Here, Zmotion makes one C# routine that mainly shows synchronization and following.

(1)   C# Commands of Synchronous Following

(1)   C# Program of Synchronous Following

A.   UI Designment

You can make it follow in X direction or Y direction.

If you need this C# routine full project, please contact us.

Step 1: connect

In Form1, call the interface “ZAux_FastOpen()” to connect to XPCIE1032H automatically while system is initializing.

Step 2: configure parameters

l  Configure axis parameters

l  Configure following parameters

l  Configure latch parameters

Step 3: run, the timer gets latched position information

private void timer2_Tick(object sender, EventArgs e)
{
    int iret = 0;
    float[] MarkNum = new float[2];
    float[] RegistPos = new float[1000];
 
    //for (int i = 0; i < m_RegistCount; i++)
    //{
    //    this.DataGridView2.Rows[i].Cells[1].Value = "";
    //}
 
    m_RegistCount = 0;
 
    iret = zmcaux.ZAux_Direct_GetTable(G_CardHandle, Convert.ToInt32(Text_TabStart.Text), 1, MarkNum);                           //get latchh trigger times
    m_RegistCount = (int)MarkNum[0];
    this.DataGridView2.Rows[0].Cells[1].Value = m_RegistCount.ToString();
 
    //show in list
    if (m_RegistCount > m_RegistShow)                   //register numbers > shown
    {
        int iNum = m_RegistCount - m_RegistShow;
 
        iret = zmcaux.ZAux_Direct_GetTable(G_CardHandle, Convert.ToInt32(Text_TabStart.Text) + 1 + m_RegistShow, iNum, RegistPos);                        //get latch trigger times
 
        for (int i = 0; i < iNum; i++)
        {
            this.DataGridView2.Rows[m_RegistShow + i + 1].Cells[1].Value = RegistPos[i].ToString();
        }
        m_RegistShow = m_RegistCount;
 
    }
    else if (m_RegistCount < m_RegistShow)                             //latch in cycle, overflow
    {
        int iNum = Convert.ToInt32(Text_TabNum.Text) - m_RegistShow - 1;
 
        iret = zmcaux.ZAux_Direct_GetTable(G_CardHandle, Convert.ToInt32(Text_TabStart.Text) + 1 + m_RegistShow, iNum, RegistPos);                        //get latch trigger times
        for (int i = 0; i < iNum; i++)
        {
            this.DataGridView2.Rows[m_RegistShow + i + 1].Cells[1].Value = RegistPos[i].ToString();
        }
        m_RegistShow = 0;
    }
}

Step 3: synchronous following thread is triggered, execute the synchronous following.

public void SubMoveSync()
{
    int iret = 0;
    int[] iAxisList = new int[2] { 0, 1 };
    int[] iTime = new int[3];
    iTime[0] = Convert.ToInt32(TextAccTime.Text);
    iTime[1] = Convert.ToInt32(TextSyncTime.Text);
    iTime[2] = Convert.ToInt32(TextBackTime.Text);
    float[] fWaitPos = new float[2];
    fWaitPos[0] = Convert.ToSingle(TextXpos.Text);
    fWaitPos[1] = Convert.ToSingle(TextYpos.Text);
    float fOffPos = Convert.ToSingle(TextOffpos.Text);
    float fPdAxisPos = 0;       //current belt axis position
    float[] fMakrPos = new float[2];          //current processing product's latched encoder position
    int iMaxNum = Convert.ToInt32(Text_TabNum.Text);
    float imode = 0;
    if (radioBtnX.Checked)
    {
        imode = 0 + (float)(Convert.ToSingle(TextAngle.Text) / 180.0 * Math.PI);        //following in X direction
    }
    else
    {
        imode = 10 + (float)(Convert.ToSingle(TextAngle.Text) / 180.0 * Math.PI);       //following in Y direction
    }
    while (true)
    {
        if ((m_RegistCount != 0) && (iWorkCount < iMaxNum))              //latch, already latched numbers < total latched numbers
        {
            iret = zmcaux.ZAux_Direct_GetTable(G_CardHandle, Convert.ToInt32(Text_TabStart.Text) + 1 + iWorkCount, 1, fMakrPos);    //get the latch position currently ready for processing
 
        }
        else if (iWorkCount > iMaxNum)    //the latch coordinates have overflowed, and the data is saved before the latch
        {
            iWorkCount = iWorkCount - m_RegistCount;        //get the value from the next loop
            if (iWorkCount < m_RegistCount)
            {
                iret = zmcaux.ZAux_Direct_GetTable(G_CardHandle, Convert.ToInt32(Text_TabStart.Text) + 1 + iWorkCount, 1, fMakrPos);    //get the latch position currently ready for processing
            }
            else
            {
                continue;
            }
        }
        //latch is not triggered
        if (m_RegistCount == 0 || m_RegistCount == iWorkCount)
        {
            continue;
        }
        //wait for the conveyor belt position to move beyond the start following position
        do
        {
            iret = zmcaux.ZAux_Direct_GetMpos(G_CardHandle, 2, ref fPdAxisPos);            //get current encoder axis position
 
        } while (fPdAxisPos < fOffPos + fMakrPos[0]);
        iret = zmcaux.ZAux_Direct_MoveSync(G_CardHandle, imode, iTime[0], fMakrPos[0] + fOffPos, 2, 2, iAxisList, fWaitPos);      //for synchronous motion,accelerate
 
        iret = zmcaux.ZAux_Direct_MoveSync(G_CardHandle, imode, iTime[1], fMakrPos[0] + fOffPos, 2, 2, iAxisList, fWaitPos);      //for synchronous motion,constant motion time
 
        iret = zmcaux.ZAux_Direct_MoveSync(G_CardHandle, imode, iTime[2], 0, -1, 2, iAxisList, fWaitPos);      //after synchronization ends, return to standby position
 
        int Axisidle = 0;
        do
        {
            iret = zmcaux.ZAux_Direct_GetIfIdle(G_CardHandle, iAxisList[0], ref Axisidle);            //waiting for the spindle to complete following
        } while (Axisidle == 0);
        iWorkCount++;
    }
}

(2)   C# Program Operation & Effect

Here, we select X direction, enter X direction following parameters (Y is same).

While running, we use our software RTSys “SCOPE” debugging tool to capture the motion situation (for details, please check lesson 6).

“trigger Latch by IN0 (ON) several times – send data – do synchronization & following – SCOPE collects the motion waveform”

It can be seen the X completes synchronization within 5s, then it runs relatively with the belt axis at same speed within 2s, after following ends, returning within 5s.