SERVO LEARNING CONTROL
90G3 / 90J3 Series
HIGH PRECISION LEARNING CONTROL
Operator’s Manual
(Time based Learning control)
Series 30i/31i-B use
1. Overview
2. System Configuration
3. Explanation of Learning Control
4. Application Examples
5. Servo parameters
6. Explanations of parameters for Learning Control
7. Supplementary functions related to Learning Control
8. Tuning
9. Matters that require attentions
Appendix 1. Notes at making orders
Appendix 2. Method to make cutting data
Appendix 3. Parameter table for Learning Control
Appendix 4. Function table depending on servo software edition
Appendix 5. Method to change parameters for Learning Control
in CNC Program
Appendix 6. Parameter number difference between 16i and 30i series CNC
Index
(CAUTION)
The contents of this manual are subject to change without notice for
the purpose of improvements to the servo software.
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Date
N.Sonoda 2nd. edition
K.Maeda Newly designed Y.Toyozawa
Design
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 200
Sheet
01
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Contents
1. Overview ..................................................................................................................... 3
2. System Configuration .................................................................................................. 7
3. Explanation of Learning Control ................................................................................... 8
3.1 Summary of Learning Control ................................................................................. 8
3.2 High Precision Learning Control B (Learning Control) ............................................... 9
3.3 High Precision Learning Control A (Preview Repetitive Control) ................................10
4. Application Examples .................................................................................................. 11
4.1 Lead Cam Cutting ................................................................................................ 11
4.2 Piston Lathe ........................................................................................................ 12
4.3 Cam grinder ........................................................................................................ 13
5. Servo parameters ....................................................................................................... 15
5.1 Setting parameters ............................................................................................... 16
5.2 Setting Learning HRV2 control parameter .............................................................. 19
5.3 Setting Learning HRV3, HRV4 control .................................................................... 20
5.4 Servo parameters list ........................................................................................... 22
5.5 Detail explanation of servo parameters .................................................................. 26
6. Explanations of parameters for Learning control ....................................................... 29
6.1 Learning Control parameters ................................................................................ 29
6.2 Adaptive Preview Control parameters ................................................................... 37
6.3 Adaptive method ................................................................................................. 39
7. Supplementary functions related to Learning Control ................................................. 40
7.1 Learning memory expanded function .................................................................... 40
7.2 Learning data transmission function ...................................................................... 43
7.3 Torsion compensation function during high-speed cutting ....................................... 49
7.4 Tandem Learning control function ......................................................................... 50
7.5
7.6
7.7
7.8
7.9
Position error monitoring function.................................................................................
Tandem disturbance elimination filter ........................................... ..............................
Disturbance elimination filter .......................................................................................
Neglect of Skip Signal by outer signal.........................................................................
Low-frequency vibration suppression….………...........................................................
53
55
58
61
64
8. Tuning ............................................................................................................ ......... 65
9. Matters that require attentions......................................................................................66
Appendix 1. Notes at making orders...............................................................................
Appendix 2. Method to make cutting data ......................................................................
Appendix 3. Parameter table for Learning Control .........................................................
Appendix 4. Function table depending on servo software edition...................................
Appendix 5. Method to change parameters for Learning Control in CNC Program .......
Appendix 6. Parameter number difference between 16i and 30i series CNC ...............
71
73
74
78
79
80
Index ................................................................................................................................82
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Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
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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.

Option*1)
Method
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
4) Spindle
Learning Control
Angle base
Spindle Cs control
Application
Piston lathe
Gear cutting
Scroll machining
Gear cutting
Lens cutting
Jig grinding
Crank-pin grinding
Cam grinding
This manual is for High Precision Learning Control of above 1). This specially describes Time based
method*3 used with High-speed cutting (G05) *2. 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 (Angle based Learning control)" A-63639E-204
“Learning Control for Parts Cutting A Operator’s Manual” A-63639E-201
“Spindle Learning Control Operator’s Manual” A-63639E-132
*1) "Preview Repetitive Control" for 30i-A corresponds with “High Precision Learning Control A”, and
"Learning Control" for 30i-A corresponds with “High Precision Learning Control B”.
*2) High-speed cutting (G05) means "Memory operation” by “High-speed cycle machining”, “DNC operation”
by Personal Computer through HSSB, or “High-speed binary program operation” by Data server.
*3) There are two methods in Learning control. One is "Time based method". The other is "Angle based
method" which uses a reference angle.
The merit and major specification of Learning control
The Learning control by digital servo software enables high-precision control for the command and the
cutting disturbance given repeatedly at specified intervals. The piston or the camshaft for car engine is
usually produced with a conventional cam machine using mechanical way. Learning control enables to
replace such conventional cam machines to a CNC machines.
 Servo card
Standard Servo card *Note1
 Learning axes
Max. 6 axes (Max. 10 axes in case of Additional axis board mounted)
 Learning period
Ref. *Note2
(319 sec. in case of 4 Learning axes)
 Learning memory size
Ref. *Note2
(638,560 words in case of 4 Learning axes)
 Pulse distribution period
Min. 0.25 msec.
(Depending on CNC software version)
 Frequency Band
Max. 1,400 Hz
(At applying HRV4 control)
 Total number of profiles
Max. 24 profiles
 Learning step number
Max. 5 steps
(Maximum number of a different learning period per 1 profile)
(Note) Boldface is improved from series 30i-A
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Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
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(Note 1) In 30i-A it is necessary to use Servo card L24 equipped Learning memory for Learning control, but
in 30i-B standard Servo card is available for Learning control because of using CNC memory.
(Note 2) Learning period is variable depending on the number of Learning axes (N) and total number of
profiles (P). Learning period is calculated by the following formula.

Int((2,555,904 / 2N – 71) / P – 137)
[ms]
Int((5,177,344 / 2N – 71) / P – 137)
[ms]
Table 1-1.
without Learning memory size 10Mbyte option *2
with Learning memory size 10Mbyte option *2
(Note) Int( ) means the function to round to integer
Number of Learning axis and Learning time (in case of P=1)

Number of without Learning memory size 10Mbyte with Learning memory size 10Mbyte
Learning axis Learning memory
Learning time
Learning memory Learning time
1 axis
2,555,488(w)
1,277,744(ms)
5,176,928(w)
2,588,464(ms)
2 axes
1,277,536(w)
638,768(ms)
2,588,256(w)
1,294,128(ms)
3 axes
851,552(w)
425,776(ms)
1,725,364(w)
862,682(ms)
4 axes
638,560(w)
319,280(ms)
1,293,920(w)
646,960(ms)
5 axes
510,764(w)
255,382(ms)
1,035,052(w)
517,526(ms)
6 axes
425,568(w)
212,784(ms)
862,474(w)
431,237(ms)
7 axes *1
364,712(w)
182,356(ms)
739,204(w)
369,602(ms)
8 axes *1
319,072(w)
159,536(ms)
646,752(w)
323,376(ms)
9 axes *1
283,572(w)
141,786(ms)
574,844(w)
287,422(ms)
10 axes *1
255,174(w)
127,587(ms)
517,318(w)
258,659(ms)


*1) Additional axis board (A02B-0323-J120, -J121) is required.
*2) With "Learning memory size 10Mbyte" option (A02B-xxxx-R720), Learning memory size is twice.
(Note 3) Learning data transmission in 30i-B is faster than in 30i-A. And Learning data clear in 30i-B is
faster than 30i-A. Refer to 7.2 Learning data transmission function.
Table 1-2. Combinations of Servo Software Series and CNC type
Learning series
Standard series
Servo
9080
Servo
CNC
Series 16-C, 18-C
Series 15-B
Series 16i-A,
Series 18i-A
9083
9087
90A0
Series 16i-A,
Series 18i-A
90A3
90A7
Series 16i-A,
Series 18i-A
HRV2

90B0
Series 16i-A, B
Series 18i-A, B
90B3
90B7
Series 16i-A, B
Series 18i-A, B
HRV3

90D0
90E4
Series 30i-A
Series 31i-A
90D3
90E7
Series 30i-A
Series 31i-A
HRV24
90E0
90E1
Series 30i-A
Series 31i-A
Series 32i-A
90E3
Series 30i-A
Series 31i-A
HRV23
90G0
90J0
Series 30i-B, 31i-B
Series 32i-B, 35i-B
90G3
90J3
Series 30i-B, 31i-B
HRV24
9090
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CNC
Remarks
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Series 16-B, 18-B
Series 16-C, 18-C
HRV

FSSB
N.Sonoda  10Mbyte was added
K.Maeda Newly designed Y.Toyozawa
Design
Description
Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
Draw No.
A - 63639E - 200
Sheet
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Learning series of servo software supports the functions which the following version of standard series has.
Table 1-3. Comparison between standard series and Learning 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

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Learning series
Standard series
90J3 / 01.0
90J0 / 02.0
Servo card A for 30i-B series CNC has been updated. This new servo card B requires servo software
90J3 series. This servo software enables to use the latest features such as Servo HRV+ control.
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N.Sonoda
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Title
90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
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Note
1) Learning control requires Servo software 90G3, 90J3 called Learning series. It enables to
control 6-axes per one DSP (Digital Signal Processor for servo control) in case of HRV2
control. But the number of controllable axes is limited under 4-axes per one DSP in case of
HRV3 control and 1-axis per one DSP in case of HRV4 control. In case of Learning control,
velocity control period in Learning HRV2 or Learning HRV3 is set faster than 90G0, 90J0. The
maximum number of controllable axes per one DSP is as follows.

Table 1-3. Number of controllable axes / DSP
Velocity
Without
With Learning
Control
Note
control cycle Learning axis
axis
HRV2
1ms
6
4
Learning HRV2
0.5ms
4
HRV3
1ms
4
3
0.5ms
3
Standard use
Learning HRV3
0.25ms
1
Special use (Piston lathe etc)
HRV4
0.25ms
1
1
2) Learning control only works during G05 operation, which is High-speed cutting in the part
program. As you can set Learning control to each axis independently, you can mix Learning
axes and Normal axes.
3) In the servo axis allocation (No.1023), Learning axis, which has No.2019#6=1 or #5=1, must
be allocated to the first axis (L-axis) on each DSP. For example, in case of 90G3, 90J3 series,
Learning axis should be allocated to 1, 9, 17, 25, 33, ... One DSP can control only one
Learning axis (8n + 1). The other axes (8n + 2 ~ 6) allocated to the same DSP can be used as
the normal axes.
4) In 30i-B series CNC, The standard servo card A is for Learning control use, which is used
together with 90G3 series. In case of standard new servo card B, 90J3 series is applied.
5) The parameter numbers for Learning control are different between 16i and series 30i series
CNC. Refer to Appendix 6. Parameter number difference between 16i and 30i series
CNC.
6) The special parameters described in this manual are applied only to Learning axis. The servo
parameters except for Learning parameters are the same as ones for general cutting tools.
Concerning the other servo parameters except for Learning parameters described in this
manual and the adjustments for them, please refer to “FANUC AC SERVO MOTOR i series,
FANUC AC SERVO MOTOR i series, FANUC LINEAR MOTOR LiS series, FANUC
SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series PARAMETER MANUAL "
B-65270EN.
7) Regarding detail CNC functions, please refer to the following CNC manual.
 " FS 30i /300i /300is-B Specification Manual "
: B-64482EN
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 " FS 30i /300i /300is-B
Connection Manual (function) "
: B-64483EN-1
 " FS 30i /300i /300is-B
User's Manual "
: B-64484EN
 " FS 30i /300i /300is-B
Maintenance Manual "
: B-64485EN
 “ FS 30i /300i /300is-B
Parameter Manual “
: B-64490EN
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N.Sonoda  axes / DSP was corrected
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90G3 / 90J3 Series High Precision
Learning Control Operator’s Manual
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2. System Configuration
There are three below cases about High-speed cutting (G05). Fig.2-1 shows a system configuration.
(1) Memory operation by “High-speed cycle machining (cutting)”
a) Produce cutting data by Open CNC or personal computer and down load it to P-code area in CNC.
b) Produce cutting data by Macro executor and write it to P-code area.
After cutting data was prepared by personal computer or Open CNC,
(2) High-speed binary program operation by Data server
c) Produce cutting data by Open CNC or personal computer and down load it via Ethernet to Data server
and run High-speed binary program operation by Data server
(3) DNC operation that Open CNC or personal computer makes run directly through HSSB
d) DNC operation in BOP2 (Basic Operation Package 2).
Note

In case of (3), there is a possibility that transmission rate isn’t always guaranteed due to the
personal computer performance. We don’t recommend method of (3).

You can switch the Memory operation and either Data Server operation or DNC operation in one
system. You can switch two operations by G05 code or M198 code in your cutting program.

The call of binary program from Data server is available by M198 code, not by M98 code.

In case of Memory operation, you can use “High-speed cycle skip function” or “High-speed cycle
retract function”. In case of (2) or (3), you can use “High-speed binary program operation retract

function”, but you can’t use “High-speed binary program operation skip function”.
In case that you store Learning data and recycle it, please refer to 7.2 Learning data
transmission function.
Series 30i (NC Software)
Macro executor
Personal Computer
b)
Producing cutting data
User Program
(+Library by Fanuc)
Flash memory card
(Binary data)
a) HSSB
d) HSSB
(DNC)
P-code variables
Memory Op.
(1)
(3)
User Program
(Parts Prog. Oxxx)
(2)
c)Ethernet
Digital Servo
Software
G05
Position
Command
High precision
Learning control
A or B
Data Server
Binary Op.
Fig. 2.1 System configuration selection
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Learning Control Operator’s Manual
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