinder synchronizing with
revolution of clank shaft. The pin is ground with reducing the rotary speed such as “Rough”, “Finish”, and
“Spark-out”. High precision is realized by Learning control for X-axis referring one revolution of C-axis as
learning period. Function mentioned in “5.7 Parameters to improve follow-up precision” is applied to
decrease position error by variation of rotary speed.
C-axis speed (Referential axis )
Time
X-axis position (Learning aixs)
Time
02
01
Edit
’11.06.26
Date
N. Sonoda Newly designed
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
03
/ 20
2.2 Dress cutting of gear grinding machine using usual ISO code program
Dress cutting of gear grinding machine is to recover the shape of screw grinder by tool movement along
the groove synchronizing with rotation of screw grinder. High precision is realized by Learning control for
Y-axis referring one reciprocation of Y-axis as learning period. In order to apply Learning control to this
reciprocation, function mentioned in “5.6 Parameter for reciprocation” should be applied.
Grinder
S-axis:
Spindle
Y-axis:
Ball screw drive
Y-axis speed (Referential & Learning axis)
Tool
Back
Time
Go
2.3 Gear cutting machine using Electric Gear Box (EGB) or Flexible Synchronous Control (FSC)
Gear cutting machine cuts work gear by rotating work gear synchronizing with the hob cutter. High
precision is realized by Learning control for C-axis referring one revolution of S-axis as learning period,
which includes the cause of cutting disturbance. Refer to “5.3 Parameter for Referential position” in
relation to the selection of referential axis for learning period.
Tool
S-a x i s s p eReedf e( r e n t i a)l a x i s
Work Gear
Time
S-axis:
Spindle
C-axis:
DD motor
C-a x i s s p (e Le ed a r n ianxgi)s
Time
2.4 Jig grinding machine using High precision oscillation function
Jig grinding machine finishes the outer or inner surface of Jig or Trimming-die by reciprocating the rotary
cylindrical grinder. In this machining “High precision oscillation function” of CNC function should be
applied to make smooth command of sine wave. Learning control of Z-axis realizes high precision by use
of the angle information from which CNC calculates the command. Refer to “5.5 Parameter for High
precision oscillation function” as to the application.
Z-axis position (Learning axis)
Time
02
01
Edit
’11.06.26
Date
N. Sonoda Newly designed
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
04
/ 20
3. Order specification
3.1 Options and Hardware
The drawing number 032x is corresponding to CNC model.
Option
High precision
Learning Control A *1)
(A02B-032x-J706)
High precision
Learning Control B *1)
(A02B-030x-J705)
High precision
Learning Control C
(A02B-030x-J692)

CNC
CPU card
B2（A02B-0323-H010）
Servo card
Current servo card A
(A11, A12, A13, A24, A26,
Additional axis board)
Series30i-B / 31i-B
 New servo card B *2)
All type available
(B11, B12, B13, B24, B26,
Additional axis board B)
*1) When the option either “High precision Learning Control A” or “High precision Learning Control B” is used,
“Spindle Learning Control” (A02B-032x-S635) is also available even if –S635 option is not ordered.
*2) Since servo card A for 30i-B series CNC has been level up to new servo card B, please use new one.
Learning control is available with both servo cards. Servo software 90G3 series is required in current servo card
A, while servo software 90J3 series is required in new servo card B.
3.2 Servo software
The following table shows series of servo software for Learning control and standard control.
Software series for standard control
Servo software
CNC
90G0
Series30i-B / 31i-B
/ 32i-B / 35i-B
90J0
Software series for Learning control
Servo software
CNC
90G3
Series30i-B / 31i-B
90J3
Remark
HRV2, HRV3, HRV4
HRV+
Software series for Learning control supports functions which the following versions of software series for
standard control have.
Learning series
Standard series
Learning series
Standard series
90G3 / 01.0
90G0 / 06.0
90G3 / 02.0
90G0 / 08.4

90G3 / 03.0
90G0 / 10.0

90G3 / 04.0
90G0 / 15.0

90G3 / 05.0
90G0 / 19.0

90G3 / 06.0
90G0 / 19.B

90G3 / 07.0
90G0 / 23.0
90J3 / 02.0
90J0 / 02.0

90G3 / 08.0
90G0 / 24.0
90J3 / 03.0
90J0 / 03.0
3.3 Software options
When either “High speed cycle cutting” or “High speed binary operation” is used, the following options
are indispensable.
High-speed cycle cutting
A02B-032x-J832
High speed binary operation
A02B-032x-R516
When the above options are used, please order the following related options together on demand.
High-speed cycle machining skip function
A02B-032x-S662
High-speed cycle machining retract function
A02B-032x-J663
02
01
Edit
'14.02.19
’11.06.26
Date
N.Sonoda ②Addition of servo card and 90J3
N. Sonoda Newly designed Y.Toyozawa
Design
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
05
/ 20
High-speed cycle cutting additional variables A / B A02B-032x-J745／J746
High-speed cycle cutting additional variables C / D A02B-032x-S640／R513
High-speed binary operation retract function
A02B-032x -S658
Superimposed control for high-speed cycle machining
A02B-032x-R554
Superimposed control
A02B-032x-S818
（ Indispensable option to use “Superimposed control for high-speed cycle
machining”）
High-speed cycle machining operation information output function
A02B-032x-R609
Spindle control switching function for High-speed cycle machining
A02B-032x-R608
High precision oscillation function applied to Jig grinding machine requires the following option.
High precision oscillation function
A02B-032x-R662
Note) The above “032x” is the following value corresponding to each CNC model.
30i -B : 0323,
31i -B : 0327,
31i -B5 : 0326
3.4 Number of controlled axes
Maximum number of controlled axes of CNC system depends on both the applied servo card and the
kind of HRV control. On the other hand, when Learning control is used, the numbers of available axes
decrease depending on the number of axes (learning axes) to apply Learning control. The following
numerical formula gives the information of available number in controlled axes when Learning control is
used.
(Number of available axes) = (Max. number of controlled axes) － (Max. number of learning axes)
Ex.) In case of servo card A26 and HRV3 control, the number of available axes becomes “18” if
maximum 6 axes are used as learning axes among 24 axes in maximum number of controlled axes. 18
axes=24axes – 6 axes.
4. Signals
The following signals are PMC input / output signal for Learning control. These signals enable to control
start / stop for Learning control anytime. The incidental number on the bit symbol name corresponds to NC
axis number.
#7
Gn320
#6
SVDI08
SVDI0x
SVDI07
#5
#4
SVDI06
SVDI05
#3
#2
#1
#0
SVDI04
SVDI03
SVDI02
SVDI01
Learning control start signal
0: Stop Learning control
1: Start Learning control
When Learning control is applied in High precision oscillation function (CNC function),
Learning control is started by the oscillation motion (G81.1) regardless of Gn320
(No.2445#7=1). Please refer to “5.5 High precision oscillation function”.
#7
Fn320
SVDO08
SVDO0x
#6
SVDO07
SVDO28
SVDO2x
02
01
Edit
’11.06.26
Date
SVDO06
#6
#5
SVDO27
SVDO26
SVDO05
#3
#2
#1
#0
SVDO04
SVDO03
SVDO02
SVDO01
#4
#3
#2
#1
#0
SVDO25
SVDO24
SVDO23
SVDO22
SVDO21
Learning memory clear signal
0: Learning memory clear is standstill
N. Sonoda Newly designed
Design
#4
Learning control status signal
0: Learning control is standstill
1: Learning control is executing
#7
Fn322
#5
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
06
/ 20
1: Learning memory clear is executing
When Learning control start signal is set to “OFF”, learning memory clear is started. If
Learning control start signal is set to “ON” before learning memory is completely cleared, an
alarm will occur. Therefore program should be started after learning memory clear signal
Fn322 became “OFF”. It takes about 0.5 sec for learning memory clear.
 Execution of Learning control synchronizes with High-speed cycle cutting (G05) or Learning control start
signal (Gn320).
In case of No.2228#4=0
Start condition for Learning control:
(High-speed cycle cutting (G05) ON) or (Learning control start signal (Gn320) ON)
End condition for Learning control:
(High-speed cycle cutting (G05) OFF) and (Learning control start signal (Gn320) OFF)
In case of No.2228#4=1 (90G3/07, 90J3/01 or later)
Start condition for Learning control:
(Learning control start signal (Gn320) ON)
End condition for Learning control:
(Learning control start signal (Gn320) OFF)
Note) Learning control only synchronizes with Learning control start signal (Gn320), not depending on
High-speed cycle cutting (G05).
5. Parameters
5.1 Axis allocation
Learning axis to apply Learning control should be allocated to 1, 9, 17, 25, 33, and 41 in No.1023. In
case of using the axis on additional axis board, it should be allocated to 49, 57, 65, and 73 in No.1023.
5.2 Indispensable parameters for Angle based method
#7
2019
#6
SLEN
#5
#4
#3
INVSYS
#2
#1
#0
#1
#0
CPLNFC
SLEN (#6)
High precision Learning Control B is
0: invalid
1: valid (Option)
INVSYS (#5)
High precision Learning Control A is
0: invalid
1: valid (Option)
CPLNFC (#2) High precision Learning Control C is
0: invalid
1: valid (Option)
Learning control requires any above options.
#7
#6
2227
ANGLNG(#5)
#5
N.Sonoda ②Addition of start / end conditions
’11.06.26
N. Sonoda Newly designed
Design
#2
Learning band (FBND)
'14.02.19
Date
#3
Learning method is
0: Time based method
1: Angle based method
Angle based method should be selected.
2512
02
01
Edit
#4
ANGLNG
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
07
/ 20
[Range]
Velocity sampling period =1ms : 0 to 350Hz (25 Hz steps)
Velocity sampling period=0.5ms : 0 to 700Hz （50 Hz steps）
Hz
Bandwidth to be able to respond by Learning control should be set. Learning
control doesn’t work in case of No.2512=0. If learning band is too large, it might be
unstable. Usually it is set to 100Hz.
[Unit]
2517
Division number (PRIOD)
[Range]
Velocity sampling period =1ms : 20 to 8192
Velocity sampling period=0.5ms : 10 to 4096
Set the division number of angle period for Learning control. When the speed of
referential axis (cf. section 5.3) is “N min-1”, set to the nearest integer value
calculated by (PRIOD=60000 / N)
Ex.) Case of N = 58.6 min-1, 60000 / 58.6 = 1023.9  Set PRIOD to 1024.
Actual bandwidth changes according to the setting parameter such as learning band, division
number, and the speed of referential axis.
Actual bandwidth [Hz] =
FBND (No.2512)  PRIOD (No.2517)  Speed of referential axis [min-1] / 60000
Case of PRIOD=100, FBND=100Hz
Speed of referential axis
Actual
bandwidth
Actual
bandwidth
Speed of referential axis
30 min-1
5 Hz
2400 min-1
400 Hz
300 min-1
50 Hz
3000 min-1
500 Hz
min-1
100 Hz
3600
min-1
600 Hz
1200 min-1
200 Hz
4200 min-1
700 Hz
300 Hz
min-1
800 Hz
600
1800
min-1
2516
Angle learning period (RPTCT)
2537
[Range]
[Unit]
4800
Expanded coefficient of angle learning period (EXPRIOD)
1 to 32767
Detection unit
Angle learning period should be set with detection unit of referential axis (cf. section
5.3). If this period exceeds 32767, Expanded coefficient is used. If N2537 is zero,
servo software regards as 1 internally.
Angle learning period = (RPTCT)  (EXPRIOD)
Ex.) In case of 3,600,000 pluses per revolution, parameter setting is as follows.
RPTCT (No.2516)=3600, EXPRIOD (No.2537) =1000
5.3 Parameters to select referential position
Angle based method requires either of referential angle or of referential linear position. Axis selected for
referential position is called “Referential axis”. This referential axis is selected by the following procedure.
Basically referential position requires the position of either monotonous increase or monotonous
decrease. In case of referential position of reciprocation, refer to “5.6 Parameter for reciprocation”.
a) Command or feedback of learning axis
b) Command or feedback of other axis synchronizing with learning axis
c) Position data transmitted from CNC (Refer to “5.5 High precision oscillation function”)
d) Synchronous command for EGB (Electronic Gear Box)
 e) Feedback of spindle axis synchronizing with learning axis
02
01
Edit
'14.02.19
N.Sonoda ②Addition of start / end conditions
’11.06.26
N. Sonoda Newly designed
Date
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
08
/ 20
synchronous
command for
EGB
Spindle
axis
Ref. d)
Ref. e)
Ref. c)
Ref. b)
Other axis
synchronizing with
Learning axis
Angle based
Learning
Controller
CNC
Ref. a)
Compensation
Learning axis
Command
First, the following explanation is the setting procedure for referential axis in case of above a).
#7
#6
#5
2227
#4
#3
#2
#1
#0
ANGREF
ANGREF(#4)
Referential position is
0: Feedback of learning axis
1: Command of learning axis
This parameter should be set in learning axis.
Ex.) In case that referential position is the command of learning axis.
X-axis
Referential
position
Axis allocation
No.1023 X-axis: 9
Learning axis
Angle learning
Command
Parameters
X-axis
No.2019#6=1
No.2227#5=1
No.2227#4=1
Position
control
Learning axis
Angle based method
Referential position is command
Feedback
Next, the following explanation is the setting procedure for referential axis in case of above b).
In this case referential axis is selected by using communication function between servo axes. (90G3/02,
90J3/01 or later)
#7
2220
#6
#5
#4
#3
#2
#1
#0
DSPCOM
DSPCOM(#6) Communication function between servo axes is
0: invalid
1: valid
This parameter should be set in both referential axes to transmit referential position
and learning axis to receive referential position. If this parameter is changed, CNC
power must be off.
Note) The velocity period should be set in same setting (No.2004#5, #1) in
referential axis and learning axis. Besides it is impossible to communicate between
main servo card and additional axis board, and between servo and spindle.
02
01
Edit
’11.06.26
Date
N. Sonoda Newly designed
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
09
/ 20
#7
#6
#5
#4
2227
ANGREF(#4)
#2
#1
#0
ANGREF
Referential position is
0: Feedback of referential axis
1: Command of referential axis
This parameter should be set in referential axis.
#7
#6
#5
#4
2445
ALRFAX(#3)
#3
#3
#2
#1
#0
ALRFAX
ALRFD2
ALRFD1
ALRFD0
This axis is
0: not specified as referential axis
1: specified as referential axis (Axis to transmit referential position)
This parameter should be set in referential axis to transmit referential position. Only
one axis can be selected as referential axis and plural axes cannot. If this
parameter is changed, CNC power must be off.
ALRFD0, D1, D2 (#0,#1,#2)
These parameters specify the group related to the value of No.1023 in referential
axis. These parameters should be set in learning axis to receive referential position.
If this parameter is changed, CNC power must be off.
Note) If any of ALRFD0, D1, D2 (#0, #1, #2) is set in learning axis and ALRFAX (#3) isn’t set in
referential axis, SYSTEM ALARM might occur as soon as learning control starts.
ALRFD2
ALRFD1
ALRFD0
0
0
0
1
1
1
0
0
0
1
1
0
0
1
0
0
1
0
1
0
1
0
0
0
2530
[Range]
[Unit]
02
01
Edit
’11.06.26
Date
Delay compensation
-32767 to 32767 (Plus value means lead compensation, and minus value means lag
compensation.)
micro second.
When any of ALRFD0, D1, D2 (#0, #1, #2) is set, this parameter compensates the
delay of transmission time of referential position. In case of velocity period 0.5msec,
this parameter should be set to "+500" in learning axis.
N. Sonoda Newly designed
Design
Grope categorized by value of No.1023
or etc. in referential axis
No.1023 = 1～8
No.1023 = 9～16
No.1023 = 17～24
No.1023 = 25～32
No.1023 = 33～40
No.1023 = 41～48
Learning axis
Master axis of EGB
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
010
/ 20
Ex.) In case that referential axis uses the command of other axis synchronizing with learning axis.
X-axis
Axis allocation
No.1023 X-axis:1
Learning axis
C-axis:17 Learning axis & Referential axis
Angle Learning
Command
Parameters
X-axis
No.2220#6=1 Communication function
No.2019#6=1 Learning axis
No.2227#5=1 Angle based method
No.2445#3=0 Not referential axis
No.2445#2,#1,#0=0,1,1 Group setting
No.2530=500 Delay compensation
Position
control
Feedback
Referential
position
C-axis
Angle Learning
C-axis
No.2220#6=1 Communication function
No.2019#6=1 Learning axis
No.2227#5=1 Angle based method
No.2445#3=1 Referential axis
No.2445#2,#1,#0=0,0,0 Group setting
No.2227#4=1
Referential position is command
Command
Position
control
Feedback
Ex.) In case that referential axis uses the command of other axis synchronizing with learning axis, furthermore
referential axis is even axis subsequent to learning axis
Axis allocation
No.1023 X-axis:1
C-axis:2
Learning axis
Referential axis
Parameters
X-axis
No.2019#6=1 Learning axis
No.2227#5=1 Angle based method
No.2227#4=1
Referential position is command
C-axis
No.2227#5=1 Angle based method
Next, the following explanation is the setting procedure for referential axis in case of d).
#7
#6
2227
ANGLNG(#5)
#5
[Unit]
02
01
Edit
’11.06.26
Date
#2
#1
#0
This parameter should be set in dummy axis for EGB.
Delay compensation
-32767 to 32767 (Plus means lead compensation, and minus means lag
compensation.)
micro second.
When any of ALRFD0, D1, D2 (#0, #1, #2) is set, this parameter compensates the
delay of transmission time of referential position. In case of velocity period 0.5msec,
this parameter should be set to "+500" in learning axis.
N. Sonoda Newly designed
Design
#3
ANGLNG
2530
[Range]
#4
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
011
/ 20
Ex.) Referential position is synchronous command for EGB.
X-axis
Referential
position
Axis allocation
No.1023 X-axis:9
Y-axis:10
Angle Learning
Command
Parameters
X-axis
No.2019#6=1
No.2227#5=1
No.2530=500
Position
control
EGB rate
Feedback
Learning axis (EGB slave)
Referential axis (EGB dummy)
Synchronous
command
from Tool axis
Y-axis
No.2019#6=0
No.2227#5=1
Learning axis
Angle based method
Delay compensation
Normal axis
Referential axis
Y-axis : Dummy axis
Note) When synchronous command for EGB is adopted as referential position, Angle learning period (No.2516,
No.2537) should be set as follows.
In case of using serial detector, set the number of position detector pulses per rotation for tool axis
multiplied by Flexible feed gear (No.2084, No.2085). Serial EGB exponent setting (No.2372) is
unavailable.
In case of using A/B phase parallel type detector, set the number of position detector pulses per rotation
for tool axis. But in case of No2273#6=1, set the value multiplied by Flexible feed gear.
 In method for EGB, there are conventional type and FSSB type. In case of FSSB type, the following
setting is required. (90G3/06, 90J3/01 or later)
No.24203#0=1 (Position data transmission by FSSB)
No.24204= Index number of spindle axis for EGB master (Set at learning axis)
No.4549#2=1 (Set at spindle axis for EGB master)
No.2429#2=1 (Set at learning axis)
No.2011#0=1 (Set at both learning axis and dummy axis of EGB)
2372
Serial EGB exponent setting
[Range]
0 to 15
When synchronous command as referential position is used in EGB (FSSB type),
angle learning period (No.2516, No.2537) should be set as follows.
Angle learning period = 224/2(No.2372) = (No.2516) x (No.2537)
If the following condition isn’t satisfied, please increase No.2372 to avoid “Illegal
digital servo parameter alarm” (detail No.5172).
(Angle learning period / Division num. (No.2517) x Velocity control period (ms) )
< 32768
Ex.) When velocity control period 0.5ms and No.2517=256, No.2372 should be set
to more than 1. In this case, angle learning period is No.2516=16384 and
No.2537=512.
When synchronous command is used as referential position in EGB (FSSB type), it is unavailable with the
following functions together. If both functions were used, “Illegal digital servo parameter alarm” will occur.
Functions not to use together
HRV4control (No.2014#0)
Servo/Spindle synchronous control
(No.2016#4)
30i-A mode (No.14476#7)
02
01
Edit
'14.02.19
’11.06.26
Date
N.Sonoda ②Addition of EGB(FSSB type)
N. Sonoda Newly designed Y.Toyozawa
Design
Description
Alarm detail number
4292
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
012
/ 20
Expanded EGB automatic phase
synchronization (No.2273#5)
2735
 Finally, the following explanation is the setting procedure for referential axis in case of e). Spindle
feedback as referential position is used by using position data transmission by FSSB. (90G3/05, 90J3/01 or
later)
No.24203#0=1 (Position data transmission by FSSB)
No.24204= Index number for spindle axis referred by learning axis (Set at learning axis)
No.4549#2=1 (Set at spindle axis referred by learning axis)
No.2429#2=1 (Set at learning axis)
No.2016#4=1 (Set at learning axis)
2372
Serial EGB exponent setting
[Range]
0 to 15
When spindle feedback as referential position is used by using position data
transmission by FSSB, angle learning period (No.2516, No.2537) should be set as
follows.
Angle learning period = 224/2(No.2372) = (No.2516) x (No.2537)
If the following condition isn’t satisfied, please increase No.2372 to avoid “Illegal
digital servo parameter alarm” (detail No.5172).
(Angle learning period / Division num. (No.2517) x Velocity control period (ms) )
< 32768
Ex.) When velocity control period 0.5ms and No.2517=256, No.2372 should be set
to more than 1. In this case, angle learning period is No.2516=16384 and
No.2537=512.
When spindle feedback as referential position is used by using position data transmission by FSSB, it is
unavailable with the following functions together. If both functions were used, “Illegal digital servo
parameter alarm” will occur.
Functions not to use together
HRV4control (No.2014#0)
EGB (FSSB type) (No.2011#0)
Full-closed control (No.1815#1)
30i-A mode (No.14476#7)
Expanded EGB automatic phase
synchronization (No.2273#5)
Alarm detail number
4292
2735
Note) When spindle feedback as referential position is used, the following NC software is required.
FANUC Series 30i-MODEL B
G301,G311,G321,G331/52.0 or later
FANUC Series 31i-MODEL B5
G421,G431/52.0 or later
FANUC Series 31i-MODEL B
G401,G411/52.0 or later
5.4 Parameters, should be tuned on demand
2526
Maximum order of Gx (GODMX)
2527
[Range]
02
01
Edit
'14.02.19
’11.06.26
Date
Minimum order of Gx (GODMN)
0 to 24 (GODMN < GODMX)
These parameters specify the maximum and minimum order of dynamic
characteristic compensation “Gx”. If these parameters are zero, these are set to
GODMX=12, GODMN=0 internally.
GODMX and GODMN are phase lead compensator to improve phase characteristic
of learning controller. Larger value of GODMX or GODMN advances its phase. If
N.Sonoda ②Addition of case e)
N. Sonoda Newly designed Y.Toyozawa
Design
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
013
/ 20
the characteristic of controlled object such as load inertia, velocity gain, position
gain and etc. changes, it’s necessary to change these parameters.
Note) GODMX is limited by the following numerical formula. Please pay attention to the restriction
of GODMX in high-speed movement of learning axis.
GODMX No.2526 <
(120000 / Speed of referential axis [min-1])  (1- 10 / Division number No.2517)
Ex.) When speed of referential axis = 6000 [min-1] and Division number=32, GODMX is required to
become under 14.
2528
Maximum coefficient of Gx (EXGXK1)
2529
[Range]
Minimum coefficient of Gx (EXGXK2)
-128 to +128
These parameters specify the coefficient of maximum and minimum order of
dynamic characteristic compensation “Gx”. If these parameters are zero, these are
set EXGXK1=64, EXGXK2=-32 internally. EXGXK1 and EXGXK2 are compensator
to improve gain characteristic of Learning control. Usually you don’t have to change
these parameters.
Note) When the overshoot beyond the amplitude of command isn’t allowed such as Jig grinding,
EXGXK1, EXGXK2 should be set to 32, -16. In this case the convergent speed of error by Learning
control will be slow.
5.5 High precision oscillation function
The following explanation is the setting procedure to apply Learning control with High precision oscillation
function of CNC.
#7
2445
OSLNAX
#6
OSLNCT
#5
#4
OSMERS
#3
#2
#1
#0
VELNRM
OSLNAX (#7) Referential position is
0: not received from CNC
1: received from CNC
This parameter should be set in the axis to apply Learning control with High precision
oscillation function. If this parameter is set in the axis where Learning control
(No.2019#5, #6) is unavailable, "ILLEGAL DIGITAL SERVO PARAMETER " alarm will
occur. (Alarm detail No.4452)
OSLNCT (#6) Start / Stop for oscillation is
0: not controlled by PMC
1: controlled by PMC
Usually Learning control starts when program (G81.1) for oscillation is executed. If
No.2445#6=1, start / stop for Learning control is controlled by PMC signal in spite
of the program. In this case Learning control starts when Learning control start
signal (G320) of PMC becomes ON and program (G81.1) for oscillation is
executed.
OSMERS (#5) Overshoot at changing point of oscillation speed is
0: not suppressed
1: suppressed
This function is available only when No.2445#7=1 is set.
VELNRM (#4) Error at speed changing point and at stop is
0: not suppressed
02
01
Edit
’11.06.26
Date
N. Sonoda Newly designed
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
014
/ 20
1: suppressed
In case of the stop operation by following “B”, some shock at stop might occur. This
parameter is used with No.2445#5=1 to suppress the shock.
Operation
Stop position
Operation after stops
A
Signal CHPST=”0”
Decelerated and stopped
Canceled
B
Signal *CHLD=”0”
Decelerated and stopped
Restart after *CHLD goes "1"
Concerning stop operation of “High precision oscillation function”, please refer to “FANUC Series 30i
/ 31i / 32i-MODEL B Connection Manual (Function)” (B-64483EN-1/03).
#7
#6
#5
#4
2226
OSSSS (#3)
#3
#1
#0
#1
#0
OSSSS
Shock at start of oscillation movement is
0: not suppressed
1: suppressed
This function is available only when No.2445#7=1 is set.
#7
#6
#5
#4
#3
2443
SP2SK (#2)
#2
#2
SP2SK
Shock at stop of oscillation movement is
0: not suppressed
1: suppressed
This function is available only when No.2445#7=1 is set.
2516
Angle learning period (RPTCT)
2537
Expanded coefficient of angle learning period (EXPRIOD)
When No.2445#7 is 1, these parameters should be set to “0”. In this case, the
period becomes 3,600,000 pulses internally.
2119
Stop judgment level
[Unit]
Detection unit
[Recommended value] 2 to 10 (Detection unit : 1um), 20 to 100 (Detection unit : 0.1um)
This parameter is used for stop judgment to suppress shock at start of oscillation
movement when No.2226#3=1 is set.
5.6 Parameters for reciprocation
Referential position should be the data either of monotonous increase or of monotonous decrease. But the
reciprocating axis is also available as referential axis by using this function.
#7
#6
#5
#4
#3
2444
#2
#1
#0
ANGRUD
ANGAST
ANGRUD (#1) Position data of referential axis is
0: monotonous increase or monotonous decrease
1: reciprocation
ANGAST (#0) Angle learning period (No.2516, No.2537) of the reciprocating referential position is
0: not set automatically
1: set automatically
02
01
Edit
’11.06.26
Date
N. Sonoda Newly designed
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
015
/ 20
2516
Angle learning period (RPTCT)
2537
Expanded coefficient of angle learning period (EXPRIOD)
Angle learning period is specified by 2-word parameters.
When referential position is reciprocation (No.2444#1=1) and angle learning period
is set automatically (No.2444#0=1), No.2516 means lower 16bits and No.2537
means higher 16bits of learning period.
If No.2444#0=1, No.2516=0 and No.2537=0, angle learning period is set
automatically according to reciprocation command.
No.2516>0 or =0
Angle learning period = (No.2537) 216+(No.2516)
No.2516<0 Angle learning period = (No.2537) 216+(216+No.2516)
Ex.) When No.2516= -4480, No.2537=54, Angle learning period= 3,600,000 pulses
per revolution.
Note) When automatic setting (No.2444#0) is applied, the end position of reciprocation should return to the
start position. Furthermore start position must be either upper-dead point or bottom-dead point of
reciprocation.
5.7 Parameters to improve the character of following speed
#7
#6
#5
#4
2445
#3
#2
#1
#0
VELNRM
VELNRM (#4) Error at speed changing point and error at stop is
0: not suppressed
1: suppressed
Angle based method can follow the changing speed with high precision. However
error might increase at speed changing point. If this function becomes effective, the
error will be suppressed.
5.8 Parameters for changing start timing of Learning control
#7
#6
#5
2442
#4
#3
#2
#1
#0
DLYANG
DLYANG (#4) Setting unit for learning start time (No.2514) is
0: time
1: angle
2514
[Range]
[Unit]
Learning start time LESTTM
0 to 32767
msec or 360deg/(No.2516)
This parameter is used to delay learning start. If No.2442#4=1, the setting unit
changes from time [msec.] to angle. In this case, angle unit is 360[deg] / (No.2516).
If High precision oscillation function becomes effective (No.2445#7=1) and angle
learning period is zero, the unit becomes 1 degree.
Ex.) Assuming angle learning period is 3,600,000 (No.2516=3600, No.2537=1000), when you want
to delay learning start 90 deg lag, No.2514 should be set to 900 (=903600/360).
02
01
Edit
’11.06.26
Date
N. Sonoda Newly designed
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
016
/ 20
5.9 Parameters not to clear learning data
#7
#6
2443
#5
#4
#3
#2
#1
#0
ICM
ICM (#6)
After the finish of program, learning data is
0: cleared
1: not cleared
Normally after machining program finishes (Learning start signal G320=OFF),
learning data preserved into learning memory is cleared. If this parameter becomes
effective, learning data isn’t cleared even if program finishes. This function is used
with the following reiterating movement.
No.2443#6=1
Referential position
Learning
period
Learning start
signal G320 ON
OFF
ON
Learning
BRCT=0
OFF
Learning
BRCT=0
No.2443#6=0
ON
OFF
Suspension
BRCT= -1
Referential position
Learning
period
Learning start ON
signal G320
Learning BRCT=2500msec
2513
[Range]
Suspension
Learning suspension time (BRCT)
-32767 to 32767 (0 means no suspension.) [Unit] msec
Set the time to suspend the update of learning data from learning start. The last
learning data is output even after the suspension. When No.2443#6=1 and No.2513
is set to any negative value, learning data isn’t updated and learning data is output
during the execution of program. If the position error got gradually increase during
long time update, it might be helpful to suspend the learning.
 5.10 Error monitoring function (90G3/07, 90J3/01 or later)
Error monitoring function is the function that notifies user by PMC when position error is over the
monitoring level set by parameter. It is used to judge a convergence of position error or to watch an
accuracy of work during process applying Learning control.
#7
#6
#5
#4
#3
#2
2227
#1
#0
ERRCHK
ERRCHK (#1) Error monitoring function is
0: not valid
1: valid
#7
#6
2438
(Set it only at learning axis)
#5
#4
#3
#2
#1
#0
ESERCK
ESERCK (#5) Error monitoring function is
(Set it only at learning axis)
0: valid during High-speed cycle cutting (unavailable)
1: valid during signal Gn685.x=1
02
01
Edit
'14.02.19
’11.06.26
Date
N.Sonoda ②Addition of error monitoring
N. Sonoda Newly designed Y.Toyozawa
Design
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
017
/ 20
Always it should be set to 1.
2550
Error monitor level (detection unit)
[Range]
[Unit]
0 to 32767 (0 means no monitoring)
Detection unit
PMC signal address
Gn685
#7
#6
#5
#4
#3
#2
#1
#0
#3
#2
#1
#0
Each bit corresponds with (axis number - 1).
If this is set to “1”, monitoring is executed.
Fn321
#7
#6
#5
#4
Each bit corresponds with (axis number - 1).
If position error is over monitoring level, this signal changes “1”.
This signal is reset when next Learning control starts.
Position
command
Position
error
Monitoring level
Monitoring level
Gn320
Learning
Gn685
Monitor request
Fn321
Out of range
Monitoring
DGN3540#1


02
01
Edit
’11.06.26
Date
If position error is over monitoring level (No.2550) during monitor (DGN3540#1=1), PMC signal
(Fn321.x) changes “1”. This signal is reset when next Learning control starts (Gn320.x=0 -> 1).
Since position error might be unexpectedly over monitoring level after learning start or speed
change, the timing for monitor start / end should be set suitably to avoid it.
N. Sonoda Newly designed
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
018
/ 20
6. High gain setting
In order to improve the performance of Learning control, it is effective to change parameters for standard
“HRV2 control” by the following procedure.
When learning axis is HRV2 control
 No.1825 : Set 6000.
 No.2003#3 : Set 1.
 No.2004 : Set xx1x0001.
 No.2044 : Set twice of standard
 No.2512 : Set 200.
 No.2526 : Set 10.
(Position Gain)
(PI control)
(Velocity period 0.5msec , don’t change “x” bit)
(Learning band)
(Maximum order of Gx)
Note1) Servo axes on the same CPU should use same No.2004, even if the axes don’t use Learning
control. (Please refer to the following 3rd note.)
When learning axis is HRV3 control
Set above HRV2 control parameters
No.2013#0 : Set 1.
No.2334 : Set 150.
No.2335 : Set from 100 to 400.
No.2271#0 : Set 1.
(HRV3 control)
(Current loop gain magnification)
(Velocity loop gain magnification)
(Always high-speed HRV current control)
When learning axis is HRV4 control
Set above HRV2 control parameters
No.2004 : Set xx0x0011.
(Don’t change “x” bit)
No.2014#0 : Set 1.
(HRV4 control, velocity period 0.25msec)
No.2040 : Set 1.5 times of HRV2 standard.
No.2041 : Set 1.5 times of HRV2 standard.
No.2334 : Set 200.
(Current loop gain magnification)
No.2335 : Set from 100 to 400.
(Velocity loop gain magnification)
No.2271#0 : Set 1.
(Always high-speed HRV current control)
Note2)
These settings are different from standard HRV3 or HRV4, and don’t require the NC program "G05.4
Q1" which changes the mode into High-speed HRV current control. High-speed HRV current control
will always be effective during cutting mode (G01).
Note3)
When HRV control is applied, the number of controlled axes is limited as follows.
Number of controlled axes / CPU
Control
HRV2
HRV3
HRV4
02
01
Edit
’11.06.26
Date
Velocity period
Controlled axes
-
6
1ms, 0.5ms
○
4
1ms
-
4
1ms, 0.5ms
○
3
0.25ms
○
1
0.25ms
-
1
0.25ms
○
1
N. Sonoda Newly designed
Design
Learning control
1ms
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
019
/ 20
7. Alarm
If there are some problems in parameter setting or operation, the following "Illegal digital servo parameter "
alarm will occurs. In this case it is possible to know the reason of alarm from diagnosis display N352 and
following table.
Alarm detail
No.
Parameter No.
5162
2516
2517
Cause
Countermeasures
Angle learning period is too small
against division number.
Or set larger angle learning period
(No.2516, No.2537).
Note)
2537
5172
2516
2517
Angle learning period is too large
against division number.
Set larger division number (No.2517).
Maximum order of Gx is smaller
than Minimum order of Gx.
Set larger value in maximum order of
Gx (No.2526) than the value in
Minimum order of Gx (No.2527).
Program for Learning control is
started during learning memory
clear.
Start program after learning memory
clear signal F322 becomes “0”.
Though option for Learning control
is unavailable, No.2445#7 is set to
“1”.
Please set option for Learning
control.
2537
5272
2526
2527
83
Set smaller division number
(No.2517).
Or set smaller angle learning period
(No.2516, No.2537). Note)
4452
2445
2206
2220#6
In communication function between Change HRV control to slower type.
(Ex. HRV4 -> HRV3)
servo axes, time-out, parity error,
If it isn’t improved, exchange servo
or overrun error occurs.
card.
4442
2444#0
CNC software doesn’t support
automatic setting of angle learning
period
Set 0 to No.2444#0, or update CNC
software.
Note) = (Angle learning period) / (Division number) must satisfy the following conditions.
Velocity period 1ms (normal) : 16<=<=32767
Velocity period 0.5ms (Learning HRV2 or Learning HRV3) : 32<=<=65535
Velocity period 0.25ms (Learning HRV4) : 64<=<=131071
Concerning velocity period, please refer to “6.High gain setting”.
02
01
Edit
’11.06.26
Date
N. Sonoda Newly designed
Design
Y.Toyozawa
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 204
Sheet
020
/ 20