Employing a tap to cut the internal threads is one of the most widely used techniques. However, sudden breakage of the tap is frequently encountered in tapping due to the increase of friction torque, particularly in the case of smaller tap size (below M6), which caused the relief angle. In order to realize the influence of ultrasound-assisted vibration on friction torque of smaller tap size for Ti-6Al-4V alloy, the developed frequency tracing system by LabVIEW software and selected tapping parameters (coated materials, vibration voltage and vibration frequency) were employed. The experimental results show the developed frequency tracing system and different coated taps can effectively decrease the split risk in tapping internal thread of Ti-6Al-4V alloy.