(1) Belt Synchronized Command Key Parameters  

ZAux_Direct_MoveSync(ZMC_HANDLE handle,float  imode,int synctime, float syncposition, int syncaxis, int imaxaxises, int *piAxislist, float *pfDisancelist)

--imode--

Select synchronized mode.

imode=0+angle: synchronous mode, if belt and axis X are parallel, fill in 0.

imode =-1: end mode, move to the specified absolute position, it is usually used at the unloading position after synchronized and captured the material.

--synctime--

Synchronization time, in ms unit. The movement is completed within the specified time. When completed, axis speed and object speed (on the belt axis) keep same. 0 indicates that the synchronization time is estimated according to motion axis' speed and acceleration.

--syncposition--

When vision or sensor sensed product on the belt, now belt position is MPOS (measurement position).

--pfDistancelist--

If locates the product by vision, this parameter is "world coordinate" of the product when vision recoginized the product.

If it uses photoelectric sensor to detect the product, this parameter is fixed, when the sensor feels the product, product current position absolute coordinate. Now, it can move slave axis manually to positioning the product to get the position.

(2) Vision Synchronous Sorting Steps

A. Codes Details of Vision Matching & Positioning

/************************************************************************************

'Task No.: /

'Function of this function: vision positioning

'Input: /

'Output: /

'returned value: sub thread – do vision positioning

**************************************************************************************/

public void RunSubTaskVisua()

{

    int TempArrid = 0;

    float TempVar = 0;

    WriteLog("Vision Function ON");

    while (SysRunFlag > 0)

    {

        //when pause button is not pressed

        while (SysRunFlag == 1)

        {

            //capture the image

            VisuaOper.CameAcquisition();

            //do template matching

            RTDisplay.Image = VisuaOper.ShapeFind();

            if (MainWindows.BeltMpos != 0)//if gets the belt encoder position normally when capturing the image

            {

                //operate MoveSyncBuff data, please lock at first

                while (true)

                {

                    if (MainWindows.SetMoveSyncFlag == 0)

                    {

                        MainWindows.SetMoveSyncFlag = 1;

                        break;

                    }

                }

                //find array starting subscript that can save data

                int ArrId = 0;

                for (int i = 0; i < 50; i++)

                {

                    if (MainWindows.MoveSyncBuff[i, 0] == 0)

                    {

                        ArrId = i;

                        break;

                    }

                }

                //start to save the data, 10 results can be matched at most

                TempArrid = ArrId;

                for (int i = 0; i < 10; i++)

                {

                    //if the score is OK

                    if (MainWindows.VisionRst[i, 0] >= MainWindows.VisionScore)

                    {

                        int j;

                        //if there is repeated target, delete repeated one

                        for (j = 0; j < TempArrid; j++)

                        {

                            TempVar = MainWindows.VisionRst[i, 1] - MainWindows.BeltMpos - MainWindows.MoveSyncBuff[j, 1] + MainWindows.MoveSyncBuff[j, 4];

                            if (((TempVar) <= tempvar="">= -10))

                            {

                                j = -10;

                                break;

                            }

                        }

                        if (j >= 0)

                        {

                            MainWindows.MoveSyncBuff[ArrId, 0] = 1;

                            MainWindows.MoveSyncBuff[ArrId, 1] = MainWindows.VisionRst[i, 1];   //save matched X coordinate

                            MainWindows.MoveSyncBuff[ArrId, 2] = MainWindows.VisionRst[i, 2];   //save matched Y coordinate

                            MainWindows.MoveSyncBuff[ArrId, 3] = MainWindows.VisionRst[i, 3];   //save matched angle offset

                            MainWindows.MoveSyncBuff[ArrId, 4] = MainWindows.BeltMpos;       //save belt position when product is matched

                            ArrId = ArrId + 1;

                            IdentiNum.Text = (Convert.ToInt32(IdentiNum.Text) + 1).ToString();

                            WriteLog("Vision Target:" + "(" + MainWindows.VisionRst[i, 1].ToString("0,0") + "," + MainWindows.VisionRst[i, 2].ToString("0,0") + ")");

                        }

                    }

                    //clear scores

                    MainWindows.VisionRst[i, 0] = 0;

                }

                //unlock

                MainWindows.SetMoveSyncFlag = 0;

            }

        }

        Thread.Sleep(100);

    }

}

B. Codes Details of Vision Sorting in Assemble Line