SYNTEC

Multi-axis Servo Operating

Instructions
Servo Products
syntecvietnam@gmail.com

Table of Contents
1. HomePage ........................................................................................................................................... 5
2. Quickguide.......................................................................................................................................... 6
3. Preface ................................................................................................................................................. 7
4. Applicable models............................................................................................................................. 7
5. Hardware specification .................................................................................................................... 8
5.1. Description...................................................................................................................................... 8
5.2. Appearance introduction ............................................................................................................. 9
5.3. Dimensions ................................................................................................................................... 13
6. Handling and installation .............................................................................................................. 18
6.1. Transport ...................................................................................................................................... 18
6.2. Installation Environment Conditions and Precautions ....................................................... 18
7. Wiring and signal ............................................................................................................................ 19
7.1. Peripheral device wiring diagram ........................................................................................... 19
7.2. Drive connector and terminal description ............................................................................. 23
7.3. Serial vector wiring diagram ..................................................................................................... 24
7.4. Syntec encoder external analog temperature wiring diagram .......................................... 28
7.5. Interface pin definition .............................................................................................................. 30
7.6. Multiple four-in-one series description .................................................................................. 32
7.7. Regeneration resistor selection ............................................................................................... 34
7.7.1. Overview of Regenerative Resistor Selection............................................................ 34
7.7.2. Detailed Selection Guide for Regeneration Resistors .............................................. 36
7.8. KTY84 temperature sensor and over temperature protection .......................................... 37
7.8.1. Installation ....................................................................................................................... 37
7.8.2. Drive Parameters Setting .............................................................................................. 38
7.9. Y connection and Delta motor parameters conversion and use precautions ................. 40
7.9.1. Y-Delta Wiring Conversion ............................................................................................ 40
7.9.2. Y-Delta Parameter Conversion ..................................................................................... 41
7.9.3. Motor Testing after Conversion ................................................................................... 45
8. Automatic tuning............................................................................................................................. 46
8.1. Empty load transfer process...................................................................................................... 46
8.1.1. Preparation before tuning............................................................................................. 46

2
syntecvietnam@gmail.com

8.1.2. Induction motor tuning.................................................................................................. 46

8.1.3. Permanent magnet motor tuning ................................................................................ 50
8.2. Syntec Encoder Parameter Correction Current Feedback Signal Correction .................. 58
8.2.1. Syntec encoder parameter correction ........................................................................ 58
8.2.2. Current feedback signal correction ............................................................................. 61
8.3. Load tuning process .................................................................................................................... 62
8.3.1. Preparation before tuning............................................................................................. 62
8.3.2. Tuning process ................................................................................................................ 62
8.3.3. Combined with the host controller commissioning ................................................. 71
8.4. Inch test ......................................................................................................................................... 74
9. Spindle double feedback control application instructions..................................................... 75
9.1. Double feedback control mode ................................................................................................. 75
9.1.1. Drive parameter settings ............................................................................................... 75
9.1.2. Encoder function test ..................................................................................................... 77
9.1.3. Drive commissioning ...................................................................................................... 77
9.2. Controller parameter setting .................................................................................................... 77
9.2.1. Serial communication mode ......................................................................................... 78
9.3. Integrated commissioning ......................................................................................................... 79
10. Driver parameter manual ......................................................................................................... 80
10.1. 【Pn-0XX】 function selection parameters ........................................................................ 80
10.2. 【Pn-1XX】 Gain parameter .................................................................................................. 83
10.3. 【Pn-2XX】 position loop parameters ................................................................................. 86
10.4. 【Pn-3XX】 Speed loop parameters ..................................................................................... 91
10.5. 【Pn-4XX】 Torque loop parameters .................................................................................. 95
10.6. [Pn-5XX] sequence parameters ............................................................................................ 103
10.7. 【Pn-6XX】 After the class parameters ............................................................................. 108
10.8. 【Pn-7XX】 Motor parameters ............................................................................................ 113
10.9. 【Pn-8XX】 Common parameters....................................................................................... 121
10.10. 【Pn-9XX】 Encoder parameters ..................................................................................... 123
10.11. 【Pn-DXX】 Status monitoring 1 ...................................................................................... 140
10.12. 【Pn-FXX】 transfer parameters ...................................................................................... 169

3
syntecvietnam@gmail.com

11. Alarm overview ......................................................................................................................... 179

11.1. Driver Alert – ALARM ............................................................................................................. 179
11.2. Motor Alarm – ALARM ............................................................................................................ 187
11.3. Encoder Alert – ALARM .......................................................................................................... 191
11.4. Tuning Alarm – ALARM .......................................................................................................... 218
11.5. Application Alert – ALARM .................................................................................................... 222
11.6. Special Alert – ALARM ............................................................................................................ 228
11.7. Driver warning – WARNING .................................................................................................. 230

4
syntecvietnam@gmail.com

1. HomePage
SYNTEC
Servo Drive Operation Manual

5
syntecvietnam@gmail.com

2. Quickguide
The use of Syntec of the drive, not the use of packet motor, in the automatic transfer
when the rapid guidance. This section will be more streamlined, such as for the content
is not clear, you can refer to the Syntec of automatic machine tuning chapter, the steps
for the transfer machine will have a more clear description and explanation.
New generation of semi -
Separate new generation of drivers
guest support
(Non-new generation encoders)
(New generation encoders)

New generation encoder Pn-F21 = 11, Pn-F10 = 3. Start

parameter correction performing encoder correction.
When Pn-F10 = 0, the test ends.

Enter the correct encoder type

Enter the correct parameters with the rest of the encoder
related parameters

Encoder function test Pn-F21 = 9, Pn-F10 = 3.

Start the encoder function test.
When Pn-F10 = 0, the test ends.

Enter the correct motor Enter the correct motor

version of the parameters version of the parameters

Pn-F21 = 1, Pn-F10 = 3. Start the implementation of

Motor tuning package motor tuning package.
When Pn-F10 = 0, the test ends.
(Induction motor need to re- induction motor rotor time
adjustment,Pn-F21 = 10, Pn-F10 = 3 . )
Magnetic pole offset
correction Pn-F22 = 2, Pn-F10 = 4. The rotor inertia estimation is started.
When Pn-F10 = 0, the test ends.

Rotor inertia measurement Pn-F21 = 3, Pn-F10 = 3. The rotor inertia estimation is started.
When Pn-F10 = 0, the test ends.

Speed ​loop gain and velocity Enter the Pn-100 speed loop gain;
loop integration time constant Enter the Pn-101 speed loop integral time constant.

Speed ​filter bandwidth Enter the Pn-308 speed filter bandwidth

Position loop gain Enter the Pn-102 position loop gain

Load inertia estimation Pn-F20 = 1, Pn-F10 = 2. Start the load

inertia ratio estimate.
When Pn-F10 = 0, the test ends.

Controller and drive command

polarity By the controller under the rotation command, check the tool
(axial) is forward. If inversion, modify parameter Pn-020. (The
original 1 into 0, if 0 is changed to 1)

Drive in motion test Drive in motion test

6
syntecvietnam@gmail.com

3. Preface
Thank you for your continued support of our products. Our servo team is forever
committed to the research and development of new products; we hope that our products
and services can bring each user the best possible experience.
The SYNTEC high-performance servo drive series consists of our company's latest servo
drive models. Each product is manufactured using high quality materials and has been
through rigorous testing. In addition, our drives adopt precise vector control, guaranteeing
high accuracy, high stability and high efficiency.
This Operation Manual includes the drive's hardware specifications, installation
instructions, as well as wiring and signal descriptions, providing each user with detailed
guidance. To achieve the best performance of our products and to maintain the safety of both
personnel and equipment, please read this manual carefully before use and keep it in a safe
place for future reference. If any doubts arise, please do not hesitate to contact our office--
we will be happy to help!

4. Applicable models
This four-in-one operation manual is suitable for new generation all-in-one drives,
including drive integrated and multi-axis drives.

7
syntecvietnam@gmail.com

5. Hardware specification
5.1.Description
Each drive undergoes strict quality inspection and anti-collision packaging before
leaving the factory. Please check for impact damage upon receiving the product. Users
should also compare the serial numbers on the outer box and on the product itself. If
there is any discrepancy, please contact us immediately.
Model Description

12:Optional
12: Optional
second/third
second/third
card card
Product Syntec
(1- Motherboard, 2 -IO Card, 3-Step card)
Controller
Driver
 2020: The Driver Capacity : Three-axis
current 20A, The fourth axis current 20A
 24A: The modal name
The first code is the input power
2 is 220V, 3 is 380V
The second code 4 for the 4-axis drive
A for the engineering design model
 80RG:This is the industry to define their own
representative of the control model code
80RG ,80RD,80RS,80RA,80GM,80SC

Product Syntec
Multi -axes  00: Optional second/third card
Driver (1- Motherboard, 2 -IO Card, 3-Step card)

 2020/40150: The Driver Capacity : Three-

axis current 20A or 40A
The fourth axis current 20A or 150A

 24A: The modal name

The first code is the input power
2 is 220V, 3 is 380V
The second code 4 for the 4-axis drive
A for the engineering design model

8
syntecvietnam@gmail.com

5.2.Appearance introduction

S08-SCD-80 series (80RG, 80RD, 80RS, 80RA, 80GM, 80SC)

Item Module Description

Drive function

A External power Connect 220 V three-phase AC (RST)

supply

B Motor power supply Connected to the motor side,

there are four sets of motor power supply (UVW) , from right to left
are the first to fourth axes

C MIII serial Connect the host controller (MIII signal)

communication

D Mini USB port Connecting to a personal computer

E I/O signal Connect I/O devices (emergency stop, warning light, etc.)

F Encoder feedback From top to bottom, first to fourth, respectively, first to fourth axis
motor encoders

Controller function

G USB connector Connect USB device

H Ethernet Connect to a 10/100 M network

9
syntecvietnam@gmail.com

I 24 V Hand-held power input

J HHB hole port Connecting the handheld box

K SRI hole port Connect new generation controller peripheral products

L VGA jack port Connect to VGA standard screen

IO board function

M I point signal port Connect an I device (eg emergency stop button)

N O point signal port Connect O devices (eg warning lights)

S08-SMD-24A-2020-00

10
syntecvietnam@gmail.com

Item Module Description

A External power supply Connect 220 V three-phase AC (RST)

B Motor power supply Connected to the motor side,

there are four sets of motor power supply (UVW) , from right to
left are the first to fourth axes

C MIII serial communication Connect the host controller (MIII signal)

D Mini USB port Connecting to a personal computer

Drive function

E I/O signal Connect I/O devices (emergency stop, warning light, etc.)

F Encoder feedback From top to bottom, first to fourth, respectively, first to fourth
axis motor encoders

S08-SMD-34A-50150-22

11
syntecvietnam@gmail.com

Item Module Description

Drive function

A External power Connect 380 V three-phase alternating current (RST)

supply

B Motor power Connect the motor side to provide a motor power (UVW) for a
supply total of four groups, from right to left are the first axis to the fourth axis

C Brake resistance Brake resistance contact (connected to P and B)

D MIII serial port Connect the host controller (MIII signal)

E Mini USB port Connect to a personal computer

F I / O signal port Connect I / O device (emergency stop, warning light ... etc.)

G Encoder From top to bottom, respectively, for the first to the fourth port,
feedback respectively, for the first to fourth axis motor encoder

IO version of the
function

H I point signal Connect I equipment (eg emergency stop button)

port

I O point signal Connect O devices (eg warning lights)

port

12
syntecvietnam@gmail.com

5.3.Dimensions
S08-SCD-80 series (80RG, 80RD, 80RS, 80RA, 80GM, 80SC) S08-SMD-24A-2020-
00 S08-SMD-34A-40150-22

13
syntecvietnam@gmail.com

Drive specification

Syntec Drive S08-SCD-80 Series / S08-SMD-24A-2020-00

Power Rated Voltage 3-phase 380~440 V 50/60 Hz

Voltage Error Bound -15 ~ +10%

Frequency Error ±5%

Bound

Output Rated Current 7.9 A

Over-current 150% 60s, 200% 1s

Control Method 3-phase full wave rectification, SVPWM－VVVF control

Regenerator Internal; external available

For external, refer to the Regenerator Selection section

Encoder Supported interfaces：Tamagawa, SYNNET, NIKON, FeeDAT

Extended encoder modules：Supports Tamagawa, SYNNET, NIKON,
ABZ, Serial, SSI, BiSS (Does NOT support UVW wire-saving encoders)
(For more about extended encoder modules, refer to Servo
10PX1/10PX3 Extended Module Operation Manual)

14
syntecvietnam@gmail.com

PC Interface USB

Controller Serial Mechatrolink III

Communication

I/O Signal Digital Input 4 ports, function alterable

Digital Output 2 ports, function alterable

Cooling Method Fan cooling

Environment Temperature 0℃ ~ 55℃(If the surrounding temperature exceeds 45℃,

implement forced air circulation), storage: -20～65℃ (non-freezing)

Humidity Maximum 90% RH (non-condensing), storage: under 90%RH (non-

condensing)

Location Indoors (avoid direct sunlight); keep away from oil, dust, and
corrosive or flammable gases

Altitude Below 1000 m until sea level

Vibration Maximum 5.9 m/s2

Weight 6.74kg

Syntec Drive SMD. 27A---S08 3575-22 / S08- SMD-3575. 27A- -00

Power Rated Voltage 3-phase 380~440 V 50/60 Hz

Voltage Error Bound -15 ~ +10%

Frequency Error ±5%

Bound

Output Rated Current First axis to third axis: 8.4 A, fourth axis: 27 A

Over-current 150% 60s, 200% 1s

Control Method 3-phase full wave rectification, SVPWM－VVVF control

Regenerator Internal; external available

For external, refer to the Regenerator Selection section

Encoder Supported interfaces：Tamagawa, SYNNET, NIKON, FeeDAT

Extended encoder modules：Supports Tamagawa, SYNNET, NIKON,

15
syntecvietnam@gmail.com

ABZ, Serial, SSI, BiSS (Does NOT support UVW wire-saving encoders)
(For more about extended encoder modules, refer to Servo
10PX1/10PX3 Extended Module Operation Manual)

PC Interface USB

Controller Serial Mechatrolink III

Communication

I/O Signal Digital Input 4 ports, function alterable

Digital Output 2 ports, function alterable

Cooling Method Fan cooling

Environment Temperature 0℃ ~ 55℃(If the surrounding temperature exceeds 45℃, implement

forced air circulation), storage: -20～65℃ (non-freezing)

Humidity Maximum 90% RH (non-condensing), storage: under 90%RH (non-

condensing)

Location Indoors (avoid direct sunlight); keep away from oil, dust, and
corrosive or flammable gases

Altitude Below 1000 m until sea level

Vibration Maximum 5.9 m/s2

Weight 9.54 kg

Syntec Drive S08-SMD-34A-50150-22 / S08-SMD-34A-50150-00

Power Rated Voltage 3-phase 380~440 V 50/60 Hz

Voltage Error Bound -15 ~ +10%

Frequency Error ±5%

Bound

Output Rated Current First axis to third axis: 11.9 A, fourth axis : 34 A

Over-current 150% 60s, 200% 1s

16
syntecvietnam@gmail.com

Control Method 3-phase full wave rectification, SVPWM－VVVF control

Regenerator Internal; external available

For external, refer to the Regenerator Selection section

Encoder Supported interfaces：Tamagawa, SYNNET, NIKON, FeeDAT

Extended encoder modules：Supports Tamagawa, SYNNET, NIKON,
ABZ, Serial, SSI, BiSS (Does NOT support UVW wire-saving encoders)
(For more about extended encoder modules, refer to Servo
10PX1/10PX3 Extended Module Operation Manual)

PC Interface USB

Controller Serial Mechatrolink III

Communication

I/O Signal Digital Input 4 ports, function alterable

Digital Output 2 ports, function alterable

Cooling Method Fan cooling

Environment Temperature 0℃ ~ 55℃(If the surrounding temperature exceeds 45℃,

implement forced air circulation), storage: -20～65℃ (non-freezing)

Humidity Maximum 90% RH (non-condensing), storage: under 90%RH (non-

condensing)

Location Indoors (avoid direct sunlight); keep away from oil, dust, and
corrosive or flammable gases

Altitude Below 1000 m until sea level

Vibration Maximum 5.9 m/s2

Weight 9.54 kg

17
syntecvietnam@gmail.com

6. Handling and installation

6.1.Transport
The entire body of the drive must be held during transportation. To avoid the risk of
falling, do NOT hold the drive by its upper cover or by any individual part.

6.2.Installation Environment Conditions and Precautions

Installation Environment Conditions
 Locations without high heat generating devices.
 Locations without floating dust or metal particles.
 Locations without corrosive or flammable gasses and liquids.
 Locations without water, steam, dust, or oily dust.
 Locations without electromagnetic noise interference.
 A sturdy, vibration-free location.
 Suitable ambient temperature is 0 ° C ~ 55 ° C; if the ambient temperature is above
45 ° C, please put the drive in a well-ventilated place or in an air-conditioned room.

Installation Precautions
 Install the drive in the direction specified by the instructions; incorrect positioning
may lead to servo failure.
 When installing the drive, do not block its ventilation holes and do not place it
upside down, otherwise the drive may malfunction.
 Do not use on or near flammable materials.
 Make sure that each fastening point is tight when fixing the drive in place.
 Install on a surface that can withstand the weight.

Operation Precautions
 For long-term operation, it is recommended to maintain an
ambient temperature below 45 °C to ensure product reliability.
 If the product is installed in an electrical cabinet, the size and ventilation of
the cabinet must prevent any internal electronic devices from overheating. Also pay
attention to whether the machine's vibrations will affect other electronics in
the cabinet.
 To enhance cooling circulation, maintain sufficient space between all sides and
surrounding objects of the drive and the baffles (walls); also take care not to block
the ventilation holes, otherwise the drive may malfunction.

Other Precautions
 The cable between the drive and the motor should not be stretched too tightly.
 Do not place heavy objects on top of the drive.

18
syntecvietnam@gmail.com

 Keep the drive clear from conductive objects such as metal and screws or
combustibles such as oil.
 If the cable connecting the motor and the drive is longer than 20 meters, please
thicken the U, V, W and encoder cables.
 Do not drop or impact the drive.
 Do not force the drive to operate if it is damaged.

7. Wiring and signal

7.1.Peripheral device wiring diagram
S08-SCD-80 series
※Recommended encoder wiring: 22AWG×2C+24AWG×2P At least 90% coverage
※Recommended RST wiring: 6AWG or 13.3mm2
※Recommended UVW wiring: Axial: 14AWG or 2.0mm2
USB Interface M3 serial
Port

Ethernet
IO Port

I point input device

O point output device

SRI Port
220V- 3Phase Power

Double
feedback
Encoder

Double
feedback
Encoder

19
syntecvietnam@gmail.com

S08-SMD-24A-2020-00
※ Encoder recommended wire diameter: 22AWG or 0.6mm 2
※ RST recommended wire diameter: 10AWG or 5.3mm 2
※ UVW recommended wire diameter: 14AWG or 2.0mm 2

M3 Serial Port Connect

the host controller

IO Port

220V- 3Phase Power

Double
feedback
Encoder

Double
feedback
Encoder

20
syntecvietnam@gmail.com

S08-SMD-34A-40150-22
※ Encoder recommended wire diameter: 22AWG or 0.6mm 2
※ RST recommended diameter: 6AWG or 13.3mm 2
(the actual diameter according to the user needs "multi-axis simultaneous maximum current" decision)

* UVW Recommended diameter:

 Axial: 14AWG or 2.0mm2
 Spindle below 7.5kw 12AWG or 3.3mm 2
 11kw above the spindle 10AWG or 5.3mm 2

M3 Serial Port Connect

the host controller

IO Port

I point input device

O point output device

Double
feedback
Encoder

Double
feedback
Encoder

380V- 3Phase Power Regenerative

resistor

21
syntecvietnam@gmail.com

Installation Precautions:
 Before powering on, check if the U, V, W, and G terminals are correctly wired to the
motor. An incorrect UVW sequence may lead to rotation in the reverse direction or
even motor malfunction; at that point, Encoder Testing and Magnetic Pole Offset
Detection must be re-performed. An incorrect G wiring may cause damage to the
motor or the drive.
 It is recommended to provide the power supply of the controller through any two
terminals of the RST.
 When wiring the host controller, select either general servo signal or serial servo
signal-- not both.
Wiring Instructions
 Power supply:
1. Input power from R, S, T, L1, L2
2. L1 and L2 are optional
 Encoder Terminals:
1. Single-axis Axial Type (SVD) has one set of encoder feedback (6PIN) and Spindle
Type (SPD) has two sets of encoder feedback (6PIN); each set of encoder terminals
has a 5V power output (up to 150mA).
2. Supports encoder interface of Tamagawa, SYNTEC, and NIKON.
3. Supports expansion modules that connect other encoder interfaces (refer to Servo
10PX1/10PX3 Expansion Module Guide).
4. Battery voltage checking for absolute encoders.
 Host Controller Serial Communication:
1. Mechatrolink-II Serial 10Mbps
2. Mechatrolink-III Serial 100Mbp
3. EtherCAT Serial 100Mbps (Currently unsupported)
 General IO Signal:
1. 2 DI ports
2. 1 DO port
3. Absolute Battery Voltage Input
4. Note
NC: Empty port
I port: Input a voltage of 24V relative to COM
port: O0+ and O0- are internally conductive
 STO I/O:
2 Safety inputs (STO-A, STO-B)

22
syntecvietnam@gmail.com

1 Safety feedback (STO-FB)

 USB Communication:
Connects to PC to set the servo's internal parameters and monitor the operation status.
 LED :
Operation Status and Power indicator.

7.2.Drive connector and terminal description

Name Terminal Description

Main Loop Power Input Terminal R, S, T Connects to 3-phase AC

Motor Power Input Terminal U, V, W Connects to motor

Regenerator Terminal P, B Connects to external regenerative resistor through P

and B terminals

DC BUS P, N P is Positive, N is Negative

Serial Communication Interface M3A, M3B Connects to host controller

USB Port mini USB Connects to PC's USB port

Encoder Feedback (Axis1) ENC1 Connects to Axis1 motor encoder

Encoder Feedback (Axis2) ENC2 Connects to Axis2 motor encoder

Encoder Feedback (Axis3) ENC3 Connects to Axis3 motor encoder

Encoder Feedback (Axis4) ENC4 Connects to Axis4 motor encoder

Encoder Feedback (Axis5) ENC5 Connects to Axis5 motor encoder

Encoder Feedback (Axis6) ENC6 Connects to Axis6 motor encoder

Ground Terminal Connects to ground

Wiring Precautions:
Keep the six power lines R, S, T and U, V, W away from other signal lines, at least a 30 cm
distance if possible.
When the power is cut off, the drive's internal capacitor still contains a large amount of
charge-- do NOT touch the six power lines R, S, T, and U, V, W. Please wait until the charging
light goes out.
When lengthening the encoder cable, apply twisted pair cabling to the encoder cable and the
grounding signal cable. Do not exceed a length of 20 m (65.62 in or 14 ft); if it is absolutely

23
syntecvietnam@gmail.com

necessary to do so, please use a signal line with twice the wire diameter in order to minimize
signal attenuation.
Please wire according to relevant regulations. Select the wire diameter according to motor
wattage, as follows:

Type Wattage Wire Diameter

Axial 100W~850W 20AWG

850W~7.5kW 16AWG

Spindle 7.5kW and below 12AWG

11kW and above 10AWG

7.3.Serial vector wiring diagram

Follow these steps for wiring a serial host controller:
 Connect the AC Power to the drive's R, S, T, and ground wire.
 Connect Mechatrolink III to the host controller, typically from the host M3 port to
M3A, and if necessary, connect to the next station through M3B.
 Connect the motor to the U, V, W terminals of its corresponding axis.
 Connect the motor encoder to the encoder feedback port of its corresponding axis.
 The external regenerative resistor of S08-SMD-34A-40150-22 is connected to P and
B.
A complete wiring diagram of the four-in-one drive is available below.
S08-SCD-80 Series S08-SMD-24A-2020-00 S08-SMD-34A-40150-22

24
syntecvietnam@gmail.com

M3 Serial Port Connect

the host controller

IO Port

I point input device

O point output device

Double
feedback
Encoder

Double
feedback
Encoder

380V- 3Phase Power Regenerative

resistor

25
syntecvietnam@gmail.com

M3 Serial Port Connect

the host controller

IO Port

220V- 3Phase Power

Double
feedback
Encoder

Double
feedback
Encoder

26
syntecvietnam@gmail.com

USB Interface M3 serial

Port

Ethernet
IO Port

I point input device

O point output device

SRI Port
220V- 3Phase Power

Double
feedback
Encoder

Double
feedback
Encoder

27
syntecvietnam@gmail.com

7.4.Syntec encoder external analog temperature wiring diagram

Distinguishing among the PTC130 temperature sensor, the normally closed (NC)
contact, and the KTY84 temperature sensor:
 On the label of PTC130 temperature sensor signal line, "PTC130" is labelled
right underneath "Thermal Protection."
 On the label of normally closed (NC) contact temperature sensor signal line,
"(NC)" is labelled right underneath "Thermal Protection," as in Figure 1.
 On the label of KTY84 temperature sensor signal line, "KTY84" is labelled
right underneath "Thermal Protection," as in Figure 2. In addition, the
KTY84 motor has a "KTY84" label attached to the motor casing, as in Figure
3.

Figure 1 (Figure 1) Figure 2 (Figure 2)

Figure 3 (Figure 3)

Analog Temperature Sensor Wiring Diagram (using encoder header K22)

 Connect the motor's temperature sensor terminal to the SYNTEC encoder's
temperature sensor terminal
 Set the parameters Pn-743 and Pn-744 (If the SYNTEC encoder is connected to the
2nd feedback, then set the parameters Pn-747 and Pn-748 instead)

28
syntecvietnam@gmail.com

Encoder signal cable

Regenerative Motor Power

3-Phase Power input
resistor Output

Regenerative Encoder signal

resistor
Wiring box
KTY84 temperature protect signal

29
syntecvietnam@gmail.com

7.5.Interface pin definition

M3 Serial Servo /EtherCAT Serial

Pin Name Description Description

1 TX+ Differential Signal (+)

2 TX- Differential signal (-)

3 RX+ Differential Signal (+)

4 NC --

5 NC --

6 RX- Differential signal (-)

7 NC --

8 NC --

Mini USB communication Mini USB Port

1 5V 5V power supply

2 DM USB differential signal (-)

3 DP USB Differential Signal (+)

4 GND Power Reference GND

5 GND Power Reference GND

30
syntecvietnam@gmail.com

Station Number

0 N/A 4 Station No. 4 8 Station No. 8 C Station No. 12

1 Station No. 1 5 Station No. 5 9 Station No. 9 D Station No. 13

2 Station No. 2 6 Station No. 6 A Station No. 10 E Station No. 14

3 Station No. 3 7 Station No. 7 B Station No. 11 F Station No. 15

Encoder Feedback

1 5V 2 GND

3 BAT+ 4 BAT-

5 D+ 6 D-

IO interface signal IO Signal Port

1 C01 2 O0 +

3 I0 4 O0-

5 I1 6 BAT+

7 NC 8 BAT-

31
syntecvietnam@gmail.com

7.6.Multiple four-in-one series description

The drives of the Multi-axis Servo Drive series has a multi-drive serial function,
activated by using an M3 cable to connect the M3B port of one drive to the M3A port
of a second drive. The user can then control this function using the panel DIP switch
and controller parameters, as follows:
DIP Switch Guide
The physical diagram of the dip switch on the pre-level version is shown below.
The panel DIP switch is pictured below:

The DIP switch has four PINs, where each PIN has the two states ON and OFF. The
switch can therefore represent 16 distinct station numbers, as shown in the table
below. Be especially aware of the relationship between station numbers and
controller parameters.

PIN 1 PIN 2 PIN 3 PIN 4 Station No.

ON ON ON ON 1

OFF ON ON ON 2

ON OFF ON ON 3

OFF OFF ON ON 4

ON ON OFF ON 5

OFF ON OFF ON 6

ON OFF OFF ON 7

OFF OFF OFF ON 8

ON ON ON OFF 9

OFF ON ON OFF 10

ON OFF ON OFF 11

OFF OFF ON OFF 12

32
syntecvietnam@gmail.com

PIN 1 PIN 2 PIN 3 PIN 4 Station No.

ON ON OFF OFF 13

OFF ON OFF OFF 14

ON OFF OFF OFF 15

OFF OFF OFF OFF 16

Controller Axis Number Encryption Principles

The user should adjust controller parameters Pr21~24 and Pr3261~3262

according to the DIP switch station number. Encryption principles are explained
below.
The controller's corresponding axis number should be set in the form MMnn: MM
denotes the main station number, or the DIP switch's corresponding station
number, which can be obtained from the table in the last section above or from Pn-
031 of the tuning software; nn denotes the substation number, which has a range of
0~6, where 0~3 represent Axis1~Axis4, 4 represents laser function, and 5~6
represent IO expansion cards 1~2, respectively.
If the station number is 1, set controller parameters as follows:

Parameter Value Description

Pr21 1000 Motion control port number corresponding to axis

Pr22 1001 Motion control port number corresponding to axis

Pr23 1002 Motion control port number corresponding to axis

Pr24 1003 Motion control port number corresponding to axis

Pr3261 1005 Drive station number corresponding to M3 IO 1st station

Pr3262 1006 Drive station number corresponding to M3 IO 2nd station

If the station number is 2, Pr21 is changed to 2000, Pr22 is changed to 2001, and other
Pr23, Pr24 and other parameters are deduced by analogy; if the station number is 10, Pr21
needs to be changed to 10000, and Pr22 needs to be changed to 10001. Other parameters

33
syntecvietnam@gmail.com

such as Pr23 and Pr24 are the same; if the number is 11, the Pr21 needs to be changed to
11000, the Pr22 to 11001, and the other Pr23, Pr24 and so on.
It should be noted that the controller must provide M3 serial communication to use the
serial function, so Pr9 must be set to 103, and consider the compatibility of future
automatic detection. The digital settings of parameters Pr3261 and Pr3262 should be
arranged from small to large. .
If the station number is 2, set Pr21 as 2000, Pr22 as 2001, and so on; if the station number
is 10, set Pr21 as 10000, Pr22 as 10001, and so on; if the station number is 11, set Pr21 as
11000, Pr22 as 110001, and so on.
Note that this serial function is available only if the controller is using M3 serial
communication, therefore Pr9 should be set as 103. In addition, considering the function's
future compatibility with auto detection, the user should set the values of Pr3261~Pr3262
in order of least to greatest.
7.7.Regeneration resistor selection
7.7.1. Overview of Regenerative Resistor Selection
Internal regenerative resistors are recommended. If special needs arise,
compute values according to the following table (see Detailed Selection Guide
of Regeneration Resistors):

Drive Model No. Internal Regenerator Recommended Recommended

Capacitance Resistance
(Note 1) (Minimum Value,
Refer to Note 2)

Capacitance Resistance (Ω)

(W)

S08-SCD-80 series 100 20 500 W 16 Ω

S08-SMD-24A-2020-00 100 20 500 W 16 Ω

S08-SMD-33A-3575-XX no no 2500 W 20 Ω

S08-SMD-34A-3575-XX no no 2500 W 20 Ω

S08-SMD-34A-50150-XX no no 4000 W 10 Ω

S08-SMD-23A-3030-00 100 20 500 W 16Ω

S08-SMD-24B-2020-00 200 20 500 W 16Ω

34
syntecvietnam@gmail.com

Note:
The Recommended Regeneration Resistance Table is designed for general
machining situations. If these values do no meet the actual application conditions,
users can refer to the Detailed Selection Guide for Regenerative Resistors and select
a regenerator of higher power.
Recommended resistance = operating voltage / maximum brake current, and
it is the minimum regenerative resistance of the drive. If no suitable resistance value
is found, users must select a regenerator of hig
There are three types of regenerative resistors commonly used in CNC
machining: wirewound resistors, ripple resistors, and aluminum-housed resistors;
users can select the type according to their needs. The following chart compares the
three types of brake resistors:

Resistor Type Wirewound Ripple Alumium-Housed

Characteristics

Heat Dissipation Poor Average Excellent

Operating Power Range Large (30~20000W) Large (30~20000W) Small (40~2000W)

Operating Resistance 2~1000Ω 2~1000Ω 0.1~10KΩ

Range

Cost Low Average High

Dimensions Large Large Small

Length X Width X Height (362 x 70 x 138) (362 x 70 x 138) (335 x 76 x 44)
(Unit: mm)

35
syntecvietnam@gmail.com

7.7.2. Detailed Selection Guide for Regeneration Resistors

Motors generally do positive work while operating, but they may do negative
work when the output torque direction is opposite of the rotation direction. For
instance, the motor may output torque to resist the inertia during braking, or it may
experience an external torque load while in torque mode...etc. During those times, the
external force is doing positive work through the motor and transferring that energy
to the drive; that is, the motor acts as a generator. When this happens, the
regenerative resistor must quickly dissipate the energy in order to prevent flooding
the DC terminal voltage.
Suppose the external torque load is TL and the unit is a percentage of the rated
torque (%). The speed at that instance in time is Wr (rpm). The regenerative
resistance power must be greater than the External Torque Power = TL x Rated
Torque x (Wr x 2π/60).
For example, if the external torque is 50% of rated torque, the speed is 2000
(rpm), and the motor rated torque is 2 (Nm), then the external torque produces a
power of 0.5 * 2 * 2000 * 2π / 60 ≈ 210 W. To be safe, that number is usually multiplied
by a safety factor of around 2 ~ 3, therefore the user needs to select a regenerative
resistor of more than 420W.
Free of External Torque Load
Assuming that the motor moves back and forth, the energy generated by the
inertial force during braking will be poured back into the drive. At this time, the
capacitor of the DC bus terminal of the drive is the first buffer to absorb and reuse the
energy. However, the absorption of energy by the capacitor causes the DC bus voltage
to rise, so when the voltage rises to a certain level, the second buffered regenerative
resistor is turned on to convert the energy into heat and discharge it.
The calculation method of the regenerative energy generated by the spindle
motor of the drive during braking is provided below, and the user can calculate the
required resistance according to different occasions.
E0 in the table below is the regenerative energy required to dissipate from the
rated speed to the standstill when the motor is load-free, E0 =J*ωr2/182, where J is
the rotor inertia (kg-m2) and ωr is the rated speed of the motor ( Rpm). And Ec is the
energy that the DC bus capacitor can absorb, Ec = C*(Vb,max2-Vb2)/2, where C is the
capacitance value of the DC bus terminal. Vb,max is the maximum voltage that the DC
bus can withstand, the 220V drive can withstand 400 V, and the 380V drive can
withstand 800 V. The Vb value is the rated voltage of the DC bus, and the value is 2
times the root of the input supply voltage.

36
syntecvietnam@gmail.com

Considering the actual application, assume that the load inertia ratio is N times
the motor inertia. If the speed is braked from the rated M times to zero speed, the
regenerative resistor must consume E0(N+1)*M2-Ec Joule. If the motor reciprocating
cycle (Time of accelerating, being steady, to decelerating) is T sec, then the
regenerative resistor power W = 1.2[E0*(N+1)*M2-Ec]/T, 1.2 is the safety factor.
In addition, according to the application of the spindle cover, the allowable
frequency index is provided for the user to select. The allowable frequency is defined
as the continuous acceleration and deceleration of the motor. In the case where the
regenerative resistor and the motor are not overheated, the maximum number of
round trips per minute is equal to 60 seconds divided by the round trip period T, i.e.
60/T. For example, when the milling machine is performing drilling and tapping, the
spindle will frequently perform acceleration and deceleration (single drilling involves
two acceleration and deceleration actions). If it is desired that the regenerative
resistor is not prone to overheating and smoke, the number of drilling per minute
must be limited to less than half of the allowable frequency.
7.8.KTY84 temperature sensor and over temperature protection
This section details the installation and setup of the KTY84 temperature sensor with its
driver and encoder and its overtemperature protection.
The KTY84 thermistor is an analog type temperature sensing element whose resistance
value changes with temperature.
The KTY84 temperature sensor can be installed on drives and encoders. This section
details how to activate the sensor and its thermal protection function.
The KTY84 thermistor is an analog type temperature sensing element; its resistance
value changes with temperature.

7.8.1. Installation
The KTY84 temperature sensor of the driver has two signal lines, and the wiring
diagram is detailed in the section [Wiring and Signal].
A KTY84 temperature sensor installed on a drive has two signal lines; refer to the【
Wiring and Signals】section for wiring diagrams.

37
syntecvietnam@gmail.com

7.8.2. Drive Parameters Setting

Parameter parameter name Predetermined Preset

number area

Pn-740 Turn on the drive KTY84 over temperature protection 0~1 1

function

Pn-741 Drive KTY84 over temperature protection level 80~150 (℃) 120

Pn-742 The first feedback of the new generation of encoder internal 0~145 (℃) 0
KTY84 over temperature protection level

Pn-743 The first feedback of the new generation of encoder external 0~145 (℃) 0
KTY84 over temperature protection level

Pn-744 The first feedback of the new generation of encoder external 0~145 (℃) 0
two KTY84 over temperature protection level

Pn-746 The second feedback of the new generation of encoder 0~145 (℃) 0
internal KTY84 over temperature protection level

Pn-747 The second feedback of the new generation of encoder 0~145 (℃) 0
external KTY84 over temperature protection level

Pn-748 The second feedback of the new generation of encoder 0~145 (℃) 0
external two KTY84 over temperature protection level

Pn-74A Turn off the internal encoder KTY84 over temperature 0~1 0
protection

Pn-74B Turn off the first encoder external KTY84 over temperature 0~1 0
protection

Pn-74C Close the first encoder external two KTY84 over 0~1 0
temperature protection

Pn-74E Turn off the internal encoder KTY84 over temperature 0~1 0
protection of the second encoder

Pn-74F Turn off the second encoder external KTY84 over 0~1 0
temperature protection

Pn-750 Turn off the second encoder external two KTY84 over 0~1 0
temperature protection

Above is the table of parameters relevant to the KTY84 thermal protection function. Set Pn-
740 as 1 to enable the function, then the system will trigger the overheat alarm AL-200 if
the measured temperature exceeds the level set in Pn-741.

38
syntecvietnam@gmail.com

To enable thermal protection for Syntec encoders, simply set the thermal protection level
to a value within the range 0~145℃. If this level is already factory-set, it cannot be
modified.
There are two ways to disable the thermal protection function, as follows:
For drives before V2.1.8, set the thermal protection level to 0.
For V2.1.8 and onward, use the parameter "Disable Encoder Int. Thermal Protection".
Example: Set Pn-742 "Encoder Int. KTY84 Protection Lv." as 140℃. To disable the
protection, set Pn-74A "Disable Encoder Int. Thermal Protection" as 1.
If the temperature exceeds the protection level, a corresponding overheat alarm will be
triggered as follows:
Alarm Code Alarm Name

Alarm 220 Motor Over Temperature

Alarm 320 Encoder Internal Over Temperature

Alarm 321 Encoder External(1) KTY84 Over Temperature

Alarm 322 Encoder External(2) KTY84 Over Temperature

Alarm 324 2nd Encoder Internal Over Temperature

Alarm 325 2nd Encoder External(1) KTY84 Over Temperature

Alarm 326 2nd Encoder External(2) KTY84 Over Temperature

For diagnosis and troubleshooting of overheat alarms, refer to the table below:
possible reason an examination Processing method

Motor cooling system is Check motor cooling system Replace the cooling system.
abnormal

Analogous temperature Check if the analog temperature 1. Check if the wiring is loose or
sensing signal is abnormal feedback is normal abnormal.
2. Check the parameters Pn7-40 and Pn7-
41 for correct settings.

Motor rated current Check rated current parameters Confirm the input parameters. If there is a
setting is incorrect correction, you need to re-adjust the
machine.

The acceleration and Check the Acceleration and deceleration time

deceleration time is too acceleration speed parameters increases.
short

Excessive load Check if the load rate continues to Replace the motor with a larger power.
exceed 100%

39
syntecvietnam@gmail.com

The user can observe the KTY84 sensing temperature of the motor through the state
monitoring variable Pn-D60; Pn-D61 observes the KTY84 sensing temperature of the first
feedback new generation encoder; Pn-D62 and Pn-D63 observe the first feedback new
Generation encoder external and external two KTY84 sensing temperature; Pn-D65 second
feedback new generation encoder internal KTY84 sensing temperature; Pn-D66 and Pn-D67
observation second feedback new generation encoder external one The external two KTY84
senses the temperature as shown in the table below.
Users can observe the temperatures measured by KTY84 through status monitoring
variables.
These variables correspond to the measured temperatures as follows:
Status Monitoring Parameter Descriptions
Variables

Pn-D60 Measured Temperature via KTY84 with Syntec Drive

Pn-D61 Measured Temperature via Feedback Syntec Encoder Internal KTY84

Pn-D62 Measured Temperature via Feedback Syntec Encoder External(1) KTY84

Pn-D63 Measured Temperature via Feedback Syntec Encoder External(2) KTY84

Pn-D64 Measured Temperature via Feedback Syntec Encoder External(3) KTY84

Pn-D65 Measured Temperature via 2nd Feedback Syntec Encoder Internal KTY84

Pn-D66 Measured Temperature via 2nd Feedback Syntec Encoder External(1) KTY84

7.9.Y connection and Delta motor parameters conversion and use precautions
7.9.1. Y-Delta Wiring Conversion
Checking if drive specifications can be converted successfully:
Before implementing Y-Delta Wiring Conversion, the user must ensure that
Connector Δ's voltage is 1/3 of the square root of Connector Y's voltage (about 0.577
times) and that Connector Δ's current is 3 times the square root of Connector Y's
current (about 1.732 times).
After the conversion, the drive's rated voltage must exceed the motor's rated voltage,
and the drive's rated current must be at least 1.5 times the motor's rated current. If
the drive cannot meet these conditions, it is not recommended to implement Y-Delta
Wiring Conversion. If any of these values are unknown, the user may obtain them
through corresponding parameters in the OpenGuide software.

40
syntecvietnam@gmail.com

Parameter No. Title

Pn-710 Rated Current

Pn-712 Rated Voltage for Induction Motor

Pn-640 Main Supply Voltage

Pn-651 Drive Rated Current

After ensuring that the drive specifications satisfies the above conditions, power-off
the system and open the motor casing.
Notice that three brass strips are connecting the Z, X, Y terminals; this
Connector Y circuit is represented by the diagram on the right.

Reconnect the brass strips to the U, V, W terminals; the resulting Connector Delta
circuit is represented by the diagram on the right.

※Caution: Do NOT disorder the U, V, W sequence

After reconnecting and securing the brass strips, the user may then replace the motor
casing, power-on the system, and connect to the tuning software.
7.9.2. Y-Delta Parameter Conversion
After opening the tuning software, enter the password in the user authority box
to unlock user authority.

41
syntecvietnam@gmail.com

Click on "Open File" and select the Syntec package parameter file for Connector Delta.
Parameter files with "wye" in the file name are for Connector Y, and those with "delta" are
for Connector Delta.

42
syntecvietnam@gmail.com

Un-check the box for "Pn-6 Inverter Parameters" and select "Confirm."

After successfully importing the parameters, the parameters "Pn-710 Rated Current," "Pn-
712 Rated Voltage for Induction Motor," and Pn-714~Pn-718 will turn red.

43
syntecvietnam@gmail.com

Ensure that "Pn-90C Enable Encoder Parameter Protection" is set as 0 (writable), then click
"Write Parameters" in the top-left corner and select "Save Parameters" right beside it; this
will save the newly imported package parameters and complete the parameter conversion
process.
Manual Parameter Computation
After opening the tuning software, enter the password into the user authority box to unlock
user authority.

Use the original parameters to compute their converted values, as follows:

※From Connector Y to Connector Delta

Parameter No. Title Connector Y Value Connector Delta Value Formula

Pn-710 Rated Current R1 R1 *1.732

Pn-712 Rated Voltage for Induction Motor R2 R2 /1.732

Pn-714 d-axis Inductance R3 R3 /3

Pn-716 q-axis Inductance R4 R4 /3

Pn-718 Motor Impedance R5 R5 /3

44
syntecvietnam@gmail.com

※From Connector Delta to Connector Y

Parameter No. Title Connector Delta Value Connector Y Value Formula

Pn-710 Rated Current R1 R1 /1.732

Pn-712 Rated Voltage for Induction Motor R2 R2 *1.732

Pn-714 d-axis Inductance R3 R3 *3

Pn-716 q-axis Inductance R4 R4 *3

Pn-718 Motor Impedance R5 R5 *3

Manually input the computed values into their corresponding parameters. Ensure that "Pn-
90C Enable Encoder Parameter Protection" is set as 0 (enabled) before selecting "Write
Parameters" and "Save Parameters." Motor parameters now reflect the converted values.
7.9.3. Motor Testing after Conversion
After completing the parameter conversions, the user should then implement
encoder testing. Select the Pn-F subpage from the Parameter Edit page, and set Pn-
F10 as 3 (enabled). Select "Read Parameters" and wait for Pn-F10 to become 0 before
implementing encoder testing. If the system triggers any alarms during this process,
troubleshoot according to the "Alarm Diagnostics and Troubleshooting" section; then
restart encoder testing from the first stage. When an alarm is triggered, erroneous
parameters will not be written into the system.

45
syntecvietnam@gmail.com

8. Automatic tuning
8.1.Empty load transfer process
8.1.1. Preparation before tuning
 Parameter in front of *, need to re-boot will take effect.
 After the parameters have been modified, if you want to restart the parameters
after the restart, you must save the parameters permanently. Parameter
permanent storage mode in the Pn-F40 input 1, press the "read parameters",
when the Pn-F40 from 1 to 0, on behalf of the parameters stored. The parameter
is permanently stored and can not be operated with servo on.
 After the transfer is completed, the recommended backup parameters. The
backup parameters are called "Save File" at the top left of the new software
interface.
 To avoid damage to the machine mechanism and the servo drive, remove the load
connected to the motor so that the motor shaft connected to the motor shaft is
free from flying when the machine is running, causing injury or damage to the
machine mechanism.
 Check that the drive wiring is correct before running.
8.1.2. Induction motor tuning
Non-Syntec of complete matching with induction motor tuner flow chart as follows
Step 1. Refer to Section [ Enter motor version parameters and other parameters ].
Step 2. Refer to Section [ Encoder Function Test ] in this chapter .
Step 3. Refer to Section [ Motor Parameter Estimation and Current Gain Auto Tuning
].
Step 4. Refer to Section [ Induction Motor Rotor Time Adjustment ].
Step 5. Refer to Section [ Rotor inertia estimation ] of this chapter .
Enter the motor version parameters and other parameters
Please fill in the parameters of the following table corresponding to the motor
version of the fill, fill in the attention to the unit.

Parameter name Predetermined area

number

Motor Specifications (Pn- Pn-700 Motor type 0~2

7XX) 0: rotating permanent
magnet,
1: linear permanent
magnet;
2: rotation induction

Pn-701 Motor poles 1-256

Pn-708 Motor rated torque 5 ~ 30000

46
syntecvietnam@gmail.com

Pn-70A Motor maximum torque 0-5000

Pn-70C Motor rated speed 50 ~ 120000

Pn-70E Motor maximum speed 50 ~ 120000

Pn-710 Motor rated current 0 ~ 30000

Pn-712 Induction motor rated voltage 1000 to 10000

Pn-900 Encoder communication 0 ~ 30

interface type 1: ABZ with Hall
2: ABZ incremental
11: TAMAGAWA tandem
encoder
12: Nikon tandem encoder
13: SYNTEC tandem encoder

Pn-902 Encoder resolution 1-999999999

Pn-021 Encoder feedback direction 0~1

polarity 0: unchanged to
1: change to

Note: The nameplate does not accurately indicate the rated current of the motor and can
be derived from the formula calculation.
Vrated: rated voltage. PowerFactor: 0.8 When rated at 380V, Arated is approximately
Prated(kw)*2. In addition to the motor nameplate parameters, additional parameters in
the table below are required.

Parameter name Predetermined area

number

Function selection Pn-030 Upper controller 0 to 1

parameter (Pn-0XX) communication interface 0: Generic A / B square wave
command
1: MECHATROLINK tandem

Pn-031 Drive station number 1 ~ 16 (changed to read only)

Position loop parameter Pn-212 Position command 1 ~ 999999999

(Pn-2XX) resolution

47
syntecvietnam@gmail.com

8.1.2.1. Encoder function test

Step Read and write Action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 9.  Select the motor type "Encoder function test".

3 Pn-F10 Set to 3.  Start the motor transfer function, the motor starts to rotate, about 5
seconds after the motor will stop turning.

4 Pn-F10 Displayed as 0.  Click "read parameters", to Pn-F10 value becomes 0.

If an alarm occurs during the procedure, refer to the chapter " Drive Alarm Description File
" and restart from the encoder function test step 1 after the alarm has been removed. When
an alarm occurs, the wrong parameter is not written.
8.1.2.2. Estimation of Motor Parameters Automatic Adjustment of
Current Gain

step Read and write action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 1.  Select the motor type "electromotor package (motor parameter
estimation + current gain + current response verification").

3 Pn-F10 Set to 3.  Start the motor transfer function, until the motor stops before the
next step.

4 Pn-F10 Displayed as 0.  Click "read parameters", to Pn-F10 value becomes 0.

If there is an alarm in the process, please refer to the section of " Drive Alarm Description
File " " and restart from motor parameter estimation and current gain automatic adjustment
step 1 after troubleshooting. When an alarm occurs, the wrong parameter is not written. The
parameters in the table below are automatically added after estimation

48
syntecvietnam@gmail.com

Numbering name

Estimation of Motor Parameters Pn-714 Motor excitation shaft resistance

and Automatic Adjustment of
Current Gain

Pn-716 Motor torque shaft resistance

Pn-718 Motor impedance

Pn-71A Induction motor leakage inductance ratio

Pn-71C Induction motor excitation current

Pn-71E Induction motor rotor time constant

Pn-726 Current loop gain

Pn-728 Current loop integral time constant

8.1.2.3. Induction motor rotor time adjustment

Step Read and write Action Description

parameters

1 Pn3-30 Set to 0.  Vector control mode can be transferred to the function

2 Pn-71E Can not be 0.  Need to set the initial set value. It is recommended to maintain the
default value when shipping.

3 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

4 Pn-F21 Set to 10.  Select the motor type "Induction motor rotor time adjustment".

5 Pn-F10 Set to 3.  Start the motor transfer function, the motor will be positive,
reverse rotation repeatedly.

6 Pn-F10 Displayed as 0.  Click "read parameters", to Pn-F10 value becomes 0.

7 - Repeat steps 2 to Observe the parameter Pn-71E value, two to three times after the
3 two to three test is close (reference: observation error is within 5%).
times.  If there is a difference between the values, please check the motor
version of the parameters of the input error and check the wiring,
to be excluded from the induction motor rotor time adjustment
step 1 to start again.

After adjustment will automatically fill in the following parameters

Numbering name

Induction motor rotor time adjustment Pn-71E Induction motor rotor time constant

Common problem:

49
syntecvietnam@gmail.com

Q1. When Pn-F10 is set to 3, the induction motor does not start rotating
A1. Please check if Pn3-30 is set to 0 correctly
Q2. When Pn-F10 is set to 3, the induction motor does not start to rotate and a voltage
saturation alarm occurs.
A2. Avoid Pn-71E being set to 0. Please fill in factory defaults. If you forget the factory
default value, it is recommended to set 1000.
8.1.2.4. Rotor inertia estimation

Step Read and write Action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 3.  Select the motor type "rotor inertia estimation - new
method".

3 Pn-F10 Set to 3.  Start the motor transfer function, then the motor will start to
rotate up to two laps, until the rotation stops, the process
takes only a few seconds.

4 Pn-F10 Displayed as 0.  Click "read parameters", to Pn-F10 value becomes 0.

5 - Repeat steps 2 to 3  Observe the parameters Pn-720, Pn-722 values, two to three
two to three times. times after the test is close (reference: observation error is
within 5%).

The parameters in the table below are automatically added after estimation
Numbering name

Rotor inertia estimation Pn-720 Rotor inertia

Pn-722 Mechanical constant

8.1.3. Permanent magnet motor tuning

Non-Syntec complete with the permanent magnet motor tuner flow chart as follows:
Step 1.Refer to this section [ Enput motor Ming version of the parameters and other
parameters ]. in this chapter .
Step 2. Refer to Section [ Encoder Function Test ] in this chapter .
Step 3. Refer to Section [ Motor Parameter Estimation and Current Gain Auto Tuning
] in this chapter .

50
syntecvietnam@gmail.com

Step 4. Refer to Section [ Magnetic Pole Offset Correction ] in this chapter .

Step 5. Refer to Section [ Rotor Inertia Estimation ] in this chapter .
Step 6. Refer to Section [ Dayton Torque Compensation ] in this chapter .

Enter the motor version parameters and other parameters

Please fill in the parameters of the following table corresponding to the motor
version of the fill, fill in the attention to the unit.
Parameter name Predetermined area
number

Motor Specifications (Pn- Pn-700 Motor type 0~2

7XX) 0: rotating permanent
magnet,
1: linear permanent magnet;
2: rotation induction

Pn-701 Motor poles 1-256

Pn-708 Motor rated torque 5 ~ 30000

Pn-70A Motor maximum torque 0-5000

Pn-70C Motor rated speed 50 ~ 120000

Pn-70E Motor maximum speed 50 ~ 120000

Pn-710 Motor rated current 0 ~ 30000

Pn-712 Induction motor rated voltage 1000 to 10000

Pn-900 Encoder communication 0 ~ 30

interface type 1: ABZ with Hall
2: ABZ incremental
11: TAMAGAWA tandem
encoder
12: Nikon tandem encoder
13: SYNTEC tandem encoder

Pn-902 Encoder resolution 1-999999999

Pn-021 Encoder feedback direction 0~1

polarity 0: unchanged to
1: change to

Note:
Ming version does not really mark the motor rated current, can be derived from the formula
calculation. Vrated: rated voltage.
PowerFactor: 0.8 Arated is approximately Prated (kw) * 2 when the rated voltage is
380V. In addition to the motor Ming version of the parameters, still need to fill in the other
parameters in the table below.

51
syntecvietnam@gmail.com

Parameter name Predetermined area

number

Function selection Pn-030 Upper controller 0 to 1

parameter (Pn-0XX) communication interface 0: Generic A / B square wave
command
1: MECHATROLINK tandem

Pn-031 Drive station number 1 ~ 16 (changed to read only)

Position loop parameter Pn-212 Position command resolution 1 ~ 999999999

(Pn-2XX)

8.1.3.1. Encoder function test

Step Read and write Action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 9.  Select the motor type "Encoder function test".

3 Pn-F10 Set to 3.  Start the motor transfer function, the motor starts to rotate, about
5 seconds after the motor will stop turning.

4 Pn-F10 Displayed as 0. Click "read parameters", to Pn-F10 value becomes 0.

If an alarm occurs during the procedure, refer to the section " Drive Alarm Description File""
and restart from the encoder function test step 1 after the alarm has been removed. When
an alarm occurs, the wrong parameter is not written.

52
syntecvietnam@gmail.com

8.1.3.2. Estimation of Motor Parameters Automatic Adjustment of

Current Gain
Non-Syntec complete with the permissible motor parameters of
the permanent magnet motor with the current gain of the automatic
adjustment machine and this section subsection [motor parameter estimation
and current gain automatic adjustment machine] difference only in step 3
when the motor does not rotate and The measurement results are only
entered as follows:
Numbering Name

Estimation of Motor Parameters and Pn-714 Motor excitation shaft resistance

Automatic Adjustment of Current Gain

Pn-716 Motor torque shaft resistance

Pn-718 Motor impedance

Pn-726 Current loop gain

Pn-728 Current loop integral time constant

The rest are the same.

Step Read and write Action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 1.  Select the motor type "electromotor package (motor parameter
estimation + current gain + current response verification").

3 Pn-F10 Set to 3.  Start the motor transfer function, until the motor stops before the
next step.

4 Pn-F10 Displayed  Click "read parameters", to Pn-F10 value becomes 0.

as 0.

If there is an alarm in the process, please refer to the section of " Drive Alarm Description
File"" and restart from motor parameter estimation and current gain automatic adjustment
step 1 after troubleshooting. When an alarm occurs, the wrong parameter is not
written. The parameters in the table below are automatically added after estimation

53
syntecvietnam@gmail.com

Numbering Name

Estimation of Motor Parameters and Automatic Pn-714 Motor excitation shaft resistance
Adjustment of Current Gain

Pn-716 Motor torque shaft resistance

Pn-718 Motor impedance

Pn-726 Current loop gain

Pn-728 Current loop integral time constant

8.1.3.3. Magnetic pole offset correction

There are two ways to correct pole offset:
1. Fill the estimated rotor fill amount into drive Pn-724, which is referred to herein as
the pole offset-displacement.
2. Fill the estimated rotor offset directly into the encoder and clear Pn-724 to zero,
only for tandem encoders, here called pole offset - zero. Because the magnetic pole
offset of each motor is not the same, the benefit of zeroing is that the user does not
need to back up the parameter value of the rotor fill amount (since it is already in the
encoder), even if the drive is replaced as long as the UVW phase sequence is
determined , Can be used directly. However, if the tandem encoder, because the
parameters can not be stored in the encoder, it can only use the displacement method,
so that each motor has a different amount of rotor correction, so each motor must
save a set of matching , Replace the drive with special attention to the same phase in
the case of the rotor correction value of the parameter values written to the
drive. (Pn-724) parameters to the storage drive, to avoid the normal rewinding of the
drive, the motor has abnormal jitter situation.

Before making the magnetic pole shift, check the following specifications:
1. Be sure to confirm the polarity of the encoder before calibration.
2. If the motor has travel limit, manually pass the motor through index
3. If the motor is equipped with brake, Release the brakes before correcting

54
syntecvietnam@gmail.com

Step Read and write Action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F22 Return to zero.  Choose to manufacture the type of "pole offset". Zeroing
The displacement is only supports tandem encoders.
set to 3.

3 Pn-F10 Set to 4.  Start production production transfer function, this time the
motor will be magnetic pole offset correction.

4 Pn-F10 Displayed as 0.  Click "read parameters", to Pn-F10 value becomes 0.

5 Pn-F40 Set to 1.  Make sure that the pole offset (Pn-724) is permanently
stored in the drive

If an alarm occurs during the process, refer to the section of the " Drive Alarm Description
File " section and restart from the pole offset calibration step 1 after the alarm has been
removed. When an alarm occurs, the wrong parameter is not written. After calibration, the
following parameters are automatically filled in (the displacement has a value, zero is set to
0)

Numbering Name

Magnetic pole offset correction Pn-724 Encoder rotor correction

8.1.3.4. Rotor inertia estimation

Step Read and write Action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 3.  Select the motor type "rotor inertia estimation - new method".

3 Pn-F10 Set to 3.  Start the motor transfer function, then the motor will start to rotate
up to two laps, until the rotation stops, the process takes only a few
seconds.

4 Pn-F10 Displayed as 0.  Click "read parameters", to Pn-F10 value becomes 0.

55
syntecvietnam@gmail.com

5 - Repeat steps 2 to Observe the parameters Pn-720, Pn-722 values, two to three times
3 two to three after the test is close (reference: observation error is within 5%).
times.

The parameters in the table below are automatically added after estimation
Numbering name

Rotor inertia estimation Pn-720 Rotor inertia

Pn-722 Mechanical constant

8.1.3.5. Torque compensation

Step Read and write Action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 2.  Select the motor tuning type "Cogging torque compensation
machine".

3 Pn-F10 Set to 3.  Start the motor transfer function, then the motor will slowly rotate
until the motor stops before the next step.

4 Pn-F10 Displayed as Click "read parameters", to Pn-F10 value becomes 0.

0.

5 Pn-423 Set to 1.  Turn on torque compensation

If you want to observe the torque compensation, please note that the speed of the open
torque compensation and open the oscilloscope in the speed of the feedback (such as not
open the oscilloscope can open the Pn-D28 speed error (0.01RPM) Observed). The upper
two graphs are those who do not turn on the torque compensation, the latter is the opening,
can significantly observe the speed feedback by low frequency disturbance situation
improved many.

56
syntecvietnam@gmail.com

57
syntecvietnam@gmail.com

8.2. Syntec Encoder Parameter Correction Current Feedback Signal Correction

The new encoder parameters have been calibrated at the factory and can be used
without this correction. If the calibration is done again before use, the Syntec encoder
can be made more accurate at the time. If the non-Syntec of complete match with his
factory encoder, will not use this correction function. The current feedback signal
calibration has been corrected at the factory. When the motor vibration is too large,
adjust the current feedback signal again. Non-new complete with a Syntec of encoders
or factory encoder, can use this correction function.
These two corrections may be carried out independently of the steps in Section 8.2 of
this chapter [ induction motor adjustment ] or in section 8.3 of this chapter [
permanent magnet motor adjustment ].
8.2.1. Syntec encoder parameter correction
Before using the following new encoder parameters calibration procedure, you
can use the oscilloscope in the Tuning software to observe the jog speed command
and speed feedback and record the graph for calibration.
Please turn on the oscilloscope first and select [1] Syntec encoder correction in
the setting, see the red circle below to observe the encoder ADC sine value, the
encoder ADC cosine value.

58
syntecvietnam@gmail.com

step Read and write action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 11.  Select the motor tuning type "Magnetic encoder parameter
calibration".

3 Pn-F10 Set to 3.  Start the motor transfer function, then the motor will run a few
laps, calibration encoder feedback, when the motor stops running,
the Syntec of encoder parameters correction is complete.

4 Pn-F10 Displayed as 0.  Click "read parameters", to Pn-F10 value becomes 0.

After starting the tuning function, the oscilloscope can observe the encoder ADC
sine/cosine waveform as shown below. The normal wave peak is greater than 3000, the
valley value is slightly less than 1000, and the midline value is about 2047. If the waveform
is not normal, please contact the factory. After calibration, the parameters in the following
table will be automatically filled in.

59
syntecvietnam@gmail.com

Numbering name

Encoder parameter correction Pn-905 Encoder SIN level offset

Pn-906 Encoder COS quasi offset

Pn-907 Encoder SIN amplitude correction

Pn-908 Encoder COS amplitude correction

Pn-909 Encoder cosine phase angle

After calibration, use the oscilloscope in the software to observe the steady speed
speed command and speed feedback during the inching . The following two figures are used
for comparison and comparison (the figure is for illustrative purposes only and does not
represent the actual situation of the user). Before the correction, the next one is the
correction, and it can be observed that the corrected speed feedback oscillation range is
reduced.

60
syntecvietnam@gmail.com

8.2.2. Current feedback signal correction

When the drive hardware is produced, the internal electronic parts will be
slightly misaligned. Therefore, the drive must be calibrated before the factory. The
drive machine software Pn-F22 (production type) input 6 (current feedback signal
correction), Pn-F10 (Auxiliary function start / stop) input 4 (production
manufacturing transfer function start), then the motor will open the loop operation
and correct the three-phase feedback current signal, when the motor stops running,
the current feedback signal calibration is completed.

Numbering Name Processing method

Current feedback Pn-660 A phase current Automatically fill in after estimation

signal correction Offset

Pn-661 Phase B Automatically fill in after estimation

Current Offset

Pn-662 Phase C Automatically fill in after estimation

Current Offset

Pn-663 A phase current Automatically fill in after the estimation, please

manually change the value back to 1000

Pn-664 Phase B Automatically fill in after the estimation, please

Current manually change the value back to 1000

Pn-665 Phase C Automatically fill in after the estimation, please

Current manually change the value back to 1000

61
syntecvietnam@gmail.com

After the current feedback correction is completed, the parameters in the above table will be
modified by yourself. After the calibration is completed, please change the Pn-663, Pn-664
and Pn-665 back to 1000, and then store the parameters, Pn-F40 (parameter permanent
storage) input. 1 (storage).
8.3. Load tuning process
Syntec of complete matching, the new generation of semi-customer matching and the
separate new generation of three matching methods are required to carry out the load
adjustment process. The steps and operation methods of the three are the same, so the
following does not make a distinction.

8.3.1. Preparation before tuning

 There is an * in front of the parameter, which needs to be restarted to take effect.
 After the parameters have been modified, if you want to modify the parameters after
rebooting, you must store the parameters permanently. The parameter permanent
storage mode is input to Pn-F40. Press "Read parameter". When Pn-F40 changes from
1 to 0, the parameter storage is completed. Parameter permanent storage cannot be
operated with servo on.
 After the tuning is completed, it is recommended to back up the parameters. The
backup parameter mode is to press "Save File" in the upper left of the new software
interface, name and archive (this must be under the parameter editing page, the "Save
File" button will be stored for the parameter file).
 Customers who use the new generation of semi-customized matching and separate
new generation of drivers, please complete the no-load adjustment before the load
adjustment.
 Check the driver wiring correctly before running.
[Warning] Make sure the controller is non-excited before the machine is adjusted
to avoid danger.
8.3.2. Tuning process
Load transfer machine flow chart is as follows, non-Syntec of complete support due to the
empty carrier when the encoder function test, so the load transfer machine without the need
to start directly from step 2. Syntec of complete support due to not yet Perform the encoder
function test and therefore start with step 1.
Step 1. Refer to Section [ Encoder Function Test ] in this chapter .
Step 2. Refer to Section [ Load inertia ratio estimation ] in this chapter .
Step 3. Refer to Section [ Speed, Position Loop Adjustment ] in this chapter .

62
syntecvietnam@gmail.com

8.3.2.1. Load inertia ratio estimation

The "load inertia ratio estimation" provides the stroke limit function. The user
sets Pn-F14 (stroke limit 1, unit: pulse) before the machine adjustment, so that
the motor is adjusted at the current position and within the stroke distance. The
following are the operational steps for the load inertia ratio estimation.

step Read and write action Description

parameters

1 Pn-F10 Set to 0.  Turn off auxiliary function first, reset status.

2 Pn-F14 Set to 0  Set the motor travel distance, please refer to * Note 1.
 If the travel limit is not set, this parameter is set to 0 and the
motor will be adjusted for two turns.

3 Pn-F20 Set to 1.  Select the "Load inertia ratio estimate".

4 Pn-F10 Set to 2.  Start the transfer function.

 The motor will rotate slightly (up to two turns) and the
process takes about a few seconds.

5 Pn-F10 Displayed as 0.  Click "read parameters", to Pn-F10 value becomes 0.

6 - Repeat steps 2 to 3  Observe the parameters Pn-103 values, two to three times
two to three times. after the test is close (reference: observation error is within
5%).
 If the value of the gap, please check the organization, to be
properly installed, from the load inertia than the estimated
step 1 to start again.

*Note
1:The limit value of the stroke limit is determined according to whether the double feedback
control function (Pn-22A=1) is turned on. Therefore, special attention should be paid to the
gear ratio between the motor and the spindle to avoid the number of turns being different
from the actual one. For example, the motor side encoder resolution is 65536, and the
spindle side encoder resolution is 4096. If the double feedback function is enabled, the Pn-
F14 input 4096 represents the spindle forward rotation; if the double feedback function is
turned off, Pn-F14 Input -65536 means that the motor reverses one revolution, while the
spindle side movement amount is calculated based on the gear ratio.
After the estimation, the parameters in the following table will be automatically filled in.

63
syntecvietnam@gmail.com

Numbering Name

Load inertia ratio estimation Pn-103 Load inertia ratio

8.3.2.2. Speed, position loop transfer machine

Pressing the "automatic tuning" on the left side of the new generation driver software,
you need to input three parameters, namely low frequency rigidity, inertia ratio and
bandwidth. The inertia ratio has been estimated at the load inertia ratio estimate. The
low-frequency rigidity can be set to 1.0 on a general machine. When the rigidity of the
machine is high, the low-frequency stiffness value can be increased. bandwidth
setting is set according to the following restrictions.
1. The ratio of bandwidth to encoder resolution should not exceed 0.01.
Example: When the resolution is 4096 pulse / rev, the bandwidth must not exceed
40.96 Hz.

Example: If the current loop has a bandwidth of 1.6 kHz, the bandwidth of the speed loop
must not exceed 320 Hz.

64
syntecvietnam@gmail.com

When these three parameters are set, press "Calculate Gain" to calculate the six parameters
Pn-100~Pn-103, and then press ">>" to write the parameters to the drive.
Confirm the speed loop gain and fine tune it. Drive tuning software Pn-F13 (JOG mode) input
0 (speed control), Pn-F11 (JOG direction) input 1 (forward movement), Pn-304 (JOG speed)
input speed, Pn-306 input maximum acceleration, Pn-307 input the highest impulse, Pn-F10
(auxiliary function start/stop) input 1 (manual mode JOG), by the oscilloscope in the tuning
software, observe the speed feedback, if there is overshoot or steady speed error Large, you
can reduce the bandwidth from the "Automatic Tuning" page, and calculate the gain again,
write. When the bandwidth is increased, the speed feedback is larger when the inching is
moved, and the bandwidth is lowered. The speed of the inching is greater than that of the
inversion. The next two pictures are shown, the upper bandwidth is high, and the lower
bandwidth is low. . Confirm the position loop gain and fine tune. Drive tuning software Pn-
F13 (JOG mode) input 1 (position control), Pn-F11 (JOG direction) input 1 (forward motion),
Pn-304 (JOG speed) input speed, Pn-306 input maximum acceleration, Pn-307 input the
highest impulse, Pn-F10 (auxiliary function start/stop) input 1 (manual mode JOG), by the
oscilloscope in the tuning software, observe position feedback, if there is overshoot or steady
speed error Large, you can reduce the bandwidth from the "Automatic Tuning" page, and
calculate the gain again, write. In the next two figures, the bandwidth is high, and the lower
one has a low bandwidth. It can be observed that the position error of the stable speed
segment with a high bandwidth is about one-half of the low bandwidth, which shows that
the response is faster. After confirming the error, please press the section 3.1 [ Preparation
before adjustment ] of this chapter to store the parameters permanently.

65
syntecvietnam@gmail.com

66
syntecvietnam@gmail.com

8.3.2.3. Notch Filter Mechanical Resonance Machine

When to use:
When the mechanism generates resonance at a specific frequency, it will cause the
machine to shake sharply and affect the processing quality. At this point, the Notch
Filter function can be turned on and the resonance suppression parameter can be
set to improve the situation. It is worth noting that if the spindle does not resonate,
turning this function on will reduce the system performance, so use it to make sure
that the spindle encounters the resonance point.
Detailed steps:
Step1: Open the auto-tuning page, increase the bandwidth by the micro-amplitude,
calculate the gain import parameters and read, and then start the motor. If no
resonance occurs, repeat the steps until resonance occurs. (If the resonance condition
has occurred, skip this step.)
Step2: If the system generates resonance, turn on the oscilloscope to see the speed
feedback , and select the FFT. The highest amplitude frequency in the graph is the
resonance frequency.

67
syntecvietnam@gmail.com

Resonance frequency

68
syntecvietnam@gmail.com

Step3: After finding the resonance frequency, if the resonance frequency is lower than
100Hz, you can first adjust the Pn-308 and Pn-401 parameters of the automatic adjustment
page to suppress the resonance phenomenon, and excessive reduction may cause the noise
to enter the system and affect the system response. The reference value is around 40.
Step4: If the resonance has been improved, Step1 and Step2 can be repeated. When the
resonance frequency is between 100Hz and 250Hz, the first Notch Filter function of the auto-
tuning page can be turned on, and the resonance suppression parameter is input, and the
parameters are imported. Read. <Resonance suppression parameter>

Step Read and Action Description

write
parameters

1 Pn-461 Set to 1. Start the first section of the Notch Filter switch.

2 Pn-409 Set to Select the first section of the Notch Filter frequency as the resonant
resonant frequency (in Hz).
frequency.

69
syntecvietnam@gmail.com

3 Pn-40A Set to Q
value. Resonance frequency

Want to inhibit frequency court

The first section of the Notch Filter Q value, the higher the Q value, the
narrower the width of the Notch Filter, Q = F / ΔF, the reference value is
100.

4 Pn-40B Set 500. Notch Filter depth, the higher the value the deeper the depth. And test
run to observe whether the jitter situation improved. If there is no
improvement, this value is reduced and the test is repeated until the
jitter is improved

5 Pn-40B Adjustable Perform a commissioning to see if there is improvement in jitter. If

values there is no improvement, this value is reduced and the test is repeated
until the jitter is improved.
Note 1: Pn-40B function:
Pn-40B = 1000: no suppression effect
Pn-40B = 500: attenuation half
Pn-40B = 100: attenuation is 1/10 of the original

Step 5: If the FFT has only one resonant frequency, if the second resonant frequency occurs,
follow the following conditions. The second resonance frequency is above 250 Hz, and the
remaining steps are the same as the first resonance frequency adjustment method. The
difference is that the depth and the Q value range are relatively loose. Because it is far away
from the system bandwidth, the filtering range can be increased, and the depth and the Q
value are increased. A smaller adjustment will not affect system performance.

70
syntecvietnam@gmail.com

8.3.3. Combined with the host controller commissioning

8.3.3.1. Test run flow chart

Combined with the upper

controller test run

Controller
parameter
setting

Command
polarity test

Observe speed
command and
speed feedback

Spindle
positioning
function

Finish

8.3.3.2. Test procedure

 Controller parameter setting

Parameter Setpoint(for Parameter Description

reference)

9 103 Axis type

twenty one 1000 Axial Corresponding Axis Card Port Number

twenty two 1001 Axial Corresponding Axis Card Port Number

twenty 1002 Axial Corresponding Axis Card Port Number

three

twenty four 1003 Axial Corresponding Axis Card Port Number

71
syntecvietnam@gmail.com

66 16384 According to the motor encoder resolution adjustment, this value is a quarter
of the motor encoder resolution

86 4 Axial feedback multiplier

106 1200 The sixth axis gain, the maximum motor speed 12000RPM, gain set at 1200

166 360000 Axial screw width Pitch

186 40 The sixth axis servo loop gain is the same as the Syntec servo drive
parameter Pn-102

206 0 Encoder type: 0 for the general encoder, 1 for the optical scale, 2 for no, 3 for
the absolute type

226 1 Axis type. (According to actual needs)

326 600 Axial name. (Select or not to display according to actual needs)

386 2 Servo pulse mode

466 3600000 Set the sixth axis fast moving the maximum speed (deg / min)

546 600 Set the acceleration / deceleration time of the sixth axis

626 3600000 Maximum speed at sixth axis (mm / min)

646 15 Set the acceleration time of the sixth axis.

1621 6 The first spindle corresponds to the servo axis.

1651 16384 Serial wiring, set 16384.

1661 4 Spindle feedback multiplier.

1671 1200 Spindle gain. The maximum speed of the motor is 12000 RPM and the gain is
1200.

1711 1 Whether the spindle is installed Encoder: 0 is off, 1 is on.

1731 0 Spindle minimum speed. (Set according to actual needs)

1751 0 Spindle positioning offset (set according to actual positioning angle)

1791 2 Spindle motor type: tandem wiring program is the parameter set 2.

1801 12000 Maximum speed. (According to the actual motor maximum speed setting)

1811 1 Spindle encoder installation location: 0 for the spindle test, 1 for the motor
side. (According to the actual situation set)

1831 2000 Acceleration and deceleration time. (According to the actual situation to
adjust the size of the set value)

1841 3000 Motor rated speed. (According to the motor nameplate)

motor rated speed 3000RPM, the parameter set to 3000.

72
syntecvietnam@gmail.com

1851 30 Acceleration time. (According to the actual situation to adjust the size of the
set value)

1971 60 Tapping acceleration and deceleration time. (According to the actual

situation to adjust the size of the set value)

1981 10 Tapping acceleration time. (According to the actual situation to adjust the
size of the set value)

3224 0 Spindle angle display mode: 0 is not to show the spindle angle, 1 for the
display spindle angle.

2411 999999999 The sixth axis of the first software forms a positive limit

2412 -999999999 The sixth axis of the first software forms a negative limit.

2451 999999999 The sixth axis XX software forms a positive limit.

2452 -999999999 The sixth axis XX software forms a negative limit.

Note:
1. The values of parameter 66 and parameter 1651 must be the same
 Command polarity test

Step Action Description

1 Release the spindle forward  Observe whether the tool is really turning.

2 Modify the parameter Pn-020 If the tool is reversed, modify the parameter (1 to 0, 0) and vice versa.

 Observe speed command and speed feedback

Cooperate with the host controller to issue commands, and use the oscilloscope in the
software to observe the speed command and speed feedback. If there is any problem,
please refer to section [ Controller Parameter Setting ] to check the controller
parameters.
 Spindle positioning function

Step Action Description

1 Set parameter  Acceleration upper limit, set according to application status.

Pn-306

2 Set parameter  The upper limit of the acceleration is set according to the application status.
Pn-307

3 Release the  Move the spindle to the target position.

spindle to move

73
syntecvietnam@gmail.com

4 Set parameter  Observe the state parameter Pn-D51, and input this value to Pn-240. (After the
Pn-240 controller version is .24N or .24M, set the spindle positioning angle by Pr1751 and
make sure the drive software is V2.0.16.)

After the above table is set, the function test can be performed: the positioning command
under the controller, whether the observation angle is normal.
8.4. Inch test
Before performing the jog test, you can first turn on the oscilloscope in the software
to observe the speed command and speed feedback (if you have other special
requirements, please check the observation) to meet the demand

Step Operation screen Instructions

1  In the function list on the left of the Open Guide screen, open the inch
animation surface.

2  Check "Forced Servo Start" to activate the motor.

3  Select speed control and test speed feedback performance.

4  Set 1000 ~ 2000, depending on the actual situation.

 Slowly approach the acceleration and deceleration time required by the
application, and observe whether the speed command and speed
feedback meet the requirements.

5  Set the target speed.

 Start with a tenth of a turn.
 Then one-half turn, full turn, maximum speed.

6  With these two buttons, the motor is operated in the forward and
reverse directions, and it is confirmed that there is no abnormality in
the operation.
 If an alarm occurs, please refer to the [ Alarm Overview and Disposition
Method ] section.

74
syntecvietnam@gmail.com

No-load transfer machine , be inching test results do not meet such needs, from no-load
flow conditioners step 1. restart all no-load conditioners processes.
In the load adjustment machine , if the inching test is performed, if the result does not meet
the requirements, please re-execute step 3. in the load adjustment process .
9. Spindle double feedback control application instructions
This section details the setup and operation of the dual-feedback control mode for the
new generation of drives, including their use, parameter settings, and related alarms, as
well as the serial communication and general-purpose communication modes with the
new generation of higher-level controllers. Related settings.
9.1. Double feedback control mode
Generally, the processing machine system of the non-direct drive affects the control
efficiency due to the flexibility or backlash of the motor and the spindle, and the
processing quality is not ideal. The dual feedback control mode can be used to cope
with the problems encountered by such machine systems.
9.1.1. Drive parameter settings
Before using the dual feedback control mode, connect the motor encoder cable to
CN4 (first feedback interface), the spindle feedback encoder cable to CN5 (second
feedback interface), and confirm the parameter settings in the table below. correct.
It must be noted that only the second encoder communication type is not 0 and the
dual feedback control mode is set when the dual feedback control mode is set to 1.
As long as either of the two conditions is not met, the drive is still in the single
feedback control mode.
※Note: When the drive parameter P1-01 (speed control mode) is set to 1 (V/f
control mode start), even if the second encoder communication type is not 0 and the
double feedback control mode 1 is enabled, the double is not enabled. Feedback
control mode.

Parameter index Parameter Description Parameters take

number effect

Pn-900 * Encoder communication interface type restart

Pn-901 * Encoder interface number restart

Pn-902 * Encoder resolution restart

Pn-021 * Encoder feedback direction polarity restart

Pn-920 * Second encoder communication interface type restart

Pn-921 * Second encoder interface number restart

Pn-922 * Second encoder resolution restart

Pn-022 * The second encoder feedback direction polarity restart

75
syntecvietnam@gmail.com

Pn-20A Number of teeth on the motor immediate

Pn-20C Number of screw teeth immediate

Pn-51A Internal and external feedback position error is too large alarm immediate
check value
(pulse number of units for the second feedback of the
resolution)

Pn-22C Double feedback position filter time constant immediate

Pn-22A * Turn on dual feedback control mode restart

P6-40 is set in the double feedback control mode, the inner (first) outer (second) feedback
position error excessive alarm check level, the pulse unit is the pulse number of the "second
encoder", this parameter It can be detected when the system gear ratio (P6-04: P6-05) is too
far from the actual value, or the V-belt drive is slipping or loose. When the internal and
external feedback position error exceeds this check value, the AL-38 alarm is triggered (see
[ Alarm Overview and Disposal Method ] for details). In general, this parameter can be set to
0.8 times the resolution of the second encoder. For example, when the resolution of the
second encoder is 262144 ppr, then this parameter can be set , and so
on.
P6-41 is used to set the time constant of the double feedback first-order low-pass filter,
which can generally be set to be one-fourth of the time constant of the position loop (for
example, when the position loop bandwidth is 10 rad/s, then The time constant is 0.1 s, so
Pn-22C can be set to 0.025 s). However, in the application where the second feedback
resolution is lower than the first feedback resolution, the setting method may have a problem
of slow positioning, and the P6-41 can be lowered and improved. However, P6-41 has its
parameter lower bound, because the bandwidth of its digital filter is at least one-fifth less
than the sampling frequency (for example, the time constant corresponding to one-tenth of
the PWM frequency of 5kHz is 0.32ms, and this The lower bound should be sufficient for the
application).
When performing motor-related tuning, please set P6-42 to 0 to turn off the dual feedback
control mode. After the tuning is completed, set P6-42 to 1 and power off and re-open to
open the dual feedback control mode. Detailed procedures and procedures for tuning
are detailed in the [ Tuning ] section.

76
syntecvietnam@gmail.com

9.1.2. Encoder function test

Step Read and write Action Description

parameters

1 Pn-F10 Set to 0. Turn off auxiliary function first, reset status.

2 Pn-F21 Set to 9. Select the motor type "Encoder function test".

3 Pn-F10 Set to 3. Start the motor transfer function, the motor starts to rotate, about
5 seconds after the motor will stop turning.

4 Pn-F10 Displayed as Click "read parameters", to Pn-F10 value becomes 0.

0.

If it is detected that the encoder function is abnormal or the parameter setting is incorrect,
the driver will trigger the corresponding alarm to remind the user as shown in the following
table. For the cause of the alarm and the subsequent processing methods, please refer to the
[ Alarm Overview and Disposal Method ] section.
9.1.3. Drive commissioning
After the relevant adjustments are made, the drive jog mode can be used for trial
operation. Before commissioning, please make sure that P6-42 (open double feedback
control mode) is set to 1, and it has been restarted to make this parameter take effect.
When the double feedback control mode is turned on, the speed and position commands
refer to the speed and position of the "spindle" instead of the "motor".
For example, when the spindle is applied, the test run speed command of 300 rpm is
issued. When the double feedback control mode is enabled, the 300 rpm is the "spindle"
speed command; if the double feedback control mode is off, the 300 rpm is " Speed
command of the motor.
9.2. Controller parameter setting
When the driver double feedback control mode is used, the motor and the second
feedback encoder are respectively connected to the CN4 and CN5 interfaces of the
driver, and the second feedback encoder is no longer required to be connected to the
controller port. At this time, the speed and position command issued by the
controller refers to the speed and position of the "spindle" instead of the "motor", so
the controller to the spindle is equivalent to a control system with only one feedback
and a gear ratio of 1:1. . The gear ratio of the actual motor to the transmission
mechanism is input to the new generation drive P6-04 (number of teeth on the motor
side) and P6-05 (number of teeth on the side of the screw) parameters, which are
controlled by the drive.

77
syntecvietnam@gmail.com

The communication type with the new generation of upper controller can be divided
into two modes: serial and general use. The detailed parameter setting of the driver
and controller in the two communication modes will be described below.
9.2.1. Serial communication mode

Syntec of Syntec of controller Set value

controller parameter name
parameter
number

Pr26 The axis card port number Set the drive office number to be the same as the new generation
corresponding to the sixth axis drive parameter P0-01.

Pr66 Sixth axis sensor resolution Set to the resolution of the second feedback encoder on the
drive.

Pr86 Sixth axis feedback Set to the second feedback encoder multiplier on the drive. The
multiplication product of this parameter and the new generation controller
parameter Pr66 needs to be the same as the new generation
driver parameter P3-21.

Pr106 Sixth axis motor gain Set to the maximum spindle speed of /10.

Pr131 Number of teeth on the sixth Set to 1.

shaft

Pr132 Number of teeth on the sixth Set to 1.

axis motor side

Pr386 Sixth axis position servo mode Set to 2.

Pr1621 The axis number or axis card Set to 6.

port number corresponding to
the first spindle

Pr1651 The number of Pulses of the Set the spindle one revolution pulse number, which is the same
first spindle encoder as the new generation controller parameter Pr66.

Pr1661 Feedback multiplication of the Set the spindle feedback multiplier. It needs to be the same as
first spindle the new generation controller parameter Pr86.

Pr1671 First spindle motor gain Set to the maximum spindle speed of /10, the same as the new
generation controller parameter Pr106.

Pr1711 Whether the first spindle is Set to 1.

equipped with an encoder

Pr1791 First spindle motor type Set to 2.

The parameters related to the new generation controller are shown in the table
below.

78
syntecvietnam@gmail.com

The parameters related to the new generation of drivers are set as follows:
Syntec of Syntec of controller Set value
controller parameter name
parameter
number

P0-00 Host controller communication Set to 1.

interface

P0-01 Drive bureau number Set the drive office number, which cannot be the same as
other axis office numbers. It must be the same as the new
generation controller parameter Pr26.

P3-20 Encoder communication interface Set to the first encoder communication type.
type

P3-21 Encoder resolution Set to the first encoder resolution.

P3-22 Encoder feedback direction Set to the first encoder feedback direction polarity.
polarity

P6-80 Second encoder communication Set to the second encoder communication type.
interface type

P6-81 Second encoder resolution Set to the second encoder resolution.

P6-82 Second encoder feedback Set to the second encoder feedback direction polarity.
direction polarity

P6-04 Number of teeth on the motor Set to the number of teeth on the motor side.
side

P6-05 Number of teeth on the side of the Set to the number of teeth on the side of the screw.
screw

P6-40 Internal and external feedback Set the internal and external feedback position error too
position error too large alarm large alarm check value. (The number of pulses is the
check value resolution of the second feedback)

P6-41 Double feedback position filtering Set to double feedback position filter time constant.
time constant

P6-42 Turn on dual feedback control Set to 1.

mode

9.3. Integrated commissioning

After the controller related parameters are correctly set, please execute the
following machining program to test the test:
M03 S1000
G04 X5.
M05
Please confirm that the speed of the controller screen is 1000 rpm, and confirm that
the speed is the "spindle" speed instead of "Motor" speed. The confirmation method

79
syntecvietnam@gmail.com

is to enable the new generation of the driver software, and select the "speed
command", "speed feedback", "spindle speed command" and "second speed
feedback" for the oscilloscope channel, and monitor whether the "second speed
feedback" is It is 1000 rpm.
If the controller display speed is not 1000 rpm or the "spindle speed command" and
"second speed feedback" in the software are not 1000 rpm, please confirm that the
parameters of the drive and controller are set correctly.
10. Driver parameter manual
10.1.【Pn-0XX】 function selection parameters

Parameter No. Description Default Unit Range Effective

Pn-001 Motor Stop Method for Critical Alarms 0 - [0~2] Immediate

Parameter function:

Specifies the motor-stopping method when a critical alarm occurs.

0: Dynamic braking (only applicable to axial permanent-magnet motors)

1: Save

2: Free run

Dynamic braking is not suitable for permanent-magnet motors used as the spindle. The system will raise an alarm AL-941
Unsupported Breaking Method, but it will still apply dynamic braking; the alarm serves merely as a reminder.

Inductive motors do not support dynamic braking. If Pn-001 is set as 0, an inductive motor will instead initiate a free run.

Parameter No. Description Default Unit Range Effective

Pn-002 Enable Torque Limit during Position Control 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable torque limit setup after completion of position calibration. The controller is in charge of
passing the torque limit value to this function.

0: Disabled

1: Enabled

Parameter No. Description Default Unit Range Effective

Pn-011 Rotor Position Detection Method Selection 0 - [0~1] Immediate

Parameter function：

80
syntecvietnam@gmail.com

Pn-011 Compatible Detection Requirements Notes

Rotor Motors Time
Position
Detection
Method
Selection

Binary 0 ALL A few 1. Encoder 1. Binary Searching Method is

Searching seconds required supported by OpenDrive V2.0
Method 2. Need to allow and above.
room for
motion
3. Level anti-lock
braking system

Pulse 1 ALL <1 second None 1. The Pulse Injection Method may
Injection cause slight vibrations in the
Method motor. While running in the
Servo on mode, a system that
includes a braking mechanism
(recommended) will
automatically apply the brakes
until the method terminates.
2. Caution: use only with
OpenDrive V2.3.0 and above.

Parameter No. 说 明Description Default Unit Range Effective

Pn-020 Host Command Polarity 0 - [0~1] After Reboot

Parameter function:

Specifies the polarity of the host controller’s commands. This parameter ensures that the controller’s “positive” direction
matches the user’s intended direction.

0: Retain original direction

1: Change direction

For example: The user intends the “positive” direction to be counterclockwise, but the controller interprets “positive” as
clockwise. To resolve this discrepancy, the user can simply alter this parameter’s value (either from 0 to 1 or from 1 to 0).

Parameter No. Description Default Unit Range Effective

Pn-021 Encoder Polarity 0 - [0~1] After Reboot

Parameter function:

Specifies the polarity of the encoder’s feedback. The parameter values are defined as follows:

81
syntecvietnam@gmail.com

0: Retain original direction

1: Change direction

The encoder’s feedback polarity must match the drive’s polarity so that when the drive commands rotation in the
“positive” direction, the encoder’s position feedback should accumulate instead of reduce in value. The "Encoder
Testing" function can detect if the encoder polarity is correct.

Parameter No. Description Default Unit Range Effective

Pn-022 2nd Encoder Polarity 0 - [0~1] After Reboot

Parameter function:

Specifies the polarity of the second encoder’s feedback. The parameter values are defined as follows:

0: Retain original direction

1: Change direction

The second encoder’s feedback polarity must match the drive’s polarity so that when the drive commands rotation in the
“positive” direction, the second encoder’s position feedback should accumulate instead of reduce in value. The "Encoder
Testing" function can detect if the encoder polarity is correct.

Parameter No. Description Default Unit Range Effective

Pn-030 Host Interface 1 - [0~1] After Reboot

Parameter function:

Determines the interface between the drive and the host controller.

0: Square Wave TTL

1: MECHATROLINK

Parameter No. Description Default Unit Range Effective

Pn-031 Drive Station Number 6 - [1~16] After Reboot

Parameter function:

While using serial communication, each drive can only set one station number, and each station number can only be set to
one drive. This number represents the drive’s absolute address in the communication network; the same applies to RS-
232R/S-485/USB.

82
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-032 UART Baud Rate 921600 - [9600~921600] After Reboot

Parameter function:

Determines the baud rate of the virtual COM PORT. This value must correspond with the tuning software in order to
establish a connection. If the system disconnects due to noise, try lowering this parameter’s value.

Parameter No. Description Default Unit Range Effective

Pn-034 UART Protocol 0 - [0~2] After Reboot

Parameter function:

Specifies the protocol for the virtual COM PORT. This value must correspond with the tuning software in order to
establish a connection.

0: none, 8,2

1: even, 8,1

2: odd, 8,1

Parameter No. Description Default Unit Range Effective

Pn-035 Axis ID 1 - [1~4] Immediate

Parameter function:

While the tuning software is operating the drive, this parameter specifies the target axis.

This parameter is not listed on the Controller Serial Parameters page.

Parameter No. Description Default Unit Range Effective

Pn-036 Power Input Type 0 - [0~1] After Reboot

Parameter function:

Specifies the power input type.

0: Three-phase power input

1: Single phase power input

10.2. 【Pn-1XX】 Gain parameter

Parameter No. Description Default Unit Range Effective

Pn-100 Proportional Speed Loop Gain 400 0.1 Hz [10~20000] Immediate

83
syntecvietnam@gmail.com

Parameter function:

Sets the proportional speed loop gain. Raising this parameter’s value enhances the speed response, but setting it too high
can lead to vibration and noise. For more information, see the “Speed & Position Loop Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-101 Speed Loop Integration Time Constant 3979 0.01 ms [15~51200] Immediate

Parameter function:

Sets the speed loop integration time constant. Raising this parameter’s value enhances the speed response, but setting it
too high can lead to vibration and noise. For more information, see the “Speed & Position Loop Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-102 Proportional Position Loop Gain 400 0.1 rad/s [10~20000] Immediate

Parameter function:

Sets the proportional position loop gain. Raising this parameter’s value enhances the position response, but setting it too
high can lead to vibration and noise. For more information, see the “Speed & Position Loop Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-103 Ratio of Load Inertia 0 % [0~20000] Immediate

Parameter function:

Sets the system’s ratio of load inertia. Its formula is as follows: Ratio of Load Inertia (%) = Load inertia / Rotor Inertia *
100%

Running the “Inertia Estimation” function will automatically plug the inertia ratio into this parameter. (For more
information, see the “Auto Tuning” section.)

Parameter Description Default Unit Range Effective

No.

Pn-110 Flux Weakening Control Voltage 100 %(MOT_V_NOM) [50~1000] Immediate

Ratio

Parameter function:

Sets the flux weakening control voltage ratio. This parameter’s value is a percentage of the motor’s rated voltage. Raising
this value can postpone the flux weakening period, thereby shortening the time needed to accelerate or decelerate;
however, dynamic response is comparatively poor during steady-speed. Note especially that each drive inherently has a
voltage limit; if that limit is reached, the drive will continue operating with its maximum voltage as the control voltage,
and raising this parameter further will not reduce the acceleration/deceleration time.

84
syntecvietnam@gmail.com

For example:

If this parameter is set as 120, and Pn-712 is 2800, the flux weakening control voltage is 2800 * 0.1 * 120% = 336Vrms.

Parameter No. Description Default Unit Range Effective

Pn-111 V/f Curve Load Mode 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable custom V/f curves during V/f load mode. The parameter values are defined as follows:

0: Use system V/f curve

1: Use custom V/f curve

When the value is set as 1, the user can create a custom V/f curve using the parameters Pn-112~Pn-115, which must be
properly set; else the system will raise an AL-500 alarm. (For more information, see the “VF Instruction Manual.”)

Parameter No. Description Default Unit Range Effective

Pn-112 1st V/f Frequency 577 0.1%(MOT_SPD_NOM) [0~1000] Immediate

Parameter function:

Sets the V/f curve’s first output frequency. Its formula is as follows: output frequency (%) = target frequency / motor
rated frequency * 100%

This parameter must be properly set; else the system will raise an AL-500 alarm. (For more information, see the “VF
Instruction Manual.”)

Parameter No. Description Default Unit Range Effective

Pn-113 1st V/f Voltage 333 0.1%(MOT_V_NOM) [0~1000] Immediate

Parameter function:

Sets the first output voltage of the V/f curve. Its formula is as follows: output voltage (%) = target voltage / motor rated
voltage * 100%

This parameter must be properly set; else the system will raise an AL-500 alarm. (For more information, see the “VF
Instruction Manual.”)

Parameter No. Description Default Unit Range Effective

Pn-114 2nd V/f Frequency 816 0.1%(MOT_SPD_NOM) [0~1000] Immediate

Parameter function:

Sets the second output frequency of the V/f curve. Its formula is as follows: output frequency (%) = target frequency /
motor rated frequency * 100%

85
 syntecvietnam@gmail.com

This parameter must be properly set; else the system will raise an AL-500 alarm. (For more information, see the “VF
Instruction Manual.”)

Parameter No. Description Default Unit Range Effective

Pn-115 2nd V/f Voltage 667 0.1%(MOT_V_NOM) [0~1000] Immediate

Sets the second output voltage of the V/f curve. Its formula is as follows: output voltage (%) = target voltage / motor
rated voltage * 100%

This parameter must be properly set; else the system will raise an AL-500 alarm. (For more information, see the “VF
Instruction Manual.”)

Parameter No. Description Default Unit Range Effective

Pn-121 Disturbance Compensation Gain 100 % [10~1000] Immediate

1. The higher the value, the better the disturbance response. However, when the system has resonance frequencies, setting
this parameter’s value too high can lead to severe vibrations.
2. As the first step, please try gradually increasing Pn-123 Disturbance Compensation Ratio. If the compensation effect is
still not enough at Pn-123’s maximum value, then try raising Pn-121 Disturbance Compensation Gain.
3. Incrementing 10% at a time, push this parameter’s value to its maximum while maintaining zero vibrations.
4. The disturbance compensation gain’s default value of 100% signifies that the disturbance detector’s bandwidth is 3 times
the speed bandwidth. If this value is set as 200%, then the disturbance detector’s bandwidth becomes 6 times the speed
bandwidth.

Parameter No. Description Default Unit Range Effective

Pn-123 Disturbance Compensation Ratio 0 % [0~100] Immediate

1. The higher the value, the better the effect. However, setting it too high can lead to severe vibrations.
2. As the first step, please try gradually increasing Pn-123 Disturbance Compensation Ratio. If the compensation effect is
still not enough at Pn-123’s maximum value, then try raising Pn-121 Disturbance Compensation Gain.

10.3. 【Pn-2XX】 position loop parameters

Parameter No. Description Default Unit Range Effective

Pn-208 Screw Pitch 1000 um/rev. [0~ 999999999] Immediate

Parameter function:

Sets the screw pitch. This parameter only applies to systems with screw type mechanical coupling and with dual feedback
control enabled.

86
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-20A Gear Number on Motor Side 1 - [1~ 999999999] Immediate

Parameter function:

For a motor-actuator system with a gear ratio, this parameter specifies the gear number on the motor side; the ratio
between this parameter and Pn-20C is the system’s gear ratio.

For example: If the system’s gear ratio is 2.5:1, then set this parameter as 25, and set Pn-20C as 10.

Parameter No. Description Default Unit Range Effective

Pn-20C Gear Number on Screw Side 1 - [1~ 999999999] Immediate

Parameter function:

For a motor-actuator system with a gear ratio, this parameter specifies the gear number on the screw side; the ratio
between Pn-20A and this parameter is the system’s gear ratio.

For example: If the system’s gear ratio is 2.55:1, then set Pn-20A as 255, and set this parameter as 100.

Parameter No. Description Default Unit Range Effective

Pn-20E Electronic Gear Ratio (Numerator) 1 - [1~ 999999999] After Reboot

Parameter function:

Sets the numerator of the electronic gear ratio. This parameter only applies to drives of V2.8.3 and above, coupled with a
NIKON encoder. The user must also set related controller parameters.

Note that the electronic gear ratio cannot exceed 256. This ratio can only be power of 2. Pn-210 Electronic Gear Ratio
(Denominator) must set to 1.

The drive’s internal processing of the electronic gear ratio is shown in the diagrams below:

Parameter No. Description Default Unit Range Effective

Pn-210 Electronic Gear Ratio (Denominator) 1 - [1~ 999999999] After Reboot

Parameter function:

Sets the denominator of the electronic gear ratio. This function only applies to drives of V2.8.3 and above, coupled with a
NIKON encoder. The user must also set related controller parameters.

Note that the electronic gear ratio cannot exceed 256. This ratio can only be power of 2. Pn-210 Electronic Gear Ratio
(Denominator) must set to 1.

The drive’s internal processing of the electronic gear ratio is shown in the diagrams below:

87
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-22A Enable Dual Feedback Control 0 - [0~1] After Reboot

Parameter function:

Specifies whether to enable dual feedback control. The parameter values are defined as follows:

0: Disabled

1: Enabled

To enable dual feedback control, not only should this parameter be set as 1 but also the second encoder's interface type
should not be set as 0. If either one of these two conditions is not met, the drive will maintain single feedback control. (For
more information, see the “Spindle Dual Feedback Control Guide” section.)

Parameter Description Default Unit Range Effective

No.

Pn-22C Dual Feedback Position Filter Time 40000 0.01 [1~1000000] Immediate
Constant ms

88
syntecvietnam@gmail.com

Parameter function:

Sets the time constant for the dual feedback low-pass first order filter. This parameter should be determined according to
system characteristics. For more information, see the “Dual Feedback Control for Optical Scale External Feedback”
section.

Procedure:

 Check for resonance using the chirp function

1.If exists: Find resonance frequency and resonance peak
2.If not: Set dual feedback filter time constant as 1
 Determine the dual feedback filter time constant according to resonance amplitude
1.Large amplitude: Set filter bandwidth as 1/4 of the resonance frequency
2.Small amplitude: Set filter bandwidth as 1/2 of the resonance frequency
 Test for vibration
1.If exists: Increase filter time constant
2.If not: Determine phase offset
 Satisfied
 Unsatisfied: Decrease filter time constant until either satisfied or vibrations produced
For example:
If the system has a resonance frequency at 50 Hz and the resonance amplitude is large, set Pn-22C
as (1/2π∗50)∗100000∗4 = 1272.

Next, test for system vibration. If vibrations are produced, increase the filter time constant (recommended in intervals of
50); if not, decide if the tuning yields satisfying results.

If the user is satisfied, tuning is complete. If not, decrease the filter time constant until either satisfied or vibrations are
produced.

Parameter Description Default Unit Range Effective

No.

Pn-212 Position Command 10000 pulse/rev ; [1~ Immediate

Resolution pulse/mm 999999999]

Parameter function:

Sets the resolution of the host controller’s square wave position commands. This parameter only applies to systems using
the Square Wave TTL type interface (Pn-030 = 0).

For example: If the controller’s commands has a resolution of 10000 pulses per revolution, then set this parameter as
10000.

Parameter No. Description Default Unit Range Effective

Pn-242 Posing Type 2 - [0~2] Immediate

Parameter function:

Specifies the spindle posing type when starting from rest. The parameter values are defined as follows:

0: Positive rotation
89
 syntecvietnam@gmail.com

1: Negative rotation

2: Shortest distance

Caution: Proximity switch posing does not support the shortest distance type. If the parameter is set as 2, the system will
instead adopt positive rotation.

For example:

1. If posing in the positive direction, set this parameter as 0.

2. If posing in the direction of shortest distance (which the drive will automatically compute and decide), set this parameter
as 2.

Parameter No. Description Default Unit Range Effective

Pn-243 Posing by Proximity Switch 0 - [0~1] After Reboot

Parameter function:

Specifies whether to enable the proximity switch for spindle posing. The parameter values are defined as follows:

0: Disable proximity switch

1: Enable proximity switch

When posing by proximity switch, the spindle will use the posing angle information passed from the controller to position
itself a certain angle from the proximity switch.

Parameter No. Description Default Unit Range Effective

Pn-250 Position Notch Filter Enabling 0 - 0~1 Immediate

Parameter function:

Specifies whether to enable the position notch filter.

The parameter values are defined as follows:

0: Disabled
1: Enabled

Notch filters can suppress specific frequencies produced by resonance.

Parameter No. Description Default Unit Range Effective

Pn-251 Position Notch Filter Frequency 2500 0.1Hz [1~2500] Immediate

Parameter function:

Sets the position notch filter frequency.

90
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-252 Position Notch Filter Q-factor 70 0.01 [25~500] Immediate

Parameter function:

Sets the position notch filter Q-factor.

Parameter No. Description Default Unit Range Effective

Pn-253 Position Notch Filter Depth 1000 0.01 [1~1000] Immediate

Parameter function:

Sets the position notch filter depth.

10.4. 【Pn-3XX】 Speed loop parameters

Parameter No. Description Default Unit Range Effective

Pn-304 JOG Speed - RPM [0~ 999999999] Immediate

Parameter function:

Sets the rotational speed of JOG. The overall speed pattern will be determined according to Pn-306 and Pn-307.

Parameter No. Description Default Unit Range Effective

Pn-306 Maximum Acceleration Time 2000 ms [0~ 60000] Immediate

Parameter function:

Sets the time limit for achieving maximum speed from rest.

Parameter No. Description Default Unit Range Effective

Pn-307 Maximum Jerk Time 50 ms [0~ 60000] Immediate

Parameter function:

This parameter’s definition varies slightly when applied to different system types. If applying to a linear axis, signified by
setting Pn-700 Motor Type as 1 (linear motor) or setting Pn-335 Mechanical Couple Type as 1 (ball screw type), this

91
syntecvietnam@gmail.com

parameter’s value represents the time limit for accelerating to 1 G from rest. For all other cases, this parameter
represents the time limit for accelerating to 1000 rpm from rest.

Parameter No. Description Default Unit Range Effective

Pn-308 Speed Filter Time Constant 50 0.01 ms [1~10000] Immediate

Parameter function:

Sets the speed filter time constant. Lowering this value enhances noise reduction, but setting it too low can lead to
vibration and noise. For more information, see the “Auto Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-330 Speed Control Mode 0 - [0~1] Immediate

Parameter function:

Determines the speed control mode. For vector control, an encoder must be connected and properly set. For VF mode, see
“VF Instruction Manual.”

0: Vector control

1: V/f mode

※ Current specifications only support induction motors.

Parameter No. Description Default Unit Range Effective

Pn-331 Enable Speed Estimator 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable the speed estimator function. This parameter’s values are defined as follows:

0: Disabled

1: Enabled

Parameter No. Description Default Unit Range Effective

Pn-332 Enable M/T Method in QEP Encoder 1 - [0~1] Immediate

92
syntecvietnam@gmail.com

Parameter function:

This function only applies to QEP encoders. It uses algorithms to increase the encoder feedback resolution; the smaller
the resolution, the greater the effect.

0: Disabled

1: Enabled

Parameter No. Description Default Unit Range Effective

Pn-333 Enable M/T Method in 2nd QEP Encoder 1 - [0~1] Immediate

Parameter function:

This function only applies to QEP encoders. It uses algorithms to increase the encoder feedback resolution; the smaller
the resolution, the greater the effect.

0: Disabled

1: Enabled

Parameter No. Description Default Unit Range Effective

Pn-335 *Mechanical Couple Type 0 - [0~2] After Reboot

Parameter function:

Specifies the mechanical coupling type of the motor mechanism. This parameter’s values are defined as follows:

0: Direct drive

1: Ball screw

2: Belt

Parameter No. Description Default Unit Range Effective

Pn-336 Jitter Compensation-N Pulse 100 - [0~1000] Immediate

Parameter function:

While Pn-338 Enable Jitter Compensation is set as 1, this parameter determines the level of jitter compensation.

93
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-338 Enable Jitter Compensation 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable jitter compensation. Enabling it can alter specific system characteristics while switching
speeds, effectively lowering the vibrations caused by high gain.

0: Disabled

1: Enabled, compensation level is determined by Pn-336, in units of pulse

Parameter No. Description Default Unit Range Effective

Pn-340 Resonance Compensation Function Select 0 - [0~2] Immediate

Parameter function:

This parameter decides which method to use for medium frequency (150 ~ 400 Hz) vibration suppression.

0: Disabled

1: Enable resonance compensation

2: Enable vibration damping control

Parameter No. Description Default Unit Range Effective

Pn-341 RESONANCE_COMP_FREQ 180 Hz [150~1000] Immediate

Parameter function:

Sets the target system’s resonance frequencies.

Parameter No. Description Default Unit Range Effective

Pn-342 RESONANCE_COMP_DAMPING 100 % [70~200] Immediate

Parameter function:

Sets the target system’s resonance damping.

94
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-343 RESONANCE_COMP_GAIN 100 % [1~300] Immediate

Parameter function:

Sets the target system’s resonance gain.

10.5. 【Pn-4XX】 Torque loop parameters

Parameter No. Description Default Unit Range Effective

Pn-401 Torque Command Filtering Time Constant 50 0.01 ms [1~10000] Immediate

Parameter function:

Sets the time constant of the torque command first order filter. Increasing this parameter’s value can enhance both noise
reduction and torque transitioning. However, setting it too high can lead to vibration and noise. For more information, see
the “Speed & Position Loop Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-409 1st Notch Frequency 5000 Hz [5~5000] Immediate

Parameter function:

Sets the frequency of the 1st notch filter. For best results, this value should be more than four times the speed gain.

Parameter No. Description Default Unit Range Effective

Pn-40A 1st Notch Q-factor 70 0.01 [25~500] Immediate

Parameter function:

Sets the Q-factor of the 1st notch filter.

Q-factor = Frequency of Notch / Bandwidth of Notch

Parameter No. Description Default Unit Range Effective

Pn-40B 1st Notch Depth 1000 0.001 [1~1000] Immediate

Parameter function:

Sets the depth of the 1st notch filter.

A depth attenuation ratio of 1.0 indicates the absence of signal attenuation, and a ratio of 0.1 indicates signal attenuation
to one-tenths of the original value.

95
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-40C 2nd Notch Frequency 5000 Hz [5~5000] Immediate

Parameter function:

Sets the frequency of the 2nd notch filter. For best results, this value should be more than four times the speed gain.

Parameter No. Description Default Unit Range Effective

Pn-40D 2nd Notch Q-factor 70 0.01 [25~500] Immediate

Parameter function:

Sets the Q-factor of the 2nd notch filter.

Q-factor = Frequency of Notch / Bandwidth of Notch

Parameter No. Description Default Unit Range Effective

Pn-40E 2nd Notch Depth 1000 0.001 [1~1000] Immediate

Parameter function:

Sets the depth of the 2nd notch filter.

A depth attenuation ratio of 1.0 indicates the absence of signal attenuation, and a ratio of 0.1 indicates signal attenuation
to one-tenths of the original value.

Parameter No. Description Default Unit Range Effective

Pn-417 3rd Notch Frequency 5000 Hz [5~5000] Immediate

Parameter function:

Sets the frequency of the 3rd notch filter. For best results, this value should be more than four times the speed gain.

Parameter No. Description Default Unit Range Effective

Pn-418 3rd Notch Q-factor 70 0.01 [25~500] Immediate

Parameter function:

Sets the Q-factor of the 3rd notch filter.

Q-factor = Frequency of Notch / Bandwidth of Notch

Parameter No. Description Default Unit Range Effective

Pn-419 3rd Notch Depth 1000 0.001 [1~1000] Immediate

96
syntecvietnam@gmail.com

Parameter function:

Sets the depth of the 3rd notch filter.

A depth attenuation ratio of 1.0 indicates the absence of signal attenuation, and a ratio of 0.1 indicates signal attenuation
to one-tenths of the original value.

Parameter No. Description Default Unit Range Effective

Pn-41A 4th Notch Frequency 5000 Hz [5~5000] Immediate

Parameter function:

Sets the frequency of the 4th notch filter. For best results, this value should be more than four times the speed gain.

Parameter No. Description Default Unit Range Effective

Pn-41B 4th Notch Q-factor 70 0.01 [25~500] Immediate

Parameter function:

Sets the Q-factor of the 4th notch filter.

Q-factor = Frequency of Notch / Bandwidth of Notch

Parameter No. Description Default Unit Range Effective

Pn-41C 4th Notch Depth 1000 0.001 [1~1000] Immediate

Parameter function:

Sets the depth of the 4th notch filter.

A depth attenuation ratio of 1.0 indicates the absence of signal attenuation, and a ratio of 0.1 indicates signal attenuation
to one-tenths of the original value.

Parameter No. Description Default Unit Range Effective

Pn-41D 5th Notch Frequency 5000 Hz [5~5000] Immediate

Parameter function:

Sets the frequency of the 5th notch filter. For best results, this value should be more than four times the speed gain.

Parameter No. Description Default Unit Range Effective

Pn-41E 5th Notch Q-factor 70 0.01 [25~500] Immediate

Parameter function:

97
syntecvietnam@gmail.com

Sets the Q-factor of the 5th notch filter.

Q-factor = Frequency of Notch / Bandwidth of Notch

Parameter No. Description Default Unit Range Effective

Pn-41F 5th Notch Depth 1000 0.001 [1~1000] Immediate

Parameter function:

Sets the depth of the 5th notch filter.

A depth attenuation ratio of 1.0 indicates the absence of signal attenuation, and a ratio of 0.1 indicates signal attenuation
to one-tenths of the original value.

Parameter No. Description Default Unit Range Effective

Pn-423 Enable Cogging Compensation 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable cogging compensation.

0: Disabled

1: Enabled

If this function is disabled, the system may not be able to run smoothly at low speeds.

Parameter No. Description Default Unit Range Effective

Pn-430 Enable Disturbance Compensation 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable disturbance compensation. This parameter’s values are defined as follows:

0: Disabled

1: Enabled

Enabling disturbance compensation enhances the system’s ability to suppress disturbances.

While enabled, this function works in tandem with Pn-123 Disturbance Compensation Ratio and Pn-121 Disturbance
Compensation Gain.

98
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-440 Over Torque 1 Function 1 - [0~1] Immediate

Parameter function:

Specifies whether to enable the Over Torque 1 alarm. This parameter’s values are defined as follows:

0: Disabled

1: Enabled

If this parameter is set as 1 and the current feedback exceeds the threshold set in Pn-441 continuously for over the time
set in Pn-442, the system will trigger the AL-203 alarm (for more information, see the “Drive Alarms Manual” section).

99
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-441 Over Torque 1 Threshold 170 % [10~250] Immediate

Parameter function:

Sets the threshold for triggering the Over Torque 1 alarm. Its formula is as follows:

Over Torque 1 Threshold (%) = Current Threshold / Motor Rated Current * 100%

If Pn-440 is set as 1 and the current feedback exceeds the threshold continuously for over the time set in Pn-442, the
system will trigger the AL-203 alarm (for more information, see the “Drive Alarms Manual” section).

For example: Setting this parameter’s value as 150 signifies that the Over Torque 1 Threshold is 150% of the motor’s
rated current.

*Note: If the Over Torque Threshold exceeds Pn-70A Motor Maximum Torque, the drive will automatically correct this
parameter’s value to match Pn-70A upon power-on. For any further modifications, the system will obey the user’s setting
until the next power-on.

Parameter No. Description Default Unit Range Effective

Pn-442 Over Torque 1 Time 50 0.1 s [0~6000] Immediate

Parameter function:

Sets the time for triggering the Over Torque 1 alarm. If Pn-440 is set as 1 and the current feedback exceeds the threshold
set in Pn-441 continuously for over the time set in this parameter, the system will trigger the AL-203 alarm (for more
information, see the “Drive Alarms Manual” section).

For example: Setting this parameter as 600 signifies that the Over Torque 1 Time is 60 seconds. Therefore, if the motor
current continuously operates at a level exceeding the threshold set in Pn-441 for over 60 seconds, the system will trigger
the AL-203 alarm.

Parameter No. Description Default Unit Range Effective

Pn-443 Over Torque 2 Threshold 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable the Over Torque 2 alarm. This parameter’s values are defined as follows:

0: Disabled

1: Enabled

If this parameter is set as 1 and the current feedback exceeds the threshold set in Pn-444 continuously for over the time
set in Pn-445, the system will trigger the AL-204 alarm (for more information, see the “Drive Alarms Manual” section).

Parameter No. Description Default Unit Range Effective

Pn-444 Over Torque 2 Threshold 120 % [10~250] Immediate

100
syntecvietnam@gmail.com

Parameter function:

Sets the threshold for triggering the Over Torque 2 alarm. Its formula is as follows:

Over Torque 2 Threshold (%) = Current Threshold / Motor Rated Current * 100%

If Pn-443 is set as 1 and the current feedback exceeds the threshold continuously for over the time set in Pn-445, the
system will trigger the AL-204 alarm (for more information, see the “Drive Alarms Manual” section).

For example: Setting this parameter’s value as 250 signifies that the Over Torque 2 Threshold is 250% of the motor’s
rated current.

*Note: If the Over Torque Threshold exceeds Pn-70A Motor Maximum Torque, the drive will automatically
correct this parameter’s value to match Pn-70A upon power-on. For any further modifications, the system will
obey the user’s setting until the next power-on.

Parameter No. Description Default Unit Range Effective

Pn-445 Over Torque 2 Time 10 0.1 s [0~6000] Immediate

Parameter function:

Sets the time for triggering the Over Torque 2 alarm. If Pn-443 is set as 1 and the current feedback exceeds the threshold
set in Pn-444 continuously for over the time set in this parameter, the system will trigger the AL-204 alarm (for more
information, see the “Drive Alarms Manual” section).

For example: Setting this parameter as 100 signifies that the Over Torque 2 Time is 10 seconds. Therefore, if the motor
current continuously operates at a level exceeding the threshold set in Pn-444 for over 10 seconds, the system will trigger
the AL-204 alarm.

Parameter No. Description Default Unit Range Effective

Pn-461 Enable 1st Notch Filter 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable the 1st notch filter. This parameter’s values are defined as follows:

0: Disabled

1: Enabled

Notch filters can suppress specific frequencies produced by resonance.

Parameter No. Description Default Unit Range Effective

Pn-462 Enable 2ndNotch Filter 0 - [0~1] Immediate

Parameter function:
Specifies whether to enable the 2nd notch filter. This parameter’s values are defined as follows:
101
syntecvietnam@gmail.com

0: Disabled

1: Enabled

Notch filters can suppress specific frequencies produced by resonance.

Parameter No. Description Default Unit Range Effective

Pn-463 Enable 3rd Notch Filter 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable the 3rd notch filter. This parameter’s values are defined as follows:

0: Disabled

1: Enabled

Notch filters can suppress specific frequencies produced by resonance.

Parameter No. Description Default Unit Range Effective

Pn-464 Enable 4th Notch Filter 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable the 4th notch filter. This parameter’s values are defined as follows:

0: Disabled

1: Enabled

Notch filters can suppress specific frequencies produced by resonance.

Parameter No. Description Default Unit Range Effective

Pn-465 Enable 5th Notch Filter 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable the 5th notch filter. This parameter’s values are defined as follows:

0: Disabled

1: Enabled

Notch filters can suppress specific frequencies produced by resonance.

102
syntecvietnam@gmail.com

10.6. [Pn-5XX] sequence parameters

Parameter No. Description Default Unit Range Effective

Pn-50A I0 Function 1000 - [1000~4199] Immediate

Parameter function:

The digit in the thousands place denotes the axis number, for example:

1xxx: First axis

Available trigger input functions are listed below:

0: No function

1: SERVO ON

2: Reserved

3: Alarm Reset

4: Reserved

5: Reserved

6: Proximity Switch (only supports I0, I1)

20: Motor Overheat Signal

0xx: Connector A (Normal Open)

1xx: Connector B (Normal Close)

For more information about external pin connectors, refer to “Drive Connectors and Terminals Manual.”

Note: For drives of V2.0.x ~ V2.8.x, I bit functions are only supported if Pn-030 Host Interface = 0 (Square Wave TTL).
After V2.9.2, I bit functions are also supported by other interface types.

Parameter No Description Default Unit Range Effective

Pn-50B I1 Function 1000 - [1000~4199] Immediate

Parameter function:

Refer to I0 functions.

103
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-50C I2 Function 1000 - [1000~4199] Immediate

Parameter function:

Refer to I0 functions.

Parameter No. Description Default Unit Range Effective

Pn-50D I3 Function 1000 - [1000~4199] Immediate

Parameter function:

Refer to I0 functions.

Parameter No. Description Default Unit Range Effective

Pn-50E O0 Function 1000 - [1000~4199] Immediate

Parameter function:

The digit in the thousands place denotes the axis number Axis ID of the drive (【Pn-035】Axis ID)

for example: Pn-035 = 1, set 1xxx

This parameter outputs a signal when the below condition is met:

0: No function

1: ALARM

2: Posing status

3: In Speed Signal

4: Zero Speed Signal

5: Brake Release Signal

50: Soft DO0

0xx: Connector A (Normal Open)

1xx: Connector B (Normal Close)

For more information about external pin connectors, refer to “Drive Connectors and Terminals Manual.”

104
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-50F O1 Function 1000 - [1000~4199] Immediate

Parameter function:

Refer to O0 functions.

Parameter No. Description Default Unit Range Effective

Pn-51A Dual Feedback Position Error Bound 3000 pulse [0~999999999] Immediate

Parameter function:

While dual feedback control is enabled, this parameter sets the threshold error bound for the inner (first) and outer
(second) positions. The unit “pulse” refers to the pulse of the 2nd encoder.

If the position error bound exceeds this threshold value, the system will trigger the AL-250 alarm (for more information,
see the “Drive Alarms Manual” section).

This value should take into consideration the discrepancy between stated and real system gear ratios (Pn-20A:Pn-20C),
slipping or loosening of the V-belt, etc.

Parameter No. Description Default Unit Range Effective

Pn-51F Disable Z Index Alarm Check 0 - [0~1] Immediate

Parameter function:

Specifies whether to check the encoder Z index alarm.

0: Enable Z Index Alarm Check

1: Disable Z Index Alarm Check

Parameter No. Description Default Unit Range Effective

Pn-502 Zero Speed Window 150 0.1RPM [10~1000] Immediate

Parameter function:

Sets the Zero Speed Window. Once the speed feedback falls within this window, the drive sends out the Zero Speed Signal.

105
syntecvietnam@gmail.com

For example: If the user intends to send out the Zero Speed Signal when the speed is within 2 rpm of zero speed, set this
parameter’s value as 20 (in units of 0.1 rpm).

Parameter No. Description Default Unit Range Effective

Pn-503 In Speed Window 15 % [0~100] Immediate

Parameter function:

Sets the In Speed Window. Once the speed feedback falls within this window, the drive sends out the In Speed Signal. Its
formula is as follows:

In Speed Window (%) = Speed Error Bound / Motor Rated Speed * 100%

For example: If the motor’s rated speed is 1000 rpm and the user intends to send out the In Speed Signal when the speed
is within 20 rpm of the target speed, set this parameter’s value as 2, as computed through the formula: (20 / 1000) 100%
= 2%

Parameter No. Description Default Unit Range Effective

Pn-506 Servo OFF Delay Time 0 10ms [0~500] Immediate

Parameter function:

While the motor is at rest, this parameter can change the delay time switching from Servo ON to Servo OFF.

This parameter can suppress the slight movement of a band-braking vertical axis switching to Servo OFF.

Parameter No. Description Default Unit Range Effective

Pn-507 Brake Reference Output Speed Level 100 rev/min [0~10000] Immediate

Parameter function:

While the motor is still running during Servo ON, a critical alarm will cause the system to go into dynamic braking; if the
motor speed is lower than this parameter’s value, the system will lock the brakes and switch the drive to Servo OFF.

(Caution! If the motor does not have external band brakes, switching to Servo OFF at a motor speed lower than this
parameter will cause the system to go into free run.)

If this parameter’s value exceeds the motor’s maximum speed, the system will automatically use the maximum speed as
the reference level.

106
syntecvietnam@gmail.com

If a gravity axis operating at high speeds has a braking distance limit, it is recommended to set a braking time limit
through Pn-508 Waiting Time for Brake Signal.

If the motor does not have external brakes, it is recommended to set this parameter equivalent to the Zero Speed
Window.

Note 1: Dynamic braking is only available for drives of V2.0.21, V2.1.0, or above

Note 2: This parameter takes effect regardless of the motor’s axis and brake types. Therefore, exercise special caution in
cases where the motor is a gravity axis or does not have external brakes.

Parameter No. Description Default Unit Range Effective

Pn-508 Waiting Time for Brake Signal 50 10ms [10~100] Immediate

Parameter function:

While the motor is still running during Servo ON, a critical alarm will cause the system to go into dynamic braking; if the
braking time exceeds this parameter’s value, the system will lock the brakes.

Note: For a gravity axis under free-load, it is recommended to set this parameter as 10 (corresponding to 100 ms).

107
syntecvietnam@gmail.com

If a gravity axis operating at high speeds has a braking distance limit, it is recommended to set this parameter as follows:

Braking time (ms) = Braking distance limit (mm) / Maximum speed (mm/min) * 60 * 1000 / Safety factor

For example: If the maximum speed is 48000 (mm/min), the braking distance limit is 80 (mm), and the safety factor is
one, then:

Braking time = 80 / 48000 * 60 * 1000 = 100 (ms)

Pn-508 = 10 (corresponding to 100 ms)

In reality, a motor does not come to an immediate stop once the brakes are locked; the additional distance it covers
depends on the speed and load at the moment. If the motor is running at high speeds or heavy loads, it is recommended to
increase the safety factor in proportion.

Parameter No. Description Default Unit Range Effective

Pn-522 In Position Window 500 0.001 degree [1~10000] Immediate

Parameter function:

Sets the In Position Window for the spindle. Once the position feedback falls within this window, the drive sends out the
In Position Signal.

For example: If the target position is 180 degrees and this parameter is set as 500, then the drive will send out the In
Position Signal when the position is within 0.5 degrees of 180.

Note that if the window set in this parameter is less than one pulse of the encoder, the drive will automatically use one
pulse as the window.

For example: If the encoder resolution is 4096 ppr and this parameter is set as 10, then (1 / 4096) * 360 ≈ 0.088 > 10 *
0.001 = 0.01, therefore the drive will automatically use 0.088 degrees (instead of 0.01 degrees) as the window.

10.7.【Pn-6XX】 After the class parameters

Parameter No. Description Default Unit Range Effective

Pn-640 Main Supply Voltage 3800 0.1 Vrms [1800~7800] Immediate

Parameter function:

Sets the main supply voltage for the drive. This value must be equivalent to the voltage of the power source, otherwise it
may lead to malfunction or damage in the drive.

To ensure that this parameter is set correctly, use a multimeter (VOM) in AC mode to measure the voltage of the power
source, then input the value into this parameter.

For example: If the voltage of the power source is 380 V, then set this parameter as 3800 (in units of 0.1 V rms).

108
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-641 Drive Voltage Maximum 8000 0.1 V [0~10000] Unalterable

Parameter function:

Represents the maximum DC bus terminal voltage that the drive can withstand.

Parameter Description Default Unit Range Effective

Pn-642 PWM Frequency 8000 Hz [4000~20000] After Reboot

Parameter function:

Sets the PWM switching frequency of the drive. A higher frequency can lessen the noise produced by the motor, but it also
leads to greater current leakage, signal noise, and heat accumulation.

The default is the recommended value; consult the OEM before making any adjustments.

Since V2.8.2, this parameter has a new ceiling value of 8000 Hz. If this parameter’s value is originally set greater
than 8000 Hz, the system will automatically change it to 8000 Hz and enable High Cycle Calculation (Pn-643).

Parameter No. Description Default Unit Range Effective

Pn-644 Internal Regenerator Resistance 13 Ω [0~100] Immediate

Parameter function:

Sets the resistance of the internal regenerative resistor.

Parameter No. Description Default Unit Range Effective

Pn-645 Internal Regenerator Power 100 Watt [0~2000] Immediate

Parameter function:

Sets the power of the internal regenerative resistance.

Parameter No. Description Default Unit Range Effective

Pn-650 Drive Peak Current 500 0.1 A(peak) [0~30000] Unalterable

Parameter function:

Represents the peak current of the drive.

109
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-651 Drive Rated Current 210 0.1 A(rms) [0~30000] Unalterable

Parameter function:

Represents the rated current of the drive.

Parameter No. Description Default Unit Range Effective

Pn-652 Drive Maximum Current Ratio 2000 0.1 %(DRV_I_NOM) [0~8000] Unalterable

Parameter function:

Represents the maximum current ratio of the drive. Its formula is as follows:
Drive Maximum Current Ratio (%) = Drive Maximum Current / Drive Rated Current * 100%

Parameter No. Description Default Unit Range Effective

Pn-653 Dead Time 2000 ns [0~10000] Unalterable

Parameter function:

Represents the dead time for switching between the upper and lower arms of the IGBT.

Parameter No. Description Default Unit Range Effective

Pn-654 PWM Output Mode 0 - [0~5] After Reboot

Parameter function:

0: UVW

1: WVU

2: WUV

3: VUW

Parameter No. Description Default Unit Range Effective

Pn-655 Number of Current Sensors 2 - [0~3] After Reboot

Parameter function:

2: 2 current sensors
3: 3 current sensors

110
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-656 Current Sensor Range 10 A [0~6000] Unalterable

Parameter function:

Represents the maximum current that can be sensed by the current sensor.

Parameter No. Description Default Unit Range Effective

Pn-660 Phase A Offset 0 0.01 A [-3000~3000] Immediate

Parameter function:

Sets the Phase A Offset correction value.

Running the “Current Feedback Signal Correction” function automatically plugs the correction value into this parameter
(for more information, see the “Syntec Drives Auto Tuning” section).

Parameter No. Description Default Unit Range Effective

Pn-661 Phase B Offset 0 0.01 A [-3000~3000] Immediate

Parameter function:

Sets the Phase B Offset correction value.

Running the “Current Feedback Signal Correction” function automatically plugs the correction value into this parameter
(for more information, see the “Syntec Drives Auto Tuning” section).

Parameter No. Description Default Unit Range Effective

Pn-662 Phase C Offset 0 0.01 A [-3000~3000] Immediate

Parameter function:

Sets the Phase C Offset correction value.

Running the “Current Feedback Signal Correction” function automatically plugs the correction value into this parameter
(for more information, see the “Syntec Drives Auto Tuning” section).

Parameter No. Description Default Unit Range Effective

Pn-663 Phase A Scale 1000 0.001 [500~2000] Immediate

Parameter function:

Sets the Phase A Scale correction value.

111
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-664 Phase B Scale 1000 0.001 [500~2000] Immediate

Parameter function:

Sets the Phase B Scale correction value.

Parameter No. Description Default Unit Range Effective

Pn-665 Phase C Scale 1000 0.001 [500~2000] Immediate

Parameter function:

Sets the Phase C Scale correction value.

Parameter No. Description Default Unit Range Effective

Pn-66E Enable Voltage Compensation 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable voltage compensation.

0: Disabled

1: Enabled

Note that this function cannot be enabled if DTC Current Command 1 is set as 0.

Parameter No. Description Default Unit Range Effective

Pn-66F DTC Voltage Drop 0 0.0001 [0~10000] Unalterable

Parameter function:

Represents the DTC Voltage Drop. Running the “DTC Auto Tuning” function automatically plugs the correction value into
this parameter.

Parameter No. Description Default Unit Range Effective

Pn-670 ~67E DTC Current Command 1~15 0 0.001A [0~65535] Unalterable

Parameter function:

Represents the DTC Current Commands 1~15. Running the “DTC Auto Tuning” function automatically plugs the
corrections values into these parameters.

112
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-688 ~696 DTC Delay Time 1~15 0 ns [-32768~32767] Unalterable

Parameter function:

Represents the DTC Delay Times 1~15. Running the “DTC Auto Tuning” function automatically plugs the corrections
values into these parameters.

10.8. 【Pn-7XX】 Motor parameters

Parameter No. Description Default Unit Range Effective

Pn-700 *Motor Type 0 - [0~2] After Reboot

Parameter function:

Sets the motor type. The drive will implement different driving and tuning methods depending on this parameter’s value;
setting it incorrectly may result in motor malfunction.

0: Rotary PMSM

1: Linear PMSM

2: Rotary Inductive Motor

Note that linear PMSMs are only compatible with axis motors, and rotary inductive motors are only compatible with
spindles. Incompatible pairings will trigger the AL-540 Motor Type Unsupported alarm.

Parameter No. Description Default Unit Range Effective

Pn-701 Motor Pole Number 4 - [1~256] Immediate

Parameter number:

Sets the number of magnetic poles on the motor. If applying to a linear PMSM, set this value as 2.

Note that the motor specifications may list the number of pole pairings:

Motor Pole Number = Motor Pole Pairings * 2.

Parameter No. Description Default Unit Range Effective

Pn-702 Linear Motor Magnetic Pitch (N-N) 100 0.1 mm [10~100000] Immediate

Parameter function:

Sets the distance between the N-poles of a linear motor. Note that this parameter only applies to linear PMSMs.

113
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-704 Motor Model Number 0 - [0~999999999] Immediate

Parameter function:

Sets the Syntec motor model number. For code conversions, see “Tuning Software Manual➔About.”

Parameter No. Description Default Unit Range Effective

Pn-706 Motor Serial Number 0 - [0~999999999] Immediate

Parameter function:

Sets the Syntec TQM System serial number. For code conversions, see “Tuning Software Manual ➔ About.”

Parameter No. Description Default Unit Range Effective

Pn-708 Rated Torque 0 0.1 N-m; 0.1 N [1~30000] Immediate

Parameter function:

Sets the rated torque. This parameter could be set according to the specifications on the motor nameplate.

Parameter No. Description Default Unit Range Effective

Pn-70A Maximum Torque Ratio 1500 0.1 %(MOT_T_NOM) [1000~5000] Immediate

Parameter function:

Sets the motor’s maximum torque output, in the form of a rated ratio.

Maximum Torque (%) = Torque Limit / Motor Rated Torque * 100%

Parameter No. Description Default Unit Range Effective

Pn-70C Rated Speed 2000 rev/min; mm/s [50~120000] Immediate

114
syntecvietnam@gmail.com

Parameter function:

Sets the motor’s rated speed. This value should be set according to the specifications on the motor nameplate.

Parameter No. Description Default Unit Range Effective

Pn-70E Maximum Speed 2000 rev/min; mm/s [50~120000] Immediate

Parameter function:

Sets the motor’s maximum speed. This value should be set according to the specifications on the motor nameplate.

Parameter No. Description Default Unit Range Effective

Pn-710 Rated Current 0 0.1 Arms [1~30000] Immediate

Parameter function:

Sets the rated current. This parameter should be set according to the specifications on the motor nameplate.

Parameter No. Description Default Unit Range Effective

Pn-712 Rated Voltage for Induction Motor 280 0.1 Arms [1000~10000] Immediate

Parameter function:

Sets the rated voltage. This parameter should be set according to motor specifications; its value, along with the rated
speed, determines the timing of flux-weakening control. Note that if the motor’s background voltage is greater than the
drive’s voltage, related values (such as the rated speed) should be lowered in proportion, otherwise dynamic response
may be affected.

Parameter No. Description Default Unit Range Effective

Pn-714 d-axis Inductance 10000 0.001 mH [10~1000000] Immediate

Parameter function:

Sets the inductance of the motor coils. Pn-714 is generally equivalent to Pn-716, unless applied to IPM motors.

115
syntecvietnam@gmail.com

If Pn-714 is not equivalent to Pn-716 while applied to a PMSM, the system automatically controls the motor as an IPM.

This parameter could be set according to motor specifications, or alternatively, it could be obtained through tuning
functions. For more information, see the “Syntec Drives Auto Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-716 q-axis Inductance 10000 0.001 mH [10~1000000] Immediate

Parameter function:

Sets the inductance of the motor coils. Pn-714 is generally equivalent to Pn-716, unless applied to IPM motors.

If Pn-714 is not equivalent to Pn-716 while applied to a PMSM, the system automatically controls the motor as an IPM.

This parameter could be set according to motor specifications, or alternatively, it could be obtained through tuning
functions. For more information, see the “Syntec Drives Auto Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-718 Motor Impedance 1000 0.001 Ohm [10~1000000] Immediate

Parameter function:

Sets the impedance of the motor coils. This parameter could be set according motor specifications, or alternatively, it
could be obtained through tuning functions. For more information, see the “Syntec Drives Auto Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-71A Leakage Inductance Ratio 100 0.1 %(MOT_LS) [0~1000] Immediate

Parameter function:

Sets the leakage inductance ratio of the motor coils. This value could be set according to motor specifications, or
alternatively, it could be obtained through tuning functions. For more information, see the “Syntec Drives Auto Tuning”
section.

Leakage Inductance Ratio (%) = Leakage Inductance / Motor Inductive Reactance * 100%

116
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-71C Exciting Current Ratio 400 0.1 % [10~1000] 时生效

Parameter function:

Sets the exciting current ratio of the motor. This value could be set according to motor specifications, or alternatively, it
could be obtained through tuning functions. For more information, see the “Syntec Drives Auto Tuning” section.

If this parameter’s value is too small, it may affect the motor’s output performance; if too large, it may affect the motor’s
high speed performance.

Exciting Current Ratio (%) = Exciting Current / Motor Rated Current * 100%

Parameter No. Description Default Unit Range Effective

Pn-71E Rotor Time Constant 180 0.1 ms [10~100000] Immediate

Parameter function:

Sets the rotor time constant of the motor. This value could be obtained through tuning functions. For more information,
see the “Syntec Drives Auto Tuning” section. Setting this parameter incorrectly may affect the motor’s output
performance.

Parameter No. Description Default Unit Range Effective

Pn-720 Rotor Inertia 10 g-cm2 [1~999999999] Immediate

Parameter function:

Sets the rotor inertia of the motor. This parameter could be obtained through tuning functions. For more information, see
the “Syntec Drives Auto Tuning” section. Setting this parameter incorrectly may affect the speed loop response.

Parameter No. Description Default Unit Range Effective

Pn-722 Mechanical Time Constant 50 0.01 ms [1~100000000] Immediate

Parameter function:

Sets the mechanical time constant of the motor.

117
syntecvietnam@gmail.com

From V1.4.0 and V2.0.0 and onwards, this constant can longer be obtained using tuning functions. However, this
parameter still affects cogging compensation and disturbance compensation functions; it is recommended to set this
value as high as possible.

Parameter No. Description Default Unit Range Effective

Pn-724 Offset of Encoder and Rotor 0 0.001 degree [0~359999] Immediate

Parameter function:

Sets the offset correction value for the motor rotor and the encoder Z index positions. This value can be obtained through
tuning functions. For more information, see the “Syntec Drives Auto Tuning” section. Setting this parameter incorrectly
may lead to motor malfunction.

Parameter No. Description Default Unit Range Effective

Pn-726 Proportional Current Loop Gain 10000 0.1 Hz [500~100000] Immediate

Parameter function:

Sets the proportional current loop gain. Raising this value enhances torque response, but setting it too high can lead to
vibration and noise. For more information, see the “Syntec Drive Auto Tuning” section.

From V2.8.0 and onwards, if applying to package motors, the system automatically computes this parameter’s value
according to Pn-642 PWM Frequency and Pn-643 Enable High Cycle Calculation.

Parameter No. Description Default Unit Range Effective

Pn-728 Current Loop Integration Time Constant 260 0.01 ms [1~10000] Immediate

Parameter function:

Sets the current loop integration time constant. Raising this value enhances speed response, but setting it too high can
lead to vibration and noise. For more information, see the “Syntec Drive Auto Tuning” section.

Parameter No. Description Default Unit Range Effective

Pn-72A 150% Over Load Duration 900 s [10~2400] Immediate

118
syntecvietnam@gmail.com

Parameter function:

Sets the maximum duration for continuously running on 150% over load.

Parameter No. Description Default Unit Range Effective

Pn-740 Enable KTY84 Thermal Protection 0 - [0-1] After Reboot

Parameter function:

Specifies whether to enable KTY84 Thermal Protection. For more information, see the “KTY84 Thermal Protection”
section.

0: Enabled

1: Disabled

Parameter No. Description Default Unit Range Effective

Pn-741 Drive KTY84 Thermal Protection Level 120 ℃ [80~150] Immediate

Parameter function:

Sets the KTY84 Thermal Protection Level for the drive. For more information, see the “KTY84 Thermal Protection”
section.

Parameter No. Description Default Unit Range Effective

Pn-743 Encoder Ext.(1) KTY84 Protection Level 0 ℃ [0~145] Immediate

Parameter function:

Sets the Ext.(1) Thermal Protection Level for the encoder. The value 0 indicates protection disabled.

For more information, see the “KTY84 Thermal Protection” section.

Parameter No. Description Default Unit Range Effective

Pn-744 Encoder Ext.(2) KTY84 Protection Level 0 ℃ [0~145] Immediate

119
syntecvietnam@gmail.com

Parameter function:

Sets the Ext.(2) Thermal Protection Level for the encoder. The value 0 indicates protection disabled.

For more information, see the “KTY84 Thermal Protection” section.

Parameter No. Description Default Unit Range Effective

Pn-747 2nd Encoder Ext.(1) KTY84 Protection Level 0 ℃ [0~145] Immediate

Parameter function:

Sets the Ext.(1) Thermal Protection Level for the 2nd encoder. The value 0 indicates protection disabled.

For more information, see the “KTY84 Thermal Protection” section.

Parameter No. Description Default Unit Range Effective

Pn-748 2nd Encoder Ext.(2) KTY84 Protection Level 0 ℃ [0~145] Immediate

Parameter function:

Sets the Ext.(2) Thermal Protection Level for the 2nd encoder. The value 0 indicates protection disabled.

For more information, see the “KTY84 Thermal Protection” section.

Parameter No. Description Default Unit Range Effective

Pn-74B Disable Encoder Ext.(1) Thermal Protection 0 - [0~1] Immediate

Parameter function:

Specifies whether to disable Ext.(1) Thermal Protection for the encoder. Setting this parameter as 1 disables the
protection.

For more information, see the “KTY84 Thermal Protection” section.

Parameter No. Description Default Unit Range Effective

Pn-74C Disable Encoder Ext.(2) Thermal Protection 0 - [0~1] Immediate

120
syntecvietnam@gmail.com

Parameter function:

Specifies whether to disable Ext.(2) Thermal Protection for the encoder. Setting this parameter as 1 disables the
protection.

For more information, see the “KTY84 Thermal Protection” section.

Parameter No. Description Default Unit Range Effective

Pn-74F Disable 2nd Encoder Ext.(1) Thermal Protection 0 - [0~1] Immediate

Parameter function:

Specifies whether to disable Ext.(1) Thermal Protection for the 2nd encoder. Setting this parameter as 1 disables the
protection.

For more information, see the “KTY84 Thermal Protection” section.

Parameter No. Description Default Unit Range Effective

Pn-750 Disable 2nd Encoder Ext.(2) Thermal Protection 0 - [0~1] Immediate

Parameter function:

Specifies whether to disable Ext.(2) Thermal Protection for the 2nd encoder. Setting this parameter as 1 disables the
protection.

For more information, see the “KTY84 Thermal Protection” section.

10.9. 【Pn-8XX】 Common parameters

Parameter No. Description Default Unit Range Effective

Pn-800 Disable Mechatrolink Sync Alarm Check 0 - [0~1] Immediate

Specifies whether to disable the Mechatrolink Sync Alarm of the Mechatrolink interface.

0: Enable Mechatrolink Sync Alarm

1: Disable Mechatrolink Sync Alarm

Parameter No. Description Default Unit Range Effective

Pn-801 Gain Ratio for Encoder Index Not Appear 100 % [10~100] Immediate

Parameter function:

121
syntecvietnam@gmail.com

While the encoder index does not appear, proportionally reduce the following parameters according to this parameter’s
value:

Pn-100 Proportional Speed Loop Gain

Pn-101 Speed Loop Integration Time Constant

Pn-102 Proportional Position Loop Gain

Pn-401 Torque Command Filtering Time Constant

*Ineffective under V/F mode

*Only supports Syntec encoders

*Does not support the OpenGuide JOG mode

Parameter No. Description Default Unit Range Effective

Pn-802 Halve PWM Output Frequency 0 - [0~1] After Reboot

Parameter function:

Specifies whether to enable the Halve PWM Output Frequency function.

0: Disabled

1: Enabled

*Note: This parameter has since been removed in V2.6.8, V2.73, and onwards; its function is replaced by Pn-643 Enable
High Cycle Calculation.

Parameter Description Default Unit Range Effective

No.

Pn-804 Enable Power Off 0 - [0~1] After

Pull-up Function Reboot

Parameter function:

Specifies whether to enable the Power Off Pull-up function. Setting this parameter as 0 disables the function.

The pull-up distance is determined according to Pn-806 Pull-up Distance, and the pull-up direction is opposite that of Pn-
805 Weight Direction.

The pull-up trajectory is determined according to 0.1 times the two parameters Pn-306 Maximum Acceleration Time and
Pn-307 Maximum Jerk Time.

Parameter No. Description Default Unit Range Effective

Pn-805 Weight Direction 0 - [-1~1] Immediate

Parameter function:

122
 syntecvietnam@gmail.com

Determines the weight direction. If this parameter is set as 1, the weight direction corresponds to the motor’s positive
rotation; if set as -1, the weight direction corresponds to the motor’s negative rotation.

Reminders about the Power Off Pull-up function:

1. The pull-up direction is opposite that of the weight direction.

2. The function cannot be enabled while this parameter is set as 0.

Parameter No. Description Default Unit Range Effective

Pn-806 Pull-up Distance 0 pulse [0~999999999] Immediate

Parameter function:

Sets the pull-up distance. If this parameter is set as 0, by default, the distance is 80 um for linear motors and 8/1000
revolutions for rotary motors.

10.10. 【Pn-9XX】 Encoder parameters

Parameter No. Description Default Unit Range Effective

Pn-900 Encoder Communication Type 2 - [0~30] After Reboot

Parameter function:

Sets the Communication Type for the encoder. Note that the Sine Waves and Resolver types are still being developed, not
yet available for use.

After setting this parameter, use the “Encoder Testing” function to ensure that the encoder is working properly (for more
information, see the “Syntec Drives Auto Tuning and Testing” section).

※To see detailed wiring specifications for Sanyo Wire-saving Encoders, refer to the “Wiring and Signal” section.

This parameter’s values are defined as follows:

0: Feedback Disabled

2: ABZ Incremental

3: AB Incremental

11: TAMAGAWA Serial Encoder

12: Nikon Serial Encoder

13: SYNTEC Serial Encoder

14: Hiwin Serial Encoder

15: Sankyo Serial Encoder

16: BiSSC Serial Encoder

17: FeeDat Serial Encoder

18: EnDat Serial Encoder

19: Panasonic Serial Encoder

20: Mitutoyo Serial Encoder

123
syntecvietnam@gmail.com

※Appendix

Supported Hardware for Non-serial Encoders

Encoder Encoder Rotary Linear Notes Supported Encoder
Type Communication Versions Connector
Type

2 ABZ ● ● Set Pn-904 Encoder 2.7.0 ~ 10 pin

Type as 0
3 AB ● ● (Incremental)

Supported Hardware for Serial Encoders

Enc Brand Rotary Linear Non-package Notes Suppo No.Pi
ode rted n
r Inc Singl Mult Incre Abso Para Resol Versio
Typ re e- i- menta lute mete ution ns
e me turn turn l r Auto
nta Abso Abso Readi Readi
l lute lute ng ng

11 Tamaga ● ● ● 2.0.13 6 pin

wa ~

12 *Nikon ● ● ● Suppor 2.0.13 6 pin

ted ~
Baud
Rates
2.5 / 4
/8
MHz

13 *SYNTEC ● ● ● 2.0.13 6 pin

~

14 HIWIN ● ● 2.0.13 6 pin

~

15 Sankyo ● ● ● High 2.0.13 6 pin

Cycle ~
Calcula
tion
Unsupp
orted，
Do NOT
Enable
Pn-643

16 BiSS-C ● ● Suppor 2.7.0 10

ted ~ pin
Data
Length
s
18/26/
32/36
Bits

124
syntecvietnam@gmail.com

Enc Brand Rotary Linear Non-package Notes Suppo No.Pi

ode rted n
r Inc Singl Mult Incre Abso Para Resol Versio
Typ re e- i- menta lute mete ution ns
e me turn turn l r Auto
nta Abso Abso Readi Readi
l lute lute ng ng

17 FeeDat ● ● 2.3.4 6 pin

~

18 EnDat ● ● ● ● Suppor 2.9.0 10

ts ~ pin
EnDat
2.1/2.2 For
Param
eter
Readi
ng
2.9.3
~

19 *Panaso ● ● Panaso 2.9.0 6 pin

nic nic ~
Packag
e For
Suppor Packa
ted ge
Models Param
(Note eters
3) Readi
ng
2.9.3
~

20 Mitutoyo ● Suppor 2.9.0 6 pin

ted ~
model
For
Separat AT11
e Type: 00
ST701A Series
/703A/ 2.10.1
708A ~

Assemb
ly
Type:
AT110
0 Series

Note 1: Encoders marked with the “*” symbol support package parameter reading.

Note 2: Take caution while applying to incremental/single-turn absolute/multi-turn absolute encoders; not only should
the type be compatible with the hardware, but also Pn-904 Encoder Type should be set to the corresponding value.

Note 3: Panasonic V2.9.3 Package Parameter Reading supports MHMF-042-L1-XX and MHMF-082-L1-XX, where XX
denotes additional hardware specifications such as brakes or oil seals.

125
 syntecvietnam@gmail.com

Note 4: 6-pin encoder ports are typically used for asynchronous serial protocol; 10-pin ports are typically used for
synchronous serial protocol, and they do not need to be connected to B+/B- (CLK+/CLK-) when applied to asynchronous
serial protocol. Note that QEP encoders should be connected to 10-pin ports as they have three differential signals A, B,
and Z.

Parameter No. Description Default Unit Range Effective

Pn-901 Encoder Port Number 0 - [0~8] After Reboot

Parameter function:

Sets the port number for the encoder.

Parameter No. Description Default Unit Range Effective

Pn-902 Encoder Resolution 10000 pulse/rev; pulse/mm [1-999999999] After Reboot

Parameter function:

Sets the resolution for the encoder.

Note that if Pn-900 is set as 1 or 2 (incremental encoder), this parameter’s value should match the quadruple frequency.

After setting this parameter, use the “Encoder Testing” function to ensure that the encoder is working properly (for more
information, see the “Syntec Drives Auto Tuning and Testing” section).

For example:

1. If the encoder is incremental and its resolution is 1024 ppr, set this parameter as 1024 x 4 = 4096.
2. If the 2nd encoder is absolute and its resolution is 65536 ppr, set this parameter s 65536.
3. If using an adaptor type incremental encoder for the sine wave signal:
3.1.For rotary motors, the encoder resolution is the number of sine waves in one cycle (Encoder Pole Number) *
4096.
3.2. For linear motors, the encoder resolution is the number of sine waves in 1mm * 4096; it is recommended to set
the Encoder Pole Number (Pn-90A) as 1024.
3.3.Note: If the Encoder Pole Number exceeds 4096:
3.3.1. 4096~8192: The encoder resolution is the number of sine waves in one cycle (Encoder Pole Number) *
2048 (for Encoder Firmware V1.8.14 and above).
3.3.2. 8192~16384: The encoder resolution is the number of sine waves in one cycle (Encoder Pole Number) *
1024 (for Encoder Firmware V1.8.14 and above).
3.3.3. 16384~32768: The encoder resolution is the number of sine waves in one cycle (Encoder Pole Number) *
512 (for Encoder Firmware V1.9.0 and above).

Parameter No. Description Default Unit Range Effective

Pn-904 Encoder Type 0 - [0-2] After Reboot

Parameter function:

Sets the encoder's type.

126
syntecvietnam@gmail.com

For single/multi absolute and incremental settings, refer to the appendix under Pn-900 Encoder Communication Type.

This parameter’s values are defined as follows:

0: Incremental

1: Multi-turn Absolute

2: Single-turn Absolute (select this option for absolute linear encoder)

Parameter No. Description Default Unit Range Effective

Pn-905 Encoder Sin Offset 2047 - [-32768~32767] Immediate

Parameter function:

Sets the Sin Offset correction value for the encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-906 Encoder Cos Offset 2047 - [-32768~32767] Immediate

Parameter function:

Sets the Cos Offset correction value for the encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-907 Encoder Sin Scale 1000 - [-32768~32767] Immediate

Parameter function:

Sets the Sin Scale correction value for the encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-908 Encoder Cos Scale 1000 - [-32768~32767] Immediate

Parameter function:

Sets the Cos Scale correction value for the encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-909 Encoder Sin-Cos Phase Angle 9000 0.01 deg [8000-10000] Immediate

Parameter function:

Sets the Sin-Cos Phase Angle correction value for the encoder’s signal feedback.
127
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-90A Encoder Pole Pairs 64 - [1~4096] Immediate

Parameter function:

Determines the number of pole pairs in one cycle of the encoder’s sine wave signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-90B Encoder Pitch Compensation Number 4096 - [0~8192] Immediate

Parameter function:

Sets the pitch compensation number for one cycle of the encoder feedback.

0: Pitch Compensation Disabled

Note: Compensation Number (Pn-90B) should be divisible by Encoder Pole Pairs (Pn-90A)

Parameter No. Description Default Unit Range Effective

Pn-90C Enable Encoder Parameter Protection 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable Parameter Protection for the encoder.

If this parameter is set as 1 and the system is loading default parameters, Motor Specifications parameters (Pn-7XX) are
not loaded;

if saving parameters, the motor parameters are not saved into the encoder.
Since V2.4.x, this parameter no longer exists; its function is replaced by Package Motor Protection.

Parameter No. Description Default Unit Range Effective

Pn-90D Encoder Sensor Type 0 - [0~10] After Reboot

Parameter function:

Sets the sensor type for the encoder.

0: Magnetic Encoder Readhead

1: Gear Encoder Readhead

2: Syntec Sine Wave Adaptor

3: Syntec Accelerometer

128
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-90E Encoder Reset Counter 0 - [0~5] Immediate

Parameter function:

Determines the number of times the encoder resets.

Setting this parameter as 0 then saving clears the counter. When the MCU encoder resets, counter+1.

Parameter No. Description Default Unit Range Effective

Pn-90F Encoder Z Index Position -1 - [-1~3] After Reboot

Parameter function:

Determines the Z index position of the encoder.

0: First Quadrant

1: Second Quadrant

2: Third Quadrant

3: Fourth Quadrant

-1: Two possibilities, either this value is set as -1 for V1.8.7 or earlier, or the encoder software has not been factory-
processed for V1.8.8 and onwards.

Parameter No. Description Default Unit Rnge Effective

Pn-910 Encoder Auto Compensation Enable 0 - [0~1] After Reboot

Parameter function:

Specifies whether to enable Auto Compensation for the encoder.

0: Disabled

1: Enabled

Parameter No. Description Default Unit Range Effective

Pn-920 2nd Encoder Communication Type 0 - [0~30] After Reboot

Parameter function:
Sets the Communication Type for the 2nd encoder. Note that the Sine Waves and Resolver types are still being developed,
not yet available for use.

129
syntecvietnam@gmail.com

After setting this parameter, use the “Encoder Testing” function to ensure that the encoder is working properly (for more
information, see the “Syntec Drives Auto Tuning and Testing” section).

※To see detailed wiring specifications for Sanyo Wire-saving Encoders, refer to the “Wiring and Signal” section.

This parameter’s values are defined as follows:

0: Feedback Disabled

2: ABZ Incremental

3: AB Incremental

11: TAMAGAWA Serial Encoder

12: Nikon Serial Encoder

13: SYNTEC Serial Encoder

14: Hiwin Serial Encoder

15: Sankyo Serial Encoder

16: BiSSC Serial Encoder

17: FeeDat Serial Encoder

18: EnDat Serial Encoder

19: Panasonic Serial Encoder

20: Mitutoyo Serial Encoder

101: Sensor Expansion Card (ADDA), general use

116: Sensor Expansion Card (ADDA), LVDT

117: Sensor Expansion Card (ADDA), capacitance altimetry

132: Sensor Expansion Card (ADDA), linear programming

※Appendix

Supported Hardware for Non-serial Encoders

Encoder Encoder Rotary Linear Notes Supported Encoder
Type Communication Versions Connector
Type

2 ABZ ● ● Set Pn-924 2nd 2.7.0 ~ 10 pin

Encoder Type as 0
3 AB ● ● (Incremental)

Supported Hardware for Serial Encoders

130
syntecvietnam@gmail.com

Enc Brand Rotary Linear Non-package Notes Suppor No

ode ted .
r In Singl Mult Incre Abso Para Resol Version pi
Typ cr e- i- menta lute mete ution s n
e e turn turn l r Auto
m Abso Abso Readi Readi
en lute lute ng ng
tal

11 Tamagawa ● ● ● 2.0.13 6
~ pi
n

12 *Nikon ● ● ● Support 2.0.13 6

ed Baud ~ pi
Rates n
2.5 / 4 /
8 MHz

13 *SYNTEC ● ● ● 2.0.13 6
~ pi
n

14 HIWIN ● ● 2.0.13 6
~ pi
n

15 Sankyo ● ● ● High 2.0.13 6

Cycle ~ pi
Calculati n
on
Unsupp
orted，
Do NOT
Enable
Pn-643

16 BiSS-C ● ● Support 2.7.0 ~ 10

ed Data pi
Lengths n
18/26/
32/36
Bits

17 FeeDat ● ● 2.3.4 ~ 6
pi
n

18 EnDat ● ● ● ● Support 2.9.0 ~ 10

s EnDat pi
2.1/2.2 For n
Parame
ter
Readin
g 2.9.3
~

131
syntecvietnam@gmail.com

Enc Brand Rotary Linear Non-package Notes Suppor No

ode ted .
r In Singl Mult Incre Abso Para Resol Version pi
Typ cr e- i- menta lute mete ution s n
e e turn turn l r Auto
m Abso Abso Readi Readi
en lute lute ng ng
tal

19 *Panasonic ● ● 2.9.0 ~ 6
pi
For n
Packag
e
Parame
ter
Readin
g 2.9.3
~

20 Mitutoyo ● Support 2.9.0 ~ 6

ed pi
model For n
AT110
Separat 0
e Type: Series
ST701A 2.10.1
/703A/ ~
708A

Assembl
y Type:
AT1100
Series

Note 1: Encoders marked with the “*” symbol support package parameter reading.

Note 2: Take caution while applying to incremental/single-turn absolute/multi-turn absolute encoders; not only should
the type be compatible with the hardware, but also Pn-924 2nd Encoder Type should be set to the corresponding value.

Note 4: 6-pin encoder ports are typically used for asynchronous serial protocol; 10-pin ports are typically used for
synchronous serial protocol, and they do not need to be connected to B+/B- (CLK+/CLK-) when applied to asynchronous
serial protocol. Note that QEP encoders should be connected to 10-pin ports as they have three differential signals A, B,
and Z.
Encoder Expansion Card Notes Supported
Type Versions

101 ADDA - general use 1. Take caution while setting the expansion sensor type 2.7.0 ~
and the corresponding encoder type
116 ADDA - LVDT 2. Set Pn-924 2nd Encoder Type as 2 (absolute)

117 ADDA - capacitance

altimetry

132
 syntecvietnam@gmail.com

132 ADDA - linear 3. Both LVDT and capacitance altimetry support the laser
programming cruise function

Parameter No. Description Default Unit Range Effective

Pn-921 2nd Encoder Port Number 0 - [0~8] After Reboot

Parameter function:

Sets the port number for the 2nd encoder.

Parameter No. Description Default Unit Range Effective

Pn-922 2nd Encoder Resolution 10000 pulse/rev; pulse/mm [1-999999999] After Reboot

Parameter function:

Sets the resolution for the 2nd encoder.

Note that if Pn-920 is set as 1 or 2 (incremental encoder), this parameter’s value should match the quadruple frequency.

After setting this parameter, use the “Encoder Testing” function to ensure that the 2nd encoder is working properly (for
more information, see the “Syntec Drives Auto Tuning and Testing” section).

For example:

1. If the 2nd encoder is incremental and its resolution is 1024 ppr, set this parameter as 1024 x 4 = 4096.
2. If the 2nd encoder is absolute and its resolution is 65536 ppr, set this parameter as 65536.
3. If using an adaptor type incremental encoder for the sine wave signal:
3.1. For rotary motors, the 2nd encoder resolution is the number of sine waves in one cycle (2nd Encoder Pole
Number) * 4096.
3.2. For linear motors, the 2nd encoder resolution is the number of sine waves in 1mm * 4096; it is recommended
to set the 2nd Encoder Pole Number (Pn-92A) as 1024.
3.3. Note: If the 2nd Encoder Pole Number exceeds 4096:
3.3.1. 4096~8192: The 2nd encoder resolution is the number of sine waves in one cycle (2nd Encoder Pole
Number) * 2048 (for Encoder Firmware V1.8.14 and above).
3.3.2. 8192~16384: The 2nd encoder resolution is the number of sine waves in one cycle (2nd Encoder Pole
Number) * 1024 (for Encoder Firmware V1.8.14 and above).
3.3.3. 16384~32768: The 2nd encoder resolution is the number of sine waves in one cycle (2nd Encoder Pole
Number) * 512 (for Encoder Firmware V1.9.0 and above).

Parameter No. Description Default Unit Range Effective

Pn-924 2nd Encoder Type 0 - [0-2] After Reboot

Parameter function:

Sets the 2nd encoder’s type.

For single/multi absolute and incremental settings, refer to the appendix under Pn-900 Encoder Communication Type.

This parameter’s values are defined as follows:

133
syntecvietnam@gmail.com

0: Incremental

1: Multi-turn Absolute

2: Single-turn Absolute (select this option for absolute linear encoder)

Parameter No. Description Default Unit Range Effective

Pn-925 2nd Encoder Sin Offset 2047 - [-32768~32767] Immediate

Parameter function:

Sets the Sin Offset correction value for the 2nd encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-926 2nd Encoder Cos Offset 2047 - [-32768~32767] Immediate

Parameter function:

Sets the Cos Offset correction value for the 2nd encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-927 2nd Encoder Sin Scale 1000 - [-32768~32767] Immediate

Parameter function:

Sets the Sin Scale correction value for the 2nd encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-928 2nd Encoder Cos Scale 1000 - [-32768~32767] Immediate

Parameter function:

Sets the Cos Scale correction value for the 2nd encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-929 2nd Encoder Sin-Cos Phase Angle 9000 0.01 deg [8000-10000] Immediate

Parameter function:

134
syntecvietnam@gmail.com

Sets the Sin-Cos Phase Angle correction value for the 2nd encoder’s signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-92A 2nd Encoder Pole Pairs 64 - [1~4096] After Reboot

Parameter function:

Determines the number of pole pairs in one cycle of the 2nd encoder’s sine wave signal feedback.

Parameter No. Description Default Unit Range Effective

Pn-92B 2nd Encoder Pitch Compensation Number 4096 - [0~8192] Immediate

Parameter function:

Sets the pitch compensation number for one cycle of the 2nd encoder feedback.

0: Pitch Compensation Disabled

Note: Compensation Number (Pn-92B) should be divisible by Encoder Pole Pairs (Pn-92A)

Parameter No. Description Default Unit Range Effective

Pn-92C Enable 2nd Encoder Parameter Protection 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable Parameter Protection for the 2nd encoder.

If this parameter is set as 1 and the system is performing permanent parameter storage, the 2nd encoder parameters (Pn-
920~Pn-92C) are not stored into the encoder.

Since V2.4.x, this parameter no longer exists; its function is replaced by Package Motor Protection.
Parameter No. Description Default Unit Range Range

Pn-92D 2nd Encoder Sensor Type 0 - [0~10] After Reboot

Parameter function:

Sets the sensor type for the 2nd encoder.

0: Magnetic Readhead

1: Inductive Readhead

2: Syntec Sine Wave Adaptor

3: Syntec Accelerometer

135
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-92E 2nd Encoder Reset Counter 0 - [0~5] Immediate

Parameter function:

Determines the number of times the 2nd encoder resets.

Setting this parameter as 0 then saving clears the counter. When the 2nd MCU encoder resets, counter+1.

Parameter No. Description Default Unit Raange Effective

Pn-92F 2nd Encoder Z Index Position -1 - [-1~3] After Reboot

Parameter function:
Determines the Z index position of the 2nd encoder.

0: First Quadrant

1: Second Quadrant

2: Third Quadrant

3: Fourth Quadrant

-1: Two possibilities, either this value is set as -1 for V1.8.7 or earlier, or the encoder software has not been factory-
processed for V1.8.8 and onwards.

Parameter No. Description Default Unit Rnge Effective

Pn-930 2nd Encoder Auto Compensation Enable 0 - [0~1] After Reboot

Parameter function:

Specifies whether to enable Auto Compensation for the 2nd encoder.

0: Disabled

1: Enabled

Parameter No. Description Default Unit Range Effective

Pn-940 Encoder Comparison Voltage 23 -- [1~63] Immediate

Parameter function:

Determines the comparison voltage for the encoder.

The comparison voltage is determined by the embedded DAC in the K22 Comparator. When Adapter is used with Syntec
Magnetic Encoders, the DAC output voltage is a set value. However, the Z index voltage input format differs for the other
brands of encoders that can be also connected to Adapter, therefore altering the DAC comparison voltage is provided as
an option that can enhance compatibility.

136
syntecvietnam@gmail.com

Example:

If Pn-940 is set as 23, the comparison voltage is computed as 3.3 * (23 / 64) Volt.

If the comparison voltage exceeds 1.186 Volt, the encoder will accept the Z index as legal.

Lowering this value increases the chances of acceptance. However, setting it too small may lead to erroneous
identification of noise as the Z index.

Raising this value lowers the chances of acceptance, yet it also increases the chances of correctly identifying the Z index
signal.

For detailed instructions, refer to “ADAPTER Manual.”

Parameter No. Description Default Unit Range Effective

Pn-941 Encoder Index Width 2 -- [1~7] Immediate

Parameter function:

Determines the index width for the encoder.

To prevent Z index noise when Adapter is used with Syntec Magnetic Encoders, the encoder requires the Z index width to
be greater than 2 quadrants of the Phase A signal in order to be identified as the real Z index signal.

When Adapter is connected to other brands of encoders, the Z index signal wave differs in form; limiting the Z index width
to 2 quadrants may render certain brands unusable. Therefore, altering the index width is provided as an option that can
enhance compatibility.

For example:

The Z index of a Renishaw optical scale is only 120 degrees, which is 1/3 of a sine wave, evidently less than 2 quadrants. If
Pn-941 is set as 2, the encoder will not accept the index; the parameter must be set as 2 in order to succeed. For detailed
instructions, refer to “ADAPTER Manual.”

Parameter No. Description Default Unit Rnge Effective

Pn-942 Encoder DAC0 Level 2047 -- [0~4095] Immediate

Parameter function:

Determines the DAC0 Level for the encoder.

When Adapter is connected to various brands of encoders, the AB phase signal wave differs in form; limiting the AB phase
voltage to 1.5V may render certain brands unusable. Therefore, altering the AB phase voltage is provided as an option
that can enhance compatibility.

For example:

The formula for calculation the DAC0 Level is (4096 / 3.3) * (Required Voltage) + 1.

Note that when using new hardware, the default value is 1862 (1.5 Volt) if the sensor is in encoder mode, and 2047 if in
Adapter mode.

For detailed instructions, refer to “ADAPTER Manual.”

137
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-943 Encoder DAC1 Level 2047 -- [0~4095] Immediate

Parameter function:

Determines the DAC1 Level for the encoder.

When Adapter is connected to various brands of encoders, the AB phase signal wave differs in form; limiting the AB phase
voltage to 1.5V may render certain brands unusable. Therefore, altering the AB phase voltage is provided as an option
that can enhance compatibility.

For example:

The formula for calculation the DAC1 Level is (4096 / 3.3) * (Required Voltage) + 1.

Note that when using new hardware, the default value is 1862 (1.5 Volt) if the sensor is in encoder mode, and 2047 if in
Adapter mode.

For detailed instructions, refer to “ADAPTER Manual.”

Parameter No. Description Default Unit Range Effective

Pn-960 2nd Encoder Comparison Voltage 23 -- [1~63] Immediate

Parameter function:

Determines the comparison voltage for the 2nd encoder.

The comparison voltage is determined by the embedded DAC in the K22 Comparator. When Adapter is used with Syntec
Magnetic Encoders, the DAC output voltage is a set value. However, the Z index voltage input format differs for the other
brands of encoders that can be also connected to Adapter, therefore altering the DAC comparison voltage is provided as
an option that can enhance compatibility.

Example:

If Pn-960 is set as 23, the comparison voltage is computed as 3.3 * (23 / 64) Volt.

If the comparison voltage exceeds 1.186 Volt, the encoder will accept the Z index as legal.

Lowering this value increases the chances of acceptance. However, setting it too small may lead to erroneous
identification of noise as the Z index.

Raising this value lowers the chances of acceptance, yet it also increases the chances of correctly identifying the Z index
signal.

For detailed instructions, refer to “ADAPTER Manual.”

Parameter No. Description Default Unit Range Effective

Pn-961 2nd Encoder Index Width 2 -- [1~7] Immediate

Parameter function:

Determines the index width for the 2nd encoder.

138
syntecvietnam@gmail.com

To prevent Z index noise when Adapter is used with Syntec Magnetic Encoders, the encoder requires the Z index width to
be greater than 2 quadrants of the Phase A signal in order to be identified as the real Z index signal.

When Adapter is connected to other brands of encoders, the Z index signal wave differs in form; limiting the Z index width
to 2 quadrants may render certain brands unusable. Therefore, altering the index width is provided as an option that can
enhance compatibility.

For example:

The Z index of a Renishaw optical scale is only 120 degrees, which is 1/3 of a sine wave, evidently less than 2 quadrants. If
Pn-961 is set as 2, the encoder will not accept the index; the parameter must be set as 2 in order to succeed. For detailed
instructions, refer to “ADAPTER Manual.”

Parameter No. Description Default Unit Rnge Effective

Pn-962 2nd Encoder DAC0 Level 2047 -- [0~4095] Immediate

Parameter function:

Determines the DAC0 Level for the 2nd encoder.

When Adapter is connected to various brands of encoders, the AB phase signal wave differs in form; limiting the AB phase
voltage to 1.5V may render certain brands unusable. Therefore, altering the AB phase voltage is provided as an option
that can enhance compatibility.

For example:

The formula for calculation the DAC0 Level is (4096 / 3.3) * (Required Voltage) + 1.

Note that when using new hardware, the default value is 1862 (1.5 Volt) if the sensor is in encoder mode, and 2047 if in
Adapter mode.

For detailed instructions, refer to “ADAPTER Manual.”

Parameter No. Description Default Unit Rnge Effective

Pn-963 2nd Encoder DAC1 Level 2047 -- [0~4095] Immediate

Parameter function:

Determines the DAC0 Level for the 2nd encoder.

When Adapter is connected to various brands of encoders, the AB phase signal wave differs in form; limiting the AB phase
voltage to 1.5V may render certain brands unusable. Therefore, altering the AB phase voltage is provided as an option
that can enhance compatibility.

For example:

The formula for calculation the DAC0 Level is (4096 / 3.3) * (Required Voltage) + 1.

Note that when using new hardware, the default value is 1862 (1.5 Volt) if the sensor is in encoder mode, and 2047 if in
Adapter mode.

For detailed instructions, refer to “ADAPTER Manual.”

139
syntecvietnam@gmail.com

10.11. 【Pn-DXX】 Status monitoring 1

Parameter No. Description Default Unit Range Effective

Pn-D00 Drive Version - - - -

Parameter function:

Displays the drive’s version.

The version is represented by eight numbers. One denotes the major version, two denote the minor version, two denote
the revision version, and three denote the testing and development version, in the following form:

O XX YY ZZZ

O: Major version number

X: Minor version number

Y: Revision version

Z: Testing and development version number

If the three testing and development version numbers are all zeros (ZZZ = 000), the hardware is at its released version;
otherwise it is still in the testing and development phase.

Parameter No. Description Default Unit Range Effective

Pn-D01 Drive Commit Date - - - -

Parameter function:

Displays the drive’s commit date.

The date is represented by eight numbers. Four denote the year, two denote the month, and two denote the day, in the
following form:

YYYY MM DD

Y: Year
M: Month

D: Day

Parameter No. Description Default Unit Range Effective

Pn-D02 Drive Revision - - - -

Parameter function:

Displays the drive’s revision version.

140
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D03 Front Stage FPGA Version - - - -

Parameter function:

Displays the drive’s front stage FPGA version.

The version is represented by six numbers. One denotes the major version, two denote the minor version, and three
denote the revision version, in the following form:

O XX YYY

O: Major version number

X: Minor version number

Y: Revision version number

Older version formatting may display the version as “..Y,” which corresponds to 200Y in the older version.

Parameter No. Description Default Unit Range Effective

Pn-D04 Drive Check Code - - - -

Parameter function:

Displays the drive’s check code.

Parameter No. Description Default Unit Range Effective

Pn-D05 Axis1 Encoder Version - - - -

Parameter function:

Displays Axis1 encoder’s version.

The version is represented by four numbers. One denotes the major version, one denotes the minor version, and two
denote the testing and development version, in the following form:

O X YY

O: Major version number

X: Minor version number

Y: Testing and development version number

If the two testing and development version numbers are both zeros (YY = 00), the hardware is at its released version;
otherwise it is still in the testing and development phase.

Parameter No. Description Default Unit Range Effective

Pn-D06 Axis1 Encoder Software ID - - - -

141
syntecvietnam@gmail.com

Parameter function:

Displays Axis1 encoder’s software ID.

Parameter No. Description Default Unit Range Effective

Pn-D07 Axis1 Encoder Hardware ID - - - -

Parameter function:

Displays Axis1 encoder’s hardware ID.

Parameter No. Description Default Unit Range Effective

Pn-D08 Axis1 2nd Encoder Version - - - -

Parameter function:

Displays Axis1 2nd encoder’s version.

The version is represented by four numbers. One denotes the major version, one denotes the minor version, and two
denote the testing and development version, in the following form:

O X YY

O: Major version number

X: Minor version number

Y: Testing and development version number

If the two testing and development version numbers are both zeros (YY = 00), the hardware is at its released version;
otherwise it is still in the testing and development phase.

Parameter No. Description Default Unit Range Effective

Pn-D09 Axis1 2nd Encoder Software ID - - - -

Parameter function:

Displays Axis1 2nd encoder’s software ID.

Parameter No. Description Default Unit Range Effective

Pn-D0A Axis1 2nd Encoder Hardware ID - - - -

Parameter function:

Displays Axis1 2nd encoder’s hardware ID.

142
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D0B Axis2 Encoder Version - - - -

Parameter function:

Displays Axis1 2nd encoder’s version.

The version is represented by four numbers. One denotes the major version, one denotes the minor version, and two
denote the testing and development version, in the following form:

O X YY

O: Major version number

X: Minor version number

Y: Testing and development version number

If the two testing and development version numbers are both zeros (YY = 00), the hardware is at its released version;
otherwise it is still in the testing and development phase.

Parameter No. Description Default Unit Range Effective

Pn-D0C Axis2 Encoder Software ID - - - -

Parameter function:

Displays Axis2 encoder’s software ID.

Parameter No. Description Default Unit Range Effective

Pn-D0D Axis2 1st Encoder Hardware ID - - - -

Parameter function:

Displays Axis2 encoder’s hardware ID.

Parameter No. Description Default Unit Range Effective

Pn-D0E Axis2 2nd Encoder Version - - - -

Parameter function:

Displays Axis2 2nd encoder’s version.

The version is represented by four numbers. One denotes the major version, one denotes the minor version, and two
denote the testing and development version, in the following form:

O X YY

O: Major version number

X: Minor version number

143
syntecvietnam@gmail.com

Y: Testing and development version number

If the two testing and development version numbers are both zeros (YY = 00), the hardware is at its released version;
otherwise it is still in the testing and development phase.

Parameter No. Description Default Unit Range Effective

Pn-D0F Axis2 2nd Encoder Software ID - - - -

Parameter function:

Displays Axis2 2nd encoder’s software ID.

Parameter No. Description Default Unit Range Effective

Pn-D10 Axis2 2nd Encoder Hardware ID - - - -

Parameter function:

Displays Axis2 2nd encoder’s hardware ID.

Parameter No. Description Default Unit Range Effective

Pn-D11 Axis3 Encoder Version - - - -

Parameter function:

Displays Axis3 encoder’s version.

The version is represented by four numbers. One denotes the major version, one denotes the minor version, and two
denote the testing and development version, in the following form:

O X YY
O: Major version number

X: Minor version number

Y: Testing and development version number

If the two testing and development version numbers are both zeros (YY = 00), the hardware is at its released version;
otherwise it is still in the testing and development phase.

Parameter No. Description Default Unit Range Effective

Pn-D12 Axis3 Encoder Software ID - - - -

Parameter function:

Displays Axis3 encoder’s software ID.

144
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D13 Axis3 Encoder Hardware ID - - - -

Parameter function:

Displays Axis3 encoder’s hardware ID.

Parameter No. Description Default Unit Range Effective

Pn-D14 Axis3 2nd Encoder Version - - - -

Parameter function:

Displays Axis3 2nd encoder’s version.

The version is represented by four numbers. One denotes the major version, one denotes the minor version, and two
denote the testing and development version, in the following form:

O X YY

O: Major version number

X: Minor version number

Y: Testing and development version number

If the two testing and development version numbers are both zeros (YY = 00), the hardware is at its released version;
otherwise it is still in the testing and development phase.

Parameter No. Description Default Unit Range Effective

Pn-D15 Axis3 2nd Encoder Software ID - - - -

Parameter function:
Displays Axis3 2nd encoder’s software ID.

Parameter No. Description Default Unit Range Effective

Pn-D16 Axis3 2nd Encoder Hardware ID - - - -

Parameter function:

Displays Axis3 2nd encoder’s hardware ID.

Parameter No. Description Default Unit Range Effective

Pn-D17 Axis4 Encoder Version - - - -

Parameter function:

145
syntecvietnam@gmail.com

Displays Axis4 encoder’s version.

The version is represented by four numbers. One denotes the major version, one denotes the minor version, and two
denote the testing and development version, in the following form:

O X YY

O: Major version number

X: Minor version number

Y: Testing and development version number

If the two testing and development version numbers are both zeros (YY = 00), the hardware is at its released version;
otherwise it is still in the testing and development phase.

Parameter No. Description Default Unit Range Effective

Pn-D18 Axis4 Encoder Software ID - - - -

Parameter function:

Displays Axis4 encoder’s software ID.

Parameter No. Description Default Unit Range Effective

Pn-D19 Axis4 Encoder Hardware ID - - - -

Parameter function:

Displays Axis4 encoder’s hardware ID.

Parameter No. Description Default Unit Range Effective

Pn-D1A Axis4 2nd Encoder Version - - - -

Parameter function:

Displays Axis4 2nd encoder’s version.

The version is represented by four numbers. One denotes the major version, one denotes the minor version, and two
denote the testing and development version, in the following form:

O X YY

O: Major version number

X: Minor version number

Y: Testing and development version number

If the two testing and development version numbers are both zeros (YY = 00), the software is at its released version;
otherwise it is still in the testing and development phase.

146
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D1B Axis4 2nd Encoder Software ID - - - -

Parameter function:

Displays Axis4 2nd encoder’s software ID.

Parameter No. Description Default Unit Range Effective

Pn-D1C Axis4 2nd Encoder Hardware ID - - - -

Parameter function:

Displays Axis4 2nd encoder’s hardware ID.

Parameter No. Description Default Unit Range Effective

Pn-D20 Status Word 1 - - - -

Parameter function:

Displays the 32 bit status word, where each bit represents a unique status, as follows:
Bit Description

Bit 0 Servo ON

Bit 1 Magnetic Pole Angle Ready

Bit 2 Encoder Index Signal Ready

Bit 3 CPU1 Reset

Bit 4 CPU2 Reset

Bit 5 Host Servo ON Command

Bit 6 Power failure detect

Bit 7 Power failure detect module is abnormal

For example:

If this parameter displays 5, then Bit 0 and Bit 2 are active, indicating that the system is magnetized and the encoder index
signal is ready.

If this parameter displays 8, then Bit 3 is active, indicating that CPU1 is rebooting due to abnormal activity.

If this parameter displays 16, then Bit 4 is active, indicating that CPU2 is rebooting due to abnormal activity.

147
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D21 Position Command - Pulse - -

Parameter function:

Displays the number of pulses in the command input.

Normally, this value represents the motor position;

under dual-feedback mode, this value represents the spindle position.

For more about dual-feedback mode, see “Spindle Dual-feedback Control Manual.”

Parameter No. Description Default Unit Range Effective

Pn-D22 Position Feedback - Pulse - -

Parameter function:

Displays the number of pulses received from the encoder.

Normally, this value represents the encoder’s data;

under dual-feedback mode, this value represents the 2nd encoder’s data.

For more about dual-feedback mode, see “Spindle Dual-feedback Control Manual.”

Parameter No. Description Default Unit Range Effective

Pn-D23 Position Error - Pulse - -

Parameter function:

Displays the error between the command and feedback pulses.

Parameter No. Description Default Unit Range Effective

Pn-D24 Mechanical Angle - 0.0001 REV [0~9999] -

Parameter function:

Displays the encoder’s mechanical angle with respect to the Z index. The value 0 denotes the Z index position, and one
revolution of the motor is divided into 10000 equal parts.

After one revolution, this parameter resets from 9999 to 0 then resumes counting.

Parameter No. Description Default Unit Range Effective

Pn-D25 Index Counter - Pulse - -

148
syntecvietnam@gmail.com

Parameter function:

Displays the number of pulses captured by the encoder when the index signal appears.

If the increment value differs from the encoder’s resolution (Pn-901), either the pulse is miscounted or the encoder
resolution is set incorrectly.

Parameter No. Description Default Unit Range Effective

Pn-D26 Speed Command - RPM - -

Parameter function:

Displays the speed command input. A positive value indicates rotation in the positive direction, and a negative value
indicates rotation in the negative direction.

Definition of positive/negative directions depends on the motor coil winding.

Parameter No. Description Default Unit Range Effective

Pn-D27 Speed Feedback - RPM - -

Parameter function:

Displays the speed feedback. A positive value indicates rotation in the positive direction, and a negative value indicates
rotation in the negative direction.

Definition of positive/negative directions depends on the motor coil winding.

Parameter No. Description Default Unit Range Effective

Pn-D28 Speed Error (0.01RPM) - 0.01RPM - -

Parameter function:

Displays the error between the inputted speed command and the actual motor speed.

Parameter No. Description Default Unit Range Effective

Pn-D29 Torque Command - 0.1% - -

Parameter function:

Displays the motor’s torque command, as a percentage of the motor’s rated torque. Positive torque turns the motor in the
positive direction, and negative torque turns the motor in the negative direction.

For example: If the rated torque is 10 Nm and this parameter’s value is 100, then the drive is outputting a positive torque
command of 1 Nm.

149
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D2A Load Ratio - 0.1% - -

Parameter function:

Displays the motor’s load ratio, as a percentage of the motor’s rated torque. Positive torque turns the motor in the
positive direction, and negative torque turn the motor in the negative direction.

For example: If the rated torque is 10 Nm and this parameter’s value is 100, then the motor is experiencing a positive
torque load of 1 Nm.

Parameter No. Description Default Unit Range Effective

Pn-D2B Id Current Command - 0.01 A - -

Parameter function:

Displays the current command of the D axis. For inductive motors, this is equivalent to the exciting current. For PMSMs,
this is equivalent to the flux weakening current.

Parameter No. Description Default Unit Range Effective

Pn-D2C Iq Current Command - 0.01 A - -

Parameter function:

Displays the current command of the Q axis. This is equivalent to the torque current.

Parameter No. Description Default Unit Range Effective

Pn-D2D Id Current Feedback - 0.01 A - -

Parameter function:

Displays the current feedback of the D axis. For inductive motors, this is equivalent to the exciting current. For permanent
magnet motors, this is equivalent to the flux weakening current.

Parameter No. Description Default Unit Range Effective

Pn-D2E Iq Current Feedback - 0.01 A - -

Parameter function:

Displays the current feedback of the Q axis. This is equivalent to the torque current.

150
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D2F Idq Current Command - 0.01 A - -

Parameter function:

Displays the joint current command input for the motor.

Parameter No. Description Default Unit Range Effective

Pn-D30 Idq Current Feedback - 0.01 A - -

Parameter function:

Displays the joint current feedback from the motor.

Parameter No. Description Default Unit Range Effective

Pn-D31 Ia Current Feedback - 0.01 A - -

Parameter function:

Displays the Phase A (or Phase U) current feedback.

Parameter No. Description Default Unit Range Effective

Pn-D32 Ib Current Feedback - 0.01 A - -

Parameter function:

Displays the Phase B (or Phase V) current feedback.

Parameter No. Description Default Unit Range Effective

Pn-D33 Ic Current Feedback - 0.01 A - -

Parameter function:

Displays the Phase C (or Phase W) current feedback.

Parameter No. Description Default Unit Range Effective

Pn-D34 Zero Phase Current Feedback - 0.01 A - -

Parameter function:

For this parameter, any value other than 0 indicates an unbalance in the 3-phase current.

151
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D35 I Bits Status - - - -

Parameter function:

Displays the status of Bits I0 ~ I3.

Parameter No. Description Default Unit Range Effective

Pn-D36 O Bits Status - - - -

Parameter function:

Displays the status of Bits O0 ~ O1. This parameter takes effect only if general communication is enabled.

O0 and O1 are both binary representations, where O1 is High Bit and O1 is Low Bit; both are converted into decimals then
displayed.

For example, suppose that the parameters are set as follows:

Pn-50E: 101 Alarm (Connector B)

Pn-50F: Zero Speed Signal (Connector A)

When the motor reaches the Zero Speed Window, the drive continues operating without triggering any alarms.

O0 Alarm (Connector B) is 1

O1 Zero Speed Signal (Connector A) is 1

Pn-D35 is 11 in binary representation and 3 in decimal.

Parameter No. Description Default Unit Range Effective

Pn-D37 IGBT Temperature - 0.1 ℃ - -

Parameter function:

Displays the temperature of the IGBT. The system triggers an alarm if this value exceeds 100 degrees.

Parameter No. Description Default Unit Range Effective

Pn-D38 DC Bus Voltage - 0.1 V - -

Parameter function:

152
syntecvietnam@gmail.com

Displays the DC voltage level. If the drive is connected to a 220 V 3-phase power source, this value should be around 220 *
1.414 = 311 V, approximately equal to the DC voltage level measured using a multimeter.

Parameter No. Description Default Unit Range Effective

Pn-D39 This Time Power On Duration - S - -

Parameter function:

Displays the duration since the drive powered on for this time.

Parameter No. Description Default Unit Range Effective

Pn-D3A Power On Time - S - -

Parameter function:

Displays the time that elapsed since the drive powered on.

Parameter No. Description Default Unit Range Effective

Pn-D3B Low Frequency Voltage Compensation - 0.1 % - -

Parameter function:

Displays a lower limit that Pn-113 must exceed if using custom V/f curves during V/f control.

Parameter No. Description Default Unit Range Effective

Pn-D3C Base Speed of Flux Weakening Control - RPM - -

Parameter function:

Displays the base speed of flux weakening control, computed according to previous parameters.

Parameter No. Description Default Unit Range Effective

Pn-D3D Mechanical Angle 2 - 0.0001 REV [0~9999] -

Parameter function:

Displays the 2nd encoder’s mechanical angle. The value 0 denotes the Z index position; one revolution of the motor is
divided into 10000 equal parts.

After one revolution, this parameter resets from 9999 to 0 then resumes counting.

153
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D3E Index Counter 2 - Pulse - -

Parameter function:

Displays the number of pulses captured by the 2nd encoder when the index signal appears.

If the increment value differs from the 2nd encoder’s resolution (Pn-921), either the pulse is miscounted or the encoder
resolution is set incorrectly.

Parameter No. Description Default Unit Range Effective

Pn-D3F Speed Feedback 2 - RPM - -

Parameter function:

Displays the 2nd encoder’s speed feedback.

Parameter No. Description Default Unit Range Effective

Pn-D40 2nd Encoder Position Feedback - Pulse - -

Parameter function:

Displays the 2nd encoder’s position feedback.

Parameter No. Description Default Unit Range Effective

Pn-D41 Absolute Type Encoder Battery Voltage - 0.1 V - -

Parameter function:

Displays the voltage at end of the encoder wiring, taking into account Pn-D42 and the pressure drop that occurs as voltage
passes through circuits and wiring.

Parameter No. Description Default Unit Range Effective

Pn-D42 BAT Port Voltage - 0.1 V - -

Parameter function:
Displays the voltage of the front stage BAT port.

154
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D43 Data Transmit Receive Rate - us - -

Parameter function:

Displays the minimum sampling time between the drive and the tuning software’s oscilloscope.

Parameter No. Description Default Unit Range Effective

Pn-D44 Characteristic Current of PMSM - 0.01A - -

Parameter function:

For a PMSM, if the ratio between the flux and the stator inductance exceeds the maximum current, the system is a limited
speed system; otherwise it is an infinite speed drive system.

The method of flux weakening control varies depending on this characteristic.

Parameter No. Description Default Unit Range Effective

Pn-D45 Voltage Constraint Radius of Flux Weakening - 0.01A - -

Parameter function:

During flux weakening control, the cross-axis current command (Iq Current Command) is constrained to this value due to
voltage saturation. This parameter takes effect only during flux weakening control.

For SPM motors, the constraint is the radius of the voltage constraint circle.

For IPM motors, the constraint is the length of the voltage constraint ellipse’s minor axis.

Parameter No. Description Default Unit Range Effective

Pn-D46 Zero Speed Encoder Pulses - pulse - -

Parameter function:

If the system jitters during zero speed, observe this parameter’s maximum faults during Servo ON to determine an
appropriate value for Pn-336.

155
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D50 Spindle Speed Command - RPM - -

Parameter function:

Displays the spindle speed command before the gear ratio is applied.

The gear ratio can be set through Pn-20A and Pn-20C.

Pn-D50 = Pn-20A / Pn-20C * Pn-D26

Parameter No. Description Default Unit Range Effective

Pn-D51 Posing Reference Angle - 0.001DEG - -

Parameter function:

Displays the spindle’s posing angle.

Parameter No. Description Default Unit Range Effective

Pn-D52 Posing Complete State - - - -

Parameter function:

Displays the spindle’s posing status.

0: Posing Incomplete

1: Posing Complete

Parameter No. Description Default Unit Range Effective

Pn-D53 Posing Error Code - - - -

Parameter function:

Displays the spindle’s posing error code.

0: Normal

1: Cannot Locate Z Index

2: Posing Overtime

ABCCCCC:
A: Interrupt Action

156
syntecvietnam@gmail.com

1: Break off Posing Mode

2: Servo OFF

B: Posing Status during Interrupt

2: Decelerating from high speed

3: Positional Posing

4: PTP Posing

5: Locating index signal

6: Posing command sent or Posing Complete

CCCCC:

The duration (in ms) that the posing system remains active once an interrupt occurs.

Parameter No. Description Default Unit Range Effective

Pn-D54 During Torque Limit in Position Control Mode - - - -

Parameter function:

Displays the torque limit status after Posing Complete.

0: Torque Limit Not Yet Reached

1: Torque Limit Reached

Parameter Description Default Unit Range Effective

No.

Pn-D5A Encoder Position Feedback (for dual-feedback mode - Pulse - -

monitoring)

Parameter function:

Displays the number of pulses received from the encoder.

Under dual-feedback mode, Pn-D22 Position Feedback displays the 2nd encoder’s data; this parameter provides a way to
monitor the encoder’s data.

For more about alarm diagnostics and troubleshooting, see “Diagnostics and Troubleshooting;” for more about dual-
feedback mode, see “Spindle Dual-feedback Control Manual.”

157
 syntecvietnam@gmail.com

Parameter Description Default Unit Range Effective

No.

Pn-D5B Position Error Between 1st and 2nd Encoder (for dual- - Pulse - -
feedback mode monitoring)

Parameter function:

Displays the position error between the 1st and 2nd encoders. This parameter is only available under dual-feedback
mode.

The unit “pulse” refers to the 2nd encoder’s resolution. If the absolute value of this error exceeds Pn-51A Dual Feedback
Position Error Bound, the system will trigger an alarm.

For more about alarm diagnostics and troubleshooting, see “Diagnostics and Troubleshooting;” for more about dual-
feedback mode, see “Spindle Dual-feedback Control Manual.”

Parameter No. Description Default Unit Range Effective

Pn-D60 Measured Temperature via KTY84 with Syntec Drive - 0.1 ℃ - -

Parameter function:

Displays the measured temperature via KTY84 for the drive.

For more information, refer to the “KTY84 Temperature Protection” section.

Parameter No. Description Default Unit Range Effective

Pn-D61 Encoder Internal Temperature - 0.1 ℃ - -

Parameter function:

Displays the measured temperature inside encoder.

List of supported encoders:

1. SYNTEC: embedded KTY84 sensor

2. Panasonic
3. Nikon

For more information, refer to the “KTY84 Temperature Protection” section.

158
 syntecvietnam@gmail.com

Parameter Description Default Unit Range Effective

No.

Pn-D62 Measured Temperature via Feedback Syntec Encoder - 0.1 - -

External(1) KTY84 ℃

Parameter function:

Displays the measured temperature via KTY84 for the encoder’s Ext.(1).

For more information, refer to the “KTY84 Temperature Protection” section.

Parameter Description Default Unit Range Effective

No.

Pn-D63 Measured Temperature via Feedback Syntec Encoder - 0.1 - -

External(2) KTY84 ℃

Parameter function:

Displays the measured temperature via KTY84 for the encoder’s Ext.(2).

For more information, refer to the “KTY84 Temperature Protection” section.

Parameter Description Default Unit Range Effective

No.

Pn-D64 Measured Temperature via Feedback Syntec Encoder - 0.1 - -

External(3) KTY84 ℃

Parameter function:

Currently unsupported.

Parameter No. Description Default Unit Range Effective

Pn-D65 2nd Encoder Internal Temperature - 0.1 ℃ - -

Parameter function:

Displays the measured temperature inside 2nd encoder.

List of supported encoders:

1. SYNTEC: embedded KTY84 sensor

2. Panasonic
3. Nikon

For more information, refer to the “KTY84 Temperature Protection” section.

159
syntecvietnam@gmail.com

Parameter Description Default Unit Range Effective

No.

Pn-D66 Measured Temperature via 2nd Feedback Syntec - 0.1 - -

Encoder External(1) KTY84 ℃

Parameter function:

Displays the measured temperature via KTY84 for the 2nd encoder’s Ext.(1).

For more information, refer to the “KTY84 Temperature Protection” section.

Parameter Description Default Unit Range Effective

No.

Pn-D67 Measured Temperature via 2nd Feedback Syntec - 0.1 - -

Encoder External(2) KTY84 ℃

Parameter function:

Displays the measured temperature via KTY84 for the 2nd encoder’s Ext.(2).

For more information, refer to the “KTY84 Temperature Protection” section.

Parameter Description Default Unit Range Effective

No.

Pn-D68 Measured Temperature via 2nd Feedback Syntec - 0.1 - -

Encoder External(3) KTY84 ℃

Parameter function:

Currently unsupported.

Parameter No. Description Default Unit Range Effective

Pn-D70 The 5V Detection of Encoder 50 0.1 V - -

Parameter function:

Displays the 5V detection level of the K22 Encoder’s thermo-sensor circuit.

160
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D71 Encoder Z Index Alarm - - - -

Parameter function:

If the encoder triggers the Z Index Alarm, this parameter’s value becomes 1; otherwise its value remains as 0.

Parameter No. Description Default Unit Range Effective

Pn-D72 2nd Encoder Z Index Alarm - - - -

Parameter function:

If the 2nd encoder triggers the Z Index Alarm, this parameter’s value becomes 1; otherwise its value remains as 0.

Parameter No. Description Default Unit Range Effective

Pn-D73 Serial Encoder CRC Error Counter (Hardware) 0 Count - -

Parameter function:

Determines if the encoder’s serial package contains any errors by checking its CRC. If an error is found, increase the count
by 1.

Parameter No. Description Default Unit Range Effective

Pn-D74 Serial Encoder CRC Error Counter (Software) 0 Count - -

Parameter function:

Determines if the encoder’s serial package contains any errors by checking its CRC. If an error is found, increase the count
by 1.

Parameter No. Description Default Unit Range Effective

Pn-D75 Serial Encoder Communication Error Counter 0 Count - -

Parameter function:

Determines if the encoder’s communication contains any errors by comparing the serial command and feedback values. If
the values are not equivalent, increase the count by 1.

161
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D76 Serial Encoder Time Out Counter 0 Count - -

Parameter function:

Determines if the encoder contains any errors by checking the encoder’s response time to serial commands. If the encoder
times out, increase the count by 1.

Parameter No. Description Default Unit Range Effective

Pn-D77 2nd Serial Encoder CRC Error Counter (Hardware) 0 Count - -

Parameter function:

Determines if the 2nd encoder’s serial package contains any errors by checking its CRC. If an error is found, increase the
count by 1.

Parameter No. Description Default Unit Range Effective

Pn-D78 2nd Serial Encoder CRC Error Counter (Software) 0 Count - -

Parameter function:

Determines if the 2nd encoder’s serial package contains any errors by checking its CRC. If an error is found, increase the
count by 1.

Parameter No. Description Default Unit Range Effective

Pn-D79 2nd Serial Encoder Communication Error Counter 0 Count - -

Parameter function:

Determines if the 2nd encoder’s communication contains any errors by comparing the 2nd serial command and feedback
values. If the values are not equivalent, increase the count by 1.

162
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D7A 2nd Serial Encoder Time Out Counter 0 Count - -

Parameter function:

Displays the number of times that the 2nd encoder times out. This parameter determines if the 2nd encoder is working
properly by checking if the encoder responds to a 2nd serial command within a given time. If not, increase the count by 1.

Parameter No. Description Default Unit Range Effective

Pn-D80 Rotor Inertia - g-cm2 - -

Parameter function:

Displays the rotor inertia. While running the “Inertia Estimation” function (for more information, see the “Auto Tuning”
section), monitor this parameter to see if the inertia value converges.

Parameter No. Description Default Unit Range Effective

Pn-D81 Rotor Viscosity - g-cm2/s - -

Parameter function:

Displays the rotor viscosity. While running the “Inertia Testing” function (for more information, see the “Auto Tuning”
section), monitor this parameter to see if the damping coefficient converges.

Parameter No. Description Default Unit Range Effective

Pn-D82 Tuning Encoder Pulse - Pulse - -

Parameter function:

Displays the encoder’s pulse. While running the “Encoder Testing” function (for more information, see the “Auto Tuning”
section), monitor the result through this parameter.

163
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D83 Tuning 2nd Encoder Pulse - Pulse - -

Parameter function:

Displays the 2nd encoder’s pulse. While running the “Encoder Testing” function (for more information, see the “Auto
Tuning” section), monitor the result through this parameter.

Parameter No. Description Default Unit Range Effective

Pn-D84 Tuning Pole Number - - - -

Parameter function:

Displays the pole number. While running the “Encoder Testing” function (for more information, see the “Auto Tuning”
section), monitor the result through this parameter.

Parameter No. Description Default Unit Range Effective

Pn-D85 Detected Magnetic Pitch - 0.1mm - -

Parameter function:

Displays the magnetic pitch. While running the “Encoder Testing” function (for more information, see the “Auto Tuning”
section), monitor the result through this parameter.

Note:

This value serves merely as a reference value. Under normal circumstances, use the factory-provided N-N magnetic pitch
to set Pn-702 Linear Motor Magnetic Pitch.

Parameter No. Description Default Unit Range Effective

Pn-D86 Current Fault Count 0 Count - -

Parameter function:

Displays the current fault count. While running the “Encoder Testing” function (for more information, see the “Auto
Tuning” section), monitor the result through this parameter.

164
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D87 Mechatrolink通讯错误次数 0 Count - -

Parameter function:

Displays the number of Mechatrolink Communication Errors.

Parameter No. Description Default Unit Range Effective

Pn-D88 Gravity Compensation Torque Command in Inertia 0 0.1% - -

Parameter function:

Displays the Gravity Compensation torque command. Monitor this parameter while tuning the gravity axis.

Parameter No. Description Default Unit Range Effective

Pn-D89 Bode Frequency in Current Loop 0 Hz - -

Parameter function:

While the system is running the “Current Tuning Package” and “Current Gain Auto Tuning” functions, this parameter
displays the Bode frequency in the current loop.

Parameter No. Description Default Unit Range Effective

Pn-D8A Bode Magnitude in Current Loop 0 0.1dB - -

Parameter function:

While the system is running the “Current Tuning Package” and “Current Gain Auto Tuning” functions, this parameter
displays the Bode magnitude in the current loop.

Parameter No. Description Default Unit Range Effective

Pn-D8B Bode Phase in Current Loop 0 degree - -

165
syntecvietnam@gmail.com

Parameter function:

While the system is running the “Current Tuning Package” and “Current Gain Auto Tuning” functions, this parameter
displays the Bode phase in the current loop.

Parameter No. Description Default Unit Range Effective

Pn-D8C Encoder Sin Error Calibration Result 0 - - -

Parameter function:

Displays the result of Sin Error Calibration.

0: Sin Error Calibration Failure

1: Sin Error Calibration Success

Parameter No. Description Default Unit Range Effective

Pn-D8D Encoder Sin Error Calibration Phase 0 degree - -

Parameter function:

Displays the phase during Sin Error Calibration.

Parameter No. Description Default Unit Range Effective

Pn-D8E Encoder Sin Error Calibration Amplitude 0 Arcsec - -

Parameter function:

Displays the amplitude during Sin Error Calibration.

Parameter No. Description Default Unit Range Effective

Pn-D8F Encoder Sin Error Calibration Speed Error 0 0.01RPM - -

Parameter function:

Displays the speed error during Sin Error Calibration.

166
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-D90 Encoder Register Access Error Count 0 - - -

Parameter function:

Displays the total Retry count of the encoder attempting to access its register.

Parameter No. Description Default Unit Range Effective

Pn-D91 2nd Encoder Register Access Error Count 0 - - -

Parameter function:

Displays the total Retry count of the 2nd encoder attempting to access its register.

Parameter No. Description Default Unit Range Effective

Pn-D92 Serial Encoder Max Continuous Command Error 0 - - -

Parameter function:

Displays the continuous command error count of the 1st serial encoder. This parameter checks if any package commands
are continuously experiencing errors.

Parameter No. Description Default Unit Range Effective

Pn-D93 2nd Serial Encoder Max Continuous Command Error 0 - - -

Parameter function:

Displays the continuous command error count of the 2nd serial encoder. This parameter checks if any package commands
are continuously experiencing errors.

Parameter No. Description Default Unit Range Effective

Pn-D94 Position Disturbance Command 0 pulse - -

Parameter function:
167
 syntecvietnam@gmail.com

While in Posing or Laser Cruise mode, excitation signals for position commands can be outputted through Pn-F74 Enable
Tuning Signal.

This value represents the excitation signal for a position command from the drive. The position or angle displacement
corresponding to 1 pulse is the resolution of the target axis.

Note:

1. Position commands originate from the drive’s internal commands or from the host controller’s commands.
2. Position Error = Position Command + Position Disturbance Command – Position Feedback

Parameter No. Description Default Unit Range Effective

Pn-D95 Encoder Error Status ALMC 0 - - -

Parameter function:

When a Nikon encoder triggers the AL300 alarm, troubleshoot by monitoring the changes in this parameter.

(The alarm corresponds to the MAR-HX50 encoder. Different types of encoders may have slight differences in their ALM
bit. For instance, single-turn absolute encoders do not have the BATT, MTERR, and PSERR alarms.)
B 1 1 1 1 11 1 9 8 7 6 5 4 3 2 1 0
it 5 4 3 2 0

A BA MT N OV ME ST PS B ME OV N N N N N N
L TT ER on SP ME ER ER US MBU TE on on on on on on
M R e D RR R R Y SY MP e e e e e e
Co
de

 BATT: Encoder battery voltage lower than 3 V

 MTERR: Encoder battery voltage lower than 2.45 V
 OVSPD: Encoder over speed, refer to AL30A
 MEMERR: Encoder memory error
 STERR: Encoder position signal error, refer to AL30
 BPSERR: Encoder multi-ring absolute data error, refer to AL308
 MEMBUSY: Encoder is busy
 OVTEMP: Encoder overheat, refer to AL320

For example: An ALMC of 1024 indicates that the Nikon encoder is experiencing a STERR error; an ALMC of 1536
indicates that the encoder is experiencing both STERR and PSERR errors.

Parameter No. Description Default Unit Range Effective

Pn-D96 2nd Encoder Error Status ALMC 0 - - -

Parameter function:
When a Nikon 2nd encoder triggers the AL310 alarm, troubleshoot by monitoring the changes in this parameter.

168
 syntecvietnam@gmail.com

(The alarm corresponds to the MAR-HX50 encoder. Different types of encoders may have slight differences in their ALM
bit. For instance, single-turn absolute encoders do not have the BATT, MTERR, and PSERR alarms.)
B 1 1 1 1 11 1 9 8 7 6 5 4 3 2 1 0
it 5 4 3 2 0

A BA MT N OV ME ST PS B ME OV N N N N N N
L TT ER on SP ME ER ER US MBU TE on on on on on on
M R e D RR R R Y SY MP e e e e e e
Co
de

 BATT: Encoder battery voltage lower than 3 V

 MTERR: Encoder battery voltage lower than 2.45 V
 OVSPD: Encoder over speed, refer to AL30A
 MEMERR: Encoder memory error
 STERR: Encoder position signal error, refer to AL30
 BPSERR: Encoder multi-ring absolute data error, refer to AL308
 MEMBUSY: Encoder is busy
 OVTEMP: Encoder overheat, refer to AL320

For example: An ALMC of 1024 indicates that the Nikon encoder is experiencing a STERR error; an ALMC of 1536
indicates that the encoder is experiencing both STERR and PSERR errors.

Parameter No. Description Default Unit Range Effective

Pn-D97 Motor Position using Proximity Switch 0 pulse - -

Parameter function:

Displays the motor’s absolute position, obtained from the proximity switch during each revolution.

10.12. 【Pn-FXX】 transfer parameters

Parameter No. Description Default Unit Range Effective

Pn-F00 Password - - [0~9999] Immediate

Parameter function:

When accessing restricted parameters, the user must enter the corresponding password into this parameter in order to
attain higher authority levels.

For example:

To alter the V/f curve, the user must have Level 1 authority. Enter the password into this parameter in order to gain
access.

Parameter No. Description Default Unit Range Effective

Pn-F01 Output Software Trigger 2 - [0~255] Immediate

169
syntecvietnam@gmail.com

Parameter function:

Sets the output software trigger.

Bit 0: Soft DO 0

Bit 1: Soft DO 1

Bit 7: Soft DO 7

Refer to Pn-50E~Pn-50F corresponding output functions.

Parameter No. Description Default Unit Range Effective

Pn-F0A CNC Compatible Packet 1 0 - [-2147483648~2147483647] Immediate

Parameter function:

Displays CNC compatibility information, as follows:

Bit Field Description Function Range

Bit 0 0: Common Parameter Setting Unsupported Common parameter setting 0~1

1: Common Parameter Setting Supported

Bit 1 0: Power Off Pull-up Unsupported Power off pull-up 0~1

1: Power Off Pull-up Supported

Bit 2 0: Proximity Switch Spindle Posing Unsupported Proximity switch spindle posing 0~1

1: Proximity Switch Spindle Posing Supported

Bit 3~31 Reserved -

Parameter No. Description Default Unit Range Effective

Pn-F0B CNC Compatible Packet 2 0 - [-2147483648~2147483647] Immediate

Parameter function:

Displays CNC compatibility information, as follows:

Bit Field Description Function Range

Bit 0~31 Reserved -

Parameter No. Description Default Unit Range Effective

Pn-F10 Enable Auxiliary Functions 0 - [0~6] Immediate

170
syntecvietnam@gmail.com

Parameter function:

Specifies whether to enable auxiliary functions. For detailed usage, refer to the “Syntec Drive Auto Tuning” section. This
parameter’s values are defined as follows:

0: Disabled

1: JOG Mode

2: Tuning Enabled

3: Motor Tuning Enabled

4: Producing Tuning Enabled

5: Test Mode Enabled

Parameter No. Description Default Unit Range Effective

Pn-F11 JOG Direction 2 - [-1~1] Immediate

Parameter function:

While in JOG Mode (Pn-F00 = 1), this parameter sets the JOG direction, as follows:

0: Fixed

1: Positive Rotation

-1: Negative Rotation

Parameter No. Description Default Unit Range Effective

Pn-F13 JOG Mode - - [0~1] Immediate

Parameter function:

Sets the JOG mode, where 0 represents Speed Control and 1 represents Position Control.

Parameter No. Description Default Unit Range Effective

Pn-F14 Motion Limit 1 0 Pulse [-999999999~999999999] Immediate

Parameter function:

Sets the tuning motion, limiting it between Pn-F04 and Pn-F06.

Parameter No. Description Default Unit Range Effective

Pn-F16 Motion Limit 2 0 Pulse [-999999999~999999999] Immediate

171
syntecvietnam@gmail.com

Parameter function:

Sets the tuning motion, limiting it between Pn-F04 and Pn-F06.

Parameter No. Description Default Unit Range Effective

Pn-F20 Tuning Type - - [0~3] Immediate

Parameter function:

Sets the tuning type, as follows:

0: No function

1: Load Inertia Ratio Estimation – New Method

2: Tuning Package (Encoder Testing + Load Inertia Ratio Estimation)

3: Load Inertia Ratio Estimation – Old Method

Parameter No. Description Default Unit Range Effective

Pn-F21 Motor Tuning Type - - [0~20] Immediate

Parameter function:

Sets the motor tuning type. For detailed usage, refer to the “Syntec Drive Auto Tuning” section. This parameter’s values
are defined as follows:

0: No function

1: Current Tuning Package (Motor Parameter Estimation + Current Gain Auto Tuning + Current Response Verification)

2: Cogging Torque Compensation Tuning

3: Rotor Inertia Estimation – New Method

4: Current Gain Auto Tuning

5: Motor Parameter Estimation

6: Reserved

7: Magnetoresistance Gain Correction

9: Encoder Testing

10: Inductive Motor Rotor Time Correction

11: Magnetic Encoder Parameter Correction

12: 2nd Magnetic Encoder Parameter Correction

13: Gear Ratio Estimation

172
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-F22 Producing Tuning Type - - [0~12] Immediate

Parameter function:

Sets the producing tuning type, as follows:

0: No function

1: Magnetic Encoder Pitch Compensation

2: Magnetic Pole Offset (New)

3: Magnetic Pole Offset (Old)

4: Dual-feedback Magnetic Pole Offset (New)

5: Voltage Compensation Auto Tuning

6: Current Feedback Signal Correction

7: Encoder Sin Error Auto Tuning

8: 2nd Encoder Sin Error Auto Tuning (feedback speed control)

9: 2nd Encoder Sin Error Auto Tuning (2nd feedback speed control)

10: Producing Motor Parameter Estimation

11: OQC PMSM Parameter Verification

12: Magnetic Pole Offset (for gravity axis only)

Parameter No. Description Default Unit Range Effective

Pn-F23 Research and Development Tuning Type - - [0~10] Immediate

Parameter function:

Sets the research and development tuning type, as follows:

0: No function

1: Research Version Inductive Motor Parameter Estimation (manually input tuning commands)

Parameter No. Description Default Unit Range Effective

Pn-F2D Tuning Gain Ratio 0 % [0~200] Immediate

Parameter function:

Sets the gain ratio for the Encoder Testing, Magnetic Encoder Parameter Correction, and Inductive Motor Parameter
Estimation functions. The drive interprets a value of 0 as 100%. If the AL-15 Over Current alarm is triggered while tuning,
alter this parameter to avoid triggering the same alarm in the future.

173
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-F30 Test Function Type - - [0~6] Immediate

Parameter function:

Sets the test function type, as follows:

0: No function

1: Torque Mode

2: Current Loop Response Verification

3: Current Open Loop Mode

4: Voltage Semi-closed Loop Mode

5: Voltage Open Loop Mode

Parameter No. Description Default Unit Range Effective

Pn-F32 Torque Command in Test Mode 0 %(MOT_I_NOM) [0~100] Immediate

Parameter function:

While in Torque Test Mode (Pn-F30 = 1), this parameter sets the output torque, as a percentage of the motor’s rated
torque.

Parameter No. Description Default Unit Range Effective

Pn-F33 Voltage Command in Test Mode 0 %(MAIN_SUPPLY) [0~100] Immediate

Parameter function:

While in Voltage Semi-closed Loop Mode or Voltage Open Loop Mode (Pn-F30 = 4 or 5), this parameter sets the output
voltage, as a percentage of the main loop voltage.

Parameter No. Description Default Unit Range Effective

Pn-F34 Current Command in Test Mode 0 %(MOT_I_NOM) [0~100] Immediate

Parameter function:

While in Current Loop Response Verification or Current Open Loop Mode (Pn-F30 = 2 or 3), this parameter sets the
output current, as a percentage of the motor’s rated current.

174
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-F35 Frequency Command in Test Mode 0 %(MOT_I_NOM) [0~100] Immediate

Parameter function:

While in Voltage Open Loop Mode or Current Open Loop Mode (Pn-F30 = 5 or 3), this parameter sets the output
frequency, as a percentage of the motor’s rated frequency.

Parameter No. Description Default Unit Range Effective

Pn-F36 Encoder ADC Value in Test Mode 0 - [0~1] Immediate

Parameter function:

Specifies whether to enable encoder ADC value in test mode.

0: Disabled

1: Enabled

Parameter No. Description Default Unit Range Effective

Pn-F40 Save Parameters 0 - [0~5] Immediate

Parameter function:

Saves temporary parameters from the drive register into permanent storage and/or saves a backup in the panel. This
parameter’s values are defined as follows:

0: Disabled
1: Save parameters. If Enable Encoder Parameter Protection (Pn-90C) is set as 0, motor parameters are saved into the
encoder (Syntec only)

4: Save voltage compensation table into inverter EEPROM (manufacturing authority)

5: Save current compensation table into inverter EEPROM (manufacturing authority)

Parameter No. Description Default Unit Range Effective

Pn-F42 Reset Alarm 0 - [0~1] Immediate

Parameter function:

To reset an alarm, set this parameter as 1. When this parameter reverts to 0, the alarm reset is complete. If not,
troubleshoot by referring to “Diagnostics and Troubleshooting” then try resetting again.

175
 syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-F43 Load Default Parameter 0 - [0~9999] Immediate

Parameter function:

To load default parameters, set this parameter as 1234.

Note that if Enable Encoder Parameter Protection (Pn-90C) is set as 0, motor parameters (Pn-7XX) are not loaded, and
when saving parameters, motor parameters are not saved into the encoder.

Parameter No. Description Default Unit Range Effective

Pn-F44 Reset Battery Error of Absolute Encoder 0 - [0~1] Immediate

Parameter function:
1. During power-on, if the system triggers the AL-810 Encoder Battery Low Voltage Position Loss alarm, reset the alarm by
connecting the encoder to a battery, setting this parameter as 1, and then powering on. Note that the multi-turn absolute
position will also be reset.
2. In long distance cases where resetting the encoder’s multi-turn position is required, set the axial motor as “Not Ready”
and set this parameter as 1 to complete the reset.

Parameter No. Description Default Unit Range Effective

Pn-F60 Debug Parameter 0 - - [-999999999~999999999] Immediate

Parameter function:

Parameter No. Description Default Unit Range Effective

Pn-F61 Debug Parameter 1 - - [-999999999~999999999] Immediate

Parameter function:

Parameter No. Description Default Unit Range Effective

Pn-F62 Debug Parameter 2 - - [-999999999~999999999] Immediate

Parameter function:

Parameter No. Description Default Unit Range Effective

Pn-F63 Debug Parameter 3 - - [-999999999~999999999] Immediate

Parameter function:

176
syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-F64 Debug Parameter 4 - - [-999999999~999999999] Immediate

Parameter function:

Parameter No. Description Default Unit Range Effective

Pn-F65 Debug Parameter 5 - - [-999999999~999999999] Immediate

Parameter function:

Parameter No. Description Default Unit Range Effective

Pn-F66 Debug Parameter 6 - - [-999999999~999999999] Immediate

Parameter function:

Parameter No. Description Default Unit Range Effective

Pn-F67 Debug Parameter 7 - - [-999999999~999999999] Immediate

Parameter function:

Parameter No. Description Default Unit Range Effective

Pn-F70 Chirp Signal Start Frequency 0 Hz [0~20000] Immediate

Parameter function:
Sets the chirp signal’s start frequency.

Parameter No. Description Default Unit Range Effective

Pn-F71 Chirp Signal End Frequency 0 Hz [0~20000] Immediate

Parameter function:

Sets the chirp signal’s end frequency.

177
 syntecvietnam@gmail.com

Parameter No. Description Default Unit Range Effective

Pn-F72 Chirp Signal Duration 0 0.1 sec [0~1000] Immediate

Parameter function:

Sets the chirp signal’s duration.

Parameter No. Description Default Unit Range Effective

Pn-F73 Chirp Signal Magnitude 0 % ; 0.01% [0~100] Immediate

Parameter function:

Sets the chirp signal’s magnitude. The input signal source and unit are determined according to Pn-F74 Chirp Signal
Setting.

For example:

 Speed Mode Tuning Signal:

 Both linear and rotary motors use the respective units of their rated speeds.
 Suppose that the motor’s rated speed is 2000 rpm, the input signal source is the speed command, the command’s unit is
%, and Pn-F73 is set as 5.
 The chirp signal’s magnitude is 100 rpm (= 2000 rpm * 5%).
 Position Mode Tuning Signal:
 Linear Motor:
 Suppose that the input signal source is the position command, the command’s unit is %, and Pn-F73 is set as 5.
 The chirp signal’s magnitude is 0.05 mm (= 1 mm * 5%).
 Rotary Motor:
 Suppose that the input signal source is the position command, the command unit is %, and Pn-F73 is set as 5.
 The chirp signal’s magnitude is 0.05 revolutions (= 1 revolution * 5%).

Parameter No. Description Default Unit Range Effective

Pn-F74 Chirp Signal Setting 0 - [0~65535] Immediate

Parameter function:

Sets the chirp signal’s input signal source, unit, and related settings, as follows:
Function Values

0 Enable Function 0：Disabled, 1：Enabled

1-2 Chirp Signal 0：Linear, 1：Exponential

3 Unit 0：% , 1： 0.01%

4-5 Reserved

178
syntecvietnam@gmail.com

6-7 Input Signal Source 0：Speed Command, 1: Position Command, 2: Iq Current Command

8-15 Password Set as 0x5A.

For example: Linear tuning coupled with speed command is represented by 0x5A01 in hexadecimal form, or 23041 in
decimal. Set this parameter as 23041 to enable the functions.

Another example: Linear tuning coupled with position command is represented by 0x5A41 in hexadecimal form, or
23105 in decimal. Set this parameter as 23105 to enable the functions.

Several possible command combinations are listed below:

Excitation Signal Decimal Value Description

Input (Pn-F74)

Position Command 23105 Produces disturbance commands under Position Mode and Cruise Mode. It
has an amplitude of 0.01 revolution (or mm). Monitor disturbance
commands through Pn-D94 Position Disturbance.

23113 Produces disturbance commands under Position Mode and Cruise Mode. It
has an amplitude of 0.0001 revolution (or mm). Monitor disturbance
commands through Pn-D94 Position Disturbance.

Speed Command 23041 Produces disturbance commands while in Servo ON. Its amplitude is 1% of
the motor's rated speed (and with the same unit).

23049 Produces disturbance commands while in Servo ON. Its amplitude is

0.01% of the motor's rated speed (and with the same unit).

Torque Command 23169 Produces Iq current disturbance commands while in Servo ON. Its
amplitude is 1% of the motor's or the drive's rated speed (whichever one
is smaller).

23177 Produces Iq current disturbance commands while in Servo ON. Its

amplitude is 0.01% of the motor's or the drive's rated speed (whichever
one is smaller).

Note: For SPM and inductive motors, torque command = Iq current command before entering flux weakening control. As
this torque command is a disturbance command, it is not displayed in Pn-D29 Torque Command, but it can still be
monitored through Pn-D2A Load Ratio.

11. Alarm overview

11.1. Driver Alert – ALARM
4 in 1 number AL-100 Alert English name 【Driver power module overheating】

Single axis AL-10 Alert English name IGBT Overheat

number

Generation I single axis drive power module exceeds 90℃

Alarm Content IGBT temperature stays above 100℃ for over 10 seconds

179
syntecvietnam@gmail.com

1. Cooling system failure

Possible Cause2. Drive output short-circuit
3. Ambient temperature overheat
4. Heat source nearby
5. Continuous use while exceeding drive’s rated load

1. Check if fan is functioning normally.

Possible 2. Check drive’s output wiring, refer to “Wiring and Signal” section of manual.
Solution 3. Check if ambient temperature is below 55℃, refer to “Transportation and Installation” section of
manual.
4. Check environment, remove external heat source or enhance cooling capacity.
5. Check for motor overload or over current.

4 in 1 number AL-101 Alert English name 【Drive overload】

Single axis AL-72 Alert English name Drive Overload

number

Drive senses power module overload

Alarm Content

1. Overload during operation due to mechanical factors

Possible Cause2. Overload
3. Encoder or motor wiring error
4. Encoder failure
5. Current gain mismatch while running encoder test, magnetic encoder correction or induction
motor parameter estimation

1. Eliminate mechanical factors.

Possible 2. Check if Idq current feedback Pn-D30(D1-16) has been greater than the parameter Pn-650(P5-
Solution 01), if so we suggest lowering motor load.
3. Refer to "Wiring and Signal" section of manual for cable re-connection.
4. Redo "Encoder test" and check for alarms, refer to "Auto tuning" section of manual.
5. Lower Tuning Gain (Pn-F2D/Fn-18) to 20, if problem doesn't improve, gradually tune drive
parameter (Pn-F2D/Fn-18) to 5.

Remarks The alarm has been deleted after the four-in-one version V2.6.7, V2.7.3

4 in 1 number AL-110 Alert English name 【Critical Over Voltage】

Single axis AL-12 Alert English name Critical Over Voltage

number

DC BUS voltage exceeds drive's protective level

Alarm Content

1. Excess DC BUS voltage caused by braking resistor when motor slows

Possible Cause2. AC power input exceeds drive's rated input voltage
3. Drive hardware failure

1. Check regenerative resistor's specs, refer to "Wiring and Signals" section of manual.
Possible 2. Check if AC power supply is compatable with drive.
Solution 3. If the above two scenarios are ruled out, contact distributor or Syntec representative to check
hardware.

180
syntecvietnam@gmail.com

4 in 1 number AL-111 Alert English name 【Low Voltage】

Single axis AL-13 Alert English name Low Voltage

number

Alarm Content Power supply voltage is lower than driver's rated input voltage

1. AC power supply is too low

Possible Cause2. Drive hardware failure

1. check if AC power supply matches drive specs.

Possible 2. If the above scenario is ruled out, contact distributor or Syntec representative to check hardware.
Solution

4 in 1 number AL-112 Alert English name 【Power Cable Disconnected】

Single axis AL-2D Alert English name Power Cable Disconnected

number

Alarm Content Drive's 3 phase voltage saturates for over 0.5 seconds

1. Acceleration time is set too short

Possible Cause2. Abnormal incremental encoder feedback
3. 3 phase power cables are loose
4. Drive hardware failure

1. Increase Pn-307(P6-11).
Possible 2. Redo "Encoder test" and check for alarms (refer to "Auto tuning" section of manual), if this alarm
Solution goes off the cause may differ.
3. Check UVW cables between motor and drive for damage or looseness.
4. If the above scenarios are ruled out, contact distributor or Syntec representative to check
hardware.

4 in 1 number AL-113 Alert English name 【Power Failure】

Single axis Alert English name Power Failure

number

Alarm Content Power supply phase failure for over 33 millisecond

1. Drive cables are loose

Possible Cause2. Power supply failure
3. Drive hardware failure

1. Check RST cables for damage or looseness.

Possible 2. Check power source.
Solution 3. If the above scenarios are ruled out, contact distributor or Syntec representative to check
hardware.

4 in 1 number AL-120 Alert English name 【过电流】

Single axis AL-15 Alert English name Over Current

number

181
syntecvietnam@gmail.com

Alarm Content Estimated output current exceeds 110% of the drive's maximum current

1. Overload
Possible Cause 2. Encoder and/or motor cable assembly error
3. Encoder error
4. Unbalanced motor 3 phase resistance
5. Power module failure

Possible 1. Check if Idq current feedback is greater than drive's peak current.
Solution 2. Check encoder and motor U,V, W cables. Refer to "Wiring and signals" section of manual.
3. Redo "Encoder test" and check for alarms, refer to "Auto tuning" section of manual.
4. Check if motor 3 phase's resistances are equal. If not, this may indicate motor coil damage,
which activates this alarm.
Measure if UV, UW, VW resistances are equal (Not recommended when resistance to ground is
infinite).
5. Turn off drive power and measure if P/N(+/-) and U/V/W are shorted. Short circuits indicate a
broken transistor.
Once certain of damage, contact distributor or Syntec representative to check hardware.

Remarks Alarm has been deleted after single-axis version V1.6.6

Alerts have been removed since the four-in-one version V2.2.0

4 in 1 number -- Alert English name 【Auto Tuning Over Current】

Single axis AL-17 Alert English name Auto Tuning Over Current
number

Alarm Content Alarm to prevent against current circuit malfunction

1. Turning Gain is too high

2. Drive's PM module error
Possible Cause

1. Check if output current oscillates, lower Tuning Gain parameter Fn-18 to 20, if problem persists,
Possible lower gradually to 5.
Solution 2. contact distributor or Syntec representative to check hardware.

4 in 1 number AL-121 Alert English name 【Power Module Over Current 1】

Single axis AL-1A Alert English name Power Module Over Current 1
number

Alarm Content Drive detects excessive current on power module.

1. Overload
2. Encoder and/or motor wiring error
Possible Cause 3. Encoder malfunction
4. Unbalanced motor 3 phase resistance
5. Power module failure

1. Check if Idq current feedback exceeds drive's peak current.

Possible 2. Check encoder and motor U,V, W cables. Refer to "Wiring and signals" section of manual.
Solution 3. Redo "Encoder test" and check for alarms, refer to "Auto tuning" section of manual.

182
syntecvietnam@gmail.com

4. Check if motor 3 phase's resistances are equal. If not, this may indicate motor coil damage,
which activates this alarm.
Measure if UV, UW, VW resistances are equal (Not recommended when resistance to ground is
infinite).
5. Turn off drive power and measure if P/N(+/-) and U/V/W are shorted. Short circuits indicate a
broken transistor.
Once certain of damage, contact distributor or Syntec representative to check hardware.

4 in 1 number AL-122 Alert English name 【Hall sensor error 1】

Single axis AL-1D Alert English name Hall sensor error 1

number

Alarm Content Hall Current Sensor(IA) failure

1. U phase current senses loop failure

Possible Cause

1. Contact distributor or Syntec representative to check hardware.

Possible
Solution

4 in 1 number AL-123 Alert English name 【Hall sensor error 2】

Single axis AL-1E Alert English name Hall sensor error 2

number

Alarm Content Hall Current Sensor(IB) failure

1. V phase current senses loop failure

Possible Cause

1. Contact distributor or Syntec representative to check hardware.

Possible
Solution

4 in 1 number AL-124 Alert English name 【驱动器功率模组过电流 2】

Single axis -- Alert English name Power Module Over Current 2

number

Alarm Content Drive detects excessive current on power module.

1. Overload
Possible Cause 2. Encoder and/or motor wiring error
3. Encoder malfunction
4. Unbalanced motor 3 phase resistance
5. Power module failure

1. Check if Idq current feedback exceeds drive's peak current.

Possible 2. Check encoder and motor U,V, W cables. Refer to "Wiring and signals" section of manual.
Solution 3. Redo "Encoder test" and check for alarms, refer to "Auto tuning" section of manual.

183
syntecvietnam@gmail.com

4. Check if motor 3 phase's resistances are equal. If not, this may indicate motor coil damage,
which activates this alarm.
Measure if UV, UW, VW resistances are equal (Not recommended when resistance to ground is
infinite).
5. Turn off drive power and measure if P/N(+/-) and U/V/W are shorted. Short circuits indicate a
broken transistor.
Once certain of damage, contact distributor or Syntec representative to check hardware.

4 in 1 number AL-130 Alert English name 【Regenerative resistance error】

Single axis AL-21 Alert English name Regenerative resistance error

number

Alarm Content Triggered when power stage reports abnormality.

1. Switching transistor of regenerator is failure.

Possible Cause

1. Check if transistor of regenerator is shorted, if so, send back to distributor or Syntec

Possible representative for hardware repair.
Solution

4 in 1 number AL-131 Alert English name 【Cooling Fan error】

Single axis AL-22 Alert English name Cooling Fan error

number

Alarm Content Triggered when power stage reports abnormality.

1. Cooling fan is malfunction or failure.

Possible Cause

1. Check If cooling fan is damage, if so, send back to distributor or Syntec representative for
Possible hardware repair.
Solution

4 in 1 number AL-132 Alert English name 【Control Board Error】

Single axis AL-2E Alert English name Control Board Error

number

Alarm Content Triggered when drive's control board has internal communication error.

1. Control board is failure.

Possible Cause

184
syntecvietnam@gmail.com

1. Send back to distributor or Syntec representative for hardware repair.

Possible
Solution

4 in 1 number AL-133 Alert English name 【Inverter Type Error】

Single axis AL-53 Alert English name Inverter Type Error

number

Alarm Content Triggered when power stage parameters and the parameter, which is detected from power
stage, is mismatch.

1. Triggered when power stage information stored on power stage cannot be read.
Possible Cause 2. Triggered when the number of detected current sensors is abnormal.
3. The inverter informations of current sensor is wrong

1. Send back to distributor or Syntec representative for hardware repair.

Possible
Solution

4 in 1 number AL-134 Alert English name 【FRAM Operating Fail】

Single axis ----- Alert English name FRAM Operating Fail

number

Alarm Content Error occur when drive operate FRAM.

1. Save parameters while power is off.

Possible Cause 2. Communication between drive and FRAM is disturbed.
3. FRAM reached it's maximum write limit.

1. Please save parameters while power is on.

Possible Solution2. If this is a recurring event, send back to distributor or Syntec representative for hardware
repair.

4 in 1 number AL-135 Alert English name 【DSP Watchdog Reset】

Single axis AL-18 Alert English name DSP Watchdog Reset

number

Alarm Content Drive DSP detects internal watchdog reset.

1.
Possible Cause System operation is malfunction.

1. Send back to distributor or Syntec representative for hardware repair.

Possible Solution

4 in 1 number AL-136 Alert English name 【FRAM CRC Error】

185
syntecvietnam@gmail.com

Single axis ----- Alert English name FRAM CRC Error

number

Alarm Content FRAM data is error.

1. The memory of parameters is damaged.

Possible Cause

1. Check if parameters have been tampered with. Correct parameters and save.
Possible Solution2. If this is a recurring event, send back to distributor or Syntec representative for hardware
repair.

4 in 1 number AL-137 Alert English name 【Calculation sequencal error】

Single axis - Alert English name Calculation sequencal error

number

Alarm Content Insufficient calculation time.

1. Insufficient calculation time

Possible Cause

1. Send back to distributor or Syntec representative for hardware repair.

Possible Solution

4 in 1 number AL-138 Alert English name Permanent memory has been recovered from errors

Single axis - Alert English name Permanent memory has been recovered from errors
number

Alarm Content There were some errors in permanent memory. It has been recovered by earlier parameter
settings

1. Permanent memory has been recovered by earlier settings

Possible Cause

1. Please set correct parameters or using earlier settings

Possible Solution

4 in 1 number AL-139 Alert English name 【PowerStage Error】

Single axis - Alert English name PowerStage Error

number

Alarm Content PowerStage Detects Error

1. Drive detects excessive current or over heat on power module

Possible Cause

186
syntecvietnam@gmail.com

1. Follow the instruction if any alarm shows up

Possible Solution

11.2. Motor Alarm – ALARM

4 in 1 number AL-200 Alert English name 【Motor Overheat】

Single axis AL-11 Alert English name Motor Overheat

number

Alarm Content Drive detects motor overheat.

1. Motor cooling system malfunction

Possible Cause2. Digital temperature sensor setting error
3. KTY84 thermal sensor setting error
4. Motor rated current setting error
5. Insufficient acceleration time
6. Overload

1. Check motor cooling system.

Possible 2. Correct parameter Pn-50A(P1-40) to Pn-50F(P1-61) according to digital temperature feedback(A
Solution or B).
3. Check if KTY84 is wired properly and if parameters Pn-740(P1-30) and Pn-741(P1-31) are set
correctly.
4. Check rated current parameter Pn-710(P3-14).
5. Check acceleration parameter Pn-306(P6-10) , add acceleration/deceleration time.
6. Check if load rate Pn-D2A(D1-10) is over 100%, consider switching to a motor with higher
power.

4 in 1 number AL-201 Alert English name 【电机转速过高】

Single axis AL-14 Alert English name Motor Over Speed

number

Alarm Content Motor speed is above 120% of it's maximum speed.

1. Motor power cable U,V,W phase order incorrect

Possible Cause2. Encoder malfunction
3. Motor parameter loading error
4. Sever system severe overshoot
5. Severe speed command change
6. Drive software outdated
7. Encoder misses packets causing acceleration to be too great

1. Execute " Encoder test ", check if alarm AL-302(AL-24) appears. Refer to "Auto tuning" section of
Possible manual.
Solution Execute " Encoder test ", check if any alarms appear. Refer to "Auto tuning" section of manual.
a. Correct power cord phase order or change parameter Pn-021(P3-22)(0 to 1 and 1 to 0).
b. Once certain polarity is correct, please cosider the following causes of this alarm.

187
syntecvietnam@gmail.com

c. Check whether drive parameter Pn-7XX match motor lable parameter.

If there is a mismatch between motor parameters and those on the lable, please record the motor
modle and contact
d. Suzhou or Taiwan Technical Center(Syntec) for correct motor parameters and load them.
2. If vibration of the machine can be observed, tune gain parameters Pn-100 to Pn-102(P2-01 to P2-
03).
3. Check if controller's commands shift too frequently, increase controller's acceleration and
deceleration time constant.
4. We have corrected drive alarm specs, please upgrade to versions 2.0.25(1.4.12).
5.
6. Capture JOG speed wave form and observe if speed change is not continuous.
7. Check inside the junction box where the encoder is attached, make sure the shielding wire is
connected to the motor's ground wire.
8. Observe whether there is value Pn-D73~Pn-D76 (D1-28,D1-29,D1-46,D1-47).

4 in 1 number AL-202 Alert English name 【Overload】

Single axis AL-16 Alert English name Overload

number

Alarm Content Motor exceeds S2(short time duty) time limit.

1. Motor is stuck due to machanical factors, leading to overload during operation

Possible Cause 2. Continuous operation while exceeding drive's rated current
3. Encoder or motor wiring error
4. Encoder malfunction

Possible Solution Check if difference between command and motor speed feedback is too great.
Check if load rate is over 100%, enhance motor capacity, lower motor load or increase acceleration/
deceleration time constant.
Refer to motor specification to correctly set Pn-72A(P4-50) values. Increase allowed overload time
limit so the alarm doesn't frequently go off when limit starndards are too high.
Check wiring between encoder and U,V,W cables, refer to "Wiring and Signal" section of manual.
Execute "Encoder test" and check for alarms, refer to "Auto tuning" section of manual.

4 in 1 number AL-203 Alert English name 【Over Torque 1】

Single axis AL-31 Alert English name Over Torque 1

number

Alarm Content Motor torque exceeds torque level 1 countinuously for over torque check time 1.

1. Motor is stuck due to machanical factors, leading to overload during operation

Possible Cause 2. Encoder or motor wiring error
3. Encoder malfunction

1. Check if difference between command and motor speed feedback is too great.
Possible Solution

188
syntecvietnam@gmail.com

Check wiring between encoder and U,V,W cables, refer to "Wiring and Signal" section of manual.

2. Execute "Encoder test" and check for alarms, refer to "Auto tuning" section of manual.

4 in 1 number AL-204 Alert English name 【Over Torque 2】

Single axis AL-32 Alert English name Over Torque 2

number

Alarm Content Motor torque exceeds torque level 2 countinuously for over torque check time 2

Motor is stuck due to machanical factors, leading to overload during operation

Possible Cause1. Encoder or motor wiring error
2. Encoder malfunction

1. Check if difference between command and motor speed feedback is too great.
Possible
Solution Check wiring between encoder and U,V,W cables, refer to "Wiring and Signal" section of manual.

2. Execute "Encoder test" and check for alarms, refer to "Auto tuning" section of manual.
3.

4 in 1 number AL-210 Alert English name 【Motor Pole Number Error】

Single axis AL-26 Alert English name Motor Pole Number Error
number

Alarm Content Triggered when determined motor pole number and parameter settings are mismatched.

1. Motor pole number setup error

Possible Cause

1. Check if value of parameter Pn-701 equals pole number on lable.

Possible
Solution

4 in 1 number AL-230 Alert English name 【Rotor Position Error】

Single axis AL-77 Alert English name Rotor Position Error

number

Alarm Content Torque integral direction and acceleration direction are inconsistant

1. Encoder polarity error

Possible Cause2.
Encoder-rotor pole offset error
3.
4. Pn-502 is set too low

189
syntecvietnam@gmail.com

5.
Motor vibration while servo on, speed feedback is above Pn-502

1. Redo "Encoder test"

Possible 2. Redo encoder-rotor offset tuning
Solution 3. Pn-502 should be set between 5~15RPM(mm/sec)
4. Tune motor or set lower speed loop gain Pn-100(P2-02) and position loop gain Pn102(P2-01).

Remarks • After the four-in-one version V2.4.6, the alarm threshold can be adjusted through the Pn-502
(zero speed check window)

• When the line horse monitors the original signal of the encoder, it may cause an explosion. Re-
powering the power can solve the problem.

190
syntecvietnam@gmail.com

11.3. Encoder Alert – ALARM

4 in 1 number AL-300 Alert English name 【Encoder Halt Alarm】

Single axis AL-51 Alert English name Encoder Halt Alarm

number

Alarm Content Encoder crashed and can't correctly send back position data.

1. Motor overheating
Possible Cause2. Noise interference
3. Hardware malfunction

1. Reboot driver and observe encoder for abnormality

2. If this is a recurring issue, send back to authorized dealer or Syntec Corp. for repairs
Possible 3. Check whether the motor is overheated or not, if the parameter Pn-90E(P3-34) is 5
Solution 4. Make sure the shielding wire attached to encoder inside the junction box is connected to the
motor's ground wire.
5. Replace encoder.

Detailed AL-51 problem disposal

Instructions

4 in 1 number AL-301 Alert English name 【Encoder Index Error】

Single axis AL-23 Alert English name Encoder Index Error

number

1. Encoder didn't detect reference signal during encoder test.

Alarm Content2. Encoder-rotor offset calibration takes too long

1. Connector wiring is poor contact, or connection is wrong

Possible Cause2. Encoder malfunction
3. Syntec encoder pole number (Pn-90A/P3-30) setting error
4. Communication interference
5. Hardware malfunction

1. Check encoder wiring, refer to "Wiring and Signal" section of manual.

Possible 2. Execute "Encoder test" and check for alarms . If any alarm goes off, refer to "Syntec auto tuning"
Solution section of manual.
3. Slowly shift axis by MPG (manual pulse generator) and confirm whether Index Counter equals
encoder resolution or not. If not , send back to distributor or Syntec representative to check
hardware.
4. Set encoder pole number correctly and reboot driver.
5. Refer to "Syntec motor encoder grounding program" section of manual
6. Replace encoder

Detailed AL-23 problem disposal

Instructions

191
syntecvietnam@gmail.com

4 in 1 number AL-302 Alert English name 【Encoder Direction Error】

Single axis AL-24 Alert English name Encoder Direction Error

number

Alarm Content Encoder's direction is opposite of UVW phase sequence.

1. The parameter "Encoder Polarity " setting error.

Possible Cause

1. Check if machanical angle is correct or not. If not, set parameter Pn-021(P3-22) (0 to1，1 to 0)
Possible and reboot driver.
Solution

4 in 1 number AL-303 Alert English name 【Encoder Resolution Error】

Single axis AL-25 Alert English name Encoder Resolution Error

number

The parameter "Encoder Resolution" setting error

Alarm Content

1. The parameter "Encoder Resolution" setting error

2.
Possible Cause Hardware malfunction
3.
Encoder pole number(Pn-90A/P3-30) setting error

1. Check if parameter Pn-902(P3-21) is equal to and resolution or not. Ifnot, set encoder resolution
to correct value and reboot driver
Possible 2.
Solution Send back to distributor or Syntec representative to check hardware
3.
Set encoder pole pair number correctly and reboot driver

4 in 1 number AL-304 Alert English name 【Encoder No Feedback】

Single axis AL-27 Alert English name Encoder No Feedback

number

Drive fails to recieve signals from the encoder .

Alarm Content

1. Encoder wire is untied or unconnected

2.
Possible Cause Encoder communication interface setting error
3.
Wire failure (shor circuit, wire breakage)
4.
Encoder malfunction

192
syntecvietnam@gmail.com

5.
Driver's pre-circuit board malfunction
6. Encoder's baud rate is unsupported

1.
Check if encoder wiring and pin definitions are correct or not. Refer to "Wiring and signal"
Possible section of manual.
Solution 2. Refer to "Driver Parameter Manual", set parameters correctly and restart drive.
3.
Replace encoder cable (encoder's green wire between the drive and motor), and send broken
one to
Suzhou Syntec.
4.
Replace motor
5.
Replace driver
6.
TAMAGAWA、SYNTEC、SANKYO、BissC：2.5MHz
NIKON: 2.5MHz、4MHz
HIWIN：2.35MHz
Currently supported encoder baud rates are as follows:
TAMAGAWA、SYNTEC、SANKYO、BissC：2.5MHz
NIKON: 2.5MHz、4MHz
HIWIN：2.35MHz

Detailed AL-27problem disposal

Instructions

4 in 1 number AL-305 Alert English name 【Encoder Pulse Loss】

Single axis AL-28 Alert English name Encoder Pulse Loss

number

Pulse number detected is different in each revolution

Alarm Content

1. Encoder cable malfunction

2.
Possible Cause Encoder malfunction

Possible 1. Replace cable.

Solution 2.
Send to Syntec or authorized representative.

4 in 1 number AL- Alert English name 【Encoder Z Index Shift】

306

Single axis AL-54 Alert English name Encoder Z Index Shift

number

193
syntecvietnam@gmail.com

Relative position between A/B phase and Z index is different in each revolution, so feedback
Alarm Content position of encode is error possibly.

1. Syntec encoder's firmware version is outdated

2.
Possible Cause Encoder is under noise interference, which causing feedback signal error.
3.
4. Encoder's signal is interfering by rotor's axis with magnetic
5.
Hallow magnetic ring Zindex position is differ from the setting parameter
6.
Magnetic ring's non-Zindex zone has magnetic field distribution

1. Update drive's version to 1.6.14 or more recentabove(Multi-Axis Servo Drive is updated to

V2.2.5 or above), and update encoder's version to 1.8.18 or above.
Possible 2.
Solution Check if encoder and motor are grounded.
3.
Check if joining between encoder cable and motor is double end grounded.
4.
Send the encoder to Syntec or authorized representative for repair.
5.
Short term countermeasure:
Magnetic axle center causing AL-54 SOP
Long term countermeasure:
Cross-Strait motor plants import axle centerinspections starting 2016/7
6.
Short term countermeasure:
Raise Z index trigger level of P6-60/Pn-940 encoder to 35, and position axle after executing
encoder test(rated current 150%). make sure alarm AL54/AL306 doesn't go off.
Long term countermeasure:
Imported ultimate solution into manufacture process since 2018/1/11

Detailed AL-54problem disposal

Instructions

4 in 1 number AL- Alert English name 【Encoder communication or status Error】

307

Single axis AL-48 Alert English name Encoder communication or status Error
number

Excessive encoder communication packet errors, causing servo control error

Alarm Content

1. Serial encoder communication interference

2.
Possible Cause Encoder communication type setting error
3.
Serial encoder wire is untied or unconnected
4.
Connector between drive and encoder has solder empty or code solder

194
syntecvietnam@gmail.com

5.
Encoder's cable grounding failure
6.
Encoder's firmware malfunction
7.
8. Encoder's hardware malfunction
9.
Automatic search for BiSSC data length is failure
10.
if the drive is multi-axis servo drive with a Nilon encoder, check drive's status parameter Pn-D95
and other encode's alarms first.

1. Check if drive's status parameter Pn-D73~Pn-D76(D1-28,D1-29,D1-46,D1-47) is zero or not.

2.
Possible Check if encoder and motor are grounded.
Solution 3.
Check if joining between encoder cable and motor is double end grounded.
4.
Check welding wire at the interface between encoder and drive.
5.
Check welding wire at the interface between encoder and motor.
6.
Check if drive's status parameter Pn-D73~Pn-D76(D1-28,D1-29,D1-46,D1-47) is zero or not.
7.
Check conduction between metal part of first encoder port and drive case.
If it's not conduction , the drive is defected has defects. Please contact Suzhou or Taiwan
Technical Center for changing procedure.

If it did't work by the above solutions fail,

a. Attach magnetic ring to both sides of the encoder cable
b. try to seperate the encoder cable from the motor power cable or other powerful cables.
8.
Backup motor's parameters and record drive's and encoder's versions. Update encoder
firmware's version to V1.8.14 or above.
9.
If the drive is multi-axis servo drive with a Nilon encoder, check drive's status parameter Pn-D95
and other encode's alarms first.
10.
Please contact Suzhou or Taiwan Technical Center.

Detailed AL-48problem disposal

Instructions

4 in 1 number AL308 Alert English name 【1st Encoder over speed when power on】

Single axis AL-68 Alert English name 1st Encoder over speed when power on
number

Position changes too fast leads to unfinished initialization.

Alarm Content
Note: If alarm occurs right after power on, encoder will not complete parameter readback.

1. NIKON encoder's speed exceeds 250RPM when power is on

195
syntecvietnam@gmail.com

2.
Possible Cause If alarm occurs when motor isn't running, there is possibly encoder malfunction.
3.
If the first encoder is Panasonic Encoder,the motor's speed must run below 100RPM when
power is on.
4. If the first encoder is Mitutoyo Encoder,the motor's speed must run below 100RPM when power
is on.

Check Check if motor is running before drive is plugged in

1. Once the motor stops, reset alarm.

2.
Possible Contact motor company for repair.
Solution

4 in 1 number AL-309 Alert English name 【Serial Encoder Communication Type is Wrong】

Single axis AL-4C Alert English name Serial Encoder Communication Type is Wrong
number

1. Encoder communication interface setting is incorrect while using serial encoder

2.
Alarm Content If Pn-900(P3-20) is set at to 12 and connected with a NIKON encoder, then the problem is with
communication there is a communication problem
3.
FPGA version doesn't support this encoder type

1. The parameter of encoder communcation interface (Pn-900(P3-20) ) and encoder's serial

communcation are mismatched.
Possible Cause2.
Check if encoder cables are indeed grounded and the wire has breakage or not.
3.
FPGA version doesn't support the encoder type Pn-900 setting.

1. Set Pn-900(P3-20) correctly and reboot drive.

2.
Possible Reassemble cables, make sure there is no interference and then restart
Solution 3.
Upgrade drive installation package according to encoder type

4 in 1 number AL-30A Alert English name 【Encoder Over Speed】

Single axis AL-850 Alert English name Encoder Over Speed

number

1.
NIKON encoder speed exceeds 6000RPM
Alarm Content2.
FEEDAT encoder over speed
3.
Motor with Panasonic encoder probably revolved over 6500RPM

196
syntecvietnam@gmail.com

4.
Motor with Mitutoyo encoder exceeds maximum speed

1. Check motor is over speed once or not.

Possible Cause

1. Avoid having encoder run at maximum speed.

Possible
Solution

4 in 1 number AL-30B Alert English name 【Encoder position feedback error】

Single axis - Alert English name Encoder position feedback error

number

Encoder module error, causing encoder unable to read absolute position data
Alarm Content

Feedat encoder circuit board breakage

Possible Cause1.
BiSSC encoder sensor and magnetic ring are assembled incorrectly.
2.
Nikon's absolute position of absolute module is differ from ncremental module.
3.
EnDat encoder position information error.
4.
The position information of Panasonic encoder is error.
5.
The position information of Mitutoyo encoder is error.

1. Make sure encoder sensor and optical ruler are assembled correctly
2.
Possible Check encoder for dust or oil contamination
Solution 3.
If this is a recurring issue, send back to authorized dealer or Syntec Corp. for repairs

4 in 1 number AL-30C Alert English name 【Encoder multi-turn data error】

Single axis AL-66 Alert English name Encoder multi-turn data error
number

Encoder module error, causing encoder unable to read multi-turn data

Alarm Content

Nikon encoder's multi-turn data is incompatible to single-turn data

Possible Cause

197
syntecvietnam@gmail.com

1. Panasonic encoder's multi-turn data is incompatible to single-turn data or data overflow occurs.

1. Check Nikon encoder for dust or oil contamination

2.
Possible If this is a recurring issue, send back to authorized dealer or Syntec Corp. for repairs
Solution

4 in 1 number AL-310 Alert English name 【2nd Encoder Halt Alarm】

Single axis AL-52 Alert English name 2nd Encoder Halt Alarm
number

Second encoder cashes, unable to send back position data

Alarm Content

1. Motor overheating
2.
Possible Cause Noise interference
3.
Hardware malfunction

1. Restart and observe second encoder for abnormality

2.
Possible If this is a recurring issue, send back to authorized dealer or Syntec Corp. for repairs
Solution 3.
Check whether the motor is overheated or not, if the parameter Pn-90E(P3-34) is 5
4.
Make sure the shielding wire attached to encoder inside the junction box is connected to the
motor's ground wire.
5.
Replace encoder.

4 in 1 number AL-311 Alert English name 【2nd Encoder Index Error】

Single axis AL-33 Alert English name 2nd Encoder Index Error
number

1. Encoder didn't detect refrence signal during encoder test.

2.
Alarm Content Encoder-rotor offset calibration takes too long.

1. Connector wiring is poor contact, or connection is wrong.

2.
Possible Cause Second encoder malfunction.
3.
Second encoder pole number(Pn-92A/P6-90) setting error.
4.
Communication interference

198
syntecvietnam@gmail.com

5.
Hardware malfunction

1. Check wiring of second encoder, refer to "Wiring and Signal" section of manual.
2. Execute "Encoder test". If any alarms goes off, refer to "Syntec auto tuning" section of manual.
Possible 3.
Solution Slowly shift axis by MPG (manual pulse generator) and confirm whether Index Counter equals
encoder resolution or not. If not , send back to distributor or Syntec representative to check
hardware.
4.
Set encoder pole number correctly and reboot driver.
5.
Refer to "Syntec motor encoder grounding program" section of manual
6.
Replace encoder

4 in 1 number AL-312 Alert English name 【2nd Encoder Direction Error】

Single axis AL-34 Alert English name 2nd Encoder Direction Error
number

Second encoder's direction is opposite of UVW phase sequence.

Alarm Content

1. The parameter "Sencond encoder polarity " setting error

Possible Cause

1. Check if machanical angle is correct or not. If not, set parameter Pn-022(P6-82) (0 to1，1 to 0)
Possible and reboot driver.
Solution

4 in 1 number AL-313 Alert English 【2nd Encoder resolution error】

name

Single axis AL-35 Alert English 2nd Encoder resolution error

number name

Alarm Content Second encoder resolution setting error.

1. The parameter "2nd Encoder Resolution" setting error

2.
Possible Cause Second encoder malfunction
3.
Encoder pole number(Pn-92A/P6-90) setting error.

1. Check if parameter Pn-902(P3-21) is equal to and resolution or not. If they differ not,
set encoder resolution to correct valuecorrect encoder resolution value and restart drive and
Possible reboot drive.
Solution

199
syntecvietnam@gmail.com

2.
Send back to authorized dealer or Syntec Corp. for repairs.
3.
Set correct encoder pole number and reboot driver.

4 in 1 number AL-314 Alert English 【2nd Encoder no feedback】

name

Single axis AL-36 Alert English 2nd Encoder no feedback

number name

Alarm Content Drive fails to recieve signals from the second encoder .

1. Second encoder wire is untied or unconnected.

2.
Possible Cause Encoder communication interface setting error.
3.
Wire failure (shor circuit, wire breakage)
4.
Encoder malfunction
5.
Driver's pre-circuit board malfunction
6.
Encoder's baud rate is unsupported

1.
Check if serial encoder wiring and pin definitions for errors are correct or not. Refer to "Wiring
Possible and signal" section of manual.
Solution 2.
Refer to "Drive Parameter Manual", set parameters correctly and reboot driver.
3.
Replace encoder cable (encoder's green wire between the drive and motor), and send broken
one to Suzhou Syntec.
4.
Replace motor
5.
Replace driver
6.
TAMAGAWA、SYNTEC、SANKYO、BissC：2.5MHz
NIKON: 2.5MHz、4MHz
HIWIN：2.35MHz
Currently supported encoder baud rates are as follows followed:
TAMAGAWA、SYNTEC、SANKYO、BissC：2.5MHz
NIKON: 2.5MHz、4MHz
HIWIN：2.35MHz

4 in 1 number AL-315 Alert English name 【2nd Encoder Pulse Loss】

Single axis AL-39 Alert English name 2nd Encoder Pulse Loss
number

200
syntecvietnam@gmail.com

Alarm Content Pulse number detected is different in each revolution

1. Second encoder's cable problem

2.
Possible Cause Second encoder malfunction

1. Replace cable.
2.
Possible 3. Send back to Syntec or authorized representative.
Solution

4 in 1 number AL-316 Alert English name 【2nd Encoder Z Index Shift】

Single axis AL-55 Alert English name 2nd Encoder Z Index Shift
number

Relative position between A/B phase and Z index is different in each revolution,
Alarm Content so feedback position of encoder is error possibly .

1. Second encoder's firmware version is outdated

2.
Possible Cause Encoder is under noise interference, which causing feedback signal error.
3.
Encoder's signal is interfering by rotor's axis with magnetic
4.
Hallow magnetic ring Zindex position is different than from the written parameter.
5.
Magnetic ring's non-Zindex zone has magnetic field distribution
6.
Hardware malfunction

1. Update drive's version to 1.6.14 or more recent(Multi-Axis Servo Drive is updated to V2.2.5), and
update encoder's version to 1.8.18 or more recent above.
Possible 2.
Solution Check if second encoder and motor are grounded.
3.
Check if joining between second encoder cable and motor are is double end grounded.
4.
Send the second encoder to Syntec or authorized representative for repair.
5.
Short term countermeasure:
Magnetic axle center causing AL-54 SOP
Long term countermeasure:
Cross-Strait motor plants import axle center inspections starting 2016/7
6.
Correct method: Hallow magnetic ring Zindex position different than the written parameter

Detailed AL-54problem disposal

Instructions

201
syntecvietnam@gmail.com

4 in 1 number AL-317 Alert English name 【2nd Encoder communication or status Error】

Single axis AL-49 Alert English name 2nd Encoder communication or status Error
number

Excessive encoder communication packet errors, causing servo control error

Alarm Content

1. Second encoder communication interference.

2.
Possible Cause Encoder communication type setting error.
3.
Encoder cable loose or connected badly
Second Serial encoder wire is untied or unconnected
4.
Connector between drive and encoder has solder empty or code solder
5.
Second encoder's cable grounding failure
6.
Second encoder's firmware malfunction
7.
Second encoder's hardware malfunction
8.
Automatic search for BissC data length is failure
9.
If the drive is multi-axis servo drive with a Nikon encoder, check drive's status parameter Pn-
D95 and other encode's alarms first.

Refer to "Wiring and signal" section of manual to wire correctly.

Possible
Solution Refer to "Wiring and signal" section of manual to wire correctly.

Refer to "Drive Parameter Manual", set parameters correctly and restart reboot drive.

1. Check if drive's status parameter Pn-D73~Pn-D76(D1-28,D1-29,D1-46,D1-47) is zero or not.

2.
Check if encoder and motor are grounded.
3.
Check if joining between encoder cable and motor double end grounded.
4.
Check welding wire at the interface between encoder and drive.
5.
Check welding wire at the interface between encoder and motor.
6.
Check if drive's status parameter Pn-D73~Pn-D76(D1-28,D1-29,D1-46,D1-47) zero or not.
7.
Check conduction between metal part of first encoder port and drive case.
If it's not conduction , the drive is defected has defects. Please contact Suzhou or Taiwan
Technical Center for changing procedure.

202
syntecvietnam@gmail.com

If it did't work by the above solutions fail,

a. Attach magnetic ring to both sides of the encoder cable
b.try to seperate the encoder cable from the motor power cable or other powerful cables.
8. Backup motor's parameters and record drive's and encoder's versions. Update encoder
firmware's version to V1.8.14 or above.
9.
If the drive is multi-axis servo drive with a Nilon encoder, check drive's status parameter Pn-D95
and other encode's alarms first.
10.
Please contact Suzhou or Taiwan Technical Center.

4 in 1 number AL-318 Alert English name 【2nd Encoder over speed when power on】

Single axis AL-69 Alert English name 2nd Encoder over speed when power on
number

Position changes too fast leads to unfinished initialization.

Alarm Content
Note: If alarm occurs right after power on, encoder will not complete parameter readback.

1. NIKON encoder speed exceeds 250RPM right after power on.

2.
Possible Cause If alarm occurs when motor isn't running, encoder malfunction is possible
3.
If the second encoder is Panasonic Encoder,the motor's speed must run below 100RPM when
power is on.
4.
If the second encoder is Mitutoyo Encoder,the motor's speed must run below 100RPM when
power is on.

Check Observe if motor is running before drive power-on.

1. Reset alarm once motor stops

Once the motor stops, reset alarm.
Possible 2.
Solution Contact motor company for repairs.

4 in 1 number AL-319 Alert English name 【2nd Serial Encoder Communication Type is Wrong
】

Single axis AL-4D Alert English name 2nd Serial Encoder Communication Type is Wrong
number

1. Encoder communication interface setting is incorrect while using second serial encoder.
2.
Alarm Content If Pn-900(P3-20) is set to 12 and connected with a NIKON encoder, then the problem is with
communication there is a communication problem

203
syntecvietnam@gmail.com

3.
FPGA version doesn't support this encoder type.

1. The parameter of encoder communcation interface (Pn-920(P6-80) ) and encoder's serial

communcation are mismatched.
Possible Cause2.
Check if encoder cables are indeed grounded and the wire has breakage or not.
3.
FPGA version doesn't support the encoder type Pn-920 setting encoder type.

1. Set Pn-920(P6-80) correctly and reboot driver

2.
Possible Reassemble cables, make sure there is no interference and then reboot driver
Solution 3. Upgrade drive installation package according to encoder type.

4 in 1 number AL-31A Alert English name 【2nd Encoder Over Speed】

Single axis AL-8A5 Alert English name 2nd Encoder Over Speed
number

1. NIKON second encoder speed exceeds 6000RPM

2.
Alarm Content3. FEEDAT second encoder over speed
4.
Motor with Panasonic second encoder probably revolved over 6500RPM
5.
Motor with Mitutoyo second encoder exceeds maximum speed

1. Check motor is over speed once or not. command

Possible Cause

1. Avoid having encoder run at maximum speed

Possible
Solution

4 in 1 number AL-31B Alert English name 【2nd Encoder position feedback error】

Single axis - Alert English name 2nd Encoder position feedback error
number

2nd Encoder module error, causing encoder unable to read absolute position data
Alarm Content

1. Feedat second encoder circuit board breakage

2.
Possible Cause BiSSC second encoder sensor and magnetic ring are assembled incorrectly
3.
Nikon encoder's multi-turn data is incompatible to single-turn data

204
syntecvietnam@gmail.com

4.
EnDat second encoder position information error
5.
The position information of Panasonic encoder is error.
6.
The position information of Mitutoyo encoder is error.

1. Make sure encoder sensor and optical ruler are assembled correctly
2.
Possible Check encoder for dust or oil contamination
Solution 3.
If this is a recurring issue, send back to authorized dealer or Syntec Corp. for repairs
4.

4 in 1 number AL-31C Alert English name 【2nd Encoder multi-turn data error】

Single axis AL-67 Alert English name 2nd Encoder multi-turn data error
number

Alarm Content Encoder module error, causing encoder unable to read multi-turn data.

Nikon encoder's multi-turn data is incompatible to single-turn data

1.
Possible Cause Panasonic encoder's multi-turn data is incompatible to single-turn data or data overflow occurs.

1. Check encoder for dust or oil contamination

2.
Possible If this is a recurring issue, send back to authorized dealer or Syntec Corp. for repairs
Solution

4 in 1 number AL-31E Alert English 【2nd Encoder Position Loss】

name

Single axis AL-56 Alert English 2nd Encoder Position Loss

number name

Alarm Content Second encoder battery less than 2.5V, multi-turn position data loss

1. Encoder voltage too low or no battery

2.
Possible Cause Parameter set incorrectly

If battery voltage is lower than 2.5V

a.With controller: Change battery and reboot system.
Possible b.No controller: Change battery, set parameter Pn-F44(Fn-34) to 1 and rebootdriver.
Solution
1. Check parameter Pn-924(P6-83). If not using an absolute encoder, set Pn-924 to 0, save
and reboot driver

205
syntecvietnam@gmail.com

4 in 1 number AL-31F Alert English 【Absolute Type 2nd Encoder battery Low Voltage
name Alarm】

Single axis AL-57 Alert English Absolute Type 2nd Encoder battery Low Voltage Alarm
number name

Alarm Content Second absolute type encoder external battery voltage below 3V

1. Voltage too low or no battery

2.
Possible Cause Parameter set incorrectly

1. Change battery and restart system.(No need to restart drive if connected to Nikon encoder)
2.
Possible Reset parameter Pn-924(P6-83) refering to drive manual, save and restart.
Solution

4 in 1 number AL- Alert English name 【Encoder Internal Over Temperature】

320

Single axis AL- Alert English name Encoder Internal Over Temperature
number 860

Syntec encoder: Encoder temperature over protective limit setting by drive

Alarm Content
NIKON encoder: Ecoder internal temperature over 112 degrees Celsius.

FEEDAT encoder: Encoder internal is overheating

PANASONIC encoder: Encoder internal temperature over 100 degrees Celsius.

MITUTOYO encoder: Encoder internal temperature over 65 degrees Celsius.

1. Motor cooling system failure

2.
Possible Cause Version compatability
3.
KTY84 thermal sensor signal error
4.
Ecoder hardware malfunction

1. Check and change motor cooling system.

2.
Possible If recently updated from V1.2.27~V1.2.31 to V1.2.32 or above, set parameter Pn-742(P1-32) to
Solution correct protective temperature limit.
3.
Make sure parameter Pn-742 "Syntec Encoder internal(1) KTY84 overheat threshold" is set
correctly.
4.
If all above solutions fail to solve the problem, KTY84 may have malfunctioned. Please contact
Suzhou or Taiwan Tech Center.

206
syntecvietnam@gmail.com

Detailed AL-40, AL-41, AL-42problem disposal

Instructions

4 in 1 number AL- Alert English name 【Encoder external(1) KTY84 Overtemperature】

321

Single axis AL-41 Alert English name Encoder external(1) KTY84 Overtemperature
number

Alarm Content The temperature that encoder external(1)'s KTY84 detect is over drive's protective limit.

1. Motor cooling system failure

2.
Possible Cause Version compatability
3.
KTY84 thermal sensor signal error
4. Motor's KTY84 wire unconnected to Encoder external(1)'s temperature sensing wire(the yellow
and green line of the encoder, respectively)
5.
Ecoder hardware malfunction

1. Check and change motor cooling system.

2.
Possible If recently updated from V1.2.27~V1.2.31 to V1.2.32 or above, set parameter Pn-743(P1-33) to
Solution correct protective temperature limit.
3.
Make sure parameter Pn-743 "Syntec Encoder internal(1) KTY84 overheat threshold" is set
correctly.
4.
Connect KTY84 wire and Encoder external(1)'s temperature sensing wire. If floating, alarms will
be prone to happen as temperature display will be 145 degrees.
5.
If all above solutions fail to solve the problem, KTY84 may have malfunctioned. Please contact
Suzhou or Taiwan Tech Center.

Detailed AL-40, AL-41, AL-42problem disposal

Instructions

4 in 1 number AL-322 Alert English name 【Encoder External(2) KTY84 Over Temperature】

Single axis AL-42 Alert English name Encoder External(2) KTY84 Over Temperature
number

Alarm Content The temperature that encoder external(2)'s KTY84 detect is over drive's protective limit.

1. Cooling system failure

2.
Possible Cause Version compatability

207
syntecvietnam@gmail.com

3.
Parameter error

1. Check and change cooling system.

2.
Possible If recently updated from V1.2.27~V1.2.31 to V1.2.32 or above, set parameter Pn-744(P1-34) to
Solution correct protective temperature limit.
3.
Make sure parameter Pn-744 "Syntec Encoder external(2) KTY84 overheat threshold" is not 0.

If temperature sensing wires are floating, alarms will be prone to happen as temperature display
will be 145 degrees.

Detailed AL-40, AL-41, AL-42problem disposal

Instructions

4 in 1 number AL-324 Alert English name 【2nd Encoder Internal Over Temperature】

Single axis AL-8A6 Alert English name 2nd Encoder Internal Over Temperature
number

Syntec encoder: Encoder temperature over protective limit setting by drive

Alarm Content
NIKON encoder: Ecoder internal temperature over 112 degrees Celsius.

FEEDAT encoder: Encoder internal is overheating

PANASONIC encoder: Encoder internal temperature over 100 Celsius degrees Celsius.

MITUTOYO encoder: Encoder internal temperature over 65 Celsius degrees Celsius.

1. Cooling system failure

2.
Possible Cause Version compatability
3.
KTY84 thermal sensor signal error
4.
Ecoder hardware malfunction

1. Check and change cooling system.

2.
Possible If recently updated from V1.2.27~V1.2.31 to V1.2.32 or above, set parameter Pn-746(P1-36) to
Solution correct protective temperature limit.
3.
Make sure parameter Pn-748 "Syntec Encoder internal(1) KTY84 overheat threshold" is set
correctly.
4.
If all above solutions fail to solve the problem, KTY84 may have malfunctioned. Please contact
Suzhou or Taiwan Tech Center.

208
syntecvietnam@gmail.com

4 in 1 number AL-325 Alert English name 【2nd Encoder External(1) KTY84 Over Temperature
】

Single axis AL-45 Alert English name 2nd Encoder External(1) KTY84 Over Temperature
number

Alarm Content The temperature that 2nd encoder external(1)'s KTY84 detect is over drive's protective limit.

1. Cooling system failure

2.
Possible Cause Version compatability
3.
KTY84 thermal sensor signal error
4.
Motor's KTY84 wire unconnected to Encoder external(1)'s temperature sensing wire(the yellow
and green line of the encoder, respectively)
5.
6. Ecoder hardware malfunction

1. Check and change cooling system.

2.
Possible If recently updated from V1.2.27~V1.2.31 to V1.2.32 or above, set parameter Pn-746(P1-36) to
Solution correct protective temperature limit.
3.
Make sure parameter Pn-748 (P1-38)"Syntec Encoder internal(1) KTY84 overheat threshold" is
set correctly.
4.
Connect KTY84 wire and Encoder external(1)'s temperature sensing wire. If floating, alarms will
be prone to happen as temperature display will be 145 degrees.
5.
If all above solutions fail to solve the problem, KTY84 may have malfunctioned. Please contact
Suzhou or Taiwan Tech Center.

4 in 1 number AL-326 Alert English name 【2nd Encoder External(2) KTY84 Over Temperature
】

Single axis AL-46 Alert English name 2nd Encoder External(2) KTY84 Over Temperature
number

Alarm Content Encoder External(2) detects KTY84's temperature over drive's protective limit

1. Cooling system failure

2.
Possible Cause Version compatability
3.
KTY84 thermal sensor signal error
4.
Motor's KTY84 wire unconnected to Encoder external(2)'s temperature sensing wire(the yellow
and green line of the encoder, respectively)
5.
Ecoder hardware malfunction

209
syntecvietnam@gmail.com

Possible 1. Check and change cooling system.

Solution 2.
If recently updated from V1.2.27~V1.2.31 to V1.2.32 or above, set parameter Pn-748(P1-38) to
correct protective temperature limit.
3.
Make sure parameter Pn-748 (P1-38)"Syntec Encoder internal(2) KTY84 overheat threshold" is
set correctly.
4.
Connect KTY84 wire and Encoder external(2)'s temperature sensing wire. If floating, alarms will
be prone to happen as temperature display will be 145 degrees.
5.
If all above solutions fail to solve the problem, KTY84 may have malfunctioned. Please contact
Suzhou or Taiwan Tech Center.

6.

4 in 1 number AL-328 Alert English name 【Encoder Internal KTY84 Error】

Single axis AL-5A Alert English name Encoder Internal KTY84 Error
number

Encoder Internal KTY84 Error

Alarm Content

1.
Possible Cause Encoder Internal KTY84 Error

Send back to dealer or Syntec Corp.

Possible
Solution If encoder Internal KTY84 is not needed, set parameter Pn-742(P1-32) to 0.

4 in 1 number AL-329 Alert English name 【Encoder External(1) KTY84 is Unplugged】

Single axis AL-5B Alert English name Encoder External(1) KTY84 is Unplugged
number

Alarm Content Encoder External(1) KTY84 is unplugged

1. Encoder External(1) KTY84 is not plugged correctly

Possible Cause

1. Make sure encoder external(1) KTY84 is wired properly.

2.
Possible If encoder External(1) KTY84 is not needed, set parameter Pn-742(P1-32) to 0.
Solution

210
syntecvietnam@gmail.com

4 in 1 number AL-32A Alert English name 【Encoder External(2) KTY84 is Unplugged】

Single axis AL-5C Alert English name Encoder External(2) KTY84 is Unplugged
number

Encoder External(2) KTY84 is Unplugged

Alarm Content

1. Encoder External(2) KTY84 is not plugged correctly

Possible Cause

1. Make sure encoder external(2) KTY84 is wired properly.

2.
Possible If encoder External(2) KTY84 is not needed, set parameter Pn-744(P1-34) to 0.
Solution

4 in 1 number AL-32C Alert English name 【2nd Encoder internal KTY84 Error】

Single axis AL-5E Alert English name 2nd Encoder internal KTY84 Error
number

2nd Encoder internal KTY84 Error

Alarm Content

1. 2nd Encoder internal KTY84 Error

Possible Cause

1. Send back to dealer or Syntec Corp. for repairs.

2.
Possible If 2nd encoder internal KTY84 is not needed, set parameter Pn-746(P1-36) to 0.
Solution

4 in 1 number AL-32D Alert English 【2nd Encoder External(1) KTY84 is Unplugged】

name

Single axis AL-5F Alert English 2nd Encoder External(1) KTY84 is Unplugged
number name

Alarm Content 2nd Encoder External(1) KTY84 is Unplugged

1.
Possible Cause 2nd Encoder External(1) KTY84 is not plugged correctly

Possible Make sure 2nd encoder external(1) KTY84 is wired properly.

Solution
If 2nd encoder external(1) KTY84 is not needed, set parameter Pn-747(P1-37) to 0.

211
syntecvietnam@gmail.com

4 in 1 number AL-32E Alert English 【2nd Encoder External(2) KTY84 is Unplugged】

name

Single axis AL-60 Alert English 2nd Encoder External(2) KTY84 is Unplugged
number name

Alarm Content 2nd Encoder External(2) KTY84 is Unplugged

1. 2nd Encoder External(2) KTY84 is not plugged correctly

Possible Cause

Make sure encoder external(2) KTY84 is wired properly.

Possible
Solution If 2nd encoder external(2) KTY84 is not needed, set parameter Pn-748(P1-38) to 0.

4 in 1 number AL-330 Alert English name 【Encoder Port Setting Error】

Single axis - Alert English name Encoder Port Setting Error

number

Alarm Content Encoder Port (Parameter Pn-901) setting error

1. Parameter Pn-900 encoder type is set but parameter Pn-901 is not.

2.
Possible Cause Port number setting is the same as another encoder port setting
3. Parameter Pn-901 is greater than actual port number

1. Set correct parameter Pn-901 correctly.

Possible
Solution

4 in 1 number AL-331 Alert English name 【2nd Encoder port setting error】

Single axis - Alert English name 2nd Encoder port setting error
number

2nd encoder Port (Parameter Pn-921) setting error

Alarm Content

1. Parameter Pn-920 encoder type is set but parameter Pn-921 is not.

2.
Possible Cause Port number setting is the same as another encoder port setting
3.
Parameter Pn-921 is greater than actual port number

1. Set parameter Pn-921 correctly.

Possible
Solution

212
syntecvietnam@gmail.com

4 in 1 number AL-332 Alert English name 【Encoder not recognized】

Single axis AL-6A Alert English name Encoder not recognized

number

Alarm Content Drive doesn't support the version of encoder version

1. The version of encoder is outdated.

2.
Possible Cause Parameter specifics cannot be recognized if the motor is not supported by Syntec.

1. Upgrade driver version

2.
Possible Confirm encoder type, permanently save parameters and reboot.
Solution

4 in 1 number AL-333 Alert English name 【2nd Encoder not recognized】

Single axis AL-6B Alert English name 2nd Encoder not recognized
number

Alarm Content Drive doesn't support the version of second encoder version

1. The version of encoder is outdated.

2.
Possible Cause Parameter specifics cannot be recognized if the motor is not supported by Syntec.

1. Upgrade driver version

Possible 2. Confirm encoder type, permanently save parameters and reboot.
Solution

4 in 1 number AL-334 Alert English name 【Encoder Download Parameters Fail】

Single axis AL-58 Alert English name Encoder Download Parameters Fail
number

Alarm Content Encoder parameter download process is unsuccessful

1. Check status parameter "2nd encoder parameter read back status", single axis' parameter is D2-
98, four in one's status parameter is Pn-E60.
Possible Cause2.
First encoder still not ready after drive power on for 0.1 second.
3.
The parameters read back from encoder is incorrect.
4.
Signal transfer error due to the poor contact of the first encoder's pin
5.
With hallow type encoder(mini encoder), check whether motor serial number is not zero

213
syntecvietnam@gmail.com

Check status parameter "First encoder parameter read back status", single axis' parameter is D2-
Possible 97, four in one's status parameter is Pn-E5F.
Solution
1. Check if encoder is wired correctly and whether there are interferences.
2.
Check connectivity of encoder connector pins
3.
with hallowed encoder, please set motor serial number as 0 and reboot

*With this alarm occurring, we would not recommend saving parameters permanently.

If alarm doesn't occur after rebooting, parameters have been read correctly.

If this problem reoccurs, please contact dealer or Syntec Corp. for repairs.

AL-58problem disposal

4 in 1 number AL-335 Alert English name 【2nd Encoder Download Parameters Fail】

Single axis AL-59 Alert English name 2nd Encoder Download Parameters Fail
number

2nd Encoder parameter download process unsuccessful

Alarm Content

Check status parameter "2nd encoder parameter read back status", single axis' parameter is D2-
Possible Cause 98, four in one's status parameter is Pn-E60.

1. 2nd encoder still not ready after drive power on for 0.1 second.

The parameters read back from 2nd encoder is incorrect.

2. Signal transfer error due to the poor contact of the 2nd encoder's pin
3.
With hallow type encoder(mini encoder), check whether motor serial number is not zero

1. Check if encoder is wired correctly and whether there are interferences.

2.
Possible Check connectivity of encoder connector pins
Solution
*With this alarm occurring, we would not recommend saving parameters permanently.

If alarm doesn't occur after rebooting, parameters have been read correctly.

If this problem reoccurs, please contact dealer or Syntec Corp. for repairs.

AL-58problem disposal

214
syntecvietnam@gmail.com

4 in 1 number AL-336 Alert English name 【Syntec Encoder Runs in Bootloader Mode】

Single axis AL-4A Alert English name Syntec Encoder Runs in Bootloader Mode
number

Alarm Content When Syntec Encoder Runs in Bootloader Mode, alarm occurs.

1. Power failure or disconnection during firmware update process

Possible Cause

1. Update firmware again and restart.

Possible
Solution

4 in 1 number AL-337 Alert English name 【2nd Syntec Encoder Runs in Bootloader Mode】

Single axis AL-4B Alert English name 2nd Syntec Encoder Runs in Bootloader Mode
number

Alarm Content When 2nd Syntec Encoder Runs in Bootloader Mode, alarm occurs.

1. Power failure or disconnection during firmware update process

Possible Cause

1. Update firmware again and restart.

Possible
Solution

4 in 1 number AL-338 Alert English name 【Encoder Register Access Error】

Single axis AL-75 Alert English name Encoder Register Access Error
number

Alarm Content Encoder Register Access Error

1. Error count is too high while accessing encoder register

Possible Cause

1. Preclude encoder wiring interferences, reinforce grounding

a.
Possible Status surveillance:
Solution i. Pn-D73(D1-28) Serial Encoder CRC error count(hardware)
ii.
Pn-D74(D1-29) Serial Encoder CRC error count(software)
iii.
Pn-D76(D1-47) Serial Encoder overtime error count

215
syntecvietnam@gmail.com

b.
If this alarm occurs when saving parameters, reset alarm and permanently resave parameters
again.
c.
If issue is recurring, contact dealer or Syntec Corp. for repairs.

4 in 1 number AL-339 Alert English name 【2nd Encoder Register Access Error】

Single axis AL-76 Alert English name 2nd Encoder Register Access Error
number

Alarm Content 2nd Encoder Register Access Error

1. Error count is too high while accessing 2nd encoder register

Possible Cause

Preclude encoder wiring interferences, reinforce grounding

Possible
Solution a. Status surveillance:
i.Pn-D77(D1-42) Serial Encoder CRC error count(hardware)
ii.Pn-D78(D1-43) Serial Encoder CRC error count(software)
iii.Pn-D7A(D1-60) Serial Encoder overtime error count
b.If this alarm occurs when saving parameters, reset alarm and permanently resave parameters
again.
c.If issue is recurring, contact dealer or Syntec Corp. for repairs

4 in 1 number -- Alert English name 【1st Encoder Memory Error】

Single axis AL-64 Alert English name 1st Encoder Memory Error
number

Alarm Content 1st Encoder internal memory error

Possible Cause NIKON encoder read and write function error

Check Reboot the driver, oberve if problem is fixed

Send back to dealer or Syntec Corp. for repairs

Possible
Solution

216
syntecvietnam@gmail.com

4 in 1 number -- Alert English name 【2nd Encoder Memory Error】

Single axis AL-65 Alert English name 2nd Encoder Memory Error
number

Alarm Content 2nd Encoder internal memory error

Possible Cause NIKON encoder read and write function error

Check Reboot the driver, oberve if problem is fixed

Possible Send back to dealer or Syntec Corp. for repairs

Solution

4 in 1 number -- Alert English name 【Encoder1 1st Encoder over speed】

Single axis AL-850 Alert English name Encoder1 1st Encoder over speed
number

Alarm Content NIKON Encoder1 1st Encoder speed over 6000RPM

Possible Cause NIKON encoder's speed specs are 0~6000RPM, if over the limit, the alarm will occur.

Check Check if motor ran at more than 6000RPM at some point.

Avoid having NIKON encoder run at maximum speed.

Possible
Solution

4 in 1 number -- Alert English name 【2nd Encoder over speed】

Single axis AL-8A5 Alert English name 2nd Encoder over speed
number

1. NIKON 2nd Encoder speed over 6000RPM

2.
Alarm Content FEEDAT encoder over speed
3.
Motor with Panasonic encoder probably revolved over 6500RPM
4.
Motor with Mitutoyo encoder exceeds maximum speed

1.
NIKON encoder's speed specs are 0~6000RPM, if over the limit, the alarm will occur.
Possible Cause2.
Check motor is over speed once or not.

217
syntecvietnam@gmail.com

Check if motor ran at more than 6000RPM at some point.

Check

1.
Possible Avoid having NIKON encoder run at maximum speed.
Solution

11.4. Tuning Alarm – ALARM

Four in one AL-400 Alert English [Motor parameter estimation failure - output command
number name error]

Single axis AL-29 Alert English Identification Error of Induction Motor Parameter 1
number name

Alert content When the parameter is estimated, the output command search fails, and the alarm is skipped.

possible reason1. Motor load is too large

2. Encoder exception
3. Abnormal current control

Method of 1. The inspection agency will eliminate the alarm according to the alarm disposal method.
exclusion 2. Perform an " Encoder Functional Test " test to see if any alerts are issued.
3. Starting from 100%, the Pn-F2D (Fn-18) tuning default gain ratio is gradually reduced by 20% .

Four in one AL-401 Alert English [Motor parameter estimation failure - abnormal motor
number name speed]

Single axis AL-2A Alert English Identification Error Of Induction Motor Parameter 2
number name

Alert content When the motor is estimated, the motor speed is not required, then the alarm is triggered.

possible reason1. Abnormal mechanism causes the motor to run unsmoothly

2. Encoder exception
3. Abnormal current control

Method of 1. The inspection agency will eliminate the alarm according to the alarm disposal method.
exclusion 2. Perform an " Encoder Functional Test " test to see if any alerts are issued.
3. Starting from 100%, the Pn-F2D (Fn-18) tuning default gain ratio is gradually reduced by 20% .
4.

Four in one AL-410 Alert English [Inertia estimation failure - excessive acceleration and
number name deceleration]

Single axis AL-2B Alert English Acceleration Limit Too Large

number name

Alert content The maximum acceleration, impulse, and stroke limit settings are poor.

possible reason1. Inertia initial value error

218
syntecvietnam@gmail.com

2. Nameplate input error

3. JOG is too slow
4. Stroke limit setting is too short
5. The acceleration and deceleration settings are too severe
6. Impulse setting is too gentle

Method of 1. If the inertia initial value is set too high and the drive output is too large, refer to the manual
exclusion " New Generation Drive Auto Tuning " to reset Pn-720 (P4-20) and Pn-722 (P4-21).
2. Check motor parameter Pn-7XX (P3-XX).
3. The parameter Pn-304 (Fn-02) speed setting is too low to reach the tuning condition, and the
speed must be at least 20% of the rated speed.
4. The parameters Pn-F14 (Fn-04) and Pn-F15 (Fn-05) are too close to the stroke and the speed is
too low. Please increase the adjustment stroke (recommended at least half a stroke).
5. The parameter Pn-306 (P6-10) acceleration time is set too small, causing the speed to keep up.
Please increase the Pn-306 acceleration time.
6. The parameter Pn-307 (P6-11) impulse time setting is too large, and the medium acceleration
section of the speed curve disappears. Please set the Pn-307 impulse time as small as possible
and lengthen the Pn-306 acceleration time if necessary.

Four in one AL-411 Alert English [Inertia estimation failure - poor initial inertia value]
number name

Single axis AL-2C Alert English Initial Value of Inertia is Set Unsuitable
number name

Alert content When the inertia estimation is performed, if the initial value is set badly, the alarm is skipped.

possible reason1. Incorrect rotor inertia and mechanical constant initial setting
2. Rotor time constant setting error (induction motor)

Method of 1. Refer to the manual " New Generation Drive Auto-Tuning " to reset Pn-720 (P4-20) and Pn-
exclusion 722 (P4-21) .
2. Use an oscilloscope to see if the rotor viscous coefficient has been decremented until the alarm
occurs. Refer to the " Induction Motor Rotor Time Adjustment " in the manual " New Generation
Drive Automatic Tuning ".

Four in one AL-412 Alert English [Inertia estimation failure - motor does not rotate]
number name

Single axis AL-3E Alert English Inertia Tuning Startup Failure

number name

Alert content When the inertia is adjusted, the motor does not rotate and the alarm is triggered.

possible reason1. Encoder wiring is loose or not installed

2. The motor is stuck in operation

219
syntecvietnam@gmail.com

Method of 1. Check the encoder wiring, refer to the manual " Wiring and Signaling ".
exclusion 2. When performing inertia tuning, the motor should run in the forward direction.
a. Check if the UVW line is loose or abnormal.
b. Check if an external mechanism locks the motor.

Four in one AL-413 Alert English [When the inertia is estimated, the displacement of the
number name gravity axis exceeds]

Single axis AL-74 Alert English Inertia Tuning Loading Too Large
number name

Alert content The amount of displacement during the estimation of gravity exceeds half of the stroke limit

possible reason1. Whether the stroke limit setting value is too small or the motor power is insufficient

Method of 1. Check the status monitor Pn-F14 (Fn-04) Stroke limit setting value is too small or the motor
exclusion power is insufficient, you can increase the stroke limit setting or select a higher power motor.

Four in one AL-414 Alert English [ Load inertia estimation value is abnormal ]
number name

Single axis AL-78 Alert English Load Inertia Value Error

number name

Alert content Load inertia estimate is out of reasonable range

possible reason1. Rotor inertia estimation error

2. Line horse load inertia is too large

Method of 1. Re-enter the inscribed rotor inertia parameter or recalculate the rotor inertia at no load.
exclusion 2. Refer to Line Q to adjust the Q and A of the SOP manual, and re-execute the no-load inertia
estimation instead of the load inertia estimation.

Four in one AL-420 Alert English [Magnetic level offset correction failed]
number name

Single axis AL-3D Alert English Encoder Offset Searching Failure

number name

Alert content The drive cannot accurately detect the magnetic pole position

possible reason1. The encoder is loose, causing the encoder to run off at zero
2. The motor is stuck in operation

Method of 1. Check that both the encoder index and the motor output shaft are in a fixed position.
exclusion 2. The motor should run twice when performing the pole offset correction.
a. Check if the UVW line is loose or abnormal.
b. Check if an external mechanism locks the motor.

220
syntecvietnam@gmail.com

Four in one AL-430 Alert English [The motor does not rotate when the encoder is
number name calibrated]

Single axis AL-4F Alert English Encoder Calibration Stall Error

number name

Alert content The current command reaches the upper limit and the motor still does not rotate.

possible reason1. Motor load is too large

2. External wiring is abnormal

Method of 1. The inspection agency will eliminate the alarm according to the alarm disposal method.
exclusion 2. Check if the drive to motor UVW is wrong or loose.

Four in one AL-431 Alert English [Encoder pitch compensation failed]

number name

Single axis AL-3A Alert English Syntec Encoder Pitch Compensation Error
number name

Alert content Excessive difference between adjacent compensation values during pitch compensation

possible reason1. The original output position of the new generation encoder is too large
2. Encoder compensation fixture error
3. New generation encoder failure

Method of 1. Check if the feedback angle is the same as the two feedback mechanical angles. May change a
exclusion polarity of the encoder and to ensure a positive rotation direction of the motor.
Whether the position difference between the encoders 1 and 2 during the compensation process
is greater than 20. Make compensation again; if the compensation fails multiple times, please
replace the read head.
2. Check the fixture installation; turn the motor to check if the first feedback mechanical angle
changes.
3. Turn the motor to check if there is any change in the second feedback mechanical angle. If not,
replace the new read head; read the head back to the dealer or the original factory for repair.

Four in one AL-440 Alert English name [Voltage compensation adjustment initialization
number failed]

Single axis ----- Alert English name Dead time calibration initial failure
number

Alert content Voltage compensation tuning initialization failed

possible reason1. Some axes are in the ready state

221
syntecvietnam@gmail.com

Method of 1. Confirm the ready state of each axis of the drive.

exclusion Turn off the ready state of each axis of the drive and re-tune the machine.

Four in one AL-450 Alert English name [Line horse encoder test failed]
number

Single axis AL-7A Alert English name Linear Motor Sensor Test Fail
number

Alert content Line horse encoder setting is abnormal or blocked

possible reason1. The stroke limit setting is too small

2. Motor stall
3. Encoder without feedback

Method of 1. Reserve a stroke greater than 1.5 magnets.

exclusion 2. Move the mover to the appropriate position
3. Connect and set the encoder correctly

Four in one AL-451 Alert English name [Line horse magnetic pole error]
number

Single axis AL-7B Alert English name Linear Motor Magnetic Pitch Setting Error
number

Alert content Line horse pole pitch does not match the detected

possible reason1. Pole spacing or encoder resolution setting error

Method of 1. Set parameters correctly

exclusion

11.5. Application Alert – ALARM

Four in one AL-500 Alert English 【Incorrect setting of operational curve for V/f control
number name 】

Single axis AL-2F Alert English Incorrect setting of operational curve for V/f control
number name

Alarm Content V/f curve slope setup error

Possible Cause V/f curve slope setup error, check parameters Pn-112~Pn-115 (P2-31~P2-34)

Operation points 1 and 2 must increase in order. V and F of point 1 must be greater than those
Possible of point 2.
Solution
Frequency of operation point 2 cannot be above rated frequency.

222
syntecvietnam@gmail.com

Voltage of operation point 2 cannot be above rated voltage.

Voltage of operation point 1 must be higher than minimum VF voltage.( Observe Pn-D3B (D1-
30) for further information)

V and f of both points cannot be 0.

Four in one AL-501 Alert English 【V/f Overcurrent】

number name

Single axis AL-30 Alert English V/f Overcurrent

number name

Alarm Content Triggered when current feedback is greater than 120% of maximum current

1. Severe setting of acceleration time or jerk time

2.
Possible Cause Incorrect V/f curve setting

1. Increase jerk time(ms) and acceleration time

Possible 2.
Solution Adjust V/f operating curve

Four in one AL-510 Alert English name 【Posing Failure】

number

Single axis AL-3C Alert English name Posing Failure

number

Alarm Content Drive couldn't complete spindle orientation within time limit

Spindle orientation fails to reach window set in Pn-522(P6-12) for 2 seconds after
Possible Cause command complete

1. Encoder communication type error

Make sure parameter Pn-522(P6-12) is set in a reasonable range. Suggested value is 500( 0.5
Possible degrees)
Solution
Make sure Pn-900(P3-20) in single feedback control or Pn-920(P6-80) in dual feedback
control is not 3

Four in one AL-511 Alert English name 【Posing Deviate】

number

Single axis AL-62 Alert English name Posing Deviate

number

Alarm Content Position deviated after orientation complete

223
syntecvietnam@gmail.com

Possible Cause Spindle position fails to reach the window set in Pn-522(P6-12) for 0.5 seconds after
orientation complete

Possible Make sure Pn-522(P6-12) is set to a reasonable range, suggested value is 500 (0.5 degrees)
Solution

Four in one AL-520 Alert English 【Over position error between 1st and 2nd feedback
number name 】

Single axis AL-38 Alert English Over position error between 1st and 2nd feedback
number name

Alarm Content Error between 1st and 2nd feedback exceeds allowed level

Belt slip
Possible Cause
1. 2nd encoder pulse loss or no feedback
2.
3. Gear ratio set incorrectly

Check belt mechanism.

Possible Solution
Execute "Encoder test" and observe whether any alarms are triggered. Refer to "Auto tuning"
section of manual.

1.
Measure and examine gear ratio again.
2.

Four in one AL-521 Alert English 【Excessive Following Error】

number name

Single axis AL-1F Alert English Excessive Following Error

number name

Alarm Content Error between position command and feedback is too large

Torque limit too low

Possible Cause
1.
Motor overload
2.
Severe speed command change
3.
Rotor inertia set incorrectly

224
syntecvietnam@gmail.com

4.
Parameter Pn-22C(P6-41) too low

Check parameter Pn-70A(P3-11).

Possible Solution
1. Check if load ratio is continuously over 100%.
2.
Check if controller's command changes severely.

Adjust controller's acceleration time constant, set it larger.

Reduce motor load or choose a larger rated torque of motor.

3.
Rotor inertia is set too low, output current is too small, resulting incorrect control behavior.
4.
Check parameter Pn-22C(P6-41).

Pn-22C(P6-41) has its parameter lower bound,the minimum value of Pn-22C is 1/5 of latch
frequency.

5. Make sure Pn-904/Pn-924(P3-23/P6-83) 1st/2nd encoder incremental/ absolute setup is

correct.

Four in one AL-522 Alert English name 【Servo On Command Conflict】

number

Single axis AL-63 Alert English name Servo On Command Conflict

number

Alarm Content Servo on command conflict

Possible Cause Drive receives Servo On and Auxiliary function at the same time

Possible Solution Check if parameter Pn-F10(Fn-00) is set to enable auxiliary functions

Avoid Servo On and enabling Auxiliary function at the same time

Remarks Alarm has been deleted after single-axis version V1.6.9

Alerts have been removed since the four-in-one version V2.3.0

Four in one AL-523 Alert English name 【Parameter Saving Command is Illegal】
number

Single axis AL-3F Alert English name Parameter Saving Command is Illegal
number

Alarm Content Parameter saving command is given while Servo On

225
syntecvietnam@gmail.com

1. Parameter saving command is given while Servo On

Possible Cause

1. Give parameter saving command while Servo Off

Possible Solution

Four in one AL-524 Alert English name 【Serious Belt slip】

number

Single axis AL-81 Alert English name Serious Belt slip

number

Alarm Content Speed error between external encoder and estimator is too great

1. Belt slip
2.
Possible Cause Gear ratio error

1. Change or tighten belt

2.
Possible Solution Set gear ratio properly

Four in one AL-525 Alert English name 【Electrical Gear Error】

number

Single axis - Alert English name Electrical Gear Error

number

Alarm Content Relative setting error

1. Driver version not support

2.
Possible Cause Parameter setting error
3.
Encoder type error

1. Support electrical gear after OpenDrive 2.8.3.

2.
Possible Solution Check Pn-20E parameter manual to set correctly
3. Check Pn-20E parameter manual to choose support encoder

Four in one AL-52F Alert English name 【Servo On Timeout】

number

Single axis AL-19 Alert English name Servo On Timeout

number

Alarm Content Servo on longer than normal

226
syntecvietnam@gmail.com

Possible Cause Drive configuration error

Possible Solution Send to Syntec or authorized dealer for repairs

Four in one AL-530 Alert English name 【Zero Speed Check Fail】
number

Single axis AL-20 Alert English name Zero Speed Check Fail
number

Alarm Content Zero speed check time longer than normal

Pn-502(P6-15) Zero Velocity Window is set too small

Possible Cause
1. External overload
2.
Tuning result abnormal

Check Pn-502(P6-15) settings. Set Pn-502(P6-15) larger.

Possible Solution
1. Pn-306(P6-10) maximum acceleration and Pn-307(P6-11) maximum JERK time are set too
small. Check and set them larger.
2.
Check auto tuning parameters. Refer to "Auto tuning" section of manual.

Four in one AL-542 Alert English name 【Laser Cruise Mode Failure】
number

Single axis - Alert English name Laser Cruise Mode Failure

number

Alarm Content Laser Cruise Mode Failure

1. 2nd encoder communication type non altimeter or LVDT

Possible Cause

1. Set 2nd encoder as altimeter or LVDT

Possible Solution

Four in one AL-543 Alert English name 【The Proximity Spindle Position DI setting error
number 】

Single axis - Alert English name The Proximity Spindle Position DI setting error
number

227
syntecvietnam@gmail.com

Alarm Content More than one DI set as the Proximity Spindle Position function

1. The Proximity Spindle Position function only can set one DI in one axis
Possible Cause

1. Check Pn-50A ~ Pn-50D，Close the redundant Proximity Spindle Position function in other
Possible Solution DIs

11.6. Special Alert – ALARM

Four in one AL-810 Alert English name 【Encoder Battery Low Voltage Position Loss】
number

Single axis AL-810 Alert English name Encoder Battery Low Voltage Position Loss
number

Alarm Content Encoder battery low, position data is lost.

Battery voltage too low or no battery.

Possible Cause
1. Parameter setting error.

1. Change battery
a.
Possible Solution With controller: change battery and restart system.
b.
Without controller: change battery, set parameter Pn-F44(Fn-34) to 1 and restart drive.

2. If not absolute encoder, set parameter Pn-904(P3-23) to 0 and restart drive.

Four in one AL-830 Alert English name 【ABS Type Encoder Battery Low Voltage Alarm】
number

Single axis AL-830 Alert English name ABS Type Encoder Battery Low Voltage Alarm
number

Alarm Content ABS type encoder battery voltage lower than 3V.

Battery voltage too low or no battery.

Possible Cause
1. Parameter setting error.

Possible Solution Change battery and restart drive (No need to restart if equipped with Nikon encoder).

1. If not ABS type encoder, set parameter Pn-904(P3-23) to 0 and restart drive.

228
syntecvietnam@gmail.com

Four in one AL-E30 Alert English name 【Mechatrolink position command error】
number

Single axis AL-E30 Alert English name Mechatrolink position command error
number

Alarm Content Mechatrolink position command error, received position command too large.

1. Ambient noise too large, causing Mechatrolink packets error.

Possible Cause

Possible Solution Check serial wiring, whether shielding is correct and if connections are firm.

Four in one AL-E40 Alert English name 【Mechatrolink Interpolation Time Interval
number Setting Error】

Single axis - Alert English name Mechatrolink Interpolation Time Interval Setting
number Error

Alarm Content Mechatrolink interpolation time interval setting error.

Possible Cause Mechatrolink interpolation time interval setting is outside specified range.

Possible Solution Raise controller parameter Pr3203 interpolation time interval setting to appropriate value.

Four in one AL-E50 Alert English name 【Mechatrolink Synchronization Error】

number

Single axis AL-E50 Alert English name Mechatrolink Synchronization Error

number

Alarm Content Triggered when WDT within the Mechatrolink packets are not updated.

Possible Cause When Mechatrolink receive packets, checked packet's data WDT has not been updated.

Possible Solution Check serial wiring, whether shielding is correct and if connections are firm.

Four in one AL-F10 Alert English name 【驱动器电源欠相】

number

Single axis - Alert English name Power supply line open phase
number

Alarm Content One phase of the power supply has low voltage.

Possible Cause Voltage low for more than 1 second for R, S or T phase with main power on.

229
syntecvietnam@gmail.com

1. Parameter setting error.

Tighten power supply wires.

Possible Solution
1. If using 2-phase power supply, set parameter Pn-036 to 1 and restart drive.

11.7. Driver warning – WARNING

Four in one AL-910 Alert English name 【驱动器功率模块温度偏高】
number

Single axis - Alert English name IGBT High Temperature

number

Alarm Content The temperature of IGBT is over 85℃ for 10s continuously

Severe acceleration change

Possible Cause
Cooling system failure

Drive output short-circuit

Ambient temperature overheat

Heat source nearby

Continuous use while exceeding drive’s rated load

Increase Pn-307

Possible Solution
Check if fan is functioning normally.

Check drive’s output wiring, refer to “Wiring and Signal” section of manual.

Check if ambient temperature is below 55℃, refer to “Transportation and Installation” section
of manual.

Check environment, remove external heat source or enhance cooling capacity.

Check for motor overload or over current.

Four in one AL-920 Alert English name 【Servo On Command Conflict】

number

Single axis AL-920 Alert English name Servo On Command Conflict

number

230
syntecvietnam@gmail.com

Alarm Content Servo On command conflict

1. Drive receives Servo ON and auxiliary function command at the same time
Possible Cause

1. Check if parameter Pn-F10(Fn-00) is set to enable auxiliary functions.

Possible Solution2.
Avoid giving Servo ON and auxiliary function command at the same time.

Four in one AL-921 Alert English name 【Power off pull-up function is not supported】
number

Single axis - Alert English name Power off pull-up function is not supported
number

Alarm Content Power off pull-up function is not supported

1. Power off detection module damaged

Possible Cause 2.
Controller version doesn't support power off pull-up function
3.
The setting of weight direction is wrong.

1. Disable power off pull-up function, or send back to Syntec

2.
Possible Solution If needed, upgrade controller version
3.
Please set Pn-805 to 1 or -1

Four in one AL-922 Alert English name 【Proximity Position is not supported】
number

Single axis - Alert English name Proximity Position is not supported

number

Alarm Content Proximity Position is not supported

1. Controller version doesn't support Proximity Position function

Possible Cause

1. Disable Proximity Position function

Possible Solution2.
If needed, upgrade controller version

231
syntecvietnam@gmail.com

Four in one -- Alert English name 【驱动器风扇异常】

number

Single axis AL-923 Alert English name Cooling Fan Error

number

Alarm Content Triggered when power stage reports abnormality

1. Cooling fan failure

Possible Cause

Possible Solution Send back to Syntec or authorized dealer for repairs

Four in one AL-928 Alert English name 【Insufficient permissions】

number

Single axis -- Alert English name Insufficient permissions

number

Alarm Content Permissions check error

1. User doesn't have permission to use this feature

Possible Cause

1. Check if permission parameter Pn-F00 is set correctly

Possible Solution

Four in one AL-930 Alert English name 【AbS Type Encoder Battery Low Voltage】
number

Single axis AL-930 Alert English name AbS Type Encoder Battery Low Voltage
number

Alarm Content ABS encoder battery voltage lower than 3V

1. Battery voltage too low or no battery

Possible Cause 2.
Parameter setting error

1. Change battery and restart drive (No need to restart if equipped with Nikon encoder).
Possible Solution
If not ABS encoder, set drive parameter Pn-904(P3-23) to 0, save and restart.

Four in one AL-931 Alert English name 【Encoder Low Voltage】

number

Single axis AL-931 Alert English name Encoder Low Voltage

number

Alarm Content Encoder power source voltage abnormal

232
syntecvietnam@gmail.com

1. FEEDAT encoder power source voltage too great or insufficient

Possible Cause
ENDAT encoder power source voltage insufficient

1. Check encoder wiring and grounding

Possible Solution2.
If this is a recurring problem, send back to Syntec or authorized dealer for repairs

Four in one AL-932 Alert English name 【Encoder Noise Warning】

number

Single axis AL-932 Alert English name Encoder Noise Warning

number

Alarm Content Encoder interfered by noise

1. FEEDAT encoder interfered by noise

Possible Cause

Possible Solution Check encoder wiring and grounding

If this is a recurring problem, send back to Syntec or authorized dealer for repairs

Four in one AL-935 Alert English name 【ABS Type 2nd Encoder Battery Low Voltage】
number

Single axis AL-935 Alert English name ABS Type 2nd Encoder Battery Low Voltage
number

Alarm Content 2nd ABS encoder battery voltage lower than 3V

1. Battery voltage too low or no battery

Possible Cause 2.
Parameter setting error

1. Change battery and restart drive (No need to restart if equipped with Nikon encoder).
Possible Solution2.
If not ABS encoder, set drive parameter Pn-924(P6-83) to 0, save and restart.

Four in one AL-936 Alert English name 【2nd Encoder Low Voltage】
number

Single axis AL-936 Alert English name 2nd Encoder Low Voltage
number

Alarm Content 2nd encoder power source voltage too low

FEEDAT encoder power source voltage too great or insufficient

Possible Cause

233
syntecvietnam@gmail.com

1. ENDAT encoder power source voltage insufficient

1. Check encoder wiring and grounding

Possible Solution2.
If this is a recurring problem, send back to Syntec or authorized dealer for repairs

Four in one AL-937 Alert English name 【2nd Encoder Noise Warning】
number

Single axis AL-937 Alert English name 2nd Encoder Noise Warning
number

Alarm Content 2nd ABS encoder battery voltage lower than 3V

1. Battery voltage too low or no battery

Possible Cause 2.
Parameter setting error

Possible Solution Check encoder wiring and grounding

If this is a recurring problem, send back to Syntec or authorized dealer for repairs

Four in one AL-940 Alert English name 【Parameter was modified in servo-on state】
number

Single axis - Alert English name Parameter was modified in servo-on state
number

Alarm Content Write parameters Pn-6XX~Pn-9XX while Servo ON

1. Check if controller is servo-off or if the drive is in tuning mode

Possible Cause

1. Servo off the controller or turn off tuning function of drive (Pn-F10=0)
Possible Solution

Four in one AL-941 Alert English name 【Motor stop method unsupported】
number

Single axis - Alert English name Motor stop method unsupported

number

Alarm Content The setting of MOT_TYPE and motor application does not support the selected motor brake
method

1. Permanant magnet motor applied to spindle cannot support dynamic braking

Possible Cause

234
syntecvietnam@gmail.com

1. When Pn-700 = 0 and Pn-803 = 1, Pn-001 cannot be 0

Possible Solution

Four in one AL-95A Alert English name 【Unsatisfied Command Condition】

number

Single axis - Alert English name Unsatisfied Command Condition

number

Alarm Content When entering or leaving torque command mode, the consition is not satisfied.

1. Before entering torque command mode, the speed of motor is not zero.
Possible Cause 2.
Before leaving torque command mode, the speed of motor is not zero.

1. Make sure the speed of motor is zero before entering torque command mode.
Possible Solution2.
Make sure the speed of motor is zero before leaving torque command mode.

Four in one AL-970 Alert English name 【Over Voltage】

number

Single axis - Alert English name Over Voltage

number

Alarm Content DC BUS voltage is above drive's warning level 100%

1. When motor slows, brake resistance cannot deplete regenerated energy

Possible Cause 2.
AC power source input voltage too high
3. Encoder hardware malfunction

1. Check regenerative resistor's specifics, refer to "wiring and signal" section of manual.
2.
Possible Solution Check if AC power source matches drive specifics.
3.
Ruling out the above solutions, hardware may be damaged. Send back to Syntec or authorized
dealer for repairs.

Four in one AL-97B Alert English name 【Command Beyound Limit】

number

Single axis - Alert English name Command Beyound Limit

number

Alarm Content Torque command or VLIM beyoubd maximum value.

235
syntecvietnam@gmail.com

1. The value of torque command is larger than maximum torque of motor.

Possible Cause 2.
The value of VLIM is higher than maximum speed of motor.

1. Let the value of torque command smaller than maximum torque of motor.
Possible Solution2.
Let the value of VLIM smaller than maximun speed of motor.

Four in one AL-980 Alert English name 【Speed estimator error】

number

Single axis - Alert English name Speed estimator error

number

Alarm Content Speed error is greater than 5% of the speed command in steady state

1. Motor parameter error resulting in speed estimation error

Possible Cause

1. Check motor specifics plate for parameters and redo motor tuning
Possible Solution

Four in one AL-981 Alert English name 【Belt slip】

number

Single axis AL-981 Alert English name Belt slip

number

Alarm Content Speed error between external encoder and estimator is too great

1. Belt slip
Possible Cause 2.
Gear ratio error

1. Change or tighten belt

Possible Solution2.
Set gear ratio correctly

Four in one AL-990 Alert English name 【Initialization fail when tuning】
number

Single axis number - Alert English name Initialization fail when tuning

Alarm Content Initialization fail when tuning

Possible Cause Parameter settings error

236
syntecvietnam@gmail.com

1. Set parameters correctly, set drive parameter Pn-F10 to 0 and redo tuning.
Possible Solution

Four in one AL-991 Alert English name 【Unable to enable High Cycle Calculation】
number

Single axis number - Alert English name Unable to enable High Cycle Calculation

Alarm Content High Cycle Calculation unsupported

1. PWM frequency set above 8000Hz, High Cycle Calculation unsupported

Possible Cause

1. Set Pn-642 smaller than 8000Hz, or shut off High Cycle Calculation function (Pn-643=0
Possible Solution automatically once alarm is triggered).

Four in one AL-9A0 Alert English name 【Over Travel】

number

Single axis number - Alert English name Over Travel

Alarm Content laser cruise mode, location is about to exceed travel limit

1. Cutting Head Exceeds Workpiece Range

Possible Cause 2.
Capacitive feedback abnormality
3.
Improper setting of travel limit

1. Raise the Z axis after not ready to cut, restart after replacing the workpiece
Possible Solution 2.
Strengthening anti-jamming
3.
Adjust Controller Travel Limit Settings

237