SIC LASER ADVANCED

External Motion Control

SIC Marking
13, Route de Limonest
ZAC de la Braille
69380 Lissieu
France
Telephone: +33 (0)4.72.54.80.00
Fax: +33(0)4.78.47.39.40
E-Mail: [email protected]
http://www.sic-marking.com

Manual - External motion control - R01.docx 1/18

TABLE OF CONTENTS
1 INTRODUCTION ........................................................................................................................................ 5
2 CONFIGURATION ...................................................................................................................................... 6
2.1 PREAMBLE .................................................................................................................................................. 6
2.2 CREATE THE CONFIGURATION FILE OF EXTERNAL AXIS ........................................................................................... 7
2.3 SOFTWARE SETTING .................................................................................................................................... 10
3 REGULAR MOTION CONTROL ................................................................................................................. 11
3.1 JOG DIALOGUE ........................................................................................................................................... 11
3.2 HOME / SHIFT DIALOG ................................................................................................................................ 12
4 GCODE COMMANDS ............................................................................................................................... 14

Manual - External motion control - R01.docx 3/18

Manual - External motion control - R01.docx 4/18
1 INTRODUCTION

This document explains the different step to follow to use an external axis with SIC LASER ADVANCED.

SIC MARKING digital Z axis and D axis can be drive.

It can be used via regular motion control in SIC LASER ADVANCED, or via GCode commands.

PC MODE STAND ALONE MODE

RS232 / Telnet JobIoSelect

Regular motion OK OK OK
control

GCode commands NOK OK NOK

(only for Z-axis)

All the functions describe are allowed with SIC LASER ADVANCED V3.6.0 or higher.

SIC Laser rack are able to drive SIC external axis.

The FU1 laser rack can drive one axis, then the FU4 can drive two axis.

code SIC MARKING FU1 FU4

axis description
4 300 674 D axis (Diam 80)

4 300 391 D axis (Diam 100)

4 100 451 Digital Z axis for XL-

BOX
4 400 209 Z Axis L50 without
brake
4 400 245 Z Axis L50 with brake

4 400 210 Z Axis L100 without

brake
4 400 246 Z Axis L100 with
brake

4 400 247 Z Axis L250 with

brake

Manual - External motion control - R01.docx 5/18

2 CONFIGURATION

2.1 PREAMBLE
Before using the system, it needs to be configured.

The configuration is done with these files:

• sc_motion_settings.txt
• sc_motion_stepper_settings.txt

These files are located in the directory: c:\laser\system\

"sc_motion_settings.txt" file define witch type of axis is going to be used.

The different values allowed are:

• type 0 : no external axis (default setting)
• type 14 : Stepper Controller on USC-2. Set to 14 this value to drive an axis in PC mode or in
stand alone mode

"sc_motion_stepper_settings.txt" file define all the parameters to configure the axis (Z or D axis, ratio,
speed, origin…).
If your system have only one external axis (connected to “AXIS1” for FU4 configuration), the setting
could be done with the software “SicLaserConfigurationManager”.

In other case, you need to do it manually.

To mark it easy, on the folder "\laser\system\external axis", you will find preconfigured file according to
the following table:

Axis file name SIC MARKING axis description code

sc_motion_stepper_settings (D_Axis D80 - 4300674) - R00.txt D axis (Diam 80) 4 300 674

sc_motion_stepper_settings (D_Axis D100 - 4300391) - R01.txt D axis (Diam 100) 4 300 391

sc_motion_stepper_settings (Z axis digital - 4100451) - R00.txt Digital Z axis for XL-BOX 4 100 451

sc_motion_stepper_settings (Z_Axis L50 - 4400209) - R00.txt Z Axis L50 without brake 4 400 209

sc_motion_stepper_settings (Z_Axis L50 - 4400245) - R00.txt Z Axis L50 with brake 4 400 245

sc_motion_stepper_settings (Z_Axis L100 - 4400210) - R00.txt Z Axis L100 without brake 4 400 210

sc_motion_stepper_settings (Z_Axis L100 - 4400246) - R00.txt Z Axis L100 with brake 4 400 246

sc_motion_stepper_settings (Z_Axis L250 - 4400247) - R00.txt Z Axis L250 with brake 4 400 247

Some values must remain fixed and don’t have to be modified otherwise axis will not work
properly.

Manual - External motion control - R01.docx 6/18

 FU1 FU4 FU4
Axis 1 Axis 2
stepIO 217 217 219
DirIO 216 216 218
refIO 16 16 17

StepIO= Pulse signal DirIO= direction signal RefIO= origin sensor signal (when equipped)

2.2 CREATE THE CONFIGURATION FILE OF EXTERNAL AXIS

➢ Open folder: C:\SIC_MARKING\LASER\config_externalAxis

➢ Open file related to your 1st axis that will be connected on AXIS 1 connector on backside of
FU4 controller (in my example Z axis digital)
➢ Select and copy the following settings:

Manual - External motion control - R01.docx 7/18

 ➢ Paste them in a new txt file.

➢ Open file related to your 2st axis that will be connected on AXIS 2 connector on backside of
FU4 controller (in my example D axis G9)

➢ Select and copy the following settings:

➢ Paste them at the end of the new txt file.

➢ Change the values of axis, dirIO, stepIO and refIO

Remark: The second axis is not equipped with origin sensor, thus refIO is not present.

The txt file should be as following:

Manual - External motion control - R01.docx 8/18

 ➢ Save the file as sc_motion_stepper_settings.txt

➢ Copy it in the following folder: C:\SIC_MARKING\LASER\system

Manual - External motion control - R01.docx 9/18

2.3 SOFTWARE SETTING

• Edit and save the file "sc_motion_settings.txt" and set type according to your system
• if you are running on PC MODE configuration is achieved
• if you are running on STAND ALONE MODE, follow the next steps :
o open setting window (1)
o press "Advanced" button (2)
o press "Store" button (3) to save the parameters on the memory of the USC2/3
board
o press "OK" to leave the window (4)
o press "OK" to leave setting window (5)

Manual - External motion control - R01.docx 10/18

3 REGULAR MOTION CONTROL

Use the command "ScMotionControl" to drive the external axis.

On the Control window, you can apply the parameters of the movement (distance, speed and coordinate
mode,absolute or relative) or ask for an home movement.

3.1 JOG DIALOGUE

Jog: Clicking on this button opens a dialog where the motor can be moved in both directions
by "Jog Stepwidth" (++) or by "Jog Stepwidth / 10" (+). The default jog stepwidth value can be

Manual - External motion control - R01.docx 11/18

 set in Settings→System→Extras. If the dialog is closed and opened again, this value is restored
to the value that has been set in the menu. For each axis an independent speed can be used.

3.2 HOME / SHIFT DIALOG

Home: When leaving the Home / Shift Dialog with OK, all axes with enabled Home checkbox
will start the homing procedure.
Shift: When the direct motion control Home / Shift dialog is opened, the current Shift values
are shown. When leaving the Home / Shift dialog with OK, the shift values will be applied. To
reset the current shift of an axis, set the shift value to 0. The Home and Shift functionality can
be combined, first the homing procedure is performed, then the shifts will be applied.

Note:
o Difference between movement to position 0 and home:
o Go to position 0 : move of the axis to position 0 but don’t check the origin switch. If
there is a problem during the movement (blockage, speed to fast…), the position can
be different than expected.
o Home : move the axis and check the origin switch

Manual - External motion control - R01.docx 12/18

 o When the SIC LASER ADVANCED start or when the USC2/3 board re-boot, the axis don't
move to home position. It is exactly the same at the end of the marking. Home position
command must be ask if needed.

o Units used in ScMotionControl

Axis distance speed

Z axis mm mm/s
D axis degree degree/s

Manual - External motion control - R01.docx 13/18

4 GCODE COMMANDS

Command Description
GCL M46 Start stepper execution (most commands will not work if not started)
GCL M0 Stop execution (aborts moves)
GCL F? Set movement speed to ? mm/s (e.g. GCL F50.0 for 50 mm/s)
GCL G1? Move to ?, where ? is axis identifier (default name value: Z) followed by position in mm
(e.g. G1Z25 : move Z axis of 25 mm)
GCL G90 Switch to absolute mode. After this all move coordinates are interpreted as absolute
values (default).
GCL G91 Switch to relative mode. G1 commands are interpreted relative to previous position.
GCL G28Z1 Home axis Z
GCL Q7034 Get current Z axis position.

Communication example

Description: mark job number 1 at 50 mm Z axis position without external trigger

Carriage return ASCII code (13) must be added at the end of each command line

phase Command received by the laser rack Remarque

1 INIT Only for initialization
2 M0 Only for initialization
3 ET 0 Select to work without external trigger
4 GCL M46 Start stepper execution
5 GCL G28Z1 Home Z axis
6 GCL F50 Set movement speed to 50 mm/s
7 GCL G1Z50 Move Z axis to the position Z=50 mm
8 JN 1 Select job number 1
8 M1 Start mark
9 GCL G1Z0 Move Z axis to the position Z=0 mm
10 GCL G28Z1 To home

Manual - External motion control - R01.docx 14/18

Annex 1 : sc_motion_stepper_settings.txt
# --------------------------------------------------------------------------
# | Stepper I/O parameters |
# --------------------------------------------------------------------------

# USC cards:
# -------------------------------------------------------
# | Opto_Out_1..5 [ 1.. 5] | Opto_In_1..5 [1.. 5] |
# |-----------------------------|-------------------------|
# | Laser_Port_0..7 [100..107] | |
# |-----------------------------|-------------------------|
# | Digi_Out_0..9 [206..215] | Digi_In_0..9 [ 6..15] | <--
# |-----------------------------|-------------------------| USC-2 only
# | SM_Out_0..5 [216..221] | SM_In_0..2 [16..18] | <--
# -------------------------------------------------------
#
# Care about following I/Os:
# Opto_Out_0 = Marking active | Opto_In_0 = Trigger Start
# Opto_Out_2 = Red Pointer | Opto_In_1 = External Stop
# Laser_Ports cannot be used for motion control,
# if they are already used for laser control.

# --------------------------------------------------------------------------
# | Example of global parameters with comments |
# --------------------------------------------------------------------------

#Debug=0
#
# Enable debug mode to log debug information in
# '%SCAPS_SAM%/system/sc_motion_stepper_debuglog.txt'.

#DisableHomingDuringStartUp=1
#
# If DisableHomingDuringStartUp is set to '1', homing is just performed
# when pressing 'Control -> Home' and not when software is started.

# --------------------------------------------------------------------------
# | Example of axis parameters with comments |
# --------------------------------------------------------------------------

#axis=0
#
# Sets number of axis. Zero based index of the axes. Defines the display
# order in SAMLight. This parameter has to be at the beginning of each axis
# parameter block.

#dname=Z
#
# Sets name of axis. Has to be an unique single capital letter for each axis.

#mode=POSITION
#

Manual - External motion control - R01.docx 15/18

# There are two valid axis modes:
# 'POSITION' - straight axis in [mm]
# 'ANGLE' - rotational axis in [ °]

#factor=200.0
#
# For 'mode=POSITION': Unit: [steps/mm]
# For 'mode=ANGLE' : Unit: [steps/ °], value has to be (1/360°)*'incperrot'
# Converts mm (or °) used in SAMLight into steps.

#corr1 0.0 0.0

#corr2 500.0 100000.0
#corr3 1000.0 200000.0
#corr4 1500.0 300000.0
#corr5 2000.0 400000.0
#
#<corr#> <mm#> <steps#>
# These parameters are only valid for 'Type=8', 'mode=POSITION'.
# This table can be used to compensate non-linearities of a straight axis.
# If 'factor' is defined, the correction table is ignored.

#incperrot=3600
#
# This parameter are only valid for 'mode=ANGLE'.
# Unit: [steps/360°]
# Defines how many increments are needed for an whole rotation.

#sfactor=200.0
#
# This parameter is only valid for 'Type=8'.
# For 'mode=POSITION': Unit: [steps/mm]
# Value has to be equal to the factor of the corr table.
# For 'mode=ANGLE' : Unit: [steps/ °]
# Value has to be (1/360°)*'incperrot'.
# Converts mm/s (or °/s) used in SAMLight into steps/s.

#llimit=-400000.0
#hlimit=400000.0
#
# in [steps]
# These two values define the lower and upper limit of the axis.
# This values are read as double to increase the value range: [-1E13, 1E13]
# For USC-2, this is limited to the range of signed 32 Bit.
# The limits should not contain 'refpos'.

#hslimit=7200
#
# Unit: [steps/sec]
# Sets the upper speed limit. No speed above this limit will be possible.

#defspeed=18
#
# For 'mode=POSITION': Unit: [mm/sec]

Manual - External motion control - R01.docx 16/18

# For 'mode=ANGLE' : Unit: [ °/sec]
# Sets default speed displayed in SAMLight user interface.

#accel=50
#decel=50
#
# For 'Type=8' : Unit: increase of [steps/second] per step, def. value: 50
# Please consider the unit which leads to an exponentially acceleration.
# A value of '0' or '-1' disables acceleration /deceleration.
# For 'Type=14': Unit: [steps/sec²], def. value: 2000
# The values '0' and '-1' are not valid.
# These two values define the acceleration and deceleration of the motor.

#accStartSpeed=5
#decStopSpeed=5
#
#For 'Type=8' :
# For 'mode=POSITION': Unit: [mm/sec]
# For 'mode=ANGLE' : Unit: [ °/sec]
# These two values define the start and stop speed of the motor.

#stepIO=1
#dirIO=3
#dirvalue=0
#
# The output bit for the step /direction signal can be chosen here.
# dirvalue defines the polarity of the dirIO signal for positive movement.
# '0' means low active, '1' high active.

#refIO=2
#refvalue=1
#
# The input bit for refIO signal can be chosen here.
# refvalue defines the polarity of the refIO signal.
# '0' means low active, '1' high active.

#refmode=0
#
# This mode defines the behavior of homing
# Common reference modes:
# '0' - No homing movement, current position is set to 'refpos'
# '1' - Go to switch in neg. dir. and leave it in pos. dir.
# '4' - Go to switch in pos. dir. and leave it in neg. dir.
# Uncommon reference modes:
# '2' - Go to switch in neg. dir. and leave it in neg. dir.
# '3' - Go to switch in neg. dir. and stay there - only valid for 'Type=8'
# '5' - Go to switch in pos. dir. and leave it in pos. dir.
# '6' - Go to switch in pos. dir. and stay there - only valid for 'Type=8'
# '11' - Go to switch in neg. dir. and leave it in pos. dir.(no timeout) - only valid for 'Type=14'
# '44' - Go to switch in pos. dir. and leave it in neg. dir.(no timeout) - only valid for 'Type=14'

#refspeed=2000
#refspeed2=500
#
# Unit: [steps/sec]
# The reference speed value defines the speed of the homing movement.

Manual - External motion control - R01.docx 17/18

# The second reference speed defines the speed when leaving the reference
# switch. If refspeed2 is '-1', the default value 'refspeed/4' is used.

#refpos=0.0
#
# Unit: [steps]
# The position of the axis, after homing movement. 'llimit' and
# 'hlimit' should not contain refpos.

#RefOnlyForHome=0
#
# This parameter is only valid for 'Type=14'.
# '0' - When the reference switch is active, the motion stops.
# '1' - When the reference switch is active, the motion continues.
# For 'Type=14': To disable reference switch set 'refmode=0' and 'RefOnlyForHome=0'.

#SignalAxisMoving=0
#
# This parameter is only valid for 'Type=8'.
# If set to '1', an output bit is set during an axis movement.

#SignalAxisMovingStateBitPosition=3
#SignalAxisMovingState=0
#
# This parameter is only valid for 'Type=8'.
# The output bit for 'SignalAxisMoving' can be chosen here.
# Use SignalAxisMovingState to invert 'SignalAxisMoving' signal, '0' or '1'.

#SignalAxisMovingStatePreDelay=1500
#
# This parameter is only valid for 'Type=8'.
# Unit: [msec]
# Use SignalAxisMovingStatePreDelay to delay the start of the motion.

# --------------------------------------------------------------------------
# | End of file |
# --------------------------------------------------------------------------

Manual - External motion control - R01.docx 18/18