TAIWAN

Taiwan (Hsinchu HQ) Taichung Kaohsiung

SYNTEC TECHNOLOGY CO., LTD. SYNTEC TECHNOLOGY CO., LTD. SYNTEC TECHNOLOGY CO., LTD.
ADD：No.25, Yanfa 2nd Rd., East Dist., ADD：2F., No.2, Jingke 3rd Rd., Nantun Dist., ADD：Rm. 1302, No.2-1, Zhuoyue Rd., Nanzi Dist.,
Hsinchu City 300,Taiwan (R.O.C.) Taichung City 408 Kaohsiung City 811, Taiwan (R.O.C.)
TEL：+886-3-6663553 TEL: 04-2355-0621 TEL ：07-6011000#7808
FAX：+886-3-6663505 FAX: 04-2355-0622 E-mail：haoyu.hsieh@syntecclub.com.tw
EMAIL：sales@syntecclub.com.tw E-mail： yean@syntecclub.com.tw

　　　

AROUND THE WORLD

Malaysia Vietnam Turkey Russia (Distributor)
MYSYNTEC TECHNOLOGY SDN BHD Syntec Viet Nam Technology Co.,Ltd SYNTEC Turkey Office Interprom Manufaturing Co., Ltd.
ADD：47000 NO 19.JALAN TSB 6,TAMAN INDUSTRI ADD：3F, No. 36, A4 Street, Ward 12, ADD：Kucukbakkalkoy Mah. Vedat Gunyol Cd. Defne Sok. ADD： P.O. 195220, Apart. 42N, Build. 2, 17 Nauki prosp.,
SUNGAI BU LOH.47000 SELANGOR DARUL.EHSAN 　　　 Tan Binh District, Ho Chi Minh City, VietNam No:1 D:1502 Kat:15 Flora Residence, 34750 St. Petersburg, Russia
TEL：+603-61577632 TEL： +84 93 833 2829 Atasehir/Istanbul, Turkey TEL：+7(812)497-41-81
FAX：+603-61574632 FAX：+84 282 253 5556 TEL：+90-216-2662475 FAX：+7(812)497-42-00
EMAIL：yenearn.teoh@syntecclub.com.tw; E-MAIL：andyngo@vnsyntec.com.vn EMAIL：daisy.cheng@syntecclub.com.tw EMAIL：peter@interprom-spb.ru
chiaheng.liang@syntecclub.com.tw

Thailand USA (South California) Indonesia (Distributor)

Syntec Thailand Office SYNTEC Technology, Inc PT. OTOMASI BERSAMA INDONESIA
ADD：78/38 Kheha Romklao Rd., Khlong Song Ton Nun, ADD：766 Pinefalls ave, Walnut, CA 91789 ADD：Jalan Majapahit, Ruko Arcadia Matarma B15, Bekasi
Lat Krabang,Bangkok, 10520 TEL：(909)551-0187 TEL：+6221 2210 4832
TEL：+662-006-5738 EMAIL：vito.biondo@syntecclub.com.tw EMAIL： www.otomasi.co.id
EMAIL：nirawit.n@syntecclub.com.tw

CHINA
Jiangsu-Suzhou Fujian-Xiamen Zhejiang Wenling Shaanxi Baoji
SYNTEC Equipment CO.,Ltd. SuZhou SYNTEC Equipment CO.,Ltd. Xiamen The Suzhou new generation of CNC Equipment The Suzhou new generation CNC Equipment Co.,
ADD：Building B, No.9 , Chunhui Road, Branch Co., Ltd. Wenling Branch Ltd. Baoji offices
Suzhou Industrial Park, Chinamap ADD：No. 100,B Chuang Chang Fang 3F East,Jin Fu Road, ADD：Room 1206, Department A, Zhenxing Plaza, ADD：24-2-1801,Dong ling International,
TEL ：0512-69008860 Tong An District,Xiamen City, Fujian Province, China Taiping Subdistrict, Wenling Citymap Jintai Road, Jintai District, Baojimap
FAX ：0512-65246029 TEL ：+86-592-7191901 TEL ：0576- 86138372 TEL ：18700712118
E-MAIL：service@syntecclub.com.cn FAX ：+86-592-7220536 FAX ：0576-86119106

Jiangsu-SuZhou Zhejiang Ningbo Shaanxi Xi′an Shenyang

Suzhou Huaxin Numerical Control Technology SuZhou SYNTEC Equipment CO.,Ltd. Ningbo The Suzhou new generation of CNC Equipment The Suzhou new generation CNC Equipment Co.,
Development CO.,LTD Branch Co., Ltd. Xi'an Branch Ltd. Shenyang Office
TEL ：18698806526 15051577556
ADD：Building A, No.9 Chunhui Road, ADD：Room 12-07, No.262,416 Alley, Zhaohui Road, ADD：Room 2503,Unit 1,Rancho Santa Fe,No.36,
Suzou Industrial Park,China Jiangdong District, Ningbo City. Dianzi Third Road, Yanta District, Xi′an, Shaanximap
TEL ：0512-69560828 TEL ：0574-87750305 TEL ：029-88287423 Wuhu Distributor
FAX ：0512-69560818 FAX ：0574-87750306 FAX ：029-88287423 ADD：Room 101, Building 30, Plum Village,
Huangyan District, Taizhou Citymap
Jiangsu-Nanjing Shandong Jinan Hubei Wuhan TEL ：0576-8405010
FAX ：0576-84620578
The Suzhou new generation of CNC Equipment SuZhou SYNTEC Equipment CO.,Ltd. Jinan Suzhou new generation of CNC Equipment Co.,
Co., Ltd. Chongqing Branch Branch Ltd Wuhan Branch
ADD：Kechuang Center phase2, B4.No.2 ,QingShui west ADD：Flyover District of Ji nan three Bridge Street No. 28 ADD：Room 2003-2006, A Guanggogooji, No.456, Qingdao Distributor
street ,Moling Rd ,Jiangning District ,Nanjing City Luneng Cambridge 9 Building 3 unit 101 room Luoyu East Road, Hongshan District , Wuhan, China ADD：Room 1201, Lu Bangxin world, No. 38,
TEL ：025-52717702 TEL ：0531-85907208 TEL ：027-87638876 Beijing Road, Shinan District, Qingdao Citymap
FAX ：025-52717710 FAX ：0531-85905708 FAX ：027-87204137 TEL ：0532-82817993
FAX ：0532-82817993
Guangdong Dongguan Tianjin Anhui Hefei
SuZhou SYNTEC Equipment CO.,Ltd. Dongguan The Suzhou new generation of CNC Equipment Suzhou new generation numerical control Shantou Distributor
ADD：11-09, Building 2, Long-Teng-Xi Park, Taishan Road,
Branch Co., Ltd. Chongqing Branch Co., Ltd. Tianjin Branch equipment co., LTD. Hefei branch Longhu District, Shantou City
ADD：Zone B, 3F, Building 1, No.522, ADD：2-B-701, No. 13, Zi-Yuan Rd., ADD：Hefei Binhu Baohe District Century City TEL ：0754-82125929
Chain-An East Rd., Changan Townmap Tianjin huayuan industrial district Fu Hui Yuan T4-2202map FAX ：0754-82125929
TEL ：0769-81660318 TEL ：8622-58956895 TEL ：0551-63814183
FAX ：0769-81660328 FAX ：8622-58956895 ext 803
Wuhan Distributor
Shenzhen Hebei province, shijiazhuang Henan Luoyang ADD：A6-Building , Huazhong mould city, Maochen town,
xiaonan district, xiaogan city，Hubei provincemap
Shenzhen branch Suzhou new generation CNC equipment co., LTD. The Suzhou new generation of CNC Equipment TEL ：027-83532060
ADD：5F, Building C, Sunshine Technology Park, Gin-Long Shijiazhuang office Co., Ltd. Luoyang Company FAX ：027-83532060
2nd Rd., Baolong Industrial Zone, Shenzhen ADD：shijiazhuang qiaoxi huaxing road 8, 4-3-801 ADD：706, Runsheng Building, Cross of Sanshan Road and
Longgang District
TEL ：0755-84320380
TEL ：18622728669 Heluo Road, Hi-and-New Tech Park of Luoyang Dalian Distrbutor
TEL ：0379-65110352 ADD：Room 1001, Building 10, Shenghui The NO.1 City
FAX ：0755-84559490 FAX ：0379-65110352 ,Kimcheon Road, Development area, Dalian City
TEL ：0411-88023929
Guangdong Guangzhou Chongqing Sichuan
SuZhou SYNTEC Equipment CO.,Ltd. Guangzhou The Suzhou new generation of CNC Equipment Suzhou new generation CNC equipment co., LTD. Hunan Distrbutor
ADD：Room 2701, Building 2, Xingsha Yuanmeng
Branch Co., Ltd. Chongqing Branch Sichuan office Leisure City, Changsha City, Hunan Provincemap
ADD：No8-7, Lo-Ka segment, Fu-i Rd., Da-Long Street, ADD：No. 10-2, Building 9, Central Eastern, ADD：2301, Unit2, Building 4, No.99, Hengshan North TEL ：13337217766/13829192095
Panyu District Huayu North City, Yubeimap Rd., Xipu Town, Chengdu Citymap
TEL ：020-34583040 TEL ：023-67913296 TEL ：18983150030 Yunnan Distrbutor
FAX ：020-34583220 FAX ：023-67634382 ADD：Room 706, Building 9, Longjiang court, Panlong
District, Kunming City, Yunnan Provincemap
Zhejiang Hangzhou Guangdong Wenzhou TEL ：13829192093 18608774944
SuZhou SYNTEC Equipment CO.,Ltd. Hangzhou SuZhou SYNTEC Equipment CO.,Ltd. Guangdong Suzhou new generation CNC equipment co., LTD.
Branch Branch Wenzhou office Jiangxi Distributor
ADD：Room1202 Unit2 Buiding1, Edifice DiKai , Jincheng ADD：2F, Building 6, Dongguan-Taiwan Biotechnology ADD：Room 301, Building 6, Jinqiao Rd., ADD：Room 321, Qing-yun-hue 2nd, The Golden Eagle
Road, Beigan Street,Xiaoshan District , Hangzhou Incubation Center, No.1 , Taiwan High-Tech Park, Lucheng District, Wenzhou citymap Road, Qingyunpu District, Nanchang City, Jiangxi
City,Zhejiang Province, China Songshan Lake TEL ：0576-86138372 Province
TEL ：0571-82751187 TEL ：0769-22249073 FAX ：0577-86998130 TEL ：13929271610
FAX ：0571-82751186 FAX ：0769-22210012

SYNTEC TECHNOLOGY CO., LTD. Suzhou SYNTEC Numerical Control

Technology Development CO., LTD.
No.25, Yanfa 2nd Rd., East Dist., Building A, No.9 Chunhui Road,
Hsinchu City 300, Taiwan (R.O.C.) Suzou Industrial Park,China

201806 - V1
HIGH-SPEED & HIGH-PRECISION
CONTROLLER
 Developing powerful and efficient CNC systems has long been Syntec's mission. With
fast innovating PC technology and our dedicated research in both hardware and software,
we are able to provide the best total solution of control system in the machine tool industry.
Performance-wise, our outstanding High-Speed High-Precision (HSHP) functions are perfect for
mold or high speed milling purposes. Multi-axis & multi-program applications allow Mill-Turning
Machines to easily execute complicated simultaneous multi-tool cutting interpolations. Abundant G/M
codes and friendly user interface allows inexperienced operators to quickly catch on to the Syntec control.
More over, our integration capability and flexibility are a great match for machine builder to develop
unique application for specialized products at will. Syntec's professional and responsible engineer
regiment provide solid and instant technical support; and our passionate service teams are able to
help any customer globally. We leave you no worry to reach end users, and we are always standing by
to deliver on-demand, unlimited backup.

Syntec will always be your best technical and service partner.

SIMPLICITY & CONVENIENCE HIGH EFFICIENCY

Machining preparation, dry run function, clear and easy -to- High speed and high precision, with a maximum of 2000
use machining monitor. blocks look-ahead.
Complete operating support, and customized help screens. High speed drilling and tapping, high speed threading.
With graphic input interface, users can also edit Support up to control to meet demands of multi-program
programs easily even when they are not familiar with
machining.
G code.
Provide network and USB disk interface, the most complete Axis-coupling, axis-exchange, and virtual axis function
PC interface for input and output. to increase the flexibility of machine.
Support functions of 5-Axis Simultaneous Machining
and feature coordinate-function.
 SYNTEC Turning Controller 01
SYNTEC Milling Controller 02
Turning Features 03
Milling Features 05
5-Axis Simultaneous Machining Features 06
High Speed, High Precision 07
Operation Interface 08
Open-architecture Tools Application 08
Pick and Place Integration Solutions 10
Vision System 11
CAD/CAM Features 12
Dual System Dipole Structure 12
Product Features Comparison Table 13

FEATURES Application
Provide eHMl application for users to customize operation Standard Machine: Lathe, milling machining center,
interface conveniently. engraving and milling machine, mill-turn machine.
Customized G/M code, dedicated machine can be used Dedicated machine: Tapping center, glass cutting
easily. machine, cutter grinding machine, PCB molding
Provide dipole architecture, users can integrate the customized machine, spring machine, laser processing machine,
software onPC. flame cutting machine, stone processing machine...ect.
Provide optional vision system or pick-and-place
equipments for highly automated integration solutions.
SYNTEC Turning Controller
Highly standardized,low wiring cost, and compact all-in-one controller.Equipped with Mechatrolink-II protocol which
has simple wiring, low power loss, and enhances processing speed.

10.4-inch NEW NEW

300

220
120
80 X10 X100
60 10 80 90 25 50 X250
ST4022T 0
70 100
X1
F0 100

40

120
60 110

20

140150
MPG 50 120

0
% % %
- +
MPG SIM SBK OPT.SKIP OPT.STOP AUTO MDI HOME

CW STOP CCW SP.M19 JOG INC JOG MPG

BAR CNC
F2 F1
APF BFC CONT A B

250
Y X C F3
CW CHIP CW CHIP CCW

Z Z F4
RAPID T.H. IN T.H. INC T.H. OUT

Y X C F5 1

CLAMP COOLANT LIGHT 1

Keyboard: HK Panel : ST4022T

Panel: 4425T2
Keyboard::VK10
Panel : SK6T Panel: 3025T

8 inches

Keyboard: HK8
Panel: 4018T3

Keyboard: VK8 Keyboard: HK8

Panel: 2625T Panel: 4012T2

Multi-Axis
Standard General Mill-Turn Multi-Axis Group Mill-Turn
Mill-Turn
Controller
6TA 6TB 6TE 11TA** 21TA 21TB 22TA 22TB 11TB 200TB 200TB-5 220TB 220TB-5

Axis no. 3 4 3(4) 4 6(8) 4 6(8) 8 12(16) 12(16)

DA 2 2 - 2 1 -
128/128 128/128
Max I/O 32/32 32/32 96/96 (RIO、M3IO) 128/128 96/96 (RIO、M3IO、SRI)

Display 8” 10.4” 8”/ 10.4” 8”/ 10.4”/ 15” 10.4” 8”/ 10.4” 10.4”/ 15”

General Serial bus General

Servo Purpose M3 Purpose M2 M2 M3 / ECAT General Purpose M2 M3 / ECAT

VGA - - - - -

Connection Ethernet Ethernet Ethernet Ethernet Ethernet Ethernet Ethernet

Multi-Program No. 1 1 2 2 2 4 4 4

RAM 256MB 512MB 512MB 4GB 512MB 256MB 4GB 4GB

RTCP - - - - - - -
Inclined Plane Process - - - - - - - -
O: standard function, △: optional function, -: Not available function NEW New Product Remark *Only sell in Mainland China **Only sell in Taiwan
SYNTEC Milling Controller
Embedded system with Mechatrolink-II protocol eliminates pulse lag and time-step mismatch problem that Pulse-Train
system has when running multi-axis control. Simplified serial wiring are also more expandable and noise-resistant.

15 inches NEW
10.4 inches
NEW

80 X10 X100
ST4022M 60 10
0
80 90
X1 25 50 X250
70 100 F0 100
40

120

60 110
20

140150

50 120
0

% % %

MPG SIM SBK OPT.SKIP OPT.STOP AUTO MDI HOME

CW STOP CCW SP.M19 JOG INC JOG MPG

F1 F2 F3
APF TOOL W/D MAG.CW MAG.CCW

5 Y Z 4
MAG.POP MAG.Push AIR BLOW

X X F4 1

RAPID CHIP CW CHIP CCW LIGHT 1

2
5 Y Z 4 COOLANT COOLANT LIGHT 2

Keyboard: VK15 Keyboard: VK Keyboard: VK10

Panel: ST4022M Panel: 3030M3 Panel: 3025M

8 inches
NEW
Keyboard::VK10
Panel: 3025T

80 X10 X100
ST4022M 60 10
0
80 90
X1 25 50 X250
70 100 F0 100
40

120

60 110
20

140150

50 120
0

% % %

MPG SIM SBK OPT.SKIP OPT.STOP AUTO MDI HOME

CW STOP CCW SP.M19 JOG INC JOG MPG

F1 F2 F3
APF TOOL W/D MAG.CW MAG.CCW

5 Y Z 4
MAG.POP MAG.Push AIR BLOW

X X F4 1

RAPID CHIP CW CHIP CCW LIGHT 1

2
5 Y Z 4

Keyboard: HK
COOLANT COOLANT LIGHT 2

Panel:40１2M Panel:ST4022M Panel: 4421M2 Panel: SK6M

Standard Multi-Function Milling Composite Milling Five-Axis Composite Milling

Controller 200 200
6MA 6MB 11MA 11MB 21MA 22MA 200MA 200MB 220MA 220MB 220MA-5 220MB-5
MA-5 MB-5
Axis no. 3 4 4 8 6 6 8(9) 12(16) 8(9) 12(16) 8(9) 12(16) 8(9) 12(16)

DA 2 2 1 - 1 -
128/128 128/128
Max I/O 32/32 32/32 128/128 96/96 128/128 96/96 (RIO、M3IO) 96/96 (RIO、M3IO)
10.4” 10.4”
Display 8” 10.4” 8”/ 10.4”/ 15” 8”/ 10.4” / 15”
10.4” 10.4”/ 15” / 15”
10.4” 10.4”/ 15”

Servo General Purpose General Purpose M2 M3 M2 M3/ECAT M2 M3/ECAT

VGA - - - - -
Ethernet Ethernet、RS232 Ethernet Ethernet、RS232 Ethernet
Connection Ethernet、RS485 Ethernet、RS485 RS485、SRI RS422、RS485 RS485、SRI RS422、RS485 RS485、SRI
Multi-Program No. 2 2 2 4 4 4 4

RAM 256MB 512MB 4GB 256MB 4GB 256MB 4GB

RTCP - - - - - - -
Inclined Plane Process - - - - - -

HPCC -
O: standard function, 　: optional function, -: Not available function N E W New Product Remark *Only sell in Mainland China **Only sell in Taiwan
Standard Turning Solution Product 6TA 6TB

Axis no. 3 axis 4 axis

Spd no. 2 2
Ethernet,RS232,RS485
Multi-Program no. 2 2

Dual DA no. 2 2
USB
IO no. 32/32 32/32

Variable control panel option

Lastest developed hardware, special

designed for 2-4 axis turning machine New interface,
Provide 6 series variable
Non CF card (sealed) design faster operation,
product option and control panel
High reliability mainboard and easier to learn.
Supports USB, internet
Complete turning features

SYNTEC 21MA
Yaskawa Axis motor SyntecSerial BUS Total Solution
Auto tur ning inter face in contr ol l er

Serial bus
Communication

24 bit high resolution control with absolute encoder

Spindle tunung feature

SYNTEC spindle package

18 bit high resolution control,improve machining efficiency Axis and spindle motor load monitor

Multi-Program Mill-Turn Solution

New 200 Series

Maximum 4 controlled paths
4 Simultanenous independent program

WinCE USB,CF card Ethernet,RS232,RS485

Dual-Paths Mill-Turn Solution

Dual-paths interface
Dual-paths operation panel
Support advanced functions for
multi-program application, such as
synchronized and non-synchronized
axis-coupling, axis exchange, and ect.
Synchronize motion in-between
multi-program
Synchonized spindles function

Turning Function: Specific, Powerful, Practical

Extreme Speed Improves threading result and efficiency by overlapping technique.

Threading Mode
Extreme Speed
1000 Times Threading General Threading Threading Mode Time Saving

G21 Threading 36789(Sec) 29303(Sec) 20.3%

G78 Threading 24685(Sec) 18803(Sec) 23.8%

Tilted Plane Machining

Function of rotating coordinates simplifies the programming on the inclined surface.
Milling, drilling, and tapping on the inclined plane can be implemented with NC program input
manually, without complex CAD / CAM processing.

Axis-Exchange Feature
The turret of the first path can machining with the second spindle; and at the same
time the first spindle occupies the second turret to machine. Reduces the number of machine tools,
improves the flexibility and efficiency of machining.

Synchronized Tapping
Spindle has no need to decelerate or stop, the dynamic control of tapping-head allows spindle to
remain rotating while tapping. This significantly reduces the tapping time.
21MA Milling Controller
Powerful Controller with M2 Bus Protocol

SYNTEC 21MA controller comes with serial bus Mechantrolink-II connection motion control,
improves machining performance by decreasing interpolation time and increasing surface’
space smoothness.
Serial bus communication control also improves traditional pulse delay of differ-entiate transfer
time between axis, provides a simplier system and easier to install and setup.

High Speed, High Precision, High Quality

SYNTEC 21MA controller is equipped with 1000blocks/sec. computational ability, and High
speed High precision feature, such as SPA, HPCC, surface smoother, quick parameter setup,
high speed tapping, multiple spindles synchronize motion tapping etc. SYNTEC 21MA is the
best solution for high efficience and high precision machining.

Flexible & Competitive Solution

SYNTEC 21MA control is capable to control up to 6 axes, with up to 4-axis simultaneous
machining in each axis group. Besides common DA and pulse command inverters, it also
supports SYNTEC M2 Spindle Drive which has high resolution encoder and better cutting
quality. Moreover, standard I/O connections supports up to 32 direct output and input, a
lso can be expanded with external I/O module by RIO serial bus interface to provide more
flexible options.

Machining Serial Bus Solution

Yaskawa axis motor

SYNTEC 21MA High Performance & Better Configuration

Serial Bus Controller
Syntec lastest Milling machine serial bus solution
1. 21MA high speed and high precision controller
2. High resolution Yaskawa controller (24bit)
Syntec spindle Padcage 3. Axial optical device (optional)
4. High resolution and high speed spindle set
5. Supports DD motor(4th/5th axis)
6. Coolant Through Spindle
7. High speed spindle positioning
8. High speed rigid tapping
9. High speed and high precision functions

Syntec DD motor
Highly integrated configuration and diagnostic

Syntec servo magazine

Axis and spindle setting Serial bus oscilloscope
Mill Function

Rapid Tool Retraction In Tapping Process Multi-Spindle Tapping

The Percentage
of Retraction 100% 150% 200% 300%
Tapping Time(100 Holes) 310 273 255 240 Provide multi-spindle machine to enhance the
- productivity corresponding to the same program.
Save percentage 11.94% 17.74% 22.58%
Support multi-spindle tapping, improve the productivity.
Flexibly select the machining spindle according to
Use parameter to set tool retraction speed, maximum to 300%. different machining conditions
Support up to 6 spindles
Support the bell-shaped curve of acceleration and deceleration with
the advantage of high speed and stability.

Five-Axis Control Function(Optional Feature for Special Controller)

Support Various Types of Five-Axis Compensation Tilt Working Plane Machining

For oblique cutting tool or rotating worktable provides correction
function to define the tilt machining plane conveniently .

Tool Rotation Table Rotation Composite Type

RotationTool Center Point Feature (RTCP) Smooth RTCP Feature (SMTCP)

Imperfect Tool Angle Generated by CAM Software 5 Axis SMTCP will

Support 3D tool length compensation feature, user only needs to overcome the defects
program product in CAM program, controller willautomatically cutting angle various resulting in poor surface smoothness
of path generated by
implement tool length and wear, and thetool tip will always on the CAM software,
perpendicular against product contour. especially for
side blade machining.

Smoothened Tool Angle Decrease cutting

angle variation,
increase surface
smoothness and
shorten cutting time.
High Efficiency Machining
High-Speed, High-Precision Machining (HSHP) Smooth Precision Advanced (SPA)

High-Speed Machining

SPA OFF

SPA ON
The WinCE system can process 1000 blocks and look-ahead 2000
blocks each second. These enable smooth motion and enhance Due to limitation of machine condition, servo mismatch
can be found even the servo loop gain has been
surface quality. In order to advance the precision, HSHP function also optimized. This error causes dimensional shrinkage
controls the corner and arc feedrate efficiently. especially in high-speed machining. SPA features is
designed to overcome this issue.

Path Smoothing Feature High Precision Contour Control (HPCC)

Eliminate cutting flaws

caused by program path

Enhance the brightness of the surface and reflect obviously

HPCC OFF HPCC ON

By trimming the rough program path generated by CAD/CAM The tool path generated by CAD/CAM software is generally discontinuous,
software with a tolerance, the desired smooth and fine path is and it causes negative effects on machining operations. The problems will be
estimated by Path Smoothing function. This improves the more serious because of larger CAD/CAM tolerance. HPCC function fits the
surface finish, machining efficiency and stability of machine tool. discontinuous blocks into a smooth-curve path, and this will enhance the
machining precision and reduce the mechanical shock.

Simplified HSHP Parameter Direct Numerical Control Feature (DNC)

User may choose [Precision level<---> Speed level], [Original Loading and running the programs from external devices(USB disk,
path<--->Smoothing path level], and SPA features to control Ethernet) directly, which saves the diskspace and the time for
machining result transferring huge programs.

[Only available on ARM-based controller]

User Friendly Operation Interface
Users can get started easily and immediately operate it right for the first time.

Graphic Conversational Input MPG Simulation

Lathe Mill Lathe Mill

Provide various graphic conversational input in program editing menu. In the dry run process, users can decide the cutting speed and direction
Customized graphic conversational input is also available. with moving MPG forward or backward.

Permission Management Feature My Favorites

Provides machine maker or operation manager permission management

New F6/F7/F8 [My Favorites] function key allow user or machine maker
feature, different permission allowed according to different level
to set their favorite interface shortcut and access designated interface faster.
user, to avoid operational mistake and protect confidential data.

Analysis Platform of Machine and Computer

SYNTEC provides not only analysis software to assist

Complete servo adjustment ability Adjacent pass analysis customers to adjust servo in time but also analysis tools
to visualize NC commands and response allowing
customers to find the problem and the cause fast and
accurately.

Timing analysis by PLC interface NC file Analysis

Complete Development Tools
Syntec's Ladder Editor Program Software-MLCEdit

Ladder Support
Windows Based Ladder Tool
Online Ladder display, easier to debug
Support Ladder save, open file, adding comment
Long element comment, copy paste, cut, auto
check features

Open Human-Machine Interface Editing Software - eHMI

Introduction - Open Platform, Easy to Learn and Easy to Use Environment

eHMI can help developer to edit HMI intuitively without

Man-machine browser editing Man-machine Fenubar editing complicated programming process. It provides a more efficient,
easier and more user-friendly operation interface to reduce
development process.

Integrated test results with the Package the project and then
same display on the controller install directly on the controller

Convenient and User-Friendly Operation Interface

Drag and drop function Convenient auxiliary toolbar

Easy to understand browser editing

Complete project information

Convenient worksheet properties

Syntec Robotics Pick and Place Solutions
81R Handheld controller All-in-one drivers Robot arm

All in One

Inverter auto tuning feature Gantry arm

Controller

Highly integration between controller and robotic arm to minimize the automation barriers
All in One: By using multi-axis structure to control truss arm and to meet the demands of
pick and place
Available for secondary development to modify for own specialties

Features of Robotic Arms

81R supports various types of arms 81R & All in One teaching features

Supports various types of arms Make it easier with conversational teaching

(SCARA、six -axis arm 、DELTA 、4 axis robot...) Special material plate setup and module
Synchronize movement and end point linear motion control Reduce the teaching time by setting up reference point
Vision Alignment System
Rear platform: vision system
computation
Front platform:
SYNTEC exclusive vision solution
operation interface
and control kernel Easy to Operate
All operations can be reached on the
controller , another monitor or control box
Combined with vision system, the offset is unnecessary.
and rotation information of work piece Easy to Use
Provide standard alignment macro for
can be obtained and compensated by general application. For different size of
work piece, users only need to modify
control. In this way, the machining parameters.
accuracy can be significantly improved. Easy to Set Up
Provide waterproof box. All the vision
accessories are calibrated and set up inside.
Our vision system provides simple and Users only need to install the waterproof box.
intuitive manipulation and teaching Easy to Customize
Through eHMI, users can easily modify the
interface, supports up to 4 CCDs, and is browser layout.
very convenient for users’setting. High Openness
Modify macro to reach different
needs.
Syntec WinCE Controller
High Compatibility
Support Cognex, Keyence, and Omron
visual system.

Identify Targets Syntec Vision Package

A type B type C type
Feature Economical,dedicated All with fixed distance All with different distance
Glass Glass: rarely
Appliance All
Metal mark Other: OK
1.3 megapixel CCD

Camera
Cross mark
Circular mark
Arbitrary pattern USB Interface DMK-72AUC02 GigE:DMK-23K445
Telecentric Lens
Line Telecentric Lens CCTV Lens
(coaxial)
L-mark
Intersection Lens

Standard Visual Pages Spot Light Direct Ring Light Coaxial Light

Lighting

1CH Analog Dimmer 1CH Analog Dimmer 1CH Analog Dimmer

Dimmer
LED-Power

Resolution ≈ 5um/pixel ≈ 5um/pixel ≈ 5-50um/pixel

Includes parameter setting
Field of ≈ 5mm*7mm
Multiple camera display View-FOV ≈ 4.8mm*6.4mm ≈ 4.8mm*6.4mm ~ 50mm*70mm

Working
Distance 110mm 110mm 110mm-500mm
2D DXF Import and CAD/CAM Solution
CAD/CAM Platform
Loading AutoCAD DXF File
SYNTEC provides the function of loading DXF files,
the complex graphic can also be loaded.
Editing the Image File Loading from AutoCAD CAD editing function
Providing the editing function after loading DXF files, CAD path optimization function
users can delete or add the line segment in DXF files. Loading AutoCAD DXF
CAM Path Optimization Function
Providing the capability to optimize the machining
path in the DXF file, complex segments of DXF can
be automatically determined and arranged to create
the smooth machining path. Feeding/relieving point
Providing customized page design
Function of Setting CAM Machining Program MACRO customization
Users can edit their own machining processes; do
not need to follow these steps: the tool feeding
→ the machining path → the tool relieving …
converting to NC files.
Function of Setting Relieving Point in CAM
Allowing users to choose feeding points accordingly Editing feeding point in CAM

CAM parameter editing function

Editing machining path in CAM
Converting to the NC file according to the machining path
Open Development Platform
Function of Editing CAM Parameter
SYNTEC provides customers with CAM parameters page to
self-define or self-customize dedicated customized surface.

MACRO Program t o Set Tool Feeding/Relieving In CAM

Providing the MACRO program to design the tool feeding/
relieving in CAM, users can design the tool feeding/ relieving
path according to operation of dedicated machine.

Dual System Dipole Structure

SYNTEC provides dual-system architecture with expectation that users can benefit from PC-Based CNC.Dual-system
architecture provides connection between front-end computer and back-end CNC by cable.Front-end computer can
process various applications such as Vision, CAD/CAM and other high level software applications, allowing customers
to integrate hardware and software resources.

Self-developed front-end
programs in WIN XP or WIN 7...

Integrate with other software and Applications development

hardware such as Vision, CAD / CAM can be executed
through the Internet.

SYNTEC provides standard API to facilitate customers

to develop front-end application programs.Front-end
computer can use Win xp or Win7 and other platforms,
easy to integrate with other Front-end computer d
evelops relatively fast in order to PC, and all human-
machine interface is executed in the front-end computer
, does not affect the back-end CNC's performance.
SYNTEC provides standard platform ensuring real-time
quality at the back-end.

Syntec standard back-end

Customers use dual-system architecture to self-develop
3D simulation control software and operator panel tooperate
the controller at the front-end compute.
Dedicated Lathe Functions
General Purpose Serial Bus
6 Series 10Series 11Series 6Series 21Series 22Series 200Series 220Series

Category Items Units Remark TA TB TF TA** TB TE TA TA-H TB TB-H TA TB TB TB-5 TB TB-5

Max. Controlled Paths Axis 1 2 4 2 1 2 2 4 4
Max. PLC Controlled Paths Axis ─ 1 3 1 ─ 1 1 3 3
Standard axis Axis 3 4 8 4 8 3 4 6 4 6 12 12 12
Max. axis(optional) Axis 3 4 8 4 8 4 4 8 4 8 16 16 16
Max. spindle(optional) Axis 2 6 2 6 1 2 4 2 4 6 6
Product Max. simultaneous axis control Axis 3 4 4 4 4 3 4 4 4 4 4 5 4 5
Specification
Min. control unit 0.0001 0.0001 0.0001 0.0001 0.0001 0.0001 0.0001 0.0001
Max. number of program coordinate Set 32 100 100 100 100 100 100 100 100
Max. Number of Table Tools Set 96 96 96 32 96 96 96 96 96
Multi-Channel Function Group Set 4 4 4 4 4 4 4 4 4
Look-Ahead Blocks no. 64 2000 1000 1000 1000 1000 1000 2000 2000
Block Processing time 300 1000 1000 300 1000 1000 1000 1000 1000
Storage(DISKA) MB 256 256 512 512 512 512 4096 256 4096
Standard I/O ─ 32/32 32/32 32/32 64/64 32/32 32/32 32/32 32/32 32/32 32/32
Optional I/O ─ ─ 96/96 ─ 128/128 ─ 96/96 96/96 128/128 96/96 128/128
DA Set 2 1 2 2 2 2 ─ 1 ─
Monitor Inch 8 10.4 10.4 8 8/10.4 8/10.4 8/10.4/15 8/10.4 10.4/15
CF Card Set ─ 1 ─ ─ ─ ─ ─ ─ ─
Front side
USB Set 2 1 2 2 2 2 2 1 2
Hardware
Specifications RJ-45 Set 1 2 1 1 1 1 2 2 2
VGA Output Set ─ 1 ─ ─ ─ ─ ─ 1 ─
PS/2 Set ─ 1 ─ ─ ─ ─ ─ 1 ─
RS-232 Set ─ 1 ─ ─ ─ ─ ─ 1 ─
Back side
RS-422 Set ─ 1 ─ ─ ─ ─ ─ 1 ─
RS-485 Set 1 0 1 1 1 1 1 ─ 1
USB Set ─ 2 ─ ─ ─ ─ 2 2 2
SRI Set ─ ─ ─ 1 ─ 1 ─ 1 1 ─ 1
Pulse Train (A/B Phase) O O O ─ ─ ─ ─ ─ ─
Servo Pulse Train (CW/CCW) O O O ─ ─ ─ ─ ─ ─
Control mechatrolink II ─ ─ ─ ─ O O ─ O ─
mechatrolink III ─ ─ ─ O ─ O ─ O O ─ O
Backlash Compensation O O O O O O O O O
Pitch Error Compensation O O O O O O O O O
Compensation Angular Error Compensation O O O O O O O O O
Temperature Error Compensation O O O O O O O O O
2 Dimension Error Compensation O O O O O O O O O
MPG Simulation O O O O O O O O O
Dry Run O O O O O O O O O
Optional Stop O O O O O O O O O
Single Block O O O O O O O O O
Virtual MPG O O O O O O O O O
Operation
Restart at Feedhold O O O O O O O O O
Restart at Break Point O O O O O O O O O
Tool Return ─ ─ ─ ─ ─ ─ ─ ─ ─
Fixture Offsets O O O O O O O O O
MPG Offsets ─ ─ ─ ─ ─ ─ ─ ─ ─
Optional Skip O O O O O O O O O
B─stop O O O O O O O O O
Absolute Zero Point Coordinate G92/G92.1 O O O O O O O O O
Programming
Interrupt Macro M96/M97 O O O O O O O O O
M198 call Subroutines O O O O O O O O O
Expandable G Code O O O O O O O O O
Constant Jerk Control O O O O O O O O O
Multiblocks S-curve motion plan O O O O O O O O O
Auto declaration in Corner O O O O O O O O O
Speed Limit for Round Radius O O O O O O O O O
Multiple Sets of HSHP Parameters ─ ─ ─ ─ ─ ─ ─ ─ ─
HSHP Quick Parameter Setup ─ ─ ─ ─ ─ ─ ─ ─ ─
SPA Feature ─ ─ ─ ─ ─ ─ ─ ─ ─
Virtual Radius Funciton (for Rotary Axis) O O O O O O O O O
HSHP Control Mode I (G05.1 Q1) G05.1Q1 ─ ─ ─ ─ ─ ─ ─ ─ ─
HSHP Control Mode II (G05P10000) G05P10000 ─ ─ ─ ─ ─ ─ ─ ─ ─
NURBS Interpolation Ability ─ ─ ─ ─ ─ ─ ─ ─ ─
 **Only sell in Taiwan
Remark
O: standard function, △: optional function, -: Not available function
General Purpose Serial Bus
6 Series 10Series 11Series 6Series 21Series 22Series 200Series 220Series
Category Items Unit Remark TA TB TF TA** TB TE TA TA-H TB TB-H TA TB TB TB-5 TB TB-5
Auto tool setting ─ ─ ─ ─ ─ ─ ─ ─ ─
Tool Auto tool measurement O O O O O O O
Works with Renishaw hardware only O O
Management
Tool life management Function needs to be customized O O O O O O O O O
Machine lock (R bit) O O O O O O O O O
Software limit O O O O O O O O O
Spindle speed arrival check O O O O O O O O O
Axis Synchronize feature O O O O O O O O O
Dynamic Axis Synchronize feature O O O O O O O O O
Feedback synchronize feature O O O O O O O O O
Rapid retraction for rigid tapping O O O O O O O O O
Virtual axis feature O O O O O O O O
Axis change feature O O O O O O O O O
Axial torque control ─ ─ ─ O O O O O O
Serial bus setting feature(CNC axis) ─ ─ ─ O O O O O O
Accessibility Driver information display(CNC axis) ─ ─ ─ O O O O O O
Spindle application feature(CNC axis) ─ ─ ─ O O O O O O
Serial bus PLC axis ─ ─ ─ O O O O O O
High speed spindle positioning (C61) With Syntec spindle ─ ─ ─ O O O O O O
ROT element ─ ─ ─ O O O O O O
Dipole front and back system ─ O O ─ O O O O O
Data backup recovery O O O O O O O O O
Customized Opening screen O O O O O O O O O
My favorites Only Eight key system supports ─ ─ O O O O O ─ O
Project protection feature O O O O O O O O O
Limit access management O O O O O O O O O
Remote AP monitor O O O O O O O O O
Background edit O O O O O O O O O
Program Edit Edit protection O O O O O O O O O
Immediate grammar check O O O O O O O O O
PLC diagnosis function
PLC ─ O O O O O O O O
(Force I point)
NETWORK O O O O O O O O O
FTP O O O O O O O O O
Data Transfer RS-485 O O O O O O O O O
DNC(Network) O O O O O O O O O
DNC(USB) O ─ O O O O O O O
Operation CV display O O O O O O O O O

Information Program simulation O O O O O O O O O

Display Partial program simulation O O O O O O O O O
Dynamic multi-language switch ─ O O O O O O O O
Elliptical interpolation(clockwise) G02.1 O O O O O O O O O
Parabolic interpolation G02.2 O O O O O O O O O
Cylindrical interpolation G07.1 O O O O O O O O O
Polar coordinates interpolation G12.1 O O O O O O O O O
Outer/inner diameter cutting cycle G20 O O O O O O O O O
Threading cycling G21 O O O O O O O O O
Threading continuous cycling G21.2 O O O O O O O O O
End Face turning cycling G24 O O O O O O O O O
Skip function G31 O O O O O O O O O
Threading Cutting G33 O O O O O O O O O
G code
command Variable pitch threading G34 O O O O O O O O O
Polygon turning G51.2 O O O O O O O O O
Program coordinate setting G54~G59.9 O O O O O O O O O
Mirror feature (turning) G68 O O O O O O O O O
Complex machining cycling G72~G78 O O O O O O O O O
Drilling cycling G80，G83~G89 O O O O O O O O O
Zero point coordinate setting G92.1 O O O O O O O O O
Reverse time finish information G93 ─ ─ ─ ─ ─ ─ ─ ─ ─
Surface cutting speed control G96 O O O O O O O O O
Spindle synchronize feature G114.1 ─ O ─ O ─ O O O O
Spindle carry feature G114.3 ─ O ─ O ─ O O O O
Dedicated Milling Functions Pulse Train Serial BUS
6Series 10Series 11Series 6Series 21Series 22Series 200Series 220Series
Category Items Units Remark MA MB MF MA MB MD MD-H MA MA-H MA MA MA-5 MB MB-5 MA MA-5 MB MB-5
Max. PLC Controlled Paths Axis 2 4 2 2 2 2 4 4
Max. PLC Controlled Paths Axis 1 3 1 1 1 1 3 3
Standard Axis Axis 3 4 8 4 8 4 6 6 8 12 8 12
Max. Axis (Optional) Axis 3 4 8 4 8 5 6 6 9 16 9 16

Product Max. Spindle Axis 1 2 6 2 4 2 4 4 6 6

Specification Axis 3 4 4 4 4 4 4 4 5 4 5 4 5 4 5
Max. Simultaneous Axis Control
Min. Control 0.0001 0 0.0001 0.0001 0.0001 1E-04 0.0001 0.0001
Max. number of program coordinate Set 32 100 100 32 100 100 100 100
Max. Number of Table Tools Set 96 96 96 96 96 96 96 96
Multi-Channel Function Group Set 4 4 4 4 4 4 4 4
Look-Ahead Blocks no. 100 2000 1000 100 2000 2000 2000 2000
Block Processing time 300 3000 2500 600 2500 2500 3000 4000 3000 4000 3000 4000 3000 4000

Storage(DISKA) MB 256 256 512 512 512 4096 256 4096

Standard I/O ─ 32/32 64/64 32/32 64/64 32/32 32/32 32/32 32/32 32/32
Optional I/O ─ ─ 128/128 ─ 128/128 ─ 96/96 128/128 96/96 128/128
DA Set 2 1 2 2 2 ─ 1 ─
Monitor Inch 8 10.4 10.4 8 8/10.4/12/15 8/10.4/15 10.4/15 10.4/ last parts
CF Card Set ─ 1 ─ ─ ─ ─ 1 ─
Front side
Hardware USB Set 2 1 2 2 2 2 2 2
Specifications
CF Card Set ─ 2 ─ ─ ─ ─ 2 ─
RJ-45 Set 1 2 1 1 1 2 2 2
VGA Output Set ─ 1 ─ ─ ─ ─ 1 ─
PS/2 Set ─ 1 ─ ─ ─ ─ 1 ─
RS-232 Set Back side ─ 1 ─ ─ ─ ─ 1 ─
RS-422 Set ─ 1 ─ ─ ─ ─ 1 ─
RS-485 Set 1 1 1 1 1 1 1 1
USB Set ─ 2 ─ ─ ─ 2 2 2
SRI Set ─ ─ ─ ─ 1 ─ 1 1 ─ 1
Pulse Train (A/B Phase) O O O ─ ─ ─ ─ ─

Servo Pulse Train (CW/CCW) O O O ─ ─ ─ ─ ─

Control mechatrolink II ─ ─ ─ O O ─ O ─
mechatrolink III ─ ─ ─ ─ O ─ O O ─ O
Backlash Compensation O O O O O O O O
Pitch Error Compensation O O O O O O O O
Compensation
Angular Error Compensation O O O O O O O O
Temperature Error Compensation O O O O O O O O
2 Dimension Error Compensation ─ O O ─ O O O O
MPG Simulation O O O O O O O O
Dry Run O O O O O O O O
Optional Stop O O O O O O O O
Single Block O O O O O O O O
O O O O O O
Operation Virtual MPG O O
Restart at Feedhold O O O O O O O O
Restart at Break Point O O O O O O O O
Tool Return O O O O O O O O
Fixture Offsets O O O O O O O O
MPG Offsets O O O O O O O O
Skip blocks starting with"/"
Optional Skip Skip blocks starting with"/" O O O O O O O O
B─stop O O O O O O O O
Absolute Zero Point Coordinate G92/G92.1 O O O O O O O O
Programming
Interrupt Macro M96/M97 O ─ ─ O O O O O
M198 call Subroutines O ─ ─ O O O O O
Expandable G Code O O O O O O O O
Constant Jerk Control O O O O O O O O
Multiblocks S-curve motion plan ─ O O ─ O O O O
Auto declaration in Corner O O O O O O O O
Speed Limit for Round Radius O O O O O O O O
Multiple Sets of HSHP Parameters ─ O O ─ O O O O
HSHP ─ O ─ O O O
Quick Parameter Setup O O
SPA Feature O O O O O O O O
Virtual Radius Funciton (for Rotary Axis) ─ O ─ O O O O O
HSHP Control Mode I (G05.1 Q1) G05.1Q1 ─ O O ─ O O O O
HSHP Control Mode II (G05P10000) G05P10000 ─ Δ O ─ O O Δ O
NURBS Interpolation Ability ─ Δ O ─ O O Δ O
 Remark O: standard function, △: optional function, -: Not available function

General Purpose Serial Bus

6Series 10Series 11Series 6Series 21Series 22Series 200Series 220Series
Category Items Units Remark MA MB MF MA MB MD MD-H MA MA-H MA MA MA-5 MB MB-5 MA MA-5 MB MB-5
Auto Tool Setting O O O O O O O O
Tool
Management Auto Tool Management Works with Renishaw hardware only O O O O O O O O
Tool Life Management Function needs to be customized O O O O O O O O
Machine Lock (R bit) O O O O O O O O
Software Limit O O O O O O O O
Spindle Speed Arrival Check O O O O O O O O
Axis Synchronize Feature O O O O O O O O
Dynamic Axis Synchronize Feature O O O O O O O O
Feedback Synchronize Feature O O O O O O O O
Rapid Retraction for Rigid Tapping O O O O O O O O
Virtual Axis Feature O O O O O O O O
Axis Change Feature O O O O O O O O
Axial Torque Limit ─ ─ ─ O O O O O
Serial Bus Setting Feature ─ ─ O O O O
Facilitating ─ O
(CNC Axis)
Functions
Driver Information Display ─ ─ O O O O
─ O
(CNC Axis)
Spindle Application Feature
(CNC Axis)
─ ─ ─ O O O O O

Serial Bus PLC Axis ─ ─ ─ O O O O O

ROT Element ─ ─ ─ O O O O O
Dipole Front and Back System ─ O O ─ O O O O
Data Backup Recovery Maker Backup O O O O O O O O
Customized Opening Screen O O O O O O O O
My Favorites Only Eight key system supports ─ ─ O ─ O O O O
Project Protection Feature O O O O O O O O
Limit Access Manager O O O O O O O O
Remote AP Monitor O O O O O O O O
Background Edit O O O O O O O O
Program Edit Protection O O O O O O O O
Edit
Immediate Grammar Check O O O O O O O O

PLC Diagnosis Feature

PLC ─ O O O O O O O
(FORCE I Point)
NETWORK O O O O O O O O
FTP O O O O O O O O
Data
RS-485 O O O O O O O O
Transfer
DNC(Network) O O O O O O O O
DNC(USB) O ─ O O O O O O
Operation CV Display O O O O O O O O

Information Graphic Simulation O O O O O O O O

Display Partial Graphic Simulation O O ─ O O O O O
Dynamic Multi-Language Switch ─ O O O O O O O
Feature Coordinate
Inclined (Inclined Plane Process)
G68.2, G68.3 ─ Δ ─ ─ Δ Δ Δ Δ
Plane Feature Coordinate Teach ─ Δ ─ ─ Δ Δ Δ Δ

5 axis 5 Axis RTCP G43.4 ─ ─ ─ ─ ─ ─ ─ Δ ─ Δ ─ Δ ─ Δ

feature Smooth TCP ─ ─ ─ ─ ─ ─ ─ Δ ─ Δ ─ Δ ─ Δ
High Precision Locus Control Mode G05P10000 ─ Δ O ─ O O Δ O
Smoothing Path Mode G05.1 ─ O O ─ O O O O
NURBS Interpolation G06.2 ─ Δ O ─ O O Δ O
Thread Cutting G33 O O O O O O O O
Auto Tool Measurement G37 O O O O O O O O
Tool of Offsets G45~G48 O O O O O O O O
High Speed Peck Drilling Cycle G73 O O O O O O O O
Left Handed Tapping G74 O O O O O O O O
High Precision Boring Cycle G76 O O O O O O O O
G code Drilling cycling G81 O O O O O O O O
command
Chopping G81.1 ─ O O ─ O O O O
Bottom Feed Hold Drilling Cycle G82 O O O O O O O O
Peck Drilling Cycle G83 O O O O O O O O
Tapping Cycle G84 O O O O O O O O
Boring Cycle G85 O O O O O O O O
High Speed Boring Cycle G86 O O O O O O O O
Back Boring Cycle G87 O O O O O O O O
Semi Automatic Finishing Boring Cycle G88 O O O O O O O O
Bottom Feed Hold Boring Cycle G89 O O O O O O O O
Multi-Group HSHP Parameter G120.1 ─ O O O O O O O