Syntec 70CA User manual
70CA/70CB/710CA Laser Cutting Machine Assembly
Manual
匯出日期：2023-12-13
修改日期：2022-03-09
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
1. Purpose–2
1 1. Purpose
Provide complete laser cutting solutions
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–3
2 2.Preliminary preparation for tuning
2.1 2.1 Hardware configuration
M
od
el
1530 laser cutting 2040 laser cutting
str
ok
e
1500*3000*300 2000*4000*300
axi
al
model
type
gear
ratio
load motor Maximu
m speed
and
accelerati
on
model
type
gear
ratio
load motor Maximum
speed and
accelerati
on
X Gear
rack/
module
2.0
01:05 40K
G
F series
AM8
motor
100M/
MIN 0.8G
Gear
rack/
module
2.0
01:07 50-80
KG
F series
AM11
motor
80M/MIN
0.8-1G
Y Gear
rack/
module
2.0
01:05 120
KG
F series
AM11
motor
100M/
MIN 0.8G
Gear
rack/
module
2.0
01:07 150-2
00KG
F series
AM15
motor
80M/MIN
0.8-1G
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–4
Y1 Gear
rack/
module
2.0
01:05 F series
AM11
motor
100M/
MIN 0.8G
Gear
rack/
module
2.0
01:07 F series
AM15
motor
80M/MIN
0.8-1G
Z Screw/
Pitch
5mm
01:01 10K
G
Z series
AM3
band
brake
100M/
MIN 0.8G
Screw/
Pitch
5mm
01:01 5-10K
G
Z series
AM3
band
brake
80M/MIN
0.8-1G
dri
ve
r
mini4 in
1
S08-SMD-24A-2020-03
PIN number Image PIN Define
10 pin First set connectors
1 5V 2 GND
3 D+ 4 D-
5 AD0+ 6 AD0-
7 AD1+ 8 AD1-
9 DA0 10 AGND
PIN
numbe
r
Image PIN Define
12 pin Second set connectors (European standard terminal)
1 24V IN 3 PWM1
(24V)
5 PWM
2+
(5V)
7 DA1
(-10V~1
0V)
9 AD3+ 1
1
AD5+
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–5
1.
2.
3.
4.
PIN
numbe
r
Image PIN Define
2 PWMG
ND
4 PWMG
ND
6 PWM
2-
(5V)
8 AGND 1
0
AD4+ 1
2
AGND
ADDA Hardware connector reference ：ADDA Board Protocol V2
2.2 2.2 Axial tuning
Z axis X axis Y axis
load inertia Attachment.fig Attachment.fig Attachment.fig
resonance suppression
test
Attachment.fig Attachment.fig Attachment.fig
speed loop Bode diagram Attachment.acsv Attachment.acsv Attachment.acsv
speed loop gain
position loop gain
Refer to the industry and theories, GM>6db and PM>30 Deg are the conditions for system stability. This condition is
regarded as a reference for the completion of servo tuning.
In addition, the XY axis needs to maintain the same bandwidth, so that there will be no jitter when moving
simultaneously .
At present, most of the mechanisms of laser machines are double Y column at the bottom, the X axis is mounted on
the double Y column, and the Z axis is mounted on the X axis.
The axis tuning sequence is from axis on top, tuning to the axis in the bottom, complete tuning one axis at a time.
The tuning sequence is as follows: first tune the Z axis, then the X axis, and finally the Y axis, the Y1 axis setting
needs to be the same as Y axis. .
When tuning the X or Y axis, please lower the cutting head to the cutting height first.
2.2.1 2.2.1 Basic axial movement confirmation
Select each axis and enter the password 550, as A shown in the figure below
Set the bandwidth to 40Hz, and enter the ticked parameters in the figure below, as B shown in the figure
below
Confirmwhether the Notch Filter of each axis is closed, as C shown in the figure below
After setting, Jog the axis to see if the axis vibrates, if there is vibration, reduce the bandwidth to 30Hz, and
so on
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–6
2.2.2 2.2.2 Load inertia ratio tuning
The preset turns number of the machine tuning stroke is 2. Confirm the tuning limits 1 and 2, and noobstacle in this
stroke.
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–7
After confirming the obstacle-free, repeat it 3 times to see if the load inertia ratio is adjusted correctly
2.2.2.2 Load inertia ratio tuning
REF :Advanced Inertia Machine Tuning-Single / Double Drive Tuning Operation Manual (CHT)
If it is a single axis, choose a single axis. To reach a more reliable result, the tuning feedrate is suggested to be 80%
of the rated speed.
After confirming the obstacle-free in the stroke , repeat the load inertia ratio tuning 3 times and check if the load
inertia ratio is adjusted correctly.
a. Select the master axis of the masterand slave axis
b. Select the gantry mode, select the slave axis, and select load inter tuning mode.
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–8
c. Set the the stroke limit
d. Start tuning and display tuning →MACRO displays the current executinglines →displays stop tuning
button
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–9
1.
2.
3.
4.
5.
•
•
•
•
•
e. Enter the results, before tuning start, Syntec Analytics will check if the tuning speed can reach more
than 80% of rated speed, that will be more accuracy.
2.2.3 2.2.3 Resonance suppression tuning
Set the first stroke limitand the second stroke limit, as A shown in the figure below
After stroke limits are determined , create a program, as B shown in the figure below
After the program is generated, next, as C shown in the figure below
The chirp parametersetting uses the default value, as D shown in the figure below
Start tuning, wait for frequency capturing to complete, and analyze the results
For the problem of zero-speed jitter, please refer to N-pulse: Resonance suppression function at stop
(N pulse) (CHT)
If the scanned results are different, between 10Hz~150Hz, please refer to the DOB function:
Disturbance Compensation Gain
Disturbance compensation function SOP (CHT)
If the high frequency exceeds 400Hz, use the recommended value to suppress: Notch Filter
REF :20180418 Y-axis tuning (V2.8.3 performance test) (CHT)
Tuning description
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–10
1.
2.
3.
Turn off all advanced functions first.
Use the automatic tuning page of the analysis tool to increase the speed loop bandwidth by
20Hz per step.
In the process of increasing gain setting, add countermeasures, collect data, and observe the
effects for the problems encountered until it can no longer get higher.
Proble
m
present
ed
Measure Elimination
methods
Correspo
nding
paramete
rs
Corresponding
tuning documents
Zero
speed
jitter
proble
m
N pulse Within a short time
after the speed is
reversed, the speed
feedback signal is
not referenced to
avoid command
jitter caused by
encoder noise.
Pn-336
Pn-338
Resonance
suppression function
at stop (N pulse) (CHT)
Low
frequen
cy
moving
vibratio
n
proble
m
10 Hz ~
150 Hz
DOB
(Disturbance
Observer)
The interference
force is estimated by
the torque
command and the
motor model, and
the feedforward
compensation
method is used to
eliminate it.
Pn-121
Pn-123
Disturbance
Compensation Gain
Medium
frequen
cy
moving
vibratio
n
proble
m
150 Hz
~ 400
Hz
SOB (Speed
Observer)
The ideal speed is
estimated by the
torque command
and the motor
model, and mixed
with the encoder
speed to form a
relatively vibration-
free speed as
feedback to
decrease the
resonance of the
mechanism.
Pn-340~P
n-343
20180418 Y-axis
tuning (V2.8.3
performance test)
(CHT)
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–11
6.
Proble
m
present
ed
Measure Elimination
methods
Correspo
nding
paramete
rs
Corresponding
tuning documents
High
frequen
cy
moving
vibratio
n
proble
m
400 Hz
or
more
Notch Filter Through the inverse
model, the
command will not
stimulate the
resonance point of
the system and
decrease the
resonance.
Pn-460~P
n-465
Speed loop gain
tuning SOP (CHT)
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–12
1.
2.
3.
4.
5.
6.
•
•
•
•
8.
9.
2.2.4 2.2.4 Speed loop automatic gain tuning
Set the first stroke limitand the second stroke limit, as A shown in the figure below
After the stroke limit is determined, create a program, as B shown in the figure below
After the program is generated, next, as C shown in the figure below
The chirp parametersetting uses the default value
Start tuning, wait for frequency capturing to complete, and analyze the results
After the calculation is complete, press the Bode chart, as shown in the figure below, and the result is as D
shown in figure
The automatic speed loop gainresult, the actual result is not marked with the point position, please use the
mouse to confirm whether it is consistent with the value of the title, refer to the figure E below
When the phase of GM diagram open loop drops to -180 degrees, the corresponding distance
from 0dB is the GM
When the size of PM diagram open loop drops to 0 dB, the corresponding phase distance -180
degrees is the PM, and the corresponding frequency at this time is the cross-over frequency
The closed loop of the GM diagram-3db is the actual bandwidth
System stability index: GM> 6db, PM> 30 Deg
After confirming that the Bode diagram is correct, press ">>" and fill in the recommended values, as shown
in Figure F below
Repeat the automatic speed loop gaintuning until it meets the standard
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–13
10.
11.
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–14
1.
2.
3.
4.
2.2.5 2.2.5 Position gain tuning
When the speed loop gain of each axis has been tuned, then execute the position gain tuning.
The higher the Z-axis gain, the better, about 100Hz/rad is enough
In the X or Y axis, start tuning from the lowest speed loop gain, and the final X, Y, Y1 position loop gains must be
consistent.
Assuming that the Y-axis speed loop gain is 80Hz, then
For the tuning parameters of performance tuning, set the position loop gain to 80rad/s, as shown in Figure A
below
Jog the axis, if there is no vibration, then increase the position loop gain to 100rad/s, but it is not
recommended to increase within 4 times (speed loop gain*2*pi/position loop gain must be greater than 4),
and so on
After the axis is tuned, set the other axes to be consistent
If there is vibration in each axis when Jog, reduce the gain of the position loop together. If there is no
vibration, complete the axial tuning.
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–15
1.
2.
3.
4.
5.
2.2.6 2.2.6 Circularity tuning
Purpose: Check the condition of the machine mechanism: In this step, first ensure the set parameters, turn off all
mechanism compensation, and after setting the motion plan parameters, remember to press the emergency stop
and then release (Reset)
For tuning the R10F1000, the spike should be within 5um, and the spike over 10um is considered a very poor
condition.
If there are obvious spike, enable DOB function: 【Pn-121】Disturbance Compensation Gain
Check whether the tuning is correct, whether the position gain can be raised again, and whether the position
gain of the two axes matches
Turn on the drive acceleration function to retune the speed gain: 【Pn-643】Enable High Cycle Calculation
If none of the above methods can be continued,then decrease load ratio proportionally, and increase speed
gain proportionally (including the integral constant of the speed loop time constant), and increase the
position gain of both axes simultaneously
Whether the problem is coming from mechanism can be determined by referring to the result of ballbar:
Renishaw Ballbar measurement data (CHT)
Mechanism parameters Parameters name setting
1221~1240 Enable axial backlash compensation 0
1301~1320 Pitch error compensation type 0
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–16
Mechanism parameters Parameters name setting
1361~1380 Axis quad-peak error compensation from
negative to positive direction
0
1401~1420 Axis mechanical compensation time constant 0
1441~1460 Axis quad-peak error compensation from
positive to negative direction
0
1461~1480 Axis quad-peak error hold time 0
2921~2940 Axial quad-peak compensation method 0
3802 Default feedrate control mode 0
3808 High Precision Smoothness(SPA) 0
moti
on
plan
para
met
ers
1 Pr401 Cutting
acceleration time
102 Related to PR405, such as PR405 is set to 30000, at the same
time PR401 = 102, which represents that the acceleration is
0.5g.
2 Pr402 Acceleration
accelerated to 1G time
(Jerk)
100 If the value set too small, motion plan parameters will be too
intense, cause the mechanism jitter, affecting the cutting
effect. If the value set too large, it will extend the machining
time
3 Pr404 Post acceleration
bell-shaped time (ms)
50 This parameter can be set to smooth the speed curve planned
by the system in accordance with the acceleration and
deceleration, so as to reduce the change of the speed
command, thus reducing the degree of machine jitter. This
value can be increased or decreased as appropriate.
4 Pr405 Maximum cutting
feedrate（mm/min）
300
00
The highest cutting feedrate at the time of cutting, it is
recommended to select a reference value, do not need to be
modified
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
2.Preliminary preparation for tuning–17
moti
on
plan
para
met
ers
5 Pr406 Maximum corner
reference feedrate (mm/
min)
560 If the set value is too large and the corner feedrate is too fast,
the corner machining effect will be affected. The smaller the
set value is, the better the machining effect will be, but the
machiningtime will be longer.
6 Pr408 Arc cutting
reference speed of radius
5mm (mm/min)
500
0
When executing the arc movement, the centrifugation is often
too large due to high speed rotation, resulting in the offset of
the mechanism and the jittery pattern of the arc path.
Therefore, when setting PR408, please first check whether the
rigidity of the mechanism is appropriate to avoid poor
machining effect.
7 Pr441~Pr460 Axial rapid
travel (G00) acceleration
time
119 Related to the PR461-464 setting, at same time, it means that
the acceleration is 0.5g
8 Pr461~Pr464 Maximum
feed rate for axial rapid
movement (G00)
350
00
G00 speed, can be set according to the actual situation of the
machine, but also pay attention to the setting of the PR441-444
9 Pr601~Pr604 X/Y axis
maximum corner
reference feedrate
360
000
10 Pr641~Pr644 Axial
acceleration accelerated
to 1G time （jerk/ms）
100 Keep consistent with the value of Pr402
11 Pr3793, G00 Post
acceleration bell-shaped
time ms
50
For details, please refer to Instruction of Quad-Peak Compensation.
before tuning after tuning
Attachment.txt
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
3. Laser cutting software parameter setting–18
1.
3 3. Laser cutting software parameter setting
3.1 3.1 Driver parameter setting
3.1.1 3.1.1 Four-in-one drive parameter setting (Z axis)
parameter parameter name value
Pn-407 Torque Control VLIM of Rotational Motor 10000/(z pitch mm)
Pn-809 1
Pn-920 2nd Encoder Communication Type LVDT : 116
Capacitance : 117
Pn-921 2nd Encoder Port Number 5 (Add-On Card)
3.1.2 3.1.2 Single drive tutorials
Set the DIP switch of the driver control integrated front board to the position of station number 2 (any
number exclude station number 1 is fine)
The dial switch is the red box part of the figure, and the number refers to the following
DIP switch Station no. Controller station no. setting
1 2 3 4 1 2 3 4 Laser first IO second IO
ON ON ON O
N
1 1
0
0
0
1
0
0
1
1
0
0
2
1
0
0
3
1004 1005 1006
OFF ON ON O
N
2 2
0
0
0
2
0
0
1
2
0
0
2
2
0
0
3
2004 2005 2006
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
3. Laser cutting software parameter setting–19
•
DIP switch Station no. Controller station no. setting
1 2 3 4 1 2 3 4 Laser first IO second IO
OFF OFF ON O
N
3 3
0
0
0
3
0
0
1
3
0
0
2
3
0
0
3
3004 3005 3006
OFF ON OFF O
N
4 4
0
0
0
4
0
0
1
4
0
0
2
4
0
0
3
4004 4005 4006
2.
Prepare a single axis drive, and assemble the laser ADDA model on the drive. Note that the red box in
the picture needs to be locked on the drive with a special screw (grounded)
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70CA/70CB/710CA Laser Cutting Machine Assembly Manual
3. Laser cutting software parameter setting–20
•
Set the DIP switch of a single axis drive to a number different from
the four-in-one drive, for example, to 1, and the corresponding
controller parameters are set as follows :
Item Parameter Value
Controller parameter
1 Pr21 *Port no. for X axis 2000
2 Pr22 *Port no. for Y axis 2001
3 Pr23 *Port no. for Z axis 1000
4 Pr3261 *M3-IO 1st Station No. 2006
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