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That message means the syntax of the SQL ODI has generated and sent to the database is incorrect, usually means something has been mis-configured in your ODI Model, Interface etc.
Go into Operator, copy the SQL from the step that is failing , run it in the target DB as the same user configured for that data server in Topology, it will give you the line number which (at least) which will be a start.
Also paste up the generated SQL here,
What I would do next is have a look at the Knowledge module step, find the specific API call generating the incorrect syntax and see what its looking for in the ODI metadata, e.g
Consult the Substitution API reference documentation - its well written up.
<%=odiRef.getColList("", "Y.[COL_NAME]=X.[COL_NAME]", "\n\tand\t", "", "PK")%> for example is looking for primary key columns to be defined in the interface. Usually you can debug it from there pretty easily.