A 63639e 188 - 100329

FANUC AC SERVO SOFTWARE
90E3 Series
COMPACT LEARNING CONTROL
Operator’s Manual
1. Overview
2. Application Examples
3. Order specification
4. PMC signals
5. Parameters
6. High gain setting
7. Alarm
(CAUTION)
The contents of this manual are subject to change without notice
for the purpose of improvements to the servo software.
Title 90E3 series Compact

Learning Control Operator’s Manual
Draw No.
A - 63639E - 188
01 ’10.02.12 N. Sonoda Newly designed Sheet 01
Edit Date Design Description / 17
1. Overview
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. “Compact
Learning Control” adopts the latter 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. 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.
Compact Learning Control 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 is
used. Furthermore this Referential position requires the character of either monotonous increase or monotonous
decrease. Therefore Compact Learning Control is available in rotary axis rotating one direction or in liner axis
synchronizing with said rotary axis.
Angle based Learning controller
Learning memory
Referential q1 q2 qm
position ＋
＋ HRV
Command ＋ Error Control
− Feedback
Compact Learning Control is available with standard servo card because it realizes Learning Control with small
memory. It is big merit against usual Learning Control of Time based method. But it has the restriction that it is
impossible to preserve the generated Learning data into memory on CNC or other external memory (Learning data
transmission function) and to reuse it.
Option Learning method Servo card Application
Clank-pin grinding machine

Learning Control
Large memory Cam grinding machine
/ Preview Repetitive Time based method
type Piston lathe
Control
Aspherical Lens cutting
Gear grinding
Compact Learning Control Angle based method Standard type Jig grinding
Grinder oscillation
This operator’s manual explains the procedure to apply Compact Learning Control. Concerning Learning Control

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of Time based method, please refer to the following manual.
“FANUC AC Servo Software 90D3 series 90E3 series Learning Function Operator’s manual” (A-63639-108)
The merits of Compact Learning Control
High precision to reiterating movement

This control realizes high precision machining to the reiterating command or cutting disturbance.
Available usual servo card (Standard type)

Learning Control requires special servo card equipped memory of large capacity. But Compact Learning Control is
available with usual servo card.
Easy programming
This control 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 Compact Learning Control can work under usual
NC program.
Quick following to speed variation

Compact Learning Control enables to specify not time but angle or position as Learning period. Therefore this
control can adapt the variation of time period that is difficult to realize in usual Learning Control of Time based
method. For example, this control enables to apply Learning Control to “Constant surface speed cutting” at which
Learning period get decreased.
Optimum command speed

In case of Learning Control 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 Compact Learning Control, 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 learning period = Sampling time [msec.] ´ N (N: integer)
Angle learning period = 360 [degrees]
Minimum speed without restriction

Usually lower working speed requires a lot of Learning memory because of longer time period in Learning Control
of Time based method. Therefore there is a restriction on minimum speed depending on the equipped Learning
memory. On the other hand, Compact Learning Control is available with lower speed because the necessary
Learning memory doesn’t depend on time period.
Note) Learning Control of 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.

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2. Application Examples
2.1 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 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.
S-axis: Grinder
Spindle
Y-axis:
Y-axis speed (Referential & Learning axis)
Ball screw drive Tool
Back
Time
Go

2.2 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-axis speed (Referential axis )
Work Gear
Time
S-axis: C-axis speed ( Learning axis)

Spindle C-axis:
DD motor
Time
2.3 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 calculate the command. Refer to “5.5 Parameter for High precision oscillation function” as to the application.
Rotation
Z-axis
Work Oscillation
Z-axis position (Learning axis)
Grinder
Grinding side surface of work Time


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3. Order specification
3.1 Options and Hardware
Option CNC CPU card Servo card

Compact Learning Control Series30i-A All types Standard type
(A02B-030x-R692) Series31i-A
Note) Servo card of Large memory type L24 (A02B-0236-H088) is also available. However If L24 is mandatory in
your application, either option “Learning Control” (A02B-xxxx-J705) or “Preview Repetitive Control” (A02B-xxxx-J706)
should be prepared.
3.2 Servo software
Standard Learning Control Remark

Servo CNC Servo CNC
90E0 Series30i-A 90E3 Series30i-A HRV2, HRV3
90E1 Series31i-A (A02B-0303-H590 Series31i-A
Series32i-A #90E3)
Note) Compact Learning Control requires 90E3 series edition 05 or later.
Learning series of servo software supports functions till the following version of standard series.
Version 90E3 series
05 (E) 90E1/03.0, 90E0/27
06 (F) 90E1/04.0, 90E0/29
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-030x-J832
High speed binary operation A02B-030x-R516
When the above options are used, the following related options are selected as the case may be.
High-speed cycle machining skip function A02B-030x-S662
High-speed cycle machining retract function A02B-030x-J663
High-speed cycle cutting additional variables A / B A02B-030x-J745／J746
High-speed cycle cutting additional variables C / D A02B-030x-S640／R513
High-speed binary operation retract function A02B-030x -S658
Superimposed control for high-speed cycle machining
A02B-030x-R554
Superimposed control A02B-030x-S818
（Indispensable option to use “Superimposed control for high-speed cycle machining”）
High-speed cycle machining operation information output function

A02B-030x-R609

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Spindle control switching function for High-speed cycle machining
A02B-030x-R608
High precision oscillation function applied to Jig grinding machine requires the following option.
High precision oscillation function A02B-030x-R662
Note) The above “030x” is the following value corresponding to each CNC.
30i -A : 0303, 31i -A : 0307, 31i -A5 : 0306
3.4 Controlled axis

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 number of available axes might decrease depending
on the number of axes (Learning axis) to apply Learning Control. The following numerical formula gives the
information of available number in controlled axis when Learning Control is used.
(Number of available axes) = (Max. number of controlled axes) − (Max. number of learning axes)
Ex.) In case of the combination of servo software 90E3 series, servo card B24 and HRV3 control, the number of
available axes are “8” if maximum 4 axes are used as Learning axes among 12 axes in maximum number of
controlled axes. 8 axes=12axes –4 axes.
4. PMC signals
Start / stop for Learning Control is controlled by either start / stop of High-speed cycle cutting (G05) or PMC signal. 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 #6 #5 #4 #3 #2 #1 #0
G0320 SVDI08 SVDI07 SVDI06 SVDI05 SVDI04 SVDI03 SVDI02 SVDI01
SVDI0x Learning Control start signal

0: Stop Learning Control
1: Start Learning Control
#7 #6 #5 #4 #3 #2 #1 #0
F0320 SVDO08 SVDO07 SVDO06 SVDO05 SVDO04 SVDO03 SVDO02 SVDO01
SVDO0x Learning Control status signal

0: Learning Control is standstill
1: Learning Control is executing
#7 #6 #5 #4 #3 #2 #1 #0
F0322 SVDO28 SVDO27 SVDO26 SVDO25 SVDO24 SVDO23 SVDO22 SVDO21
SVDO2x Learnig memory clear signal

0: Learning memory clear is standstill
1: Learning memory clear is executing

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If Learning Control start signal is set to “ON” during Learning memory clear, an alarm will occur.
Therefore program should be started after Learning memory clear signal F322 became “0”. It
takes about 0.5 sec for Learning memory clear.
5. Parameters
5.1 Axis allocation

In case of servo software 90E3 series, Learning axis should be allocated to 1, 5, 9, 13… in No.1023.
5.2 Indispensable parameters for Compact Learning Control
#7 #6 #5 #4 #3 #2 #1 #0
2019 (FS30i ) CPLNFC
CPLNFC (#2) Compact Learning Control is

0: Unavailable
1: Available (Option)
Note) Compact Learning Control requires 90E3 series edition 05 or later.
2512 (FS30i ) Learning band (FBND)

[Range] Velocity sampling period =1ms : 0 to 350Hz (25 Hz steps)
Velocity sampling period=0.5ms : 0 to 700Hz （50 Hz steps）
[Unit] Hz
Bandwidth for 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.
2517 (FS30i ) Division number (PRIOD)

[Range] 20 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=120000 / N)
Ex.) Case of N = 58.6 min-1, 120000 / 58.6 = 2047.7 à Set PRIOD to 2048.
Real bandwidth changes according to the setting parameter Learning band, Division number, and
the speed of Referential axis.
Real bandwidth [Hz] =
FBND (No.2512) ´ PRIOD (No.2517) ´ Speed of Referential axis [min-1] / 60000

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Case of PRIOD=100, FBND=100Hz
Real Real
Speed of Referential axis Speed of Referential axis
Bandwidth Bandwidth
30 min-1 5 Hz 2400 min-1 400 Hz
300 min-1 50 Hz 3000 min-1 500 Hz
600 min-1 100 Hz 3600 min-1 600 Hz
1200 min-1 200 Hz 4200 min-1 700 Hz
1800 min-1 300 Hz 4800 min-1 800 Hz
2516 (FS30i ) Angle learning period (RPTCT)
2537 (FS30i ) Expanded coefficient of Angle learning period (EXPRIOD)

[Range] 1 to 32767[Unit] [Unit] Detective unit
Angle learning period should be set with detective 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

Compact Learning Control requires either of Referential angle position 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) Signal transmitted from CNC (Refer to “5.5 High precision oscillation function”)
b) Synchronous command for EGB
synchronous
command for
EGB
Referential
Referential position d) Referential
position c) position b)
CNC Angle based Other axis
Learning synchronizing with
Controller Learning axis
Referential
position a) Compensation
Learning axis
Command

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First, the following explanation is the setting procedure for Referential axis in case of above a).
#7 #6 #5 #4 #3 #2 #1 #0
2227 (FS30i ) ANGREF
ANGREF(#4) Referential position is

0: Feedback
1: Command
Note) This parameter should be set in Learning axis.
Ex.) In case that Referential position is the command of Learning axis.
X-axis
Referential Axis allocation
position Angle Learning No.1023 X-axis=5 Learning axis
Parameters
Command
Position X-axis No.2019#6=1 Learning axis
control No.2227#4=1 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. This function is
available with 90E3 series version 05 or later.
#7 #6 #5 #4 #3 #2 #1 #0
2220 (FS30i ) DSPCOM
DSPCOM(#6) Communication function between servo axes is

0: Unavailable
1: Available
This parameter should be set in ｔｈｅ axis of No.1023=1. If this parameter is changed, CNC power must
be off.
#7 #6 #5 #4 #3 #2 #1 #0
2227 (FS30i ) ANGREF
ANGREF(#4) Referential position is

0: Feedback
1: Command
Note) This parameter should be set at Referential axis.
#7 #6 #5 #4 #3 #2 #1 #0
2445 (FS30i ) ALRFAX ALRFD2 ALRFD1 ALRFD0
ALRFAX(#3) This axis is specified as

0: not Referential axis
1: Referential axis (Axis to transmit Referential position)
Only one axis can be selected as Referential axis. If this parameter is changed, CNC power must be
off.

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ALRFD0, D1, D2 (#0,#1,#2)
These parameters specify the group of 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.
ALRFD2 ALRFD1 ALRFD0 No.1023 in referential axis

0 0 1 1∼4
0 1 0 5∼8
0 1 1 9∼12
1 0 0 13∼16
1 0 1 17∼20
1 1 0 21∼24
2530 (FS30i ) Delay compensation

[Range] -32767 to 32767 (Plus means lead compensation, and minus means lag
compensation.)
[Unit] nano sec.
When any 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"
at Learning axis.
Note) The velocity period should be set same setting (No.2004#5, #1) in the axis of No.1023=1,
Referential axis and Learning axis. Besides it is impossible to communication between main servo
card and additional axis board, and between servo and spindle.
Ex.) Referential axis is command or feedback of other axis synchronizing with Learning axis.
X-axis Axis allocation

No.1023 Y-axis=1
Angle Learning X-axis=5 Learning axis
C-axis=9 Learning axis & Referential axis
Command
Position
Parameters
control
Y-axis No.2220#6=1 Communication function
Feedback
X-axis No.2019#6=1 Learning axis
Referential
C-axis No.2445#3=0 Not transmitting axis
position
No.2445#2,#1,#0=0,1,1 Receiving axis
Angle Learning No.2530=1000 or 500 Delay compensation
Command C-axis No.2019#6=1 Learning axis

Position No.2445#3=1 Transmitting axis
control No.2445#2,#1,#0=0,0,0 Not receiving axis
No.2227#4=0 Feedback
Feedback or No.2227#4=1 Command

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Finally the following explanation is the setting procedure for Referential axis in case of above d).
#7 #6 #5 #4 #3 #2 #1 #0
2227 (FS30i ) ANGLNG
ANGLNG(#5) This parameter should be set in dummy axis for EGB.
2530 (FS30i ) Delay compensation

[Range] -32767 to 32767 (Plus means lead compensation, and minus means lag
compensation.)
[Unit] nano sec.
When any 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"
at Learning axis.
Ex.) Referential axis is synchronous command for EGB.
X-axis
Referential Axis allocation
position Angle Learning
No.1023 X-axis=5 Learning axis (EGB slave)
Y-axis=6 Referential axis (EGB dummy)
Command
Position
control Parameters
X-axis No.2019#6=1 Learning axis
No.2530=1000 or 500 Delay compensation
Synchronous Y-axis No.2019#6=0 Normal axis

EGB rate command No.2227#5=1 Referential axis
Feedback from Tool axis
Y-axis : Dummy axis
5.4 Parameters, should be tuned on demand
2526 (FS30i ) Maximum order of Gx (GODMX)
2527 (FS30i ) Mimimum order of Gx (GODMN)

[Range] 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 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 high speed

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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 (FS30i ) Maximum coefficient of Gx (EXGXK1)
2529 (FS30i ) Mimimum coefficient of Gx (EXGXK2)

[Range] −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 are 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. This function is available with 90E3 series version 06 or later.
#7 #6 #5 #4 #3 #2 #1 #0
2445 (FS30i ) OSLNAX OSLNCT OSMERS
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,
"PARAMETER INCORRECT" alarm will occur. (Alarm derail No.4452)
OSLNCT (#6) Start / Stop for oscillation is

0: Not controled by PMC
1: Controled 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 controled 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

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This function is available with No.2445#7=1 and CNC software supporting this function is required. If
it isn’t supported by CNC software, some shock might occur at the following “B”. In this case, the
following “A” is used instead of ”B”.
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 the following
specification.
“FANUC Series 30i / 31i / 32i-MODEL A High Precision Oscillation Function Specification” (A-
92350)
#7 #6 #5 #4 #3 #2 #1 #0
2226 (FS30i ) OSSSS
OSSSS (#3) Shock at start of oscillation movement is

0: Not suppressed
1: Suppressed
This function is available with No.2445#7=1.
#7 #6 #5 #4 #3 #2 #1 #0
2443 (FS30i ) SP2SK
SP2SK (#2) Shock at stop of oscillation movement is

0: Not suppressed
1: Suppressed
This function is available with No.2445#7=1
2516 (FS30i ) Angle Learning period (RPTCT)
2537 (FS30i ) 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 (FS30i ) Stop judgment level

[Unit] Detective unit
[Recommended value] 2 to 10 (Detective unit : 1um), 20 to 100 (Detective unit : 0.1um)
This parameter is used for stop judgment to suppress shock at start of oscillation movement when
No.2226#3=1.
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. This function is available with 90E3 series
version 05 or later.

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#7 #6 #5 #4 #3 #2 #1 #0
2444 (FS30i ) ANGRUD ANGAST
ANGRUD (#1) Position 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
2516 (FS30i ) Angle learning period (RPTCT)
2537 (FS30i ) Expanded coefficient of Angle Learning period (EXPRIOD)

Angle learning period is specified by 2 word parameter.
When Referential position is reciprocation (No.2444#1=1) and Angle learning period is set
automatically (No.2444#0=1), No.2516 means higher 16bits and No.2537 means lower 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 pulse per revolution.
Note) In order to use automatic setting (No.2444#0) of Angle learning period, the following CNC software is
required. If it is unavailable, you can know this period on diagnostic display N353 (No.2537) and N354
(No.2516) by the setting of No.2151=4992 and No.2153=4993.
FS30i-A G004, G014, G024, G034 / edition 15.0 or later
FS31i-A5 G124, G134 / edition 15.0 or later
FS31i-A G104, G114 / edition 15.0 or later
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 follow-up precision

This function is available with 90E3 series version 05 or later.
#7 #6 #5 #4 #3 #2 #1 #0
2445 (FS30i ) VELNRM
VELNRM (#4) Error at speed changing point is

0: Not suppressed
1: Suppressed
Compact Learning Control can follow the changing speed with high precision. However error might
increase at speed changing point. If this function become effective, the error will be suppressed.

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5.8 Parameters for timing of Learning start
#7 #6 #5 #4 #3 #2 #1 #0
2442 (FS30i ) DLYANG
DLYANG (#4) Setting unit for Learning start time (No.2514) is

0: Time
1: Angle
2514 (FS30i ) Learning start time LESTTM

[Range] 0 to 32767 [Unit] msec.
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
(No.2445#7=1) becomes effective and Angle learning period is zero, the unit is 1 degree.
Ex.) When Angle learning period is 3,600,000 (No.2516=3600, No.2537=1000) and Learning start is
delayed for 90 deg, No.2514 is set to 900 (=90´3600/360).
5.9 Parameters not to clear Learning data

#7 #6 #5 #4 #3 #2 #1 #0
2443 (FS30i ) ICM
ICM (#6) After the fihish 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.
2513 (FS30i ) Learning suspension time (BRCT)

[Range] -32767 to 32767 (0 is not 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 renewed 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.

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No.2443#6=1 Referential position
Learning
period
Learning start
signal G320 ON OFF ON OFF ON OFF
Learning Learning Suspension

BRCT=0 BRCT=0 BRCT= -1
No.2443#6=0
Referential position
Learning
period
Learning start ON
signal G320
Learning BRCT=2500msec Suspension
6. High gain setting
In order to improve the performance of Learning Control, it is effective to change HRV control from standard “HRV2 control”
to “Learning HRV control” by the following procedure. We call the combination of the HRV control and velocity period
0.5msec “Learning HRV control” in servo software 90D3 or 90E3 series.
Leaning HRV2 control

· No.1825 set to 6000. (Position Gain)
· No.2003#3 set to 1. (PI control)
· No.2004 set to xx1x0001. (Don’t change “x” bit)
· No.2044 (PK2V) set to twice of standard
· No.2512 set to 200. (Learning band)
· No.2526 set to 10. (Maximum order of Gx)
Note) Servo axes on the same CPU should be set same No.2004, even if the axes don’t use Learning control.
(Please refer to the following 3rd note.)
Learning HRV3 control

Set “Learning HRV2 control”
No.2013#0 set to 1. (HRV3 control)
No.2334 set to 150. (Current loop gain magnification)
No.2335 set from 100 to 400. (Velocity loop gain magnification)
No.2271#0 set to 1. (Always high-speed HRV current control)
Note)
These settings are different from standard HRV3 or HRV4, and doesn’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).
Draw No.
A - 63639E - 188
Note)
90D3 series can control 2-axes per CPU. But the number of controlled axes is limited to 1-axis in HRV4. On the
other hand, 90E3 series can control 4-axes per CPU. But the number of controlled axes is limited to 3-axis in
HRV3. When Learning HRV control is applied, the number of controlled axes is limited as follows.
Number of controlled axes / CPU

Velocity
Control 90E3 series Note
period
HRV2 1ms 4
Learning HRV2 0.5ms 3
HRV3 1ms 3
0.5ms 2 Standard use
Learning HRV3
0.25ms 1 Special use (Piston lathe etc)
7. Alarm
If there are some problems in parameter setting or operation, the following "Illegal parameter setting" alarm will occurs. In
this case it is possible to confirm details of alarm at diagnosis display N352.
Alarm derail Parameter No.

Cause Measures
No.
5162 2516 Angle learning period is too small Division number (No.2517) gets
as against Division number. smaller.
2517
Or Angle learning period (No.2516,
2537
No.2537) gets larger.
5172 2516 Angle learning period is too large Division number (No.2517) gets
as against Division number. larger.
2517
Or Angle learning period (No.2516,
2537
No.2537) gets smaller.
5272 2526 Maximum order of Gx is smaller Maximum order of Gx (No.2526) gets

than Minimum order of Gx. more than Minimum order of Gx
2527
(No.2527).
83 Program for Learning Control is Program is started after Learning

started during Learning memory memory clear signal F322 was
clear. confirmed to be “0”.
4452 2445 Although option for Learning Please set option.

Control is unavailable, No.2445#7
was set to “1”.

Draw No.
A - 63639E - 188

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FANUC AC SERVO SOFTWARE

Title 90E3 series Compact

Option Learning method Servo card Application

Clank-pin grinding machine

Title 90E3 series Compact

The merits of Compact Learning Control

High precision to reiterating movement

Available usual servo card (Standard type)

Quick following to speed variation

Optimum command speed

Minimum speed without restriction

Title 90E3 series Compact

S-axis: C-axis speed ( Learning axis)

2.3 Jig grinding machine using High precision oscillation function

Grinding side surface of work Time

Title 90E3 series Compact

3.1 Options and Hardware

Option CNC CPU card Servo card

3.2 Servo software

Standard Learning Control Remark

3.3 Software options

High-speed cycle machining operation information output function

Title 90E3 series Compact

3.4 Controlled axis

SVDI0x Learning Control start signal

SVDO0x Learning Control status signal

SVDO2x Learnig memory clear signal

Title 90E3 series Compact

5.1 Axis allocation

5.2 Indispensable parameters for Compact Learning Control

CPLNFC (#2) Compact Learning Control is

2512 (FS30i ) Learning band (FBND)

2517 (FS30i ) Division number (PRIOD)

Title 90E3 series Compact

300 min-1 50 Hz 3000 min-1 500 Hz

600 min-1 100 Hz 3600 min-1 600 Hz

1200 min-1 200 Hz 4200 min-1 700 Hz

1800 min-1 300 Hz 4800 min-1 800 Hz

2516 (FS30i ) Angle learning period (RPTCT)

2537 (FS30i ) Expanded coefficient of Angle learning period (EXPRIOD)

5.3 Parameters to select Referential position

a) Command or feedback of Learning axis

Title 90E3 series Compact

ANGREF(#4) Referential position is

Ex.) In case that Referential position is the command of Learning axis.

DSPCOM(#6) Communication function between servo axes is

ANGREF(#4) Referential position is

ALRFAX(#3) This axis is specified as

Title 90E3 series Compact

ALRFD2 ALRFD1 ALRFD0 No.1023 in referential axis

2530 (FS30i ) Delay compensation

X-axis Axis allocation

Command C-axis No.2019#6=1 Learning axis

Title 90E3 series Compact

ANGLNG(#5) This parameter should be set in dummy axis for EGB.

2530 (FS30i ) Delay compensation

Ex.) Referential axis is synchronous command for EGB.