Tuning and Mechanical Compensation Manual

Tuning & Mech. Comp.
匯出日期：2023-05-10
修改日期：2018-12-21
机床产品/Machine Tool Products
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• Instruction of Pitch Error Compensation.

• Instruction of Backlash Compensation
• Instruction of Quad-Peak Compensation.
• Dual Feedback Application Manual.
• HSHP Application.
• HSHP Parameter Adjustment Procedure.
• How to Solve Mill Machining Problem
• G120.1: Multi-Condition Machining
• Threading Application Manual.
• Rigid Tapping Application.
• G51.2 Polygon Turning Application
• ROT Lathe servo turret application manual
• Instruction of High Precision Pitch Error Compensation.
• Feed-forward Compensation Application.(editing)
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1 Instruction of Pitch Error Compensation.

1.1 Preface
Pitch error is caused by manufacturing error of ball screws which leads to the inconsistency between command and
actual motion of the bench.
Because the error of each ball screw is fixed, it can be measured by instruments, setup in controller parameters, and
be compensated during machining.
The diagram below describes for pitch error measurement. Normally a laser interferometer is used for position
measurement, and needs an NC program for fix-increment movement.
After the measurement completed, the pitch error (the difference between machine coordinate and the actual
position) of each measurement point can be calculated and then used for compensation.
1.2 Path
• 8 key, 5 key : F10 Next→ F3 Param.→ F4 Comp. Param.→F1 Pitch Table
1.3 Specifications
• After Homing (zero point searching) completed, the pitch compensation is enabled.
• Compensation table has two directions: positive and negative. The mechanical coordinate changes from low
to high is positive; and from high to low is negative.
• There are two types for compensation: uni-directional and bi-directionals. Their descriptions are below:
• When axis moves to positive/negative direction (or motor rotates CW/CCW), the screw and
transmission interfaces are usually different due to production and assembly tolerance. Therefore
the positive & negative movement can have different pitch error.
• After the pitch error measurement, most of the result are similar to the left diagram. The two lines
have same trends (Note: the offset of the two lines is backlash). In this case, it is suggested to just use
uni-directional compensation.
• If the measurement result is similar to the right diagram, it indicates that the ball screw has precision
or assembly problem. In this case, it is suggested to use bi-directional compensation, or re-check
Instruction of Pitch Error Compensation. – 3

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assembly quality. If the two curves are very different, it is suggested to replace ball screw.
• Uni-directional pitch compensation (only fill in positive table)

• Regardless of moving direction, controller will always send compensation values in the pitch table at
the same point of the stroke.
• Axial stroke is in the positive direction of home: Moves the axis away from home toward the
positive direction of machine coordinate, measures the pitch error and enters the error into the "pos"
row of the pitch table. Note that the fill in pitch table no. in increasing order.
• Axial stroke is in the negative direction of home: Moves the axis away from home toward the
negative direction of machine coordinate, measures the pitch error and enters the error into the
"pos" row of the pitch table". Note that the fill in pitch table no. in decreasing order.
• Bi-directional pitch compensation (fill in positive & negative table)

• According to the moving direction of machine, controller will determine to use positive or negative
table value at the same point of stroke.
• Axial stroke is in the positive direction of home: Moves the axis away from home toward positive
direction of machine coordinate, measures the pitch error and enters the error into "pos" row of the
pitch table". Revert the axis toward home, measures the pitch error and enters the error into "neg"

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row of the pitch table".
• Axial stroke is in the negative direction of home: Moves the axis away from home toward negative
direction of machine coordinate, measures the pitch error and enters the error into "neg" row of the
pitch table". Revert the axis toward home, measures the pitch error and enters the error into "pos"
row of the pitch table".
• The RTL file generated by Renishaw system can directly be imported into controller.
• The compensation unit in RTL file is 1 um, the precision can reach to 4 digit after the decimal point
(0.1nm). When importing RTL file, system consider Pr17 to determine the value entered into pitch
table.
• Please confirm that the axis name in the RTL file is in accordance with the setting on the
controller(Pr321~Pr340 Axis name).
• Currently, the maximum number of error data (Target Data) is 99.

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• While importing the RTL file, please check the language setting of controller (Pr3209 Language) is in
accordance with the RTL file.
• The number of values imported:
• Versions prior to 10.118.42X, 10.118.48I, 10.118.52C, 10.118.54 (not included):
An extended data will be added to the first run data from TRL file, whose value is equal to the
last data.
For example:
Assume the number of data for each run in RTL file is 21, and the direction starts from
negative.
Importing RTL file into controller will make No.50 as original point, fill 21+1 values in the
negative direction.
That is, No.50~No.29 will be filled and the value of No.29 is equal to the value of No.30.
• Version after 10.118.42X, 10.118.48I, 10.118.52C, 10.118.54:
No extended data, the same as data in RTL file.
For example:
Assume the number of data for each run in RTL file is 21, and the direction starts from
negative.
Importing RTL file into controller will make No.50 as original point, fill 21 values in the
negative direction.
That is, No.50~No.30 will be filled.
• Example RTL file: EFPM0180-01-Y.rtl
• RTA file is available for high precision pitch error compensation mode in version 10.118.52G,
10.118.56A, 10.118.56 or above.
1.4 High-Precision Pitch Error Compensation

• Enable to use high precision pitch error mode after set Pr3859 = 1.
• The positive table and negative table are expanded to support 2000 compensated numbers,the maximum
number is 4000 in single axis.
• After enabling the high-precision pitch error mode, set the high precision pitch compensation parameters
and compensation values directly on the High-Precision Pitch Table
• limitation
• Unavailable to change high precision parameters or value in cycle start or axis moving
• Available for 18 axes high precision pitch error compensation
• Reference of High-Precision Pitch Table : High-Precision Pitch Table

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1.5 Related Parameters

Pitch Compensation High-Precision Pitch Error Compensation
No Descriptions Range Unit Default Effective
1301~1320 Pitch error compensation [0~2] - 0 Press Reset

type
• Set the param to decide to start compensation or not

0: No compensation;
1: Uni-directional;
2: Bi-directional.
• In 10.114.15 and before, only 6 axes are supported; after 10.114.16, supported number expanded to 10
axes.
• In 10.118.52G, 10.118.56A, 10.118.56 or above version, supported number expanded to 18 axes in high
precision pitch error mode.
1321~1340 Pitch error [1000~ 99999999] BLU 25000 Press Reset

compensation interval
• This parameter determines the unit length of pitch compensation, and also the maximum compensation
length of this axis. Because each axis can have up to 100 pitch compensation intervals.
• Example: Assume Pr1321=20000, Pr17=2, it means the interval between each compensation is 20mm.
Therefore the pitch compensation of first axis can cover a screw length of 20000um*100 points=2m.
• In version 10.114.15 and before, only 6 axes are supported; in version 114.16 and after, it is expanded to
10 axes.
1341~1360 Table index for reference [1~100] - 50 Press Reset

(home)
• This parameter determines the corresponding number of the axis zero in the pitch compensation table.
Default value is 50, it means cell 50~100 are positive and 1~49 are negative.
• Syntec controller provides 100 points (cells) for compensation in each axis, please adjust table index
number when table cells are insufficient.
• Example: If Pr1341=1, then cell 2~100 are positive. Therefore, 99 cells can be used for
compensation.
• In version 10.114.15 and before, only 6 axes are supported; after 10.114.16, it is expanded to 10 axes.

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8001~10000 Axis positive/negative [-999999~ BLU 0 Press Reset

absolute compensation 999999]
pitch error table
• The param set for the compensation of the pitch error in Absolute value, the points are independent
with each other. Compensation Value＝Position Command - Actual Position
Example:
Command value is 20000um and actual position is 20002 um, then the compensation value is -2.
Command value is 40000um and machine value is 39999 um, then the compensation value is 1.
Command value is -20000um and machine value is -20002 um, then the compensation value is 2.
Command value is -40000um and machine value is -39999 um, then the compensation value is -1.
• In version 10.114.15 and before, only support 6 axes; in 10.114.16 and after, support up to 10 axes.
No. Description Range Unit Default Effective
1401~1420 Axis mechanical [0~60000] ms 10 Press Reset

compensation time
constant
• Mechanical compensation (backlash, pitch, temperature) commands is profiled as an exponential

curve, this parameter determines the time constant (ms) of the curve.
• The lower the value, the less time needed to complete the compensation, but the machine is more likely
to shake. The suggested setting value is 10ms.
• When set to 0, the compensation will be completed immediately, won't be profiled as an exponential
curve.
Setting Example
• Assume the stroke of first axis is positive of home point.
• Use uni-directional compensation

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• 1.5.1 Basic parameter setting

No Number Descriptions
Pr17 2 Precision: um
Pr1301 1 First axis starts up for uni-directional pitch

compensation
Pr1321 20000 The increment of first axis pitch compensation

points is 20mm
Pr1341 50 The home of First axis pitch compensation is the

50th point
• 1.5.2 Compensation table setting

Moves in positive direction
Point number of 5 51 52 53 ... 98 99 100

First axis 0
pitch
compensation
First axis 0 20.000 40.000 60.000 ... 960.000 980.000 1000.000

machine
coordinate
Real position 0 19.98 39.97 59.94 ... 959.400 979.398 999.395

measured
Value entered for 0 20 30 60 ... 600 602 605

positive table
(machine
coordinate - real
position)
Note a. Assume the total stroke length is 2000 mm, the valid length of this
pitch compensation is 1000 mm.
b. The pitch compensation value after the mechanical coordinate
1000.000 are all 0.605 mm.
c. If Home point or pitch compensation increment is changed, need to
redo measurement.

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Pitch Compensation High-Precision Pitch Error Compensation
Basic parameters setting
3859 *High Precision Pitch Error [0~1] - 0 restart

Compensation
• 0 : Disable high precision pitch error compensation

• 1~10 axis : the maximum compensated number is 100
• 11~18 axis : No compensation
• 1 : Enable high precision pitch error compensation
• The relation between Pr1301~Pr1320 and Pr3859 as follow :
• Axis ID Pr1301~Pr1320 Pr3859 = 0 Pr3859 = 1
1-10 axis 0 No compensation No compensation
1 Uni-directional High Precision Uni-

compensation directional compensation
2 Bi-directional High Precision Bi-

11~18 axis 0 No compensation No compensation
1 No compensation High Precision Uni-

directional compensation
2 No compensation High Precision Bi-

• Effective version：10.118.52G, 10.118.56A, 10.118.57 or abover.

type

0: No compensation;
1: Uni-directional;
2: Bi-directional.

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• In 10.114.15 and before, only 6 axes are supported; after 10.114.16, supported number expanded to 10
axes.
• In 10.118.52G, 10.118.56A, 10.118.56 or above version, supported number expanded to 18 axes in high
precision pitch error mode.
High-Precision pitch error configuration setting
Name Range Unit Default Effective
Start Point [-99999.999 mm/deg 0.000 Input

~
99999.999]
• Set the mechanical position of the pitch compensation starting point.

• The least significant digit is to the third decimal place, and the minimum unit is 0.001mm.
Number [1~2000] - 2000 Input
• Set the number of high-precision pitch compensation points.

• If the machine travel exceeds the number of points, the excess part will maintain the previous
compensation value.
Interval [-99999.999~99999.999] mm/deg 20.000 Input
• Set the pitch error compensation interval.

Value [-999999.999~999999.999] um/mdeg 0.000 Input
• Each pitch error compensation value.

Setting Example
• Enable High-Precision Pitch Error Compensation ( Pr3859 = 1 )
• Enable the first axis pitch error compensation in Bi-Direction mode( Pr1301 = 2)
• Set High-Precision pitch error configuration
• Start Point : -100.000
• Interval : -10.000
• Number : 6

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1.6 Operation Steps

• Step 1: Disable all mechanical compensations (Pitch: Pr130x; Backlash: Pr122x, Pr124x, Pr126x, Pr128x;
Quad-peak: Pr136x, Pr144x), and do Homing action.
• Step 2: Load the attached example program, and then use the instruments to measure the pitch error of
every compensation point.
• Step 3: According to pitch compensation type (uni-directional/bi-directional), and stroke direction of axis
(positive/negative), fill in the table with corresponding type.
• Step 4: Measure pitch error again with compensation enabled to verify the result.Compensation table setting
1.7 Q & A
Q1: Machine is still inaccurate after pitch error compensation enabled, what is the possible cause?
A1: The effectiveness of mechanical compensation highly depends on the repeatability of the machine. Please
check machine assembly quality first if compensation result is not ideal.
1.8 Remark
1. Example program (X-axis as an example)
% @MACRO
#2:=20;// Pitch Compensation Length(mm), No132x
#3:=50;// Compensation Point Number
G54G00G90X-1.;
G4X0.1;
X0.;
G91;
#10:=1;// Leave away home
FOR #10 = 1 TO #3 BY 1 DO
X(#2*1.);G4X2.;
END_FOR;
#10:=1;// Back to home
FOR #10 = 1 TO #3 BY 1 DO
X(#2*-1.);G4X2.;
END_FOR;
M30;

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2. Example pitch error measurement form

Before After compensation
compensation
forwar backwa forwar backwa forwar backwa forwar backwa

d rd d rd d rd d rd
10
11
12
13
14
15
(extendable)

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2 Instruction of Backlash Compensation

2.1 Preface
Due to the manufacturing error and mechanical wear, a backlash error will appear after ball screw and work bench
are assembled. Backlash is a non-contacting gap between the screw and bench; and when the machine reverts its
direction, the actual bench position and motor command position will be different.
The measurement of backlash can be done by a simple dial indicator, but generally it can also be measured during
laser pitch calibration or ball-bar calibration. When the backlash amount is measured, enter the value into backlash
compensation parameters of controller to compensate backlash error.
2.2 Specifications
• Two types: Linear Way and Box Way Compensation
• Linear Way Compensation: Additional position command is sent out when axis is reverting under
rapid traverse (G00), cutting (G01), or JOG mode.
• Box Way Compensation: Based on the movement mode (G00 or G01) and direction (refer to axis zero)
to determine the amount of additional position commands.

No Descriptions Range Unit initial occasion
1221~1240 Enable axial backlash [0~2] - 0 Press Reset

compensation
• This parameter determines if the backlash compensation function is enabled.

0: Disabled.
1: Enable Linear Way Compensation — Only compensates additional Pr1241~ amount at the moment of
reverting direction regardless in rapid traverse, cutting, or JOG mode.
2: Enable Box Way Compensation —
• In rapid traverse mode (G00), the compensation amount is calculated based on Pr1241~, Pr1261~,
and current moving direction;
• in cutting mode (G01/G02/G03) or JOG movement, compensates at the moment of reverting direction
with additional Pr1261~ amount.
• Description of Box Way Compensation Mechanism
Instruction of Backlash Compensation – 14

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• A relative displacements can happen when machine decelerates and stops.
When an axis decelerate and stop under cutting mode (G01), almost no relative displacement
between screw and bench has occurred due to the lower inertia.
When an axis decelerate and stop under rapid traverse mode (G00), the bench will move an extra
distance after motor stop due to the higher inertia.
• An excessively large relative displacement is regarded as same directional backlash, this case can be
treated with Box Way Compensation.
• The backlash compensation amount of different direction under "Rapid Traverse" and "Cutting"
modes are in the table below: Assume No1241 = B, No1261 = A
Same as Homing Direction Opposite to Homing
Direction
Rapid Traverse (G00) 0.5*(A-B) 0.5*(A+B)
Cutting (G01) 0 A
As figure above, assuming the machine completed homing and start movement or machining.
G01 mode, moves in the same direction as the homing, no compensation needed due to lower speed
and stopping inertia
G01 mode, moves in the opposite direction as homing, A amount compensation is required to
overcome backlash.

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G00 mode, moves in the same direction as homing, position command should subtract 0.5*(A-B)
amount to avoid excess movement due to higher speed and stopping inertia.
G00 mode, moves in the opposite direction as homing, a compensation amount of A-0.5*(A-B) =
0.5*(A+B) is applied to overcome backlash and inertia.
P.s. Notice Pr1241~ is not the compensation value, but to be calculated by Pr1261 and the excess
movement caused by inertia. E.g. Pr1261=10, excess movement =2, then Pr1241 =6.
• Compatibility
• From version 10.112.0 to 10.116.23, the relation between backlash compensation and speed is
exponential. High speed (G00) backlash is Pr1241~, low speed (F10) backlash is Pr1261~, and
exponential conversion constant is Pr1281~.
• In version 10.112.45 and earlier, Pr1261~ and Pr1281~ must be set 0 for Linear Way Compensation
Mechanism so controller only uses Pr1241~ to compensate.
1241~1260 Axial G00 backlash [-999999~ 999999] BLU 0 Reset
• When Linear Way Compensation Mechanism is enabled, Pr1241~ is used to compensate backlash of Rapid
Traverse, Cutting or Jog movements.
• When Box Way Compensation Mechanism is enabled, the backlash compensation is calculated base on
Pr1241~, Pr1261~, and movement direction. Refer ro Pr1221~ for detail.
• Compatibility
• From version 10.112.0 to 10.116.23, this parameter is the amount of backlash compensation when
axis movement reverts under high speed (G00).
1261~1280 Axial G01 backlash [-999999~ 999999] BLU 0 Reset
• When Box Way Compensation Mechanism is enabled, this parameter is the amount of movement to
compensate backlash when axis movement reverts under cutting mode (G01/G02/G03).
• Conmpatibility
• From version 10.112.0 to 10.116.23, this parameter is the amount of backlash compensation when
axis movement reverts at low speed (F10).
1281~1300 Backlash critical speed [0~3000] mm/min 0 reset
• The backlash and the speed is a exponential relation, this parameter decides backlash converge speed. If the
value is bigger, the converge speed is faster.
• When Pr1281~ are zero, controller will still follow default value 800 to process compensation amount
estimation. But other values will not.
• Compatibility:
• Valid from version 10.112.0.

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• In version 10.116.24 and later, this parameter no longer affects backlash compensation.

compensation time
constant
• Mechanical compensation (backlash, pitch, temperature) commands is profiled as an exponential curve,

this parameter determines the time constant (ms) of the curve.
• The lower the value, the less time needed to complete the compensation, but the machine is more likely to
shake. The suggested setting value is 10ms.

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• When set to 0, the compensation will be completed immediately, won't be profiled as an exponential curve.
2.4 Operation Steps

• Step 1: Before the machine finishes Homing, Backlash and quad-peak compensation were disabled
(Backlash- Pr1221, Pr1241, Pr1261, Pr1281; Quad-peak－Pr1361, Pr1441).
• Note: Before the first time executing the backlash measurement, Pr124x and Pr126x must be 0 under
home search action. Otherwise the backlash compensation will have incorrect calculation.
• Step 2: Execute home search or setup axis zero.
• Step 3: Execute backlash error measurement
• Method 1: Use laser interferometer to measure pitch error and backlash error.
• Method 2: Use Ballbar to measure Quad-pitch error and backlash error.

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• Method 3: Use dial indicator to measure backlash value

• Step (1) Prepare dial indicator and fix it on the machine where does not move with axis.
• Step (2) Switch to MPG Mode, move the axis with positive direction to touch indicator's probe
until dial reaches a specific number. Notice not to move to negative direction after touching
the indicator to avoid backlash effect. (Assume the indicator is at 50)
• Step (3) Record the machine coordinate X, i.e. 100.000, then use MPG to move in negative
direction, and stop until indicator number reduces 1 (dial indicator should be at 49 at that
time)
• Step (4) Record the machine coordinate Y, i.e. 99.985, and the backlash value is equal to X
subtracted by Y and distance of 1 in dial indicator. As a result, the backlash value is X-Y-1=14
um.
• The steps above is a basic example, measurements under same concept can have different
procedures.
• Step 4: Enter the backlash value into Pr1241~.
• Step 5: Repeat similar measurement to verify the effect of compensation.
• The steps above are examples of Linear Way backlash. For Box Way backlash, the measurement is similar but
has two major differences:
a. Use dial indicator to measure the "excess distance (assume Q)" under G00 speed
b. The value of Pr1241~ for Linear Way backlash (assume P) should be entered to Pr1261~ for Box Way
cases; and enter Pr1641~ with value of (P-2Q).
2.5 Application Example

• Pr1241 = 10(B), Pr1261 = 20(A)
• Box way compensation:
• G00: If the moving and Home Searching directions are the same ,the compensation value
is 0.5*(A-B)=5; when it is opposite, the compensation is 0.5*(A+B)=15
• G01: When Moving and Home Searching directions are opposite, the compensation is 20.
• Linear way compensation: When Moving and Home Searching directions are opposite, the
compensation is 10.
• Assume the Home Searching direction is positive.
• Execute the program below
G90 G01 X0. F500 //G01 position

M0
G00 X10. //G00 positive direction
M0
G01 X20. //G01 positive direction
M0
G00 X10. //G00 opposite direction
M0
G01 X0. //G01 opposite direction
M30
• When executing backlash compensation, the equation holds: absolute position command = machine
coordinate + backlash value, and use System Data 40~ (command value) and System Data 72~ (machine
coordinate) to observe the compensation situation.
• Linear Way Compensation (Assuming just finished Home Searching)

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System Data 40 System Data 72 Backlash Compensation
1st M0 0 0 0
2nd M0 10000 10000 0
3rd M0 20000 20000 0
4th M0 9990 10000 -10
M30 -10 0 -10
• Box way compensation (Assuming just finished Home Searching)

System Data 40 System Data 72 Backlash Compensation
1st M0 0 0 0
2nd M0 9995 10000 -5
3rd M0 20000 20000 0
4th M0 9985 10000 -15
M30 -20 0 -20
2.6 Q&A
Q2: The machine is still at incorrect position after backlash compensation.
Ans: To obtain the effectiveness of backlash compensation, the repeatability of the machine must be stable. Please
first check mechanical assembly and installation quality if compensation effect is instable.
Q3: How to determine when to use linear or box way compensation?
Ans: Box way compensation is designed for few box way machines which have larger backlash difference for
different velocities. In general, it is better to use linear way compensation when backlash difference is less than
5um regardless of box or linear way.

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3 Instruction of Quad-Peak Compensation.

3.1 Preface
At the moment of axis movement start or switch direction, there's fiction in mechanical structure can cause
movement delay. And the delay creates texture on surface with arc path or Arc-to-straight path are executed, which
lower the surface finish quality.
Ballbar calibration is generally used to measure the scale of delay, sharp peaks can be found at borders of four
quadrants (0/90/180/270 degree). This phenomena can be called as Quad-Peak.
The best solution to eliminate quad-peak is to increase servo rigidity to enhance servo system's resistance to
friction delay. Avoid to use controller compensation if not necessary.
Comparing to the clear amount of pitch or backlash error, friction caused quad-back error can not be measured and
compensated accurately.
3.2 Specifications
• Syntec Controller provides three types of quad-peak compensations: Position Peak, Speed Peak, Torque
Peak.
• Position Peak is the old quad-peak compensation function, and its name changed to position peak
compensation.
• Speed Peak and Torque Peak provides new compensation function after 10.118.22, and it can only be
enabled in the build-In Ballbar tuning screen.
• Speed Peak has 0-5 sets of parameters, set 1-5 can adjust RF during tuning, and set 0 has no RF setting.
• When using Speed Peak compensation, parameter set 0 is only used when set 1-5 are all R=0 and F=0.
• All types of compensation sends additional command by controller, the mechanism of each type is
described below.
3.2.1 Position Peak Compensation Description

Position peak compensation is to send out additional position command at the moment of direction change to
shorten the delay caused by friction, therefore improve machining precision (as shown below).
The additional command amount sent during first hold time (Pr146x) equals to the parameter values (Pr136x,
Pr144x); the command amuont of second hold time (Pr138x) is calculated based on motor feedback.
To use the built-in electrical ballbar function, please refer to Ballbar Tuning.
Instruction of Quad-Peak Compensation. – 21

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3.2.2 Speed Peak Compensation Description

Speed peak compensation is to send out additional speed command at the moment of direction change to shorten
the delay caused by friction, therefore improve machining precision (as shown below).
Relative parameters are not controller parameters, but can be set in controller screen. Refer to the following
chapter.
This function can be enabled only under built-in electrical ballbar tuning screen of the controller, more information
can be found in Speed Peak Tuning.
3.2.3 Torque Peak Compensation Description

Torque peak compensation is to send out additional torque command at the moment of direction change to
shorten the delay caused by friction, therefore improve machining precision (as shown below).
Because the torque peak compensation does not have a fix value, system learns it during Ballbar Tuning and then
calculate compensation value in each interpolation time, there is no related parameter setting needed.
This function can be enabled only under built-in electrical ballbar tuning screen of the controller, more information
can be found in Torque Peak Tuning.
3.3.1 Compensation Method Selection

2921~2940 Axial quad-peak [-1~1] - 0 Press Reset

compensation method

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• This parameter will decide which quad-peak compensation method the system will use:
-1: Disable
0: Position quad-peak compensation: Use parameter values of Pr1361~, Pr1381~, Pr1441~, Pr1461~ to give
additional position command when movement reverts.
1: Speed quad-peak compensation: Give additional speed command to when movement reverts. Can use
quad-peak setting screen on controller to adjust.
2: Torque quad-peak compensation: Give additional torque command to when movement reverts. The
controller will activate the torque quad-peak compensation of Syntec driver ( Pn290 ).
• Parameter Changes:
• Version 10.116.54D, 10.118.0B, 10.118.2 and after:
-1: Disable
0: Speed quad-peak compensation: Give additional position command to when movement reverts.
Can use quad-peak setting screen on controller to adjust.
1: Torque quad-peak compensation: Give additional torque command to when movement reverts.
This compensation is not adjustable by controller.
• Version 10.116.54L, 10.118.0G, 10.118.7 and after, Pr2921~= 0 description is corrected to 'speed quad-
peak', and Pr2921~= 1 compensation method is changed.
-1: Disable
0: Position quad-peak compensation: Use parameter values of Pr1361~, Pr1381~, Pr1441~, Pr1461~ to
give additional position command when movement reverts.
1: Speed quad-peak compensation: Give additional speed command to when movement reverts. Can
use quad-peak setting screen on controller to adjust.
• Version 10.118.22A, 10.118.23 and after, Pr2921~ is correlated with the torque quad-peak
compensation of Syntec driver ( with serial parameter Pn290 ).
-1: Disable. Deactivate all the quad-peak compensation methods, including the one of Syntec driver
( Pn290 ).
0: Position quad-peak compensation: Use parameter values of Pr1361~, Pr1381~, Pr1441~, Pr1461~ to
give additional position command when movement reverts.
The controller will deactivate the torque quad-peak compensation of Syntec driver ( Pn290 ).
1: Speed quad-peak compensation: Give additional speed command to when movement reverts. Can
use quad-peak setting screen on controller to adjust.
The controller will deactivate the torque quad-peak compensation of Syntec driver ( Pn290 ).
2: Torque quad-peak compensation: Give additional torque command to when movement reverts.
This compensation is not adjustable by controller.
The controller will activate the torque quad-peak compensation of Syntec driver ( Pn290 ).
3.3.2 Position Peak Compensation

1361~1380 Axis quad- peak error [0~9999] BLU 0 Reset

compensation from negative to
positive direction
• This parameter defines the compensation amount which controller sends out at the moment when the axis
moves from negative to positive. The larger the value, the quad-peak is suppress more; but excess value will
cause concave.

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1381~1400 Axis quad-peak error [0~60000] ms 100 Press Reset

second hold time
• The quad-peak error second hold time prevent the 2nd time stopping occurs at the moment when quad-
peak compensation command finishes. Notice excess value will cause concave, the suggest the value is
10ms.

second hold time
• The quad-peak error second hold time prevent the 2nd time stopping occurs at the moment when quad-
peak compensation command finishes. Notice excess value will cause concave, the suggest the value is
10ms.
1441~1460 Axis quad-peak error [0~9999] BLU 0 Reset

compensation from positive to
negative direction
• This parameter defines the compensation amount which controller sends out at the moment when the axis
moves from positive to negative. The larger the value, the quad-peak is suppress more; but excess value will
cause concave.

hold time
• The quad-peak error hold time defines the 1st hold time of quad-peak compensation. The larger the value,
the more quad-peak error is suppressed. Notice excess value will cause concave, the suggested value is
1000/Pr18~ (axis servo loop gain).
3.3.3 Speed Peak Compensation

The entrance of Speed Peak compensation parameter page is in "mechanism compensation parameter" page.

–
Descriptions Range Unit Default Effective
Negative to positive [0~9999] (um/sec) 400 Immediately

compensation
Negative to positive rise time [0~60000] (ms) 6 Immediately
Negative to positive sustain [0~60000] (ms) 16 Immediately

time
Negative to positive decay [0~60000] (ms) 100 Immediately

time
Negative to positive delay [0~60000] (ms) 0 Immediately

time
Negative to positive rising 0-2 -- 1 Immediately

pattern
Positive to negative [0~9999] (um/sec) 400 Immediately

compensation
Positive to negative rise time [0~60000] (ms) 6 Immediately
Positive to negative sustain [0~60000] (ms) 16 Immediately

time
Positive to negative decay [0~60000] (ms) 100 Immediately

time
Positive to negative delay [0~60000] (ms) 0 Immediately

time
Positive to negative rising 0-2 -- 1 Immediately

pattern
3.4 Operation Steps

Here describes the steps using Ballbar to measure quad-peak error, suitable for Position Peak Compensation
because Ballbar measures the position of the peaks.
On the other hand, after enabling Speed or Torque Peak Compensation, ballbar can also be used to verify
compensation result.

–
• 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 under R150 F1500 (adjust if needed) conditions,
and observe 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 will decrease obviously, or even appear concave after compensation
applied.
• Step 5: Gradually decrease Pr1461~ 1476 (quad-peak error first hold time) to improve concave on positive
and negative direction. On contrary if peak error is still obvious instead of concave, increase value of
Pr1461~ 1476 to suppress the quad-peak error.
• Step 6: In step 5, if changing the first holding time Pr1461~1476 cannot compensate the positive and
negative quad-peak error at the same time, please slightly adjust Pr136x and Pr144x again.
• I.e., Increase first holding time suppressed positive direction quad-peak but cause concave in
negative direction.
3.5 Q & A
Q1: If Ballbar shows an overcut and cause the second quad-peak error, how to solve this problem?
A1: First reduce the quad-peak error compensation to reduce overcut, and then extend the second hold time to
avoid a secondary delay caused by lowered axis speed.
Q2: How to set the amount of second quad-peak error compensation?
A2: The compensation is mainly to prevent the machine from secondary delay due to instant stop of compensation
command. The controller will set this value automatically according to the simulation results of first compensation.
Q3: After using the controller's built-in Ballbar Tuning screen, is it ensured that the quad-peak errors are
suppressed to a certain degree?
A3: The built-in ballbar tuning function, or electrical ballbar, mainly depends on the feedback of the motors to
evaluate the size of the quad-peak. It can effectively suppress quad-peak, but cannot accurately display the real
mechanical behavior. The real compensation effect can only be confirmed by Ballbar measurement, because it
reflects the real axis movement.
3.6 Remarks
1. Example Program
G54G90G17F3000; // basic setting
G01 X-151.5 Y0.0 Z0.0; // move to initial point
M00; // install Ballbar
G01 X-150.0 Y0.0; // enter measuring state
G03 I150.0 J0.0; // move counterclockwise 1
G03 I150.0 J0.0; // move counterclockwise 2
G01 X-151.5 Y0.0; // leave measuring state
M00; // pause
G01 X-150.0 Y0.0; // enter measuring state
G02 I150.0 J0.0; // clockwise
G02 I150.0 J0.0; // clockwise
G01 X-151.5 Y0.0; // leave measuring state
M30; // End

–
2. Quad-peak error compensation experiment setup (Ballbar)

–
4 Dual Feedback Application Manual.

4.1 Preface
Due to the manufacture tolerance of the screw or the backlash phenomenon cause by friction force, the precision of
machine positioning is reduced. Therefore, to improve the precision, SYNTEC's controller supports dual feedback
control via linear scales to compensate machine position error.
4.2 Dual feedback Action Specification

• Currently, dual feedback function of SYNTEC controller is classified as two types: control mode and
detection mode.
• Detection mode is provided for version after 10.118.28D. It will not perform position compensation during
detection mode when detecting dual feedback data.
• Control mode will perform compensation according to bed position offset.
4.3 Dual feedback control mode specification

• The dual feedback system shall only be enabled after related parameters mentioned below are set properly,
the controller is rebooted, and the machine completed the 1st time home searching. Thereafter, any motion
of machine (including the 2nd home searching), dual feedback compensation shall be activated
automatically.
• As above, every time when controller reboots, 1st time home searching will be required to enable dual
feedback control mode.
• When the dual feedback control mode is enabled, home searching is based on zero point signal (index) of
the linear scale feedback (instead of index of motor encoder)
• When the function of dual feedback control mode is enabled, the pitch and backlash compensation shall be
considered as the compensation of manufacturing or setup error of the linear scale. It means that if the pitch
and backlash compensation is enabled, steady position of bed is certainly affected.
• Pitch error compensation is enabled only when the 1st time home searching is completed, thereafter, it
applies in any motion of machine (including 2nd time home searching). Meanwhile, friction, backlash and
temperature compensation are activated immediately after the related parameters are set properly, except
the home searching process.
• Dual feedback control mode does not support absolute encoder, otherwise, it will trigger MOT-055
"absolute encoder related parameter setting is wrong". At this time, encoder type should be set as general
encoder or linear scale(Pr201=0/1), then the control mode could be enabled.
Dual Feedback Application Manual. – 28

–
• If dual feedback data is acquired from subscription channel(Details refer to below Pr241 instruction),
currently controller does not support. For subscription channel function, please refer to Channel
Subscription Parameter Setup.
• Related system data include dual feedback position error ,X axis dual loop absolute position feedback, X axis
dual loop position index counter(details refer to below related system data).
4.4 Dual feedback detection mode specification

• Dual feedback detection mode supports absolute encoder, but the absolute home setting is required to
be set first, setting axis position coordinate and second position coordinate as home.
• If absolute encoder is used and absolute home is set, rebooting the controller will enable coordinate
synchronization as second position coordinate will synchronize with axis coordinate.
• Under detection mode, home searching, pitch and backlash compensations are still based on encoder index
signal instead of linear scale signal.
• Under detection mode, dual feedback data could be obtained by subscription channel(only support SYNTEC
M3 drive, refer to below parameter setting).
• Related system data is X axis dual loop absolute position feedback(details refer to below related system
data).
4.5 Parameter
681~700 *Axis Dual Feedback Mode [0~1] - 0 Restart
• This parameter determines the way in which the secondary feedback (if any) is treated:
0：CONTROL. The controller brings the secondary feedback into the control loop and hence the axis will be
under dual-feedback control.
1：DETECTION. The controller only takes the secondary feedback as an additional information (e.g. for
detection) and does NOT use it in the control loop.
No Descriptions range unit Default Effective
21~40 *Port number of [0~16010] - 0 restart

corresponding axis
• This parameter defines the axis board port (or bus communication station number) of command
output and encoder signal input of corresponding axes.
• Only the port numbers 17 & 18 (virtual axes) can be repeatedly set. In multi-axis drives, the port number is
set to 1 & 1000 or 2 & 2000 are duplicate settings.
• For 6D series (include -H), 20 series, 21 series (include -H), 200 series serial controller: parameter =19 means
Spindle Port (SPD); parameter = 20 means MPG Port.
• Pulse Controllers:
This parameter is set to MM, which represents the axis card port number corresponding to the axis
(MM=0~20).
• Serial Controllers:

–
a. When using single-axis drive, this parameter is set to MM, which represents the corresponding drive
station number (MM=0~22). The corresponding number is as follows:
Pr21~Pr40 Parameter Setting Value
Comm 1~16 17 18 19 20 21 22
unicati
on
M3 Servo Axis Virtual Pu M Servo

Axis ls PG Axis
e
Sp
in
dl
e
M2 Servo Axis Virtual Pu M Not

Axis ls PG Support
e ed
Sp
in
dl
e
RTEX/ Servo Axis Virtual Pu M Not

ECAT Axis ls PG Support
e ed
Sp
in
dl
e
Attention:
Servo Axis: For actual supported axis number, please refer to Pr3203 Interpolation time interval.
Pulse Spindle: For RTEX/ECAT, at least one Servo Axis should be connected to enable Pulse Spindle.
Virtual Axis: For RTEX/ECAT, at least one Servo Axis should be connected to enable Virtual Axis.
Axis Type Support Virtual Axis Attention
CNC Axis O
Spindle O Setting Pr1791~ as 4( Syntec Spindle ) will issue alarm:

SPD-022 Pr1791~ sets as 4. Only support Syntec Inverter
Module.
SerialPLC Axis X

–
Axis Type Support Virtual Axis Attention
ATC Axis X
ROT Axis X
Setpoint Axis X
b. When using the multi-axis drive, this parameter is set to MMnnn, which means the following:
MM: Primary station number (1~16), refer to the drive DIP switch setting instructions in the
Attention section.
nnn: Secondary station number (000~010)
Example: When using the Syntec M3 four-in-one drive, the axes function defined in Slave station is
as follows:
0: The 1st servo axis of the primary station number
1: The 2nd servo axis of the primary station
2: The 3rd servo axis of the primary station
3: The 4th servo axis of the primary station
7: The 1st monitoring axis of the primary station (the 1st servo axis of the primary station must be
enabled), serve as the second encoder feedback to the 1st servo axis.
8: The 2nd monitoring axis of the primary station (the 2nd servo axis of the primary station must be
enabled), serve as the second encoder feedback to the 2nd servo axis.
9: The 3rd monitoring axis of the primary station (the 3rd servo axis of the primary station must be
enabled), serve as the second encoder feedback to the 3rd servo axis.
10: The 4th monitoring axis of the primary station (the 4th servo axis of the primary station must be
enabled), serve as the second encoder feedback to the 4th servo axis.
If the DIP switch sets the Primary Station Number is 1, then the parameter and the corresponding
axis functions are as follows:
1st servo axis: 1000
2nd servo axis: 1001
3rd servo axis: 1002
4th servo axis: 1003
1st monitor axis: 1007
2nd monitor axis: 1008
3rd monitor axis: 1009
4th monitor axis: 1010
Note: When using 3-in-1 drives, there are two types of setting of 3rd axis:
a. For a mini 3-in-1 drive (same power for 3 axes), set station number of 3rd axis as x002 (x is
primary station number).
b. For a large 3-in-1 drive (3rd axis has different power than other axes), set station number of 3rd
axis as x003 (x is primary station number).
• The SUPER controller can install up to four Servo4 axis cards at the once. Each axis card can control 4 axes;
therefore up to 16 axes can be controlled at the same time. The corresponding port number on each axis
card is as follows:

–
Forth Axis Card Third Axis Card Second Axis Card First Axis Card
Port Pr21~40 Por Pr21~40 Por Pr21~40 Por Pr21~40

setting t setting t setting t setting
P4 20 (for MPG) P4 15 (for MPG) P4 10 (for MPG) P4 5 (for MPG)
19 14 9 4
P3 18 P3 13 P3 8 P3 3
P2 17 P2 12 P2 7 P2 2
P1 16 P1 11 P1 6 P1 1
• Attention
1. Before 10.116.36P version, the secondary station number must be set from 0 for multi-axis drive due
to hardware specification. Otherwise the controller will trigger OP-054 all-in-one device initialization
fail alarm.
(For example: When the controller only enables the 1st & 2nd axes, set Pr21 = 1001 and Pr22 =1002 which
secondary station number does not begin from 0, the OP-054 all-in-one device initialization failure alarm will
be triggered.)
This restriction is solved after this version, and the secondary station number is allowed to start from
0.
2. To use monitor axis function correctly, Syntec controller and servo drive must be upgraded to the versions
listed below.
Controller Version Drive Version Function Description
10.116.24V, 10.116.36B, 2.0.22 External axis monitor The multi-axis drive can monitor
10.116.37, 10.117.37 function the external axial feedback
signal through the setting of the
second encoder
3. Drive DIP Switch Settings:

• Yaskawa Drive
[M3]
When using Yaskawa M3 servo drives, the DIP switch consists of two knobs: S1 and S2. The physical diagram
is shown below.
In general, S1 should be fixed to 2, and S2 has different meanings in single-axis and 2-in-1 drive.
Yaskawa single-axis drive: S2 represents the drive port number. For example: If S2 is set to 3, the
corresponding axis Pr21~Pr40 is set to 3. (To use drive port number 16, change S1 to 3 and S2 to 0.)
Yaskawa two-in-one drive: S2 represents the Primary Station Number. For example: If S2 is set to 3, then

–
the corresponding two axial Pr21~Pr40 are set to 3000 and 3001 respectively. (To use the Primary Station
Number 16, set S1 to 3 and S2 to 0.)
[M2]
When using the Yaskawa M2 drive, the DIP switch consists of a knob and a toggle switch. The physical
diagram is shown below.
[Yakawa Sigma 5 Drive]
S1 represents the drive port number. For example, if S1 is set to 3, the corresponding axis Pr21~Pr40 is set
to 3.
The toggle switch S2 is set according to the following table
S2 Toggle Switches Drive Port No.
1 2 3 4
ON ON OFF OFF 1~15
ON ON ON OFF 16
[Yaskawa Sigma 7 Drive]
S2 represents the drive port number. For example, if S2 is set to 3, the corresponding axis Pr21~Pr40 is set
to 3.
The toggle switch S3 is set according to the following table.
S3 Toggle Switches Drive Port No.
1 2 3 4
ON ON OFF OFF 1~15
ON ON ON OFF 16
• Syntec Drive
When using Syntec drivers, the physical diagram of the dip switch on the preamp version is as follows.

–
The DIP switch has a total of 4 toggles, each toggle has two options: ON and OFF. Thus this DIP switch can
indicate 16 different primary station numbers.
The primary station number corresponding to the DIP switch toggle position is shown in the table below.
Toggle State of DIP Switch Primary Toggle State of DIP Switch Primary
Station No. Station No.
1 2 3 4 1 2 3 4
ON ON ON ON 1 ON ON ON OFF 9
OFF ON ON ON 2 OFF ON ON OFF 10
ON OFF ON ON 3 ON OFF ON OFF 11
OFF OFF ON ON 4 OFF OFF ON OFF 12
ON ON OFF ON 5 ON ON OFF OFF 13
OFF ON OFF ON 6 OFF ON OFF OFF 14
ON OFF OFF ON 7 ON OFF OFF OFF 15
OFF OFF OFF ON 8 OFF OFF OFF OFF 16
For example: If the primary station number is 1, the controller parameters should be set as follows:
Parameter Value
Pr21 1000
Pr22 1001
Pr23 1002

–
Parameter Value
Pr24 1003
If the main station number is 2, then the parameters are changed as: Pr21=2000, Pr22=2001, Pr23=2002, and
Pr24=2003. Follow similar rule for other primary station numbers to set Pr21~Pr40.
• EtherCAT
When using the ECAT drive, the station number cannot be set freely (DIP switches are invalid), and the drive
station number is defined by connection order as the diagram below.
61~80 Axis encoder resolution [10~67,108,864] - 1250 Reset

(Encoder: pulse/rev; Scale:
pulse/mm)
• Encoder resolution: When the sensor type (Pr20x) is rotary encoder, unit is Pulse/Rev; when the sensor type
is optical scale, the unit Pulse/mm (for rotary optical scale, this parameter is in units of Pulse/deg).
• Please note that the parameter value is the single-phase (A or B-phase) signal resolution before scale factor.
• Assume that the optical scale resolution is 1um/pulse (1mm/1000pulse), and the feedback scaling factor is
set to 4x (Pr8x=4). Set this parameter to 1000/4=250.；
• Assume that the optical scale resolution is 10um/pulse (1mm/100pulse), and the feedback scaling factor is
set to 4x (Pr8x=4). Please set this parameter to 100/4=25.
• Compatibility change: From ver 10.116.10M/10.116.16D and later, the upper limit is increased from 2,500,000
to 67,108,864.
81~100 Axial encoder scaling factor [1~4] - 4 Press Reset
• The scaling factor of the encoder feedback, can be set to 1x, 2x, and 4x.

–
201~220 Axis sensor type [0~5] - 0 Restart
• Sensor Type:
a. The Syntec controller can set the position feedback type to "0: General Encoder", "1: Optical Scale
(Ruler)", "2: No Feedback", "3:Absolute Encoder", "4:Single Track Absolute Encoder" or "5:Absolute
Optical Scale (Ruler)".
b. To use absolute encoders, on pulse controllers (10 series, SUPER series, non-20 series) must use
Mitsubishi J2S/J3S/J4, and controller hardware required RS422 port; on serial controllers (20A/20B)
must use Yaskawa SIGMA-V.
c. When this parameter is set 4 (to use single track absolute encoder), axis type(Pr221~) must be set to
5(rotary axis type E).
• Notice:
a. Under Absolute Encoder setting (Pr201~=3/4), dual feedback (PR241~≠0) function is not supported.
Only general encoder or optical scale (Pr201~=0/1) setting allow dual feedback function.
b. When using the servo spindle, if the corresponding Pr201~Pr220 Axial sensor type is "No Feedback"
and Pr1711~Pr1720 Spindle sensor existence is "Yes", then Pr1811~Pr1820 Spindle encoder mount
location have to be "Motor Side".
c. The first soft stoke limit must be activated while using single-track absolute encoder; The parameter
setting of the First soft stoke limit must be less than the encoder resolution(BLU), relating to Pr61~,
Pr121~, Pr161~. Otherwise, alarm MOT-072 will be triggered.
d. Single Track Absolute Encoder is supported by the following communication protocol
type: M2(SYNTEC、Yaskawa)、M3(SYNTEC、Yaskawa)、RTEX(Panasonic A6N)、EtherCAT。
• Controller Version:
a. In controller version from 10.116.15 to 10.116.16O, 10.116.24I, and10.116.29, Pr201~220 "Axis sensor
type" can be set to "4: Syntec Encoder (positive) " and "5: Syntec Encoder (reverse)". This function is
a special option dedicated to the chopping axis of the grinding machine which only applies to specific
machines. To avoid misuse, in 10.116.16P, 10.116.24J, 10.116.30 and versions after, this parameter is
limited to [0-3]. Only the dedicated grinding software pack can use 4 and 5 to avoid user confusion.
b. "4:Single Track Absolute Encoder" is supported from 10.118.28E and 10.118.32.
c. "5:Absolute Optical Scale (Ruler)" is supported from 10.118.42Q, 10.118.48B and 10.118.49.
241~260 Axis dual feedback related to port no. [0~20] - 0 Restart
• This parameter sets the corresponding axis port number or subscription channel of the input signal of linear
scale or second encoder.
• Setting specification limit
• Pulse system, using dual feedback control mode, which is Pr681~ set as 0, this parameter sets the
port number of each axis, can refer to the description of Pr21~Pr40.
• Serial system, using dual feedback detection mode, which is Pr681~ set as 1, this parameter sets the
subscription channel number 100+nnn, meaning as below;
• nnn (001~004) choose the desired subscription channel, must confirm the subscribed data is
feedback info.
• Dual feedback control mode is only for pulse board port , Pr681 should be set as 1 for serial
axis.
• If parameter setting is not supported by the system, alarm OP-093 【Incorrect dual feedback setting】will
be issued.

–
261~280 Axial dual feedback resolution [10~ pulse/mm 250 Press Reset
2500000] or pulse/rev
• The dual feedback resolution is used to set the optical scale feedback resolution of each servo axis. Please
note that the parameter setting value is the single-phase (A-phase or B-phase) signal resolution before
scaling factor.
• When the corresponding axis is a linear axis, the unit of this parameter is pulse/mm; if it is a rotary axis, the
unit is pulse/rev.
• Example:
a. Assume the optical scale resolution is 1um/pulse, i.e. 1mm/1000pulse, and the feedback scaling
factor is set to 4 times (Pr30x=4); then please set Pr26x to 1000/4=250;
b. Assume the optical scale resolution is 10um/pulse, i.e. 1mm/100pulse, and the feedback scaling
factor is set to 4 times (Pr30x=4); then please set Pr26x to 100/4=25.
c. Assume the optical scale resolution is 1mdeg/pulse, i.e. 1 turn/360000pulse, and the feedback scaling
factor is set to 4 times (Pr30x=4); then plelase set Pr26x to 360000/4=90000.
301~320 Axial dual feedback scaling [1~4] - 4 Press Reset

factor
• The dual feedback scaling factor is used to set the optical scale feedback scaling factor of each servo axis,
and can set factor of one, two and four.
Axial dual feedback sensor type
• Dual feedback sensor type has no parameter setting. It's based on Pr221~ axial type to determine.
• If axial type is linear axis type, that is, Pr221~ is 0, then the sensor will be linear scale.
• If axial type is non-linear axis type, that is, Pr221~ is not 0, then the sensor will be general encoder.

compensation time
constant
• Mechanical compensation (backlash, pitch, temperature) commands is profiled as an exponential curve,

this parameter determines the time constant (ms) of the curve.
• The lower the value, the less time needed to complete the compensation, but the machine is more likely to
shake. The suggested setting value is 10ms.

–
• When set to 0, the compensation will be completed immediately, won't be profiled as an exponential curve.
1421~1440 Max. static dual error [100~ 100000] BLU 10000 Press Reset
• This parameter defines the maximum allowed error between 1st and 2nd feedback of an axis in static state.
• This parameter sets the maximum allowable error between the signals of each servo axis' linear scale and
signal of motor encoder when dual feedback is static.
3805 Static dual feedback error [2~ ms 1000 Press Reset

timeout 60000]
• This parameter defines the waiting time before the controller switches to static state when it stops sending
command.
• When this parameter is 0, it means disabling dual-feedback error check function.

–
3817 Fatal dual feedback error [0~ 100000] BLU 10000 Press Reset
• This parameter is used to define the maximum allowed dual feedback error between motor encoder and
optical scale signal in dynamic state
• If setting value is 0, this dual feedback error check function is disabled.
3818 Dual feedback self-detect [0~ 50] Pulse 0 Press Reset

error
• After activating dual feedback, the A/B pulse number between two indexes are recorded and checked for
each index on optical scale. If the difference exceeds the value set by this parameter, controller shall trigger
MOT-40 "Dual feedback self-detect error exceed"
• If the setting value is 0, the self-checking function is disabled
• Applicable to general equal-distance optical scale and distance code optical scale.
• Restrictions:
a. This function is only enabled after the axis completes Homing.
b. When a problem occurs, the system will not trigger alarm until the 5th index is received. I.e. if the
movement range is within 4 indexes, this check function is ineffective
c. Default index's width is 5 Pulses.
4.6 Related System data (use X axis as example)

• System data 24(X axis absolute position feedback): Motor's encoder feedback of X-axis.
• System data 40(X axis absolute position command): Command sent to X axis.
• System data 80(X axis double loop position error): The synchronous error between encoder and linear scale
feedback of X-axis.
• System data 96(X axis absolute position feedback): The motor's encoder feedback of X-axis.
• System data 112(X axis dual loop absolute position feedback): The linear scale feedback of X-axis.
• System data 128(X-axis machine coordinate): The machine coordinate of X-axis.
• System data 144(X axis dual loop position index counter): The pulse number captured by axis card when
linear scale zero point signal is triggered.
4.7 Related Alarms

Alarm ID MOT-031 Alarm Title Static dual feedback error exceed
Description After the controller stops sending the motion command, during the time set by Pr3805,
the system will check whether dual feedback error exceeds allowed limit set by
Pr1421~Pr1440. If yes, controller will send alarm.

–
Possible Cause 1. Mechanism interference.

2. Motor parameter setting error.
3. Linear scale parameter setting error.
4. Motor feedback signal abnormal or is interfered.
5. Linear scale signal abnormal or is interfered.
6. Linear scale reader is loose and cause the feedback unstable.
Solution 1. Check the external motion mechanism.

2. Check if motor resolution setting Pr61~, Pr81~ and Pr61~ is correct.
3. Check if the linear scale resolution setting Pr261~ and Pe301~ is correct.
4. Check if motor encoder works well, or move motor feedback line away from high
power electromagnetic devices.
5. Check if linear scale power is stable, or move linear scale feedback line away from
high power electromagnetic devices.
6. Confirm the reader is not interfered by the mechanism movement.
Alarm ID MOT-040 Alarm Title Dual feedback self-inspection error

exceed
Description After activating dual feedback, between linear scales' each index signals, accumulated A,
B pulse count difference exceed Pr3818 setting.
Possible Cause 1. Linear scale power is unstable.

2. Linear scale feedback is interfered.
3. Linear scale’s adapter is interfered by magnetic field or electric field.
4. Linear scale’s sensor reader is loose and cause unstable feedback.
Solution 1. Independently us the power supply of linear scale.

2. Check if the case at CNC side is power pollution free, or the isolation cable is fallen.
3. Keep the linear scale adapter away from the heavy electricity area, or cover it with
cooper sheet to reduce external interference.
4. Confirm the sensor reader will not be affected by the mechanism travel movement.
Alarm ID MOT-055 Alarm Title Rotation axis type C and double

feedback unsupported by the absolute
type
Description When using absolute encoder, related parameter setting is wrong.
Possible Cause 1. When using absolute encoder (Pr201~ sets as 3), axis’s axial type stetting will be rotary
axial type C (Pr201~ sets as 3).
2. When using absolute encoder (Pr201~ sets as 3) and start dual feedback function
simultaneously (Pr241~ not sets as 0).

–
Alarm ID MOT-055 Alarm Title Rotation axis type C and double

feedback unsupported by the absolute
type
Solution 1. When using an absolute encoder, configure the axis type of axial direction as the non-
rotation axis type C and other types (Pr221~≠3).
2. Turn off the dual feedback function (Pr241~=0) or use an increment encoder
(Pr201~=0).
Advanced 1. When this alarm occurs will trigger 'MOT-034 first homing setting incomplete,
Explanation absolute position can’t operate', user need to reset home position.
2. This alarm won’t be cleared until related parameter reset correctly. Whether need to
reboot depend on parameter.
a. Pr221~ effective after press reset.
b. Pr201~ Pr241~ effective after reboot.
Alarm OP-090 Alarm Title Information setting error of subscribing channel

ID
Descr Information setting error of subscribing channel when applying specific functions.
iption
Possi 1. When applying the subscribing channel as dual feedback inspection function, the corresponding
ble channel data is not position feedback (includes position feedback, controller monitoring position
Cause feedback, controller monitoring 2nd position feedback)
Soluti 1. Please check if the subscribing channel data set by the axis card port number corresponding to
on Pr241~Pr260 axis dual feedback is position feedback.
Alarm ID OP-092 Alarm title 【Dual feedback port setting does not
support dual feedback control mode】
Description Dual feedback control mode does not support obtaining feedback data through
subscription channel
Possible Cause Dual feedback setting is subscription channel while dual feedback mode is control mode.
ex. Pr241 sets 10001, Pr681 sets 0
Solution 1. Modify dual feedback mode Pr681~ to detection mode

2. Modify Pr241~ dual feedback port setting
Alarm ID OP-093 Alarm title 【Incorrect dual feedback port

setting】

–
Description Incorrect dual feedback port setting
Possible Cause Port number of Pr241~Pr260 is not supported
Solution Please refer to Pr241~Pr260 parameter manual instruction to set correct number.
4.8 Setting procedures (use X axis as an example)
4.8.1 Dual feedback control mode installation setting procedures

Use controller to directly get feedback data
• Step1: check input/output voltage and resolution of optical encoder, be sure that the output voltage must
be 5V, as SYNTEC's controller only supports A/B phase feedback signal with 5V.
• Step2: set system parameter Pr681 as 0 to use control mode.
• Step3: After reboot and before home searching, apply MPG to move X axis to ensure that synchronous error
of dual feedback of X axis (system data80) shall not diverge as X axis moving.
PS: If system data 80 diverges as X axis moving, please refer to Q/A for solution
• Step4: After home searching, apply MPG to move X axis. If the table feedback (system data 112) and the
machine coordinate (system data 128) share the same value, it means that the function of dual feedback is
activated correctly.
4.8.2 Dual feedback detection mode installation setting procedures

Use controller to directly get feedback data
• Step1: check input/output voltage and resolution of optical encoder, be sure that the output voltage must
be 5V, as SYNTEC's controller only supports A/B phase feedback signal with 5V.
• Step2: set system parameter Pr681 as 1 to use detection mode. Set Pr241to corresponding subscription
channel. E.x. if selecting serial monitor axis 1st channel, then Pr241 should be set to 100001.
• Step3: After reboot, apply MPG to move X axis. If the table feedback (system data 112) and the machine
coordinate (system data 128) share the same value, it means that the detection mode of dual feedback is
Use subscription to get dual feedback data
• Step1: Check drive parameter second encoder related parameters are set correctly.
Ps: corresponding SYNTEC drive parameters are Pn-920~Pn-931, including 【Pn-920】2nd encoder
communication type, 【Pn-921】2nd encoder port number, 【Pn-922】2nd encoder resolution, etc.
• Step2: enter subscription channel parameter screen to set parameters. Set subscription information to 2nd
position feedback (SYNTEC drive is 3715. 【Pn-824】option monitor could be referred to set subscription
information setting number)
• Step3: set system parameter Pr681 as 1 to use detection mode. Set Pr241to corresponding subscription
channel. E.x. if selecting serial monitor axis 1st channel, then Pr241 should be set to 100001.
• Step4: After reboot, apply MPG to move X axis. If the table feedback (system data 112) and the machine
coordinate (system data 128) share the same value, it means that the detection mode of dual feedback is

–
4.9 Diagnostic procedure for dual feedback

• Check if linear scale feedback control mode is normal?
• For axis with a long stroke(i.e., the stroke is long enough to generate 5 indexes)
• Use parameter Pr3818 to enable "Dual feedback self-detect error", check whether alarm
MOT-40 appears when moving axis backward and forward.
• For axis with a short stroke
• Step1: After enabling dual feedback function, boot the controller and complete 1st time home
searching, apply MPG to move axis backward and forward around reference point and
observe the value of system data 144, a reasonable value should be 0(if home offset is
enabled, then the valus is - Pr881).
• Step2: After long-period machining, execute home searching again. Check whether the value
of System data 144 is the same with that of step 1.
• Step3: If the value of System data 144 is not the same with that of step 1, it means that the
linear scale feedback losses pulse. Please check the wiring.
4.10 Q/A (take X axis as an example)

1. In setting procedures, system data 80 is diverge during MPG process. Moreover, system data 96 and 112 have
opposite sign but share the same absolute value. How to solve this problem?
ANS: The A/B pulse of linear scale feedback are reversed, please exchange A+/A- wiring of table feedback.
2. In setting procedures, system data 80 is diverge during MPG process. Moreover, system data 96 and 112 are
different. How to solve this problem?
ANS: Resolution is not set properly, please check and reset motor and optical encoder resolution.
3. After enabling the dual feedback control mode, machine cannot perform home searching?
ANS: There must be a malfunction on zero point signal (index) of optical scale feedback, please move that
axis with a long distance and check whether system data 144 has been updated. If not, check whether the
C+/C- signal wiring of optical scale feedback is correct.
4. After enabling the dual feedback control mode, machine has significant vibration?
ANS: Check whether installation stiffness of optical scale feedback is proper, increase Pr1401 setting value
otherwise to avoid controller over sensitive to error compensation. The recommended setting value of
Pr1401 is 100ms.
5. How to compensate optical encoder's manufacturing error?

ANS: For general single feedback control loop, pitch compensation is applied to correct screw's
manufacturing error. Similarly, when the dual feedback function is enabled, pitch compensation can be
applied to compensate the manufacturing error of ruler.
6. After enabling the dual feedback control mode, and complete the 1st time home searching, system data 112
is not equal to 0?
ANS: The dual feedback function is only enabled after the controller reboots and completes the 1st time
home searching, which means that after 1st time home searching, the bed is not positioned on the zero point
signal of the ruler, but with an offset error caused by mechanism error. Thus, the system data 112 is not
equal to 0. According to current specification, this offset error shall be corrected in the following motion,
therefore user does not need to consider about this issue.

–
4.11 Compatibility Change instruction

• After version 118.28D(included), add dual feedback detection mode(Pr681~=1) and only support SYNTEC M3
drive.

–
5 HSHP Application.
5.1 Parameter
18 HSHP chord error tolerance [1~100] BLU 15 reset
• This parameter determines the maximum permissible tolerance by using virtual arc to approach block path.
The larger the parameter, the more block junctions will be regarded as arcs; the smaller the parameter, the
more block junctions will be regarded as corner.
• For related application, please refer to "EMC2_C009_High Speed and High Precision Parameter Settings".
• This parameter is no longer available in versions 10.114.52 and later.
401 Cutting acceleration and deceleration time [0~60000] ms 300 Press reset
• Set the time required for each axis to accelerate to the maximum speed Pr405 in G01/G02/G03/G31 mode.
In other words, this parameter and Pr405 determine the maximum combined acceleration as:
• This parameter is the spending time on compound feed rate accelerate to Pr405. In other words, this
parameter and Pr405 will determine maximum compound acceleration as below.
• The faster the acceleration is, the faster is the machining time. But the workpiece will occur cutting line. We
suggest this parameter is 0.02~0.05 of maximum cutting feedrate Pr.405.
• System will compare the compound acceleration separated to every axis with the acceleration which
Pr541~Pr621 define. Choose the smaller one as the planning rule.
• Actually, Pr401 depends on machine rigidity. It is inversely to rigidity.
HSHP Application. – 45
–
Small Middle Large

Machine Machine Machine
When increase each 1000mm/min in highest speed, add the 20 35 50

suggested number of speed time
402 Time required for accelerate to [1~500] ms 150 Press Reset

increase to 1G
• Set the time required for the acceleration of each axis to increase to 1G in G01/G02/G03/G31 modes. In other
words, this parameter will determine the maximum combined jerk as:
• The larger jerk, the faster machining time. But vibration will occur more easily. Suggest set this parameter as
150, if the machine doesn't vibrate at this value, you can reduce under 150. If vibration happened, increase
it.
• System will compare the compound jerk separated to each axis with the jerk which Pr641~ defined. Choose
the smaller one as the planning rule.
404 Post cutting bell-shaped [0~100] ms 20 Reset

acceleration time
• The parameter can smooth the path of speed that plan before interpolation. The vibration will be restrained.
Suggest value is 10msec ~ 30msec.
–
• Shown as below figure, the larger Pr.404 is, the smoother the command is. But the precision will be worse.
• If enabled SPA function, Pr404 depends on vibration to be reduced.

• For some special application, if don't need corner slow function. We suggest to set Pr.404 bigger (3000mm/
min can be enlarge to 50ms) under Pr.406 and Pr. 408 maximum situation. Using after speed up/slow down
method to prevent the machine from impact.
405 Maximum cutting feedrate [6~ mm/ 5000 Press Reset

3600000 min
]
• Set the maximum combined feedrate of all axes.

• System will compare the compound feedrate separated to each axis with the feedrate which Pr621~ define.
Choose the smaller one as the planning rule.
406 Maximum corner reference [6~3600000] mm/min 500 Reset

feedrate
• Under G01/G31 mode and corner is 120 degree, the maximum allowable feedrate. The larger value, the
shorter machining time but worse precision. If set this parameter smaller, it will have slower machining time
but with better corner precision.
• Suggest value is 500 at 10.112 version. 10.114 and 10.116 suggest value is 150 for delicate workpiece without
changing Pr408. When it comes smooth surface or a larger workpiece, it can be set as 375.
• System will compare the compound corner feedrate separated to each axis with the corner feedrate which
Pr601~ define. Choose the smaller one as the planning rule.
–
• If the program has G61 or G09, system will cancel decrease speed plan.
• If there is an auxiliary axis or rotation axis on NC file, please set Pr601~ to avoid huge vibration on machine.
Suggest value is 500.
407 HPCC smoothing tolerance [2~20] um 3 Reset
• The allowable machining error under G05 high precision control mode. The smaller value, the higher
precision but longer time. Set it bigger will have opposite result.
• The value is related to CAD/CAM convert tolerance. This parameter is proportional to convert tolerance,
suggest value is 5 um for mill machining.
408 Arc cutting reference feedrate [0~3600000] mm/min 500 Reset

at radius 5 mm
• The arc cutting feedrate upper limit under G02/G03 mode，the formula is defined as below, Rref is 5mm.
• Servo lag result the arc path shrink during the arc cutting. System can limits the speed with the radius and
confirm that the shrink error are the same. Usually use 2000~4000 for common machine.
• If the high speed make centrifugal force is too big, the tool may vibration. Suggest reduce Pr408 to improve
it.
• This parameter not only restrict the feedrate upper limit of G02/G03. It will also refer this parameter for
federate limit of the other interpolation block. If set it too small, it will cause abnormal deceleration at G01
mode.
No Descriptions Range Unit Default Default
541~560 Axial cutting acceleration [0~5000] ms 50 Press Reset

time
• Set each axis to accelerate to its maximum speed Pr621~ under G01/G31 mode. I.e., this parameter and
Pr621~ decide the maximum acceleration of each axis as:
• The bigger the acceleration is, the machining time is faster but worse precision with over cutting line.
• System will compare the compound acceleration (Pr401&Pr405) separated to each axis with the acceleration
which Pr541~Pr621 define. Choose the smaller one as the planning rule.
• We suggest when machine can't endure the compound acceleration at some particular axis. Please enable
this axis maximum cutting acceleration limit for protection.
–
601~620 Axial maximum corner [6~3600000] mm/min 360000 Press Reset

reference feedrate
• Before turning into a corner from straight movement, system can decelerate according to corner geometry
and turn at the speed set by this parameter.
• Before version 10.112.X, this reference speed was the maximum allowed turning speed at a 90 degree
corner. The recommended value was 500 mm/min.
• After version 10.114.X, this reference speed is the maximum allowed turning speed at a 120 degree corner.
The recommended value is 500 mm/min.
• The higher the speed, the faster the machining program finishes; but the corners precision is worse. The
smaller the setting, the slower the corner speed is; but the corner precision is better.
• If it is a rotary axis, the unit is deg/min
• Special Attention :
a. If G61 or G09 in-position check are executed, the controller will automatically disable the corner
deceleration mechanism.
b. If the corner deceleration function is not required, use maximum value for Pr406 and 408 to allow
machine to turn at a higher speed. But Pr404 Post-acceleration time need to be increased (i.e. for
Pr406=3000, increase Pr404 to 50 ms) to prevent excess acceleration & jerk to machine.
c. If a program block includes auxiliary axis or rotary axis, user must set proper Pr601~620 to avoid
machine shaking due to excess acceleration. Suggested setting: 500 ms.
d. Pr406 =0 means disabling the "combined" corner speed limit function, user must also set proper
Pr601~620 to avoid machine shaking due to excess acceleration. Suggested setting: 500 ms.
621~640 Axial maximum cutting feedrate [6~3600000] mm/min 5000 reset
• Set the maximum cutting feedrate of each axis under G01/G31 mode.
• For rotary axis, the unit is deg/min.
We suggest when machine can't endure the compound cutting feedrate at some particular axis. Please open this
axis maximum cutting feedrate limit for protection
641~660 Axial acceleration [1~500] ms 10 Press Reset

accelerated to 1G time (Jerk)
• Set the time required for the acceleration of each axis to increase to 1G in G01/G02/G03/G31 modes. In other
words, this parameter will determine the maximum jerk of a single axis as:
–
System will compare the compound jerk (Pr.402) separated to each axis with the maximum jerk of every axis.
Choose the smaller one as the planning rule.
We suggest when machine can't endure the compound jerk at some particular axis. Please open this axis maximum
jerk limit for protection
3802 Default feedrate control [0~3] - 0 Reset

mode
• This parameter define default high-precision control mode. With Option 11 (High-precision contour control,
HPCC) disabled, parameter definitions are as followed:
• 0: G64;
• 1: G62;
• When Option 11 (HPCC) enabled, parameter definition are as followed:
• 0: G64;
• 1: G62;
• 2: HPCC;
• In version 10.114.26E, 10.114.33G, 10.114.38M, 10.114.50B, 10.114.52 and later, this parameter is no longer
supported. G64 is the default high precision control mode.
• In version 10.116.x and later, this parameter is supported again.
• Not all machine types support G64, contact machine maker for detail.
3820 Minimal deceleration ratio for [1~100] % 2 Press Reset

inner circular cutting
–
• To maintain constant surface speed control, after tool radius compensation, system re-calculate tool
feedrate base on the ratio of cutting path radius R to tool path radius r:
• This parameter (Pr3820) restricts the minimum percentage of .
3808 Smooth Precision Advanced [0~5] - 0 Reset
• The Smooth Precision Advance (SPA) function is to compensate for the machining contour error caused by
servo delay of motor drives.
• 0: Disable
• 1~5: Enabled with different compensation levels.
• 6~9: Special application used for extreme high-speed machining (usually for linear motor), not
suggested for general ball screw axes.
• Please refer to the feed forward compensation application document for detailed features and activation
restrictions of each version of SPA (SPA 1.0/SPA 2.0/SPA 3.0).
–
5.2 G Code Description(FOR MILL CE OS)
5.3 Command Form
G5.1 E_：enable smoothing function

G5.1 Q0 : Disable smoothing function
Q：Enable/Disable the smoothing function. The enable function can be divided into two modes: Q1/Q2.
E：The maximum allowable path error while smoothing. Unit is IU(Metric mm/Imperial inch)
5.4 Description
According to the E_ argument of G05.1, the processing path is modified and smoothed to shorten the processing
time and improve the stability. The larger the E argument is, the greater the difference between the smoothed
trajectory and the original path is.
Unsmooth processing section Smoothed processing block

1. Q1 Applicable situation: As shown in the left-down figure, the NC path is more rugged and uneven.
2. Q2 Applicable situation: As shown in the right-down figure, the NC path has the same curvature, but
the density of dots is relatively sparse. Generally, the machining accuracy of CAD/CAM is set lower.
Notice
1. This feature only supports Mill model CE systems, the effective version starts at 10.114.56.
2. The upper limit of the E_ argument is 1.0, and the unit is 1mm/1inch. When the argument is greater than 1.0,
the internal order is 1.0. ( 10.116.56B and before 10.118.12J version, the upper limit of E argument is 0.1mm)
3. The command is incomplete (for example, Q or E is missing) or the command is incorrect (for example, the Q
value is wrong, or the E value is less than 0 or equal to), then system issues [COR-107 G5.1/G05 command
format error] alarm.
4. In the G61/G63 mode, enable the smoothing function (G5.1) is prohibited, otherwise system issues [COR-106
G5.1 is prohibited to do path smoothing in G61 or G63 mode] alarm.
5. As mentioned above, when G61/G63 is enabled in the G5.1 mode, the system will stop the smoothing
function until jumps out of the G61/G63 mode then enable again.
6. The smooth motion is valid only for the G01 command between G5.1 Q1/Q2 E_ to G5.1 Q0.
–
7. If the tool length correction command (such as G43) or the coordinate definition command (such as G54) is
issued in the G5.1 mode, also the next command is G01, then smoothing action is not performed, and the
subsequent G01 command returns to the smoothing action.
8. If UVW is set to XYZ axis increment command (Pr3809=1), this function is prohibited.
9. This feature doesn't support Multi-Axis Multi-Signal Skip Function(G31.10/G31.11).
5.5 Example
N001 G05.1 Q1 E0.01//enable path smoothing function, allowable error: 10um
N002 G90 G01 F2000
N003 X-0.002 Y-0.001//the following commands perform path smoothing function
N004 X-0.003 Y-0.003
N005 X-0.004 Y-0.005
N006 X-0.005 Y-0.007
N007 X-0.007 Y-0.008
N008 X-0.008 Y-0.009
N009 X-0.011 Y-0.010
N010 X-0.013 Y-0.012
N011 X-0.014 Y-0.013
N012 X-0.015 Y-0.015
N013 X-0.016 Y-0.018
N014 G05.1 Q0//disable path smoothing function
N015 M30//program ends
N001 G05.1 Q2 E0.01//enable path smoothing function, allowable error: 10um
N002 G91 G01 F2000
N003 X-0.002 Y-0.001//the following commands perform path smoothing function
N004 X-0.001 Y-0.002
N005 X-0.001 Y-0.002
N006 X-0.001 Y-0.002
N007 X-0.002 Y-0.001
N008 X-0.001 Y-0.001
N009 X-0.003 Y-0.001
N010 X-0.002 Y-0.002
N011 X-0.001 Y-0.001
N012 X-0.001 Y-0.002
N013 X-0.001 Y-0.003
N014 G05.1 Q0//disable path smoothing function
N015 M30//program ends
5.5.1 High Precision Contour Control
Command form：
Enable G05 high-precision contour control mode：
G05P10000
G05 P10000 X0 Y0 Z0 (A_) (B_)
G05P10000 E_
G05E_
–
Disable G05 high-precision contour control mode：

G05P0
G05
P：Specifies to enable or disable the G05 high-precision contour control mode. The P value is set 10000 to enable
and 0 for disable. If the E argument is set, the P argument default is 10000; if E argument and the P argument are not
set, the P argument is set 0.
X Y Z : Specifies the axes to be smoothed. The arguments should be 0.
(A_) (B_) : Specifies the rotatary axes to be smoothed. The arguments are allowable error(unit : degree), should be
positive(>0).
E： According to this error value, controller adjusts the parameters or contour automatically, in units of metric mm,
imperial inch.
Description：
G05 High Precision Contour Control mode (HPCC) includes the two core as follows:
• NURBS curve Fit ：According to the allowable geometric axis error value Pr407, the curve is fitted to
achieve an ideal continuous smooth contour.
• parameter optimization(POBE)：Adjust the core internal parameters automatically according to the
allowable error value E or the machining error tolerance TOL, and compensate the accuracy so that the final
machining result is close to the initial tolerance value.
Related parameter
• Pr407：curve fitting error (um), this parameter is used for NURBS curve Fit.
• TOL ：Machining error tolerance (um), this parameter is used for parameter optimization. If E value is not
set when the function is enabled, then refer to this parameter
• TOL setting Path：
• Eight key system：F10 to next page > F3 parameter setting > F6 High-Speed High-Precision setting >
F1 fast parameter setting ;
• Five key system: F10 to next page > F3 parameter setting > F10 to next page > F1 High-Speed High-
Precision setting > F1 fast parameter setting.
E argument adjust method

• Controller disable HPCC, the main screen F7 →F4, observe program variable, observe program
variable #1828 ( Estimate machining error ).
a. Notice! If Pr3808 = 0, then #1828 is invalid, showing that it is 0, which is no【parameter
optimization(POBE )】 function！
b. #1828 ： Estimate machining error(unit： um), after 116.10G 116.10G version is available,
valid version only before 10.116.54A(included).
• Adjust E argument or Smooth level
Based on value of #1828 ,take E argument (IU, Machining error tolerance ) to set it lower than #1828 / 1000 ,
and adjust motion parameter by core executing .
a. Ex : #1828 = 100.0, it is suggested to set E argument around 0.09 0.09.
b. If E > #1828 / 1000E , then core does not modify motion parameter。
c. If E is lower than #1828 / 1000 a lot, then machining speed will highly drop down.
• Most of the machining program includes the Shrink Arc, column etc, and the need for precision corner. In
this situation, it is suggested to set parameter 3808 as a none 0 value ( suggest start from 5), in order to
execute precision Compensation.
a. Notice! After modify Pr3808 , the value of #1828 should be observed and depends it to adjust E
number.
b. Size precision adjustment, basically：
–
i. If the feedrate of machining program gets larger, it will shrink severely.

ii. If Pr3808 gets larger, there will be no shrink, and it may even expand.
iii. By adjusting 【F value of Machining Program 】and【 Pr3808 】,it should be able to reach the
need of machining speed/ precision.
• Machining speed：
a. Normally, machining time will be shorten because of the execution of【 NURBS curve Fit 】 in HPCC,
and machining speed can be improved.
b. If the result is not significant, try to enlarge the feedrate in machining to cause HPCC automatically
execute the adjustment of core motion plan parameter.
• After executing the method above, if the machining precision or finish effect is not good enough, lower the
value of E argument to strike the balance of precision and speed.
Enable Situation
• G05 enable HPCC Command and condition
Command Pr3808(SPA) Smooth level Enable function
G05 P10000 0 ---- NURBS curve Fit
1~5 0
G05 P10000 X0 Y0 Z0 (A_) (B_) ---- ---- included XYZ Linear Axis
and NURBS curve Fit
of two Rotary Axis
G05 P10000 1~5 1~9 NURBS curve Fit

parameter
optimization(POBE )
G05 P10000 E_ 1~5 ---- NURBS curve Fit

parameter
G05 E_ optimization(POBE )
Note : --- represent any valid Input number
• Enakle parameter Pr3802 =2: G05 is no need, during machining default enable HPCC function
Pr3802 Pr3808(SPA) Smooth level Enable function
2 0 --- NURBS curve Fit
1~5 0
–
Pr3802 Pr3808(SPA) Smooth level Enable function
2 1~5 1~9 NURBS curve Fit

parameter optimization(POBE )
Note: --- represent any valid Input number
Note 1：HPCC mode need to be under Milling CE OS, and Option11 is enable.
Note 2：After the version 10.116.36(included), the core execution is the new version SPA2.0(ZPEC), and do not
support parameter optimization(POBE), and the reason can refer to "Note 3".
Between the version of 10.116.6(included)~10.116.35(included), the core execution is original SPA, and support
parameter optimization(POBE).
Note 3：Because the precision control of SPA2.0(ZPEC) has been highly improved ,there's no need to support
parameter optimization(POBE) to improve the precision.
Note 4：Until the version of 10.116.36(include), it starts to support G05 P10000 X0 Y0 Z0 (A_) (B_)this command
spec, and HPCC mode supports Rotary Axis(at most two).
Note 5：Parameter optimization(POBE )valid version stops before the 10.116.54A(included).
Notice and Limit
1. G05 only supplies Mill CE system, valid from 10.116.0. HPCC, the software function option 11. Please
purchase it from OEM first if needed. Parameter optimization function needs to enabled the SPA function
(Pr3808 is not 0, it is recommended to set 5).
2. P index can only be 10000 or 0，if wrong, it will send out【COR-107】warning.
3. After the version of 10.116.36(included), only execute G05 P10000 to enable HPCC mode. Default smooth axis
is X Axis, Y Axis and Z Axis(which equals to G05 P10000 X0 Y0 Z0), if arguments of smoothed axes are
unspecified.
4. Enable G05 P10000 X0 Y0 Z0 A_ B_ , X,Y,Z represents linear geometry axis, A and B represent Rotary Axis.
Tolerated error of Rotary Axis is related to parameter17 and parameter3241. Below these situations
the system will send out【COR-107 G5.1/G05 Command specification error 】alarm.
a. After specified five axes.
b. When geometry axis setting argument is not equal to 0.
c. When rotary axis setting argument is 0.
d. When no setting geometry axis , but have setting Rotary Axis.
e. When specified more than two rotary axes.
f. When any axis argument is negative value.
Especially, X,Y and Z are not recommended to set as rotary axis, A and B axis is not suggested to set as linear
axis, which means this function suggests linear axis number at most to 3, and rotary axis number at most to
2.
5. When executing parameter optimization
a. Basing on Pr401 and Pr408 as the parameter limit value, the acceleration and arc speed would not
exceed the setting.
b. E argument must be positive value. If it is equal or less than 0, the system will send out【COR-107
G5.1/G05 Command specification error 】alarm;
c. If the tolerated error setting(E argument value or Smooth level) is larger than system estimate
machining error (#1828), then not execute parameter optimization. Parameters which influence the
system estimate machining error(#1828): Pr401, 402, 404, 405, 406, 408, 3808, 181~183.
d. The suggested setting value by E is a bit lower than #1828/1000. If the input value is too small, it will
cause the machining too slow or pause; the lowest number protected by system automatic is
0.001IU(mm/inch).
6. Nurbs curve fitting does not support the stimulated graph.
–
7. When Pr3802 = 2, the system will automatically enable HPCC mode, and smooth axis are X ,Y and Z, but it is
still limited by the following point 8 and 9.
8. Under HPCC mode :
a. Only accept radius axis(Pr281~=0).
b. Line number, HMI shows would leading real position.
c. After the version 10.116.36(included), support at most three geometry axes and two rotary axes, but if
there's a block which exist none smooth axes or the geometry axis movement is 0 , it would
temporary close HPCC function, and do not send alarm.
The version before 10.116.16B, support at most three geometry axes, do not support rotary axes, if
there's a command of forth axis, the system will send out【COR-107 G5.1/G05
Command specification error 】alarm.
After the version 10.116.16B(included), disable HPCC function temporarily instead, and do not send
alarm.
d. Axis forbids function（R603）will check three geometry axis : X,Y,Z .
e. If the single block stop C40 is used during processing, the alarm COR-140 will be triggered.
f. Before executing drilling cycle(G81~G89) function, please disable G05 HPCCmode.
g. Executing accurate pause detection（G09/G61）will stop HPCC function, until it leaves accurate
pause detection（G09/G61）mode.
h. Executing G63 will disable HPCC function, until it jumps out of G63 mode.
i. Use M30 or M99 as the end of program.
j. It is not suggested to set Pr3809 = 1, and machining program includes UVW increment machining.
9. When system is under the following mode, it is invalid to enable HPCC mode :
a. Lathe system.
b. Before the version of 10.116.16J(included), under the Machining mode of G61/G63/EDM, enable G05
HPCC function would send out of【Under the G61 or G63 mode, COR-106 forbids executing G5.1
Path Smooth to start 】alarm;
If enable G05 HPCC function, then change machining mode as G61/G63/EDM machining mode, and
do not send the alarm, but the HPCC function automatic is invalid. It is needed to execute G05 to
enable HPCC function.
c. After the version 10.116.16K(included), do not send alarm. G05 is invalid to enable HPCC function
instead, and it will be valid after machining mode of G61/G63/EDM .
d. When under the mode of RTCP/STCP, use G05 P10000 to enable HPCC function, it will send out
【COR-140 Invalid high-precision contour control mode using】alarm.
e. The single block stop C40.
10. Under HPCC mode, the following function is valid
a. Feedhold、Emergency stop、Reset、Feedrate change.
b. After accelerate/decelerate、SPA function、and mechanism compensation function。
11. Under HPCC mode, the following function is invalid
a. Anti-time feed function（G93）。
b. Block stops forbidding（#1502）、Feedrate forbid changes（#1504）、SPA forbid（#1516）。
12. How to ensure whether it enable HPCC function
a. Machining screen displays words of HPCC, which represents HPCC is enabled.
b. Macro variable #1826 ≠ 0, which represents HPCC is enabled.
13. The specification of HPCC and C40
State Step 1 Step 2 Specification
a Ready Pr3802=2 C40 HPCC is disable
b Ready C40 Pr3802=2 HPCC is disable
–
State Step 1 Step 2 Specification
a Ready Pr3802=2 C40 HPCC is disable
c Processing G05 E_ C40 COR-140
d Processing C40 G05 E_ HPCC is disable
14. When ready, cancel the single block stop C40, and the default HPCC mode will be restored.
15. If the single block stop C40 is canceled during processing, the HPCC mode cannot be restored until HPCC
mode is enabled again.
Program example：
• Enable NURBS curve Fit only
Necessary condition ：Option-11(optional)、Smooth level= 0(do not enable parameter optimization
function).
Enable command：G05 P10000 : Enable HPCC function and set smooth axes are X, Y and Z, according
to Program example 1.
G05 P10000 X0 Y0 Z0 (A_) (B_) : Enable HPCC function and set smooth axes are
A,B represent rotary axes, and set 1~3 geometry axes with 0~2 rotary axis as smooth axis (10.116.36 after),
according to program example 2.
Disable command：G05 P0
Related parameter：Pr407
Program example 1：
Example
N001G0 X3. Y4. Z0.
–
N002G05 P10000 //enable high speed & high precision interpolation, and interpolate smooth curve.
N003G01 X3.8 Y6.1 F5000.
N004X4.6 Y7.
N005X5.4 Y6.1
N006X6.1 Y4.
N007X6.9 Y1.9
N008X7.7 Y1.
N009X8.5 Y1.9
N010X9.3 Y4.
N011X10. Y6.1
N012G05 P0 // disable high speed & high precision interpolation.
N013M30
Program 2：
N001 G0 X3. Y4. Z0. B0.
N002 G05 P10000 X0 Z0 B0.002 // enable HPCC mode, smooth axes are X, Z and B, B axis allowable error is 0.002
degree(under the situation of Pr17=2), and interpolate smooth curve.
N003 G01 X3.8 Z6.1 B3.4 F5000
N004 X4.6 Z7.
N005 X5.4 B6.1
N006 X6.1 Z4. B3.6
N007 X6.9 Z1.9
N008 X7.7 B1.
N009 Z8.5 B1.9
N010 Z9.3 B4.
N011 X10. Z6.1 B1.
N012 G05 P0 // disable HPCC mode
N013 M30
• Enable NURBS curve Fit and POBE parameter optimization correspond to E argument
Necessary condition ：Option-11(Optional)、Pr3808 ≠ 0
Enable command：G05 P10000 E_
E argument valid range ：Positive value (unit：IU, mm/inch)
Related parameter：Pr407
Program example：
N001 G0 X3. Y4. Z0.
N002 G05 P10000 E0.01 // enable HPCC mode, and interpolate smooth curve correspond to E argument
optimization parameter
N003 G01 X3.8 Y6.1 F5000
N004 X4.6 Y7.
N005 X5.4 Y6.1
N006 X6.1 Y4.
N007 X6.9 Y1.9
N008 X7.7 Y1.
N009 X8.5 Y1.9
N010 X9.3 Y4.
N011 X10. Y6.1
N013 M30
–
• Enable NURBS curve Fit and POBE parameter optimization correspond to Smooth level
Necessary condition：Option-11(Optional)、Pr3808 ≠ 0
Enable command：G05 P10000
Valid range ：Smooth level 1~9
Related parameter：Pr407、Smooth level parameter TOL

Program example：
N001 G0 X3. Y4. Z0.
N002 G05 P10000 // enable HPCC mode, and interpolate smooth curve and corresponds to
smooth level optimization parameter
N003 G01 X3.8 Y6.1 F5000
N004 X4.6 Y7.
N005 X5.4 Y6.1
N006 X6.1 Y4.
N007 X6.9 Y1.9
N008 X7.7 Y1.
N009 X8.5 Y1.9
N010 X9.3 Y4.
N011 X10. Y6.1
N013 M30
5.5.2 Multi-Parameter Assign

Command form 1：
Enable
G62 P_
G64 P_
Disable
–
G62 P0
G64 P0
P：Specified the HSHP parameter needed, range 1~9. When P=0 means disable multi parameter setting and
recover the default setting.
Command form 2：
Enable
G120.1 P_ Q _
Disable
G120.1 P0
G121
P、Q：Calling out multiple groups machining condition, P is the condition of machining application, Q is
machining condition. The detail can refer to Milling Program manual.
Note：G120.1 is available after the software version 10.116.24B, and P argument setting range of G62/G64 extend to
9, the old one is 5.
Related parameters ：Pr401, Pr402, Pr404, Pr405, Pr406, Pr408, Pr3808, Pr3981
Parameter setting Path：
8-key system：F10 to next page>F3 parameter setting >F6 High-Speed High-Precision setting .
5-key system：F10 to next page>F3 parameter setting > F10 to next page>F1 High-Speed High-Precision setting .
Program example：
N001 G0 X3. Y4. Z0.
N002 G120.1 P3Q2 // Assign multiple groups Machining parameter P3Q2
N003 G01 X3.8 Y6.1 F5000
N004 X4.6 Y7.
N005 X5.4 Y6.1
N006 X6.1 Y4.
N007 X6.9 Y1.9
N008 X7.7 Y1.
N009 X8.5 Y1.9
N010 X9.3 Y4.
N011 X10. Y6.1
N012 G120.1 P0 // disable multiple groups Machining parameter
N013 M30
The group parameter relationship of G62/G64 P_and G120.1 P_Q_ is as follows:
G120.1 P1Q1 P1Q2 P1Q3
G62/G64 P1 P2 P3
G120.1 P2Q1 P2Q2 P2Q3
–
G62/G64 P4 P5 P6
G120.1 P3Q1 P3Q2 P3Q3
G62/G64 P7 P8 P9
5.6 Fast adjust Machining parameter Group

Depends on different need of the machining, fast adjust parameters of user's setting to specific machining
parameters, and there're two methods to accomplish:
• Assign fast parameter
• Assign multiple groups machining condition
5.6.1 Assigned fast parameter

Before enable this function, please move to the following setting page path to complete parameter setting.
Enable method：On machining parameter setting page, adjust speed level and smooth level directly.
Disable method：speed level 0 and Smooth level 0.
Valid range：speed level 1~9，Smooth level 1~9
Related parameter：Pr401, Pr404, Pr408, TOL
Parameter setting path：
8-key system：F10 to next page>F3 parameter setting>F6 High-Speed High-Precision setting> F1 fast parameter
setting。
5-key system：F10 to next page>F3 parameter setting> F10 to next page>F1 High-Speed High-Precision setting> F1
fast parameter setting。
5.7 High-Speed High-Precision Application Instruction

Normally, different machining workpiece, the quality required is different. Therefore, this chapter aims to explain of
the execution concepts of HSHP parameter setting , and then explain multiple groups parameter application
specification provided by controller , expecting that machining staff can execute different parameter configuration
machining based on different products or different machining property.
5.8 Parameter Application Guide

General speaking, the quality for different workpiece is different. In this chapter, we will explain the concept of
different parameter first. Second, describe controller multi-parameters specification. Expecting that the operators
can set different parameters according different product needs.
5.8.1 Concept of Parameter Setting

Adjust the parameter depends on machining type (rough machining、precise machining) or the characteristic.
–
• Machining type
a. Rough machining need to be fast but not strongly requirement about precision and stability.
Recommend user can set Pr.406, Pr408, Pr407(need HPCC mode) larger to shorten the machining
time. And set Pr3808=1 and set Pr404 larger in order to smooth command and reduce the vibration of
machine.
b. Precise machining need precision and stability. Recommend to set Pr.406, Pr408, Pr407(need HPCC
mode) smaller to increase the precision of machining. User should also set Pr.3808=5 and lower
Pr404 to reduce servo lag and path error.
• Workpiece characteristic
i. For the precise workpiece, Recommend lower the parameter Pr406(increase K ratio) in order
to make sure the corner precision.
Workpiece dimension：50mm*50mm
Workpiece dimension：40mm*40mm
ii. For the smooth surface workpiece or larger geometry but without tiny characteristic. We
suggest enlarge Pr406(decrease K ratio) to shorten the machining time.
Workpiece size：50mm*50mm Workpiece size ：185mm*140mm

• According the corner K ratio(Pr408/Pr406) set Pr18 in order to get suitable corner and arc feedrate limit.
–
5.8.2 HSHP function enable description
Quick Parameter Setting

• Valid version from 10.116。
• Setting path：
• 8-key system：F10 to next page>F3 parameter setting>F6 High-Speed High-Precision setting> F1 fast
parameter setting。
• 5-key system：F10 to next page>F3 parameter setting> F10 to next page>F1 High-Speed High-
Precision setting> F1 fast parameter setting。
• Execute method：User can adjust the Speed level and Smooth level at machining monitor. Be careful that
you can't change the lever while machining.
• Level setting description

• Velocity level：
• Level 9 : Speed priority, set the value which machine can stand for without consider precision.
• Level 1 : Precision priority, set the value when consider precision.
• Smooth level: The allowable machining error under G05 high precision control. Otherwise means the
allowable machining error between CAD and process path after CAD/CAM convert. We usually set it as
default.
• Level 9 : High smooth, rough machining. Big size or none precision workpiece, choose level to
be highly smooth.
• Level 1 : Contour match, precision machining. Precision workpiece, choose level to contour
matching. In order to match CAD/CAM convert precision.
• Quick adjustment
• Adjust smooth level
Adjust smooth level depends on machining property, before setting speed level.
• Adjust speed level
After adjust smooth level to require workpiece property, it is able to modify speed level. An over level
–
of speed level may cause shape shrinking.
Precision Parameter Setting

Purpose：System provide multiple parameter setting, let user can execute different parameter setting to meet
different machining requirement. It is different form fast parameter setting, this function need user to set more
relevant parameter.
Setting path：F6 Parameter=>F10 next page=>F4 HSHP setting=>F2Precision Param. Settting。
Execute method：User can adjust the Speed level and Smooth level at machining monitor. Be careful that you can't
change the lever while machining
The figure below is the default multi-parameter: P1: small workpiece precise machining, P2: smooth surface precise
machining, P3: Normal machining, P4:High speed high precise rough machining, P5: high speed rough machining.
Because the first three parameters are for precise machining, so the corner ratio K of Pr408 and Pr406 is bigger. On
the other hand, the last two parameters are suitable for rough machining with smaller K.
5.9 Macro Variables
No Description Rule Type
–
#1826 HPCC mode (optional function) R Double

0: disabled; non-0: enabled
HMI show HPCC on monitor screen by checking
#1826
Valid version: after 10.116.0I，10.116.6B
(included)
#1829 High Speed High Precision parameter R/W Double

0：Not to execute multi-parameter or quick
parameter setting
1~5：Execute Precision Parameter Setting
9：Execute Quick parameter setting
5.10 Compatibility Description

• After 10.114.52(included), controller control the maximum permissible tolerance ε by corner ratio K value
(K=Pr408/Pr406) instead of Pr18. The bigger the K value is, the smaller the ε will be. As a result, more connect
point of single code will be regarded as corner and less connect point will be regarded as arc. Thus yield a
slower process speed.
• Before 10.114.51(included), we don't provide G64 P_ execute the multi-parameter function
• 10.112.87~10.112.99 and 10.114.21~10.114.29 version. System will close SPA function automatically when
the axis group has rotate axis which is not spindle. This function is to prevent the machining error.
• After 10.114.26(included), executing machining picture provides multiple groups parameter setting
function, which offers user enable faster.
–
• After 10.116.0B(included), executing machining picture cancels multiple groups parameter setting function,
and provides fast parameter setting function instead.
• After 10.116.6A(included), executing machining picture cancels fast parameter setting function, and
transfers to machining parameter setting page.
• After 10.116, G62 is the acceleration and deceleration mode of crossing Block S-Curve (Pr3802=1), entire
motion controller will be controlled within the Jmax, and the motion property is different with 10.114; If
trying to execute the G62 motion plan which is compatible with the past version , please switch to G64
mode(Pr3802=0).
• Before the version 10.116.10A(included), if the acceleration time of Pr541~Pr543 is set as 0, the limit of
acceleration is higher, the machining time is shorter but the precision is worse . Upgrade to
version 10.116.10B(included) , under the same parameter, machining precision is higher but the
machining time will get longer. If after The upgrade still want to maintain same machining time, it is
suggested to turn the number to 1.732 times smaller of original one.
• After the version 10.116.24B(included), G120.1 Command is valid newly, and changes parameter setting
picture as the following picture, the original P argument setting range of G62/G64 will be valid from version
–
of 10.116.x. Extend it to 9.
• After the version 10.116.16K(included), there's some changes as follow:

• Under G05 HPCC mode to execute G09/G61/G63 will close HPCC mode, until escape G09/G61/G63.
• Under the mode of G61/G63/Discharge, enable G05 HPCC function, do not issue COR-106 alarm, and
HPCC valid only when escape G61/G63/Discharge mode.
• Under the mode of RTCP/STCP, use G05 P10000 enable HPCC function, and issued【Under the G43.4
mode, COR-140 forbid the execution of G05 High Precision Contour Control mode】alarm.
• Revise COR-106 String as【Under the mode of G61、G63、Discharge Machining, COR-106 forbid the
execution of G5.1 Smooth Path】, and this alarm is not relative to G05 anymore.
• After the version 10.116.36(included), add HPCC mode which can support at most three Geometry Axis and
two Rotary Axis, enable Command as :
G05 P10000 X0 Y0 Z0 (A_) (B_) : enable HPCC function and set Smooth Axis. X、Y、Z represent Geometry
Axis, and A、B represent Rotary Axis.
• After the version 10.116.54B(included), do not support fast parameter setting and
parameter optimization(POBE) function。
• After 10.118.40B(included), support multiple groups parameter setting function to set Pr405 and Pr3981.
• After the version upgrade multiple groups parameter setting Pr405 would reference the previous
value at old version.
5.10.1 G62G64 compatibility Changed History

G62/G64 motion plan property explain and version evolution History.
–
Motion plan property Description

G62 Goal is the motion plan for Curve Cutting
G62.1 Goal is the motion plan for special purpose machine
G64 Goal is the motion plan for normal Cutting
9.X version
9.78
Add Command G62/G62.2，enable high precision surface/dynamic control
9.203
Improve G64 efficacy , and add limit for highest acceleration for corner
9.232
G64 machining behavior and G62 are the same
9.242.17
Improve machining will leads to abnormal vibration problem of machine.
9.242.18
Improve the acceleration property of G62/G64 mode in positive and negative direction, and lower the
vibration phenomenon in positive and negative direction, increase the smoothness of machine.
10.X version
10.1
Expanding system parameter 3802 setting 64 assign G64 as normal machining mode.
10.2
revise parameter 3802 definition , in order to let default number maintain as G64 mode(pr3802 = 0)
10.15
Improve G64 efficacy, and add limit for highest acceleration for corner
10.64
G64 Machining behavior and G62 are the same
10.114.X version
110.114.26E, 10.114.33G, 10.114.38M, 10.114.50B, 10.114.52
remove parameter 3802 from HMI, and revise its number as 0( which means default machining mode as G64)
10.116.X version
10.116.0
Provide motion plan parameter fast set function，user adjust「speed level」and「Smooth level」decide
motion property
Restore parameter: Pr3802 default High Precision Contour Control mode (0:G64; 1:G62; 2:HPCC)
–
After resetting, Machining condition chose by multiple groups High-Speed High-Precision parameter will be
back to the 0th group( which is P0)
Add acceleration and deceleration crossing block S-Curve G62.2 motion plan
completely remove G62.1 motion plan
10.116.0A
Correct the problem when parameter 3802=2, for NURBS curve stimulation enable.
10.116.0B
G62 mode internal logic Adjustment
10.116.0D
Take G62 as cross block S-Curve acceleration and deceleration motion plan officially, and add it to Pr3802=1
Correcting function of motion plan fast parameter setting is invalid to Pr401, P406, Pr408 and Pr407.
10.116.0F
Correct algorithm loophole, and avoid the problem of discontinuous block speed join in G62 mode.
10.116.6A
Correct the enormous vibration problem which occurs because of the broke from interpolation timeout when
moving in G62 mode.
10.116.0I, 10.116.6B
Correct the problem that some speed of the position exceed the feedrate of machining program in G62 mode.
10.116.0T, 10.116.10E
Correct the problem that when number of speed planned block is too fulled,it will be stuck in
machining in G62 mode.
10.116.16, 10.116.10I
correct the problem that after feedhold, the starting path will offset for a certain amount in G62 mode
(parameter 3802=1).
G62 starting speed and ending speed function can not be executed
Take Pr3802 set as 0(G64), so that it can normally execute.
10.116.16E
Correct the problem that when executing G62, if encounter G04, the Block will be stuck in Machining.
10.116.10N, 10.116.16E
Optimize the G62 related algorithm, but G62 may still be timeout.
10.116.16M, 10.116.24G
correct the phenomena that it will be stuck when interpolation timeout and speed is not smooth or suddenly
stop in G62 mode.
G62 Machining behavior and G64 are the same
Conclusion
G62G64 compatibility change can be sort out as following graph.
–
5.11 QA
• What's the different among Quick Parameter Setting, Precision Parameter Setting and Common Parameter
setting?
Ans：Three type parameter setting function is independent, they will not execute at the same time. Prime
rule of them is the newest command will replace the older one.
1. When the multi-group parameter enabled by G62 Px(x>0) in program, the quick parameter function will be
replaced by multi-group parameter. If user closes multi-group parameter by G62 P0, system will go back to
quick parameter setting.
2. If quick parameter setting level is 0, system will control the performance by default parameter Pr401/ Pr402 /
Pr404/ Pr406/ Pr408/ Pr3808.
• When G01 enters G02, always some obvious scratches ?
Ans：
1. If Pr408 setting is too small, it will leads to the limit of Arc feed of speed. Because of deceleration at the cross
point of G01 and G02 to generate stagnation scratches. Therefore, it is suggested to amplify Pr408 to
confirm.
2. Based on the first point, besides the Pr408 setting is too small, the other reason is that Pr3820 restrict the arc
speed. If program had used G41/G42 to enable Cutter Radius Compensation function, it is suggested to
amplify Pr3820 to confirm.
3. It is suggested to take Pr1221~/Pr1241~or Pr1361~/Pr1381~/Pr1441~/Pr1461~
separately for reverse backlash or spike phenomena to set compensation.
–
6 HSHP Parameter Adjustment Procedure.

6.1 Steps
6.1.1 Step1： Basic Parameters Setting

When setting these parameters below, compound and each axis setup should be noticed.
Parameters Adjustment advice For Each Axis Remark
Pr401-Cutting According to the rigidity of the Pr541~Pr556

acceleration time machine and the value of
Be set for rotating axis
Pr405, the recommend value is
Pr405*γ. (γ is between
0.02~0.05. The smaller γ is, the
higher machine vibration level
is.)
Pr402-acceleration Depending on the situation, the Pr641~Pr656

accelerated to 1G value should be reduced from
time 150ms. The adjustment rule is
that vibration of the machine
should not happen.
Pr404-Post Suggestion value is between Normally, the higher

acceleration bell- 10ms to 30ms. (If SPA function value, the larger
shaped time is enabled (Pr3808 =1~5), the processing error.
value could be reduced
depending on the vibration
situation.)
Pr405-Maximum Different speed limit according Pr621~Pr636

cutting feedrate to the application.
Pr406-Maximum According to bearable corner Pr601~Pr616

corner reference error, the value should be set.
It’s recommend to set
feedrate
under 500 for rotating
axis.
Pr408-Arc cutting According to the rigidity of the

reference feedrate at machine, it recommend to be
radius 5 mm set between 2000~4000.
HSHP Parameter Adjustment Procedure. – 72

–
Parameters Adjustment advice For Each Axis Remark
Pr3808-Smooth It should be set according to The higher value, the

Precision Advanced the rigidity of the machine. The error is smaller, but
higher the value is, the smaller machine would be more
the error is, but machine would shaking.
be more shaking.
Pr181~-Axis servo According to position loop gain Pr181~Pr196

loop gain of each driver
6.1.2 Step2 Quick Parameters Setting(F6 Parameter > F10 Next > F4 HSHP
Setting > F1 Quick Param. Setting)
valid version: before 10.116.54A
1. Considering precision and surface quality, the maximum bearable acceleration time and arc cutting
reference feedrate.
2. Not Considering precision and surface quality, the minimum acceleration time and the arc cutting reference
feedrate depends on cutting speed only.
• The adjustment of Pr404 is according to the vibrating situation after Pr401 and Pr408 are set. Pr404
larger is, vibration smaller is. Usually, it is unnecessary to change default value.

–
6.1.3 Step3: multi-setup process condition(F6 Parameter > F10 Next Page > F4
HSHP Setting > F2 Precision Param Setting)
1. According to figure shown below, parameters could be filled in this table. (It could be adjusted for different
demand.)
6.2 Adjustment Procedure of High-Speed-High-

Precision Parameter
• Procedure and Precautions Before HSHP Adjustment
• First, confirm the mechanism compensation (pitch, backlash and cusp) and servo tuning is complete.
Then, adjust HSHP parameters.
• In processing, maintain cutting rate (R16) to be 100% as possible in order to keep quality. If
processing time is too long or feedrate is too fast, please modify F-Code in program instead of
modifying cutting rate (R16).
• Corner Feedrate Deceleration Function(Pr406 and Pr408)
• When upgrading from 9.X or 10.112.X to 10.114.x, the automatic deceleration function for corner
cutting is different. Please consult parameter manual suggestion to modify.
• Corner deceleration (Pr406 and Pr408)
• Pr406 has been reduced already, but cutting feedrate is still too fast. This situation results
worse quality. When this happened to old version users, it might be the value of Pr408 too
large. In old version, 9.X or 10.112.X, cross section of block is limited by Pr406. After upgrading,
single block for arc is considered to be unlimited, that causes cutting feedrate too fast. Under
this situation, please estimate machine rigidity and then reduce Pr408.
• Please consult following suggestions to modify related parameters if the cutting quality is still
unsatisfied after enabling SPA function and modifying PR406/PR408.

–
• If angle of curved place is too large and is viewed as corner, it is suggested to raise K,
ratio of Pr408 and Pr406.
• If the curved place is smoother and is viewed as arc, then it is suggested to decrease K.
• After adjusting as above. When quality is worse, it might need to do reverse
adjustment.
• Smooth Precision Advanced, SPA(Pr3808)
• Occurring tool nick at the curved place in mold processing shown as figures. :
In order to ensure precision, it is suggested to set Pr3808 above 4, and SPA function is on. If machine
vibrates too severe, it is suggested to decrease Pr406 and Pr408 to get rid of vibration.
• After SPA open, quality becomes worse. :

Please confirm position loop gain of driver and controller are the same.
• When backlash, cusp and HSHP parameters are modified, quality of arc cusp is still unsatisfied. Please check
cutting rate (R16) is set as 100%.

–
7 How to Solve Mill Machining Problem

7.1 Preface
Purpose of this document is to find out which factors caused machining problem, so user can diagnose whether the
problem is caused by controller.
Machining process can be simplified as below diagram. Each part may cause undesirable machining result. When
the controller is concerned as a reason caused machining problem, two questions need to find out:
1. The motion plan generated by controller is according to the machining program?
2. The action of the motors is the same as the commands from controller?
7.2 Procedure for Solving Mill Machining Problem

How to confirm that whether the mill machining problem is caused by controller?
1. Decreasing G01 override：This action can reduce the dynamic (from drive and controller) effect.
2. Coordinate rotation：Use G68 to rotate the program coordinate, it won't affect the motion plan. If problem
still exists and at the same relative position on work-piece, it means the problem is caused by controller;
otherwise, it's caused by driver or mechanism.
3. Shift: Moving work-piece to other position on working table and machine again. By that way, it can
determine whether the different results resulting from different positions on table.
How to Solve Mill Machining Problem – 76

–
4. Repeatability: If the problem is caused by controller, the problem will exist in any case.
After following SOP above, if result is improved but not enough, you need to run SOP again to find out the
2nd, even 3rd factors that influence the result.

–
7.3 Note
Note 1： Measure basis mechanism features of machine
No Content Result record Note
1 Check alarm history

(record unusual alarm)
2 Check system data 1. Home grid (No. 56~59)

2. No. 22,23
3. No. 68,69
3 Check software travel limit X+ = X- =

Y+ = Y- =
Z+ = Z- =
4 Motor loading X= X =
(When F=1m/min) Y= Y =
Z= Z =
5 Measure Pitch Error compensation Refer to EMC3_C002 Instruction of Pitch Error

compensation
6 Measure Backlash compensation Refer to EMC3_C003 Instruction of Backlash

compensation
7 Measure Quad-peak compensation Refer to EMC3_C004 Instruction of Quad-peak

compensation
8 Check minimum crawling amount X= um

Y= um
Z= um
9 Check lubrication of machine table 1. Whether or not lubrication is normal?

(crawling greater than 5um)
2. Whether or not PLC sends alarm when
lubrication abnormal?
10 Check cooling fan 1. Clean the filter of controller's fan ____

2. Check fan in electric box ______
3. Clean dust on electric cabinet

–
11 Spindle loading 0 rpm =

1500 =
8000 =
12 Leakage check 1. Spindle motor___

2. Cutting fluid machine___
3. 3-phase electric___
4. Chip conveyor ___
13 Other
Note 2：Increase Pr404 or decrease Pr3808

Increase the smoothness of command, it can get two purposes listed below
1. Decrease machine burden, check whether machine stiffness can afford the severe motion.
2. Increasing smoothness will increase machining error.
Note 3：Modify ratio of Pr408/Pr406

After the modification in note 2, if result does not improve, it means the problem is not caused by machine stiffness,
but caused by the inconsistence of speed plan, so you should try to modify the ratio to see whether machining
quality is improved. Note that Pr18 only exists on 10.114.0~10.114.51.
Note 4：
If it is not improved, it means the program is inconsistent, so controller cannot plan the consistent result and it
generates mark lines on work-pieces.
Note 5：
Take YASKWA as example, Pn140 enables tracking control mode, Pn160 enables vibration suppressing control and
Pn408 enables friction compensation function. Once these functions are enabled, it is easy to generate machining
problem if corresponding parameters are not set well.

–
8 G120.1: Multi-Condition Machining

8.1 Format
• G120.1 P_ Q _；
P、Q：Enable the Multi-Condition Machining parameters setting. P is tool path condition, Q is machining
requirement.
• G120.1 P0 or G121
Restore to default parameters. System will use Quick Parameter Setting if it is has been set before
machining.
8.2 Instructions
1. There are up to nine sets of machining parameters can be used from P1Q1, P1Q2, P1Q3, P2Q1, ...to P3Q3。
2. G62/G64 P_ is still available, argument P's range is now expanded to 0~9. Ex: P1Q1 equals to G62P1, and
P2Q1 equals to G62P4。
3. Base on different machining requirements, the user can choose corresponding parameter settings.
4. User can set preferred parameters at "Machining Condition Selection" screen.
5. A default value can be loaded, please check the advised condition of each parameter set.
path：
8-Key System: F10 Next → F3 Parameters→ F6 HSHP Setting→ F4 Reset to Default
5-Key System: F10 Next → F3 Parameters→ F10 Next→ F1 HSHP Setting→ F4 Reset to Default
8.3 Notice
1. Only available on 6D/11/21 series controllers
2. Version: 10.116.24B or later
3. Range of P: 0~3
4. Range of Q: 1~3
5. Function is not enabled when both P and Q are not assigned.
6. If no Q argument is assigned, system will use parameters in Q1.Ex: 'G120.1 P1' equals to 'G120.1 P1 Q1'。
7. Restore to default parameters when "Reset" button pressed. System will use Quick Parameter Setting if it is
has been set before machining.
8.4 Related Alarms

• MACRO-411 Incorrect Format: Using G120.1 without assigning P argument.
• MACRO-412 Argument Out of Range: Range of P is 0~3 and range of Q is 1~3. This alarm will be triggered if
out of range.
• COR-103 Incorrect HSHP Parameters: If any of the HSHP parameters is blank or zero, this alarm will be
triggered when the condition is enabled by G120.1.
8.5 Function Key Path

• 8 Keys: F10 Next → F3 Parameters→ F6 HSHP Setting
• 5 Keys: F10 Next → F3 Parameters→ F10 Next→ F1 HSHP Setting
G120.1: Multi-Condition Machining – 80

–
8.6 Program Example

G90
G54
G43 H1
G0 Z0
X0 Y0
M3 S15000
G120.1 P1 Q2 //Enable the Machining Condition Selection before G01 cutting starts. It can also be enabled at the
start of a program.
G01 X50. Y50. F3000
.................
G00 Z0
G121 //Disable Machining Condition Selection after cutting finished.
G49
M5
M30
8.7 Link
G120.1：多组加工条件
G120.1: Multi-Condition Machining – 81

–
9 Threading Application Manual.

Contents
• Intro
• Operating Specifications
• Notifications
• System data
• Troubleshooting
• Compatibility
9.1 Intro
The content of this document contains the troubleshooting and notifications of G33, G21, G21.2, G78, G78.2
threading.
9.2 Operating Specifications

• Every threading commands (G21, G21.2, G78, G78.2) all includes a block of G33 threading cutting (as the
B→C segment shown below)
• G33 from point B won't be enabled until the spindle index arrives; the movement of the feeding axis refers to
the position feedback of spindle.
• After versions 10.116.16x, 10.116.24x support threading commands (G21, G21.2, G78, G78.2) with 3 modes
(Pr4040), including normal threading, high speed threading, extreme speed threading.
Threading Application Manual. – 82

–
Threading Mode Feeding Axis Tracking Retraction Speed Overlapping Function of

Spindle Feedback Optimization Starting Point
Normal O X X
High Speed O O X
Extreme Speed O O O
Notice：the retraction means the C→D→E segment.
9.3 Notifications
• When the Reset (C37) or Feedhold (C1) is triggered during B→ C→ D, for normal threading, it takes effect at
D; for high (extreme) speed threading, it takes effect at E.
• In the machining, when the block stop is triggered after B, for normal threading stops at D; high (extreme)
speed threading stops at E.
9.4 System data

Debug-052 Spindle position index counter
Definition When index signal of spindle is generated, hardware will record the
current number of pulse (latch).
Description 1. Theoretically, the value change increment in the same direction must
equal to Pr1651~ * Pr1661. If not, it means cables have lost pulse,
please check the feedback signal (A+,A-,B+,B-,C+,C-) to confirm it is a
loose cable or noise interference.
2. This variable will be set zero after finishing spindle positioning (C61).
Debug-322 Threading index checking error
Definition The threading begins after receiving the spindle index signal, if found the
signal unreasonable then the system data will +1, ends the threading
starting action and access a new index signal. Not influencing the
threading quality.
Description 1. If found the signal unreasonable then the system data will +1, ends
the threading starting action and awaits for the next index signal.
2. The threading action won't start if the system data +1, the action only
starts after the next correct index signal comes in, so it won't affect
the threading quality

–
Debug-323 Max Z axis tracking spindle error when threading
Definition Use the spindle and Z axis feedback to calculate the tracking error when
Z axis is in constant speed during the threading, unit: BLU
Description 1. Calculation: Z to Spindle tracking error = (Spindle feedback error) *

(Spindle rotation to Z axis movement ratio) - (Z axis feedback error).
2. Only works for G33/G21/G78 blocks; the value only updates when Z
axis in constant speed section.
3. The smaller the value is, the better the Z axis to spindle tracking and
the threading quality.
4. When consecutive G21 blocks are executed, the value will be set 0 at
first G21 block; will be set 0 when G87 block executed, but will keep
updating maximum error value when G33 executed.
5. Available version starts from 10.116.16U, 10.116.24O.
9.5 Troubleshooting
•
Additional：

–
1. The solutions to solve the stock during the threading process:

The main problem with this situation is that no index signal is received or parameter of check spindle speed
arrival is setting wrong
• 1.1 The range of Pr1993 spindle threading speed arrival is setting too small
If this parameter setting is too small, the threading process may get stuck at point B.
2. The solutions to solve the vibration in the threading process:
The vibration adjustment is only applicable for high (extreme) speed threading (Pr4040 = 1 or 2). The
machine vibration level and retraction quality are opposite, relating to retraction speed (Pr461), chamfer
amount for threading (Pr4043), acceleration time (Pr409), and chamfer angle of thread cutting (Pr4018), the
parameters and adjustments are explained below：
• 2.1
a) Reduce the chamfer angle of thread cutting
This angle is controlled by Pr4018. It has the most effect on machine vibration and is suggested to set
Pr4018 to minimum angle (=90°- half angle of threading tool)
G78, G78.2 is only applicable for extreme speed threading (Pr4040 = 2), adjusting Pr4018 on high
speed threading (Pr4040 = 1) won't affect the machine vibration.
b) Increase chamfer amount for threading
This amount is controlled by Pr4043, please increase the value by 1 each time while adjusting. The
machine vibration will be improved with increasing Pr4043, but the improving effect will be gradually
decreasing.
c) Increase acceleration time
The acceleration time is controlled by Pr409. Pr409 has the least effect on machine vibration and can
be directly set double while adjusting.
• 2.2 Reduce retraction speed
The retraction speed is the speed of the D→E segment, controlled by G00 speed (Pr461). reduce the
value by 1000 each time while adjusting. But the value shouldn't be too small, the minimum will be
Pr461 = F * S * tan(Pr4018).
3. The solutions to solve the retraction quality problem
The retraction quality adjustment is only applicable for high (extreme) speed threading (Pr4040 = 1 or 2). The
retraction quality and the machine vibration level are opposite, relating to retraction speed (Pr461), chamfer
amount for threading (Pr4043), acceleration time (Pr409), and chamfer angle of thread cutting (Pr4018), the
parameters and adjustments are explained below, if the vibration too much while adjusting, please stop the
step and move on to the next step.
• 3.1
a) Increase the chamfer angle of thread cutting
This angle is controlled by Pr4018. It has the most effect on machine vibration and must set Pr4018 to
be bigger than the minimum angle (=90° - half angle of threading tool), otherwise threading will
overcut, and then cause an inappropriate threading result. While adjusting, please increases value by
3~5 each time.
G78, G78.2 is only applicable for extreme speed threading (Pr4040 = 2), adjusting Pr4018 on high
speed threading (Pr4040 = 1) won't affect the retraction quality.
b) Reduce chamfer amount for threading
This amount is controlled by Pr4043, please reduce the value by 1 each time while adjusting.
c) Reduce acceleration time
The acceleration time is controlled by Pr409. Pr409 has the least effect on machine vibration and can
be directly set half while adjusting.
• 3.2 Increase retraction speed
The retraction speed is the speed of the D→E segment, controlled by G00 speed (Pr461). While
adjusting, please increase the value by 1000 each time starting from Pr461 = F * S * tan(Pr4018). G00
speed is related to the machine strength, needs to check whether the machine vibrates after
adjusting.

–
4. The solutions to solve the thread shape problem

General thread shape checkup is done with Go-No Go gauge or visual inspection.
• 4.1 Abnormal thread shape on the front end
Adjustment for abnormal thread shape on the front end
a) The problem is that the spindle is still accelerating
Enable Check spindle speed arrival ( Pr1991 = 2 or 3 )
b) The problem is that point B is too close to the workpiece
The distance between point B and the workpiece should be bigger than ,
S: Spindle rotation speed, F: Pitch. For example, S = 2000 rev/min, F = 2.0 mm/rev, Pr409 = 5 ms, then
the distance between point B and workpiece should be bigger than 0.334 mm.
• 4.2 Is the system data No.323 reasonable?
The data is the tracking spindle error calculated according to feedback from spindle and Z axis, the
reasonable tracking error is:
Thread Gauge Specifications Maximum Tracking Error (um)
M2 X0.4 27
M3 X0.5 36
M4 X0.7 45
M5 X0.8 47
M6 X1.0 50
M10 X1.25 56
M12 X1.5 66
M15 X1.5 66
M17 X1.5 72
M20 X2.0 83
M25 X2.0 83
M30 X3.0 106
For other thread gauge calculations, use the valid radius of Go gauge(D_go) and valid radius of NoGo
gauge(D_nogo) to calculate the maximum tracking error = ( D_go - D_nogo ) / 3.465

–
• 4.2.1 Machining problems

Check if one cutting depth of Z axis is reasonable first, and then check the hardware.
a) Programming error
The depth of normal thread gauge is ( 3 / 4 ) * H, H =

b) Wear compensation
If the workpiece can't pass through the Go gauge, increase the wear compensation, which means
increasing the cutting depth; if it can pass through the NoGo gauge, reduce the wear compensation,
which means reducing the cutting depth.
c) Finishing depth is too large
If this depth is too large, it will cause poor thread quality. The reasonable depth depends on the
materials, take aluminum as an example, the final finishing depth should be 0.05~0.10 mm. For the
thread quality, the cutting depth will take the constant-area cutting into the consideration, or use
G78/G78.2 automatically calculated the depth by kernel according to the constant-area cutting.
• 4.2.2 Check program
Check if one cutting depth of Z axis is reasonable first, and then check the hardware.
a) One cutting depth is too deep
Because the depth is too deep and the cutting force is too large, the z-axis tracking the spindle is not
good. The reasonable depth depends on the materials, take aluminum as an example, the general
depth should be 0.10~0.30 mm.
5. The solutions to solve the insufficient thread length:
As shown in the figure below, the workpiece machined following the program should be like the one on top
in the figure, but the actual thread will be like the one below with insufficient thread length. There are 2
important conditions affecting the thread length: Pr.409 and KP (Z axis)
As shown in the figure below, set Pr4043 is able to determine the chamfer amount for threading of G21 and
G78 (A-type is G92 and G76) and the system will organize the command depends on the parameter setting.
However, the two conditions mentioned above affect more results during the machining. Take lathe type 46
as an example (Includes other smaller size lathes), if KP is lower than 60 or Pr409 set over 50, it's common to

–
see that the thread length is shorter than expected.
409 Thread cutting acceleration [0~60000] ms 10 Press Reset

time of 1m/min
Pr409 Thread cutting acceleration time of 1m/min (ms)

181~200 Axial servo position [1~1000000] 1/sec 30 Press reset

loop gain
Pr181~Pr200 Axial servo loop gain
9.6 Compatibility
Most of the changes for threading are in 2 parts:
1. Guaranteed retraction distance and Guaranteed Jerk, guaranteed retraction distance means "Retraction
distance does not exceed Pr4043 Chamfer amount for threading"; Guaranteed Jerk means "Total Jerk does
not exceed Pr409, Pr401, Pr402".
2. Algorithm changes of high (extreme) speed threading.
After versions 9.242 (included)
• Issue Supp-1952：Before 9.242.24 (included), kernel logic with guaranteed retraction distance; After
9.242.25 (included), kernel logic with guaranteed Jerk.
• Issue Supp-1952：Before 10.112.68 (included), kernel logic with guaranteed retraction distance; After
10.112.68 (included), kernel logic with guaranteed Jerk.
• Issue Supp-1952：Before 10.114.1 (included), kernel logic with guaranteed retraction distance; Between
10.114.2 (included) and 10.114.56F (included), kernel logic with guaranteed Jerk.
• Issue ISSUE-2775：After 10.114.56G (included), kernel logic with guaranteed retraction distance.

–

• Issue ISSUE-2554：Before 10.116.0E (included), kernel logic with guaranteed Jerk; After 10.116.0E
(included), kernel logic with guaranteed retraction distance.
• Issue ISSUE-2554：Before 10.116.4 (included), kernel logic with guaranteed Jerk; After 10.116.4 (included),
kernel logic with guaranteed retraction distance.
• Issue ISSUE-2554：2nd version high (extreme) speed threading, kernel logic with guaranteed retraction
distance.
• Issue HSHP-310：After 10.116.15 (included), 3rd version high (extreme) speed threading, kernel logic with
guaranteed retraction distance, also optimize the retraction speed and performance.
• Issue HSHP-923：After 10.116.16N (included), 10.116.24H (included), 10.116.29 (included), optimize extreme
speed threading and reduce retraction vibration.
• Issue HSHP-2389：After 10.118.12D (included), for extreme speed threading (Pr4040=2), G76- Complex
Threading Cycle (A-Type) refers to Pr4018 to optimize the retraction quality with chamfer angle of thread
cutting.
Compatibility Chart

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10 Rigid Tapping Application.

10.1 Preface
• According to the characteristics of spindle, Syntec supports two different types of rigid tapping application,
tracking tapping and synchronous tapping.
• Tracking tapping is applied to a case that the performance of spindle motor isn't compatible with an axial
motor like a Machining Center.
• Synchronous tapping is applied to a case that the performance of spindle is compatible with an axial motor
like a Drilling & Tapping center.
10.2 Inverter Tapping
10.2.1 Condition
• Controller with DA port & Inverter-type spindle (Pr1791=0)
10.2.2 Application
• The movement of the feeding axis depends on the position feedback of the spindle, transmission lag of
commands and servo lag of axis. Normally, it's applied to a case that the performance of spindle motor isn't
compatible with an axial motor like a Machining Center.
• The precision of synchronous action can be tuned by Pr417 and Pr418, details refer to the tuning procedure
of tracking tapping.
• The precision at the bottom of the hole can be tuned by Pr419. The larger value, the shallower tapping
depth, on the contrary, the result in over cut.
• Controller doesn't support tapping acceleration or deceleration tuning, it can only be tuned by inverter.
10.2.3 Restriction
• Except for M03/M04/M05 are applying to control the spindle, the user should make a customized G84.
Replace M#2038 and M#2039 with an actual tapping C.W. and C.C.W. command (ex. M13/M14), and replace
M05 with an actual spindle stop command(ex. M15).
• Because the bottom of the hole has poor precision, inverter tapping is mostly used for the through hole
tapping.
• It's come up with a bad command prediction along with higher acceleration. Therefore, inverter tapping is
not suitable for high speed tapping.
10.3 Tracking Tapping
10.3.1 Condition
• P1-type spindle (Pr1791=1)
• V-type spindle (Pr1791=2)
Rigid Tapping Application. – 90

–
10.3.2 Application
• Controller provides a bell-shape acceleration function, definition shown below. While Amax or Jmax is
getting larger, the acceleration is getting faster. It's easy for drive to cause the overcurrent, or the result of
tapping has poor precision.
10.3.3 Restriction
• It's come up with a bad command prediction along with higher acceleration. Therefore, tracking tapping is
• While spindle is controlled by a pulse (Pr381~=0 or 2), if the drive doesn't enable the positioning control
function, the precision at the bottom of the hole will be undesirable.
10.4 Synchronous Tapping
10.4.1 Condition
• provide
• Syntec spindle (Pr1791=4)
10.4.2 Application
• Controller transmits a command to the spindle and axis simultaneously according to the tapping pitch.
Normally, it's applied to a case that the performance of spindle is compatible with an axial motor like a
Drilling & Tapping center.
• Controller provides bell-shape acceleration function, definition shown below. While Amax or Jmax is getting
larger, the acceleration is getting faster. It's easy for the drive to cause the overcurrent, or the result of
• Rapid tapping is enabled while G84 without P & Q arguments. The motion of rapid tapping is almost the
same as synchronous tapping, but change the bell-shape acceleration/deceleration to the constant
acceleration/deceleration during spindle reversion at the bottom of the hole. It can resist vibration.

–
• Rapid tapping also compensates for the servo lag. Therefore, the precision at the bottom of the hole is better
than other tapping applications.
10.4.3 Restriction
• Spindle must enable positioning control while applying synchronous tapping or rapid tapping.
• To make sure that the synchronization performs well, the position loop gain on the controller (Pr181~)
should be set to the same as on the drive, both spindle and axis.
10.5 Notifications
1. During tapping, Reset and FeedHold are invalid until the feeding axis back to reference point R.
2. When executing tracking tapping, if spindle motor control is not smooth or the resolution is not good, it will
cause the feeding axis to vibrate and make a noise problem.
3. Before switching the effective spindle (R791~), please confirm that the spindle has cancelled the tapping
process (G80) to avoid other unexpected actions.
4. When Spindle and axis drive are "different brands" or "different series", it may cause tapping error due to
the different communication delay time of spindle and axis drive. In this case, please enable the parameter
No.3972 to reduce the tapping error.
• Here are some examples:
• "M2 Yaskawa Sigma5" with "M2 Yaskawa Sigma7"
• "M3 Syntec drive " with "M3 Yaskawa Sigma7"

–
10.6 Tracking Tapping tuning step
10.6.1 Parameters Introduction

416 Rigid tapping coupling [0~6000] 0.001rev 1000 Press Reset

time
• This parameter is only applicable to inverter tapping (Pr1791=0). It determine the number of spindle
revolutions required for the feed axis to catch up with the spindle speed during tapping. The smaller
the parameter value, the higher the acceleration of the feed axis is, and more machine shaking can
happen. Otherwise, large set value reduces the accuracy of synchronous movement when entering the
thread.
417 Rigid tapping velocity gain [0~200] - 0 Press Reset
• This parameter is for "following tapping" (Pr1791<3), its purpose is to adjust the feed axis following
strength (velocity loop gain) when spindle is in constant speed. The smaller the value, the more the
feed axis falls behind the spindle; otherwise, the feed axis fall behind less or even ahead of spindle
axis.
418 Rigid tapping acceleration [0~200] - 0 Press Reset

loop gain
• This parameter is for "following tapping" (Pr1791<3) before version 9.x, its purpose is to adjust the
feed axis following strength (acceleration loop gain) when spindle accelerates or decelerates. The
smaller the value, the more the feed axis falls behind the spindle; otherwise, the feed axis fall behind
less or even ahead of spindle axis.
419 Rigid tapping spindle [0~6000] ms 0 Press Reset

deceleration time
• This parameter for inverter tapping (Pr1791=0), its purpose is to adjust the depth of the feed axis of
the tapping. The larger the setting value, the shallower the depth; otherwise, depth overcut can occur.
• In version 10.111.3 and before, this parameter applies to non-inverter tapping (Pr1791≠0). It is used to
calculate constant acceleration (Amax) limit profiling when tapping, the definition is:

–
3972 Enable driver delay compensation [ -1~0 ] -- 0 Restart
• This function is used to solve two problems when using different servo drives:
• Asynchronous command due to different communication delay time.
• Incorrect feedback compensation due to different feedback timing.
• ~10.118.40F, 10.118.43 0: Disable, 1: Enable
10.118.40G, 10.118.44~ -1: Disable, 0: Enable
• The supported servo drive types:

• Yaskawa serial bus: M2, M3 Sigma5, Sigma7, and SigmaM series
• Syntec serial bus: All M2, M3 drive series
• Supported version:
Servo Drive Controller Version
Yaskawa M2, M3 10.118.13, 10.118.12B, 10.116.26M and later

Sigma5, Sigma7, Sigma M
Syntec M3 drives 10.118.12Z, 10.118.22K, 10.118.28 and later
Syntec M2 drives 10.118.12Z and later
• The command delay time of motors are different when Pn-833 setting of driver in each axis are
various. It leads to low synchronization. Activate this function can compensate this problem.
• If any of the synchronous movement axes uses a delay model that controller does not support, driver
delay compensation will not be enabled.
• After driver compensation being enabled, Syntec driver is supported to use the cubic spline delay
model.
10.6.2 Tuning step

• Step1：Programming a tapping program without material, just dry run.
G00G90G54Z2.
G99;
M3S1000;
G84 Z-30. R2. F1000.P1.;
G80;
M30;
• Step2：Increase Pr417 from 0 until the system data No.14 approach to zero during spindle speed is
constant. Note that once Pr417 over an optimal value, the system data No.14 will get larger.
• Step3：Increase Pr418 from 0 that reduces system data No.13.

–
• Step4：If it's applying inverter tapping (Pr1791=0), tuning Pr419 to enhance the precision at the bottom of
the hole.
10.7 PLC Interface

Serial Number Name Function Description
S004 Rigid Tapping 1th spindle rigid tapping flag
R588 Rigid Tapping Mode Spindle rigid tapping flag

bit 1→1th spindle rigid tapping flag
....
10.8 Spindle orientation before tapping for serial spindle

4007 Spindle orientation stop before [0~1] - 0 Pres Reset

tapping for serial spindle (0:
disabled; 1: enabled)
• 0: Turn off the orientation stop before spindle tapping function.

• 1: Turn on the orientation stop before spindle tapping function. System will first position base on
spindle origin offset (Pr1771~Pr1780), and then perform tapping after orientation stop finished.
• Valid from version 10.116.16, but invalid for pulse-train spindles.

–
10.9 Trouble shooting
10.9.1 Problem-solving process for the poor precision of synchronization
• Note：If the position loop gain on the controller has set to the same as on the drive, but ideal tracking
error(system data No.33/34) and real tracking error(system data No.10/11) are very different, make sure the
filter function and feed-forward compensation function of drive are disabled.
10.9.2 Alarm Message
System data
[0013]: Maximum interpolation error of Z axis following spindle when tapping (straight line direction)
[Definition]
During tapping, maximum error of Z axis following spindle, Unit: BLU
[Description]
1. During tapping, smaller the maximum value of [System Data 0014 Interpolation error of Z axis following
spindle], the better it is. It means tapping has higher precision.
2. For multiple axis group or multi-spindle systems, the displayed value is decided by R21 and R791~R794. For
example:
When R21= 0 or 1, displays tapping information of main spindle of Axis Group 1;
When R21= 2, displays tapping information of main spindle of Axis Group 2;

–

3. Multiple axis group or multi-spindle systems display is valid from ver. 10.116.6A.
[0014]: Interpolation error of Z axis following spindle when tapping (straight line direction)
[Definition]
During tapping, the dynamic error of Z axis following spindle, Unit: BLU
[Description]
1. During tapping, the dynamic error of Z axis following spindle
2. For multiple axis group or multi-spindle systems, refer to System Data 0013 Max interpolation error of Z axis
following spindle when tapping (linear direction)
[0015]: Interpolation error of Z axis following spindle during tapping (rotation direction)
[Definition]
[Description]
10.9.3 Q&A
1. Once tapping process begins, the spindle burst when applying the Non-Inverter Tapping (Pr1791≠0) with
spindle voltage control (Pr381~=1).
A：Voltage command and encoder direction are opposite, refers to follow steps :
a. Change spindle type to V-type (Pr1791=2), and then spindle rotates clockwise slowly (S<10 RPM).
b. Check spindle feedback (system data No.28) and spindle index counter (system data No.52) if the
value increases together? If not, reverse the axis movement direction (Pr41~).
c. Check spindle feedback (system data No.28) if it increases in prediction? If not, the encoder output
direction opposite. Switch the A+/A- signal on the wire from drive to the controller.
2. Spindle rotation reverses abnormally when applying the Non-Inverter Tapping (Pr1791≠0) with spindle
voltage control (Pr381~=1).
A：Probable reasons :
a. Position loop gains too large, please reduce the value (Pr181~).
b. Acceleration too strong, please increase the value (Pr1971~/Pr1981~).
3. Feeding axis waits for a while at point R when tapping process with V-type spindle (Pr1791≠0).
A：A probable reason is that the spindle zero speed is inaccurate. Follow the steps until M3 S0 can stop
spindle rotate actually.
a. Tuning spindle zero speed offset speed (Pr1631~).
b. Enable velocity closed loop control function (Pr1881~>0).
4. Is system data No.13 reasonable?
A：Here is a table of recommended error of screw of the metric system
Pitch Error Pitch Error
M6x1.00 67 M2x0.40 38

–
M3x0.50 55 M1x0.25 32
10.10 Compatibility
1. Tapping acceleration planning change：
• Before 10.111.3 (included)
For the Non-Inverter Tapping (Pr1791≠0), controller offer constant acceleration/deceleration, the
definition of Amax is as follows:
• 10.111.4~10.114.21
For the Non-Inverter Tapping (Pr1791≠0), controller offer bell-shape acceleration/deceleration, the
definition of Amax and Jmax is as follows:
P.S.：The formula assumes that the spindle is corresponding to the 6th axis (Pr1621~=6).
• After 10.114.22
If Pr1971~=0 and Pr1981~=0, the definition is the same as version 10.111.4~10.114.21.

2. After version 10.116.6 (included), controller offers the system data No.13~15 which is corresponded
information for multi-group or multi-spindle system. In addition, remove system variable #1803~#1807, CNC
parameter Pr1961~Pr1965 and system data No.368~ No.373.
3. After version 10.118.12Y (included) and 10.118.22J (included), parameter No.3972 can be used to solve the
tapping error caused by using the "different brands" or "different series of spindle and aixs drive.

–
11 G51.2 Polygon Turning Application
11.1 Content
• Content
• Abstract
• Application Specifications
• Zero Point Teaching Procedure of Tool
• Parameter Setting
• PLC Signal
• Case
• Diagnostic Variables
• Common Alarms
• Troubleshooting
• Other Application
• Compatibility Variations and Notices
• References
11.2 Abstract
This document provides G51.2 related parameter setting methods and troubleshooting methods for application
engineer to set parameters and assist customers in troubleshooting problems according to different machining
needs.
11.3 Application Specifications

1. Command specification reference:
a. Enable function: G51.2 P_ Q_ [R_] [K_] ;
G51.2 Polygon Turning Application – 99

–
• P: The main spindle(workpiece axis, positive spindle) speed ratio or the number of blades,
default value P=1 (integer, range: 1~999).
• Q: The sub-spindle (tool axis, negative spindle) speed ratio or the number of edges, default
value Q=1 (integer, range: 1~999).
• R: Synchronous phase difference(Range: 0°~359.999°).
• K: Number of the synchronous groups (no. 1~3). Multiple synchronous group combinations,
up to 3 groups, can be used simultaneously. When K is not specified, the 1st group of
synchronous combinations is set to default.
b. Close function : G50.2 [K_];
c. Detailed reference: G51.2/G50.2- Polygon cutting (A-Type)、G51.2/G50.2- Polygon cutting (C-Type).
2. Synchronous procedure:
a. Activate synchronization:
b. Release synchronization:
3. Notice:
a. When performing the synchronous phase difference, the R-value is written as the difference in angle
between the tool and workpiece requirements multiplied by Q and divided by P.
b. Only integer values can be specified to the P argument and the Q argument, if there is a need for non-
integer values, it should be rounded to integers. For example, if the ratio of P and Q is 1:2.5, a G51.2
P2 Q5 should be specified in the program.
c. During actual cutting, it is important to note that the rotational diameter between the cutter blades
must be larger than the actual machining side length. Take the following figure as an example, L1
must be larger than L2 to ensure accurate machining conditions. L1 is the rotational diameter of the
tool; L2 is the length of each side of the polygon to be machined.
4. Determining the convexity of the machined surface: G51.2 is a new type of machining process that uses the
rotational speed difference between the tool and the workpiece. By this speed difference, polygonal

–
workpieces can be machined quickly, but because the physical cutting relationship often affects the
concavity of the machined surface due to changes in the machining conditions, the machined result may not
be a flat surface. The following is an indication of how to determine the convexity of a surface.
a. Variable definition:
i. Rotational speed ratio (i)=Sub-Spindle/Main Spindle(Q/P).
ii. C=The vertical distance between the cutting tool and the center of the workpiece when
cutting.
iii. K=C/(i-1)^2.
iv. L＝Tool spin diameter.
v. Simulation
vi. Path simulation tools: http: //fooplot.com/?
lang=zh_hant#W3sidHlwZSI6MCwiZXEiOiJ4XjIiLCJjb2xvciI6IiMwMDAwMDAifSx7InR5cGUiOjEw
MDB9XQ--
vii. Cutting cutter picture

–

–
Rotational speed K Mac The cutting path simulation result

ratio i cond hine
ition d
flat
resul
t
Rotational speed K>L conv It is assumed that there is only one tool in the
ratio i>2 ex cutter, the speed ratio = 4, the workpiece radius =
25 mm, and the tool spin diameter = 1.5 mm.
Rotational speed
ratio (i)=Sub-
Spindle / Main
Spindle(Q/P)

–

ratio i cond hine
ition d
flat
resul
t
K=L flat It is assumed that there is only one tool in the

cutter, the speed ratio = 4, the workpiece radius =
25 mm, and the tool spin diameter = 3.125 mm.
K<L conc It is assumed that there is only one tool in the

ave cutter, the speed ratio = 4, the workpiece radius =
25 mm, and the tool spin diameter = 5 mm.

–

ratio i cond hine
ition d
flat
resul
t
Rotational speed - conv It is assumed that there is only one tool in the
ratio i＝2 ex cutter, the speed ratio = 2, the workpiece radius =
Rotational speed
ratio (i)=Sub-
Spindle / Main
Spindle(Q/P)
Rotational speed - conv It is assumed that there is only one tool in the
ratio i<2 ex cutter, the speed ratio = 1, the workpiece radius =
Rotational speed
ratio (i)=Sub-
Spindle / Main
Spindle(Q/P)
b. Other common examples of cutting parameters setting:

In general, customers keep the speed ratio setting at 1:1, because the processing efficiency will be
higher.

–
Rotati Spe Cutter Rod Numb Processi Machi The cutting path
onal cifie diameter radius er of ng shape ned simulation result
speed d (mm) (mm) cutter flat
ratio i met tools( result
hod piece)
1: 1 G51. 130 15 1 Monohed convex

2 P1 ron
Q1
1: 1 G51. 130 15 2 Dihedron convex

2 P1
Q1
1: 1 G51. 130 15 4 Tetrahed convex

2 P1 ron
Q1
2: 1 G51. 130 15 2 Tetrahed convex

2 P1 ron
Q2
4: 1 G51. 130 15 1 Tetrahed concav

2 P1 ron e
Q4

–
Rotati Spe Cutter Rod Numb Processi Machi The cutting path
onal cifie diameter radius er of ng shape ned simulation result
speed d (mm) (mm) cutter flat
ratio i met tools( result
hod piece)
1: 1 G51. 150 15 6 Hexahedr convex -

2 P1 on
Q1
1: 1 G51. 180 15 12 Dodecah convex -

2 P1 edron
Q1
11.4 Zero Point Teaching Procedure of Tool

Purpose: To ensure that the absolute position of the workpiece is correct (especially if there is a need for repeated
cutting), the tool zero point needs to be taught once after the tool is installed, and the teaching is mainly done in
the following ways,
1. Measure the angle between the zero position of the cutting edge and the tool setting position, using the R
argument to bring in the phase difference.
2. Adjust the tool to the tool setting position and set the tool setting position to the home position.
3. Adjust the tool to the tool setting position, and then execute the spindle synchronization angle teaching by
pressing the set shift angle button (F4>F10>F2). After this action, the reference angles of the driving axis and
driven axis will be stored in the Registry Table.
(Note) Tool setting position: Align the tool blade direction to the centerline of the tool and the workpiece (refer to
the tool position in the figure above).
If any of the above 3 tool setting actions are performed, the angle of the workpiece at 0 degrees is guaranteed to be
correct (refer to the schematic diagram). If the workpiece is to be shifted by an angle, simply add the phase
difference to "the angle to be shifted multiplied by Q and divided by P".

–
11.5 Parameter Setting

No. Description Range Unit Initial Effectiv Remark
Value e
181~200 Axial servo loop gain [1,10000 1/ 30 Press

(Kp) 00] sec Reset
221~240 Axial type [0~5] - 0 Press Need to be set to "1"

Reset
861~880 Axis home searching [0,1] - 0 Press

direction is negative Reset
1731~1740 Spindle minimum [0,80000] RPM 100 Press

speed Reset
1791~1800 *Spindle motor type [0,7] - 0 Reboot G114.1/G51.2 only

support 1791=2~4
1831~1840 Spindle motor [-1,60000 ms 2000 Press

acceleration time ] Reset
1851~1860 Spindle gravitational [0,60000] ms 100 Press

acceleration and Reset
deceleration time
1861~1870 Spindle [0,1] - 0 Press

synchronization Reset
function, spindle
rotation direction
4021/4023/4 *Spindle [0,6] - 0 Reboot

025 synchronization
function, main
spindle number
4022/4024/4 *Spindle [0,6] - 0 Reboot

026 synchronization
function, sub-spindle
number
The following is an explanation of the spindle types Pr1791~Pr1796, and the setting methods are (main spindle,
sub-spindle) = (3, 3), (4, 3), (4, 4).

–
11.6 PLC Signal

No. Name, Range Description Read/Write
Principle
R761~R770 Spindle Machine Position Display the corresponding spindle Read-only

machine position in 0.001 degrees.
R761 is the 1st spindle machine
position
R762 is the 2nd spindle machine
position
And so on...
S62 First Spindle Synchronization The 1st set of spindle speed/phase -

Finish synchronization completion signals.
S72 Second Spindle The 2nd set of spindle speed/phase -

Synchronization Finish synchronization completion signals.
S73 Third Spindle Synchronization The 3rd set of spindle speed/phase -

Finish synchronization completion signals.
11.7 Case
Product Description Application
1 General Polygon Machining polygons once only. 1. No tool setting process is

required.
2. Command format: G51.2 P_ Q_.
2 Cutting three sides Machining two sides first, then 1. Tool setting procedure is
the other side separately. required.
2. Command format: G51.2 P_ Q_
R_.

–
3 Cutting multiple First machining a set of 1. Tool setting procedure is

polygons with aligned polygons, then turning a fixed required.
ridges angle, machining another set 2. Command format: G51.2 P_ Q_
of polygons. R_.
4 Cutting hexagon, drilling After machining the six sides of 1. Tool setting procedure is
on the side the nut first, then turn to a required.
fixed side for drilling. 2. Command format: G51.2 P_ Q_
R_.

–
5 Cutting twisted polygon General cutting process, but 1. Tool setting procedure is
machining with a fixed required.
rotational speed. 2. Command format: G51.2 P_ Q_.
3. Position control for the spindle
and driven tool (1791=3、
1792=3):
a. Applications:
i. After the command
G51.2 is completed,
specified C_ and
the number after C
represents the
command of the
angle to be
twisted.
Ex: G51.2 P1 Q6;
G01 C45;
4. Speed control for the spindle and
driven tool (1791=2 or 4、1792=2
or 4)
a. Applications:
i. Assume machining
with F0.1, G95 feed
rate per revolution;
ii. Travel 20mm = 200
laps;
iii. 20 degrees/200
laps = 0.1 degrees/
lap, which means
that the angle
difference of 0.1
degrees for each
lap will be able to
reach 20 degrees of
rotation for 200
laps;

–
iv. The difference

between one
rotation of the
spindle and the
driven tool needs
to be 0.1 degree,
which is G51.2 P360
Q359.9, but the
speed ratio only
supports integer
ratio, so it needs to
be written as G51.2
P3600 Q3599 with
F0.1 machining.
11.8 Diagnostic Variables

1. [Diagnosis 0045]: Angle difference of spindle synchronization
[Definition]: While lathe dual spindle synchronization, the dynamic angle difference of dual spindle, unit:
BLU
[Description]:
a. The dynamic angle difference while lathe dual spindle synchronization. The smaller the value, the
better the synchronization of the dual spindles.
b. At constant velocity, diagnosis 0045 is equivalent to diagnosis 0046, please confirm whether the
position gain settings of the dual spindles match. On the contrary, the dynamic characteristics of the
dual spindles may not match, then extend the spindle acceleration/deceleration time, or re-adjust
the servo of the dual spindles.
c. The display principle of the diagnosis 0045/0046 is the latest Kth synchronous groups.
2. [Diagnosis 0046]: Spindle synchronization max. angle difference
[Definition]: While lathe dual spindle synchronization, the max. angle difference of dual spindle, unit: BLU
[Description]:
a. The max. angle difference while lathe dual spindle synchronization. The smaller the value, the better
the synchronization of the dual spindles.
b. After the dual spindle synchronization ends, this value will be retained until the synchronization
starts again.
c. For related instructions, please refer to Diagnosis 0045.
11.9 Common Alarms

1. COR091【Main axis synchronization – basic main axis number error】
Causes: The setting of Pr4021~Pr4026 is wrong or the set spindle does not exist (For example: set Pr4021 to
0)
2. COR092【Main axis synchronization – synchronization main axis number error】
Causes: The setting of Pr4021~Pr4026 is wrong or the set spindle does not exist (For example: set Pr4022
to 0)
3. COR093【Main axis synchronization – spindle type error】
Causes: The setting of Pr1791~Pr1796 is wrong(For example: set Pr1791 to 0,1,5,6 or 7)

–
4. COR095【In polygon cutting function, basic spindle rotation speed ratio is wrong】
Causes: Wrong setting of G51.2 P argument.
5. COR096【In polygon cutting function, synchronous spindle rotation speed ratio is wrong】
Causes: Wrong setting of G51.2 Q argument.
6. COR102【Under Spindle synchronization – synchronization command duplicated or conflicted】
Causes: Input K repeatedly or the main-spindle has been used as the synchronous axis of other synchronous
combinations
7. COR101【Under Spindle synchronization – thread pitches of two spindle is inconsistent】
Causes: The settings of two spindles Pr161~Pr180 are inconsistent
8. COR142【Spindle synchronization – K Argument error】
Causes: The input K value is out of range
9. COR303【The basic spindle cannot use the Spindle Synchronization function in position control mode
(C63)】
Causes: Main-spindle enables G114.1/G51.2 function under position control mode(C63)
11.10 Troubleshooting
Poor toolmarks(with deep marks) Jam synchronization Cutting single twist Repeated cutting twist

–

–

–
Note:
1. If the main spindle and sub-spindle are set to 3, and the dynamic tracking function is defaulted to off
( without controller compensation). After completing the speed and phase synchronization, the tracking
compensation will no longer be performed. If the machining conditions are not set properly during
machining (Ex: the depth is too large, the feed rate is too fast, etc.), it will lead to poor tracking condition
which may cause the toolmark problem. In this case, the dynamic tracking function can be enabled with the
G10 L1600 command, and the Kp gain of dynamic tracking can be adjusted according to the machining
conditions.
2. If any of the main spindle and sub-spindle is set to 4, the dynamic tracking function is defaulted to on ( with
controller compensation ). After completing the speed and phase synchronization, it will be compensated by
dynamic following Kp. This command can be modified by the G10 L1600 command, but if the value is set too
large, the compensation amount will be too large and cause the deep tool pattern problem.
3. G10 L1600 P_Q_specification Instruction:
a. Purpose: The command G10 L1600 P_ Q_ is used to adjust the tracking gain Kp when the sub-
spindle is tracking the main spindle. When Kp is on, after the system entering the synchronous phase,
it will dynamically compensate for the phase error between two spindles.
b. Specification Description: G10 L1600 P_ Q_.
i. P: Adjustment of the tracking gain value of the synchronous spindle of group P(1~3,
corresponding to Pr4021~4026).
ii. Q: The set value of gain is invalid after reboot.

–
1. Range of Q value: 1~1000 ( 0 is to restore the system default value, -1 is to turn off the
synchronous tracking compensation ).
2. The default value of Q: P-type spindle 300, V-type/SYNTEC spindle 833.
3. If the setting of Q is out of range, it will revert to the system default value.
iii. The user can check number 45/46 on the diagnostic screen and adjust the Q argument until
the number 45/46 on the diagnostic screen decreases (the smaller the better).
iv. When the main spindle/sub-spindle type are all P-type spindles (Pr1791~=3), the system is
defaulted to not enable the synchronous dynamic tracing function.
c. Valid version: 10.116.24V, 10.116.36B, 10.116.37, 10.117.37 (and above).
4. First, capture the controller side commands and feedback for observation (X, Z servo command, motor
feedback; S1, S2 speed command, speed feedback, D45), and match the location where the tool mark occurs
with the captured waveform graph to see if there is any abnormality. If no abnormality is found, the
command and feedback of the drive side can be observed (S1, S2, X, Z (0.01RPM) speed command and speed
feedback)and compared instead. Sometimes the data acquisition speed of the controller is not as fast as the
driver, and the resolution will not be enough, resulting in the phenomenon of no visible reason of tool
marks.
5. Most of the jam synchronization occurred because of spindle problems. So when capturing data for analysis,
it can start from the main spindle and sub-spindle, and then capture the speed command, feedback of
controller and drive S1, S2, respectively; the spindle speed/phase synchronization completion signal of the
1st spindle group of S62; the D45 spindle synchronous angle difference, respectively, for analysis. Usually,
the jam synchronization occurs in the stage of phase synchronization, which can be observed by D45.
11.11 Other Application

1. Repeated cutting:
a. If the speed ratio and phase angle (R) of the main spindle and the sub-spindle are set constant, the
"Zero Point Teaching" step can be ignored.
b. If there is a change in one of the speed ratios or phase angles (R) of the main spindle and the sub-
spindle, a "Zero Point Teaching" procedure is required. The procedure is mainly used to correct the
absolute position between the tool and the workpiece, and further details can be found in the Zero
Point Teaching Procedure section of this manual.
2. Cutting twisted polygon:
a. Schematic
b. This can be achieved by setting the speed difference between the main spindle and the sub-spindle.
The reference setting example is as follows,

–
i. Assumptions: Under the condition of G95 (feed rate per revolution) at feed rate speed F0.1, the
workpiece is twisted 20 degrees and the path length of twist is 20mm (as shown below).
>>200 laps (20/0.1) are required for the spindle to travel a path length of 20 mm at F0.1
condition;
>>The spindle needs to rotate 20 degrees in 200 laps, which means it needs to turn 0.1 degrees
per lap (20/200 = 0.1 degrees/lap);
>>The difference between one rotation of the spindle and the driven tool needs to be 0.1
degree, which is G51.2 P360 Q359.9. But the speed ratio only supports integer ratio, so it
needs to be written as G51.2 P3600 Q3599 with F0.1 machining, which can meet the demand.
Schematic
ii. Note: Although the current specification can only set the P_Q_ arguments in the range of
1~999, the actual internal implementation does not block this specification.
c. Dual feedback cutting:
i. If the synchronous time is too long, it is recommended to turn on the Pn32-A the dual
feedback function of speed mode (【Pn-32A】 Enable Vel Dual Feedback Control ) and
perform SOP tuning.
ii. Other references: Vibration Damping Control Gain Tuning Function.
11.12 Compatibility Variations and Notices

1. The polygon cutting function (G51.2) is valid from version 10.113.0.
a. Spindle type (4,4), (4,3) has been modified after controller versions 10.118.22O, 10.118.28C, and
10.118.31 to avoid the problem of over-compensation.
b. The spindle type (3,3) has been modified after drive version 2.12.4 and 2.14.100 to avoid a tool
pattern problem.
c. Multi-group synchronous function is available from 10.116.24M, 10.116.32 (inclusive).
d. G10 L1600 P_ Q_ gain adjustment function, valid from version 10.116.24C.
e. Spindle synchronization/polygon cutting function and main/sub-spindle type compatibility
relationship table
Main spindle type (PR1791~) Sub-Spindle type (PR1791~) Valid Version
3 3 From Start

–
Main spindle type (PR1791~) Sub-Spindle type (PR1791~) Valid Version
4 2/4 10.116.16D
2 2/4 10.116.16D
2/4 3 Synchronized tracking

ability is poorer than
(3,3)
3 2/4 Synchronized tracking

ability is poorer than
(3,3)
0/1/5/6/7 0~7 Not available, trigger

Cor-093
0~7 0/1/5/6/7 Not available, trigger

Cor-093
f. Due to hardware limitations, when reading the encoder feedback signal, there will be a time
difference of 8us between two adjacent ports. The more the interval, the greater the port time
difference. This does not affect the use of the spindle function. The more shorter distance of ports the
two spindles use, the better synchronization.
g. The dynamic characteristics of the two servo motors must be set the same. For example, acceleration
and deceleration time (Pr1831~1840), jerk acceleration and deceleration time (Pr1851~1860), etc.
h. If the position loop gains (Kp, Pr181~200) of the two pulse servo motors are different, make sure that
the Kp setting of the controller is consistent with the setting of the drive, otherwise it will not be able
to perform as expected.
i. When the spindle is synchronized, the rotation command will be sent to the main spindle and sub-
spindle. The rotation direction of the synchronous spindle will be specified with the main spindle
rotation direction and the spindle synchronize direction (parameters 1861~1870), whether it was M03
or M04.
j. When the synchronization is completed (S62 ON) and the user presses Reset, the synchronization will
stop immediately, starts from 10.118.24.x, 10.118.28.x, 10.118.29.x, 10.118.40.x, 10.118.x (and after)
• In early version ,when the synchronization is completed (S62 ON) and the user presses Reset,
the synchronization won't stop until the two spindles stop.
k. When the emergency stop is pressed, it will stop the spindle rotation and spindle synchronization.
l. The main-spindle is forbidden to use the synchronization function in the position control mode (C63).
It is not recommended for the synchronous spindle to use the synchronous function in the position
control mode.
11.13 References
1. ISSUE-3351 多边形切削G51.2使用说明[补充]
2. G51.2_多边形切削切削面模拟说明
3. 20191206_宏润龙森飞车刀纹问题_展毓
4. 20191211~201911212_宏润龙森飞车刀纹问题_展毓

–
12 ROT Lathe servo turret application manual

• Descriptions
• Tuning Instruction
• Process Details
• Comparison Example
• Test Purpose
• Parameter Setting Data
• Comparison
• Analysis
• PLC Example
• HELP File
12.1 Descriptions
ROT servo turret has the following advantages over conventional I/O servo tool magazines:
1. Simple wiring
2. Fast tool change speed
And Syntec has a dedicated PLC component for ROT turret to meet the demand of servo turret rotation and reduce
the development difficulties.
However, the current application document does not have a detailed and integrated introduction for ROT turret
tuning, which makes it difficult to adjust after assembly. As a result, this document describes:
1. How to adjust the turret
2. Provide a list of parameters which is recommanded to be adjusted and related FAQ
and how to verify the adjustment results and comparison.
12.2 Tuning Instruction
12.2.1 Process Details

Auto Tune Turret Position Tuning Motion Plan Parameter Tuning
Auto Tuning
Syntec provides servo turret automatic tuning function, the access path is as follows:
1. 8 keys: F10 Next Page → F3 Parameter Settings → F8 Tuning Function → F1 Auto Tuning
2. 5 keys: F10 Next Page → F3 Parameter Settings → F10 Next Page → F5 Tuning Function → F1 Auto
Tuning
Operation process:
1. Press [Auto Tuning] and enter the screen to select the axis to tune.
ROT Lathe servo turret application manual – 120

–
2. Open the drop-down menu and select the axis type - ROT axis (CNC axis, ROT axis).
3. Select ROT axis and press "F1 Next" to set tuning parameters.
Main Screen
4. Set the tuning parameters (mechanism type): belt, direct drive type; please choose according to the
actual situation.
After setting, press "F1 - Next" to start tuning.
Setting page of tuning parameters
5. The tuning result will be written into the parameters automatically after the tuning is completed. If you
want to stop during the tuning process, please press "F1 Stop Tuning".

–
Tuning result page
Note
1. If the AL-203 Motor Stuck alarm occurs during the tuning process, the 【Pn-441】 Over Torque 1
Threshold can be appropriately increased to avoid this alarm. (Usually can set to 200%, but it should be
determined according to the turret motor specification.)
Parameter descriptions
parameter descriptions initial value unit setting when the

no. range modification take
effect
Pn - 441 over torque 1 170 % 10~250 immediately

threshold
• Example: Setting this parameter to 150 indicates that the over torque 1 detection
threshold is 150% of the motor's rated current.
• Over torque 1 threshold (%) = current threshold / motor rated current * 100%.
• If the over torque therhold is set greater than Pn-70A maximum torque ratio, the
parameter will be automatically changed to Pn-70A when the drive is on, and if it is
subsequently changed, the user setting will be followed before next time the drive turn
on.
2. If there is a gear ratio, it is recommended to select "belt" in the mechanism setting during tuning.
a. The speed of a direct drive motor is 1: 1 compared to the actual speed, which is different from the
case with a gear ratio, and it will fail in the actual tuning.
b. The belt mode is similar to the gear which transfer indirectly and allows for the speed difference
caused by the gear ratio. Plus the only two modes that can be selected are belt and direct drive,
and after actual testing, it is recommend using the belt mode.

–
Auto tuning reference manual

1. Auto Tuning Operation Manual
Tool position customization (turret position tuning)

Purpose: Precisely define the angle of each tool to reduce the collision during tool changing caused by the small
error of the mechanism.
Clamp / unclamp Tool changing video(without performing position

teaching)
The video shows collision during tool changing caused by

the small error of the mechanism.
Rotation jitter after ROT loading.mp4 (there will be twisting
phenomenon after tool be pushed back due to angle error)
 呈现宏 'multimedia' 时发生错误

com.atlassian.renderer.v2.macro.MacroException:
Cannot find attachment 'ROT負載後旋轉抖
動.mp4'
Path: Customized table of tool position

• 8 keys: F10 Next Page>F3 Parameter Settings>F10 Next Page>F2 ROT Parameters>F1 ROT Angle Teaching
• 5 keys: F10 Next Page>F3 Parameter Settings>F10 Next Page>F4 ROTParameters>F1 ROT Angle Teaching
Input method: Use "Manual Input" and "F1 Perform Teaching", "F1 Perform Teaching" can input the current
angular position of the ROT turret into the column where the cursor is at.

–
P N
o e
si g
ti a
v ti
e v
m e
e m
c e
h c
a h
ni a
s ni
m s
p m
o p
si o
ti si
o ti
n o
d n
ef d
in ef
e in
e
Open method: After completing the "customized table of tool position", go to "tool position customization (0:
off; 1: on)" on the parameter page to enable the function
• Path:
• 5 keys: F10 Next Page>F3 Parameter Settings>F10 Next Page>F4 ROT Parameter
• 8 keys: F10 Next Page>F3 Parameter Settings>F10 Next Page>F2 ROTParameter
• 0: The tool position is calculated by the controller, take 4 tools for example, the position of each tool is 0,
90, 180 and 270 degrees.
• 1: The actual position of each tool is defined by the user through the "ROT Tool Position Customized
Table" .

–
Parameter Page
Note
1. The positive and negative mechanism position of "each tool" needs to be defined, otherwise the alarm
will be triggered when the tool position customization is turned on due to null tool position.
2.
When filling the value in tool table, it is recommended to turn on the torque limit function to avoid that
the tool with a mechanism angle error be pushed in by motor force and unable to catch the correct
compensation angle. It can also avoid the overload of the motor due to the interference of the
mechanism.
a. Torque limit function: It is necessary to work with the corresponding axial torque limit
parameter.
•
[ROT parameter] Torque limit permil- upper limit given by controller
• 【Pn-002】Enable Torque Limit during Position Control -Drive torque limit according to
the upper limit given by the controller.

–
ROT torque limit permil Position control torque limit function
para descript initi u setti when

met ions al n ng the
er valu i rang modific
no. e t e ation
take
effect
Pn-0 Enable 0 - [0~1] immedi

02 Torque ately
Limit
during
Position
Control
Parameter function:
Set whether to enable the torque limit function in
the positioning completion state. This function
requires the controller to give the upper torque limit
value.
0: off
1: on
ROT Operation Manual

1. ROT Parameters. ( For position teaching, please refer to"Use Gauge" )
Motion plan parameter tuning

Parameter adjustment is mainly to adjust the tool changing acceleration and deceleration time, which can
significantly show the advantage in quick tool changing of servo turret, but there are some conditions need to
pay attention to:
1. Please do not set the acceleration and deceleration too fast, there is a risk of overheating the motor.
Suggested settings

–
acceleration / tool changing time descriptions

deceleration time
1500 ms Changing opposite tool: • Recommended turret

0.85 s motor specification for
setting: AM3 motor. The
Changing side tool: 1.07 s
motor can machine for a
long time without
overheating.
•
• The tool changing
parameter is for standard
FANUC β4 motor tool
changing time.
2. If there is a large gear ratio, please note that an alarm may occur - ROT-010 [Acceleration/deceleration
or speed setting error].
a. Reason: Gear ratio reduce the acceleration/ deceleration time, result in torque command exceed
the transfer range of the Mechatrolink III communication package.
b. Solution: Adjust the 【Pn-86C】Acceleration Base Unit Selection to enlarge the acceleration unit.
Please use this EXCEL file (acceleration base unit calculation(CHT).xlsx ) to calculate the actual
input value. If you fill in the parameter values in the ROT page as in the example, the calculation
result (base unit) is 1.

–
ROT–010 【Acceleration/deceleration or 【Pn-86C】Acceleration Base Unit Selection

speed setting error】
par descri initi u sett when

am ptions al n ing the
ete val i ran modifi
r ue t ge cation
no. take
effect
Pn- Accele 0 - [0~ After

86C ration 6] Reboo
Base t
Unit
Select
ion
Sets the acceleration base unit of the

Mechatrolink III interface.
This parameter represents the value of n in the
following formula:
Acceleration Base Unit Selection (Pn-86C) x
10^n
Parameter HELP Manual

1. ROT alarm: ROT Parameters. ( refer to "Alarms" )
2. Driver parameter adjustment: 【Pn-86C】Acceleration Base Unit Selection
12.3 Comparison Example
12.3.1 Test Purpose

Goodway project (Goodway GLA-1500 FANUC Performance Comparison Record(CHT)) has a Syntec ROT serial servo
turret and Fanuc I/O servo turret tool change comparison.
1. Syntec turret motor: AM3 motor
Motor Specifications

–
2. Fanuc turret motor: BiS 4/4000-B

Motor Specifications

–
12.3.2 Parameter Setting Data

ROT parameters Drive parameters
1. ROT_1 Data start R Register: 4000 M3_Rot_SerialParam.txt

2. ROT_1 Command/State start R Register (Rm) : 55
Key parameters:
3. ROT_1 Port no.1002
4. ROT_1 Gear number at screw side85 1. Pn100 Proportional Speed Loop Gain (0.1Hz)
5. ROT_1 Gear number at motor side: 4 600
6. ROT_1 Total tool number: 12 2. Pn101 Speed Loop Integration Time
7. ROT_1 in-pos. window(01001deg): 100 Constant(0.01ms) 3979
8. ROT_1 Auto mode moving feedrate(RPM): 100 3. Pn102 Proportional Position Loop Gain(0.1rad/
9. ROT_1 Manual mode moving feedrate(RPM): 100 s) 600
10. ROT_1 Aceleration time (ms): 1500 4. Pn103 Ratio of Load Inertia(%)
11. ROT_1 Torque limit pemillage: 250 617
12. ROT_1 Encoder resolution: 4194304
13. Tool position custom(0: Off; 1: On): 1
12.3.3 Comparison
It is divided into 3 parts, which are
1. Unclamp: send output signal to bring out tool magazine → send the command to rotate tool magazine
(Rm.0 on)
ROT parameter
2. Tool magazine rotation: The record segment is where the rotation starts. (tool magazine rotation command
Rm.0 off) → Tool magazine rotation speed is 0 (Rn+2 = 0)
ROT parameter

–
3. Clamp: The tool magazine rotation speed of the record segment is 0 (Rn+2 = 0) → System tool changing is
completed and ready (C38 on)
12.3.4 Analysis
1. The unclamp and clamp segment is mainly affected by the oil pressure and the stroke of the mechanism,
and the electronic control does not have much influence on it.
a. The main influence of electronic control is on the I/O scanning speed and PLC scanning speed.
b. If the time delay at this stage and the PLC process is confirmed to be the same, it is recommended to
start the investigate with mechanism.
2. The rotation segment is mainly affected by the acceleration and deceleration time, but it is usually
recommended not to set too fast.
3. Analysis example: Spindle acceleration/deceleration and ROT servo turret performance(CHT)
4. Highlight:
a. At present, after adjusting the oil pressure to the same level, it still loses to FANUC in the final total
time.
b. After the speed segment analysis (broken down into: turret clamp, turret rotation), the main
difference is in the clamp and unclamp segments.
c. UnClamp (unit: s)
Time comparison list
Adjacent tool number Syntec Fanuc Syntec-Fanuc
1 0.35 0.296 0.054
2 0.35 0.296 0.054
3 0.35 0.296 0.054
4 0.35 0.288 0.062
5 0.35 0.312 0.038
d. Clamp (unit: s)
Time comparison list
1 0.22 0.168 0.052

–
2 0.23 0.168 0.062
3 0.23 0.16 0.07
4 0.23 0.16 0.07
5 0.23 0.16 0.07
e. Time chart of 5 tools changing

Signal and oscillogram
f. At present, the main problem is that the time from O9 (turret clamp/unclamp signal) to I8 (turret
close to switch) is too long, about 200 ms. The main factor affecting this segment are:
i. The speed of turret clamp/unclamp
ii. The stroke of turret clamp/unclamp
iii. I/O and PLC scanning time
g. Follow-up confirmation:
i. Confirm the following differences between the oil pressure system of FANUC and Syntec
machine:
1. Oil pressure capacity: FANUC 20 L V.S. SYNTEC 15 L
2. The diameter of the oil inlet pipe is different.
ii. Goodway's electronic control department agrees that the main difference at present should
be the result of mechanism differences as stated in the analysis report.
12.4 PLC Example

Auto tool changing flow
File: cnc.lad

–
Signal description MSD flowchart
R256.0 Tool Changing Ready
R256.1 Auto Tool Changing Start
R256.2 / Tool Magazine Clamp

R270
R256.3 Tool Magazine Rotation
R256.4 Changing Tool
R256.5 Tool Number Arrive
R256.6 T-code Completed
R256.7 Same Tool Number
R265.8 Turret clamp success
R256.9 Turret unclamp success
12.5 HELP File

1. Auto Tuning Operation Manual
2. ROT Parameters.

–
13 Instruction of High Precision Pitch Error Compensation.

13.1 Pitch Error Compensation Description
• Pitch Compensation
• Uni-direction
• axis move to positive/negative direction then the compensated value use positive table
• Bi-direction
• axis move to positive direction then the compensated value use positive table
• axis move to negative direction then the compensated value use negative table
• Two-dimensional Linear Compensation
The need for straightness compensation usually arises in long stroke or double column machines, where the
span is too large and deformation and displacement are formed, or where the machine is deformed due to
the weight of the mechanism. In this case, the axial straightness must rely on the controller compensation to
increase the accuracy when moving.
• The Uni-direction and Bi-direction base on Pr1301~ setting:
There are two types for compensation
the two lines have same trends, in this case, it is suggested to just use uni-direction compensation
• The difference between pitch compensation and two-dimensional linear compensation is that the former
compensates its own axial pitch error, while the latter compensates for other axial errors.
13.1.1 Specifications
• Enable to use high precision pitch error mode after set Pr3859 = 1.
• The positive table and negative table are expanded to support 2000 compensated numbers,the maximum
number is 4000 in single axis.
• After enabling the high-precision pitch error mode, set the high precision pitch compensation parameters
and compensation values directly on the High-Precision Pitch Table
• Name Range Unit Default Effective
Start Point [-99999.999 mm/deg 0.000 Input

~
99999.999]
• Set the mechanical position of the pitch compensation starting point.

Instruction of High Precision Pitch Error Compensation. – 134

–
Number [1~2000] - 2000 Input
• Set the number of high-precision pitch compensation points.

• If the machine travel exceeds the number of points, the excess part will maintain the previous
compensation value.
Interval [-99999.999~99999.999] mm/deg 20.000 Input
• Set the pitch error compensation interval.

Value [-999999.999~999999.999] um/mdeg 0.000 Input
• Each pitch error compensation value.

• Fill Tables:
• Fill tables manually.
• Import file.
• The RTL, RTA file generated by Renishaw system can directly be imported into
controller.
• The available pitch error Number is 2000.
• The position out of pitch error table will maintain the compensated value,
• e.g. The last compensated position in pitch error table is +200 mm and it's
value is 10 um then the position move to 210 mm compensated value will
maintain 10 um.
• The method of fill table in Uni-direction pitch compensation or Bi-direction pitch compensation :
• Uni-directional pitch compensation (only fill in positive table)
Uni-direction
• Regardless of moving direction, controller will always send compensation values in the
pitch table at the same point of the stroke.
• Axial stroke is in the positive direction of home: Moves the axis away from home toward
the positive direction of machine coordinate, measures the pitch error and enters the
error into the "pos" row of the pitch table. Note that the fill in pitch table no. in increasing
order.
• Axial stroke is in the negative direction of home: Moves the axis away from home
toward the negative direction of machine coordinate, measures the pitch error and enters
the error into the "pos" row of the pitch table". Note that the fill in pitch table no. in

–
decreasing order.
• Bi-directional pitch compensation (fill in positive & negative table)

Bi-direction
• According to the moving direction of machine, controller will determine to use positive or
negative table value at the same point of stroke.
• Axial stroke is in the positive direction of home: Moves the axis away from home toward
positive direction of machine coordinate, measures the pitch error and enters the error
into "pos" row of the pitch table". Revert the axis toward home, measures the pitch error
and enters the error into "neg" row of the pitch table".
• Axial stroke is in the negative direction of home: Moves the axis away from home
toward negative direction of machine coordinate, measures the pitch error and enters the
error into "neg" row of the pitch table". Revert the axis toward home, measures the pitch
error and enters the error into "pos" row of the pitch table".
• Others :
• Unavailable to change high precision parameters or value in cycle start or axis moving

–
• Available for 18 axes high precision pitch error compensation

• Setting :
• High-Precision Pitch Table

• Available for versions above 10.118.52G, 10.118.57(including).
• Term to use: need to enable "High precision pitch compensator" in Comp. param fist.
• Path
• Eight Key: F10 Next → F3 Param. → F4 Compensation Param → F1 Pitch Table
• Five Key: F10 Next → F3 Param. → F4 Compensation Param → F1 Pitch Table
Screen
• Display three key parameters describing the table, including:

• Start Point: the first location of the table.
• Interval: distance between points.
• Number: total number of compensation points. If under locations outside
compensation table, the controller will remain the last compensation value.
• Parameters are all usable right after any modification. Any modification of the three
describing parameters will change displaying points to the first page.
• Hiding axes are avalibale as well.

• Displaying three axes per page
• Move focus by up/down/right/left keys.
• Change axes page using pageup/pagedown keys.
• Change points page by clicking "Prev. Page/Next Page Points" fenu.
• Can not be modified while the controller is running.

–
• Functions
• "Goto Point" : key in target point number and the focus will move to it after clicking
enter.
• "Prev. Page Points" : scroll to the previous page of points. ex: currently displaying
points 8~14, will be changed to points 1~7 after clicking.
• "Next Page Points" : scroll to the next page of points.
• "Increment Input" : add key in value to focused input. ex: focus on an input with value
1.4, key in "0.2" and trigger this function => the value of focused input is changed to
1.6.
• "Clear All" : clear positive and negative point values of the operating axis.
• "Table Load" : import Renishaw measurement file content (*.rtl/*.rta ) to the table, put
values to the axis described in the file.。
• "Incre. Table Load" : import Renishaw measurement file content (*.rtl/*.rta ) to the
table as a series of imcremental values.
note: if start point/interval/number in the file are different from
current parameter values, this function will not work.
• Note
• Pitch Compensation takes the actual amount of movement as reference rather than
mechanical coordinates. Thus the "location" on pitch table represents the actual
movement.
• When using Diameter Mode on lathes, note that the displaying coordinate value is
twice the actual movement. Therefore, use half of the displaying coordinate value or
System Data No. 72~ to look for the real compensation point.
Related Documentation: Pr281~Pr300 Axial dimension type (radius or diameter axis)
13.1.2 Related Parameters

Pitch compensation
3859 *High Precision Pitch Error [0~1] - 0 restart

Compensation
• 0 : Disable high precision pitch error compensation

• 11~18 axis : No compensation
• 1 : Enable high precision pitch error compensation
• The relation between Pr1301~Pr1320 and Pr3859 as follow :

–
• Axis ID Pr1301~Pr1320 Pr3859 = 0 Pr3859 = 1
1-10 axis 0 No compensation No compensation
1 Uni-directional High Precision Uni-

2 Bi-directional High Precision Bi-

11~18 axis 0 No compensation No compensation
1 No compensation High Precision Uni-

2 No compensation High Precision Bi-

• Effective version：10.118.52G, 10.118.56A, 10.118.57 or abover.

type

0: No compensation;
1: Uni-directional;
2: Bi-directional.
• In 10.114.15 and before, only 6 axes are supported; after 10.114.16, supported number expanded to 10 axes.
Two-dimensional Linear Compensation
1481~1490 Straightness offset moving axis [0~20] - 0 Restart

number and compensating axis
number
• A set of straightness compensation is composed of a moving axis and a compensation axis. A total of 5
sets of straightness compensation are available.
• Note:
a. A moving axis cannot be a compensating axis.
b. A compensation axis can correspond to only 1 moving axis.

–
7001~7025 Straightness offset moving [0~100] - 0 Restart

axis position
• Pr7001~Pr7025 determine straightness compensation position by defining reference points in moving axis's
pitch table, 5 compensation positions can be set for each moving axis.
• The index number in pitch table which represents axis home position can be determined by Pr1341~Pr1360
Axis pitch table index for reference.
• The distance between each pitch compensation point can be determined by Pr1321~Pr1326 Axis pitch error
comp. interval(BLU).
• The straightness compensation amount at each reference point can be setup by Pr7026~Pr7050
Straightness offset moving axis position compensation amount.
• Please enter five non-decreasing compensation positions in order from point a~e.
• Incorrect straightness compensation setting will trigger OP-16 "Straightness offset parameter setting error"
and straightness compensation is not effective.
As shown in below, a,b,c,d,e was set to 52, 55, 57, 58 and 62 respectively, the area affected by straightness
compensation will be from the corresponding position of point 52 to that of point 62 in moving axis pitch
table.
• 10.118.52G, 10.118.56A, 10.118.57 or above version, expanded to 2000 in high precision pitch error mode.
7051~7125 Straightness offset moving [0, 100] 0 Restart

axis position
Expansion of two-dimensional linear (straightness) compensation function:

–
※Only version after 118.12.E, 118.15 and after supports the expanded two-dimensional linear (straightness)
compensation function (total 20 points).
• Provide 5 groups of two-dimensional linear compensation parameter setting, each group of moving axis has
a total of 20 points of compensation position:
• In straightness compensation function ,Pr7001~Pr7025 defines each group of compensation point
positions (a~e) in pitch compensation table of the axis;
• In straightness compensation function, Pr7051~Pr7125 defines each group of compensation point
positions (f~t) in pitch compensation table of the axis. Total is 20 points (a~t).
• Provide more flexible compensation position setting, please incrementally enter points from a~t. Number of
points: min 2 points, max 20 points, and cannot in decreasing order.
• Incorrect straightness compensation setting will trigger OP-16 "Straightness offset parameter setting error"
and straightness compensation is not disabled.
• 10.118.52G, 10.118.56A, 10.118.57 or above version, expanded to 2000 in high precision pitch error mode.
No Descriptions Range Uni Defa Effective

t ult
7026~70 Straightness offset moving axis position [-999999~999 BL 0 Press Reset

50 compensation amount 999] U
13.2 Reference
• Pr3859 *High Precision Pitch Error Compensation
• Pr1301~Pr1320 Pitch error compensation type
• Pr1481~Pr1490 Straightness offset moving axis number and compensating axis number
• Pr7001~Pr7025 Straightness offset moving axis position
• Pr7051~Pr7125 Straightness offset moving axis position
• Pr7026~Pr7050 Straightness offset moving axis position compensation amount
• Instruction of Pitch Error Compensation.
• Two-dimensional Linear Compensation Function

–
14 Feed-forward Compensation Application.(editing)

14.1 Preface
• Feed-forward compensation function can increase precision, which is to lower by servo lag phenomenon in
corner and arc features.
14.2 Supported Version of different function

function controller version driver version
SPA 1.0 10.116.35
SPA 2.0 10.116.36
SPA 3.0 10.118.60P, 10.118.66J, 10.118.70D, 10.118.73 以 4.4.0、5.2.2 以及之後

及之後
14.3 Inverter Tapping
14.3.1 Condition
• Controller with DA port & Inverter-type spindle (Pr1791=0)
14.3.2 Application
• The precision at the bottom of the hole can be tuned by Pr419. The larger value, the shallower tapping
depth, on the contrary, the result in over cut.
• Controller doesn't support tapping acceleration or deceleration tuning, it can only be tuned by inverter.
14.3.3 Restriction
• Except for M03/M04/M05 are applying to control the spindle, the user should make a customized G84.
Replace M#2038 and M#2039 with an actual tapping C.W. and C.C.W. command (ex. M13/M14), and replace
M05 with an actual spindle stop command(ex. M15).
• Because the bottom of the hole has poor precision, inverter tapping is mostly used for the through hole
tapping.
• It's come up with a bad command prediction along with higher acceleration. Therefore, inverter tapping is
Feed-forward Compensation Application.(editing) – 142

–
14.4 Tracking Tapping
14.4.1 Condition
• V-type spindle (Pr1791=2)
14.4.2 Application
• Controller provides a bell-shape acceleration function, definition shown below. While Amax or Jmax is
getting larger, the acceleration is getting faster. It's easy for drive to cause the overcurrent, or the result of
14.4.3 Restriction
• It's come up with a bad command prediction along with higher acceleration. Therefore, tracking tapping is
• While spindle is controlled by a pulse (Pr381~=0 or 2), if the drive doesn't enable the positioning control
function, the precision at the bottom of the hole will be undesirable.
14.5 Synchronous Tapping
14.5.1 Condition
• provide
• Syntec spindle (Pr1791=4)

–
14.5.2 Application
• Controller transmits a command to the spindle and axis simultaneously according to the tapping pitch.
Normally, it's applied to a case that the performance of spindle is compatible with an axial motor like a
Drilling & Tapping center.
• Controller provides bell-shape acceleration function, definition shown below. While Amax or Jmax is getting
larger, the acceleration is getting faster. It's easy for the drive to cause the overcurrent, or the result of
• Rapid tapping is enabled while G84 without P & Q arguments. The motion of rapid tapping is almost the
same as synchronous tapping, but change the bell-shape acceleration/deceleration to the constant
acceleration/deceleration during spindle reversion at the bottom of the hole. It can resist vibration.
• Rapid tapping also compensates for the servo lag. Therefore, the precision at the bottom of the hole is better
than other tapping applications.
14.5.3 Restriction
• Spindle must enable positioning control while applying synchronous tapping or rapid tapping.
• To make sure that the synchronization performs well, the position loop gain on the controller (Pr181~)
should be set to the same as on the drive, both spindle and axis.
14.6 Notifications
1. During tapping, Reset and FeedHold are invalid until the feeding axis back to reference point R.
2. When executing tracking tapping, if spindle motor control is not smooth or the resolution is not good, it will
cause the feeding axis to vibrate and make a noise problem.

–
3. Before switching the effective spindle (R791~), please confirm that the spindle has cancelled the tapping
process (G80) to avoid other unexpected actions.
4. When Spindle and axis drive are "different brands" or "different series", it may cause tapping error due to
the different communication delay time of spindle and axis drive. In this case, please enable the parameter
No.3972 to reduce the tapping error.
• Here are some examples:
• "M2 Yaskawa Sigma5" with "M2 Yaskawa Sigma7"
• "M3 Syntec drive " with "M3 Yaskawa Sigma7"
14.7 Tracking Tapping tuning step
14.7.1 Parameters Introduction

416 Rigid tapping coupling [0~6000] 0.001rev 1000 Press Reset

time
• This parameter is only applicable to inverter tapping (Pr1791=0). It determine the number of spindle
revolutions required for the feed axis to catch up with the spindle speed during tapping. The smaller
the parameter value, the higher the acceleration of the feed axis is, and more machine shaking can
happen. Otherwise, large set value reduces the accuracy of synchronous movement when entering the
thread.
417 Rigid tapping velocity gain [0~200] - 0 Press Reset
• This parameter is for "following tapping" (Pr1791<3), its purpose is to adjust the feed axis following
strength (velocity loop gain) when spindle is in constant speed. The smaller the value, the more the
feed axis falls behind the spindle; otherwise, the feed axis fall behind less or even ahead of spindle
axis.
418 Rigid tapping acceleration [0~200] - 0 Press Reset

loop gain
• This parameter is for "following tapping" (Pr1791<3) before version 9.x, its purpose is to adjust the
feed axis following strength (acceleration loop gain) when spindle accelerates or decelerates. The
smaller the value, the more the feed axis falls behind the spindle; otherwise, the feed axis fall behind
less or even ahead of spindle axis.

–
419 Rigid tapping spindle [0~6000] ms 0 Press Reset

deceleration time
• This parameter for inverter tapping (Pr1791=0), its purpose is to adjust the depth of the feed axis of
the tapping. The larger the setting value, the shallower the depth; otherwise, depth overcut can occur.
• In version 10.111.3 and before, this parameter applies to non-inverter tapping (Pr1791≠0). It is used to
calculate constant acceleration (Amax) limit profiling when tapping, the definition is:
3972 Enable driver delay compensation [ -1~0 ] -- 0 Restart
• This function is used to solve two problems when using different servo drives:
• Asynchronous command due to different communication delay time.
• Incorrect feedback compensation due to different feedback timing.
• ~10.118.40F, 10.118.43 0: Disable, 1: Enable
10.118.40G, 10.118.44~ -1: Disable, 0: Enable
• The supported servo drive types:

• Yaskawa serial bus: M2, M3 Sigma5, Sigma7, and SigmaM series
• Syntec serial bus: All M2, M3 drive series
• Supported version:
Servo Drive Controller Version
Yaskawa M2, M3 10.118.13, 10.118.12B, 10.116.26M and later

Sigma5, Sigma7, Sigma M
Syntec M3 drives 10.118.12Z, 10.118.22K, 10.118.28 and later
Syntec M2 drives 10.118.12Z and later
• The command delay time of motors are different when Pn-833 setting of driver in each axis are
various. It leads to low synchronization. Activate this function can compensate this problem.
• If any of the synchronous movement axes uses a delay model that controller does not support, driver
delay compensation will not be enabled.
• After driver compensation being enabled, Syntec driver is supported to use the cubic spline delay
model.
14.7.2 Tuning step

• Step1：Programming a tapping program without material, just dry run.
G00G90G54Z2.

–
G99;
M3S1000;
G84 Z-30. R2. F1000.P1.;
G80;
M30;
• Step2：Increase Pr417 from 0 until the system data No.14 approach to zero during spindle speed is
constant. Note that once Pr417 over an optimal value, the system data No.14 will get larger.
• Step3：Increase Pr418 from 0 that reduces system data No.13.
• Step4：If it's applying inverter tapping (Pr1791=0), tuning Pr419 to enhance the precision at the bottom of
the hole.
14.8 PLC Interface

Serial Number Name Function Description
S004 Rigid Tapping 1th spindle rigid tapping flag
R588 Rigid Tapping Mode Spindle rigid tapping flag

....
14.9 Spindle orientation before tapping for serial spindle

4007 Spindle orientation stop before [0~1] - 0 Pres Reset

tapping for serial spindle (0:
disabled; 1: enabled)
• 0: Turn off the orientation stop before spindle tapping function.

• 1: Turn on the orientation stop before spindle tapping function. System will first position base on
spindle origin offset (Pr1771~Pr1780), and then perform tapping after orientation stop finished.
• Valid from version 10.116.16, but invalid for pulse-train spindles.
14.10 Trouble shooting
14.10.1 Problem-solving process for the poor precision of synchronization
Gliffy Macro Error

–
Cannot find a diagram with these parameters:

 • Name: eng. tapping flowchart
Diagrams with the same name were found on the following pages:
Hover over the link to preview, click to set.
Rigid Tapping Application.
Rigid Tapping Application.
• Note：If the position loop gain on the controller has set to the same as on the drive, but ideal tracking
error(system data No.33/34) and real tracking error(system data No.10/11) are very different, make sure the
filter function and feed-forward compensation function of drive are disabled.
14.10.2 Alarm Message
System data
[0013]: Maximum interpolation error of Z axis following spindle when tapping (straight line direction)
[Definition]
During tapping, maximum error of Z axis following spindle, Unit: BLU
[Description]
1. During tapping, smaller the maximum value of [System Data 0014 Interpolation error of Z axis following
spindle], the better it is. It means tapping has higher precision.
2. For multiple axis group or multi-spindle systems, the displayed value is decided by R21 and R791~R794. For
example:
When R21= 0 or 1, displays tapping information of main spindle of Axis Group 1;
3. Multiple axis group or multi-spindle systems display is valid from ver. 10.116.6A.
[0014]: Interpolation error of Z axis following spindle when tapping (straight line direction)
[Definition]
[Description]
[0015]: Interpolation error of Z axis following spindle during tapping (rotation direction)
[Definition]
[Description]

–

14.10.3 Q&A
1. Once tapping process begins, the spindle burst when applying the Non-Inverter Tapping (Pr1791≠0) with
spindle voltage control (Pr381~=1).
A：Voltage command and encoder direction are opposite, refers to follow steps :
a. Change spindle type to V-type (Pr1791=2), and then spindle rotates clockwise slowly (S<10 RPM).
b. Check spindle feedback (system data No.28) and spindle index counter (system data No.52) if the
value increases together? If not, reverse the axis movement direction (Pr41~).
c. Check spindle feedback (system data No.28) if it increases in prediction? If not, the encoder output
direction opposite. Switch the A+/A- signal on the wire from drive to the controller.
2. Spindle rotation reverses abnormally when applying the Non-Inverter Tapping (Pr1791≠0) with spindle
voltage control (Pr381~=1).
A：Probable reasons :
a. Position loop gains too large, please reduce the value (Pr181~).
b. Acceleration too strong, please increase the value (Pr1971~/Pr1981~).
3. Feeding axis waits for a while at point R when tapping process with V-type spindle (Pr1791≠0).
A：A probable reason is that the spindle zero speed is inaccurate. Follow the steps until M3 S0 can stop
spindle rotate actually.
a. Tuning spindle zero speed offset speed (Pr1631~).
b. Enable velocity closed loop control function (Pr1881~>0).
4. Is system data No.13 reasonable?
A：Here is a table of recommended error of screw of the metric system
M6x1.00 67 M2x0.40 38
M3x0.50 55 M1x0.25 32
14.11 Compatibility
1. Tapping acceleration planning change：
• Before 10.111.3 (included)
For the Non-Inverter Tapping (Pr1791≠0), controller offer constant acceleration/deceleration, the

–
definition of Amax is as follows:
• 10.111.4~10.114.21
P.S.：The formula assumes that the spindle is corresponding to the 6th axis (Pr1621~=6).
• After 10.114.22
If Pr1971~=0 and Pr1981~=0, the definition is the same as version 10.111.4~10.114.21.

2. After version 10.116.6 (included), controller offers the system data No.13~15 which is corresponded
information for multi-group or multi-spindle system. In addition, remove system variable #1803~#1807, CNC
parameter Pr1961~Pr1965 and system data No.368~ No.373.
3. After version 10.118.12Y (included) and 10.118.22J (included), parameter No.3972 can be used to solve the
tapping error caused by using the "different brands" or "different series of spindle and aixs drive.

–
======
• The performance of SPA function is improved after 10.116.36, and the new SPA is termed as SPA 2.0.
• Notice the trade-off between precision and smoothness when Pr3808 is enabled. While larger value is
chosen, the machining will have better precision but worse smoothness, i.e. machine may fluctuate more.
The relation of contour characteristics and compensation level are in the table below:
Pr3808 Precision Smoothness Symmetry
0 Bad Good Bad
1 Good Good Very Good
5 Very Good Average Very Good
The level of precision compensation depends on mechanical characteristic of machine.

When machine fluctuates or vibrates, please adjust the parameter.
• After software version 10.116.36, SPA 2.0 (ZPEC) function is developed to enhance precision of corner and
arc motion, but the specification of Pr3808 remains the same. Following diagrams show the stage path
simulation with different compensation functions.
a. Deep blue line shows the NC command path, and the cyan line is the path with no SPA function used.
These figures also show the performance comparison of SPA and SPA 2.0 while Pr3808 = 1, and 5. In
these figures the improvement of cornering precision utilizing SPA 2.0 over SPA can be observed
respectively. In addition, the path is more symmetrical if SPA 2.0 is utilized.
b. Contour error around a 90 degree corner is reduced by about 70% when Pr3808 = 5 regardless of
using SPA or SPA 2.0; if Pr3808 = 1, the precision remains the same level as Pr3808 = 0, but the
smoothness of path is promoted.
• SPA compensation is effective for G01/G02/G03 commands and is disabled for G00 commands; SPA 2.0 is
effective for G00/G01/G02/G03 commands.

–
• SPA or SPA 2.0 is automatically disabled when a tapping command is initiated, and will be restored
afterwards.
• SPA or SPA 2.0 would be disabled during manual modes (Jog/InJog/MPG) and homing.
• 10.118.22U, 10.118.23U, 10.118.28I, 10.118.34 and later version, SPA or SPA 2.0 function of the spindle would
be disabled when the spindle is used as S axis.
• SPA specification change: (10.112.x) if any non-spindle rotary axis exists in an axis group, SPA function would
be disabled regardless setting of Pr3808 to prevent incorrect dimension.
• Affected version: 10.112.87~10.112.99, 10.114.21~10.114.29.

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Tuning and Mechanical Compensation Manual

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Tuning & Mech. Comp.

• Instruction of Pitch Error Compensation.

1 Instruction of Pitch Error Compensation.

Instruction of Pitch Error Compensation. – 3

• Uni-directional pitch compensation (only fill in positive table)

• Bi-directional pitch compensation (fill in positive & negative table)

Instruction of Pitch Error Compensation. – 4

row of the pitch table".

Instruction of Pitch Error Compensation. – 5

1.4 High-Precision Pitch Error Compensation

Instruction of Pitch Error Compensation. – 6

1.5 Related Parameters

No Descriptions Range Unit Default Effective

1301~1320 Pitch error compensation [0~2] - 0 Press Reset

• Set the param to decide to start compensation or not

No Descriptions Range Unit Default Effective

1321~1340 Pitch error [1000~ 99999999] BLU 25000 Press Reset

No Descriptions Range Unit Default Effective

1341~1360 Table index for reference [1~100] - 50 Press Reset

Instruction of Pitch Error Compensation. – 7

No Descriptions Range Unit Default Effective

8001~10000 Axis positive/negative [-999999~ BLU 0 Press Reset

No. Description Range Unit Default Effective

1401~1420 Axis mechanical [0~60000] ms 10 Press Reset

• Mechanical compensation (backlash, pitch, temperature) commands is profiled as an exponential

Instruction of Pitch Error Compensation. – 8

• 1.5.1 Basic parameter setting

Pr1301 1 First axis starts up for uni-directional pitch

Pr1321 20000 The increment of first axis pitch compensation

Pr1341 50 The home of First axis pitch compensation is the

• 1.5.2 Compensation table setting

Point number of 5 51 52 53 ... 98 99 100

First axis 0 20.000 40.000 60.000 ... 960.000 980.000 1000.000

Real position 0 19.98 39.97 59.94 ... 959.400 979.398 999.395

Value entered for 0 20 30 60 ... 600 602 605

Instruction of Pitch Error Compensation. – 9

Pitch Compensation High-Precision Pitch Error Compensation

Basic parameters setting

No Descriptions Range Unit Default Effective

3859 *High Precision Pitch Error [0~1] - 0 restart

• 0 : Disable high precision pitch error compensation

1-10 axis 0 No compensation No compensation

1 Uni-directional High Precision Uni-

2 Bi-directional High Precision Bi-

11~18 axis 0 No compensation No compensation

1 No compensation High Precision Uni-

2 No compensation High Precision Bi-

• Effective version：10.118.52G, 10.118.56A, 10.118.57 or abover.

No Descriptions Range Unit Default Effective

1301~1320 Pitch error compensation [0~2] - 0 Press Reset

• Set the param to decide to start compensation or not

Instruction of Pitch Error Compensation. – 10

Name Range Unit Default Effective

Start Point [-99999.999 mm/deg 0.000 Input

• Set the mechanical position of the pitch compensation starting point.

Name Range Unit Default Effective

Number [1~2000] - 2000 Input

• Set the number of high-precision pitch compensation points.

Name Range Unit Default Effective

Interval [-99999.999~99999.999] mm/deg 20.000 Input

• Set the pitch error compensation interval.

Name Range Unit Default Effective

Value [-999999.999~999999.999] um/mdeg 0.000 Input

Rapid Traverse (G00) 0.5(A-B) 0.5(A+B)