Application Manual For Tapping Machine

Application Manual for Tapping Machine.

匯出日期：2023-02-25
修改日期：2019-05-30
机床产品/Machine Tool Products
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• Electrical Spare Summary Table

• External Dimension
• Controller and Spares Dimensions
• Syntec Inverter External Dimensions
• Yaskawa Servo Driver External Dimensions
• Motor External Dimension
• Wiring Diagram
• Yaskawa Servo Driver Wiring Diagram
• Yaskawa CN1 Input/Output connector pin definition
• Yaskawa CN2 connector Pin definition
• Yaskawa Motor Brake Wiring Diagram
• Yaskawa Main Power Wiring Diagram
• Syntec Inverter Wiring Diagram
• Syntec Inverter Encoder Pin Definition
• Syntec Inverter Regenerative Resistor Table
• Software Upgrade, Data Backup and Recovery
• Software Upgrades
• Backup and Restore for User
• Backup and Restore for Maker
• Axis Tuning
• Station Address Switch
• Auto Tuning Procedure
• Servo Parameter Setting
• Axis Parameter Setting in Syntec Controller
• Home Position Setting For Absolute Motor
• Mechanical Compensation
• Pitch Error
• Backlash
• Quad Peak
• Spindle Tuning
• Syntec Inverter Station Setting
• Syntec Inverter Auto Tuning Procedure
• Syntec Inverter Parameter Setting
• Spindle Parameter Setting in Syntec Controller
• Alarm Related with Spindle
• Additional - Syntec Tuning software Operation Introduction
• Electrical Check Table
• System Use Time Setting Application Manual
• Controller Interface
• Syntec PasswordSite User's Manual
• Troubleshooting
• Trobleshooting - Controller Related
• Troubleshooting - Auto Tuning
• Troubleshooting - Servo Driver
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1 Electrical Spare Summary Table

1.1 Controller Specification
No. Product Name Specification Qty
1 21MA-10.4" Controller 20MA-SEP-DG 1
2 VK keyboard ST3015VK 1
3 Control Panel ST3030M3 1
4 External terminal input (cable: 5.5m) TB16IN 1
5 External terminal output (cable: 5.5m) TB16OUT 1
6 20Pin connector W01-20/20 2
7 MPG 1
8 Yaskawa M2 data cable 5.5m Yaskawa M2 communication cable 1
9 Yaskawa M2 data cable 0.5m Yaskawa M2 communication cable 4
10 Yaskawa M2 Terminal 1
11 Waterproof battery box SAP-BATT 1
12 Yaskawa M2 Servo driver - XY Axis SGDV-120A11A 2
13 Yaskawa absolute motor - XY Axis SGMGV-13ADA61 2
14 Yaskawa M2 Servo driver - Z Axis SGDV-200A11A 1
15 Yaskawa absolute motor - Z Axis SGMGV-30ADA6C 1
16 Yaskawa M2 Servo driver - Turret SGDV-5R5A11A 1
17 Yaskawa absolute motor - Turret SGMJV-08A3A6C 1
Electrical Spare Summary Table – 3

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No. Product Name Specification Qty
18 Syntec (M2 protocol) Inverter SPD-032A1-075 1
19 Syntec Spindle Motor SP-L5.5-12(12000RPM) 1

SP-L5.5-18(18000RPM)
20 Brake Resistor – XY axis 25.0Ω500W 2
21 Brake Resistor – Z axis 12.5Ω1000W 1
22 Brake Resistor – Spindle 40.0Ω3000W 1
23 Syntec spindle encoder cable 1
1.2 Motor Specification

XY Z Turret Spindle-1 Spindle-2
Servo driver type SGDV-120A11A SGDV-200A11A SGDV-5R5A11A SPD-032A1-075 SPD-032A1-075
Motor type SGMGV-13ADA SGMGV-30ADA SGMJV-08A3A6 SP-L5.5-12 SP-L5.5-18

61 6C C
Rated Output(S1) 1.3 kW 3.0 kW 0.75 Kw 3.7 kW 3.7 kW
30 Mins Output(S2) - - - 5.5 kW 5.5 kW
Rated Speed 1500 RPM 1500 RPM 3000 RPM 3000 RPM 3000 RPM
Max. Speed 3000 RPM 3000 RPM 6000 RPM 12000 RPM 18000 RPM
Rated Voltage - - - 280 V 280 V
Rated Torque 8.34 N-m 18.6 N-m 2.39 N-m 11.67 N-m 11.67 N-m
Rotor Moment of 19.9 Kg-cm^2 54.5 Kg-cm^2 1.74 Kg-cm^2 43.46 Kg-cm^2 40.57 Kg-cm^2
Inertia

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XY Z Turret Spindle-1 Spindle-2
Encoder resolution 1048576 1048576 1048576 65536 65536
Motor Weight 7.1 Kg 13.5 Kg 3.6 Kg 30 Kg 30 Kg

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2 External Dimension
2.1 Controller and Spares Dimensions
2.1.1 Monitor
External Dimension – 6
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2.1.2 Keyboard
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2.1.3 Operation Panel
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2.1.4 Terminal Board
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2.1.5 Chassis Screw Hole
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2.2 Syntec Inverter External Dimensions
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2.3 Yaskawa Servo Driver External Dimensions
2.3.1 XY Axis - SGDV-120A11A
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2.3.2 Z Axis - SGDV-200A11A
2.3.3 Turret - SGDV-5R5A11A
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2.4 Motor External Dimension
2.4.1 Axis motor Dimensions
XY Axis - SGMGV-13ADA61 / Z axis - SGMGV-30ADA6C
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2.4.2 Turret Motor - SGMJV-08A3A6C
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2.4.3 Spindle Motor Dimension Plot
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3 Wiring Diagram
3.1 Main wiring diagram is shown below
Wiring Diagram – 19
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3.2 Yaskawa Servo Driver Wiring Diagram
3.2.1 Wiring Diagram is shown in image below, and needs following

accessories:
• M2 Serial communication cable => connect between servo driver (Recommendation: buy it from Syntec)
• M2 Terminal => Use in last servo driver, replace one M2 serial communication cable(Recommendation: buy it
from Syntec)
• Encoder Cable=> Connect Servo Driver and motor's encoder (Please buy it from 3rd Party)
• Battery box=> Provides power to absolute motor(Recommendation: buy it from Syntec)
• Servo Cable=> Connect Servo driver CN1 to battery box (Please buy it from 3rd Party)
• Power cable =>(1) connect 220V power supply to servo driver (2) Provides UVW power supply to
motor(Please buy it from 3rd Party)
• Regenerative resistor cable=>Connect servo driver to regenerative resistor (Please buy it from 3rd Party)
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3.2.2 Yaskawa CN1 Input/Output connector pin definition
In Syntec serial bus system, servo driver CN1 connector only needs 2 sets of pins
connection, as follows:
• Pin 1、Pin 2：motor's brake connection, for details please refer to Motor brake wiring diagram document
• Pin 14、Pin 15：Connect to external power supply, for absolute encoder power usage
CN1 pin definition：
CN1 Connector plot：
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3.2.3 Yaskawa CN2 connector Pin definition
Servo driver Driver Side
Motor Side

Remark
External power should be provided during absolute encoder use, Syntec system standard is using CN1 connector to
supply power encoder power, for details please refer to CN-1 Pin definition documents.
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And also may buy Yaskawa original encoder cable, and there's an battery box, power supply is unneeded.
3.2.4 Yaskawa Motor Brake Wiring Diagram

For motor comes with brake, this signal is sent from driver to motor brake, signal sent from CN1 connector to brake
switch, wiring method as follows:
Motor side brake connector, Similar to BK-Ready circuit：
3.2.5 Yaskawa Main Power Wiring Diagram

Power needed by servo motor is provided by servo driver UVW connector, power input for motor side has special
specifications connector, below images shown wire connection and connector in definition.
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3.3 Syntec Inverter Wiring Diagram
3.3.1 Wiring diagram for Syntec inverter as image shown below, and
accessories as follows:
• M2 Serial communication cable => connect between servo driver (Recommendation: buy it from Syntec)
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• M2 Terminal => Use in last servo driver, replace one M2 serial communication cable(Recommendation: buy it
from Syntec)
• Syntec spindle encoder Cable (Recommendation: buy it from Syntec)
• Battery box=> Provides power to absolute motor(Recommendation: buy it from Syntec)
• Power cable =>(1) connect 380V power supply to inverter driver (2) Provides UVW power supply to
motor(Please buy it from 3rd Party)
• Regenerative resistor cable=>Connect servo driver to regenerative resistor (Please buy it from 3rd Party)
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3.3.2 Connector (Zoom in)
3.3.3 Syntec Inverter Encoder Pin Definition

Pin No. Pin Descriptions
1 Encoder Power supply 5V
2 Encoder Power supply GND
3 Encoder signal A+
4 Encoder signal A-
5 Encoder signal B+
6 Encoder signal B-
7 Encoder signal Z+
8 Encoder signal Z-
9 Absolute motor power supply (low

voltage) sensor
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Pin No. Pin Descriptions
10 Absolute motor power supply (low

voltage) sensor
3.3.4 Syntec Inverter Regenerative Resistor Table

Syntec inverter regenerative resistor data is shown in table below.
Basically, user can according Inverter type to select regenerative resistor capacity and resistor, if there's special
requirement, please contact Syntec.
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4 Software Upgrade, Data Backup and Recovery

4.1 Software Upgrades
4.1.1 Software upgrades package download procedure

1. Please download at: http://www.syntecclub.com.tw/2010/HTML/Download.aspx (user account and
password needed)
2. Click『DOWNLOADS』=> SELECT『CNC PRODUCT』=> select type and controller type
3. Download software(version) according user needs.
4. After decompress downloaded file, copy file upgrade to: CF card、USB storage or internet file share folder.
※Please copy decompressed file →package_xxxxxxxx.zip
4.1.2 Controller update procedure (20s/21s)

1. Function key path：
20 series：F7 Diagnostic → F8 System Admin → F1 Install Software
21 series：NEXT→ F4 System Admin → F1 Install Software
2. Go to (decompressed) file location, CF card, USB storage or internet file sharing folder
After the file is found(package_xxxxxxxx.zip)， and wait until Install Data appears(several seconds), press
F1 to confirm and new windows will pop up with restart controller command. After controller reboot,
controller will automatically upgrade.
Software Upgrade, Data Backup and Recovery – 28

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4.2 Backup and Restore for User
4.2.1 User Backup
Operation Steps
1. Function key
20 series：F7 Diagnostic > F8 System Admin > F2 Backup System > F1 Next
21 series：F8 Maintain > F6 Backup System > F1 Next
2. Select external storage、select folder，follow instruction till finish the backup
Backup contains
Ladder、Parameter、Parameter expansion、User settings、Macro、Plug-in、Customized interface、Alarm
record、Operation record and *servo driver parameter (*only support serial communication servo driver)
Data Backup
After version 10.114.46, there are 2 types of data backup, System Backup and Machine Maker Backup, and
abbreviated as SB and MB in following documents.
If data is stored in internal storage, reminder of machine maker backup will disappear (If not performing backup,
then after controller reboot F8 key will turn to orange color, and by pressing F8 key, a new windows will pop-up
with written RED words: unable to find machine maker backup)

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MB has differences with SB backup，MB not backup all of controller data，there are only selected development
data, and it is selected with check box. Backup contains are same with user backup, the only different is an option
with selection.
4.2.2 System Backup(SB)

System backup action can be done after controller complete booting, by pressing backup button to perform
System Backup, and all data will be compressed to one file.
※ Syntec strongly recommend 21 series controller user besides performing system backup in external storage(ex.
USB), also backup to Internal Disk(saved into controller backup partition), convenient to be use during repair/after
sale.
Operation Steps
1. Function key Path
20 series：F7 Diagnostic > F8 System Admin > F2 Backup System > F5 Advance(Password needed)
21 series：Next > F3 System(Password needed) > F8 System Admin > F2 Data Backup
2. Select backup items，Select system backup.
3. Select disk drive and folder

4. Input/edit file name
5. Input/edit remark
6. Backup

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Backup contains
DiskC、User setting file、Operation record and Windows folder contains.
4.2.3 Machine Maker Backup (MB)
Operation steps
Operation method same with system backup(SB), the only difference is user able to select the item they want, as
shown below. If check all: means select all, backup file will same with user backup.
Backup contains
Same with user backup contains.
4.2.4 Recovery Function

When system error and unable operate normally, customer service will use MB or SB to recover controller system.
20 series：F7 Diagnostic > F8 System Admin > F3 Restore system(password needed)
21 series：Next > F3 System(Password needed) > F8 System admin > F3 Restore System
2. Select recovery items
3. Confirm
※Remark: If recovery file is stored in Internal Disk, it will be divided into 2 files: recovery DiskC and recovery
DiskA。
DiskC contains main system data, parameter and data developed by machine maker(including customized
interface OCRES)
DiskA contains user data, nc program file(If Pr3219=3)、Offset data (G54~)、External shift and Tool compensation
data.

4.2.5 Data Import/export

During development phase, usually machine maker only need to modify several specific files, in order to save
development time, export/import function to be used for modifying these basic file or modifying MACRO file, and
also MACRO manager feature can be used to edit MACRO file.
Operation Step
20 series：F7 Diagnostic > F8 System Admin > F4 Export/Import(password needed) > F1 System setting
manager/F2 Macro Manager > F1 Import/F2Export
21 series：Next > F3 System(Password needed) > F8 System admin > F4 Export/Import > F1 System setting
manager/F2 Macro manager > F1 Export/F2 Import

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2. Please refer to Machine maker backup(MB) for export method，select backup items by selecting the check
box.
3. Import file can also be use as recovery, select the check box(file) from external/other drive.
4. Macro export/import method is similar with described above, select items by check box then export/import
macro file.
Backup contains
Ladder, Parameter, ExParameter, User settings and Macro program.
4.3 Backup and Restore for Maker

20 series/21 series in version 10.116.x/2.0.x or later support SA(System Agent) feature, when system is unable to
complete boot till Syntec main CNC screen, user can also create a backup and do system restore action, software
upgrade, install file, even remove customized interface(OCRES folder).
※ Syntec strongly recommend 21 series controller user, besides performing system backup in external storage(ex.
USB), also do backup to Internal Disk(saved into controller backup partition), convenient to be use during repair/
after sale.
4.3.1 Operation Steps

1. Enter Main screen
Before entering Syntec boot screen(lower side has percentage display) press left and right direction key

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simultaneously to enter SA main screen.

Operation method by pressing “Up Down direction key” to select its function, after selection press “Next
key” to next step or press “ESC key” to escape this feature. When user unable to operate CNC system and
enter SA main option, there is a warning message to remind user that they only allowed to do system backup
and system recovery.
2. Select System backup data

Backup to internal storage：Backup both DiskC and DiskA, each will create SB folder, and contain
SB_xxxxxxxx.zip file, then finish screen will appears after recovery file is created, press NEXT key return to
main screen.
Backup to external storage: Backup both DiskC and DiskA to external storage, example: USB-disk. After
finish, *_SB_xxxxxxxx.zip files will be generated in designated folder, and finish screen will appears after
recovery file is created, press NEXT key return to main screen.
4.3.2 SA Backup contains

Same with SB backup contains：DiskC、user setting file、Operation record and Windows folder contain.

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4.3.3 SA Data recovery

1. Enter Main Screen
Before entering Syntec boot screen(lower side has percentage display) press left and right direction key
simultaneously to enter SA main screen.
2. Select Recovery file

From main screen, press “Up Down direction key” to select recovery mode, when DiskC and DiskA file are not
exist in SB folder, only external storage is allowed to transfer recover file to controller.
※Remark: If recovery file is stored in Internal Disk，it will be divided into 2 files: recovery DiskC and recovery DiskA
。
DiskC contains main system data, parameter and data developed by machine maker(including customized
interface OCRES)
DiskA contains user data, nc program file(If Pr3219=3)、Offset data (G54~)、External shift and Tool compensation
data.

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5 Axis Tuning
5.1 Station Address Switch
5.1.1 Station Address Switch (SW1)

There’s a rotational switch on front side, upper left corner of servo driver(shown in image below), and sequential
numbers(0~9) and (A~F as 10~15) around rotational switch as station number
Use this rotation switch which could be rotated by screw driver to define station number, then controller will
recognize every servo driver with its station number.
Please according sequential XYZ to set its station number, for example: X axis station is 1, then move the arrow
pointing 1
Remark
As shown in image below, Station switch lower right side has 4 switch, named as SW2 switch, normally just use
manufacturer settings (1-On / 2-On / 3-Off / 4-Off)
When Station number is over 15, SW2 switch’s 3rd switch should be turned ON, then SW1 rotational(station switch
will increase 16 stations, SW1 switch to 0 means Station 16
Axis Tuning – 35
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5.2 Auto Tuning Procedure
5.2.1 Preface
PC connection to servo driver is needed for general servo driver auto tuning, and servo software should be installed
to PC, but this is not convenience for specific field.
Syntec controller adopted tuning function into Syntec system, as long as installation is done and controller is
working properly, then this function available and very convenience.
Syntec controller serial bus connection currently is paired with Yaskawa and Syntec driver, and there’re 3 kinds of
application methods:
• Yaskawa servo axis (Including linear and rotary axis)
• Yaskawa spindle driver
• Syntec spindle driver
Although there’s 3 kinds of applications method, but tuning function is only divided into Syntec and Yaskawa,
tuning procedure as follows:
Yaskawa servo: select axis => define stroke for tuning => select mechanism type & tuning mode => starting tuning =>
confirm result
Yaskawa spindle: select axis => select mechanism type & tuning mode => starting tuning => confirm result (besides
defining stroke, the remainder is same with servo driver)
Syntec spindle: select axis => select mechanism type => starting tuning => confirm result
Auto tuning procedure(step by step with images) will be shown below
P.S. Image shown below should be coordinated with Syntec 10.116.16 software version
5.2.2 Yaskawa driver auto tuning

Tuning interface operational path, password “520”：
• x86 system：
• 8 Function keys：F6 Parameters => F10 Next => F5 Serial Tuning => Input Password => F8 Auto tuning
• 5 Function keys：F10 Next => F1 Parameter => F10 Next => F10 Next => F3 Serial Tuning => Input Password
=> F10 Next => F3 Auto tuning
• ARM system：
• 8 Function keys：F10 Next => F3 Parameters => F7 Serial Tuning => Input Password => F8 Auto tuning
• 5 Function keys：F10 Next => F3 Parameters => F10 Next => F2 Serial Tuning => Input Password => F10 Next
=> F3 Auto tuning
Auto tuning Procedure：
step1. Select Axis

• Select axis from list box and for spindle axis, it will start with character S, for example: S1 means first
Spindle.
Axis Tuning – 36
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step2. Setting tuning stroke

• Minimum stroke of linear axis is 4 rotations or above, for example: pitch=15mm, then it should be at least
60mm stroke.
• Minimum stroke of rotational axis is 2 rotations or above, if gearbox is installed for example: gear ratio= 10:1
(Machine : Motor), then stroke should be at least 72 degrees.
• Setting first limit, then second limit and after starting tuning, the axis will move back forth in this 2 limit
repetitively.
Axis Tuning – 37
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step3. Setting Mechanism type and tuning mode

• Select mechanism types: belt drive, ball screw, rigid systems
• Select tuning modes: Standard, positioning and anti overshoot, anti overshoots is recommended since it will
lead to overcutting
Axis Tuning – 38
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step4. Check before tuning

• Before tuning: please confirm there’s no NON fixed workpiece in working table, or remove any not related
goods to avoid any accident.
Axis Tuning – 39
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step5. Tuning start

• Please be patient, tuning duration will takes around 2 minutes
• Abortion can be done anytime, do NOT do this if Non-essential
Axis Tuning – 40
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step6. Tuning Completed

• There’s windows pop up with message, after tuning completed
Axis Tuning – 41
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step7. Confirm Tuning result

• Tuning result will be shown on the screen, the information is including moment inertia, servo position loop
gain, speed loop gain, speed integral time and 2 sets of natural frequency.
• Natural frequency is pre-set at 5000, if there’s no vary then it means no natural frequency filter is detected.
step8. Tuning other axis or finish auto tuning mode

• After tuning has finished, there’s an option to leave the interface or re-tuning other axis.
• After finished tuning every axis, please reboot by disconnecting controller and servo driver power.
Auto tuning mentioned above is applicate to Yaskawa servo driver, please remove step2 if it is applied to Yaskawa
spindle motor, and the remainder is same.
5.2.3 Old version Auto tuning interface

This section will show step by step guidance of auto tuning procedure, applied to software version prior to and
including 10.116.10
Auto tuning procedure：
Axis Tuning – 42
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Step1：Goto auto tuning interface => F8 Auto tuning
Step2：Move cursor to list box to select designated axis
Axis Tuning – 43
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Step3：Press【F1 Next】to set tuning stroke limit. first limit then second limit already shown in
the screen.
Axis Tuning – 44
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Step4：Move axis manually by MPG(or Jog) to first safe location, press 【F3 Setting First Limit】
to input the first Limit
Step5：After finish setting 1st limit，move axis manually by MPG(or Jog) to first safe location,
press 【F4 Setting Second Limit】 to input second limit , as shown in image below：
Axis Tuning – 45
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Step6：After Setting axis limit, press【F1 Next】go to function setting interface.
Axis Tuning – 46
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Step7：After function selection has finished，press【F1 Next】 then there’s a windows will pop
up with remainder message to confirm safety.
Axis Tuning – 47
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Step8： After Confirming machine motion is normal & safe. press【F1 Confirm】 to start auto
tuning. Status in the lower right will switch to “Auto tuning”.
Step9：After auto tuning finished then there’s a windows will pop and show Kpp/Kvp/Kvi value.
Step10：After auto tuning finished, press【F1 Confirm】and select【F8 Finish】to leave auto
tuning interface, at this moment controller status will turn to NOT ready, please restart controller
and servo driver by disconnecting main power to finish setting
There’s estimated inertia and loop gain in procedure above, most of machine only needs inertia to produce good
linear motion control.
5.3 Servo Parameter Setting

Software version 10.116.16 or later, there’re changes in Serial bus parameter interface, and add "return no
manufacture setting" function, and will be introduced later.
Axis Tuning – 48
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5.3.1 Serial Bus interface operational path, password “520”：
5.3.2 x86 system：

ARM system：
• 8 Function keys：F10 Next => F3 Parameters => F7 Serial Tuning => Input Password
• 5 Function keys：F10 Next => F3 Parameters => F10 Next => F2 Serial Tuning => Input Password
*Remark：F10 is for PC keyboard, in controller please press next to F8 “right direction” key
5.3.3 Serial tuning interface as shown in image below:
5.3.4 Serial parameter operation procedure

New interface vs old interface differences as follows:
1. Remove upper left corner list box option, this option is moved to function key to select Yaskawa or Syntec
system driver.
Axis Tuning – 49
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2. Cancel add new parameter, remove parameter and import manufacture option, moved this option to
common parameter list and all parameter are displayed by two kinds of interfaces.
Basic operation method is not changed, move the cursor to designated parameter then input new value.

Axis Tuning – 50
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5.3.5 New interface has 7 functional keys, as follows:

• Yaskawa often use/all：After go to serial bus interface, pre-set to Yaskawa often use parameter interface,
when you press this button again it will jump to Yaskawa all parameter interface, press again to Yaskawa
often use parameter interface.
• Syntec often use/all：First time pressing this key, it will go to Syntec often use parameter, press this button
again to Syntec all parameter and so on.
• Backup parameter： This key is use for backup driver’s parameter, please follow instruction to finish
backup.
• Recover parameter： This key is use for recover driver’s parameter, please press Emergency Stop before do
recovery action, please select suitable parameter to avoid any accidents.
Axis Tuning – 51
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• Return to manufacture setting：This is new function, return driver parameter to manufacture original
setting, after pressing this button it’ll lead to other interface, press directional key or “F2 Option” to select
designated axis, then press “F1 Confirm”.
After return to manufacture setting, please reboot your controller and driver by disconnecting power supply.
Axis Tuning – 52
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• Absolute home setting：Setting every axis absolute motor home point, and won’t be introduced in this
section.
• Auto Tuning：Auto tuning for every axis motion, and won’t be introduced in this section.
5.3.6 Driver parameter setting summary table

Parameter no. started with " * ", should follow recommended value for first time power ON.
Parameter Description Original Recommen Activation Remark

Number value ded
value
*Pn002 Application function 0000 0000 Reboot by _ 1 _ _：Absolute encoder

switch disconnect power as incremental encoder
(2nd digit) supply
_ 0 _ _：Absolute encoder
as Absolute use
Axis Tuning – 53
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Pn008 Application function 4000 4001 Reboot by _ _ _ 0：Battery low with

switch 8 disconnect power alarm A830 (only checked
supply during powering ON)
_ _ _ 1：Battery low with
alarm A930 (Checked
anytime)
Pn00B Application function 0000 0000 Reboot by _ 0 _ _：3 phase power

switchB disconnect power supply
supply
(power supply _ 1 _ _：single phase
setting) power supply
_ _ _ 0：Only displaying
setting parameter
_ _ _ 1：display all
parameter
Pn100 Speed loop 400 Immediately Setting according

gain(0.1Hz) machine condition
Pn101 Speed loop integral 2000 Immediately

time constant
(0.01ms)
Pn102 Position loop 400 Immediately

gain(0.1Hz)
Pn103 Moment of inertia 100 Immediately Setting according

ratio(%) machine condition
Pn109 Feed Forward 0 0 Immediately Setting as 0，to make

Gain(%) sure Pn102 KP setting is
exact and efficiency
Pn10A Feed Forward Filter 0 0 Immediately Setting as 0，to make

time constant sure Pn102 KP setting is
(0.01ms) exact and efficiency
Pn11F Position integral 0 0 Immediately Setting as 0，to make

time constant sure Pn102 KP setting is
(0.1ms) exact and efficiency
Axis Tuning – 54
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Pn140 Model following 0100 0100 Immediately 0000：Do not perform

control related vibration suppression
switch
0100：Perform vibration
suppression over specific
frequency
(Bit 0 will automatically
disabled after auto
tuning)
Pn160 Anti resonance 0010 0010 Reboot by _ _ _ 0：Does not use A

control related disconnect power type anti resonance
switch supply control
_ _ _ 1：Uses A type anti
resonance control
disabled after auto
tuning)
*Pn170 Tuning less function 1401 1400 Reboot by _ _ _ 0：Switch off

related switch disconnect power tunning less function
supply
_ _ _ 1：Turn ON tunning
less function
*Pn20E Electronic gear ratio 4 1 Reboot by Paired with controller

(Numerator) disconnect power parameter Pr61~80 set as
supply 262144 and P81~100 set
as 4
*Pn210 Electronic gear ratio 1 1 Reboot by
(Denominator) disconnect power
supply
*Pn212 Encoder output 2048 16 Reboot by

pulses (Pitch/Rev) disconnect power
supply
Pn401 Torque reference 100 Immediately Useful at vary frequency,

filter time constant but when setting value
(0.01ms) will be larger(low
frequency), Servo system
not stable, will cause
vibration.
Axis Tuning – 55
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Pn408 Torque related 0000 0101 Immediately 0 _ _ _：Disables friction

function switch compensation function
1 _ _ _：Enables friction
compensation function
disabled after auto
tuning)
_ _ _ 0：N/A
_ _ _ 1：Uses 1st step
notch filter for torque
reference
_ 0 _ _：N/A
_ 1 _ _：Uses 2nd step
notch filter for torque
reference
Pn409 1st notch filter 5000 Immediately Pn408~Pn40E is efficiency

frequency use against 500~5000HZ
frequency range, but
improper setting will
cause unstable
Pn40C 2nd notch filter 5000 Immediately

frequency
Pn460 Notch filter 0101 0101 Immediately _ _ _ 0：Does not adjust

adjustment switch 1st step notch filter
automatically using utility
friction
_ _ _ 1：Adjust 1st step
notch filter automatically
using utility friction
_ 0 _ _：Does not adjust
2nd step notch filter
automatically using utility
friction
_ 1 _ _：Adjust 2nd step
notch filter automatically
using utility friction
Axis Tuning – 56
–
Pn506 Brake reference – 0 30 Immediately Delaying servo off

Servo off action，setting depends
delay(10ms) on situation
Use with motor with
brake function
*Pn50A Input signal 1881 8881 Reboot by

selection 1 disconnect power
supply
*Pn50B Input signal 8882 8888 Reboot by

selection 2 disconnect power
supply
Pn50F Output signal 0100 0100 Reboot by Use with motor with
selection 2 disconnect power brake
supply
0100：Outputs the
signals from CN1-1/CN1-2,
output terminals
0200：Outputs the
signals from CN1-23/
CN1-24, output terminals
0300：Outputs the
signals from CN1-25/
CN1-26, output terminals
Remark：Output
terminals is different with
pulse train driver
Pn600 Regenerative 0 Immediately This parameter is needed

resistor capacity when driver connected
(10W) with external
regenerative brake
With natural convection,
set W=20% of capacity
regenerative resistor
With blower cooling, set
W=20% of capacity
regenerative resistor
Ex：Brake resistor 100W
with natural convection,
setting 100W × 20% =20W,
then Pn600=2 (units =
10W)
Axis Tuning – 57
–
5.4 Axis Parameter Setting in Syntec Controller

Often use Axis parameter setting table for 20s/21s controller, parameter number started with asterix " * ", should
reboot controller power to take effect after parameter value is changed.
No. Descriptions Range Setting Value
5 *I/O board type [0~20] 11 = 20 Pin Standard connector

7 = 20 Pin Standard connector+ RIO
10 *Servo 6 Alarm setting [0~2] 0：Pulse train spindle alarm Normal

open(A type)；
1：Pulse train spindle alarm Normal
close(B type)；
2：Do Not check
381~400 *Control method [0~2] Serial Bus type servo No need to fill
this parameter
NON Serial Bus type servo should fill
this parameter according field
conditions
201~220 *Sensor Type [0,3] 0：Encoder

3：Absolute encoder
21~40 *Servo Channel Number [0~20] Input this parameter according servo
driver station number
9 *Servo board type [0~200] 102(Special for Yaskawa serial bus)
181~200 Servo Loop Gain [1~1000000] Setting according servo driver

parameter no. Pn102
61~76 Encoder Resolution [10~2500000] 262144(Special for Yaskawa serial bus)
Axis Tuning – 58
–
No. Descriptions Range Setting Value
901~920 Zero Speed check window [3~10000] 300

PS: Set this value too low, will cause
alarm during releasing Emergency
stop button
“M0T-020，Switching Mode during
axis move is prohibited
“MOT-30，Zero speed check failuter
during homing
161~180 Pitch amount [1~1000000] Setting according field conditions，

PS: For absolute motor user: should
resetting home point after changing
this parameter
221~240 Axis type [0~5] Setting according field conditions

0：Linear axis
1~5：Rotary axis (For specific
explanation, please refer to Syntec
parameter handbook)
81~100 Encoder scaling factor [1~4] 4
41~60 Motor Polarity [0~1] Setting according field conditions

0：Normal；1：Reverse
PS: For absolute motor user: should
resetting home point after changing
this parameter
NON absolute motor user, please also
setting PR861(homing position
direction).
5.5 Home Position Setting For Absolute Motor
5.5.1 Setting Procedure

Step1：Make sure controller Controller parameter no.201~220 seting value=3
Step2：Make sure Driver Parameter Pn002 setting value=0000；
Step3：Move axis to designated position as home position；
Step4：Set Controller to Homing mode；
Axis Tuning – 59
–
Step5：Go to Absolute motor home setting interface，Path：F6 Parameter > NEXT > F5 Serial bus parameter >
Enter password “550”or"520" > F7 Absolute home setting
Step6：At this moment, axis with absolute motor will be differentiate，use directional key to select axis，Press F1
to set current machine home position, then the status will turn from red color"haven't setting' turn to yellow
color"Setting finish"
Step7：Exit the interface and enter again, the status will turn to green "already setting", this means homing
position is successfully set.
5.5.2 Precautions
• Driver should connected to main power and powered ON during exchanging battery to prevent absolute
position disappear.
• If "F7 Absolute home position setting" key is unable to be pushed, please do following steps:
1. Check controller is switched to homing mode
2. Check if controller status is ready
3. Controller Parameter value for no. 201 is 3
4. Driver parameter Pn002 is 0000
5. Power supply for absolute motor is normal
Axis Tuning – 60
–
6 Mechanical Compensation
6.1 Pitch Error
6.1.1 PREFACE
Manufacturing error of screw leads to the inconsistence between command and actual motion of working table.
However, because this error is a constant value, it can be measured by the equipment and setting parameters into
controller to compensate this error in the machining process.
Error Measurement principal as follows, using laser equipment combined with controller pitch error setting, check
error in every measurement point, input error compensation to controller parameter, then these error can be
compensated.
6.1.2 Pitch Error Compensation Parameter

Param. No. Description Range Unit Default Effective Effected Area
1301~1306 Pitch error comp. [0~2] - 0 Press “Reset” corresponding

type key Logical axis
This parameters enabled or disabled pitch error compensation feature

0: off; 1: One-way; 2: two-way
Suggestion :
1. If measured error data is parallel in between go back and forth, refer to image 1, just use One-way function.
2. Otherwise, no parallel or there’s an error variation between go back and forth, refer to image 2 or 3, please
use Two-way
Mechanical Compensation – 61
–
1321~1326 Pitch error comp. [1000~ BLU 25000 Press “Reset” corresponding
interval key Logical axis
99999999]
This parameter determines the value of basic pitch error compensation
1341~1346 Serial no. for reference [1~100] - 50 Press “Reset” correspondin

in compensation table key g
Logical axis
This parameter determines the starting compensation no. of original point in pitch compensation table. SYNTEC
controller provides totally 100 compensation points in each axis, the default and recommended value is 50.
8001~9200 abs. comp. pitch [-999999~ BLU 0 Press “Reset” corresponding

error. key
999999] Logical axis
This parameter determines compensation value of the controller at every single pitch; PS: This compensation value
is absolute value. “Compensation value” = ”command value” – “actual value”
Example:
- Command value of controller is 20000 um, if actual value of working table is 20002 um, then the compensation
value is -2
- Command value of controller is 40000 um, if actual value of working table is 39999 um then the compensation
value is 1
- Command value of controller is -20000 um, if actual value of working table is -20002 um then the
compensation value is 2
- Command value of controller is -40000 um, if actual value of working table is -39999 um then the
compensation value is -1
1401~1416 Mechanical [0~60000] ms 0 Press “Reset” Logical axis

compensation time key
constant
Mechanical compensation of controller (backlash, pitch, temperature) is calculated by exponential curve. These
parameters are used to determine the time constant of exponential curve. The smaller setting value, the shorter
time is needed to compensate. However, machine will has vibration, suggested value is 10ms.
–
Steps for measurement of pitch compensation parameter

Step 1: Close all mechanical compensation (pitch－Pr130x; backlash－Pr122x, Pr124x, Pr126x, Pr128x; sharp corner
－Pr136x, Pr144x), and do return home action
Step 2: Load file of example program, do pitch error measurement to have error data from measurement
instrument.
Step 3: According to pitch compensation type (one-way/two-way), and stroke direction of axis (positive / negative),
select the corresponding fill in table format.
One-way pitch compensation (only fill in positive table): regardless to moving direction, controller will
according positive direction values in the reference table as the compensation
1. Axial stroke is positive against home：Moves machine away from home and move machine coordinate in
positive(increasing) direction, input measured pitch error to positive direction compensation table.
Moves machine away from home then move machine coordinate in positive direction, Pr134x=50 èfill in table
no.50, 51….59, 60
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
1. Axial stroke is negative against home：Moves machine away from home and move machine coordinate in
negative(decreasing) direction, input measured pitch error to positive direction compensation table.
Moves machine away from home then move machine coordinate in negative direction, Pr134x=50 è fill in table
no.50,49….41, 40
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
0
–

Two-way pitch compensation (fill in positive & negative table): According to moving direction of machine to
determine positive and negative table value.
1. Axial stroke is positive against home：Moves machine away from home and move machine coordinate in
positive(increasing) direction, input measured pitch error to positive direction compensation table, for
machine direction move back to home position, input measured pitch error to negative direction
compensation table.
Moves machine away from home then move machine coordinate in positive direction, Pr134x=50 èfill in table no.
50, 51…, 59, 60
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
When machine direction is revert and move back to home direction èfill in table no. 60, 59…, 51, 50
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
1. Axial stroke is negative against home：Moves machine away from home and move machine coordinate in
negative(decreasing) direction, input measured pitch error to negative direction compensation table, for
machine direction move back to home position, input measured pitch error to positive direction
compensation table.
Moves machine away from home then move machine coordinate in negative direction, Pr134x=50èfill in table
no. 50, 49…, 41, 40
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
0
When machine direction is revert and move back to home direction èfill in table no. 40, 41…, 49, 50
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
0
Step 4：Try again to measure pitch compensation parameter and to verify the effectiveness of compensation.
–
6.2 Backlash
6.2.1 PREFACE
Screw movement back forth will cause backlash, controller command will has backlash different compared with
actual motion. But backlash is constant value, at beginning machine maker should use measurement equipment to
detect its backlash value, then input to controller parameter to remove backlash error.
6.2.2 Backlash compensation parameter

Param. No. Description range unit initial Effective effect
1221~1236 Enable Backlash [0~2] - 0 After press “Reset” Correspondin

compensation button g
Servo axis
These parameters are enable/disable backlash compensation.

0: OFF;
1: Linear guide compensation-- Regardless of G00/G01/G02 mode, controller will add compensation value of
parameters 1241 ~ in the reverse moment;
2: Box guide compensation-- according to the setting value of parameters 1241~/1261~/ 1281~, by estimating
corresponding backlash compensation value under different speeds.
Software version 112.45 and later, for linear guide way compensation, user should set parameter 1261 and 1281 to
0, then controller will only consider compensation of parameter 1241~.
Param No. Description range unit Default Effective effect
1241~1256 G00 backlash [-999999~ BLU 0 After press “Reset” Corresponding

compensation button
999999]
value
Servo axis
l Linear guide: during machine has reverse direction, this additional amount will be added to motion command.
–
l Box guide: error generated during (G0) full speed to stop condition, this additional amount will be added to
motion command.
Param. No. Description Range Unit Default Effective Effective

range
1401~1416 Mechanical [0~60000] ms 0 After Logical servo

compensation time press “Reset” axis
constant button
Mechanical compensation of controller (backlash, pitch, temperature) is calculated by exponential curve. These
parameters are used to determine the time constant of exponential curve. The smaller setting value, the shorter
time is needed to compensate. However, machine will has vibration, suggested value is 10ms.
6.2.3 Procedure to measure backlash compensation (Example: X axis)

Step 1: Disable backlash and pitch error compensation during measurement (Backlash- Pr1221、Pr1241、
Pr1261、Pr1281；pitch error－Pr1361、Pr1441)
Step 2: Please use Laser or Cue type measurement equipment to measure its backlash
Step 3: Assume backlash has good reproducibility, please input compensation value to Pr1241 (G0 backlash
compensation)
Step 4: Once again to confirm the compensation value is working.
6.3 Quad Peak
6.3.1 PREFACE
During the circular test, there is a sluggish phenomenon due to friction during direction switch. BALLBAR shows
instant protrusions during the four-quadrant commutation process. This protrusion cause precision error.
–
As shown image below, Quad Peak for X axis is around 11.6um and Y Axis is 10.3um
6.3.2 Quad-peak error compensation parameters

No. Description range unit initial Effect effected area
1361~1376 Axis pos.(+) quad- [0~9999] BLU 0 After press “Reset” Correspond
peak error comp. button to
Servo axis
Pr.1361~1376 compensation value for axis moves from negative to positive. Larger value will give higher
compensation, and remove quad-peak error. However, oversetting value will cause an overcut phenomenon and
form a concave on the working material.
1381~1396 Axis quad-peak error [0~60000] ms 0 After press “Reset” Correspondin

second hold time button g to
Servo axis
Axis quad-peak error second hold time is to be used for preventing machine from secondary sluggish phenomenon
due to instant recover from compensation. Larger value will give higher compensation, and remove quad-peak
error. However, oversetting value can cause an overcut phenomenon and form a concave on the working material.
A suggested value is 10ms.
–
1441~1456 Axis neg.(-) quad- [0~9999] BLU 0 After press “Reset” Corresponding
peak error comp. button to
Servo axis
Pr.1441~1456 compensation value for axis moves from positive to negative. Larger value will give higher
compensation, and remove quad-peak error. However, oversetting value will cause an overcut phenomenon and
form a concave on the working material.
1461~1476 Axis quad-peak error [0~60000] ms 0 After press “Reset” Correspondin

first hold time button g to
Servo axis
Axis quad-peak error fist hold time is to be used for preventing machine from secondary sluggish phenomenon due
to instant recover from compensation. Larger value will give higher compensation, and remove quad-peak error.
However, oversetting value can cause an overcut phenomenon and form a concave on the working material.
A suggested value is 1000/Pr18x(Axis servo gain)
6.3.3 Quad-peak error compensation procedure

Step 1: Complete the pitch and backlash compensation, and then disable quad-peak error compensation (Pr136x,
Pr144x).
Step 2: Load the attached program, proceed the circular test in condition R150F1500, observe and mark the two
quad-peak values on positive and negative direction.
Step 3: Set Pr146x=1000/Pr18x; Pr138x=10; Pr136x and Pr144x equal to three times of the marked value (in step 2)
and then execute the circular test again and check for the result.
Step 4: Normally, quad-peak error on the BALLBAR display will decrease obviously, or even appear concave.
Step 5: Use the half setting value of Pr1461~ 1476 (quad-peak error first hold time) to improve concave on positive
and negative direction. However, if concave does not occur and the quad-peak error is still obvious, use a higher
setting value than pr1461~ 1476 to suppress the quad-peak error.
Step 6: In step 5, if only changing the setting value of Pr1461~1476 (quad-peak error first hold time) cannot meet
the positive and negative quad-peak compensation demand at the same time, please slightly adjust setting value
Pr136x and Pr144x again.
6.3.4 Q&A
Q1: Suppose that BALLBAR shows an overcut phenomenon and cause the second quad-peak error, how to
solve this problem?
Ans: Firstly, reduce the quad-peak error compensation to solve the overcut phenomenon and then extend the
second hold time to avoid a secondary sluggish phenomenon caused by fewer working speed.
Q2: How to set the height of second quad-peak error compensation?
Ans: This height is mainly used to prevent the machine from secondary sluggish phenomenon due to instant
recover from compensation. The controller will set this value automatically according to the simulation results of
built in simulator.
–
Q3: Quad peak error is very large before compensation, and controller parameter is not easy to set, then
what should we do?
Ans: Quad peak error is caused by motor loop gain, please re- run motor tuning again. If possible improve gain
value and decrease integration time.
–
7 Spindle Tuning
7.1 Syntec Inverter Station Setting
7.1.1 Station Setting

The key success of connection between controller and driver is Station number setting.
Inverter parameter P0-01 shows its station number and only can be set by tuning software
PC Tuning driver needs true station number to connect inverter, Station number must be checked before make
connection to inverter.
Driver's monitor and key's usage as follows:
• small monitor：5 digits display, usually will displaying PX-XX, or Fn-XX, represent current visual parameter,
can be switched manually
• Key：4 key buttons, From left: Mode、Up、Down、Set。
Mode to be used for switch MODE，Up、Down for change number or parameter value, Set for moving
cursor at last 2 digits or long press for entering parameter
According to image above, confirm P0-01 value procedure as follows:

step 1. Press Mode button until monitor shows P0-00
step 2. Press Up button, monitor will turn to P0-01
step 3. Long press Set button, go to P0-01, then station number will be shown in monitor
Spindle Tuning – 70
–
7.2 Syntec Inverter Auto Tuning Procedure
7.2.1 Auto tuning Procedure(Controller side tuning)
Preface
PC connection to servo driver is needed for general servo driver auto tuning, and servo software should be installed
to PC, but this is not convenience for specific field.
Syntec controller adopted tuning function into Syntec system, as long as installation is done and controller is
working properly, then this function available and very convenience.
Syntec controller serial bus connection currently is paired with Yaskawa and Syntec inverter, and there’re 3 kinds of
application methods:
• Yaskawa servo axis (Including linear and rotary axis)
• Yaskawa spindle driver
• Syntec spindle Inverter
Although there’s 3 kinds of applications method, but tuning function is only divided into Syntec and Yaskawa,
tuning procedure as follows:
Yaskawa servo: select axis => define stroke for tuning => select mechanism type & tuning mode => starting tuning =>
confirm result
Yaskawa spindle: select axis => select mechanism type & tuning mode => starting tuning => confirm result (besides
defining stroke, the remainder is same with servo driver)
Syntec spindle: select axis => select mechanism type => starting tuning => confirm result
On the other hand, Syntec inverter auto tuning has advance tuning procedure, user is allowed to adjust its servo
loop gain, and can be confirmed(shown in monitor) if the setting is exact.
Auto tuning procedure(step by step with images) will be shown below
P.S. Image shown below should be coordinated with Syntec 10.116.16 software version
SYNTEC spindle DRIVER AUTO TUNING

Tuning interface operational path, password “520”：
• x86 system：
=> F10 Next => F3 Auto tuning
• ARM system：
• 8 Function keys：F10 Next => F3 Parameters => F7 Serial Tuning => Input Password => F8 Auto tuning
• 5 Function keys：F10 Next => F3 Parameters => F10 Next => F2 Serial Tuning => Input Password => F10 Next
=> F3 Auto tuning
–
7.2.2 Auto tuning Procedure：
step1: Select Axis

• Select axis from list box and for spindle axis, if it is spindle then it will start with character S, for example: S1
means first Spindle.
step2: Setting Mechanism type and tuning mode

• Select mechanism types: belt drive, ball screw, rigid systems
–
step3: Check before tuning

• Before tuning: please confirm there’s no NON fixed workpiece in working table, or remove any not related
goods to avoid any accident.
–
step4：Tuning start
• tuning duration will takes around 30 seconds
• Abortion can be done anytime, do NOT do this if Non-essential
step5：Tuning Completed
• After tuning completed, there’s windows pop up with message,
step6：Confirm Tuning result

• Tuning result will be shown on the screen, the information is including moment inertia, motor poles, servo
position loop gain and encoder frequency.
–
step7：Advance tuning
• For spindle tuning, Syntec provides advance tuning function, in order user can adjust its loop gain, and can
be checked in screen if the result is exact
• During step2, press "Advance tuning" button, then it will jump to advance screen; After finished auto tuning,
then just please go to this function.
• Please Input value to "Frequency" input box, then press "Loop gain calculation button", then controller will
automatically adjust 5 parameters.
• Right side image displayed V、A、J，means Velocity, Acceleration, Jerk be used by Spindle motor for
testing, please input those value first before testing.
• After input, press "Spindle start", those changed (5 parameters) input to driver and spindle motor will
automatically servo on.
• After servo motor on, if vibration phenomenon is occurs, please press "Spindle stop", and Spindle motor will
servo off. Try to lower "speed filter frequency；If vibration still occurs, please lower loop gain value.
• After servo motor on, if NO vibration phenomenon is occur, press "Spindle Run", Spindle motor will
according the value set and start rotating.
• Press "Spindle Stop", then Spindle motor will stop and servo off。
• Check loop gain value with procedure above, please press "Finish" button after finish tuning, then it'll leave
this auto tuning interface.
–
step8：Tuning other axis or finish auto tuning mode

• After tuning has finished, there’s an option to leave the interface or re-tuning other axis.。
• After finished tuning every axis, please reboot by disconnecting controller and servo driver power.
7.2.3 Manual tuning procedure (with PC software)

This section tuning reference is suitable for controller version 10.116.10(included) and earlier
Since Controller hasn't embedded auto tuning interface, then user should use PC tuning software
Tuning procedure has nine steps, step 1-6 will be done in tuning software, step 7-9 in controller
1. SYNTEC encoder parameter setting
2. Current feedback tuning
3. Encoder test
4. Intertia estimation
5. Loop gain setting
6. Test rotating with tuning software
7. Test rotating in controller
8. Confirm command direction
9. spindle positioning tuning
Each step procedure are shown in below, user are recommended to do permanent save action after performing
each step
(1) SYNTEC Encoder parameter setting

step 1. P20-11 set 11
–
step 2. P20-00 set 3

step 3. Spindle motor will rotating several round, and it will stop after finished auto tuning
step 4. Confirm P20-00 turn to 0, means Tuning Done
step 5. Permanent save (P20-30 = 1)
(2) Current feedback tuning

step 3. Spindle motor will rotating several round, and it will stop after finished auto tuning, tuning result will
automatically input/set to Parameter 5-20~5-25
(3) Encoder test

(4) Inertia estimation

(5) Loop Gain Setting

step 1. Click Software left side: Auto tuning, then below image will be shown in screen.
step 2. Input designated Rigid Holding and Bandwidth, please use pre-setting value 1.0 & 40, after Inertia is
estimated, then Inertia ratio will be automatically input to driver setting.
step 3. Click "compute" button, then correspondent parameter will be calculated, Cancel P2-05 check box, then
press Right arrow ">>", then computed data will be input to driver
step 4. No need to perform permanent save first, since bandwidth still not confirmed.
–
(6) Test rotating with tuning software

step 1. Click tuning software left side (Jog), then below image will be shown in screen
step 2. Check Force Servo-On, then check if motor is servo on, if vibrations occurs, please cancel Servo-On, and
return to previous step to adjust it's bandwidth
step 3. Select "Vel" Velocity control mode
step 4. Acc/Dec Time set 1000 ms Jog speed set 1/10 of rated rotation speed, if no abnormal phenomenon occurs,
increase speed to rated speed, then to max. rotational speed
step 5. Check "Forward" or "Backward" to rotate motor, PS: keep the button pressed to let motor continue rotating
step 6. After test and no abnormal occurs, do permanent save (P20-30 = 1)
–
(7) Test rotating in Controller

step 1. Set command in controller, no matter with control panel or program to turn spindle motor rotating
clockwise or counterclockwise rotation.
step 2. Confirm spindle motor is rotating in right speed
(8) Confirm command direction

step 1. Set command in controller, to confirm rotation direction(clockwise or counterclockwise) is right
step 2. If the counter direction is happened, edit Driver parameter P6-13，From 0 to 1 or from 1 to 0
(9) Spindle positioning tuning

step 1. Set command in controller, to confirm positioning action
step 2. Cancel spindle positioning mode, rotate spindle clockwise or counterclockwise, record diagnostic value
no.28
step 3. Set diagnostic value no.28 to driver parameter no. P6-20, and do spindle positioning again.
step 4. Do angle tuning until spindle positioning has exact angle position
After finished procedure above, machine is already able to work.
7.3 Syntec Inverter Parameter Setting

Often use spindle inverter parameter setting table are shown in table below, parameter number comes with red
words, should reboot controller power to take effect after parameter value is changed.
No. Descriptions Setting value
0-00 Controller connection type 1
0-01 Terminal number 6
–
1-20 Regenerative resistor(ohm) Setting according regenerative resistor ohm

value
1-21 Regenerative capacity Setting according regenerative resistor

capacity
2-01 Position loop gain depends on situation, usually range in between

20~50
2-02 Speed loop gain Setting according field conditions
2-03 Speed loop integral time constant Setting according field conditions
2-04 Speed filter frequency Setting according field conditions
2-05 Inertia ratio Should be measured
3-12 Rated motor speed 3000
3-13 Maximum motor speed 1200：match to P-L5.5-12 type

1800：match to SP-L5.5-1 type
3-20 Encoder connection type 13
3-21 Encoder resolution 65536
3-22 Encoder feedback direction Should be measured
6-04 Motor gear Setting according field conditions
6-05 Screw gear Setting according field conditions
6-10 Maximum acceleration 2000
6-11 Maximum Jerk 150
6-12 Range of position check 500
6-20 Positioning angel Setting according field conditions
–
6-21 Zero Speed start up method 2
20-30 Permanent save 1：permanent save, then return to 0

automatically
Precautions: NOT effective during Servo On
7.4 Spindle Parameter Setting in Syntec Controller

Often use Axis parameter setting table for 20s/21s controller, parameter number started with asterix " * ", should
reboot controller power to take effect after parameter value is changed.
Assume Axis no. 4 is set as 1st spindle axis
*24 Servo axis channel number 6
64 Axis encoder resolution 16384
84 Axis encoder scaling factor 4
104 Axis motor gain 1200：match to motor SP-L5.5-12

1800：match to motor SP-L5.5-18
164 Pitch amount 360000
184 Servo loop gain Depends on situation, setting range usually in

20~50
*204 Sensor type 0
224 Axis type 1
*324 Axis name 600
*384 Control method For Serial bus spindle driver no need to fill this
parameter
For NON Serial bus spindle driver, please fill it
according field conditions
–
*1621 1st spindle servo channel no. or axis no. 4
1651 1st spindle encoder resolution 16384
1661 1st spindle encoder scaling factor 4
1671 1st spindle gain 1200：match to motor SP-L5.5-12

*1711 First spindle position spindle exists? 1
*1791 First spindle motor type 2
1801 First spindle max. sped 12000：match to motor SP-L5.5-12

1811 First spindle encoder mount location 0：Spindle side 1：Motor side
1831 First spindle acceleration time 2000
1851 First spindle bell-shaped acceleration 150

time
1991 Check spindle speed arrival 1
1992 Spindle cutting speed arrival range 15
7.5 Alarm Related with Spindle
7.5.1 AL-23 Encoder Index signal error

Possible Root cause Examine Action
Encoder connector failure, or false Check Encoder connector Reference「Wiring and Signal」
pin connection manual re-wire
–
Encoder Failure Do「Encoder function test」and Remove the alarm according

check if alarm occurs during test manual
Reference to 「Syntec inverter auto
tuning」manual
User MPG to turn motor, Check Index Call Manufacturer or your local
Counter is equal to resolution Agent
7.5.2 AL-24 Encoder direction False

Wrong Encoder direction - Edit parameter noP3-22(0 to 1 or 1 to 0) then

reboot Driver.
7.5.3 AL-25 Encoder resolution Error

Wrong setting Encoder Check parameter P3-21 value is same Input right encoder resolution,
resolution with plate on the motor then reboot Driver.
Encoder Failure - Call Manufacturer or your local

Agent
7.5.4 AL-26 Motor poles Error

Wrong input motor poles Check parameter P3-01 value is same Input right motor poles
with plate on the motor
7.5.5 AL-27 No feedback from Encoder

Encoder cable loose or Encoder - Reference to 「Wiring and Signal」to

haven't been installed confirm the right cable pin connection
–
Wrong setting of encoder connection Check Parameter P3-20。 Reference to「Driver parameter
type manual」, Set the right parameter then
reboot Driver.
7.5.6 AL-2B Poor Inertia tuning Speed trajectory

Wrong Initial Inertia Initial Inertia value set too large, Reference「SYNTEC Driver auto
caused driver output too high tuning」manual, re-set P4-20 and
P4-21。
Wrong Input data Check Parameter P3-XX。 Input right value according motor
plate, reference 「SYNTEC Driver
auto tuning」manual, then reboot
driver
JOG speed too slow Parameter 20-02 rotation too slow, Rotational speed at least more than
unable to meet tuning condition 20% of rated speed
Stroke too short Parameter 20-04、20-05 stroke too Re-set 20-04、20-05 Left and right
short cause rotational speed too slow limit to enlarge its stroke.
Recommend: At least half circle or
above.
Acceleration/deceleration Parameter P6-10 Acceleration time Set value parameter P6-10 larger
too high low, cause velocity lag
Jerk setting too soft Parameter P6-11 Jerk time too low, Set P6-11 Jerk time lower, set P6-10
disappear from velocity curve acceleration time longer if needed
7.5.7 AL-2C Poor Inertia initial value

Wrong Rotor Inertia, mechanical - Re-set P4-20 and P4-21。

constant initial value
Wrong setting of rotor time Use Oscilloscope to check 轉子黏滯 Reference to「感應電機轉子
constant(Induction motor) 係數是否一直往下遞減到警報發時間調校」
生。
–
7.6 Additional - Syntec Tuning software Operation Introduction
7.6.1 Things Should be Prepared

• PC computer
• Mini USB cable
• Syntec spindle tuning software
• Syntec spindle driver for Windows PC
Please download Syntec tuning software and its driver for Windows PC on Syntec website --> Download --> Tuning
Software
Connect Syntec Driver to Computer PC(by mini USB cable), then install PC driver in System manager screen, PC is
able to connect to Syntec Driver after installation.
7.6.2 How to connect

Open tuning software in OpenGuide folder, double click OpenGuide.exe software. 即可打開調機軟體。
–
After starting tuning program, there's an USB com port number on the screen, and after installing software driver
Port no. will be shown on the screen.
Check Driver Parameter P0-01 should be same with Station number on the screen. (following driver side)
After Station number is correct, press "connect".
If successful connected, the program will show "on-line" with the green block on the right bottom side of software.
There's a window with Hint will pop-up if connection failed.
–
7.6.3 How to edit parameter

step 1. Go to Tuning software left side, in the Functional list, Click "Parameters", then parameter edit screen will be
shown on the right side.
step 2. Use drop down menu in the right side of Parameter group to choose the group (Image 1 shown below)
step 3. According parameter number to select parameter group, and triple click the number column to edit
parameter value(Image 2 shown below)
step 4. If you like to permanent save after parameter is modified, please Click "Permanent save" icon during servo
off conditions (Image 3 shown below)
–
7.6.4 How to backup parameter

step 1. Go To Parameter edit screen
step 2. Click on upper left "save" icon (upper image)
–
step 3. Input file name and save location, press save button(below image)
–
7.6.5 How to upgrade driver software
step 1. Go To Syntec website to download "Syntec Tuning Software"。
step 2. Click on Help, the click Firmware update
–
step 3. After following screen appears, reboot driver by disconnecting its main power, at
this moment screen on Syntec driver will becomes blank
–
step 4. Click "Next" button, then select downloaded new firmware, then press Open, and
press next button.
–
step 5. After Finish updating firmware, click "Next" button, and reboot Syntec driver again
by disconnecting its main power again. and Finish
–
8 Electrical Check Table

No. Items Method Result
1 Absolute motor home setting Move axis manually to designated □ Yes/□ No

homing point, follow manual
instruction to set home point.
Make sure coordinate display is
normal after reboot, and return home
status ready (S16~S18) is ON.
2 Software limit setting After finish homing setting, reduce □ Yes/□ No

5mm of max. and min. axis stroke as
software limit setting.
If there’s Limit sensor, reduce 5mm of
Limit sensor stroke as software limit
setting
PS：Software limit parameter
PR2401~/PR2441~
3 Lubricant Oil Make sure specification is normal Release/stop time =

_____(秒)
Make sure is lubricated(Oiled)
Lubrication time =
Make sure NO alarm appears from
_____(秒)
lubricant system
Alarm：□ Yes/□ No
4 Spindle motor load test Usually tested by positioning, rated Positioning = _____(%)
rotation speed and max. rotation
Rated rotation
speed to perform free load test
speed = _____(%)
Check current in motor if it’s located
Max. rotation speed
in 1/3~1/2 of rated current?
= _____(%)
5 Axis parameter setting & Check KP of 3 axes is same/similar PR181 = _____(1/s)

after performing auto tuning?
Auto tuning PR182 = _____(1/s)
PR183 = _____(1/s)
6 Axis motor load test Test axis during static condition and X = _____(%)
check if servo driver load is below
Y = _____(%)
40%?
Z = _____(%)
Electrical Check Table – 94

–
7 Axis motor speed stability Move every axis back forth by 1m/min Diagnostic no.
test speed, check if following error value. 8 = _____(um)
Diagnostic no.
9 = _____(um)
Diagnostic no.
10 = _____(um)
8 Axis creeping phenomenon Use indicator to measure machine, in X = _____(um)

test same direction motion, turn MPG to
Y = _____(um)
move 1um
Record how many um/turn after the Z = _____(um)
motion in machine is generated.
9 Current leakage or power Make sure every AC phase of □ Yes/□ No

voltage test resistance is >200KΩ against ground.
□ Yes/□ No
Make sure DC24V phase of resistance
□ Yes/□ No
is >200KΩ against ground.
□ Yes/□ No
Make sure TB16IN/TB16OUT’s DC24V
voltage is normal.
10 Limit sensor axis test Move Axis by MPG to limit sensor X：□ Yes/□ No
location, and check if sensor is
(if equipped) Y：□ Yes/□ No:
functioned normally
Z：□ Yes/□ No
PS：Please cancel software limit
function(PR2401~/PR2441~) before
performing this test Setting
Electrical Check Table – 95

–
9 System Use Time Setting Application Manual

9.1 Controller Interface
9.1.1 Controller Interface

1. Location:
20 series: F6 Parameter Setting > F10 Next > F2 System Usetime Setting
21 series: F5 Maintain > F8 System Usetime Setting
2. Get the following information: Serial No., Check No., and CK Sum.
3. Generate the password with required effective time via Syntec PasswordSite.
4. Input the password to the control while it is in READY state, reboot the system to activate it.
NOTE
• Effective time
a. The expire time of a day is 10am for software version 10.116.16M/10.116.24G or later.
b. Once an effective time is activated, and the software version is 10.116.16M/10.116.24G or later,
downgrading the software version shall causing the system usetime reset to 12am.
c. In case mentioned in no.2, the system usetime shall remain 12am even re-install the software and
upgrade to 10.116.16M/10.116.24G or later.
• Installing software
a. If the software version has never changed, upgrading software has no side effect.
b. If the software version has changed, but there is no system usetime limit, upgrading software has no
side effect.
c. If the software has been upgraded, AND the v2 usetime limit is active, downgrading the software will
require v1 password generator to decrypt the system.
System Use Time Setting Application Manual – 96

–
d. If the software has been upgraded, AND the v2 usetime limit is active, downgrading the software and
re-install the new version of software will require v2 password generator to decrypt the system.
e. If the software has been upgraded, AND the v2 usetime limit is active, downgrading the software and
decrypt it with v1 password generator, then re-install the new version will causing the software to be
limited in 7 days.
9.2 Syntec PasswordSite User's Manual
9.2.1 About Syntec PasswordSite

1. Syntec PasswordSite provides a platform for machine maker to set the effective time on Syntec controller.
Each machine maker can apply ONLY one admin account, while the admin can create and manage multiple
sub-account.
2. A 4 characters machine maker's ID is required when applying an admin account (note: machine maker's ID
CANNOT be changed/modified). The machine maker's ID will be showed together with the CheckSum no. in
password generator V2.
Syntec PasswordSite Interface

1. Location: Syntec Website > Syntec PasswordSite, link : http://option.syntecclub.com.tw:8090/
2. Apply for an admin account, login with that account once account is activated.
3. The main two functions of Syntec PasswordSite are: a. Decryption - generating password for encryption/
decryption b.Manage - Create/Mange sub-accounts
4. There are two options in Decryption:
a. Decryption v1 - Require to enter the machine maker's ID manually

–
b. Note: "Check No." should be entered in this column for DOS system with software version 10.114.38
or earlier.
c. Decryption v2 - the machine maker's ID shall be included automatically (refer to the figure below). It
is strongly suggested to use Decryption V2 so that different machine makers are not able to
encrypt or decrypt a same controller.

–
5. The following information is needed when generating a password for encryption/decryption: Serial Number,
Check No., and CK Sum. Please select the effective time once the information is entered, and then press
[Decryption], enter the password to the controller WHILE it is in READY state to activate the Usetime Setting.
Sub-accounts management
1. Location: Manage>Employee Account. The email of sub-account CANNOT be registered as admin account.

–
2. Creating a sub-account
3. All the login/password generating information will be record as a log in the website.
Location: Manage> History
Admin can view all the activities of its account and sub-accounts
DOS system off-line password generator (same as Password Generator V1)

1. For DOS system software version 10.114.38 or earlier, the require information is as below: (note: [User Name]
should input check no.)

–

2. For DOS system software version later than 10.114.38, [User Name] is not required when generating a
password.

–
10 Troubleshooting
After installation, during auto tuning, there's possibility meets trouble as follows:
• Controller related
• Driver related
• Auto Tuning related
These troubles phenomenon will be shown by Alarm as follows.
10.1 Controller Related

Mot-11 Drive communication error
Mot-20 Cannot back control mode when move
Mot-34 not set home position，Absolute encoder will not work
10.2 Driver Related

810 Alarm - Encoder backup error
95A Alarm - command warning
920 Alarm - Regenerative overload
930 Alarm - Absolute encoder battery error
10.3 Auto tuning Related

After auto tuning failure or stopped, controller screen will show hint as follows "G00 speed too slow"
10.4 Trobleshooting - Controller Related
10.4.1 Mot-11 Driver Communication Error

Troubleshooting：
1. Check driver station number is match with controller parameter (Pr21~), ex: Pr21=1 then servo driver station
number should be 1
2. Check M2 cable connection between driver and controller, or last driver has no M2 terminal connector
3. Check every M2 cable version should be V4, if NOT please replace it ASAP
4. Upgrade controller software: 20s type should be: 10.114.56Y/10.116.0V/10.116.10G；21s type should be:
1.0.25/2.0.22/2.2.7。
10.4.2 Mot-20 Cannot Back Control Mode when move

Troubleshooting：
1. Input Pr901 value = 300, since serial bus servo driver has higher resolution, so pulse train setting will over
limit, should be raised according resolution multiplier
2. If Mot-20 alarm always appears, check abnormal motion on machine.
Troubleshooting – 102
–
10.4.3 Mot-34 Not Set home position, Absolute encoder will not work
This alarm is use of reminder user, if home position haven't been set or already been set but then position is lost, so
user should set machine home position to remove this alarm
10.5 Troubleshooting - Auto Tuning
10.5.1 Auto tuning failure or stopped

During auto tuning, there's special conditions caused mechanism problem and make auto tuning failure or stopped
At this moment, please restart controller and driver by disconnecting power supply, then go to Serial bus interface,
check Pn1-70 pre-setting value =1400, if not please change it to 1400 and restart again by disconnecting power
supply.
If Pn1-70=1400, return to auto tuning interface, change mechanism type and tuning mode and tuning again.
If still failure, please increase driver parameter Pn522 value and try tuning again.
If problem still occurs, please contact Syntec.
10.5.2 Controller screen will show hint "G00 speed too slow"
Before auto tuning, Controller will use G00 speed move axis to pre-setting location, please confirm if G00
percentage button is NOT selected to F0 mode, and try again.
10.6 Troubleshooting - Servo Driver
10.6.1 810 Alarm - Encoder backup error

At first time supplied power to controller and servo driver, this alarm will occurs, usually will comes with 95A and
94B alarm, this alarm will be removed after rebooting controller and driver by disconnecting power supply.
If this alarm is NOT occurs during first time, this means absolute encoder power supply was disconnected
previously caused Encoder location error.
The same, this alarm will be removed after rebooting controller and driver by disconnecting power supply. but
remember homing position will disappear, please reset homing position again
After alarm disappears, Mot-34 alarm will occurs again to remind user re-set homing position
In the same time, please check the root cause of absolute encoder power supply disconnected, if not may be this
alarm will occurs again during next time powered ON.
10.6.2 95A Alarm - Command Warning

This alarm will occurs usually after pressing Emergency stop or releasing Emergency stop button, usually this is
caused by wiring method by disconnecting servo driver power supply.
During pressing Emergency stop or releasing Emergency stop button, controller will still send command to servo
driver, but servo driver is already has no power supply, and cause no response from servo driver.
If pressing Emergency stop will cause 95A alarm, please press Reset to remove this alarm, but after releasing
Emergency stop button and 95A alarm occurs, user should reboot to clear the alarm.
–
To prevent this condition, please edit PLC program, by delaying 0.5 sec. return to Ready condition after releasing
Emergency Stop button, then this alarm symptom will not occurs
Please refer to below image for PLC editing
10.6.3 920 Alarm - Regenerative overload

This alarm occurs during motor high speed moving forth back, some user will use G00 full speed to move forth
back(maximum performance), then there's possibility this alarm occurs
Troubleshooting method is connect to regenerative resistor, or decrease moving speed.
10.6.4 930 Alarm - Absolute Encoder battery Error

This alarm should paired with servo driver parameter Pn008 = 4001, after input 4001, servo driver will always check
absolute encoder power supply, if the voltage is lower than 2.7V, this alarm will occurs.
After this alarm occurs, please change the battery, remember: please change it during servo driver is powered ON, if
not alarm 810 will occurs in servo driver after powered ON.

Application Manual For Tapping Machine

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Application Manual for Tapping Machine.

• Electrical Spare Summary Table

1 Electrical Spare Summary Table

1 21MA-10.4" Controller 20MA-SEP-DG 1

3 Control Panel ST3030M3 1

4 External terminal input (cable: 5.5m) TB16IN 1

5 External terminal output (cable: 5.5m) TB16OUT 1

6 20Pin connector W01-20/20 2

8 Yaskawa M2 data cable 5.5m Yaskawa M2 communication cable 1

9 Yaskawa M2 data cable 0.5m Yaskawa M2 communication cable 4

10 Yaskawa M2 Terminal 1

11 Waterproof battery box SAP-BATT 1

12 Yaskawa M2 Servo driver - XY Axis SGDV-120A11A 2

13 Yaskawa absolute motor - XY Axis SGMGV-13ADA61 2

14 Yaskawa M2 Servo driver - Z Axis SGDV-200A11A 1

15 Yaskawa absolute motor - Z Axis SGMGV-30ADA6C 1

16 Yaskawa M2 Servo driver - Turret SGDV-5R5A11A 1

17 Yaskawa absolute motor - Turret SGMJV-08A3A6C 1

Electrical Spare Summary Table – 3

No. Product Name Specification Qty

18 Syntec (M2 protocol) Inverter SPD-032A1-075 1

19 Syntec Spindle Motor SP-L5.5-12(12000RPM) 1

20 Brake Resistor – XY axis 25.0Ω500W 2

21 Brake Resistor – Z axis 12.5Ω1000W 1

22 Brake Resistor – Spindle 40.0Ω3000W 1

23 Syntec spindle encoder cable 1

1.2 Motor Specification

Servo driver type SGDV-120A11A SGDV-200A11A SGDV-5R5A11A SPD-032A1-075 SPD-032A1-075

Motor type SGMGV-13ADA SGMGV-30ADA SGMJV-08A3A6 SP-L5.5-12 SP-L5.5-18

Rated Output(S1) 1.3 kW 3.0 kW 0.75 Kw 3.7 kW 3.7 kW

30 Mins Output(S2) - - - 5.5 kW 5.5 kW

Rated Voltage - - - 280 V 280 V

Electrical Spare Summary Table – 4

XY Z Turret Spindle-1 Spindle-2

Encoder resolution 1048576 1048576 1048576 65536 65536

Motor Weight 7.1 Kg 13.5 Kg 3.6 Kg 30 Kg 30 Kg

Electrical Spare Summary Table – 5

2.1.3 Operation Panel

2.1.4 Terminal Board

2.1.5 Chassis Screw Hole

2.2 Syntec Inverter External Dimensions

2.3 Yaskawa Servo Driver External Dimensions

2.3.1 XY Axis - SGDV-120A11A

2.3.2 Z Axis - SGDV-200A11A

2.3.3 Turret - SGDV-5R5A11A

2.4 Motor External Dimension

2.4.1 Axis motor Dimensions

XY Axis - SGMGV-13ADA61 / Z axis - SGMGV-30ADA6C

2.4.2 Turret Motor - SGMJV-08A3A6C

2.4.3 Spindle Motor Dimension Plot

3.2 Yaskawa Servo Driver Wiring Diagram

3.2.1 Wiring Diagram is shown in image below, and needs following

3.2.2 Yaskawa CN1 Input/Output connector pin definition

CN1 pin definition：

CN1 Connector plot：

3.2.3 Yaskawa CN2 connector Pin definition

Servo driver Driver Side

3.2.4 Yaskawa Motor Brake Wiring Diagram

Motor side brake connector, Similar to BK-Ready circuit：

3.2.5 Yaskawa Main Power Wiring Diagram

3.3 Syntec Inverter Wiring Diagram

3.3.2 Connector (Zoom in)