22/22 PLUS/220/220 PLUS Series Controller

Application Manual

匯出日期：2025-04-28
修改日期：2024-03-12
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22/22 PLUS/220/220 PLUS Series Controller Application Manual

• Preface
• Controller Descriptions
• Hardware List & Descriptions
• System Overview
• Connection Between Components
• Controller Parameter Setting
• Driver Parameter Setting
• Pitch Error Compensation
• Preface
• Backlash Compensation
• Preface
• Backlash Compensation
• Quad-Peak Compensation
• Preface
• Servo Tuning
• Serial Parameter Screen Operation
• Software Installation、Data Backup/Restore
• Check List

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1 Preface
The purpose of this manual is to make users get familiar to the new product, 22/22 PLUS/220/220 PLUS series
controller, more quickly.
The contents include hardware installation and parameter setting, etc.

Preface – 3
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2 Controller Descriptions
2.1 Controller Back View

2.2 Controller Description

A DC 24V Power input, DC 24V（1A）

B LAN 1 & 2 10/100M Ethernet interface x2

C Keyboard Keyboard

D USB USB 2.0 Host x2

E Mechatrolink 3 M3 serial communication interface

F Option I/O SRI & RS485

Controller Descriptions – 4
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G RIO Port RIO interface, connect to HK-IO and IO module like RIO
module or iTB terminal board.

Pin Define of LAN Pin Define of M3

Pin Define of Option I/O Pin Define of RIO

Controller Descriptions – 5
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Pin Define of Option I/O Pin Define of RIO

Precautions：
1. Syntec standard cable for option I/O only support FC module
because only pin 1 & pin 2 of the cable are functional.
2. If you want to connect to RS485 interface, you need to customize
the cable to make pin 6 & pin 7 functional.
3. Please use isolated twisting cable when you customize the cable.
4. The GND pins on both side must connect to the isolation net of
the cable to avoid RS485 interface burned out.

2.3 Controller Types

No. Type Remark

1 8" Separate

2 8" Standard With keyboard

3 10" Separate

4 10" Full Plane, Separate

5 10" Full Plane, Standard With keyboard

*6 15" Full Plane, Separate 10+8 keys

7 15" Frameless, Separate No function key

*This manual are mainly written with reference to this model.

Controller Descriptions – 6
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3 Hardware List & Descriptions

3.1 Hardware List
Item Name Specification

Driver Syntec 4-in-1 Driver SMD-34A Series

Control panel 15" Dedicated control panel for 2nd generation mill ST4022MS
controller

Keyboard 15" Dedicated keyboard for 2nd generation controller ST4015VK

IO module Terminal board & SRI device（optional） iTB-3232、FC-IO Module

（optional）

MPG Standard remote MPG EHDW Series of Future Life

Technology

3.2 Description of Each Part

3.2.1 Driver
Syntec 4-in-1 Driver（SMD-34A Series）

Hardware List & Descriptions – 7

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A Power supply Connect to 220V or 380V three-phase alternating

current（RST）.

B Power supply for motor Power supply for motor（UVW）, the order is 1st/
2nd/3rd/4th from right to left.

C Brake resistor Brake resistor connector（PB）

D M3 serial communication port Connect to M3 controller and other M3 driver.

E Mini USB port Connect to personal computer.

F I/O signal port Connect to I/O device.

Hardware List & Descriptions – 8

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G Encoder port Connect to motor encoders, the order is 1st/2nd/

3rd/4th form top to bottom.

H MPG port（optional） Connect to hand-wheel.

I X1 input port（optional） Same as X1 on the controller, connect to input

terminal board.

J Y1 output port（optional） Same as Y1 on the controller, connect to output

terminal board.

MiniUSB Encoder

Hardware List & Descriptions – 9

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I/O Port

3.2.2 Control Panel

15" Dedicated control panel for 2nd generation mill controller（ST4022MS）
• Front View：

Hardware List & Descriptions – 10

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A Knob Override selection D Key hole Key switch

B Button Cycle start switch E Button Power switch

C key Machine function selection F Button Emergency switch

• Back View：

A Key hole Key switch

B Power for panel DC 5V power supply for panel, but if HK-IO board exists, the power
supply should not go through this connector.

C Power button Power switch

D Emergency button Emergency switch

E HKIO-RIO interface RIO interface, connect to the controller.

F HKIO-MPG interface MPG interface, same as MPG port on the controller, including 7 input
points（I120~I126）.

G 7P connector Override selection output signal

H Expanding input point Expanding input point（I118、I119）

I Cycle start button Cycle start switch

Hardware List & Descriptions – 11

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J HKIO-power for panel & DC 24V power supply for panel and Expanding output point
Expanding output point （O120~O124）.

HKIO-8P connector I/O Definition of the keys

HKIO-RIO HKIO-MPG

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Expanding Input Point Expanding Output Point

• Only relay switch can be used.

3.2.3 Keyboard
15" Dedicated keyboard for 2nd generation controller（ST4015VK）

A Key Letter key

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B Key Number & symbol key

C Key Function key

D Keyboard port USB keyboard interface

3.2.4 IO Module
Terminal Board：iTB-3232

A Power supply DC 24V input

B RIO port Connect to RIO port on the controller.

C Input point, I0~I31 32 input points in 8 sets of 8-pin connector, TB1~TB8

D Expanding input Connect to input terminal board for more 16 input points, I32~I47
point

E Output point, 8 output points in 4 sets of 4-pin connector, TB9~TB12. Each point can bear 24V/16A.
O0~O7

Hardware List & Descriptions – 14

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F Output point, 8 output points in 4 sets of 4-pin connector, TB13~TB16. Each point can support 24V/
O8~O15 2A.

G Output point, 16 output points in 4 sets of 8-pin connector, TB17~TB20. Each point can support
O16~O31 24V/0.5A.

TB1-TB8

8 sets of 8-pin connector for I0~I31, the definition of TB1-TB4 are the same as TB5-TB8.

TB9-TB12 TB13-TB16

O0~O7 output points O8~O15 output points

Hardware List & Descriptions – 15

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T
B
1
7-
T
B
2
0

O
1
6
~
O
3
1
o
ut
p
ut
p
oi
nt
s

3.2.5 MPG
Standard Remote MPG（EHDW Series of Future Life Technology）

Wiring diagram could be downloaded as follow：MPG wiring.jpg

Hardware List & Descriptions – 16

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4 System Overview
4.1 System Architecture Diagram

System Overview – 17
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5 Connection Between Components

5.1 Controller & Servo Driver
• Connect M3 port of controller and M3A or M3B port of servo driver by Syntec standard cable for M3 serial
communication.
• Set station ID of servo driver before communication.
• There are two setting methods and explained as below.

Knob Dial

Expla Adjust the knob on the upper right corner of the Adjust the dial on the front stage board, this type is
natio servo driver. mostly applied on multi-axis driver for big power.
n
This type is mostly applied on single-axis driver
or mini multi-axis driver.

Figur
e

Defin The number that the arrow on the knob points

ition to is the station ID of the servo driver.

• Set Pr21~ of the controller after staion ID of servo driver is ready, Pr21~ is to decide the correspondence
between the axis number of the controller and the station ID.
• For multi-axis driver, both station ID and sub-station ID have to be set, the format is MMnnn, M is
station ID, n is sub-station ID.
• For example, if the station ID of the 4-in-1 driver is 2, the values of Pr21~Pr24 should be 2000、
2001、2002、2003, when sub-station ID starts from 0.

Connection Between Components – 18

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• If Pr21=2000, it means X axis of the controller corresponding to the first sub-station of the
driver.
• For single-axis driver, the value of Pr21~ is just the same as the station ID of the driver.
• For example, Pr21=1 means X axis corresponding to the driver when the station ID is 1.

5.2 Controller & Operation Panel

• The 2-head cable is necessary to connect the controller（via RIO port） and the operation panel for 22/220
series controller.
• The part NO. of the cable is W01-RIO-EX and shown as below.
• The extension cable for RIO is usually needed.
• The 1-head side of the cable is used to connect to the RIO port of the controller.
• For the 2-head side of the cable, there are marks of P1 & P2, P1 is connecting to the operation panel and P2 is
for IO module, like RIO module or iTB terminal board.
• There is an adapter plate named as HK-IO on the back side of the operation panel.
• There are two ports on HK-IO, one is RIO port and connects to RIO port of the controller via P1 of the
2-head cable, the other one is MPG port and connects to MPG.
• For MPG port, the number of 7 input points are I120~I126.
• The power of the panel is inputted through the 8-pin connector on the right side of the HK-IO, the electric
specification is 24V.
• Please notice that it's prohibited to input 5V power to the old connector of power on the panel.
• When you set Pr5 of the controller as 7, the panel and IO module could be activated via RIO port of the
controller. Notice that the 2-head cable should be connected correctly.
• When you set Pr5 of the controller as 11, the panel is activated when the RIO module is deactivated.
• It's necessary to connect 2 RIO ports on the controller and HK-IO by P1 of the 2-head cable, or OP-005
alarm will occur.
• The alarm won't occur on the same condition when you are using old generation controller.
• If nothing will be connected to the RIO port of the controller, please set Pr5 as 100 and disable RIO、
HK、MPG in the I/O mapping table（set as -1）, then OP-005 alarm won't happen.

5.3 Controller & Keyboard

• Connect the KB port of the controller and the decoding interface on the back side of the keyboard by Syntec
standard keyboard cable.
• There is only one USB interface on the dedicated keyboard for 2nd generation controller, when there
are 2 slots, function key and PS2 interface, on the traditional keyboard.
• For 15" controller, Pr3217=15 when dedicated VK15 keyboard is used（same as the one in this manual）.
• For 10" controller, Pr3217=13 when dedicated VK10 keyboard is used.
• For 8" controller, Pr3217=13 when VK8-900 keyboard is used. This keyboard is not dedicated for 2nd
generation controller, but only one slot should be connected.

Connection Between Components – 19

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5.4 Controller & IO Module

• The 2-head cable is necessary to connect the controller（via RIO port） and the IO module for 22/220 series
controller.
• The part NO. of the cable is W01-RIO-EX and shown as below.
• The extension cable for RIO is usually needed.
• The 1-head side of the cable is used to connect to the RIO port of the controller.
• For the 2-head side of the cable, there are marks of P1 & P2, P1 is connecting to the operation panel and P2 is
for IO module, like RIO module or iTB terminal board.
• There are two types of iTB terminal board, iTB-3232 & iTB-1616, the number means 32 inputs/ 32
outputs and 16 inputs / 16 outputs.
• If iTB-3232 is used, you can get 16 more inputs by connecting to additional TB-16IN terminal board.
• When you set Pr5 of the controller as 7, the panel and IO module could be activated via RIO port of the
controller. Notice that the 2-head cable should be connected correctly.

5.5 Controller & SRI Device（Optional）

• The option I/O port on the controller can connect 1 SRI device like FC module and 1 RS485 interface at the
same time.
• Syntec standard cable for option I/O only support FC module because only pin 1 & pin 2 of the cable are
functional.
• If you want to connect to RS485 interface, you need to customize the cable to make pin 6 & pin 7 functional.

Connection Between Components – 20

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6 Controller Parameter Setting

6.1 Basic Setting
No. Name Value Description

5 I/O board type 7 or 11 7：With HK, enable RIO

11：With HK, disable RIO

9 Servo board type 103 M3 Serial Communication

3205 Function key type 2 10+8 keys

3217 Select the type of control panel interface 15 VK15 keyboard

6.2 Setting About Axis

Suppose there are three axis, X/Y/Z.

No. Name Value Description

21~23 Port No. of axis 1000 Suppose the station ID of Syntec 4-in-1 driver is 1.
1001
1002

41~43 Motor command polarity Depends 0：normal，1：reverse

61~63 Encoder resolution Depends Real encoder resolution divided by 4, unit：Pulse/Rev

81~83 Encoder scaling factor 4 Use default value

121~1 Gear number at the screw Depends

26 side.
Gear number at the motor
side.

161~1 Pitch of the screw Depends Unit：BLU

63

181~1 Loop Gain of the position Depends Same as position loop gain of servo driver, unit：1/sec
83 loop

Controller Parameter Setting – 21

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No. Name Value Description

201~2 Encoder type Depends 0：Incremental, 3：Absolute

03

221~2 Axis type 0 X/Y/Z are all linear

23

321~3 Axis name 100 X/Y/Z

23
200
300

901~9 Zero speed check window Depends It's recommended to set as 3 when the encoder resolution
03 is 10,000.
If the resolution is 1,048,576, the value should be 314.

2021 Port No. of MPG 20

6.3 Setting About Spindle

Suppose the 4th axis is used as 1st spindle.

No. Name Value Description

24 Port No. of axis 1003 Suppose the station ID of Syntec 4-in-1 driver is 1.

64 Encoder resolution Depends Real encoder resolution divided by 4, unit：Pulse/Rev

84 Encoder scaling factor 4 Use default value

104 Gain of motor command Depends Real maximum speed of the motor divided by 10.
If the max. speed of the motor is 12,000 RPM, Pr104 should
be 1,200.

127~12 Gear number at the Depends

8 screw side.
Gear number at the
motor side.

164 Pitch of the screw 360000 Unit：BLU

Controller Parameter Setting – 22

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No. Name Value Description

184 Loop Gain of the Depends Same as position loop gain of servo driver, unit：1/sec
position loop

204 Encoder type 0

224 Axis type 1

324 Axis name 600 As C axis

904 Zero speed check Depends It's recommended to set as 3 when the encoder resolution
window is 4,096.
If the resolution is 1,048,576, the value should be 768.

1621 Port No. or Axis No. of 4 Suppose the 4th axis is used as 1st spindle.
spindle

1651 Spindle encoder Same as

resolution Pr64

1661 Spindle encoder scaling 4

factor

1671 Gain of spindle motor Same as

command Pr104

1681~1 Gear number of 1st gear Depends

682 position of spindle at
screw and motor side.

1711 Spindle encoder exist or 1 0：No, 1：Yes

not

1791 Spindle motor type 4 Syntec spindle

1801 Spindle maximum Depends This parameter is a software function to limit the spindle
speed speed.
It's usually the same as the real maximum speed of the
spindle motor.

Controller Parameter Setting – 23

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No. Name Value Description

1811 Spindle encoder 1 0：Spindle side, 1：Motor side

installation location

Controller Parameter Setting – 24

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7 Driver Parameter Setting

N0. Name Value Description

Pn-100 Proportional Speed Loop Gain Depends According to the tuning result

Pn-101 Speed Loop Integration Time Depends According to the tuning result
Constant

Pn-102 Proportional Position Loop Gain Depends According to the tuning result

Pn-103 Ratio of Load Inertia Depends According to the tuning result

Pn-20E Electronic Gear Ratio 1

(Numerator)

Pn-210 Electronic Gear Ratio 1

(Denominator)

Pn-242 Posing Type 2 0：Forward, 1：Reverse, 2：Shortest

Distance

Pn-308 Speed Filter Time Constant Depends According to the tuning result

Pn-401 Torque Command Filtering Time Depends According to the tuning result
Constant

Pn-50A~Pn-50D I0~I3 Function Depends

Pn-50E~Pn-50F O0~O1 Function Depends

Pn-522 In Position Window 500 Unit：mdeg

Pn-900 Encoder Communication Type Depends 12：Nikon，13：Syntec

Pn-901 Encoder Port Number Depends Real hardware port on the driver

Pn-904 Encoder Type Depends 0：Incremental, 1：Multi-turn Absolute

Driver Parameter Setting – 25

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N0. Name Value Description

Pn-F40 Save Parameter 1 Set 1 to save parameter, become back to 0

after success.
Only effective when servo-off.

Driver Parameter Setting – 26

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8 Pitch Error Compensation

8.1 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.

8.2 Path
• 8 key, 5 key : F10 Next→ F3 Param.→ F4 Comp. Param.→F1 Pitch Table

8.3 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

Pitch Error Compensation – 27

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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"

Pitch Error Compensation – 28

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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.

Pitch Error Compensation – 29

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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.

8.4 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
• After Homing (zero point searching) completed, the pitch compensation is enabled.
• 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

Pitch Error Compensation – 30

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8.5 Related Parameters

Pitch Compensation High-Precision Pitch Error Compensation

Version No Descriptions Range Unit Default Effective

V10 Pr1301~1320 Pitch error compensation type [0~2] - 0 Press Reset

V12 P35781 N1~18

• 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.

Versio No Descriptions Range Uni Defaul Effective

n t t

V10 Pr1321~1340 Pitch error compensation [1000~ 99999999] BL 25000 Press

interval U Reset
V12 P3578 N1~18
3

• 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.

Version No Descriptions Range Unit Default Effective

V10 Pr1341~1360 Table index for reference [1~100] - 50 Press Reset

(home)
V12 P35782 N1~18

Pitch Error Compensation – 31

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• 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.

Versi No Descriptions Range Uni Defa Effectiv

on t ult e

V10 Pr8001~10000 Axis positive/negative absolute [-999999~9 BL 0 Press

compensation pitch error table 99999] U Reset
V12 P35801~3 N1~1
6000 8

• 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.

Versio No. Description Range Unit Defaul Effective

n t

V10 Pr1401~1420 Axis mechanical compensation time [0~6000 ms 10 Press

constant 0] Reset
V12 P3500 N1~18
1

• 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.

Setting Example
• Assume the stroke of first axis is positive of home point.
• Use uni-directional compensation

• 8.5.1 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

• 8.5.2 Compensation table setting

Moves in positive direction

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

First axis 0
pitch compensati
on

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

machine coordina
te

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 coordin
ate - 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.

Pitch Compensation High-Precision Pitch Error Compensation

Basic parameters setting

Versio No Descriptions Range Unit Default Effectiv

n e

V10 Pr3859 *High Precision Pitch Error Compensation [0~1] - 0 restart

V12 P5001 N1

• 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
• 1~18 axis : the maximum compensated number is 2000
• 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

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Axis ID Pr1301~Pr1320 Pr3859 = 0 Pr3859 = 1

2 Bi-directional High Precision Bi-

compensation directional compensation

11~18 axis 0 No compensation No compensation

1 No compensation High Precision Uni-

directional compensation

2 No compensation High Precision Bi-

directional compensation

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

Version No Descriptions Range Unit Default Effective

V10 Pr1301~1320 Pitch error compensation type [0~2] - 0 Press Reset

V12 P35781 N1~18

• 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.
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.

Name Range Unit Default Effective

Number [1~2000] - 2000 Input

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• 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.

Name Range Unit Default Effective

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

• Set the pitch error compensation interval.

• The least significant digit is to the third decimal place, and the minimum unit is 0.001mm.

Name Range Unit Default Effective

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

8.6 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

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8.7 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.

8.8 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;

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

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10

11

12

13

14

15

(extendable)

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9 Backlash Compensation
9.1 Preface
Once the screw and the table are assembled together, there may have backlash between them due to
manufacturing tolerances or wear and tear over extended usage.
The effect of backlash is that during a direction change, a small gap of the screw and the table is not in contact.
Consequently, the actual movement of the table will be less than what is commanded by the controller, resulting in
machining errors.
The measurement of backlash can be done by a simple dial indicator. However, when using a laser rangefinder for
pitch compensation or a Ballbar for circular compensation, you can also measure the amount of backlash.
Once you obtain the amount of backlash, input it into the controller's backlash compensation parameters to
eliminate accuracy errors caused by backlash.

Backlash example

9.2 Specifications
• Two types: Linear Way and Box Way Compensation
• Linear Way Compensation: In both rapid motion (G00), cutting (G01), and JOG modes, compensation
is applied at the moment of reversal when additional position commands are sent.
• Box Way Compensation: Based on the movement mode (G00 or G01) and direction (refer to homing
direction) to determine the amount of additional position commands.

9.3 Related Parameters

• Pr1221~Pr1240 Enable axial backlash compensation
• Pr1241~Pr1260 Axial G00 backlash
• Pr1261~Pr1280 Axial G01 backlash
• Pr1401~Pr1420 Axis mechanical compensation time constant

Version No Descriptions Range Unit Initial Occasion

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V10 Pr1221~1240 Backlash compensation start [0~2] - 0 Reset

V12 P35011 N1~18

• This parameter determines whether the backlash compensation function is activated or not.
0：shut down.
1：Enable linear way compensation --- Regardless of the rapid motion, cutting or JOG movement mode, the
compensation amount of No1241~ is only sent out at the reverse rotation moment.
2：Enable box way compensation
• In the jog mode (G00), refer to the settings in Pr1241~ and Pr1261~, and calculate the compensation
amount based on the current movement direction.
• In the cutting mode (G01/G02/G03) or JOG movement, the compensation amount of No1261~ is
additionally sent in the reverse rotation moment.
• When performing box way compensation, Pr1241~Pr1260 Axial G00 backlash enter the backlash
compensation amount observed by the laser interferometer. Pr1261~Pr1280 Axial G01 backlash enter
the backlash compensation amount measured by the BallBar.
• Box Way Compensation Mechanism Explanation
Related parameters
Pr1241~Pr1260 Axial G00 backlash
Pr1261~Pr1280 Axial G01 backlash
• [Note]Pr1241~Pr1260 Axial G00 backlash is not equal to box way G00 backlash
• Box way compensation mechanism explanation
• Example:

• When the machine decelerates or comes to a stop, issuing the same movement
command to the motors with a movement distance of X may result in additional
relative displacement due to inertia.

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• For example, in cutting mode (G01) movement, during deceleration and stopping,
due to smaller inertia, there is almost no relative displacement between the motor
and the platform.
• However, in rapid mode (G00) movement, during deceleration and stopping, the
bigger inertia causes the platform to continue moving for a certain distance after
the motor has stopped.
• When the relative displacement distance is significant, it can be considered as
backlash in the same direction. In such cases, a box way compensation mechanism
is necessary to address this issue.
• Box way compensation backlash and sliding are directional, and the table below
shows the actual compensation values applied by the controller:
Same direction as homing Opposite to the direction of the homing
point point

Rapid Mode 0.5*（Pr1261~ - Pr1241~） 0.5*（Pr1261~ + Pr1241~）

Cutting Mode 0 Pr1261~

It is recommended to use a laser rangefinder for measuring the compensation box way
backlash. For more details, please refer to Instruction of Backlash Compensation.
• Rapid mode compensation example explanation:

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• Cutting mode compensation example explanation:

• To ensure absolute accuracy, whether using linear way compensation or box way compensation, attention
must be paid to the compensation status at the current moment.
• When enabling backlash compensation, it is necessary to be in the positive direction, and the home
position must also be set in the positive direction while homing.
• For more details, please refer to Instruction of Backlash Compensation in the section of bearing
condition.
• Compatibility Changes
• From 10.112.0~10.116.23 (including), the relationship curve between backlash compensation and
speed follows an exponential relationship. High speed (G00) backlash is determined by Pr1241~,
while low speed (F10) backlash is determined by Pr1261~. The exponential convergence constant is
determined by Pr1281~.
• For versions up to 10.112.45 (including), if you wish to use linear way compensation logic, you must
specifically set Pr1261~ and Pr1281~ to 0. In this case, the controller will only consider Pr1241~ for
compensation.

Version No Descriptions Range Unit Default Effective

V10 Pr1241~1260 Axial G00 backlash [-999999~ 999999] BLU 0 Reset

V12 P35012 N1~18

• 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).

Version No Descriptions Range Unit Default Effective

V10 Pr1261~1280 Axial G01 backlash [-999999~ 999999] BLU 0 Reset

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V12 P35013 N1~18

• 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).

Versio No. Description Range Unit Defaul Effective

n t

V10 Pr1401~1420 Axis mechanical compensation time [0~60000 ms 10 Press

constant ] Reset
V12 P3500 N1~18
1

• 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.

9.4 Backlash Compensation

Linear Way Compensation Box Way Compensation

Summary G01 and G00 use the same backlash G01 and G00 use different
compensation compensation

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Linear Way Compensation Box Way Compensation

Pr1221~Pr1240 Enable axial backlash Set 1 Set 2

compensation

Input address for backlash error Pr1241~Pr1260 Axial G00 backlash G00:
Pr1241~Pr1260 Axial G00
backlash
G01:
Pr1261~Pr1280 Axial G01
backlash

If there is an absolute accuracy requirement, such as a rotary axis, it is necessary to pay attention to the
compensation in the current engaged state. Enter the value and enable the backlash compensation when
the machine moves from the negative to the positive direction, ensuring the correct engagement.

9.5 Engaged Condition

Common in rotary axes, as they have an absolute accuracy requirement, entering the value and enabling backlash
compensation must be done while paying attention to the direction of engagement.
For general linear axes, the issue is somewhat similar but with slight differences. It is recommended to proceed
directly to the section on the steps for backlash compensation.

Correct Engagement Example Description

For the sake of clarity, linear axis illustrations are still used to facilitate explanations, with the same meaning.

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For the situation where there is an absolute accuracy requirement for the rotary axis, enabling the backlash
compensation function requires the correct engagement in the positive direction.
<Method>: To enable backlash compensation, move the rotary axis slowly in the positive direction by 1 deg
using G01 or JOG, ensuring the correct engagement of the rotary axis before enabling backlash compensation.
Similarly, when setting the origin during homing, it is necessary to engage in the positive direction.

9.6 Steps for Backlash Compensation

Q: How to determine when to use box way compensation or linear way compensation?
Ans: Box way compensation is designed for a small number of box way machines with different backlash values due
to high and low speeds. Regardless of whether it is a box way machine, if the backlash at both high and low speeds
is less than 5um, it is recommended to use linear way compensation.

Linear Rail Compensation Hard Rail Compensation

Linear Way Compensation

• Step 1: With the homing process not completed, disable backlash and quadrant spike compensation.
• Backlash - Pr1221, Pr1241, Pr1261
• Quadrant Spike - Pr1361, Pr1441
• [Note]: Before homing, Pr1241~ and Pr1261~ must be set to 0, or it will result in incorrect backlash
compensation calculation.
• Step 2: Execute the homing or origin setting process.
• Step 3: Measure the backlash.
• Method 1: When performing quadrant spike compensation, measure the backlash using BALLBAR
(recommended).

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• Method 2: When performing pitch compensation, use laser rangefinder to measure the backlash.

• Method 3: Measuring the Backlash Using a Dial Indicator

• Step 1: Prepare a dial indicator and securely mount it on the machine in a location that
does not move with the target axis.
• Step 2: Switch to the MPG mode and move the axis in the positive direction to make the
dial indicator needle reach a specific number. Take care not to move in the reverse

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direction after contact to ensure that no backlash occurs (assuming the dial indicator
number is 50).
• Step 3: Record the machine coordinates X at that time, for example, 100.000. Then, start
moving in the negative direction using the MPG until the dial indicator needle reverses by
one division, at which point you can stop (the dial indicator number should now be 49).
• Step 4: Record the machine coordinates Y at that time, for example, 99.985. The actual
backlash amount is calculated by subtracting Y from X and then deducting 1 division from
the dial indicator reading, so the actual backlash amount is X - Y - 1 = 14um.
• The above is the most basic measurement method, but you are not limited to the steps
mentioned. The concept remains the same.
• Step 4: Input the backlash amount into Pr1241~Pr1260 Axial G00 backlash.
• Step 5: Enable the linear way compensation by setting Pr1221~Pr1240 Enable axial backlash
compensation with a value of 1.
• Step 6: Using the same measurement method, verify the effectiveness of the backlash compensation.

Linear Rail Compensation Hard Rail Compensation

Box Way Compensation

• Step 1: With the homing process not completed, disable backlash and quadrant spike compensation.
• Backlash - Pr1221, Pr1241, Pr1261
• Spike - Pr1361, Pr1441
• [Note]: Backlash compensation must be turned off before homing to avoid miscalculations in
backlash compensation.
• Step 2: Execute the homing or origin setting process.
• Step 3: Perform G00 backlash measurement.
• G00: During pitch compensation (using G00), measure the backlash using a laser rangefinder and
input the measured backlash value into Pr1241~Pr1260 Axial G00 backlash.

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• Step 4: Perform G01 backlash measurement

• G01: Use BALLBAR to measure backlash, input the measured backlash value into Pr1261~Pr1280
Axial G01 backlash

Hard Rail Backlash Compensation Parameters Explanation

When the machine undergoes deceleration and comes to a stop, there may be additional relative
displacement due to inertia.
For example, in cutting mode (G01) when moving, during deceleration and stop, there is very little relative
displacement between the motor and the bed, as the inertia is relatively small.
However, in rapid traverse mode (G00), during deceleration and stop, the significant inertia of the motor
causes the bed to continue moving for a certain distance even after the motor has come to a stop.

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If moving toward positive position

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If there is backlash A+sliding q

Laser Rangefinder Perspective
Endpoint position: X+q
Back to the starting position: A-q
Backlash as measured by the laser = Endpoint position - Starting position -
Known displacement
Backlash as measured by the laser = X+q-(A-q)-X
Backlash as measured by the laser = -A+2q
And since the double sliding amount is less than the backlash amount, -A+2q is
negative, so the parameter is taken as a positive value, defined as Pr1241~
Pr1241~ = A-2q

Pr1241~ Physical Meaning: The backlash amount as observed by the

laser rangefinder (taken as a positive value)

Outbound (Same as the Homing Direction): Compensation required for

sliding q
Pr1241~ = A-2q
q = 0.5 * [ A - Pr1241~]
q = 0.5 * [ (Pr1261~) - (Pr1241~) ]
Inbound (Opposite to the Homing Direction): Compensation required for
backlash A+ sliding q
A+q = A + 0.5 * [ (Pr1261~) - (Pr1241~) ]
A+q = 0.5 * [ (Pr1261~) + (Pr1241~) ]

9.7 Test Verification

• Parameter Settings:
Pr1241~Pr1260 Axial G00 backlash = 10
Pr1261~Pr1280 Axial G01 backlash = 20
• Box Way Compensation:
• G00: When the movement direction is the same as the homing direction, the compensation is
0.5 * (20 - 10) = 5, and when it's in the opposite direction, the compensation is 0.5 * (20 + 10) =
15.
• G01: When the movement direction is opposite to the homing direction, the compensation is
20.
• Linear Way Compensation: When the movement direction is opposite to the homing direction, the
compensation is 10.
• Assuming the homing direction is in the positive direction.
• Execute the following program content.

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• G90 G01 X0. F500 //G01 Orientation

M0
G00 X10. //G00 Positive
M0
G01 X20. //G01 Positive
M0
G00 X10. //G00 Negative
M0
G01 X0. //G01 Negative
M30

• When performing backlash compensation, the following equation on the right holds true: Absolute position
command = Machine coordinate + Backlash compensation.
You can observe the compensation status through diagnostic variables 40~ (command amount) and 72~
(machine coordinates).
• Linear way compensation (assuming homing has just been completed)

Diagnostic Variables 40 Diagnostic Variables 72 Backlash Compensation

First M0 0 0 0

Second M0 10000 10000 0

Third M0 20000 20000 0

Fourth M0 9990 10000 -10

M30 -10 0 -10

• Box way compensation (assuming homing has just been completed)

Diagnostic Variables 40 Diagnostic Variables 72 Backlash Compensation

First M0 0 0 0

Second M0 9995 10000 -5

Third M0 20000 20000 0

Fourth M0 9985 10000 -15

M30 -20 0 -20

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9.8 Q & A
Q: When inspecting the effectiveness of compensation, it is found that the bed still cannot reach the correct
position.
Ans: The machine's repeatability is good, and the effectiveness of the mechanism compensation will be better.
When the compensation effect is not satisfactory, please first check whether the bed mechanism is assembled
correctly.

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10 Quad-Peak Compensation
10.1 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.

10.2 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.

10.2.1 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.

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10.2.2 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.

10.2.3 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.

10.3 Related Parameters

10.3.1 Compensation Method Selection

Versio No Descriptions Range Unit Default Effective
n

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V10 Pr2921~2940 Axial quad-peak compensation [-1~1] - 0 Press

method Reset
V12 P35014 N1~18

• 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 ).

10.3.2 Position Peak Compensation

Versi No Descriptions Range Uni Defau Effecti
on t lt ve

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V10 Pr1361~1380 Axis quad- peak error compensation from [0~999 BL 0 Reset
negative to positive direction 9] U
V12 P350 N1~1
15 8

• 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.

Versio No Descriptions Range Unit Defaul Effective

n t

V10 Pr1381~1400 Axis quad-peak error second hold [0~60000] ms 100 Press
time Reset
V12 P3501 N1~18
8

• 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.

Versio No Descriptions Range Unit Defaul Effective

n t

V10 Pr1381~1400 Axis quad-peak error second hold [0~60000] ms 100 Press
time Reset
V12 P3501 N1~18
8

• 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.

Versi No Descriptions Range Uni Defau Effecti

on t lt ve

V10 Pr1441~1460 Axis quad-peak error compensation from positive [0~999 BL 0 Reset
to negative direction 9] U
V12 P350 N1~1
16 8

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• 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.

Version No Descriptions Range Unit Default Effective

V10 Pr1461~1480 Axis quad-peak error hold time [0~60000] ms 0 Press Reset

V12 P35017 N1~18

• 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).

10.3.3 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

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Descriptions Range Unit Default Effective

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

10.4 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.

10.5 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.

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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.

10.6 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

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

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11 Servo Tuning
Syntec Analytics tool is necessary for this operation, PC and network cable are also needed.
Could refer to Syntec Analytics Manual. for more detail.

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12 Serial Parameter Screen Operation

Unable to render include or excerpt-include. Could not retrieve page.

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13 Software Installation、Data Backup/Restore

Software Installation
• Path
• Eight Key: F10 Next → F4 System Admin. → F1 Install Software
• Five Key: F10 Next → F4 System Admin. → F1 Install Software
• Function
• This function key is used for controller software upgrade.
• Software upgrade package is a compressed zip file download from the Syntec website. It requires a
Syntec website account to download.
• It's able to install the upgrade file with USB drive or network share folder, USB drive method is more
commonly used.
• Caution
• Software installation package from the Syntec website : CE controller can only use CE standard
software installation package, and Linux controller can only use Linux standard software installation
package
• Customized installation package from SI generation : CE controller can only use package generated
in CE format, and Linux controller can only use package generated in Linux format.
• Operation
• Download the upgrade package and copy the file to USB flash drive or network share folder.
• Press "Install Software (F1)", a window will pop-up. Use the arrow keys to select "USB Flash Drive" or
"Network Share Folder" then press "Enter" key.
• Use arrow keys to move the cursor onto the installation package, package information will be shown
under the window after a few seconds.
• Once confirmed the information, press "Ok".
• Regular Controller Operation: A question window will show up after a while, press "Ok" again to start
the copy.
• Dipole Operation:
• Versions 10.116.24V, 10.116.36B, 10.116.37,10.117.37 and before (included)
• Compare the installation package information with the background Controller. If
matched, a question window will show to ask whether to install in the background,
press "Ok" key.
• Versions 10.116.24V, 10.116.36B, 10.116.37,10.117.37 and above (not included)
• First compare install package information with front stage Controller. If matches, a
question window will show to ask whether to install in front stage, then press "Ok" key.
• Then compare the install package information with background Controller. If
matches, then you will be asked whether to install in the background, then press "Ok".
• <exception> Handheld Teach Pendant installation package and EHMI installation
package will only be installed at the front stage.
• After the controller finishes copying, a window will remind the users to reboot and continue the
installation process.
• Select the software upgrade package

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• Select the file, the software upgrade package information is shown below.

• Software installation confirmation window

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• File copying takes longer, please be patient

• Software Installation reminder window

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13.1 System Backup

• Path
• Eight Key: F10 Next → F4 System Admin. → F2 Backup Sys.
• Five Key: F10 Next → F4 System Admin. → F2 Backup Sys.
• Function
• This button is used to backup system data of controller. There are two types of backup: Syntec
Backup (SB) and Maker Backup (MB).
• SB will back up your entire system controller's folders into a backup file, even the software files. It
is the most complete backup, but please note that this backup does not include the NC files, and
cannot backup selectively.
• SB can further be saved to external device or internal storage to prepare for contingencies.
• Internal SB is not mandatory, but there are TWO notices showing the internal backup has not been
done yet. 1: "About" function key is orange 2: In About screen, a red warning message "Can't Find SB
Restore Files" is in the bottom.
• MB can only used to backup the common development files such as PLC, Macro, etc., but it'a able to
choose the data the user wish to back up, which provides a higher flexibility.
• Syntec Back (SB) Files are:
• DiskC
• Shared folder
• OpenCNC folder
• OCRes folder
• StdMMIRes folder
• PrdMMIRes folder
• App folder (valid version: 10.118.40B, 10.118.41)
• OpenApp folder (valid version: 10.118.82H, 10.118.86B, 10.118.89)
• Fonts folder (valid version: 10.116.36R, 10.116.46, 10.117.46)

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• \DataServer\bin and \DataServer\script folder (valid version: 10.120.32I, 10.120.41,

12.0.2)
• CEINIT.XML
• OCUp.exe
• OCDown.exe
• welock.exe
• User profile
• DiskA (or DiskC, DiskC2)\OpenCNC\User\Registry.dat
• Contents of the Windows Registry
• HKLM\Init\*
• HKLM\Software\Syntec\*
• HKLM\System\CurrentControlSet\Control\Layouts\00000409\\PS2_AT
• HKLM\Drivers\BuiltIn\TouchKit1
• HKLM\Drivers\HID\LoadClients\Default\Default\1_6\Keyboard
• HKLM\Comm\EMAC1\Parms\TCPIP
• HKLM\Comm\ENET1\Parms\TCPIP
• HKLM\Comm\DM9000\Parms\TCPIP
• HKLM\Comm\PCI\E100CE1\Parms\TCPIP
• HKLM\Comm\PCI\E1Q51CE61\Parms\TCPIP
• HKLM\HARDWARE\DEVICEMAP\TOUCH
• HKLM\Software\Microsoft\FontLink\SystemLink
• Others
• Windows folder
• Boot Picture
• File name: Bootcepc.bmp
• Placed in BootPicture folder
• Valid version: 10.116.34
• Driver Parameters (the parameter backup file is only applicable for serial servo drives.
Contains Normal Axis, Serial PLC Axis, ROT Turret and ATC Axis)
• Kernel Information (tool table data: ToolTable.dat, M code scan records:
ScanTable.dat, Home info of Serial PLC Axis ROT Turret, ATC Axis)
• Operation Log
• System Information (including the controller and drivers, driver info is only valid for
serial servo drivers)
• For version 10.116.36J, 10.116.42 and after, Machine Maker information is also
included.
• Authority Information
• File name: AuthoUser.xml
• Record the authority definition.
• Record Syntec customer service accounts.
• Record Machinery Manufacturer's account & passwords.
• Record all end-users account & passwords, and their authority content.
• The file is encrypted, can not be edited.
• Encoder Battery Information
• Directory: BackupOnly\Syntec\BatteryLog*.dat (valid version: 10.118.12P,
10.118.21)
• Syntec Standard Kernel Scope records (Alarm(1~3Axis), Service, Daily, Alarm(4~6Axis))
• Directory: BackupOnly\Syntec\(Alarm / Service / Daily / Alarm456)
• Valid version:
i. i.MX6 Controller: 10.118.23W，10.118.28J，10.118.34
ii. AM3354 Controller: 10.118.23X，10.118.28K，10.118.35
iii. 10.118.48P, 10.118.52J, 10.118.56D, 10.118.58 and later versions support
alarm record(4~6Axis).

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• MMILog
• Directory: BackupOnly\Syntec
• Records the error message when system exception occurs, and diagnostic
information about MMI.
• Valid version: 10.118.22Y, 10.118.23Y, 10.118.28L, 10.118.36
• Renamed from Exception Log to MMILog after version: 10.118.30S, 10.118.32S,
10.118.40W, 10.118.42W, 10.118.48H, 10.118.52B, 10.118.53
• Data Log
• Valid version: 10.118.24E, 10.118.28R, 10.118.39
• EncParameter
• Folder name: EncParameter
• Backed up files: All encoder parmeter tables of the CNC.
• After the valid version: 10.118.56M, 10.118.60G, 10.118.66A, 10.118.67
• If fail to back up EncParameter, recommand to execute EncParameter
exporting and find error code.
• BackupFailList
• Directory: BackupOnly
• If error happens during the backup process, this file will record the error file
name and error content.
• If no errors happen during the backup process, this file will not be generated.
• Valid version: 10.118.70R, 10.118.74E, 10.118.78E, 10.118.82D, 10.118.86
• Maker Backup (MB) Files: (L = COM/CHT/CHS = languages)
i. Ladder Diagram
• Folder name: Ladder
• Ladder file name: cnc.lad
• PLC alarm string file: AlarmPLC_L.xml
ii. Parameter File
• Folder name: Parameter
• Parameter file name:
• param.dat
• ParamValue.db
Valid version: from 12.0.2
• Parameter text file name: param.txt (plaintext file does not need special software to
open)
Valid version: from start to 12.0.2
iii. Extension Parameter File
• Folder name: ParameterExt
• Expansion parameter definition file:
• paramext.pxt
• CustomParamDef.db
Valid version: from 12.0.2
• Expansion parameter string file: ParamExt_L.xml
• Expansion parameter byte string file: ParamExt _RBit_L.xml
iv. Macro Program
• Folder name: MACRO
• MACRO: * (user defined)
• MACRO alarm string file: AlarmMacro_L.xml
v. Boot Picture
• Folder name: BootPicture
• Bootcepc.bmp (valid version: 10.116.34)
vi. User profile
• Folder name: Registry

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• Filename: Registry.dat (including tool data/coordinates system/auto tool parameters/

work record/...etc)
vii. Plug-in Module
• Folder name: Plugin
• Plug-in config file: Plugin.Config
• Plug-in dynamic link libraries:. *.dll (user defined)
viii. Customized HMI
• Folder name: OCRes
• Backed up files: All files except for the following four:
• AlarmPLC_L.xml
• AlarmMacro_L.xml
• ParamExt_L.xml
• ParamExt_RBit_L.xml
• When backing up customized HMI under the connection structure between
front/back stage
• Versions after 10.116.24V, 10.116.36B, 10.116.37, 10.117.37 (not
included)
• Handheld pendant CE as front stage: The front stage of
customized HMI will be backed up for displaying the customized
screen; if the backup of back stage is needed, please run the
backup through the machine end of back stage.
• PC as front stage: Not supporting
• Versions after 10.118.9, 10.118.0I (not included)
• Handheld pendant CE as front stage: The front stage of
customized HMI will be backed up for displaying the customized
screen; if the backup of back stage is needed, please run the
backup through the machine end of back stage.
• PC as front stage：The front stage of customized HMI will be
backed up
• Folder name: OpenApp (valid version: 10.118.82H, 10.118.86B, 10.118.89)
• Backed up files: All file of /Bin/Res/ under the customized pre-installed App
( path : /%AppName%/Bin/Res/..)
pre-installed App : <STD> in DiskC/App/%AppName%/Bin/App.acfg is TRUE
ix. History Alarm
• Folder name: HistoryAlarm
• Existing Alarm: Actalm.txt
• History Alarm: Histalm.txt
x. Drive Parameters
• Folder name: DriveParameter
• Drive parameter filename: TunningParam.dat
• Drive parameter text filename: TunningParam.txt
• Serial PLC axis drive parameter file: M2/M3_SPLCA_SerialParam.dat
• ROT drive parameter file: M2_ROT_SerialParam.dat
• ATC drive parameter file: M2/M3_ATC_SerialParam.dat
• Requires serial communication controller and the drive to complete the backup
successfully
xi. Authority Data
• Folder name: AuthoData
• File name: Autho.xml.
• Record end-user administrator's password
• Record all end-users' account & passwords, and their authority content.
• Record Machinery Manufacturer's account & passwords.
• The file is encrypted, can not be edited.

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xii. Serial PLC Axis (SPLCA) Parameters

• Folder name: SPLCAData
• File name: SerialParam.dat
• Requires a serial system and succeeded drive communication to complete the backup.
• Valid version: from start to 12.0.2
xiii. ROT Turret Data
• Folder name: ROTData
• File name: ROTParam.dat
• Requires a serial system and succeeded drive communication to complete the backup.
• Valid version: from start to 12.0.2
xiv. Data Log
1. Folder name: DataLog
2. File name: DataLogx.dat (x is a number from 0 to 2, the greater the number represents
the longer duration)
xv. Operation Log
• Folder name: OPLog
• File name: OPLog.x (x is a number from 0 to 2, the greater the number represents the
longer duration)
xvi. Kernel Data
• Folder name: SysData
• Tool table data file: ToolTable.dat (Valid version: after 10.116.36D, 10.116.39)
• M code group file: ScanTable.dat (Valid version: after 10.116.24X, 10.116.36D,
10.116.39)
• Record Home info of Serial PLC Axis and ROT Turret
• Folder name: SysData
• Machinery manufacturer's data folder: DiskC\MakerData
• M3 device object registry file (M3-IO only), M3HwInfo.dat
• Laser marking parameter data LaserCtrlParam.dat,
LaserGeomAxisParamX.dat(X is a number from 1~3)
• Auto tool changing (ATC) parameter data: ATCParam.dat
• End-user data folder: DiskC\MachineData
• Laser marking galvo motor distortion correction table: DCTData.dat
• ROT customized tool position table: RotPosParam.dat
• Auto tool changing (ATC) origin data: ATCReg.dat
• High-Precision Pitch Table : HighPrecisionPitchComp.dat
• Commonly used end-user data folder: DiskA\MachineData
• ROT customized tool position table: RotPosParam.dat
• Laser marking registry file: LaserReg.Dat
• Tool table: ToolTable.dat
• EnIP device data flie: EnIP_Config.xml
xvii. Machinery Manufacturer Information
• Folder name: MakerInfo
• File name: MakerConfigInfo.xml (Valid version: after 10.116.36J, 10.116.42 )
• Record the Machine Maker screen information
xviii. I/O Chart Information
• Folder name: IOMap
• File name: IoMap_Customer.xml (Valid version: after 10.116.38F, 10.116.54D,
10.118.0B, 10.118.2)
xix. SRI Data
• Folder name: SriParameter
• File name:
• SriParam.dat
Valid version: from start to 12.0.2

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• SriReg.dat
xx. App Data
• Folder name: App
• Backed up files: DiskC\App All files ( Valid version: after 10.118.40B, 10.118.41 )
• After the valid version: 10.116.56I, 10.116.60C, 10.118.62, the backup paths
of DiskC\App are different, so the backup can not be restored across the
compatibility version.
• After version 10.118.58H, 10.118.62A, 10.118.70M, 10.118.78C, 10.118.82, only
the files in the DiskA\App will be backed up for Pre-install App.
• Backed up files: DiskA\App All files ( Valid version: after 10.116.56I, 10.116.60C,
10.118.62 )
xxi. EncParameter
• Folder name: EncParameter
• Backed up files: All encoder parmeter tables of the CNC.
• After the valid version: 10.118.56M, 10.118.60G, 10.118.66A, 10.118.67
• If fail to back up EncParameter, recommand to execute EncParameter exporting and
find error code.
• Not Support for front/back stage
xxii. Other Information
1. System Information
• Folder name: SystemInfo Txt
• Controller Information: SystemInformation.txt
• Machine Manufacturer Info added for versions 10.116.36J, 10.116.42 and
later.
• Drive Information: SerialServoInformation.txt
• Requires a serial system and succeeded drive communication to
complete the backup.
2. Encoder Battery Information
• Directory: : BackupOnly\Syntec
• File name: BatteryLog*.dat
• Provides after versions 10.118.12P, 10.118.21 (included).
3. Syntec Standard Kernel Scope Records ( Alarm(1~3Axis), Service, Daily,
Alarm(4~6Axis) )
a. Provides versions:
i. i.MX6 Controller: Kernel Scope Function added for
versions 10.118.23W，10.118.28J，10.118.34 and later.
ii. AM3354 Controller: Kernel Scope Function added for
versions 10.118.23X，10.118.28K，10.118.35 and later.
iii. 10.118.48P, 10.118.52J, 10.118.56D, 10.118.58 and later versions support
alarm record(4~6Axis).
b. Alarm Records(1~3Axis):
• Directory: BackupOnly\Syntec\Alarm
• FileName：Alarm_*.csv （* the date and time when the file created:
MMDDhhmm ）
c. Service Records:
• Directory: BackupOnly\Syntec\Service
• FileName：Service_*.csv （* the date and time when the file created:
MMDDhhmm ）
d. Daily Records:
• Directory: BackupOnly\Syntec\Daily
• FileName：Daily_*.csv （* the date and time when the file created:
MMDDhhmm ）
e. Alarm Records(4~6Axis):

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• Directory: BackupOnly\Syntec\Alarm456
• FileName：Alarm456_*.csv （* the date and time when the file created:
MMDDhhmm ）
4. System Status Records
a. Valid version: 10.118.23Z, 10.118.28M, 10.118.37 or later.
b. Software：
i. Directory：BackupOnly\Syntec\Reliability\NcSoftware
ii. FileName：NcSoftware_*.csv （* the last updated date: YYYYMMDD）
c. Drive Soft.：
i. Directory：BackupOnly\Syntec\Reliability\DrvSoftware
ii. FileName：DrvSoftware_*.csv （* the last updated date: YYYYMMDD）
d. Firmware：
i. Directory：BackupOnly\Syntec\Reliability\Firmware
ii. FileName：Firmware_*.csv （* the last updated date: YYYYMMDD）
e. Servo：
i. Directory：BackupOnly\Syntec\Reliability\Motor
ii. FileName：Motor_*.csv （* the last updated date: YYYYMMDD）
f. Hardware：
i. Directory：BackupOnly\Syntec\Reliability\Hardware
ii. FileName：Hardware_*.csv （* the last updated date: YYYYMMDD）
5. MMILog
• Directory: BackupOnly\Syntec
• Records the error message when system exception occurs, and diagnostic
information about MMI.
• Valid version: 10.118.22Y, 10.118.23Y, 10.118.28L, 10.118.36
• Renamed from Exception Log to MMILog after version: 10.118.30S, 10.118.32S,
10.118.40W, 10.118.42W, 10.118.48H, 10.118.52B, 10.118.53
6. Collision Log
• Directory：BackupOnly\Syntec
• FileName：CollisionLog*.dat
• Valid version：10.118.40D, 10.118.42
7. RDLog
a. Directory：BackupOnly\Syntec\RDLog
b. FileName：RDLog*.dat
c. Valid version：10.118.40Y, 10.118.42Y, 10.118.48J, 10.118.52D, 10.118.54
8. ScopeLog
a. Directory：BackupOnly\Syntec\ScopeLog
b. FileName：ScopeLog*.dat
c. Valid version：10.118.40Y, 10.118.42Y, 10.118.48J, 10.118.52D, 10.118.54
9. SystemBootLog
a. Directory：BackupOnly\Syntec\SystemBootLog
b. FileName：SystemBootLog*.dat
c. Valid version：10.118.44B, 10.118.46B, 10.118.48M, 10.118.52G, 10.118.56A,
10.118.57
10. OperationLog
a. Directory：BackupOnly\Syntec\RDLog
b. FileName：OperationLog*.dat
c. Valid version：10.118.48W, 10.118.52Q, 10.118.56K, 10.118.60E, 10.118.66
11. IO Log
a. Directory：BackupOnly\Syntec\IOLog
b. FileName：IOLog*.dat
c. Valid version：10.118.44C, 10.118.46C, 10.118.48N, 10.118.52H, 10.118.56B,
10.118.57

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12. BackupFailList
a. Directory: BackupOnly
b. If error happens during the backup process, this file will record the error file
name and error content.
c. If no errors happen during the backup process, this file will not be generated.
d. Valid version: 10.118.50V, 10.118.58M, 10.118.62G, 10.118.70R, 10.118.74E,
10.118.78E, 10.118.82D, 10.118.86
• Operation Steps
• Enter "Backup Sys." and select the files to back up, or select "Syntec Backup", or press "Internal
Backup".
• Press "Next" after selection, the backup path window will appear. If chose the "Internal Backup", the
back up system will start automatically without other operations.
• The path selecting window on PC is the same as the one on controller, provides USBDisk,
DiskA and Network folder. For USBDisk and DiskA, the folder content of root directory where
the project is saved will be obtained.
For example: Save the project with PC as front stage in folder C:\Project\21MA , the path of
DiskA on the path selecting window will be C:\DiskA.
• Valid versions for front/back stage MB function with PC as front stage: 10.118.10,
10.118.0J (included) and later.
• Select the destination path and press "Enter".
• Edit file name for the backup file, default name will be given if no change is required. After the editing
is complete, press "Next".
Note: No special symbols can be used in the file name, including < > / \ | : " * ? etc.
• Edit file comment (could be blank). After the editing is complete, press "Next".
• A message will appear to ask whether to start the backup, press "Ok" to start. To return to previous
step, press "ESC" to go backward.
• After the backup is complete, another hint message will appear.
• Data backup screen

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• Backup path selection screen

• File name editing screen

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• Comment editing screen

• Backup confirmation screen

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• Backup complete hint screen

• SB not executed, the button is in orange.

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• SB not executed, hint message shows on the system information screen.

• Q&A (11/24)
• Q1, What is the timing of running these backup?
A1:
• End-users: Do Maker Backup (MB).
• Machinery Manufacturers: Do Maker Backup (MB) or Syntec Backup (SB) with HMI, or using
System Agent (SA) to perform SB.
• Q2: Can the files and folders in Maker Backup (MB) be found in Syntec Backup (SB)? (Ex: In MB, Serial
PLC Parameters is in SPLCAData folder.)
A2: As in the example, for Serial PLC Axis parameters, the "SerialParam.dat" file inside folder
SPLCAData from MB is actually stored in DiskC\OpenCNC\Data\ for SB. Since MB allows users to back
up the specific development data from certain machine, the backed up files will be stored in
separated and organized folders for recognition.
• Q3: Why for versions 10.116.24 (included) and later, the Internal Disk option is no longer provided for
SB?
A3: To simplify the operation in versions 10.116.24 and later, the Internal Disk is cancelled. The
Internal Backup function is changed to function key "F5 Internal Backup" in Backup Sys. menu, and
the restore from Internal Disk function is limited to System Agent interface.
• Precautions:
• For Tool Table Data / M Code Group, versions 10.116.24X, 10.116.36D, 10.116.39 and later are
recommended
• Backup Option Changes:
• Tool Table Data (ToolTable.dat):
• 10.116.34: Provides backup and restore file using "Registry (Registry.dat)"
• 10.116.35: Backup/restore of these files will fail due to the unmatched directory
after changing the file position.

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• 10.116.36D, 10.116.39: Failures fixed. The Tool Table Data is moved to "Kernel
Data" item.
• M Code Group (ScanTable.dat):
• 10.116.24Q, 10.116.34: Provides backup and restore file using "Registry
(Registry.dat)"
• 10.116.24R, 10.116.35: Backup/restore of these files will fail due to the
unmatched directory after changing the file position.
• 10.116.24X, 10.116.36D, 10.116.39: Failures fixed. The M Code Group data is
moved to "Kernel Data" item.
• For I/O Chart Data, versions 10.116.38F, 10.116.54D, 10.118.0B and later are recommended.
• Backup Option Changes:
• I/O Chart (IoMap_Customer.xml):
• 10.116.38A, 10.116.53, 10.117.53: Provides the I/O chart setup funtion, the data is
stored in "Kernel Data" (SysData)
• 10.116.38F, 10.116.54D, 10.118.0B, 10.118.2: The file position of I/O chart in controller
is changed, also the I/O Chart data (IOMap) is able to be selected for backup
individually.
• For I/O Chart MB files generated before the change, please run the backup
again in the new version. The back up/restore between different versions is
incompatible.
• Limitations
• Front/back stage connection does not support SB restore.
• For front/back stage connections with PC as front stage, versions 10.118.10, 10.118.0J (included) and
later support MB backup and restore, the backup and restore files are always backstage files.

System Restore
• Path
• Eight Key: F10 Next → F4 System Admin. → F3 Restore Sys.
• Five Key: F10 Next → F4 System Admin. → F3 Restore Sys.
• Function
• This button is used to restore system data of controller. There are two types of restore file source:
Syntec Backup (SB) and Maker Backup (MB) files.
• Front/back stage connection does not support SB backup and restore.
• For front/back stage connections with PC as front stage, versions 10.118.10, 10.118.0J (included) and
later support MB backup and restore, the backup and restore files are always backstage files.
• Use MB backup files to restore, it's able to select individual items
• After Version 10.116.34, boot image restore is provided.
• Versions after 10.116.24V, 10.116.36B, 10.116.37,10.117.37 (not include): for front/back stage
connections with Handheld pendant CE as front stage, the customized HMI (OCRes) can be
restored ONLY to front stage.
• Versions after 10.118.58N, 10.118.62H, 10.118.66M, 10.118.70F: If the boot picture item is
selected, the image specification will be checked. If the check fails, an error message will pop
up and the restore operation will be interrupted
• To restore system using SB backup files, the user can only run a complete restoration.
• In versions 10.116.34 and later, if there is a boot image in SB backup file, a window will appear
to ask whether to restore the image as well.
• Versions after 10.118.58N, 10.118.62H, 10.118.66M, 10.118.70F: The image specification will be
checked first. If the check fails, an error message will pop up and the restoration of other
items will continue.

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• Please note that the backup files (whether MB or SB) generated by CE and Linux have different
specifications and cannot be restored across platforms.
• In Linux controllers with software versions above 10.118.74L, 10.118.82J, 10.118.86C,
10.118.90, it is possible to restore MB backup files from the CE platform.
• Operation
• Enter "Restore Sys." screen and select the restoring backup file and press "Next".
• If a MB file is selected, a file selection screen will appear for users to select the restoring items. Then
press "Next".
• If a SB file is selected, simply press "Next" to continue.
• Before the restoration starts, a confirmation message will show, press "Yes" again to continue.
• The controller will start copying data from backup file to internal memory. After finished, a message
will inform the user to reboot controller for the completion of restoration. The system restore will
finish after reboot.
• Restoring file selection screen

• After selected the file, the screen shows its comments and file name. Once confirmed, press F1 (Next).

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• The file name and comment will be displayed on the right side.
• If chosen a MB backup file, the user can select the items to be restored.
• <NOTE> History Alarm, Operation Log, and Diagnosis Logs can not be restored.
• If chosen a SB backup file, it's unable to select the restoring items.
• Please refer to the "Drive Restoration Notifications" when restoring drive parameters.

• After pressing Next, there is another confirmation window

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• After the controller is ready, it will prompt the user to reboot

13.2 Drive Restoration Notifications

• When restoring Drive Parameters, the controller will make the following four checks (only for serial servo
drives, not pulse control drives)
a. For Syntec drives, if the authority parameter (FN-00/FN-31) is set to;
i. Lv0, the controller will run the restoration after changing the parameter to Lv1 automatically.
Then turn the authority parameter back to Lv0, after completed.
ii. Not Lv.0, then it depends on the authority parameter setting.
iii. The actions above are valid from versions 10.116.36V, 10.116.50, 10.117.50.

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b. If the controller is in Not Ready state, a notice window will pop out and suspend the restoration.
(function added after versions 10.116.26B, 10.116.36K, 10.116.43,10.117.43 and later)
• SB: When the backup file of Serial Parameters is included in the files, hint message will pop up
and the restoration will be suspended if the controller is not in Not Ready state. Please switch
to Not Ready state and retry.
• MB: When the backup file of Serial Parameters is selected, hint message will pop up and the
restoration will be suspended if the controller is not in Not Ready state. Please switch to Not
Ready state and retry.

c. Protections for drive parameter restoration of not packaged motor (supporting version: 10.116.54G,
10.118.0D)
i. During SB restoration, if a not packaged motor is included in the connected motor, a confirm
window will pop up with the content "drive parameter restoration of not packaged motor
could be dangerous. Sure to restore the parameters?". If selected F2 (Yes), all the items will be
restored: if selected F3 (Not), the parameters won't be restored but the other objects will.

ii. During MB restoration, if a not packaged motor is included in the connected motor, the drive
parameter will be not unselected in default to avoid the restoration.
iii. If alarm window "Pn724 input error, please run the Encoder-Rotor Offset correction" pops up
after the restoration is completed, it means the connected driver is in a previous version:
versions v2.6.5 (included) and before are not able to write Pn724 into not packaged motors.

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The Encoder-Rotor Offset correction is required.

d. If the number of axis in the backup file matches the actual number of axis, the restoration will start
directly; if the number is not matched, a window will appear to confirm whether to continue the
restore. (added after version 10.116.24J)
• During the drive parameter restoration for both SB or MB, the axis can be only restored while
it is matched with the axis in the backup file.
• Form start: The driver station ID and vendor ID will be both checked to determine
whether the axis is matched or not.
• Form 10.116.24M, 10.116.32, 10.117.32: For M3 protocol, the axis ID and vendor ID will
be both checked to determine whether the axis is matched or not.
• Form 10.118.12E, 10.118.15: For M2 protocol, the axis ID, driver station ID and vendor
ID will be all checked to determine whether the axis is matched or not.
• If the number of restorable axis matches the number of axis in the backup file, the restoration
of all axis will be directly executed.
• If the number of axis does not match, a confirmation window will pop-up with content
"Number of axis unmatched, sure to continue the restoration?" If choose to continue, only the
matched axis will be restored.

e. Please note, for versions after 10.118.12I and 10.118.17, the restoration of drive will be executed after
boot up, please keep the driver in Servo Off state during the process or it might fail.

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Hint message as below will show after the restoration is succeeded, please reboot again to
take effect.

Hint message as below will show if the restoration is failed, please run the restoration again
after troubleshooting.

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14 Check List
No. Item Content Result

1 Absolute origin Move each axis to specific location and □ Yes/□ No

set up the absolute origin.
After reboot, check the machine
coordinate are all correct.
Also check the flag S16~S18 are
activated normally.
PS. S16~S18 are the flags of origin
setting completed.

2 Software limit After origin is ready, set up the □ Yes/□ No

software limit on the appropriate
position.
5mm from mechanism limit or
hardware limit switch is
recommended.
PS. Software limit could be set with
Pr2401~Pr2441.

3 Lubrication Check the specification of lubrication Interval = _____（sec）

is designed properly.
Lubricating = _____（sec）
Check the lubrication is working
Alarm：□ Yes/□ No
normally.
Check if the alarm occur when the oil is
not enough.

4 Spindle loading Check the motor current is between Orientation = _____（%）

1/3~1/2 of rated current without load.
Rated speed = _____（%）
Based on three conditions：spindle
Max. speed = _____（%）
orientation、rated speed、max.
speed.

5 Auto tuning & Kp setting Use auto tuning function to do servo Pr181 = _____（1/s）
tuning.
Pr182 = _____（1/s）
After tuning, the Kp（position loop
Pr183 = _____（1/s）
gain） of XYZ should be the same.
PS. The minimum value of Kp between
XYZ should be used.

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6 Axis loading Check the loading of XYZ is less than X = _____（%）

40% when stationary.
Y = _____（%）
Z = _____（%）

7 Axis motion stability Check the following error of XYZ is Data 8 = _____（um）
steady when moving in 1000 mm/min.
Data 9 = _____（um）
PS. Following error could be observed
Data 10 = _____（um）
by system data.

8 Axis crawling check Moving the axis in the same direction X = _____（um）
by MPG, 1 um each time.
Y = _____（um）
Check the command needed to make
Z = _____（um）
the axis have real movement.
A micrometer gauge is needed.

9 Power supply and leakage Check the resistance between 3-phase □ Yes/□ No
power and ground is more than 200K
□ Yes/□ No
ohm.
□ Yes/□ No
Check the resistance between DC 24V
and ground is more than 200K ohm. □ Yes/□ No
Check the power supply for each
device is normal.
Check DC 24V for IO terminal board is
normal.

10 Hardware limit Move the axis to touch hardware limit X：□ Yes/□ No
switch to test the protection function.
（If it exists.） Y：□ Yes/□ No
PS：Enlarge software limit before test.
Z：□ Yes/□ No

Check List – 87