Hydraulic Turret Lathe Machine Developer Manual

Hydraulic Turret Lathe Machine Developer's Manual

匯出日期：2023-05-10
修改日期：2021-03-23
机床产品/Machine Tool Products
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中文版 Mandarin Version: 車床液压刀塔配机手册
Table of Contents Version Info
• Chapter 1. Machine Configuration

• 1. Overall Configuration
• 2. Configuration List
• Chapter 2. Controllers, Drivers and Terminal Boards Introductions
• 1. Controller Hardware
• 2. Panel
• 3. HKIO Terminal Board
• 4. Drivers
• 5. Input Board
• 6. Output Board
• Chapter 3. Installation Dimensions
• 1. Controller
• 2. Driver
• 3. Adapter
• 5.TB16IN
• 6.TB16OUT
• 7. Servo Motor
• 8. Spindle Motor
• 9. Brake Resistor
• Chapter 4. Operation Panel Function Introductions
• Chapter 5. Specifications
• 1. M Code
• 2. S Code
• 3. Tool Exchange
• 4. IO Point
• Chapter 6. Tuning
• 1. Controller Parameter Setup
• 2. Axis Tuning
• Platform Introduction
• QuickGuide
• Package Tuning
• Performance Tuning
• Summary
• Instructions(Online)
• Instructions(Offline)
• Related Parameters
• Advanced Tuning
• Chapter 7. Wiring Diagram
• 1. Main Circuit
• 2. Control Circuit
• 3. Input Board
• 4. Output Board
• Chapter 8. QA
Table of Contents Version Info
– 2
–
Number Version Edit Date Editor Review Approval
1 v1.0 2018-8-29 邵强
– 3
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1 Chapter 1. Machine Configuration

1.1 1. Overall Configuration
1.2 2. Configuration List

No. Parts Model Explanation
1 Controller 22TA
2 Panel 4018T3
3 Multi-Axis Drive SMD-34A-3575-03 Axis:2KW，8.4A

Spindle:11KW，27A
4 Input/Output Board TB16IN

TB16OUT
Chapter 1. Machine Configuration – 4

–
No. Parts Model Explanation
5 HKIO Terminal Board ● 24V Power input

● Connects with controller
through RIO port
● Provides 1 set of HK panel port and
1 set of MPG interface
● Provides 5V power supply for HK
panel
6 Axis Motor X：S08-AM5-40-E12-B-F3

Z：S08-AM5-40-E12-F3
7 Spindle Motor S08-SP-M7.5-08-A4-0-10
8 Brake Resistor S03-3000W/20Ω
9 Hydraulic Turret
Chapter 1. Machine Configuration – 5

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2 Chapter 2. Controllers, Drivers and Terminal Boards

Introductions
2.1
1. Controller Hardware
A 8-inch Monitor Display window
B Flip Cover USB port
C Keyboard Script edit and input
D Buttons F1~F5 functions
Chapter 2. Controllers, Drivers and Terminal Boards Introductions – 6

–
A DC 24V Power input DC 24V（1A）

INPUT
B LAN1&2 2 sets of 10/100M Internet

interface
C Keyboard Keyboard interface
D USB 2 sets of USB2.0 Host
E Mechatrolink YASKAWA serial servo

3 communication interface
F Option I/O 1 set of SRI and 1 set of Option I/O
G RIO Terminal RIO interface, able to connect

with 2 sets of external RIO main
module.

–
2.2 2. Panel
A MPG Panel type MPG
B Buttons Machine function options
C Buttons Start switch
D Keyhole Function options
E Buttons Power switch
F Button Emergency stop
A Keyhole Standoff For function options wiring

–
B Button Terminal Power switch
C Panel Working Power For 5V working power supply
D Emergency Stop Terminal For emergency stop wiring
E MPG Terminal For MPG wiring
F Panel HK Terminal For the HK terminal connects panel and controller
G Expansion I Point Terminal Expansion I point for customers usages
H Button Terminal Start switch
2.3 3. HKIO Terminal Board
A RIO Port Connects with controller

–
B 24V Power Input Port Terminal board 24V

power input
C MPG Port Connect with MPG
D HK Port Connect with the 2nd

panel
E 5V Power Output Port Provides power supply for

the 2nd panel

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2.4 4. Drivers
A External Power Supply Connects with 380V triple phase

electric power (RST)
B Motor Power Supply Connects with motor and provides

the power supply (UVW)
Total 4 sets, 1st~4th from right to left
C Brake Resistor Brake resister contact(connects with

P, B)
D MIII Serial Communication Connects with host controller (MIII

Port signal)

–
E Mini USB Port Connects with personal computer
F I/O Signal Port Connects with I/O devices (Emergency

stop, caution light... )
G Encoder Feedback 1st~4th port from top to down,

respectively 1st~4th motor encoder
H DA Port 2 sets of DA output

–
I MPG Port Connects with MPG
J X1/ X2 Port Input interface, able to connect with

input terminal board

–
K Y1/ Y2 Port Output interface, able to connect with

output terminal board

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2.5 5. Input Board
1. Single 24V Power Input

2. 16 sets of INPUT contact inputs
A Power Input 24V‧1A Input

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B X Input Port I Point Input
C INPUT PORT 16 sets INPUT, apply SOURCE port

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2.6 6. Output Board
1. Single 24V power input

2. 16 sets RELAY OUTPUT, every RELAY OUTPUT is seen as A contact output.
A Power Input 24V‧1A Input
B Y Output Port O Point Output

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C RELAY OUTPUT All 16 sets RELAY OUTPUT are seen as A

contact output

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3 Chapter 3. Installation Dimensions

3.1 1. Controller
Exterior appearance specifications (Unit：mm) 此处需要修改
Suggested Installation Area Specifications (Unit：mm)
Mounting Hole Specifications (Unit：mm)
Chapter 3. Installation Dimensions – 19

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3.2 2. Driver
S08-SMD-33A-2550-□□ (2550 3 in 1)
S08-SMD-34A-2550-□□ (2550 4 in 1)
S08-SMD-33A-3575-□□ (3575 3 in 1)
S08-SMD-34A-3575-□□ (3575 4 in 1)
S08-SMD-34A-50150-□□ (50150 4 in 1)

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3.3 3. Adapter
3.4 4. HKIO Terminal Board

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3.5 5.TB16IN
3.6 6.TB16OUT

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3.7 7. Servo Motor

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3.8 8. Spindle Motor
3.9 9. Brake Resistor

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4 Chapter 4. Operation Panel Function Introductions
Figure Definiti Operating Instructions

on
Power The indicating light of the red "POWER OFF" button will be on after providing the power
ON supply.
Then press "POWER ON" button and the machine will be powered up, controller activated
and the green indicating light will be on.
Power After operating the machine, press the red "POWER OFF" button and the machine will shut
OFF down. Now the indicating light of the "POWER OFF" button will be on.
Emerge Press the button when there are personnel or operation safety concerns. All the electric
ncy controls of the machine will be cut off and the controller goes into "Unready" state, enable
Stop signals of servo and spindle driver will be removed, devices such as cutting fluid and tool
magazine will be all shut down.
Proced Under automatic or MDI mode, it's able to run procedure auto-start；
ure
【Notification】（1）
Start
Proced Press the button while machining will turn the system into pause mode
ure
Pause
Chapter 4. Operation Panel Function Introductions – 25

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Machini G01 % ：Adjust G01/G02 /G03 cutting rate %:（0%~150%）

ng
The knob is also used to adjust JOG rate:（0%~150%）
Feedrat
e
Spindle S % ：Adjust spindle rotating speed rate（50%~120%）

Rate
Rapid G00 % ：Adjust G00 % (F0 .25% .50% .100%)

Moving
The knob is also used to adjust MPG stepping：
Rate
X1: Moves 1um for each MPG gird；
X10: Moves 10um for each MPG grid；
X100: Moves 100um for each MPG grid；
MPG Description：It's able to check the NC procedure with this function

Simulat
Operation Method：
ion
1. Press the button and turn into "Automatic Mode".
2. Press "MPG Simulation Function" button and the signal light will be on.
3. Press "Start" button and run the NC procedure.
4. CNC will turn the machine state from "Ready" to "Machining".
5. The machine will stay still with no movements
6. It's able to rotate the "MPG" to run the NC procedure.
7. The faster the MPG rotates, the faster the machine moves.
8. CNC machine stops MPG when MPG stops.
9. This function can know if the machining procedure is feasible or not immediately.
P.S. The function can support the users to check the procedure in a humanize way.

–
Optiona Description：Decides to pause or not when runs M01 in the NC procedure.

l Pause
Operation Method：
2. Press "Optional Pause" button and the signal light will be on.
4. CNC will pause if there's "M01" in the procedure.
5. CNC will turn the machine state from "Machining" to "Pause"
The function is used in tool change and workpiece examination.
Optiona Description：Decides to run or skip when runs "/" in the procedure

l Skip
Operation Method：
2. Press "Optional Skip" button and the signal light will be on.
4. CNC will skip automatically when runs the section with "/" symbol.
If didn't press the button, CNC will run the section with "/" symbol.
Block Description：It's able to check the NC procedure with this function

Executi
Operation Method：
on
2. Press "Block Execution" button and the signal light will be on.
4. CNC will run the NC procedure but stops after finishing only 1 block.
5. CNC will turn the machine state from "Machining" into "Pause".
6. Press "Start" button again and the CNC will run the next block of the procedure then
stop.
7. The function will help the users to check the blocks one by one.

–
Auto- Description：It's able to auto-run the NC procedure with the function

machini
Operation Method：
ng
Mode 1. Press the button and turn into "Auto-Machining Mode".
2. The auto-machining mode starts working after returned to the origin.
3. Set working coordinate (G54..G59) , if there isn't any G54..G59 being set in the NC
procedure, the CNC default value is G54.
4. Set up the tool radius compensation and tool length compensation in "Tool Setup".
6. Press "Emergency Stop" to stop the NC procedure if necessary.
MDI Description：It's able to run the block procedure without executing the NC program with
Machini this function.
ng
Operation Method：
Mode
1. Press the button and turn into "MDI-Machining Mode".
2. The MDI-machining mode starts working after returned to the origin.
3. Choose F4 "Machining Execution Browser"under the main browser.
4. Press F3"MDI Input", a dialog will show up on the screen.
5. Press "Enter" to input the data after keying the data into the dialog.
6. Press "Start" button and run the MDI block procedure.
7.If the syntax of the current block procedure is correct, the procedure will be vanished
from the screen along its execution.

–
Home Description：When CNC is powered up, it should run the home searching function with
Mode home mode
Operation Method：
1. Press the button and turn into "Home Mode".
2. Press the moving direction control keys "X+,X-,Y+,Y-,Z+,Z-" of the machine, +/- functions
are the same now.
3. "Axis Home Searching Not Done" alarm will be cleared after the CNC machine starts
returning to the origin.
【Notifications】
(1) Please make sure the Z axis is in a safe position before running the X, Y axis home
searching function to avoid the spindle or device colliding with the workpiece on the
workbench.
(2) Due to the special mechanism of Z axis, please first make sure the machine coordinate
of Z axis is lower than the position setup (Default Z16.000) before running the home
searching function.
(3) Z axis can't run the home searching function if the tool magazine is having "Tool
Magazine Dislocated" alarm.
Manual Description：Users can move the machine by pressing "JOG" button with this function
Mode
Operation Method：
1. Press the button and turn into "Manual Mode".
2. Press the moving direction control keys "X+,X-,Y+,Y-,Z+,Z-" of the machine and the
machine will start moving.
3. Operators can adjust the moving speed with G01%
4. When pressing the direction control keys and rapid orientation key "〰" (works after
home searching) at the same time, the CNC machine will be moving with the speed of
"Rapid Orientation".
5. Users can rapid JOG the cutting volume with G00%
Manual Description：Users can move the machine by pressing "JOG" button with this function.
JOG
Operation Method：
Mode
1. Press the button and turn into "Manual JOG Mode".
2. Press the moving direction control keys "X+,X-,Y+,Y-,Z+,Z-" of the machine and the
machine will be moving with constant distance every time.
3. The constant moving distance can be adjusted with G00 knob.
Range of moving distance- *1 : 1um ,*10 : 10um ,*100 : 100um

–
MPG Description：Users can move the machine by rotating the "MPG" with this function.
Mode
Operation Method：
1. Press the button and turn into "MPG JOG Mode"
2. Press "X+,X-,Y+,Y-,Z+,Z-" to choose the moving axis (random +/- direction)
3. Confirm the moving unit with "Rapid moving ratio knob"
4. The chosen axis will start moving when rotating the MPG clockwisely; the axis will be
moving backwards if rotating the MPG counterclockwisely.
Range of moving distance---*1 : 1um , *10 : 10um , *100:100um , *1000 : 1000um
Tool Not using

Magazin
e
Clockwi
se
Rotatio
n
Gripper Description：Users can control the gripper with this function.

Operation Method：
1. The gripper will be loosen after pressing this button.
2. Press the button again after putting the materials in and the gripper will be clamped.
Cutting Description：Users can turn on/off the cutting fluid with this button
Fluid
Operation Method：
1. The cutting fluid will be turned on after pressing this button under any mode; and be
turned off after pressing the button again.
2. The cutting fluid can be turned on with M08 and be turned off with M09 during air blast.
3. The cutting fluid will be turned off after pressing return button or emergency stop.
Lubrica Description：Users can force the lubricating machine to work with this button
ting
Operation Method：
Machin
e 1. Under normal mode, the lubrication machine works periodically at the preset timings.
Switch
2. If needed, it's able to force the lubricating machine to work by long press this button.

–
Chip Description：Users can activate the chip conveyor with this button
Convey
Operation Method：
or
Clockwi
se
Rotatio
n
Working Description：Users can turn on/off the working lamp with this button
Lamp
Operating Method：
1. The working lamp will be turned on after pressing this button under any mode; and be
turned off after pressing the button again.
Spindle Description：Users can activate the spindle clockwise rotation with this button
Clockwi
Operation Method：
se
Rotatio 1. It can only be operated after satisfying the conditions below and the indication light will
n be on：
（1）Under any mode;
（2）In non-machining state;
（3）Z axis home searching done and Z axis lower than the limit position of second
software;
（4）Spindle inverter ready and in non-counterclockwise rotation state;
2. The spindle clockwise rotation will be cancelled after pressing return, emergency stop,
spindle stop, spindle orientation buttons.
Spindle Description：Users can activate the spindle clockwise rotation with this button
Counter
Operation Method：
clockwi
se 1. It can only be operated after satisfying the conditions below and the indication light will
Rotatio be on：
n
（2）In non-machining state;
（3）Z axis home searching done and Z axis lower than the limit position of second
software;
（4）Spindle inverter ready and in non-clockwise rotation state;
2. The spindle counterclockwise rotation will be cancelled after pressing return, emergency
stop, spindle stop, spindle orientation buttons.

–
Spindle Description：Users can stop the spindle with this button

Stop
Operation Method：
1. It can only be operated after satisfying the conditions below
（2）In non-machining, pause, block stop status;
2. The spindle rotation will be cancelled after pressing return, emergency stop, spindle
stop, spindle orientation buttons.
3. It's able to execute spindle orientation with this function while the spindle is running.
The orientation speed is assigned by parameter 3414.
4. The indication light of the button will be on after the spindle orientation is completed.
X Description：Users can make X axis do positive direction movements with this button
Positive
Operation Method：
Directio
n 1. Press this button under "Home Mode" will activate X axis home searching;
Movem
2. Press this button under "Manual Mode" will make X axis do continuous movements
ent
towards positive direction.
3. Press this button under "JOG Mode" will make X axis move 1 unit towards positive
direction.
4. Press this button under "MPG Mode" will make the chosen MPG able to control X axis
movements.
X Description：Users can make X axis do negative direction movements with this button
Negativ
Operation Method：
e
Directio 1. Press this button under "Home Mode" will activate X axis home searching;
n
2. Press this button under "Manual Mode" will make X axis do continuous movements
Movem
towards negative direction.
ent
3. Press this button under "JOG Mode" will make X axis move 1 unit towards negative
direction.
4. Press this button under "MPG Mode" will make the chosen MPG able to control X axis
movements.
Y Not used in this machine

Positive
Directio
n
Movem
ent

–
Y Not used in this machine

Negativ
e
Directio
n
Movem
ent
Z Description：Users can make Z axis do positive direction movements with this button
Positive
Description：
Directio
n 1. Press this button under "Home Mode" will activate Z axis home searching;
Movem
2. Press this button under "Manual Mode" will make Z axis do continuous movements
ent
towards positive direction.
3. Press this button under "JOG Mode" will make Z axis move 1 unit towards positive
direction.
4. Press this button under "MPG Mode" will make the chosen MPG able to control Z axis
movements.
【Notification】
If the height exceeds the Z axis positive limit of second software when moving Z axis in
positive direction manually or with MPG, it'll run the spindle orientation first.
Z Description：Users can make Z axis do negative direction movements with this button
Negativ
Operation Method：
e
Directio 1. Press this button under "Home Mode" will activate Z axis home searching;
n
2. Press this button under "Manual Mode" will make Z axis do continuous movements
Movem
towards negative direction.
ent
3. Press this button under "JOG Mode" will make Z axis move 1 unit towards negative
direction.
4. Press this button under "MPG Mode" will make the chosen MPG able to control Z axis
movements.
C Not used in this machine

Clockwi
se
Rotatio
n
C Not used in this machine

Counter
clockwi
se
Rotatio
n

–
Rapid Description：Users can move the bed with the speed of G00 rapid moving
Moving
Operation Method：
1. This function works after the X, Y, Z axis home searching are all done.
2. Press the button while moving the bed manually, the moving speed will be the same as
the G00 setup.
【Notification】
The bed is moving quickly and please operate carefully to avoid collision.
Remove Description：Users can release the Z axis position limit of second software with this
Z axis function.
Softwar
Operation Method：
e
Limitati 1. If needs to move Z axis higher than the limit position of second software under special
on conditions, press this button and move Z axis manually or with MPG;
2. The function won;t work under auto-run and MDI mode.
Lather Description：Control the forward/backward of the lathe center

Center
Control
Accessi Not used in this machine

bility 1

bility 2

bility 3

bility 4

bility 5

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5 Chapter 5. Specifications
5.1 1. M Code
System M Code Descriptions System M Code Descriptions
M00 Pause M80 Activate Spindle Position Mode
M01 Optional Pause M81 Deactivate Spindle Position

Mode
M02 Procedure End M84 Activate Spindle Brake Control
M03 Spindle Clockwise Rotation M85 Deactivate Spindle Brake Control
M04 Spindle Counterclockwise Rotation M98 Call Subprocedure
M05 Spindle Stop M99 Procedure End and Loop
M07 Chuck Open
M08 Cutting Fluid On
M09 Cutting Fluid Off
M10 Gripper Clamping
M11 Gripper Loosen
M12 Optional Skip On
M13 Optional Skip Off
M14 Feeder On
M15 Waiting for Material Exchange

Complete
M17 Spindle JOG On
Chapter 5. Specifications – 35
–
M18 Spindle JOG Off
M19 Spindle Orientation On
M20 Spindle Orientation Off
M30 Procedure End and Return
1. M00 Procedure Pause

When CNC executes M00 command, it'll pause the feed.
2. M01 Optional Procedure Stop
M01 function is similar to M00; but M01 is controlled by "Optional Stop"; when the switch is ON, M01 works and
makes the procedure stop; when the sitch is OFF, M01 is null.
3. M02 Procedure End
If there's an M02 command at the end of main program, the machine will stop all the actions when CNC executes
the command. If wants to restart the procedure, press the "RESET" button then press "Procedure Start".
4. M03 (Spindle Clockwise Rotation)
The command makes spindle rotates in clockwise direction, can further make the spindle rotates clockwisely with
the set-up speed when applied with S function. Steps:
（1）When executing M03, the spindle clockwise rotation activates and runs the machining procedure after the
rotating speed exceeds 90% target speed.
（2）Output spindle clockwise rotation signal and activate.
（3）During the spindle clockwise rotation signal output, it'll keep checking if the rotating speed exceeds 110%
target speed (RPM) or lower than 90% target speed (RPM). If the rotating speed doesn't reach the target speed
within 5 seconds, it'll immediately stop the machining procedure and send alarms.
（4）The clockwise rotation can only be activated when the spindle is stopped.
5. M04 (Spindle Counterclockwise Rotation)
The command makes spindle rotates in counterclockwise direction, can further make the spindle rotates
counterclockwisely with the set-up speed when applied with S function. Steps:
（1）When executing M04, the spindle counterclockwise rotation activates and runs the machining procedure after
the rotating speed exceeds 90% target speed.
（2）Output spindle counterclockwise rotation signal and activate.
（3）During the spindle counterclockwise rotation signal output, it'll keep checking if the rotating speed exceeds
110% target speed (RPM) or lower than 90% target speed (RPM). If the rotating speed doesn't reach the target speed
within 5 seconds, it'll immediately stop the machining procedure and send alarms.
（4）The counterclockwise rotation can only be activated when the spindle is stopped.
6. M05 (Spindle Stop)
（1）The command can lower the spindle rotation speed to 0 according to the speed reduction time.
（2）Able to cancel the spindle orientation state with this command.
–
7. M08/M09 Cutting Fluid 1 On, Cutting Fluid 1 Off.

8. M10 Spindle Chuck Clamping:
（1）The command will make the spindle chuck clamped.
（2）When executing M10, the machining program continues after the chuck clamping delay time set by
"parameter 3418".
9. M11 Spindle Chuck Loosen
（1）The command will loosen the spindle chuck.
（2）When executing M11, the machining program continues after the chuck loosen delay time set by "parameter
3418".
10. M19 Spindle Orientation
The command can make the spindle orientates to the set-up angle rapidly. Steps:
（1）When executing M19, spindle orientates to the set-up angle rapidly;
（2）Spindle orientation angle setup steps:
1）Rotate the spindle to required angle, enter spindle drive parameter and check D1-38 (current spindle angle);
2）【Fn-31】 Set the parameter access password 550 (now it would be 2);
3）Enter driver parameter P6-20 (spindle orientation angle) and key in the angle from D1-38;
4）Enter parameter Fn-30 (parameter permanent storage) and edit "1", then press the "ENTER" on the panel
(Note: This step would be operated at least twice);
5）Orientation angle setup complete.
11. M20 Cancel Spindle Orientation
The command cancels the spindle orientation.
12. M80 Spindle Position Mode
（1）The command can switch the spindle into position mode.
（2）After switched into position mode, spindle will be C axis, able to execute the angle edited by the procedure.
Example：Spindle rapid scale to 60 degrees then 90 degrees
N1：M25
N2：G00 C60.
N3：G00 C90.
13. M81 Cancel Spindle Position Mode
The command switches the spindle from position mode to speed mode.
15. M30 Procedure End

M30 command means the procedure ends, when executes to M30 command, all the actions will stop and return the
memory to the very beginning position of the procedure
20. M84 Spindle Brake Function Control On

（1）It can hold the spindle still when the spindle is not operating;
–
（2）Helps spindle disassemble operations etc.

21. M85 Spindle Brake Function Control Off
The command cancels the spindle brake control, the spindle can rotate normally after cancelled.
31. M98 Subprocedure Control
Subprocedures are the fixed machining process or the common used parameters, they are usually prepared first
and stored in the memories. They are able to be called by the main program when needed. The calling of
subprocedures will be run by M98 and the end of subprocedures will be run by M99
Command Format：
（1）Call subprocedure
M98 P H L ;
P is the procedure number of the assigned subprocedure (It means the procedure itself when P is omitted, and only
able to run in the memory or MDI mode)
H is the start execution number of the assigned subprocedure
L is the repeated executing times of the subprocedure
（2）Subprocedure end
M99 P ;
：P is the order number return to the calling procedure after the subprocedure is completed.
32. MXX Workpiece Counting Command
（1） Put the command at the end of the program with parameter Pr3804 can run workpiece counting.
（2） Example：Set parameter Pr3804 30;
The workpiece counting will +1 every time after meeting M30 in the procedure.
5.2 2. S Code
If the actual spindle rotation speed (R36) is lower than 90% or higher than 110% of the CNC rotation speed
command, the machining program will be paused and send spindle rotation speed too high/low alarms.
S-Code Flow Diagram
–
5.3 3. Tool Exchange

1. Regular Tool Exchange
When executing T code tool exchange command, the controller will operate the tool exchange following the steps
below:
（1）Tool magazine pushed out
（2）Tool magazine rotates to target tool number
（3）Tool magazine return
（4）Modify current tool number
2. Protection and Limitation
（1）Tool exchange won't be operated if chosen the same tool number, tool No.0 or tool number over 8.
（2）In manual tool exchange, pressing the turret clockwise/counterclockwise rotation button means changing to
the previous/next tool.
（3）Must make sure the tool magazine is pushed out before rotating, the tool magazine return sensor will last
0.3sec and be seen as the confirmation condition.
（4）The Reset button won't work during the tool exchange, please use the Emergency Stop button if necessary.
（5）If pressing the turret clockwise/counterclockwise rotation button under Home Mode, it'll return to tool No.1.
3. Exception Handling
（1）If the sensor has no action within 10 seconds after the tool magazine is pushed out, the tool magazine push
out failure warning will be sent.
–
（2）If the turret can't finish the tool exchange operation in 10 seconds , the tool magazine rotation failure warning
will be sent.
（3）If the sensor has no action within 10 seconds after the turret is returned, the tool magazine return failure
alarm will be sent.
（4）Needs to run the tool searching again if there's a turret error.
4. Tool Exchange Flow Diagram
–
–
5. T Code Format

5.4 4. IO Point
Number Definition Note Number Definition Note
I 00 X axis positive limit NC I 16 Turret BIT A NO
I 01 X axis negative limit NC I 17 Turret BIT B NO
I 02 X axis origin NC I 18 Turret BIT C NO
I 03 Z axis positive limit NC I 19 Turret BIT D NO
I 04 Z axis negative limit NC I 20 Turret BIT E NO
I 05 Z axis origin NC I 21 Turret BIT F NO
–
I 06 Feeder NC activate NO I 22 Feeder SENSOR NO
I 07 Hydraulic overload alarm NO I 23 Feeder ALARM NC
I 08 Lubricate alarm NO I 24 Feeder empty NO
I 09 Cutting fluid motor alarm NO I 25 Lubricants pressure alarm NC
I 10 VFD Spindle alarm NC I 26 Hydraulic force switch NO
I 11 Spindle Orientation Complete NO I 27 Pressure switch NO
I 12 Spindle gripper sensor NC I 28 Safety gate closed signal NO
I 13 Spindle lock sensor NO I 29 Manual feed NO
I 14 Spindle gripper foot switch NO I 30
I 15 Emergency stop NC I 31
I56 X axis selection NO
I57 Z axis selection NO
I58
I59 H*10 NO
I60 H*100 NO
I61 Program start NO
I62 Program pause NO
O 00 Tool magazine push out (DC24V) O 16 Lubricants motor (220V)
–
O 01 Tool magazine clockwise O 17 Working lamp (18V)

rotation (DC24V)
O 02 Tool magazine counterclockwise O 18 Feeder

rotation (DC24V)
O 03 Spindle gripper clamping (DC24V) O 19 Cutting fluid motor 1 (220V)
O 04 Spindle gripper loosen (DC24V) O 20 Chip conveyor clockwise

rotation (110V)
O 05 Feeder (DC24V) O 21 Chip conveyor

counterclockwise rotation
(110V)
O 06 Spindle clockwise rotation O 22 Warning light (110V)

activate (DC24V)
O 07 Spindle orientation (DC24V) O 23 Auto power off (220V)
O 08 Spindle rigid tapping (DC24V) O 24
O 09 O 25
O 10 Program start (DC24V) O 26
O 11 Program pause (DC24V) O 27
O 12 Air blast 1(DC24V) O 28
O 13 Spindle lock (DC24V) O 29
O 14 Sidetracking machine (DC24V) O 30
O 15 System ready (DC24V) O 31
–
6 Chapter 6. Tuning
6.1 1. Controller Parameter Setup
Details
Parameter Explanation Ini Set- Notifications

Number tia up
l Val
Va ue
lu
e
21 The corresponding axis 100 When using multi-axis driver, the parameter is set
card port number of *X 0 MMnnn:
axis MM : Main station ID number(1~16), please refer to
the driver DIP switch setup in the notifications.
nnn: Sub station ID number(000~010)
22 The corresponding axis 100
Example:
card port number of *Y 2
When using SYNTEC M3 4 in 1 driver, the
axis
corresponding axis functions of the sub station ID
number are listed below:
23 The corresponding axis 100 0：1st servo axis of the main station
card port number of *Z 1 1：2nd servo axis of the main station
axis 2：3rd servo axis of the main station
3：4th servo axis of the main station
If the DIP switch set the main station number to be
24 The corresponding axis 100 1, the parameter and the corresponding axis
card port number of *4th 3 functions are shown below:
axis 1st servo axis：1000
2nd servo axis：1001
3rd servo axis：1002
4th servo axis：1003
Chapter 6. Tuning – 45
–

Number tia up
l Val
Va ue
lu
e
41 X axis reverse moving 0 0

direction This parameter can set up the actual moving
direction of each machine axis：
0: not reversed;
42 Y axis reverse moving 0 0
1: reversed
direction
If found the bed moving in the opposite direction of
the command while machining, it's able to modify
43 Z axis reverse moving 0 0 the moving direction through fixing the command
direction direction sent by the axis card with this parameter.
If the axis happens to be the spindle
(Pr1791~Pr1800) and it's one of 3 types listed
44 4th axis reverse moving 0 0 below, this parameter (Pr41~60) must set to be 0.
direction 0： VFD spindle
2： V speed control servo motor
4： SYNTEC spindle
61 X axis sensor resolution 12 419 Divide the encoder resolution by 4.

(encoder: Pulse/turn; 50 430
For example：The encoder has 24 digits=16777216
linear scale: Pulse/mm) 4
Pr61=16777216/4=4194304
So as the spindle
62 Y axis sensor resolution 12 419
63 Z axis sensor resolution 12 419

64 4th axis sensor resolution 12 655

linear scale: Pulse/mm)
81 X axis feedback 4 4 • The multiplier of the encoder feedback can set

frequency multiplication to be one time frequency, double frequency,
four times frequency.
82 Y axis feedback 4 4
frequency multiplication
–

Number tia up
l Val
Va ue
lu
e
83 Z axis feedback 4 4
84 4th axis feedback 4 4

101 X axis motor gain (RPM/ 20 200 The parameter is invalid for axis,104 of spindle is
V) 0 the same as Pr1671=Pr1801/10
102 Y axis motor gain (RPM/V) 20 200

0
103 Z axis motor gain (RPM/ 20 200

V) 0
104 4th axis motor gain(RPM/ 20 800

V) 0
121 X axis gear number on 1 1 • Set up the gear number ratio of screw side to
screw side motor side for system to determine the rotation
122 1 1
speed ratio
X axis gear number on
• Gear number on screw side：Gear number on
motor side
motor side ＝ 2：1 -> Motor rotation speed：
Screw rotation speed ＝ 2：1。
123 Y axis gear number on 1 1
screw side
124 1 1
Y axis gear number on
screw side
125 Z axis gear number on 1 1

screw side
126 1 1
Z axis gear number on
screw side
–

Number tia up
l Val
Va ue
lu
e
127 4th axis gear number on 1 1

screw side
128 1 1
4th axis gear number on
screw side
161 X axis PITCH(BLU) 50 100 The same as the pitch of helicoid screw, rotary axis
00 00 set 360000. Unit: um.
162 Y axis PITCH(BLU) 50 360

00 000
163 Z axis PITCH(BLU) 50 100

00 00
164 4th axis PITCH(BLU) 50 360

00 000
181 X axis servo system loop 30 100 Equals to the driver parameter position loop gain,
gain (1/sec) synchronizes automatically and no need to update
manually.
182 Y axis servo system loop 30 100
gain (1/sec)
183 Z axis servo system loop 30 100

gain (1/sec)
184 4th axis servo system 30 60

loop gain (1/sec)
201 *X axis sensor type (0: 0 3 Set 3 if the motor is absolute, set 0 if it's gain
encoder; 1: linear scale;
2: no; 3: absolute)
202 *Y axis sensor type (0: 0 3

2: no; 3: absolute)
–

Number tia up
l Val
Va ue
lu
e
203 *Z axis sensor type (0: 0 3

2: no; 3: absolute)
204 *4th axis sensor type (0: 0 0

2: no; 3: absolute)
221 X axis axis type (0: linear 0 0 Linear axis set 0

axis; 1-5: rotary axis type
A-E)
222 Y axis axis type (0: linear 0 1 The axis belongs to the turret, is a rotary axis.
A-E)
223 Z axis axis type (0: linear 0 0 Linear axis set 0

A-E)
224 4th axis axis type (0: 0 1 Spindle belongs to rotary axis
linear axis; 1-5: rotary
axis type A-E)
281 X axis diameter/radius 0 1 0：radius axis

axis (0: radius axis; 1:
1：diameter axis
diameter axis)
321 *X axis title 10 100 Shown as X

0
322 *Y axis title 20 104 A axis but won't show

0 00
323 *Z axis title 30 300 Shown as Z

0
–

Number tia up
l Val
Va ue
lu
e
324 *4th axis title 40 600 Shown as C

0
901 X axis zero speed check 3 503 1. Set up to be axis if it's a serial driver, encoder
window (count) 3 resolution 1048576, the corresponding Pr901 =
314 ( = 3 * 1048576 / 10000 ) by the chart.
2. Set up to be spindle if it's a serial driver, 124
902 Y axis zero speed check 3 503
magnetic ring encoder, resolution 507904, the
window (count) 3
corresponding Pr901 = 372 ( = 3 * 507904 /
4096 ) by the chart.
903 Z axis zero speed check 3 503
window (count) 3
904 4th axis zero speed check 3 192

window (count)
1001 *X axis rapid home 0 1 Home searching action (Execute JOG under Home
returning function (0: off, Mode (R13=7)), the machine now won't return to
1: on) the machine origin through traditional home
searching method, it'll go straight back to the
machine origin at G0 rapid moving speed (Pr46x),
1002 *Y axis rapid home 0 0
the speed is affected by G0 multiplication rate.
returning function (0: off,
1: on)
1003 *Z axis rapid home 0 1

1: on)
1004 *4th axis rapid home 0 0

1: on)
1621 *The corresponding axis 0 4 *The corresponding axis number or axis card port
number or axis card port number of 1st spindle.
number of 1st spindle.
1651 The pulse number per 10 655 Same as 64

turn of the 1st spindle 00 36
encoder
–

Number tia up
l Val
Va ue
lu
e
1661 Spindle feedback 4 4 Same as 84

1671 Spindle motor gain 20 800 Same as 104

(RPM/V) 0
1681 Spindle 1st gear gear 1 1 Same as 127

number on the screw
side (2~4 gears are
Pr1901~、Pr1921~、
Pr1941~)
1682 Spindle 1st gear gear 1 1 Same as 128

number on the motor
side
1711 *Whether the 1st spindle 0 1 The parameter can be used to close the spindle
installing an encoder (0: encoder
no; 1: yes)
0：OFF；
1：ON
1791 *Spindle motor type 0 4
1801 1st spindle maximum 10 800 The parameter is used to limit the spindle
rotation speed (RPM) 00 0 maximum rotation speed.
0
1811 1st spindle encoder 0 1

installation location (0:
spindle side; 1: motor
side)
3217 *Control panel keyboard 0 13

selection
–

Number tia up
l Val
Va ue
lu
e
2401 X axis 1st software X axis positive limit position

positive stroke limit
(BLU)
2402 X axis 1st software X axis negative limit position

negative stroke limit
(BLU)
2403 Y axis 1st software 0

(BLU)
2404 Y axis 1st software 0

(BLU)
2405 Z axis 1st software Z axis positive limit position

(BLU)
2406 Z axis 1st software Z axis negative limit position

(BLU)
2407 4th axis 1st software 0

(BLU)
2408 4th axis 1st software 0

(BLU)
6.2 2. Axis Tuning

Details
–
Content
• Chapter 1. Machine Configuration

• 1. Overall Configuration
• 2. Configuration List
• Chapter 2. Controllers, Drivers and Terminal Boards Introductions
• 1. Controller Hardware
• 2. Panel
• 4. Drivers
• 5. Input Board
• 6. Output Board
• Chapter 3. Installation Dimensions
• 1. Controller
• 2. Driver
• 3. Adapter
• 5.TB16IN
• 6.TB16OUT
• 7. Servo Motor
• 8. Spindle Motor
• 9. Brake Resistor
• Chapter 4. Operation Panel Function Introductions
• Chapter 5. Specifications
• 1. M Code
• 2. S Code
• 3. Tool Exchange
• 4. IO Point
• Chapter 6. Tuning
• 1. Controller Parameter Setup
• 2. Axis Tuning
• Platform Introduction
• QuickGuide
• Package Tuning
• A. Encoder Function Test
• Abstract
• Operation Method
• Q&A
• B. Inertia Load Ratio Estimation
• Abstract
• Q&A
• Performance Tuning
• A. Resonance Tuning
• Summary
• Vibrational Damping Control function Setting (After Syntec Analytics 2.1.16)
–
• Q&A
• B. Automatic Velocity Loop Gain Tuning
• Abstract
• Q&A
• C. Tuning Parameters
• Abstract
• Q&A
• Advanced Tuning
• A. Encoder-Rotor Offset Correction
• Abstract
• Q&A
• B. Encoder Setup Checking
• Interface Descriptions
• Instructions
• Q&A
• C. Eccentric Error Compensation
• Instructions
• Q&A
• D. Inertia Tuning Calculation
• Chapter 7. Wiring Diagram
• 1. Main Circuit
• 2. Control Circuit
• 3. Input Board
• 4. Output Board
• Chapter 8. QA
6.2.1 Platform Introduction
This platform mainly provides the spindle/axis tuning function of SYNTEC products, there are Package
Tuning, Performance Tuning and Advanced Tuning. All of them supports the one-button tuning function to
lower the tuning complexity.
1. Package Tuning：Provides encoder function test and load inertia ratio estimation for SYNTEC
motor packages
2. Advanced Tuning：Offers encoder-rotor offset correction for permanent-magnet synchronous
motors; setup checking and eccentric error compensation function for spindles and SYNTEC
encoders to check the installation status and give compensation advice. For non-packaged motors,
provides inertia tuning, rotor inertia and load inertia ratio estimations.
–
3. Performance Tuning：Provides resonance tuning, it'll generate a program according to the stroke
limit setup, then scan the program and recommend the resonance points that need to be
suppressed after analyzing the scanning result. Also offers the automatic velocity loop gain tuning
to provide users the best velocity loop gain according to the G.M parameters setup. The tuning
parameters s can calculate all the other required control parameters by key in damping ratio and
bandwidth.
6.2.2 QuickGuide
Current analyzing platform provides different tuning process for each situations, can be mainly separated
into several categories:
1. Axis package: Generally means SYNTEC motors
2. Permanent-magnet axis package: Generally means SYNTEC permanent-magnet motors
3. Not packaged axis: Any non-SYNTEC motors
4. Not packaged permanent-magnet axis: Any non-Syntec permanent-magnet motors
Axis Package Permanent-magnet Axis Package
–
Not Packaged Axis Not Packaged Permanent-magnet Axis
–
6.2.3 Package Tuning
A. Encoder Function Test
• Abstract
Encoder function test is used to make sure the encoder or motor related parameters keyed in by
users are correct (refer to related parameters below), if keyed in incorrect parameters, the wrong
feedback signal might make the system unstable or execute the wrong actions.
a. Encoder connection check
b. Motor rotating direction check
c. Index signal check
d. Encoder resolution check
e. Motor poles check
Will send the corresponding alarm is detected input error.
(**This tuning method only supports spindle tuning for now)
 Notifications
a. Please start the tuning process when the controller is in ready state, or the
reminder window will pop up.
b. This tuning method only supports spindle tuning.

c. If modified the parameter with "*" in front of its title, it'll only be effective after
restart.
d. If the parameter value is modified but failed to write in and becomes red, the "Start
Tuning" button will be invalid
–
a. Click "Start Tuning"
i. It'll show "Tuning Failed" if it's unable to start the tuning process in current state.
ii. If it's able to run the tuning process, it'll show "Tuning..." after the process started.
iii. If alarms are sent during the tuning process, please refer to Driver Alarm Manual. and
restart the tuning after troubleshooting the alarms.
iv. It'll show "Tuning Completed" after the tuning process completed successfully
–
b. Click "Stop Tuning"

i. Click the "Stop Tuning" button to stop the process.
c. Click "Parameter Write In"

a. Able to modify the current values in the table manually, the modified values will be shown in
red.
b. Click the "Parameter Write In" button after modifying, a hint window will pop up for
confirmation.
c. It'll show "Write In Completed" if succeed; show "Write In Failed" and keep the modified
value red if failed
–
Driver Title Set-up Unit Effective

Parameter Range Time
Pn-021 Encoder Feedback Direction 0~1 - After

Polarity Restart
Pn-022 2nd Encoder Feedback Direction 0~1 - After

Polarity Restart
Pn-22A Activate Dual-Feedback Control 0~1 - After

Mode Restart
Pn-22C Dual-Feedback Position Filter 1~100000 001ms Immediate

Tine Constant 0 ly
Pn-701 Motor Poles 1~256 - Immediate

ly
Pn-900 Encoder Communication 0~30 - After

Interface Form Restart
Pn-902 Encoder Resolution 1~999999 pulse/ After

999 rev;pulse/mm Restart
Pn-90A Encoder Poles 1~4096 - Immediate

ly
–

Pn-920 2nd Encoder Communication 0~30 - After

Interface Form Restart
Pn-922 2nd Encoder Resolution 1~999999 pulse/ After

999 rev;pulse/mm Restart
Pn-92A 2nd Encoder Resolution 1~4096 - Immediate

ly
Pn-F2D Default Tuning Gain Ratio 0~200 % Immediate

ly
• Q&A
Q1. What should I do when there's an alarm?
–
A1. Click "Alarm Information"

Check "Current Alarm" and troubleshoot following the provided alarm manual.

–
Q2. Why are the "Start Tuning" and "Parameter Write in" buttons grey and invalid?

A2. The function only supports spindle tuning for now, please make sure you're choosing spindle.
Q3. How do I handle the AL-112 Driver voltage command output saturated or AL-121 Driver
power module over-current alarm in the tuning process?
A3. Lower parameter Pn-F2D default tuning gain ratio, 0 in default and seen as 100% in the driver.

B. Inertia Load Ratio Estimation
• Abstract
To ensure the accuracy of velocity loop gain unit, the inertia load estimation must be executed first
after installing the motor, so can achieve the greatest servo response.
 Notification
a. Please start the tuning process when the controller is in ready state, or the
a. If chosen axis, please set up the tuning stroke turns, 4 turns in default.
b. If chosen spindle, no need to set up the tuning stroke turns.
–
c. Click "Start Tuning"

i. The "Start Tuning" button will be invalid if the tuning parameter is not set.
ii. It'll show "Tuning..." after the tuning process started.
iii. It'll show "Tuning Completed" after the tuning process completed successfully and
the result will be shown in "After Tuning" column.
–
d. Click "Stop Tuning"

i. Click the "Stop Tuning" button to stop the process.
e. Repeat step 1~3 till the error is lower than 5%.
Driver Parameter Title Set-up Range Unit Effective Time
Pn-103 Load Inertia Ratio 0~20000 % Immediately
Controller Title Set-up Range Unit Effective Time

Parameter
Pr17 Controlling 1~3 - After Restart

Precision
Pr161~180 Axis Screw Pitch 1~1000000 BLU Press Reset
• Q&A
Q1： How to handle the Position command lost alarm in tuning process?
A1： Please enlarge the Pr561-566 tuning axis parameter position lost check window (0.001mm)
Q2： How to handle the Inertia estimation failure-motor not rotating alarm in tuning process?
A2： Check if the motor is stuck or power line loosen, please refer to alarm information for specific
practice.
–
Q3： What can I do if the error is still higher than 5% after many times of tuning?
A3： Run the velocity ring frequency sweep first and confirm the load inertia ratio from bandwidth.
6.2.4 Performance Tuning
A. Resonance Tuning
中文版 Mandarin Version: 半自动共振抑制调试操作手册
• Summary
The purpose of this function is to measure the mechanical properties and, according to the results of
the measurement, recommend resonance suppression parameters to suppress the resonance
phenomenon that may occur in the machine.
 Precautions
1. Tuning Environment
a. Controller Version: 10.116.54C, 10.118.0B, 10.118.2. and above.
b. Drive Version: OpenDrive v2.4.7(Status Monitor is not supported), OpenDrive v2.6.0,
OpenDrive v2.7.0. and above.
c. Syntec Analytics Version: SyntecAnalytics v2.0.3. and above.
a. Enter Resonance Tuning after connection successfully
b. Confirm bandwidth and Notch Filters
i. Show current bandwidth (Pn-100 speed loop gain). Edit is not allowed here, please
switch to “Gain Param” if any modification is needed please write in tuning
parameter page.
–
ii. Read the current Notch Filter Enables. The unsupported groups are displayed in gray
scale.
c. (Syntec Analytics 2.1.16 and above)The window shows when user click Next, please
confirm the status of the NotchFilter switch and the VDC switch
i. Press OK (Left) to enter the next setting step.
ii. Press Cancel (Right), stay in this process to modify Notch parameters by yourself,
and then click Next after parameter setting.
d. CNC Path Setup

i. Axis
–
1. Set Drive Type (Single Type or Joint Type)
2. Set Chirp Mode (Moving or Local)
3. 1st Stroke Limit Setup

4. 2nd Stroke Limit Setup (No need to set if using local mode)
5. Click Create Program button
6. Make sure the program is correct, then click Next.
–
(Moving Mode)
(Local Mode)
ii. Spindle:
1. Shows path, speed, clockwise rotation M code, stop M code.
2. Click Create Program button.
3. Make sure the program is correct, then click Next.
–
4. If the speed of Spindle is not default value, reminder window will pop up
e. Frequency Response Parameters Setup

i. Show the default parameters, confirm then click Next.
–
ii. When the End Frequency is set to exceed 2000 Hz, 8k sampling will be used
f. Click Start Tuning button
i. Click Start Tuning button. If there is data from other axes before, the window that
confirms whether to clear the record will pop up.
–
ii. If the current mode is MDI or AUTO, the message box will show and suggest to start
tuning in another mode (ex.JOG) to avoid starting main NC Program by mistake.
iii. Check if rapid, feedrate or spindle override is 100%. If not, it will show hint and tuning
will fail.
1. Spindle setting exist, spindle, feedrate and rapid travel(G00) all must be
100%.
2. No spindle setting, feedrate and rapid travel(G00) override both must be
100%.
–
iv. Protect if cycle start controller before analysis platform show cycle start hint, show
hint and reset controller.
v. After checking all above steps,

1. Please trigger Cycle Start on controller to keep tuning.
Better trigger cycle start in Jog or In-Jog mode to avoid starting main CNC
program or MDI program.
2. Stop tuning by clicking stop tuning on reminder window / Esc button on
reminder window/ Stop Tuning on tuning interface
3. Reset or press E-stop on controller to stop tuning.
vi. Start tuning and frequency data capturing
–
g. Tuning Complete / Stop Capturing Frequency Data

i. The software will automatically stop capturing frequency data as complete. User can
stop the process at any time by clicking Stop Tuning button.
ii. After data capturing, the whole frequency span will be selected automatically and
the analysis will start. Also, user can manually select the area and click Analysis
button.
–
h. Analysis
i. Pops up the Notch Filter Analyzing Window of the currently selected axis, the window
name is the axis name.
ii. If resonance points exist, the Enable value is 1, if not, then 0. The default frequency =
5000(Hz), Q = 70(0.01), Depth = 1000(0.001).
iii. Display at most 5 sets of Recommend Notch Filter Parameters. If controller only
supports 3 sets, last 2 sets will be displayed in gray scale.
iv. Currently, the platform supports at most 5 sets of Bode Plot Data.
1. Spindle
2. Axis
(Show Bode plot of both forward and backward with moving mode)
–
(Show only one Bode plot with local mode)
v. Every time click Analyze button, user will enter the Notch Filter Analyzing Window of
the current axis. If data exceeds 5 sets, the window will be reopened, and the 6th data
set is the first set of the new analyzing window.
–
vi. Select the data above, the bode plot and the Recommend Notch Filter Parameters
will be updated synchronously.
i. Write the Notch Filter Parameters

i. Select the Notch Filter sets to write in for specific sets.
ii. Pull up the gain at “Gain Param”, and repeat steps 1-7 to confirm that the resonance
points are suppressed.
• Vibrational Damping Control function Setting (After Syntec Analytics 2.1.16)
 Working Environment
–
• Driver version: v2.12.3, OpenGuide v2.1.35, FPGA v2.9.3 and above

• Controller version: 10.116.56 and above
• Setting: For the system with poor rigidity, the resonant point of the frequency
sweep result is too low, and the system speed gain cannot be increased. It could be
improved by this setting.
• Reference Detail: VDC Setting Instructions(Chinese)
a. Confirm the bandwidth, Notch Filter switch and vibration damping control switch
i. Calling the value of Pn-340, if notchfilter is all 0, the vibration damping control switch
must be set to 0
ii. Press the VDCsetting button, the pop-up window will record the IF resonance
parameter. The first column, user could select the motortype, and the second
column is preset as 200, and the highest setting is 260.
iii. Check if user want to automatically turn on the IF resonance suppression function,
the default is unchecked.
iv. After pressing Confirm, a messagebox show "Parameter settings have been saved".
b. Continue to perform the original resonance suppression tuning steps 2 ~ 6 until the analysis
result window pops up.
c. Analysis results show. Setting of the IF resonance suppression function.
i. The selected axis Notch Filter calculation window is displayed, and the window name
is the axis name.
ii. User can check the group and press the button to write the driver parameter.
iii. According to the setting before the frequency sweep, if the setting meets the
conditions, the driver parameters related to the IF resonance suppression will be
automatically written.
iv. If user check automatically turn on the vibration damping control function in
previous page, you would read the value about IF resonance suppression function
setting parameter.
–
Vibration Damping Control Function Vibration Damping Control Function

ON (Pn-340 = 2) OFF (Pn-340 = 0)
Select the calculation results that meet The calculated NotchFilter frequency is
the conditions, and write the VDC over 500 Hz, which does not meet the
parameters conditions
with notch parameters together. for enabling the VDC function
d. Note :
i. If the calculation result is manually adjusted, the VDC switch parameters will not be
written.
ii. If the calculated anti-resonance frequency is too high, suggest user to directly go to
Auto Gain Tuning.
iii. please turn off the VDC function in the resonance test, if
you turn on this function to sweep ,the result will be
inaccurate.
a. Enter Resonance Tuning without connection, press Import to import resonance scope file
–
b. After Import, the setting form will show. The default value is the same as Syntec
ServoTuning(Syntec ServoTuning( 10.118.28P~ ))
c. Then press "Analysis" to analyze the file to Bode plot. Then give recommend notch filters.
Press "Recommand Notch" to re-show the
setting form if needed
–
d. Press "Bode Plot" to show Magnitude-Frequency plot, Phase-Frequency plot, and Gain
Margin..etc, at the same form
Drive Name Range Unit Effective
Parameters
Pn-F70 Chirp Signal Start Frequency 0~20000 Hz Immediately
Pn-F71 Chirp Signal End Frequency 0~20000 Hz Immediately
Pn-F72 Chirp Signal Duration 0~1000 0.1sec Immediately
Pn-F73 Chirp Signal Magnitude 0~100 %; 0.01% Immediately
Pn-100 Proportional Speed Loop 10~20000 0.1Hz Immediately

Gain
Pn-409 1st Notch Frequency 5~5000 Hz Immediately
Pn-40A 1st Notch Q-factor 25~500 0.01 Immediately
Pn-40B 1st Notch Depth 1~1000 0.001 Immediately
Pn-40C 2nd Notch Frequency 5~5000 Hz Immediately
–

Parameters
Pn-40D 2nd Notch Q-factor 25~500 0.01 Immediately
Pn-40E 2nd Notch Depth 1~1000 0.001 Immediately
Pn-417 3rd Notch Frequency 5~5000 Hz Immediately
Pn-418 3rd Notch Q-factor 25~500 0.01 Immediately
Pn-419 3rd Notch Depth 1~1000 0.001 Immediately
Pn-41A 4th Notch Frequency 5~5000 Hz Immediately
Pn-41B 4th Notch Q-factor 25~500 0.01 Immediately
Pn-41C 4th Notch Depth 1~1000 0.001 Immediately
Pn-41D 5th Notch Frequency 5~5000 Hz Immediately
Pn-41E 5th Notch Q-factor 25~500 0.01 Immediately
Pn-41F 5th Notch Depth 1~1000 0.001 Immediately
Pn-461~Pn-465 Enable Notch Filter 0~1 - Immediately
Pn-340 Vibration Suppression 0,2 - Immediately

Function Select
Pn-350 Vibration Damping Control 10~20000 0.1 Hz Immediately

Frequency
Pn-351 Vibration Damping Control 0~300 % Immediately

Gain 1
–
• Q&A
Q1. How to make sure that resonance points have been suppressed after Notch Filter
Parameters are written?
A.
i.
JOG the axis, then make sure there is no abnormal noise.
ii. Apply Auto Gain Tuning to examine whether resonance points exist in speed closed-
loop Bode plot. (refer to Auto Gain Tuning User Manual).
Q2. Warning of insufficient stroke limit pops up when setting the stroke limits.
A.
1. Set stroke limit according to hint window
2. If warning message still pops up after setting required stroke limit, please check if speed
is up to 25 mm/s with linear motor, and 50 rpm with rotary motor.
3. Change chirp mode to local mode, there is no stroke limit with local mode.
Q3. Why does the same frequency still needs to be suppressed again after using the
recommended parameters and analyzing?
A. The main purpose of this function is to measure the mechanical resonance points. Auto
Gain Tuning is recommended to make sure that if the resonance points in the closed-loop
system have been suppressed.
Q4. No resonance point is found after the analysis, but there is still oscillation after
increasing the gain.
A.
1. If the vibration is under static condition, N-pulse suppressing function is
recommended.
2. If the abnormal noise is acceptable during tuning, try to increase the
chirp signal magnitude (Pn-F73) or speed loop gain.
–
a. When capturing frequency data the speed gain should be as high as possible,
but need to pay attention whether the rigidity and oscillation of the machine
are safe.
b. To ensure safety, It is recommended that the chirp signal gain be adjusted by
1% each time, rotary motor not exceed 3%, and linear motor not exceed 5%.
Q5. Unable to start the tuning?
A.
1. Unable to click Create Program button before setting the 1st and 2nd stroke limits.
2. Unable to click Next button before click Create Program button.
3. If the feedrate has been modified manually, may lead to insufficient section of
steady states, please reset the 2nd stroke limit and get the default feedrate.
4. The chirp signal duration is set according to the feedrate. If user modify the feedrate,
and also modify the duration, the frequency response may not completely operate in
steady speed.
–
5. The CNC path starts from 2nd stroke limit to 1st stroke limit. If the current mechanical
position is not at the 2nd stroke limit when clicking Start Tuning, the tuning is not allowed
to start.
Q6. Cannot click “Start Tuning” or “Analysis” button?

A.
1. Before setting the frequency response parameters,Start Tuning button is not allowed.
2. If Oscilloscope receives no feedback signal, user will be informed and the analysis is not
allowed to start.
Q7. Serious vibrates as soon as Servo ON

A.
1. Default bandwidth (Pn-100) is too high?
2. Default bandwidth (40Hz) might be too high for certain machines, lower bandwidth
(Pn-100) to 20 or 10Hz, and redo resonance tuning.
Q8. Spindle Tuning fail

A.
1. If Pr3804 Part count M code setting is the same as spindle forward / stop M code, the
controller status will be switched to "pause" during tuning which would result in
tuning failure. Please check this parameter setting.
–
Q9. If there is alarm and cnc state is feedhold during tuning

A.
The message will pop up to show hint. If you need to keep tuning, trigger cycle start again,
or press Stop Tuning to check the situation.
B. Automatic Velocity Loop Gain Tuning
• Abstract
This tuning function applies frequency response method to give system stability and machining
performance a quantitative index through G.M. parameters setup.
 Notifications
a. Tuning Function Environment
i. Controller Version: Versions after 10.116.54C, 10.118.0B, 10.118.2
ii. Driver Version: OpenDrive v2.4.7(does not support state monitoring
function), versions after OpenDrive v2.6.0, OpenDrive v2.7.0
iii. Analyzing Platform: Versions after SyntecAnalytics v2.0.5
b. Tuning Hardware Environment
i. Recommend to apply on screw machines, the function might have
calculation result inaccurate problems on linear motor machines.
ii. Please make sure the resonance tuning has been executed before using this
function and increase the gain as much as possible so the result might be
more accurate.
a. Check the bandwidth and Notch Filter switch
i. Shows the current bandwidth, which is reading the Pn-100 velocity loop gain. The
field is not editable, please modify the gain from tuning parameter page if needed.
ii. Read each current Notch Filter switch, the non-supporting sets will be shown in gray.
–
iii. If modified the Notch Filter switch, please make sure it's in ready state before clicking
the confirm button. A confirmation window will pp up and click "Yes (Y)" to write in
the Notch Filter switch.
b. Tuning path setup

i. Axis
–
1. Choose the sweeping mode (Moving/Stay Put)
2. Set up the first stroke limit

3. Set up the second stroke limit (Skip if chosen Stay Put mode)
4. Click the "Generate Program" button
Make sure the program is correct and click next.
–
(Moving mode)
(Stay Put mode)
ii. Spindle:
1. Shows the paths, rotation speed, spindle clockwise rotation M code and
spindle stop M code.
2. Click the "Generate Program" button
–
3. Make sure the program is correct and click Next
4. If modified the spindle rotation speed is into non-default value, hint message
will pop up.
c. Tuning setup confirmation

i. Shows the default tuning parameter value, click Next after confirmation (the
generated program in figure below takes spindle as example)
–
d. Start the automatic velocity loop gain tuning

i. After clicking the frequency response testing button, it'will judge the system
situations below
1. Needs to be under Auto-run/MDI mode, or the reminder window will pop up.
2. If found the Override is not 100%, the hint message will pop up and stop the
sweep.
a. If spindle setup exists, the hint message will pop up when any of the
spindle, feed or rapid moving Override is not 100%.
b. If there is no spindle setup, the hint message will pop up when any of
the feed or rapid moving Override is not 100%.
–
3. A hint window will pop up after passing all the checks above, there will be the
following options:
a. Please trigger the Cycle Start signal on the computer to proceed the
tuning process.
b. Click the Stop Tuning button on hint window / X button on hint
window / Stop Tuning button on tuning screen to stop the tuning
process.
c. Reset the controller or press emergency stop button to stop the tuning
process.
–
ii. Start capturing data and run the sweep.
iii. After the sweep is over, the data capturing action will stop automatically and the test
completed window will pop up.
–
iv. Calculate the recommended velocity loop gain according to current G.M., target G.M.
and current velocity loop gain automatically, then shows in the Recommend Value"
column.
–
v. Able to modify the chosen parameters by checking the box behind and click ">>" to
write in the recommended value.
–
vi. Make sure JOG has no strange noise and repeat steps a~e, ensure the recommended
velocity loop gain value converges and current G.M.>6 dB, current P.M.>30 degree
–
e. Bode Plot function

i. Click the Bode Plot button and it'll show the current Closed Loop Bode Plot and the
calculated Open Loop Bode Plot.
–
ii. Click the box below to show/hide information
f. File saving
i. Click the Save button and it's able to save the original data into encrypted .acsv file:
1. This file includes channels Pn-E04 Speed Command (0.01RPM), Pn-E05 Speed
Feedback (0.01RPM), Pn-F74 Start Tuning Function in order.
–

Pn-100 Velocity Loop Gain 10~20000 0.1Hz Immediately
Pn-101 Velocity Loop Integral Time 15~51200 0.01 Immediately

Constant ms
Pn-102 Position Loop Gain 10~20000 0.1rad/ Immediately

s
Pn-308 Velocity Filter Time Constant 1~10000 0.01 Immediately

ms
Pn-401 Torque Command Filter Time 1~10000 0.01 Immediately

Constant ms
Pn-F70 Initial Tuning Frequency 0~20000 Hz Immediately
Pn-F71 End Tuning Frequency 0~20000 Hz Immediately
Pn-F72 Tuning Lasting Time 0~1000 0.1sec Immediately
Pn-F73 Tuning Signal Gain 0~100 %; Immediately

0.01%
Pn-461~Pn-465 Notch Filter Switch 0~1 - Immediately
• Q&A
Q1. Unable to run the tuning function?
A.
a. The "Generate Program" button is invalid before completing the first and second stroke
limit setup.
b. The "Next" button is invalid before clicking the "Generate Program" button.
c. If modified the sweeping velocity manually and cause the steady velocity section too short,
please set up the second stroke limit and obtain the default velocity again.
d. The tuning lasting time is set according to the sweeping velocity, if modified both sweeping
velocity and tuning lasting time at the same time might make sweep not fully in the steady
velocity section.
–
e. The sweeping path starts from the second stroke limit to the first stroke limit, the sweep
won't begin if the current machine coordinate is at the set-up second stroke limit after it
starts capturing data.
f. To protect the data capturing process, if found the Override is not 100%, the sweep will stop
and shows Tuning Failed on the pop up window
i. If spindle setup exists, the hint message will pop up when any of the spindle, feed or
rapid moving Override is not 100%.
ii. If there is no spindle setup, the hint message will pop up when any of the feed or
rapid moving Override is not 100%.
Q2. Pop up Stroke Too Short message when setting up stroke limits
A1. Set up the stroke limit according to the least tuning distance shown on the screen first.
A2. If the message still pops up after setting up the stroke limit according to the hint, please make
–
sure the speed of linear motors can at least reach 25 mm/s and 50 rpm for rotary motors.
A3. Able to change the sweeping mode into Stay Put mode and there will be no stroke limit.
Q3. Unable to click the testing button or save the file?

A.
a. The frequency response testing button is invalid before the tuning parameters are all set up.
b. It won't be able to save the file or show Bode Plot if there is no data.
–
C. Tuning Parameters
• Abstract
The function mainly used to automatically calculate the corresponding controlling parameters
according to the damping ratio and bandwidth set by users.
 Notifications
a. The parameter write in should be executed when the controller is in unready state,
or the reminder window will pop up.
b. The default damping ratio is 1.5, approximately equals to the low frequency
stiffness of OpenGuide auto tuning page set 1.0. No need to modify manually if
there's no special needs.
a. Choose the damping ratio
i. 1.5 in default, options provided：

1. 0.5
2. 0.6
3. 0.7
4. 0.8
5. 0.9
6. 1.0
7. 1.1
–
8. 1.2
9. 1.3
10. 1.4
11. 1.5
ii. Click the "?" button if needed instructions, the hint window will pop up.
b. Bandwidth Write In (Unit: Hz)

i. 40Hz in default
ii. Note:
1. The ratio of bandwidth to encoder resolution must lower than 0.01
2. The bandwidth must not be higher the 20% of the current loop, or it might
cause oscillation easily.
c. Click the "Calculate Parameter" button, it'll show "Calculation Completed" and the result
will be put in the Result column of controlling parameters.
–
d. It's able to write in all parameters by clicking the Select All function box
e. Parameter Write In
i. Able to manually modify the values in the Result column by checking the box behind
the chosen parameters and click ">>" button to write in.
ii. Hint window will pop up for parameter write in confirmation.
iii. The hint window will pop up if it's not in unready state.
–
iv. It'll show "Write In Completed" if succeed; show "Write In Failed" and keep the
corresponding Result column red if failed
Driver Parameter Title Set-up Range Unit Effective Time
Pn-100 Velocity Loop Gain 10~20000 0.1Hz Immediately
Pn-101 Velocity Loop Integral Time 15~51200 0.01 Immediately

Constant ms
Pn-102 Position Loop Gain 10~20000 0.1rad Immediately

/s
Pn-308 Velocity Filter Time Constant 1~10000 0.01 Immediately

ms
Pn-401 Torque Command Filter 1~10000 0.01 Immediately

Time Constant ms
–
• Q&A
6.2.5
Advanced Tuning
A. Encoder-Rotor Offset Correction
• Abstract
The function is to ensure the motor angle command is on the correct position so the motor can run
regularly, it might lead motor burst reversely and out of control if there's severe error in magnetic
pole angle.
 Notifications
a. Binary Searching Method：The Brake will be loosen during the tuning process,
please make sure the axis Servo Off and won't fall when the brake is loosen.
Suggests to run the tuning in empty load state.
i. Suitable Objects：Non-gravity direction axis, Non-tilted axial direction axis,
Linear motor with pneumatic counter weight
b. Pulse Voltage Method：Please unplug the driver brake relay or entity control
wiring. Make sure the axis brake keeps actuating during the tuning process to avoid
the tuning axis from falling.
i. Suitable Objects：Gravity direction axis, Tilted axial direction axis, Robot
joints, Four/Five-axis
c. The tuning should be executed when the controller is in unready state, or the
–
a. Choose the appropriate method for the tuning axis, please read the notifications on right
before choosing the tuning method.
b. Choose the tuning method
c. If chose to be axis, please set up the tuning stroke turns first, 2 turns in default.
d. Click the Setup button to set up the tuning stroke turns and click Start Tuning button
afterwards.
–
e. No need to set up stroke turns if chose to be spindle, just click the Start Tuning button after
selected the tuning method.
f. Click the Start Tuning button

i. It'll show "Tuning Failed" if it's unable to start the tuning process in current state.
ii. If it's able to run the tuning process, it'll show "Tuning..." after the process started.
–
iii. If alarms are sent during the tuning process, please refer to Driver Alarm Manual. and
restart the tuning after troubleshooting the alarms.
iv. It'll show "Tuning Completed" after the tuning process completed successfully
v. It;ll show Pn-724 value after the tuning is completed.

Recommends to repeat the operation 3 times to ensure the correction error is within
4% after tuning
g. Click Stop Tuning button

i. lick the Stop Tuning button to stop the tuning process.
–

Pn-724 Encoder Rotor Compensation 0-359999 0.001 Immediat

Amount degree ely
Pn-011 Magnetic Pole Angle Detect 0~1 - Immediat

Mode Options ely
Controller Title Set-up Range Unit Effective Time

Parameter
Pr17 Controlling Precision 1~3 - After Restart
Pr161~180 Axis Screw Pitch 1~1000000 BLU Press Reset
• Q&A
Q1. The correction error is huge by using the pulse voltage method?
A1. The correction error might be larger when using the pulse voltage method, if the error is still
higher than the regulated range, please try tuning with binary searching method (please make sure
the binary searching method is applicable to the tuning axis).
B. Encoder Setup Checking

中文版 Mandarin Version：编码器安装检测操作手册
• Summary
a. Currently, manufacturer is hard to make sure whether the installation of Syntec Magnetic
Hollow-Type Encoder is correct and signal quality is great. The Encoder Setup Checking can
assist manufacturer in testing installations, and quality. The results will be provided to the
users for reference.
b. Provide function of encoder sine wave correction (including offset, scale, phase) for
customer's encoder sin wave output that connect with Syntec adapter.
c.  Precautions
i. Please make sure the axis can jog before this tuning. If you want to check
encoder signal while the axis can not jog, please use the oscilloscope
function in Syntec Analytics.
ii. When tuning encoder on axial axis, gear encoder or adapter on spindle,
please check current environment:
1. Controller Version:
2. Drive Version: v2.13.0 and above.
–
3. Encoder Version: v2.1.0 and above.

4. Syntec Analytics Version: v2.1.8 and above for axial checking.
• Interface Descriptions
A. Encoder Selection
Automatically detect Syntec Encoders, and list in the drop-down menu.
B. Macro
Provide stroke setting for axial axis, Macro and protection.
C. Lissajous display
The information will be displayed on the Lissajous in real-time during checking. The outer
and inner reference circles on the plot are drawn according to the upper and lower limits
of the Encoder Amplitude. Once the data points run outside the outer circle or inside the
inner circle, it indicates that the encoder was not installed properly.
After checking, the closest circle based on all data points will be displayed on the plot.
Note: The Lissajous will automatically take compensations into account, so the circle
shown in the plot diagram is the result after correcting the offsets.
D. Results
After checking or importing the file, the results will be listed, including Amplitude, Z Phase,
and Phase Delay. The test criteria are listed in the table below.
–
Sensing Version Amplitude Z Phase Phase Delay
Magnetic Encoder 0 1.6V ~ 2.8V > 2 Quadrant 90 ± 8 deg
Gear Encoder 1 1.35V ~ 2.31V > 2 Quadrant 90 ± 8 deg
Adapter 2 0.6V ~ 1.2V > 1 Quadrant 90 ± 10 deg
Magnetic Scale 4 1.6V~2.8V > 2 Quadrant 90 ± 8 deg
Note: Cannot display the Z Phase result when importing a saved data.
E. Encoder Param Compensation

After installation checking, the recommended value will be calculated for Encoder SIN,
COS Offset, SIN, COS amplitude compensation amount, SIN and COS phase angle
compensation amount, providing users to write in parameter.
F. Data and File Operation
Original Signal:
Open oscilloscope function to show the original data of current test.
Save File:
Save data as .csv file format, the file can be imported for checking or analysis later.
Import File:
Allow users to view previously saved data when the status is “offline”. The imported file
must include Status Monitor [E1F], [E20], [E27], or [E2B], [E2C], [E2D], the information must
all be included when the file is imported.
• Instructions
a. Please make sure that the motor has been tuned and is able to JOG.
i. If you want to observe the original signal of the encoder before the motor can be
Jogged, please use the oscilloscope of Syntec Analytics.
1. Set the parameter: Pn-F36 = 1，Pn-F30 = 3，Pn-F10 = 5.
2. Choose the corresponding channel that you want to check for the first and
second encoder.
b. Select the Encoder under "NotReady" status.
–
c. Set the scenario for creating Macro.

i. If it shows that Macro is not available in current version but tuning function still
works, go to step 3. If tuning function does not work, please upgrade the software
version.
Spindle Axial axis
Support new function (Jog the axis

by Macro)
Not support new function
ii. Spindle: According to the PLC setting, input the corresponding M code of forward,
reverse, and stop. Then select the axis group.
iii. Axial axis: Set 1st and 2nd stroke limit, the axis should be at the 2nd stroke limit
before pressing start button.
d. Click Start button
i. Not support Macro new function: Tuning begin directly, Spindle starts rotating right
after pressing Start.
–
ii. Support Macro new function:

1. If the current mode is MDI or AUTO, the message box will show and suggest to
start tuning in another mode (ex.JOG) to avoid starting main NC Program by
mistake.
2. If message box shows "Rapid","Feedrate" or "Spindle" "override isn't equal to

100%, Please re-adjust!", Please set the rapid, feedrate or spindle override to
100% and test again.
3. Protect if cycle start controller before analysis platform show cycle start
hint,message box show "Excute tuning macro failure,make sure cycle start
after having showed cycle-start-hint already" and reset controller.
4. When the above checks pass, the prompt window will pop up. The following
options will be available:
a. Start tuning: Please trigger the signal of Cycle Start on the controller.
b. Stop tuning: Press Stop or the red "X" button on prompt window, or
press emergency stop or reset on the controller.
–
e. Stop or Finish the checking

i. The checking program will automatically stop after a period of time
ii. Users can press Stop if manually stopping is required.
f. Write parameters are available in specific encoder sensor type.
i. Parameters writable encoder sensor type: 1 (Induction encoder), 2 (Adapter), 4
(Magnetic linear encoder)
Parameters non-writable encoder sensor type: 0 (Magnetic encoder), 3 (Acceleration
gauge).
ii. Parameters writable Parameters non-writable
Encoder sensor type(Pn-90D): 1, 2, 4 Encoder sensor type(Pn-90D): 0, 3

Parameters
Pn-905 Encoder Sin Offset 0~4095 - Immediately
Pn-906 Encoder Cos Offset 0~4095 - Immediately
–

Parameters
Pn-907 Encoder Sin Scale 0~2000 - Immediately
Pn-908 Encoder Cos Scale 0~2000 - Immediately
Pn-909 Encoder Sin-Cos 8000~10000 0.01deg Immediately

Phase Angle
Pn-90D *Encoder Sensor Type 0~10 - After Reboot
Pn-925 2nd Encoder Sin 0~4095 - Immediately

Offset
Pn-926 2nd Encoder Cos 0~4095 - Immediately

Offset
Pn-927 2nd Encoder Sin Scale 0~2000 - Immediately
Pn-928 2nd Encoder Cos Scale 0~2000 - Immediately
Pn-929 2nd Encoder Sin-Cos 8000~10000 0.01deg Immediately

Phase Angle
Pn-92D *2nd Encoder Sensor 0~10 - After Reboot

Type
Pn-940 *Encoder Comparison 1~63 - After Reboot

Voltage
Pn-960 *2nd Encoder 1~63 - After Reboot

Comparison Voltage
• Q&A
a. The “The encoder parameters have been changed, please refer to the user manual”
window popped up, how to solve it?
i. The tuning cannot be stopped automatically. The spindle will stop jogging within 10
seconds. If the parameters of the Syntec magnetic encoder or acceleration gauge is
changed, use the highest authority (Level 7) and change the following parameters to
the default value!
–
ii. Drive Parameters Name Value
Pn-905 Encoder Sin offset 2047
Pn-906 Encoder Cos Offset 2047
Pn-907 Encoder Sin Scale 1000
Pn-908 Encoder Cos Scale 1000
Pn-909 Encoder Sin-Cos Phase Angle 9000
Pn-925 2nd Encoder Sin offset 2047
Pn-926 2nd Encoder Cos Offset 2047
Pn-927 2nd Encoder Sin Scale 1000
Pn-928 2nd Encoder Cos Scale 1000
Pn-929 2nd Encoder Sin-Cos Phase Angle 9000
b. Already upgrade controller, drive and encoder above the require software version, but
it still shows not support on the interface while tuning encoder on axial axis, how to
solve it?
i. Please check if the parameter "Pn-945 / Pn-965 Encoder application type(Linear/
Rotary)" and "Pn-946 / Pn-966 Encoder Linear Pitch" has been set correctly.
c. Message box shows that "Please turn off the dual feedback and test again.", how to
solve it?
i. Because of testing encoder on spindle under old version, and dual feed back control
is on. Please turn off dual feed back control(Pn-22A) and test again, or upgrade the
software to the version that support new version test.
d. If there is alarm and cnc state is feedhold during tuning, the message will pop up to
show hint. If you need to keep tuning, trigger cycle start again, or press Stop Tuning to
check the situation.
–
C. Eccentric Error Compensation

中文版 Mandarin Version：大波补偿功能操作手册
• Summary
Manufacturer is unable to make correction jig for each spindle when installing hollow-type magnet
ring, thus, it causes accuracy errors due to installation eccentricity, which may lead to precision
insufficient and speed discontinuity.
The main purpose of the function is to compensate the precision error due to installation eccentric
error between spindle and encoder.
(**This function only supports for controller version 116.54H and above, drive versions 2.6.7, 2.7.2.
and above)
 Precautions
a. This function is only applicable to spindle tuning.
b. This function is only applicable to Syntec encoder calibration.
c. The controller must be in the "Ready" mode for tuning, otherwise the reminder
window will pop up.
• Instructions
a. Select the Encoder
i. If tuning-applicable encoders detected, those encoders will be displayed in the drop-
down list.
–
ii. If no tuning-applicable encoders detected, the drop-down list will be empty, and “No
Applicable Tuning Encoder Detected” will be displayed.
b. Servo ON the controller

c. Press the Start Calculation button
i. If the current condition is not able to be tuned, “Tuning Fail” will be displayed.
–
ii. If the current condition is able to be tuned, “Tuning…” will be displayed.

The tuning time of the Encoder Eccentric Compensation varies depending on the
motor, approximately 30-35 sec.
iii. If an alarm pops up during the tuning process, “Tuning Fail” will be displayed. Please
eliminate the alarm according to the Servo Drive Alarm Manual, and restart the
tuning.
iv. If tuning is completed, “Tuning Complete” will be displayed.
–
d. Press the Stop Tuning button

i. Stop the tuning process by pressing the Stop Tuning button during tuning.
"Tuning Stopped" will be displayed.
Drive Parameters Name Range Unit Effective
Pn-900 Encoder Communication Type 0~132 - After Reboot
–
Drive Parameters Name Range Unit Effective
Pn-910 Encoder Auto compensation enable 0~1 - After Reboot
Pn-920 2nd Encoder Communication Type 0~132 - After Reboot
Pn-930 2nd Encoder Auto compensation enable 0~1 - After Reboot
Q&A
Q1. The “Set driver parameters fail, please re-tune” window popped up.

A1.
1. Check if the versions of the controller and drive are both supported.
2. Check if the controller communicates with the drive properly.
3. Check if there is any problem with the network connection between the analysis platform and the
controller.
Q2. The "There is lost data in scope" window popped up.
A2.
1. If the drive version is 2.8.9 and below, please confirm that the controller parameter Pr-3203
interpolation time is set to 2000 or less.
2. If the drive version is 2.8.10 and above, please confirm that the controller parameter Pr-3203
interpolation time is set to 3000 or less.
–
If it is determined that the above drive version and interpolation time have been corrected, but there is still
a lost data. It may be a controller performance problem. Please first enlarge the interpolation time (but
still must be within the range above).
Q3. The "Unable to write back user tuning parameters!" window popped up.
A3.
The tuning process will change the drive parameters. After tuning, automatic write back of
parameters failed. Please check the following parameters to confirm that they are consistent with the
parameters before tuning.
Drive Parameters Name
Pn-100 Proportional Speed Loop Gain
Pn-101 Speed Loop Integration Time Constant
Pn-102 Proportional Position Loop Gain
Pn-103 Ratio of Load Inertia
Pn-308 Speed Filter Time Constant
Pn-401 Torque Command Filtering Time Constant
Q4: The "Set driver parameters fail, please re-tune" window popped up.
A4:
Check if the controller is in position control mode (C63 is ON). If yes, please switch it off and re-tune.
Q5: If it is a Syntec encoder, but it is not displayed in the adaptation selection.
A5:
The cause may be incorrect reading and writing of the drive parameters. Please reboot the drive.
Q6: The "Compensation value is out of range! Please confirm the installation runout of magnetic ring
or reinstall" window popped up.
–
A6:
Adjust the installation of the magnetic ring to confirm the actual mechanism runout (the
recommended runout amount is within 30 μm)
D. Inertia Tuning Calculation

Unable to render include or excerpt-include. Could not retrieve page.
–
7 Chapter 7. Wiring Diagram

7.1 1. Main Circuit
Chapter 7. Wiring Diagram – 125

–
7.2 2. Control Circuit
7.3 3. Input Board

–
7.4 4. Output Board

–
8 Chapter 8. QA
Chapter 8. QA – 128

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Hydraulic Turret Lathe Machine Developer's Manual

中文版 Mandarin Version: 車床液压刀塔配机手册

Table of Contents Version Info

• Chapter 1. Machine Configuration

Table of Contents Version Info

Number Version Edit Date Editor Review Approval

1 Chapter 1. Machine Configuration

1.2 2. Configuration List

3 Multi-Axis Drive SMD-34A-3575-03 Axis:2KW，8.4A

4 Input/Output Board TB16IN

Chapter 1. Machine Configuration – 4

No. Parts Model Explanation

5 HKIO Terminal Board ● 24V Power input

6 Axis Motor X：S08-AM5-40-E12-B-F3

7 Spindle Motor S08-SP-M7.5-08-A4-0-10

8 Brake Resistor S03-3000W/20Ω

Chapter 1. Machine Configuration – 5

2 Chapter 2. Controllers, Drivers and Terminal Boards

A 8-inch Monitor Display window

B Flip Cover USB port

C Keyboard Script edit and input

D Buttons F1~F5 functions

Chapter 2. Controllers, Drivers and Terminal Boards Introductions – 6

A DC 24V Power input DC 24V（1A）

B LAN1&2 2 sets of 10/100M Internet

C Keyboard Keyboard interface

D USB 2 sets of USB2.0 Host

E Mechatrolink YASKAWA serial servo

F Option I/O 1 set of SRI and 1 set of Option I/O

G RIO Terminal RIO interface, able to connect

Chapter 2. Controllers, Drivers and Terminal Boards Introductions – 7

A MPG Panel type MPG

B Buttons Machine function options

C Buttons Start switch

D Keyhole Function options

E Buttons Power switch

F Button Emergency stop

A Keyhole Standoff For function options wiring

Chapter 2. Controllers, Drivers and Terminal Boards Introductions – 8

B Button Terminal Power switch

C Panel Working Power For 5V working power supply

D Emergency Stop Terminal For emergency stop wiring

E MPG Terminal For MPG wiring

F Panel HK Terminal For the HK terminal connects panel and controller

G Expansion I Point Terminal Expansion I point for customers usages

H Button Terminal Start switch

2.3 3. HKIO Terminal Board

A RIO Port Connects with controller

Chapter 2. Controllers, Drivers and Terminal Boards Introductions – 9

B 24V Power Input Port Terminal board 24V

C MPG Port Connect with MPG

D HK Port Connect with the 2nd

E 5V Power Output Port Provides power supply for

Chapter 2. Controllers, Drivers and Terminal Boards Introductions – 10

A External Power Supply Connects with 380V triple phase

B Motor Power Supply Connects with motor and provides

C Brake Resistor Brake resister contact(connects with

D MIII Serial Communication Connects with host controller (MIII

Chapter 2. Controllers, Drivers and Terminal Boards Introductions – 11

E Mini USB Port Connects with personal computer

F I/O Signal Port Connects with I/O devices (Emergency

G Encoder Feedback 1st~4th port from top to down,

H DA Port 2 sets of DA output

Chapter 2. Controllers, Drivers and Terminal Boards Introductions – 12