#include "global.h" #if Chuan_Chi_MACHINE == 1 void CC_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag); void CC_CTHL_ManualAction(void); void CC_CTHL_AutoStepAction(void); void CC_CTHL_TableAction(void); void CC_CTHL_TD_Motor(void); void CC_CTHL_CL_Motor(void); void CC_CTHL_CheckStart(void); void CC_CTHL_TLiao_Step(void); //推料(推拉头) void CC_CTHL_AlarmProtect(void); void CC_CTHL_ZLT_Step(void); void CC_CTHL_ZhenDongAction(void); void CC_CTHL_bFKCXTDDWStep(void); void CC_CTHL_bCXCRStep(void); void CC_CTHL_bCLFirstStep(void); void ExtiAcitionX02(void) { if(bCheckEN_FLG) { bCheckEN_FLG = 0; CC_CTHL_CheckInX02PosBuff = GetPos(X_AXIS); } } //故障报警 void CC_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag) { SetAlarmCode(CC_CTHL_ALARM_ADDR,alarm_code); // bAlarmStop = 0; // if(cStopFlag) if(!cWULATOUCnt && !cXiaoChaCNT && !cCHULIANBAOJIN) { bAlarmStop = 1; } else { cWULATOUCnt=0; } } //初始化动作 void CC_CTHL_InitAction(void) { float buff_pulse,buff_dist; buff_pulse = CC_CTHL_PARAM_CYCLE_PULSE; buff_dist = CC_CTHL_PARAM_CYCLE_LENGTH; XGearRatio = buff_pulse/buff_dist; buff_pulse = 2000;//CC_CTHL_PARAM_CYCLE_PULSE; buff_dist = 750;//CC_CTHL_PARAM_CYCLE_LENGTH; YGearRatio = buff_pulse/buff_dist; bYFirstDingWeiFlg = 1; user_datas[121] = 0; user_datas[122] = 0; user_datas[123] = 0; SetEnReverse(X_AXIS, 1); SetEnReverse(Y_AXIS, 1); SetEnReverse(Z_AXIS, 1); SetDirReverse(X_AXIS, 0); SetDirReverse(Y_AXIS, 0); SetDirReverse(Z_AXIS, 0); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); SetEn(Z_AXIS, MOTOR_DISEN); SetAlarmCode(CC_CTHL_ALARM_ADDR,0); // QDCT_SZ_OUT = QDCT_MOTOR_DISEN; } void CC_CTHL_Action(void) { user_datas[121] = CC_CTHL_LianLengSave; // user_datas[122] =axis_x->cur_speed; // user_datas[123] = CC_CTHL_bCXCR_Step; dwXRealPos = GetPos(X_AXIS); dwYRealPos = GetPos(Y_AXIS); dwZRealPos = GetPos(Z_AXIS); user_datas[124] = dwXRealPos; user_datas[125] = dwYRealPos; user_datas[126] = GetAlarm(X_AXIS); user_datas[127] = GetAlarm(Y_AXIS); user_datas[128] = CC_CTHL_AutoStep; CC_CTHL_ZhenDongAction(); CC_CTHL_AlarmProtect(); CC_CTHL_CheckStart(); CC_CTHL_ZLT_Step(); CC_CTHL_TLiao_Step(); CC_CTHL_TD_Motor(); CC_CTHL_CL_Motor(); CC_CTHL_bFKCXTDDWStep(); CC_CTHL_bCXCRStep(); CC_CTHL_bCLFirstStep(); CC_CTHL_ManualAction(); CC_CTHL_AutoStepAction(); } void CC_CTHL_AlarmProtect(void) { } //自动动作 void CC_CTHL_AutoStepAction(void) { if(bRunning) { switch(CC_CTHL_AutoStep) { case 1: if(CC_CTHL_SF_Origin_IN || cBanAuTo) { /* CC_CTHL_AutoStep = 10; //测试拖带定位 CC_CTHL_AutoDelay = dwTickCount + 1000; break; */ if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 CC_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 CC_CTHL_FKGD_VAVLE = 0; //方块固定关 // CC_CTHL_XKDW_VAVLE = 1; CC_CTHL_AutoStep = 2; // CC_CTHL_AutoDelay = dwTickCount + 10; if(CC_CTHL_ZhuangLiaoStep == 0) { CC_CTHL_ZhuangLiaoStep = 1; CC_CTHL_TryCnt = 0; } } } break; case 2: if(!CC_CTHL_XKTD_Origin_IN)// && (dwTickCount >= CC_CTHL_AutoDelay)) //斜口推带原位离开 { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 3; CC_CTHL_XKDW_VAVLE = 1; CC_CTHL_AutoDelay = dwTickCount + 20; } } break; case 3://斜口定位 if(dwTickCount >= CC_CTHL_AutoDelay) { CC_CTHL_AutoStep = 4; // CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if(!cBanAuTo) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { AxisMovePosAccDecNotStop(X_AXIS,1600,1500,600,1000,5,3,00); CC_CTHL_AutoStep = 5; cDJzzcd=0; CC_CTHL_XSavePosBuff = dwXRealPos; // SetPos(X_AXIS, 0); //启动位置设为0点 if(cZipCnt < 1) CC_CTHL_AutoDelay = dwTickCount +350; else CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_FKJD_DELAY; } } else { CC_CTHL_AutoStep = 5; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_FKJD_DELAY; CC_CTHL_XSavePosBuff = dwXRealPos; } break; case 5: if(dwTickCount >= CC_CTHL_AutoDelay) { CC_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 } if(bCL_EN_FLG && (dwXRealPos >= 230) && CC_CTHL_XKSC_Limit_IN) { CC_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 } if(CC_CTHL_XKSC_Limit_IN) //方块上止到位 { CC_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 if(!CC_CTHL_PARAM_DCGO_LENGTH) AxisEgmStop(X_AXIS); else { if(!cDJzzcd) { AxisMovePosAccDec(X_AXIS,1000,CC_CTHL_PARAM_DCGO_LENGTH,800,600,10,20,0); cDJzzcd=1; } } // AxisMovePosAccDec(X_AXIS,1200,10,1200,1200,6,6,0); if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_CXHJD_VAVLE=1; CC_CTHL_QDXK_VAVLE = 1; CC_CTHL_FKJD_VAVLE=0; CC_CTHL_AutoStep = 6; CC_CTHL_bLTCHECK_Delay = dwTickCount + 20; //电机穿入可以启动 bCL_OK_FLG = 1; //不用穿合链的话认为已经完成 if(bCL_EN_FLG) { dwYRealPos=0; bCL_OK_FLG = 0; CC_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 CC_CTHL_CL_MotorStep = 1; CC_CTHL_CL_MotorDelay = dwTickCount + CC_CTHL_PARAM_HLJJ_CL_DELAY; CC_CTHL_AutoDelay = dwTickCount + 50 + CC_CTHL_PARAM_HLJJ_CL_DELAY; } else { CC_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; } } } else if(dwXRealPos >= (CC_CTHL_XSavePosBuff + 1500)) { CC_CTHL_SetAlarmCode(CC_CTHL_FKCXDW_ALARM,bRunning); //方块插销定位异常警告 } break; case 6: if((dwYRealPos > 1000) || (CC_CTHL_CL_MotorStep==0)) { CC_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; } if(CC_CTHL_XKTD_Origin_IN) //斜口推带回到原位 { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { if(bZhuangLiaoOkFlg && (CC_CTHL_ZhuangLiaoStep == 0)) { if(dwTickCount >= CC_CTHL_bLTCHECK_Delay) { if(!CC_CTHL_LTou_Check) { if(CC_CTHL_PARAM_DXKFZ_LENTH && !X_DRV) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,8000,-CC_CTHL_PARAM_DXKFZ_LENTH,800,600,20,30,0); if(!CC_CTHL_PARAM_NLSL_MODE) CC_CTHL_FKJD_VAVLE= 0; //方块夹带气缸关 } if(CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE = 1; CC_CTHL_CTXM_VAVLE = 1; //穿头下模上升 if(CC_CTHL_PARAM_NLSL_MODE) CC_CTHL_KALATOU_VAVLE=1; CC_CTHL_AutoStep = 7; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; } else { cWULATOUCnt=1; CC_CTHL_SetAlarmCode(CC_CTHL_ZLT_ALARM,bRunning); // 没有拉头 } } } } } else if((dwTickCount >= CC_CTHL_AutoDelay) && !CC_CTHL_XKTD_VAVLE && !cBanAuTo) { CC_CTHL_SetAlarmCode(CC_CTHL_XKTD_Origin_ALARM,bRunning); //斜口推带回到异常 } break; case 7: if(!CC_CTHL_CTM_Origin_IN) { CC_CTHL_JLTou_VAVLE = 0; //接拉头 } if(CC_CTHL_CTM_Limit_IN) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { if(CC_CTHL_PARAM_NLSL_MODE) { CC_CTHL_XKTD_VAVLE=1; } CC_CTHL_JLTou_VAVLE = 0; CC_CTHL_AutoStep = 8; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_DXKYS_DELAY; } } else if(dwTickCount >= CC_CTHL_AutoDelay) { CC_CTHL_SetAlarmCode(CC_CTHL_CTM_Limit_ALARM,bRunning); //穿头下模上升异常 } break; case 8: if(!X_DRV) //延时顶斜口 { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { if((dwTickCount >= CC_CTHL_AutoDelay) || (CC_CTHL_PARAM_NLSL_MODE)) { if(!CC_CTHL_PARAM_NLSL_MODE) CC_CTHL_DXK_VAVLE=1; CC_CTHL_CXHJD_VAVLE=0; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_DXK_XKDW_Off_DELAY; CC_CTHL_AutoStep = 9; } } } break; case 9: if((dwTickCount >= CC_CTHL_AutoDelay) && (bCL_OK_FLG)) //顶斜口延时退斜口上止定位 { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { // AxisMovePosAccDec(X_AXIS,2000,-150,1200,1200,3,6,0); //反转1.5CM CC_CTHL_XKDW_VAVLE = 0; //斜口上止定位关 CC_CTHL_FKJD_VAVLE = 0; //方块夹带气缸关 CC_CTHL_AutoStep = 10; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_XK_CR_DELAY; } } break; case 10: if(!cBanAuTo) { if((dwTickCount >= CC_CTHL_AutoDelay) && !X_DRV) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_TD_MotorStep = 10; //启动拖带穿入 CC_CTHL_AutoStep = 11; } } } else { CC_CTHL_AutoStep = 801; CC_CTHL_AutoDelay = dwTickCount + 1000; } break; case 801: if(dwTickCount >= CC_CTHL_AutoDelay) { bRunning=0; cBanAuTo=0; CC_CTHL_KALATOU_VAVLE=0; cCHULIANBAOJIN=1; CC_CTHL_QDXK_VAVLE=0; CC_CTHL_XKTD_VAVLE = 0; CC_CTHL_DXK_VAVLE=0; CC_CTHL_AutoStep = 0; } break; case 11: if(CC_CTHL_TD_MotorStep == 0) //穿入定位完成 { /* //测试拖带定位 CC_CTHL_AutoStep = 1; CC_CTHL_AutoDelay = dwTickCount + 1000; if(cZipCnt<3) cZipCnt++; break; */ cTESTONE=0; if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_XKDW_VAVLE = 0; //斜口上止定位关 CC_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 CC_CTHL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀 cXcxcrCnt = 0; if(CC_CTHL_CL_MotorStep == 0 && CC_CTHL_SF_Origin_IN) { CC_CTHL_CXQJD_VAVLE = 1; } CC_CTHL_AutoStep = 12; // CC_CTHL_AutoDelay = dwTickCount + 50; } } break; case 12: if((CC_CTHL_CL_MotorStep == 0)&& (CC_CTHL_SF_Origin_IN)) //插销前夹带回到原位 { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 14; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_XCQJD_XCDW_DELAY; if(cXcxcrCnt != 1) { CC_CTHL_CXQJD_VAVLE = 1; } } } if(!CC_CTHL_SF_Origin_IN) { CC_CTHL_CL_MotorStep=50; } break; case 14: if(dwTickCount >= CC_CTHL_AutoDelay) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_XKDW_VAVLE = 1; //斜口定位 CC_CTHL_AutoStep = 15; CC_CTHL_FKGD_VAVLE = 1; //方块固定 //Y轴启动插销 if(cXcxcrCnt != 1) { CC_CTHL_CL_MotorStep = 20; //插销定位 } } } break; case 15: if(CC_CTHL_CL_MotorStep == 0) //插销定位完成 { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 16; CC_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 CC_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 CC_CTHL_AutoDelay = dwTickCount + 10; //延时插销下移 } } break; case 16: if(dwTickCount >= CC_CTHL_AutoDelay) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 17; if(CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE = 0; else CC_CTHL_CXCC_VAVLE = 1; //Y06 插销下移电磁阀 CC_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 } } break; case 17: if(CC_CTHL_PARAM_CXCC_MODE) { if(CC_CTHL_CXCC_Limit_IN) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 18; if( cXcxcrCnt==0 && !X_DRV && !cCXCONE) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,8000,-CC_CTHL_PARAM_TDFZ_LENTH,800,600,20,30,0); } CC_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 CC_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 CC_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } else if(dwTickCount >= CC_CTHL_AutoDelay) { CC_CTHL_SetAlarmCode(CC_CTHL_CXCC_Limit_ALARM,bRunning); //插销下移异常 } } else { CC_CTHL_AutoStep = 18; if( cXcxcrCnt==0 && !X_DRV && !cCXCONE) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,8000,-CC_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } CC_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 CC_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 CC_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_SCDWOff_CXDW_DELAY; } break; case 18: // if(START_IN_UP) { if(dwTickCount >= CC_CTHL_AutoDelay) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 19; cBAOHUCNT=0; CC_CTHL_SongDai_VAVLE=0; // CC_CTHL_SongDai_VAVLE=0; CC_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) CC_CTHL_AutoDelay = dwTickCount + 500; //插销穿入到位异常时间 CC_CTHL_CL_MotorStep = 50; //合链电机回原点 } } } break; case 19: if(CC_CTHL_CX_Limit_IN && (cXcxcrCnt<4)) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { cXcxcrCnt=0; cXiaoChaCNT=0; user_datas[100]=0; bZhuangLiaoOkFlg = 0; CC_CTHL_CXCC_VAVLE=0; CC_CTHL_AutoStep = 901; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_FKGD_DELAY; //退方块固定时间 CC_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 } } else if ((dwTickCount >= CC_CTHL_AutoDelay) && (cXcxcrCnt<3) ) { cXcxcrCnt++; CC_CTHL_CXHJD_VAVLE=0; CC_CTHL_CXHDW_VAVLE=0; if(!CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE=0; else CC_CTHL_CXCC_VAVLE=1; if(cXcxcrCnt<3) { CC_CTHL_CXSCDW_VAVLE=1; CC_CTHL_AutoStep = 12; CC_CTHL_AutoDelay = dwTickCount + 120; } } else if((dwTickCount >= (CC_CTHL_AutoDelay +3000)) && !CC_CTHL_CX_Limit_IN ) { cXiaoChaCNT=1; if(!CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE=0; else CC_CTHL_CXCC_VAVLE=1; CC_CTHL_CXHJD_VAVLE =0; cBAOHUCNT=1; CC_CTHL_SetAlarmCode(CC_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常 } if( cXcxcrCnt > 2) { cXiaoChaCNT=1; CC_CTHL_CXCC_VAVLE=0; CC_CTHL_CXHJD_VAVLE =0; cBAOHUCNT=1; CC_CTHL_SetAlarmCode(CC_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常 if(CC_CTHL_START_IN_UP) { CC_CTHL_SetAlarmCode(0,bRunning); CC_CTHL_CXSCDW_VAVLE=1; CC_CTHL_AutoStep = 12; CC_CTHL_CXHJD_VAVLE=0; cXiaoChaCNT=0; cBAOHUCNT=0; cXcxcrCnt=0; CC_CTHL_CXHDW_VAVLE=0; if(!CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE=0; else CC_CTHL_CXCC_VAVLE=1; } } break; case 901: if(dwTickCount >= CC_CTHL_AutoDelay) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_FKGD_VAVLE = 0; //方块固定退 CC_CTHL_AutoStep = 20; if(!cBAOHUCNT) CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_First_CL_DELAY;//延时一次穿入 else { CC_CTHL_AutoDelay = dwTickCount + 1000;//手动插销保护时间 cBAOHUCNT=0; } } } break; case 20: if(dwTickCount >= CC_CTHL_AutoDelay) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 21; // CC_CTHL_FKJD_VAVLE=0; CC_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出 CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; } } break; case 21: if(!CC_CTHL_First_CT_Origin_IN) //原点离开后才开始时间 { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 22; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_First_CL_Timer; //一次穿入时间 } } else if(dwTickCount >= CC_CTHL_AutoDelay) { CC_CTHL_SetAlarmCode(CC_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常 } break; case 22: if(dwTickCount >= CC_CTHL_AutoDelay) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 23; CC_CTHL_MGuo_VAVLE = 0; //码勾退 if(CC_CTHL_PARAM_LTJJ_MODE) { CC_CTHL_LTJJ_VAVLE=1; } CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_PARAM_MGOff_XiaMo_DELAY; CC_CTHL_FKGD_VAVLE = 0; //方块固定退 CC_CTHL_FKJD_VAVLE=0; // CC_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 CC_CTHL_CXCC_VAVLE = 0; //Y06 插销下移电磁阀关 } } break; case 23: if(dwTickCount >= CC_CTHL_AutoDelay) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { if(!CC_CTHL_LTJJ_Origin_IN || !CC_CTHL_PARAM_LTJJ_MODE) { CC_CTHL_CTXM_VAVLE = 0; //穿头下模下降 CC_CTHL_AutoStep = 24; CC_CTHL_AutoDelay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; } else if(dwTickCount >= CC_CTHL_AutoDelay+3000) { CC_CTHL_SetAlarmCode(CC_CTHL_XMKH_Origin_ALARM,bRunning); } } } break; case 24: if(!CC_CTHL_CTM_Limit_IN) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 25; CC_CTHL_FKJD_VAVLE=0; CC_CTHL_CXHJD_VAVLE = 0; CC_CTHL_AutoDelay = dwTickCount + 20; //一次穿入延时返回 } } else if(dwTickCount >= CC_CTHL_AutoDelay) { CC_CTHL_SetAlarmCode(CC_CTHL_CTM_Origin_ALARM,bRunning);//穿头下模下降异常 } break; case 25: if(dwTickCount >= CC_CTHL_AutoDelay) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_AutoStep = 26; CC_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 CC_CTHL_AutoDelay = dwTickCount + 5; //退下出错警告 CC_CTHL_AutoDelay1 = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; CC_CTHL_AutoStep1 = 1; } } break; case 26: if(dwTickCount >= CC_CTHL_AutoDelay) { if(!cCXCONE) { if(!CC_CTHL_DANBU_MODE || CC_CTHL_START_IN_UP) { CC_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 CC_CTHL_FKGD_VAVLE = 0; //方块固定关 CC_CTHL_AutoStep = 4; bCL_EN_FLG = 1; cXcxcrCnt=0; AddToTal(CC_CTHL_TOTAL_ADDR); AddToTal(CC_CTHL_TRUST_ALARM_ADDR); AddToTal(CC_CTHL_TEST_ALARM_ADDR); CalProSP(CC_CTHL_SPEED_ADDR); if(cZipCnt<3) cZipCnt++; } } else { bRunning=0; cCXCONE=0; CC_CTHL_AutoStep = 0; } } break; } } //退下模后启动送拉头 switch(CC_CTHL_AutoStep1) { case 1: if(cStopMode==1 || bSingOneFlg ) { bCL_EN_FLG=1; cStopMode=2; bSingOneFlg=0; bStop=1; } if(CC_CTHL_CTM_Origin_IN && CC_CTHL_First_CT_Origin_IN) { CC_CTHL_ZhuangLiaoStep = 1; CC_CTHL_TryCnt = 0; CC_CTHL_AutoStep1 = 0; CC_CTHL_MGuo_VAVLE = 0; CC_CTHL_JLTou_VAVLE = 0; } else if(dwTickCount >= CC_CTHL_AutoDelay1) { //穿头模和一次穿入回位异常 if(!CC_CTHL_CTM_Origin_IN) CC_CTHL_SetAlarmCode(CC_CTHL_CTM_Origin_ALARM,bRunning); else if(!CC_CTHL_First_CT_Origin_IN) CC_CTHL_SetAlarmCode(CC_CTHL_First_CT_Origin_ALARM,bRunning); } break; } } void CC_CTHL_CheckStart(void) { if(cXCXQXQD) { if(CC_CTHL_START_IN_UP || bStart) { bStart=0; if(!bRunning) { if(CC_CTHL_SafeDoor_IN ) { bRunning=1; cXCXQXQD =0; CC_CTHL_TD_MotorStep = 0; CC_CTHL_AutoStep=11; } else { CC_CTHL_SetAlarmCode(CC_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } } } if(cWULATOUCnt) // 无拉头警告后按 { if(CC_CTHL_START_IN_UP || bStart) { bStart=0; if(!bRunning) { if(CC_CTHL_SafeDoor_IN) { bRunning=1; CC_CTHL_TryCnt=0; cWULATOUCnt=0; CC_CTHL_ZhuangLiaoStep = 1; CC_CTHL_AutoStep=6; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; CC_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 CC_CTHL_LTJJ_VAVLE=0; CC_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } else { CC_CTHL_SetAlarmCode(CC_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } } } if(!CC_CTHL_SafeDoor_IN && bRunning) { bStop=1; CC_CTHL_SetAlarmCode(CC_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } //启动 自动启动 单一自动 if((CC_CTHL_START_IN_UP || bStart || CC_CTHL_bSingleone) && !cWULATOUCnt && !cXCXQXQD) { if(cCHULIANBAOJIN) //无链停机启动 { bRunning=1; CC_CTHL_AutoStep = 11; cCHULIANBAOJIN=0; // SetEn(X_AXIS, MOTOR_EN); // SetEn(Y_AXIS, MOTOR_EN); // dwXRealPos=0; CC_CTHL_PARAM_BanAuto_MODE=0; CC_CTHL_TD_MotorStep=9; if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); SetEn(X_AXIS, MOTOR_DISEN); CC_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } cZipCnt=0; CC_CTHL_TD_MotorDelay = dwTickCount + 500; CC_CTHL_AutoDelay = dwTickCount + 150; if(GetAlarmCode(CC_CTHL_ALARM_ADDR) != 0) SetAlarmCode(CC_CTHL_ALARM_ADDR,0); } if(!bRunning) { if(CC_CTHL_SafeDoor_IN) { cStopMode=0; if(CC_CTHL_bSingleone) { bSingOneFlg=1; } bRunning = 1; cWULATOUCnt=0; cBanAuTo=0; cCXCONE=0; CC_CTHL_PARAM_BanAuto_MODE=0; cHeLian=0; SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); CC_CTHL_CL_MotorStep = 40; CC_CTHL_AutoStep = 1; bTuiLaTouOkFlg = 1; CC_CTHL_PARAM_ZDP_AUTO= 0; bZhuangLiaoOkFlg= 0; if(!CC_CTHL_PARAM_LTJJ_MODE) { CC_CTHL_LTJJ_VAVLE=0; } CC_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 CC_CTHL_LTJJ_VAVLE=0; CC_CTHL_ZhuangLiaoDelay = dwTickCount + 150; // bCL_EN_FLG = 0; cZipCnt = 0; cQDXK_DXK=0; CC_CTHL_LianLengthCheck = 0; cStopInCnt = 0; } else { CC_CTHL_SetAlarmCode(CC_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } CC_CTHL_bSingleone=0; bStart = 0; } if(CC_CTHL_STOP_INJT_UP) { bRunning=0; CC_CTHL_PARAM_BanAuto_MODE=0; cXcxcrCnt=0; cStopMode=0; cCHULIANBAOJIN=0; cXCXQXQD=0; cWULATOUCnt=0; cBanAuTo=0; cCXCONE=0; bCL_EN_FLG=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); cStopMode=0; cQDXK_DXK=0; if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); CC_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } CC_CTHL_TLiao_VAVLE=0; CC_CTHL_HSLiao_VAVLE =0; CC_CTHL_JLTou_VAVLE =0; CC_CTHL_XKTD_VAVLE =0; CC_CTHL_XKDW_VAVLE =0; CC_CTHL_DXK_VAVLE =0; CC_CTHL_CXCC_VAVLE =0; CC_CTHL_CTXM_VAVLE =0; CC_CTHL_First_CT_VAVLE =0; CC_CTHL_FKGD_VAVLE =0; CC_CTHL_CXQJD_VAVLE =0; CC_CTHL_CXDWZ_VAVLE =0; CC_CTHL_CXHJD_VAVLE =0; CC_CTHL_CXHDW_VAVLE =0; CC_CTHL_FKJD_VAVLE =0; CC_CTHL_HLJJ_VAVLE =0; CC_CTHL_CXSCDW_VAVLE =0; CC_CTHL_MGuo_VAVLE =0; CC_CTHL_QDXK_VAVLE=0; CC_CTHL_LTJJ_VAVLE =0; CC_CTHL_AutoStep = 0; CC_CTHL_ZhuangLiaoStep=0; CC_CTHL_TLiaoStep=0; CC_CTHL_TD_MotorStep=0; CC_CTHL_JiaLianStep =0; CC_CTHL_SongLiaoStep =0; CC_CTHL_CL_MotorStep =0; CC_CTHL_AutoStep1 =0; CC_CTHL_bFKCXTDDW_Step=0; CC_CTHL_bCXCR_Step=0; CC_CTHL_bCLFirst_Step=0; if(GetAlarmCode(CC_CTHL_ALARM_ADDR) != 0) SetAlarmCode(CC_CTHL_ALARM_ADDR,0); SetPos(X_AXIS, 0); CC_CTHL_TLiaoStep = 0; CC_CTHL_AutoStep = 0; //穿合链电机是往零点方向时可以停止 if(GetDir(Y_AXIS) == DIR_N) AxisEgmStop(Y_AXIS); } //停止 if(CC_CTHL_STOP_IN_UP || bStop) { CC_CTHL_PARAM_BanAuto_MODE=0; if(cStopMode < 2) cStopMode++; if(bRunning && cStopMode==2) { bRunning=0; cStopMode=0; cXcxcrCnt=0; bSingOneFlg=0; cXCXQXQD=0; cCHULIANBAOJIN=0; CC_CTHL_PARAM_BanAuto_MODE=0; cWULATOUCnt=0; cBanAuTo=0; cCXCONE=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); CC_CTHL_AutoStep = 0; CC_CTHL_CL_MotorStep =0; CC_CTHL_bCLFirst_Step=0; CC_CTHL_ZhuangLiaoStep=0; // CC_CTHL_XKTD_VAVLE = 0; cQDXK_DXK=0; // CC_CTHL_XKDW_VAVLE =0; if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); CC_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } if(GetAlarmCode(CC_CTHL_ALARM_ADDR) != 0) SetAlarmCode(CC_CTHL_ALARM_ADDR,0); } else if(!bRunning) { bRunning=0; cXcxcrCnt=0; cStopMode=0; cCHULIANBAOJIN=0; cXCXQXQD=0; cWULATOUCnt=0; bCL_EN_FLG=0; bSingOneFlg=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); (X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); cStopMode=0; cQDXK_DXK=0; if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); CC_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } CC_CTHL_TLiao_VAVLE=0; CC_CTHL_HSLiao_VAVLE =0; CC_CTHL_JLTou_VAVLE =0; CC_CTHL_XKTD_VAVLE =0; CC_CTHL_XKDW_VAVLE =0; CC_CTHL_DXK_VAVLE =0; CC_CTHL_CXCC_VAVLE =0; CC_CTHL_CTXM_VAVLE =0; CC_CTHL_First_CT_VAVLE =0; CC_CTHL_FKGD_VAVLE =0; CC_CTHL_CXQJD_VAVLE =0; CC_CTHL_CXDWZ_VAVLE =0; CC_CTHL_CXHJD_VAVLE =0; CC_CTHL_CXHDW_VAVLE =0; CC_CTHL_FKJD_VAVLE =0; CC_CTHL_HLJJ_VAVLE =0; CC_CTHL_CXSCDW_VAVLE =0; CC_CTHL_MGuo_VAVLE =0; CC_CTHL_QDXK_VAVLE=0; CC_CTHL_LTJJ_VAVLE =0; CC_CTHL_AutoStep = 0; CC_CTHL_ZhuangLiaoStep=0; CC_CTHL_TLiaoStep=0; CC_CTHL_TD_MotorStep=0; CC_CTHL_JiaLianStep =0; CC_CTHL_SongLiaoStep =0; CC_CTHL_CL_MotorStep =0; CC_CTHL_AutoStep1 =0; CC_CTHL_bFKCXTDDW_Step=0; CC_CTHL_bCXCR_Step=0; CC_CTHL_bCLFirst_Step=0; if(GetAlarmCode(CC_CTHL_ALARM_ADDR) != 0) SetAlarmCode(CC_CTHL_ALARM_ADDR,0); SetPos(X_AXIS, 0); CC_CTHL_TLiaoStep = 0; CC_CTHL_AutoStep = 0; //穿合链电机是往零点方向时可以停止 if(GetDir(Y_AXIS) == DIR_N) AxisEgmStop(Y_AXIS); } bStop=0; } if(bAlarmStop) { bRunning = 0; bAlarmStop=0; cStopMode=0; cXcxcrCnt=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); CC_CTHL_AutoStep = 0; cQDXK_DXK=0; CC_CTHL_CL_MotorStep =0; CC_CTHL_bCLFirst_Step=0; // CC_CTHL_SongLiaoStep =0; CC_CTHL_ZhuangLiaoStep=0; } } //拖带电机控制动作 X轴 void CC_CTHL_TD_Motor(void) // { #if 1 switch(CC_CTHL_TD_MotorStep) { //1步开始，纯定位, 没有穿入 case 1: if(dwTickCount >= CC_CTHL_TD_MotorDelay) //给锁轴时间 { bCheckEN_FLG = 1; // CC_CTHL_SongDai_VAVLE=0; CC_CTHL_SongDai_VAVLE=0; CC_CTHL_CheckInX02PosBuff= 0; CC_CTHL_TD_MotorStep = 2; SetPos(X_AXIS, 0); //启动位置设为0点 AxisContinueMoveAcc(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed*2/3,DIR_P,800,600,15,15); CC_CTHL_X_CXPosBuff=0; } break; case 2://检测到过链 if(dwXRealPos > 400) //穿入2CM后退 { if(CC_CTHL_PARAM_NLSL_MODE) { CC_CTHL_XKTD_VAVLE=0; } CC_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 CC_CTHL_QDXK_VAVLE = 0; } if(dwXRealPos >= CC_CTHL_PARAM_WLCDSHEZHI_LENTH) { CC_CTHL_SetAlarmCode(CC_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if(CC_CTHL_FK_Check) { CC_CTHL_SongDai_VAVLE=1; CC_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 CC_CTHL_QDXK_VAVLE = 0; CC_CTHL_XSavePosBuff = dwXRealPos; CC_CTHL_TD_MotorStep = 3; user_datas[123] = dwXRealPos - CC_CTHL_CheckInX02PosBuff; if((dwXRealPos >= CC_CTHL_CheckInX02PosBuff) && CC_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed*2/3,CC_CTHL_PARAM_FKDW_Length - (dwXRealPos- CC_CTHL_CheckInX02PosBuff)-160, CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,30,250,50); else AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed*2/3,CC_CTHL_PARAM_FKDW_Length-120, CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,30,250,50); } break; case 3: if(CC_CTHL_CXSC_Limit_IN_UP) { CC_CTHL_X_CXPosBuff = dwXRealPos; } if(!X_DRV || (dwXRealPos >= (CC_CTHL_XSavePosBuff + CC_CTHL_PARAM_FKDW_Length))) { AxisEgmStop(X_AXIS); CC_CTHL_TD_MotorStep =4 ; CC_CTHL_LianLengthAutoCheck = dwXRealPos; } break; case 4: if(CC_CTHL_PARAM_XCX_LENTH) //0的话不判断位置 { if ((dwXRealPos - CC_CTHL_X_CXPosBuff) > (CC_CTHL_PARAM_XCX_LENTH + CC_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 1; CC_CTHL_TD_MotorStep = 0; CC_CTHL_SetAlarmCode(CC_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(CC_CTHL_X_CXPosBuff == 0) { // user_datas[121] = 3; CC_CTHL_TD_MotorStep = 0; CC_CTHL_SetAlarmCode(CC_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { CC_CTHL_TD_MotorStep = 0; CC_CTHL_X_CXPosBuff=dwXRealPos; } } else { CC_CTHL_TD_MotorStep = 0; // CC_CTHL_X_CXPosBuff=dwXRealPos; } break; case 9: if(dwTickCount >= CC_CTHL_TD_MotorDelay) { CC_CTHL_TD_MotorStep = 10; CC_CTHL_TD_MotorDelay=dwTickCount+500; SetEn(X_AXIS, MOTOR_EN); } break; //穿拉头定位 case 10: if(dwTickCount >= CC_CTHL_TD_MotorDelay) { CC_CTHL_SongDai_VAVLE=0; CC_CTHL_TD_MotorStep = 11; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; AxisContinueMoveAcc(X_AXIS,CC_CTHL_PARAM_TDCR_LowSpeed,DIR_P,1200,1200,15,15); CC_CTHL_CheckInX02PosBuff= 0; CC_CTHL_X_CXPosBuff=0; bCheckEN_FLG = 1; } break; case 11: if(dwXRealPos > 350) //穿入2CM后退 { if(CC_CTHL_PARAM_NLSL_MODE) { CC_CTHL_XKTD_VAVLE=0; } CC_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 CC_CTHL_QDXK_VAVLE =0; } if(dwXRealPos > CC_CTHL_PARAM_TDCR_LowSpeedLength) //穿入2CM后退 { CC_CTHL_KALATOU_VAVLE=0; CC_CTHL_CheckInX02PosBuff= 0; CC_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 CC_CTHL_QDXK_VAVLE = 0; if(CC_CTHL_PARAM_NLSL_MODE) { CC_CTHL_XKTD_VAVLE=0; } CC_CTHL_TD_MotorStep = 12; if((cZipCnt < 2) || (CC_CTHL_LianLengthCheck < CC_CTHL_PARAM_TDCR_LowSpeedLength)) AxisContinueMoveAcc(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed*2/3,DIR_P,3000,600,10,10); else ////两段速度移动距离 { AxisMovePosAccDecNotStop(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed ,CC_CTHL_LianLengthCheck-(CC_CTHL_PARAM_TDCR_LowSpeedLength),1500,7000,30,300,250); } } if(CC_CTHL_FK_Check) //在这里检测到说明速度还没有起来 { // CC_CTHL_SongDai_VAVLE=1; CC_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 CC_CTHL_QDXK_VAVLE = 0; if(CC_CTHL_PARAM_NLSL_MODE) { CC_CTHL_XKTD_VAVLE=0; } CC_CTHL_TD_MotorDelay= dwTickCount + CC_CTHL_PARAM_FKJDSECONG_DEALY; CC_CTHL_LianLengthReal = dwXRealPos; CC_CTHL_XSavePosBuff = dwXRealPos; CC_CTHL_TD_MotorStep = 13; // user_datas[122] = CC_CTHL_PARAM_FKDW_Length - (dwXRealPos- CC_CTHL_CheckInX02PosBuff); if((dwXRealPos >= CC_CTHL_CheckInX02PosBuff) && CC_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed,CC_CTHL_PARAM_FKDW_Length - (dwXRealPos- CC_CTHL_CheckInX02PosBuff), CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,30,250,40); else AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed,CC_CTHL_PARAM_FKDW_Length, CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,30,250,40); //CC_CTHL_TD_MotorStep = 0; } else if(CC_CTHL_CXSC_Limit_IN_DW) { AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed * 2/3,CC_CTHL_PARAM_FKDW_Length, CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,30,250,50); } else if(CC_CTHL_CXSC_Limit_IN_UP) { CC_CTHL_SetAlarmCode(CC_CTHL_DK_ERROR_ALARM,bRunning); } break; case 12://检测到过链 if(cZipCnt<2) { if(dwXRealPos >= CC_CTHL_PARAM_WLCDSHEZHI_LENTH) { if(bRunning) { cCHULIANBAOJIN=1; SetEn(X_AXIS, MOTOR_DISEN); AxisEgmStop(X_AXIS); SetPos(X_AXIS, 0); //启动位置设为0点 // dwXRealPos=0; } CC_CTHL_SetAlarmCode(CC_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } else { if(dwXRealPos >= CC_CTHL_LianLengthAutoCheckERROR + CC_CTHL_PARAM_WUCD_LENTH) { if(bRunning) { cCHULIANBAOJIN=1; SetEn(X_AXIS, MOTOR_DISEN); AxisEgmStop(X_AXIS); SetPos(X_AXIS, 0); //启动位置设为0点 // dwXRealPos=0; } CC_CTHL_SetAlarmCode(CC_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } if(CC_CTHL_FK_Check) { CC_CTHL_SongDai_VAVLE=1; CC_CTHL_TD_MotorDelay= dwTickCount + CC_CTHL_PARAM_FKJDSECONG_DEALY; CC_CTHL_LianLengthReal = dwXRealPos; //if(cZipCnt == 1) // user_datas[122] = dwXRealPos; // user_datas[121] = dwXRealPos; if((cZipCnt == 1) || dwXRealPos < (CC_CTHL_LianLengthCheck*0.85) || dwXRealPos>(CC_CTHL_LianLengthCheck*1.3)) CC_CTHL_LianLengthCheck = dwXRealPos; CC_CTHL_LianLengthCheckOLD=CC_CTHL_LianLengthNEWCheck; CC_CTHL_LianLengthNEWCheck = dwXRealPos; //break; CC_CTHL_XSavePosBuff = dwXRealPos; CC_CTHL_TD_MotorStep = 13; // user_datas[122] = CC_CTHL_PARAM_FKDW_Length - (dwXRealPos- CC_CTHL_CheckInX02PosBuff); if(cZipCnt > 1 ) { if((dwXRealPos >= CC_CTHL_CheckInX02PosBuff) && CC_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed,CC_CTHL_PARAM_FKDW_Length - (dwXRealPos- CC_CTHL_CheckInX02PosBuff), CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,30,300,50); else AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed,CC_CTHL_PARAM_FKDW_Length, CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,30,300,50); } else { AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed,CC_CTHL_PARAM_first_length, CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,30,300,50); } //CC_CTHL_TD_MotorStep = 0; } else if(CC_CTHL_CXSC_Limit_IN_DW) { AxisMovePosAccDec(X_AXIS,CC_CTHL_PARAM_TD_RunSpeed * 2/3,CC_CTHL_PARAM_FKDW_Length, CC_CTHL_PARAM_FKDW_Speed,CC_CTHL_PARAM_FKDW_Speed,10,150,50); } else if(CC_CTHL_CXSC_Limit_IN_UP) { CC_CTHL_SetAlarmCode(CC_CTHL_DK_ERROR_ALARM,bRunning); } if(CC_CTHL_CXSC_Limit_IN_UP) { cXCGYcheck=1; CC_CTHL_LianLengthXC_Check=dwXRealPos; // SetPos(Y_AXIS, 0); //启动位置设为0点 } break; case 13: if(CC_CTHL_CXSC_Limit_IN_UP) { cXCGYcheck=1; CC_CTHL_LianLengthXC_Check=dwXRealPos; // SetPos(Y_AXIS, 0); //启动位置设为0点 } if(dwTickCount >= CC_CTHL_TD_MotorDelay) { CC_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 } if(CC_CTHL_CXSC_Limit_IN_UP) { CC_CTHL_X_CXPosBuff = dwXRealPos; } if((!X_DRV ))// || (dwXRealPos >= (CC_CTHL_XSavePosBuff + CC_CTHL_PARAM_FKDW_Length))) { // user_datas[123] = dwXRealPos-CC_CTHL_CheckInX02PosBuff; CC_CTHL_LianLengthBCLENGTH_Check=dwXRealPos-CC_CTHL_LianLengthXC_Check; AxisEgmStop(X_AXIS); CC_CTHL_TD_MotorStep = 14; /* if(cZipCnt>2) { if(((CC_CTHL_LianLengthNEWCheck+CC_CTHL_LianLengthCheckOLD)*0.5) < (CC_CTHL_LianLengthCheck*0.95)) { cZipCnt=0; cHeLian=1; } }*/ if(cZipCnt==1) CC_CTHL_LianLengthAutoCheckERROR = dwXRealPos; if(cZipCnt==1) CC_CTHL_LianLengSave=dwXRealPos; CC_CTHL_LianLengthAutoCheck = dwXRealPos; user_datas[122] = dwXRealPos-CC_CTHL_X_CXPosBuff; } break; case 14: if(CC_CTHL_PARAM_XCX_LENTH) //0的话不判断位置 { if ((dwXRealPos - CC_CTHL_X_CXPosBuff) > (CC_CTHL_PARAM_XCX_LENTH + CC_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 1; CC_CTHL_TD_MotorStep = 0; cXCXQXQD=1; CC_CTHL_SetAlarmCode(CC_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if((dwXRealPos - CC_CTHL_X_CXPosBuff) < (CC_CTHL_PARAM_XCX_LENTH - CC_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 2; CC_CTHL_TD_MotorStep = 0; cXCXQXQD=1; CC_CTHL_SetAlarmCode(CC_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(CC_CTHL_X_CXPosBuff == 0) { // user_datas[121] = 3; CC_CTHL_TD_MotorStep = 0; cXCXQXQD=1; CC_CTHL_SetAlarmCode(CC_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { CC_CTHL_TD_MotorStep = 15; } } else { CC_CTHL_TD_MotorStep = 15; } break; case 15: // if(CC_CTHL_START_IN_UP) CC_CTHL_TD_MotorStep = 0; } #endif } //穿入电机动作，Y轴 void CC_CTHL_CL_Motor(void) // { #if 0 //1步开始, 穿链长度开始 //20步开始 插销定位开始 //40步,回原点为 switch(CC_CTHL_CL_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= CC_CTHL_CL_MotorDelay) { // SetDir(Y_AXIS, DIR_P); if(CC_CTHL_PARAM_CL_Length >= CC_CTHL_PARAM_CL_MAX_Length) CC_CTHL_PARAM_CL_Length = CC_CTHL_PARAM_CL_MAX_Length; //穿入长度要根据检测长度减动一次穿入的1CM,反转的2CM if((CC_CTHL_LianLengthAutoCheck < (CC_CTHL_PARAM_CL_Length + 500 )) && bRunning) AxisMovePosAccDec(Y_AXIS,CC_CTHL_PARAM_CL_Speed,(CC_CTHL_LianLengthAutoCheck-500),800,600,6,6,50); else AxisMovePosAccDec(Y_AXIS,CC_CTHL_PARAM_CL_Speed,(CC_CTHL_PARAM_CL_Length-100),800,600,6,6,50); CC_CTHL_CL_MotorStep = 2; } break; case 2: if((dwYRealPos + 120) > CC_CTHL_PARAM_CL_Length) CC_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= CC_CTHL_PARAM_CL_Length) { CC_CTHL_HLJJ_VAVLE = 0; CC_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; CC_CTHL_CL_MotorDelay = dwTickCount + 40; //延时数控回零点 } break; case 3: if(dwTickCount >= CC_CTHL_CL_MotorDelay) { CC_CTHL_CL_MotorStep = 50; } break; //夹带插销到穿入位置 case 20: //此处最好算好定位长度相减 if(cXcxcrCnt > 0) { CC_CTHL_LENTH = CC_CTHL_PARAM_CXDW_Length + 30; CC_CTHL_CL_MotorStep = 21; } else { CC_CTHL_LENTH = CC_CTHL_PARAM_CXDW_Length ; CC_CTHL_CL_MotorStep = 21; } break; case 21: SetDir(Y_AXIS, DIR_P); AxisMovePosAccDec(Y_AXIS,8000,CC_CTHL_LENTH,800,500,6,6,50); CC_CTHL_CL_MotorStep = 22; break; case 22: if(!Y_DRV || (dwYRealPos >= CC_CTHL_LENTH)) //插销定位已经结束 { AxisEgmStop(Y_AXIS); CC_CTHL_YsaveCXDWPosBuff = 0; CC_CTHL_CL_MotorStep = 0; } break; //回原点开始 case 40: //要先离开 if(CC_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN)) { CC_CTHL_CL_MotorStep = 41; SetDir(Y_AXIS, DIR_P); } else { SetDir(Y_AXIS, DIR_N); CC_CTHL_CL_MotorStep = 46; } if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); CC_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } else //已经锁轴 CC_CTHL_CL_MotorDelay = dwTickCount + 5; break; case 41: if(dwTickCount >= CC_CTHL_CL_MotorDelay) { CC_CTHL_CL_MotorStep = 42; AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15); } break; case 42: if(!CC_CTHL_SF_Origin_IN) { CC_CTHL_CL_MotorStep = 43; CC_CTHL_YSavePosBuff = dwYRealPos; } break; case 43: //离开原点5CM停止 if((dwYRealPos - CC_CTHL_YSavePosBuff) >= 800) { AxisEgmStop(Y_AXIS); CC_CTHL_CL_MotorStep = 46; //留空几步备用 CC_CTHL_CL_MotorDelay = dwTickCount + 50; } break; case 46: if(dwTickCount >= CC_CTHL_CL_MotorDelay) { CC_CTHL_CL_MotorStep = 47; //检测回到原位 if(!CC_CTHL_SF_Origin_IN) AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1000,800,15,10); } break; case 47: if(CC_CTHL_SF_Origin_IN) { CC_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; //数控回原位 (条件为自动工作，SON一直没有松开) case 50: if(dwYRealPos > 150) { //回零速度 SetDir(Y_AXIS, DIR_N); AxisMovePosAccDecNotStop(Y_AXIS,CC_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos + 150,5000,2000,10,50,50); } else AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15); CC_CTHL_CL_MotorStep = 51; break; case 51: if(CC_CTHL_SF_Origin_IN) { CC_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; } #endif #if 1 //1步开始, 穿链长度开始 //20步开始 插销定位开始 //40步,回原点为 switch(CC_CTHL_CL_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= CC_CTHL_CL_MotorDelay) { if(CC_CTHL_SF_Origin_IN) { if(!CC_CTHL_PARAM_AUTO_MODE) { //穿入长度要根据检测长度减动一次穿入的1CM,反转的2CM if(CC_CTHL_LianLengthAutoCheck <= 700) { CC_CTHL_Y_CL_Length=CC_CTHL_LianLengthAutoCheck-200; if(CC_CTHL_Y_CL_Length<10) CC_CTHL_Y_CL_Length=200; if(CC_CTHL_Y_CL_Length >= CC_CTHL_PARAM_CL_MAX_Length) CC_CTHL_Y_CL_Length = CC_CTHL_PARAM_CL_MAX_Length-40; AxisMovePosAccDec(Y_AXIS,CC_CTHL_PARAM_CL_Speed,CC_CTHL_Y_CL_Length,800,600,6,6,50); } else if(CC_CTHL_LianLengthAutoCheck>700) { user_datas[123] =CC_CTHL_LianLengthAutoCheck; if(cZipCnt>1) CC_CTHL_Y_CL_Length=CC_CTHL_LianLengSave-CC_CTHL_PARAM_HLTSY_LENTH-300; else { if(cZipCnt<1) CC_CTHL_Y_CL_Length=CC_CTHL_LianLengthAutoCheck-CC_CTHL_PARAM_HLTSY_LENTH-100; else CC_CTHL_Y_CL_Length=CC_CTHL_LianLengthAutoCheck-CC_CTHL_PARAM_HLTSY_LENTH-300; } if(cZipCnt>1) { if(CC_CTHL_LianLengthAutoCheck<(CC_CTHL_LianLengSave*0.7)) { CC_CTHL_Y_CL_Length=CC_CTHL_LianLengthAutoCheck-CC_CTHL_PARAM_HLTSY_LENTH-300; cZipCnt=0; } } if(CC_CTHL_Y_CL_Length<200) CC_CTHL_Y_CL_Length=200; if(CC_CTHL_Y_CL_Length >= CC_CTHL_PARAM_CL_MAX_Length) CC_CTHL_Y_CL_Length = CC_CTHL_PARAM_CL_MAX_Length-40; AxisMovePosAccDec(Y_AXIS,CC_CTHL_PARAM_CL_Speed,CC_CTHL_Y_CL_Length,800,600,6,6,50); } } else { if(CC_CTHL_PARAM_CL_Length >= CC_CTHL_PARAM_CL_MAX_Length) CC_CTHL_PARAM_CL_Length = CC_CTHL_PARAM_CL_MAX_Length; //穿入长度要根据检测长度减动一次穿入的1CM,反转的2CM if((CC_CTHL_LianLengthAutoCheck < (CC_CTHL_PARAM_CL_Length + 500 )) && bRunning) AxisMovePosAccDec(Y_AXIS,CC_CTHL_PARAM_CL_Speed,(CC_CTHL_LianLengthAutoCheck-500),800,600,6,6,50); else AxisMovePosAccDec(Y_AXIS,CC_CTHL_PARAM_CL_Speed,(CC_CTHL_PARAM_CL_Length-100),800,600,6,6,50); } CC_CTHL_CL_MotorStep = 2; } } break; case 2: if(CC_CTHL_PARAM_AUTO_MODE) { if((dwYRealPos + 120) > CC_CTHL_PARAM_CL_Length) CC_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= CC_CTHL_PARAM_CL_Length) { CC_CTHL_HLJJ_VAVLE = 0; CC_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; CC_CTHL_CL_MotorDelay = dwTickCount + 30; //延时数控回零点 } } else { if((dwYRealPos + 120) > CC_CTHL_Y_CL_Length) CC_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= CC_CTHL_Y_CL_Length) { CC_CTHL_HLJJ_VAVLE = 0; CC_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; CC_CTHL_CL_MotorDelay = dwTickCount + 30; //延时数控回零点 } } break; case 3: if(dwTickCount >= CC_CTHL_CL_MotorDelay) { CC_CTHL_CL_MotorStep = 50; } break; //夹带插销到穿入位置 case 20: //此处最好算好定位长度相减 if(!CC_CTHL_PARAM_XCXJY_MODE) { if(cXcxcrCnt > 0) { if(cXcxcrCnt==1) CC_CTHL_LENTH = CC_CTHL_PARAM_CXDW_Length+CC_CTHL_PARAM_TDFZ_LENTH + 50; if(cXcxcrCnt>1) CC_CTHL_LENTH = CC_CTHL_PARAM_CXDW_Length +CC_CTHL_PARAM_TDFZ_LENTH + 120; CC_CTHL_CL_MotorStep = 21; } else { CC_CTHL_LENTH = CC_CTHL_PARAM_CXDW_Length ; CC_CTHL_CL_MotorStep = 21; } } else { dwYRealPos=0; CC_CTHL_LianLengthERROR_Check=dwYRealPos; AxisContinueMoveAcc(Y_AXIS,CC_CTHL_PARAM_XCLACHU_SPEED,DIR_P,1200,1200,5,30); CC_CTHL_CL_MotorStep = 21; } break; case 21: if(!CC_CTHL_PARAM_XCXJY_MODE) { SetDir(Y_AXIS, DIR_P); CC_CTHL_Y_CL_PosBuff = dwYRealPos; AxisMovePosAccDec(Y_AXIS,CC_CTHL_PARAM_XCLACHU_SPEED,CC_CTHL_LENTH,800,500,6,6,50); CC_CTHL_CL_MotorStep = 22; } else { if(CC_CTHL_CXSC_Limit_IN_UP || cXcxcrCnt>0) { CC_CTHL_LianLengthXC_Check=dwYRealPos; CC_CTHL_CL_MotorStep = 22; } else if(dwYRealPos> (CC_CTHL_LianLengthERROR_Check+200) ) { cXCGYcheck=0; AxisEgmStop(Y_AXIS); // user_datas[128] = dwYRealPos; CC_CTHL_CL_MotorStep = 0; CC_CTHL_LianLengthXC_Check=0; SetPos(Y_AXIS, 0); //启动位置设为0点 } } break; case 22: if(!CC_CTHL_PARAM_XCXJY_MODE) { if(dwYRealPos >= CC_CTHL_Y_CL_PosBuff+CC_CTHL_LENTH-CC_CTHL_PARAM_CXDW_Length) //插销定位已经结束 { CC_CTHL_CXSCDW_VAVLE = 1; } if(!Y_DRV || (dwYRealPos >= CC_CTHL_Y_CL_PosBuff+CC_CTHL_LENTH)) //插销定位已经结束 { AxisEgmStop(Y_AXIS); CC_CTHL_YsaveCXDWPosBuff = 0; CC_CTHL_CL_MotorStep = 0; } } else { if(cXcxcrCnt==0) CC_CTHL_LENTH=CC_CTHL_PARAM_CXDW_Length; else CC_CTHL_LENTH=CC_CTHL_PARAM_CXDW_Length+200; if(dwYRealPos>(CC_CTHL_LianLengthXC_Check+CC_CTHL_LENTH)) { // user_datas[128] = dwYRealPos; cXCGYcheck=0; AxisEgmStop(Y_AXIS); CC_CTHL_CL_MotorStep = 0; CC_CTHL_LianLengthXC_Check=0; SetPos(Y_AXIS, 0); //启动位置设为0点 } else if(dwYRealPos> (CC_CTHL_LianLengthERROR_Check+200)) { cXCGYcheck=0; // user_datas[128] = dwYRealPos; AxisEgmStop(Y_AXIS); CC_CTHL_CL_MotorStep = 0; CC_CTHL_LianLengthXC_Check=0; SetPos(Y_AXIS, 0); //启动位置设为0点 } } break; case 30: CC_CTHL_YsaveCXDWPosBuff = 0; CC_CTHL_CL_MotorStep = 0; break; //回原点开始 case 40: //要先离开 if(CC_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN)) { CC_CTHL_CL_MotorStep = 41; SetDir(Y_AXIS, DIR_P); } else { SetDir(Y_AXIS, DIR_N); CC_CTHL_CL_MotorStep = 46; } if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); CC_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } else //已经锁轴 CC_CTHL_CL_MotorDelay = dwTickCount + 5; break; case 41: if(dwTickCount >= CC_CTHL_CL_MotorDelay) { CC_CTHL_CL_MotorStep = 42; AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15); } break; case 42: if(!CC_CTHL_SF_Origin_IN) { CC_CTHL_CL_MotorStep = 43; CC_CTHL_YSavePosBuff = dwYRealPos; } break; case 43: //离开原点5CM停止 if((dwYRealPos - CC_CTHL_YSavePosBuff) >= 800) { AxisEgmStop(Y_AXIS); CC_CTHL_CL_MotorStep = 46; //留空几步备用 CC_CTHL_CL_MotorDelay = dwTickCount + 50; } break; case 46: if(dwTickCount >= CC_CTHL_CL_MotorDelay) { CC_CTHL_CL_MotorStep = 47; //检测回到原位 if(!CC_CTHL_SF_Origin_IN) AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1000,800,15,10); } break; case 47: if(CC_CTHL_SF_Origin_IN) { CC_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; //数控回原位 (条件为自动工作，SON一直没有松开) case 50: if(dwYRealPos > 151) { //回零速度 SetDir(Y_AXIS, DIR_N); AxisMovePosAccDecNotStop(Y_AXIS,CC_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos + 150,5000,2500,30,200,00); } else AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15); CC_CTHL_CL_MotorStep = 51; break; case 51: if(CC_CTHL_SF_Origin_IN) { CC_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; } #endif } //装拉头动作 void CC_CTHL_ZLT_Step(void) { switch(CC_CTHL_ZhuangLiaoStep) { case 1: if(bZhuangLiaoOkFlg) { CC_CTHL_ZhuangLiaoStep = 0; } else if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) { if(((CC_CTHL_MGuo_VAVLE && CC_CTHL_LTou_Check) || (!CC_CTHL_MGuo_VAVLE)) && !CC_CTHL_JLiao_Limit_IN )//说明没有拉头 { //穿头模和一次穿入必须在原位,接料不能有输出 if(CC_CTHL_CTM_Origin_IN && !CC_CTHL_CTXM_VAVLE) { CC_CTHL_First_CT_VAVLE = 0; CC_CTHL_JLTou_VAVLE = 0; CC_CTHL_MGuo_VAVLE = 0; if(CC_CTHL_TLiaoStep == 0) { CC_CTHL_TLiaoStep = 1; CC_CTHL_ZhuangLiaoStep = 2; } } else if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay + 500) //警告横送拉必须保证穿头模和一次穿入在原位,接料不能有输出 { CC_CTHL_SetAlarmCode(CC_CTHL_CTM_Origin_ALARM,bRunning); } } else //已经有拉头直接跳到结束 { CC_CTHL_ZhuangLiaoDelay = dwTickCount + 40; CC_CTHL_ZhuangLiaoStep = 9; } } break; case 2: if(CC_CTHL_TLiaoStep == 0) //推料已经完成 { CC_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; CC_CTHL_JLTou_VAVLE = 0; CC_CTHL_MGuo_VAVLE = 0; if(!CC_CTHL_JLiao_Limit_IN && CC_CTHL_First_CT_Origin_IN) { CC_CTHL_ZhuangLiaoStep = 3; CC_CTHL_HSLiao_VAVLE = 1; if(CC_CTHL_PARAM_LTJJ_MODE) { CC_CTHL_LTJJ_VAVLE=1; } else CC_CTHL_LTJJ_VAVLE=0; } } break; case 3: //横送到位 if(CC_CTHL_HSLiao_Limit_IN && !CC_CTHL_HSLiao_Origin_IN) { CC_CTHL_ZhuangLiaoStep = 4; // CC_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 CC_CTHL_ZhuangLiaoDelay = dwTickCount + 5; } else if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) { CC_CTHL_SetAlarmCode(CC_CTHL_HSLiao_Limit_ALARM,bRunning); } break; case 4: if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) { CC_CTHL_ZhuangLiaoStep = 5; CC_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 CC_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 5: if(CC_CTHL_JLiao_Limit_IN) { CC_CTHL_LTJJ_VAVLE=0; CC_CTHL_ZhuangLiaoStep = 6; if(CC_CTHL_PARAM_LTJJ_MODE) { CC_CTHL_ZhuangLiaoDelay = dwTickCount + CC_CTHL_PARAM_MaGou_DELAY+30; } else { CC_CTHL_ZhuangLiaoDelay = dwTickCount + CC_CTHL_PARAM_MaGou_DELAY; } } else if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) //接拉头(接料)到们信号异常 { CC_CTHL_SetAlarmCode(CC_CTHL_JLiao_Limit_ALARM,bRunning); } break; case 6: if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) //延时码勾 { if(!CC_CTHL_PARAM_LTJJ_MODE || CC_CTHL_LTJJ_Origin_IN) { CC_CTHL_MGuo_VAVLE = 1; //码勾输出 CC_CTHL_ZhuangLiaoStep = 7; CC_CTHL_ZhuangLiaoDelay = dwTickCount + CC_CTHL_PARAM_HSLiaoOff_DELAY; bTuiLaTouOkFlg = 0; } else if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay+3000) { CC_CTHL_SetAlarmCode(CC_CTHL_XMKH_Origin_ALARM,bRunning); } } break; case 7: if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) { CC_CTHL_HSLiao_VAVLE = 0; CC_CTHL_ZhuangLiaoStep = 8; CC_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 8: if(!CC_CTHL_HSLiao_Limit_IN) // { CC_CTHL_ZhuangLiaoStep = 9; CC_CTHL_TLiaoStep = 1; //推拉头 CC_CTHL_ZhuangLiaoDelay = dwTickCount + CC_CTHL_PARAM_CheckLT_DELAY; //也是给下模能上升的时间 } else if (CC_CTHL_LTou_Check) //时间内信号这说明没有拉头 { //重送3次 CC_CTHL_TryCnt++; CC_CTHL_JLTou_VAVLE = 0; //接拉头关 CC_CTHL_MGuo_VAVLE = 0; //码勾打开 if(CC_CTHL_TryCnt >= CC_CTHL_PARAM_SLT_NUMBER) { CC_CTHL_TryCnt = 0; bZhuangLiaoOkFlg = 0; CC_CTHL_ZhuangLiaoStep = 0; CC_CTHL_SetAlarmCode(CC_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { CC_CTHL_ZhuangLiaoStep = 20; //重新送3次 CC_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) { CC_CTHL_SetAlarmCode(CC_CTHL_HSLiao_Limit_ALARM,bRunning); if(bRunning) { CC_CTHL_ZhuangLiaoStep = 0 ; } } break; case 9: if(CC_CTHL_LTou_Check) //时间内信号这说明没有拉头 { CC_CTHL_TryCnt++; CC_CTHL_JLTou_VAVLE = 0; //接拉头关 CC_CTHL_MGuo_VAVLE = 0; //码勾打开 if(CC_CTHL_TryCnt >= 3) { CC_CTHL_TryCnt=0; bZhuangLiaoOkFlg = 0; CC_CTHL_ZhuangLiaoStep = 0; CC_CTHL_SetAlarmCode(CC_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { CC_CTHL_ZhuangLiaoStep = 20; //重新送3次 CC_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) { bZhuangLiaoOkFlg = 1; CC_CTHL_ZhuangLiaoStep = 0; } break; //装拉头不成攻重新送拉头 case 20: if(CC_CTHL_HSLiao_Origin_IN) { CC_CTHL_JLTou_VAVLE = 0; //接拉头关 CC_CTHL_MGuo_VAVLE = 0; //码勾打开 CC_CTHL_ZhuangLiaoStep = 1; CC_CTHL_ZhuangLiaoDelay = dwTickCount + 10; } else if(dwTickCount >= CC_CTHL_ZhuangLiaoDelay) { CC_CTHL_SetAlarmCode(CC_CTHL_HSLiao_Origin_ALARM,bRunning); } break; } } void CC_CTHL_TLiao_Step(void) { switch(CC_CTHL_TLiaoStep) { case 1: if(bTuiLaTouOkFlg) { CC_CTHL_TLiaoStep = 0; } else { CC_CTHL_TLiao_Delay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; CC_CTHL_TLiaoStep = 2; } break; case 2: //横送料在原位 if(CC_CTHL_HSLiao_Origin_IN && !CC_CTHL_HSLiao_Limit_IN && !CC_CTHL_HSLiao_VAVLE) { CC_CTHL_TLiao_VAVLE = 1; //推料(推拉头)输出 CC_CTHL_TLiao_Delay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; CC_CTHL_TLiaoStep = 3; } else if(dwTickCount >= CC_CTHL_TLiao_Delay) CC_CTHL_SetAlarmCode(CC_CTHL_HSLiao_Origin_ALARM,1); break; case 3: //推拉头到位 if(CC_CTHL_TLiao_Limit_IN) { CC_CTHL_TLiao_Delay = dwTickCount + CC_CTHL_PARAM_TLiao_BACKDELAY; CC_CTHL_TLiaoStep = 4; } else if(dwTickCount >= CC_CTHL_TLiao_Delay) CC_CTHL_SetAlarmCode(CC_CTHL_TLiao_Limit_ALARM,1); break; case 4: if(dwTickCount >= CC_CTHL_TLiao_Delay) { CC_CTHL_TLiao_VAVLE = 0; CC_CTHL_TLiao_Delay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; CC_CTHL_TLiaoStep = 5; } break; case 5: if(!CC_CTHL_TLiao_Limit_IN) { CC_CTHL_TLiaoStep = 0; CC_CTHL_TLiao_Delay = dwTickCount; bTuiLaTouOkFlg = 1; } else if(dwTickCount >= CC_CTHL_TLiao_Delay) CC_CTHL_SetAlarmCode(CC_CTHL_TLiao_Limit_ALARM,0); break; } } //振动盘控制 void CC_CTHL_ZhenDongAction(void) { #if 0 if((CC_CTHL_bDLP || bRunning) && CC_CTHL_ZhenDongPian_OUT && CC_CTHL_PARAM_DALIAOPIAN) { if(CT_DLP_Time >= dwTickCount) { CT_ZDP_Delay = dwTickCount + CT_PARAM_DLP_TIME + 40; CT_DaLaPian_VAVLE = ~CT_DaLaPian_VAVLE; } } else CT_DaLaPian_VAVLE = 0; #endif #if 1 // if(bRunning) // { /* switch(CC_CTHL_PARAM_ZDP_AUTO) { case 0: if(CC_CTHL_ZhenDongPian_OUT == 0) { if(!CC_CTHL_ZDP_IN) { if(dwTickCount >= CC_CTHL_ZDP_Delay) { CC_CTHL_ZhenDongPian_OUT = 1; CC_CTHL_ZDP_Delay = dwTickCount + CC_CTHL_PARAM_ZDP_Stop_TIME;//CC_CTHL_PARAM_ZDP_Stop_TIME + 50; } } else { CC_CTHL_ZDP_Delay = dwTickCount + CC_CTHL_PARAM_ZDP_Start_TIME;//CC_CTHL_PARAM_ZDP_Start_TIME; } } else { if(CC_CTHL_ZDP_IN) { if(dwTickCount >= CC_CTHL_ZDP_Delay) { CC_CTHL_ZhenDongPian_OUT = 0; CC_CTHL_ZDP_Delay = dwTickCount + CC_CTHL_PARAM_ZDP_Start_TIME;//CC_CTHL_PARAM_ZDP_Start_TIME } } else CC_CTHL_ZDP_Delay = dwTickCount + CC_CTHL_PARAM_ZDP_Stop_TIME;//CC_CTHL_PARAM_ZDP_Stop_TIME+ 50; } break; case 1: CC_CTHL_ZhenDongPian_OUT=0; CC_CTHL_ZDP_Delay = dwTickCount; break; case 2: CC_CTHL_ZhenDongPian_OUT=1; CC_CTHL_ZDP_Delay = dwTickCount; break; } } else CC_CTHL_DaLaPian_OUT = 0; */ if(CC_CTHL_ZDP_IN) { if(CC_CTHL_PARAM_LaPian_EN) { if(dwTickCount >= CC_CTHL_DLP_Delay) { CC_CTHL_DaLaPian_OUT = !CC_CTHL_DaLaPian_OUT; if(CC_CTHL_DaLaPian_OUT) CC_CTHL_DLP_Delay = dwTickCount + CC_CTHL_PARAM_DaLaPian; else CC_CTHL_DLP_Delay = dwTickCount + CC_CTHL_PARAM_DaLaPian+50; } } } else CC_CTHL_DaLaPian_OUT = 0; #endif } void CC_CTHL_bFKCXTDDWStep(void) { switch(CC_CTHL_bFKCXTDDW_Step) { case 1: CC_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 CC_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 CC_CTHL_FKGD_VAVLE = 0; //方块固定关 CC_CTHL_bFKCXTDDW_Step = 2; break; case 2: if(!CC_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { CC_CTHL_bFKCXTDDW_Step = 3; CC_CTHL_bFKCXTDDW_Delay = dwTickCount + 20; } break; case 3://斜口定位 if(dwTickCount >= CC_CTHL_bFKCXTDDW_Delay) { CC_CTHL_XKDW_VAVLE = 1; CC_CTHL_bFKCXTDDW_Step = 4; // CC_CTHL_bFKCXTDDW_Delay = dwTickCount + CC_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if(dwTickCount >= CC_CTHL_bFKCXTDDW_Delay) { AxisContinueMoveAcc(X_AXIS,1200,DIR_P,800,600,10,10);//拖带电机 CC_CTHL_bFKCXTDDW_Step = 5; CC_CTHL_XSavePosBuff = dwXRealPos; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; } break; case 5: if(CC_CTHL_XKSC_Limit_IN) //方块到位 { AxisEgmStop(X_AXIS); CC_CTHL_QDXK_VAVLE=1; CC_CTHL_bFKCXTDDW_Step = 6; CC_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 CC_CTHL_bFKCXTDDW_Delay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; } else if(dwXRealPos >= (CC_CTHL_XSavePosBuff + 800)) { CC_CTHL_SetAlarmCode(CC_CTHL_FKCXDW_ALARM,bRunning);//方块插销定位异常警告 } break; case 6: if(CC_CTHL_PARAM_TDFZ_LENTH && !X_DRV) //拖带电机反转 AxisMovePosAccDec(X_AXIS,8000,-CC_CTHL_PARAM_DXKFZ_LENTH,800,600,6,6,0); if(CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE = 1; CC_CTHL_bFKCXTDDW_Step = 0; break; } } //插销穿入动作 void CC_CTHL_bCXCRStep(void) { switch(CC_CTHL_bCXCR_Step) { case 11: CC_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 CC_CTHL_FKGD_VAVLE = 0; //方块固定关 CC_CTHL_CXSCDW_VAVLE=1; CC_CTHL_bCXCR_Step = 12; break; case 12: if(!CC_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { CC_CTHL_bCXCR_Step = 13; // CC_CTHL_CXQJD_VAVLE = 1; //插销前夹带 CC_CTHL_bCXCR_Delay = dwTickCount + 20; } break; case 13: if((CC_CTHL_CL_MotorStep == 0) && (CC_CTHL_SF_Origin_IN) && (dwTickCount >= CC_CTHL_bCXCR_Delay)) //插销前夹带回到原位 { CC_CTHL_bCXCR_Step = 14; // CC_CTHL_FKGD_VAVLE = 1; //方块固定开 CC_CTHL_CXQJD_VAVLE = 1; //插销前夹带 CC_CTHL_bCXCR_Delay = dwTickCount + CC_CTHL_PARAM_XCQJD_XCDW_DELAY; } break; case 14: if(dwTickCount >= CC_CTHL_bCXCR_Delay) { CC_CTHL_bCXCR_Step = 15; CC_CTHL_FKGD_VAVLE = 1; //方块固定 //Y轴启动插销 CC_CTHL_CL_MotorStep = 20; //插销定位 } break; case 15: if(CC_CTHL_CL_MotorStep == 0) //插销定位完成 { CC_CTHL_bCXCR_Step = 16; CC_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 CC_CTHL_bCXCR_Delay = dwTickCount + 10; //延时插销下移 } break; case 16: if(dwTickCount >= CC_CTHL_bCXCR_Delay) { CC_CTHL_bCXCR_Step = 17; if(CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE = 0; else CC_CTHL_CXCC_VAVLE = 1; //Y06 插销下移电磁阀 if(CC_CTHL_PARAM_NLSL_MODE == 0) CC_CTHL_bCXCR_Delay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 else CC_CTHL_bCXCR_Delay = dwTickCount + 80; //插销下移异常时间 } break; case 17: if((CC_CTHL_CXCC_Limit_IN) || CC_CTHL_PARAM_NLSL_MODE) { if(CC_CTHL_CXCC_Limit_IN || (dwTickCount >= CC_CTHL_bCXCR_Delay)) { CC_CTHL_bCXCR_Step = 18; if( cXcxcrCnt==0 && !X_DRV) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,10000,-CC_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } CC_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 CC_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 CC_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 CC_CTHL_bCXCR_Delay = dwTickCount + CC_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } else if(dwTickCount >= CC_CTHL_bCXCR_Delay) { CC_CTHL_SetAlarmCode(CC_CTHL_CXCC_Limit_ALARM,bRunning);//插销下移异常 } break; case 18: // if(START_IN_UP) { if(dwTickCount >= CC_CTHL_bCXCR_Delay) { CC_CTHL_bCXCR_Step = 19; CC_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) CC_CTHL_bCXCR_Delay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME +1000; //插销穿入到位异常时间 CC_CTHL_CL_MotorStep = 50; //合链电机回原点 } } break; case 19: if( cXcxcrCnt > 1) { CC_CTHL_SetAlarmCode(CC_CTHL_CX_Limit_ALARM,bRunning); //插销穿入到位异常 } if( CC_CTHL_CX_Limit_IN && cXcxcrCnt<2 ) { cXcxcrCnt=0; bZhuangLiaoOkFlg = 0; CC_CTHL_bCXCR_Step = 0; CC_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 } else if (dwTickCount >= CC_CTHL_bCXCR_Delay) { cXcxcrCnt++; CC_CTHL_CXHJD_VAVLE=0; CC_CTHL_CXHDW_VAVLE=0; CC_CTHL_CXDWZ_VAVLE = 0; if(CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE = 0; else CC_CTHL_CXCC_VAVLE = 1; //Y06 插销下移电磁阀 CC_CTHL_bCXCR_Step = 11; } break; } } void CC_CTHL_bCLFirstStep(void) { switch(CC_CTHL_bCLFirst_Step) { case 19: CC_CTHL_JLTou_VAVLE = 0; //接拉头 bZhuangLiaoOkFlg = 0; CC_CTHL_bCLFirst_Step = 20; CC_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 CC_CTHL_CXCC_VAVLE = 0; //Y06 插销下移电磁阀关 CC_CTHL_bCLFirst_Delay = dwTickCount + CC_CTHL_PARAM_First_CL_DELAY;//延时一次穿入 break; case 20: if(dwTickCount >= CC_CTHL_bCLFirst_Delay) { CC_CTHL_bCLFirst_Step = 21; CC_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出 CC_CTHL_bCLFirst_Delay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; } break; case 21: if(!CC_CTHL_First_CT_Origin_IN) //原点离开后才开始时间 { CC_CTHL_bCLFirst_Step = 22; CC_CTHL_bCLFirst_Delay = dwTickCount + CC_CTHL_PARAM_First_CL_Timer; //一次穿入时间 } else if(dwTickCount >= CC_CTHL_bCLFirst_Delay) { CC_CTHL_SetAlarmCode(CC_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常 } break; case 22: if(dwTickCount >= CC_CTHL_bCLFirst_Delay) { CC_CTHL_bCLFirst_Step = 23; CC_CTHL_MGuo_VAVLE = 0; //码勾退 CC_CTHL_bCLFirst_Delay = dwTickCount + CC_CTHL_PARAM_MGOff_XiaMo_DELAY; CC_CTHL_FKGD_VAVLE = 0; //方块固定退 CC_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 CC_CTHL_CXCC_VAVLE = 0; //Y06 插销下移电磁阀关 } break; case 23: if(dwTickCount >= CC_CTHL_bCLFirst_Delay) { CC_CTHL_bCLFirst_Step = 24; CC_CTHL_CTXM_VAVLE = 0; //穿头下模下降 CC_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 CC_CTHL_bCLFirst_Delay = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; } break; case 24: if(!CC_CTHL_CTM_Limit_IN) { CC_CTHL_bCLFirst_Step= 25; CC_CTHL_bCLFirst_Delay = dwTickCount + 25; //一次穿入延时返回 } else if(dwTickCount >= CC_CTHL_bCLFirst_Delay) { CC_CTHL_SetAlarmCode(CC_CTHL_CTM_Origin_ALARM,bRunning); //穿头下模下降异常 } break; case 25: if(dwTickCount >= CC_CTHL_bCLFirst_Delay) { CC_CTHL_bCLFirst_Step= 0; CC_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 CC_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 //退下出错警告 CC_CTHL_AutoDelay1 = dwTickCount + CC_CTHL_VAVLE_ERROR_TIME; CC_CTHL_AutoStep1 = 1; bTuiLaTouOkFlg = 1; } break; } } //手动动作 void CC_CTHL_ManualAction(void) { if(cBanAuTo) { CC_CTHL_PARAM_XCRU=1; } else { CC_CTHL_PARAM_XCRU=0; } //监控 if(cCXCONE) { CC_CTHL_PARAM_CXCR=1; } else { CC_CTHL_PARAM_CXCR=0; } if(bRunning && user_datas[100]==0) // 运行灯输出 { CC_CTHL_Run_State=1; CC_CTHL_Stop_State=0; } else if(!bRunning && user_datas[100]==0) { CC_CTHL_Run_State=0; CC_CTHL_Stop_State=0; } if(user_datas[100] != 0) { CC_CTHL_Run_State=0; CC_CTHL_Stop_State=1; } if( (GetAlarm(Y_AXIS)==0) || (GetAlarm(X_AXIS)==0)) // 伺服报警 { // cCHULIANBAOJIN=1; // CC_CTHL_SetAlarmCode(CC_CTHL_SF_ALR_ALARM,0); } if(dwTickCount >= CC_CTHL_bSFBBAOJIN_Delay) { SetClr(Y_AXIS,MOTOR_ALARM); SetClr(X_AXIS,MOTOR_ALARM); } if(bRunning == 0) { if(bClearTotal) //切断计数清零 { bClearTotal = 0; ClrcToTal(QDCT_TOTAL_ADDR); } if(CC_CTHL_bTLiao ) //手动推料(推拉头) { CC_CTHL_bTLiao = 0; if(CC_CTHL_TLiao_VAVLE) CC_CTHL_TLiao_VAVLE = 0;//CC_CTHL_TLiao_VAVLE; else if(!CC_CTHL_HSLiao_VAVLE && CC_CTHL_HSLiao_Origin_IN) { CC_CTHL_TLiao_VAVLE = 1; } else//条件警告 { CC_CTHL_SetAlarmCode(CC_CTHL_HENSONGLIAO_ALARM,0); // 横送料不能输出 } } if(CC_CTHL_bHSL) //手动横送料 { CC_CTHL_bHSL= 0; if(!CC_CTHL_First_CT_VAVLE) { if(CC_CTHL_HSLiao_VAVLE) { CC_CTHL_HSLiao_VAVLE = 0;//~CC_CTHL_HSLiao_VAVLE; } else if(!CC_CTHL_TLiao_VAVLE && !CC_CTHL_TLiao_Limit_IN && CC_CTHL_CTM_Origin_IN && !CC_CTHL_JLiao_Limit_IN && !CC_CTHL_JLTou_VAVLE && !CC_CTHL_CTXM_VAVLE && !CC_CTHL_CXDWZ_VAVLE && (!CC_CTHL_bMG || (CC_CTHL_bMG && CC_CTHL_LTou_Check))) { if(CC_CTHL_PARAM_LTJJ_MODE) { CC_CTHL_LTJJ_VAVLE=1; } else { CC_CTHL_LTJJ_VAVLE=0; } CC_CTHL_HSLiao_VAVLE = 1; } else //条件警告 最后一个括号条件为已经有拉头 { CC_CTHL_SetAlarmCode(CC_CTHL_YCCT_ALARM,0); } } } if(CC_CTHL_bJLT) //接拉头 { CC_CTHL_bJLT = 0; if(CC_CTHL_JLTou_VAVLE) CC_CTHL_JLTou_VAVLE = 0; else if(!CC_CTHL_First_CT_VAVLE && !CC_CTHL_CTXM_VAVLE && CC_CTHL_CTM_Origin_IN && CC_CTHL_First_CT_Origin_IN) { CC_CTHL_MGuo_VAVLE = 0; CC_CTHL_JLTou_VAVLE = 1; } else//条件警告 { CC_CTHL_SetAlarmCode(CC_CTHL_YCXM_Origin_ALARM,0); } } if(CC_CTHL_bMG) //码勾 { CC_CTHL_bMG = 0; CC_CTHL_MGuo_VAVLE = !CC_CTHL_MGuo_VAVLE; } if(CC_CTHL_bLTJJ) //码勾 { CC_CTHL_bLTJJ = 0; CC_CTHL_LTJJ_VAVLE = !CC_CTHL_LTJJ_VAVLE; } if(CC_CTHL_bFKJD) //方块夹带 { CC_CTHL_bFKJD = 0; CC_CTHL_FKJD_VAVLE = !CC_CTHL_FKJD_VAVLE; } if(CC_CTHL_bXKTD) //斜口推带 { CC_CTHL_bXKTD = 0; if(CC_CTHL_XKTD_VAVLE) CC_CTHL_XKTD_VAVLE = 0; else if(!CC_CTHL_DXK_VAVLE && (!CC_CTHL_XKSC_Limit_IN || !CC_CTHL_CTXM_VAVLE|| CC_CTHL_PARAM_NLSL_MODE)) CC_CTHL_XKTD_VAVLE = 1; else//条件警告 { CC_CTHL_SetAlarmCode(CC_CTHL_DXKCTXM_Origin_ALARM,0); } } if(CC_CTHL_bXKDW) //斜口定位 { CC_CTHL_bXKDW = 0; CC_CTHL_XKDW_VAVLE = ~CC_CTHL_XKDW_VAVLE; } if(CC_CTHL_bCTXM) //穿头下模 { CC_CTHL_bCTXM = 0; if(CC_CTHL_CTXM_VAVLE) { if(CC_CTHL_PARAM_LTJJ_MODE) { CC_CTHL_LTJJ_VAVLE=1; } else { CC_CTHL_LTJJ_VAVLE=0; } CC_CTHL_CTXM_VAVLE = 0; CC_CTHL_MGuo_VAVLE = 0; CC_CTHL_JLTou_VAVLE = 0; CC_CTHL_CXCC_VAVLE=0; } else if(!CC_CTHL_HSLiao_VAVLE && CC_CTHL_HSLiao_Origin_IN && (!CC_CTHL_XKSC_Limit_IN || !CC_CTHL_XKTD_VAVLE)) { if(CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE = 1; if(CC_CTHL_LTJJ_Origin_IN) { CC_CTHL_MGuo_VAVLE = 1; CC_CTHL_CTXM_VAVLE = 1; CC_CTHL_LTJJ_VAVLE=0; } else { CC_CTHL_SetAlarmCode(CC_CTHL_XMKH_Origin_ALARM,0); CC_CTHL_LTJJ_VAVLE=0; } } } if(CC_CTHL_bQianDXK) //前顶斜口 { CC_CTHL_bQianDXK = 0; if(CC_CTHL_QDXK_VAVLE) CC_CTHL_QDXK_VAVLE = 0; else if(!CC_CTHL_XKTD_VAVLE) CC_CTHL_QDXK_VAVLE = 1; else //条件警告 { CC_CTHL_SetAlarmCode(CC_CTHL_XKTD_ALARM,0); } } if(CC_CTHL_bDXK) //顶斜口 { CC_CTHL_bDXK = 0; if(!CC_CTHL_PARAM_NLSL_MODE) { if(CC_CTHL_DXK_VAVLE) CC_CTHL_DXK_VAVLE = 0; else if(!CC_CTHL_XKTD_VAVLE) { if(!CC_CTHL_PARAM_NLSL_MODE) CC_CTHL_DXK_VAVLE = 1; } else //条件警告 { CC_CTHL_SetAlarmCode(CC_CTHL_XKTD_ALARM,0); } } else { if(CC_CTHL_XKTD_VAVLE) CC_CTHL_XKTD_VAVLE = 0; else if(!CC_CTHL_DXK_VAVLE ) { if(!CC_CTHL_XKSC_Limit_IN || !CC_CTHL_CTXM_VAVLE || CC_CTHL_PARAM_NLSL_MODE) CC_CTHL_XKTD_VAVLE = 1; else { CC_CTHL_SetAlarmCode(CC_CTHL_YCXM_Origin_ALARM,0); } } else//条件警告 { CC_CTHL_SetAlarmCode(CC_CTHL_DXKCTXM_Origin_ALARM,0); } } } //斜码插入 if(CC_CTHL_bBanZiDong) { CC_CTHL_bBanZiDong=0; cBanAuTo=1; cCHULIANBAOJIN=0; CC_CTHL_PARAM_BanAuto_MODE=1; // CC_CTHL_PARAM_BanAuto_MODE=1; CC_CTHL_ZhuangLiaoDelay = dwTickCount + 150; CC_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 CC_CTHL_ZhuangLiaoStep = 1; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; bCL_EN_FLG=0; CC_CTHL_AutoStep = 1; bRunning=1; } //小插插入 if(CC_CTHL_CXC)//穿小插 { CC_CTHL_CXC=0; cCXCONE=1; cBanAuTo=0; CC_CTHL_PARAM_BanAuto_MODE=0; cCHULIANBAOJIN=0; // CC_CTHL_PARAM_BanAuto_MODE=0; CC_CTHL_AutoStep = 11; bRunning=1; if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); CC_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } } if(CC_CTHL_bFKGD) //方块固定 { CC_CTHL_bFKGD = 0; CC_CTHL_FKGD_VAVLE = ~CC_CTHL_FKGD_VAVLE; } if(CC_CTHL_bCXQJD) //插销前夹带 { CC_CTHL_bCXQJD = 0; CC_CTHL_CXQJD_VAVLE = ~CC_CTHL_CXQJD_VAVLE; } if(CC_CTHL_bCXSY) //插销下移电磁阀 { CC_CTHL_bCXSY = 0; CC_CTHL_CXCC_VAVLE = !CC_CTHL_CXCC_VAVLE; } if(CC_CTHL_bCXDWZ) //Y14 插销定位针电磁阀 { CC_CTHL_bCXDWZ = 0; if(CC_CTHL_CXDWZ_VAVLE) CC_CTHL_CXDWZ_VAVLE = 0; else if(CC_CTHL_HSLiao_Origin_IN) { CC_CTHL_CXDWZ_VAVLE = 1; } else //条件警告 { CC_CTHL_SetAlarmCode(CC_CTHL_HENSONGLIAO_ALARM,0); } } if(CC_CTHL_bCXHJD) //Y15 插销后夹带电磁阀 { CC_CTHL_bCXHJD = 0; CC_CTHL_CXHJD_VAVLE =~CC_CTHL_CXHJD_VAVLE; } if(CC_CTHL_bCXHDW) //Y16 插销后定位电磁阀 { CC_CTHL_bCXHDW = 0; if(CC_CTHL_CXHDW_VAVLE) CC_CTHL_CXHDW_VAVLE = 0; else if(!CC_CTHL_CXQJD_VAVLE) CC_CTHL_CXHDW_VAVLE = 1; else//条件警告 { CC_CTHL_SetAlarmCode(CC_CTHL_CXQJD_ALARM,0); } } if(CC_CTHL_bFirst_CT) //Y20 一次穿头电磁阀 { CC_CTHL_bFirst_CT = 0; CC_CTHL_First_CT_VAVLE = ~CC_CTHL_First_CT_VAVLE; } if(CC_CTHL_bHLJJ) //Y21 合链夹具电磁阀 { CC_CTHL_bHLJJ = 0; CC_CTHL_HLJJ_VAVLE = ~CC_CTHL_HLJJ_VAVLE; } if( CC_CTHL_bKALATOU) { CC_CTHL_bKALATOU=0; CC_CTHL_KALATOU_VAVLE=~CC_CTHL_KALATOU_VAVLE; } if(CC_CTHL_bCXSCDW) //Y23 插销上止定位电磁阀 { CC_CTHL_bCXSCDW = 0; CC_CTHL_SongDai_VAVLE = ~CC_CTHL_SongDai_VAVLE; } //自动装料 if(CC_CTHL_bAutoZhuangLiao) { CC_CTHL_bAutoZhuangLiao = 0; if(CC_CTHL_ZhuangLiaoStep == 0) { bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg = 0; CC_CTHL_ZhuangLiaoStep = 1; CC_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 CC_CTHL_LTJJ_VAVLE=0; CC_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } } //测试电机 if(CC_CTHL_bCLMotor_N) { SetEn(Y_AXIS, MOTOR_EN); if(!CC_CTHL_SF_Origin_IN) { if(!Y_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(Y_AXIS,2000,DIR_P,1000,1000,15,15); } else { CC_CTHL_bCLMotor_N = 0; } } if(CC_CTHL_bCLMotor_P) //后退限位已经取消 { SetEn(Y_AXIS, MOTOR_EN); if(!CC_CTHL_SF_Origin_IN) { if(!Y_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,1000,15,15); } } if(!CC_CTHL_bCLMotor_P && !CC_CTHL_bCLMotor_N && (CC_CTHL_CL_MotorStep == 0)) { AxisEgmStop(Y_AXIS);//AxisDecStop(Y_AXIS); } if(CC_CTHL_bTDMotor_P) //后退限位已经取消 { SetEn(X_AXIS, MOTOR_EN); if(!X_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,2000,DIR_N,1000,1000,15,15); } if(CC_CTHL_bTDMotor_N) //后退限位已经取消 { SetEn(X_AXIS, MOTOR_EN); if(!X_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,2000,DIR_P,1000,1000,15,15); } if(!CC_CTHL_bTDMotor_P && !CC_CTHL_bTDMotor_N && (CC_CTHL_TD_MotorStep == 0)) { AxisEgmStop(X_AXIS);//AxisDecStop(Y_AXIS); } //合链电机返回原点 if(CC_CTHL_bCLMotor_O) { CC_CTHL_bCLMotor_O = 0; if(CC_CTHL_CL_MotorStep == 0) CC_CTHL_CL_MotorStep = 40; } //拖带方块定位 ,因这步为前拖带定位, 很多电磁阀要关掉 if(CC_CTHL_bFKTDDW) { CC_CTHL_bFKTDDW = 0; if(CC_CTHL_TD_MotorStep == 0) { CC_CTHL_XKDW_VAVLE = 0; //斜口定位 CC_CTHL_CXQJD_VAVLE = 0; //插销前夹带 if(!CC_CTHL_PARAM_CXCC_MODE) CC_CTHL_CXCC_VAVLE = 0; //插销下移 CC_CTHL_CXHJD_VAVLE = 0; //插销后夹带 CC_CTHL_CXHDW_VAVLE = 0; //插销后定位 CC_CTHL_CXDWZ_VAVLE = 0; //插销定位针 CC_CTHL_bHLJJ = 0; //合链夹具 CC_CTHL_FKJD_VAVLE = 0; //方块夹带 if((GetEn(X_AXIS) == MOTOR_DISEN)) { SetEn(X_AXIS, MOTOR_EN); CC_CTHL_TD_MotorDelay = dwTickCount + 200; } else CC_CTHL_TD_MotorDelay = dwTickCount + 50; CC_CTHL_TD_MotorStep = 1; } } //拖带方块插销定位(斜口推带，斜口定位，顶斜口) if(CC_CTHL_bFKCXTDDW) { CC_CTHL_bFKCXTDDW = 0; if((CC_CTHL_bFKCXTDDW_Step == 0) && (CC_CTHL_CL_MotorStep == 0) && !CC_CTHL_CTXM_VAVLE) { CC_CTHL_bFKCXTDDW_Step = 1; SetEn(X_AXIS, MOTOR_EN); CC_CTHL_CXQJD_VAVLE = 0; //插销前夹带 CC_CTHL_CXCC_VAVLE = 0; //插销下移 CC_CTHL_CXHJD_VAVLE = 0; //插销后夹带 CC_CTHL_CXHDW_VAVLE = 0; //插销后定位 CC_CTHL_CXDWZ_VAVLE = 0; //插销定位针 CC_CTHL_HLJJ_VAVLE = 0; //合链夹具 } } //插销穿入(包含电机前定位,插销下移,后夹,后定位) if(CC_CTHL_bCXCR) { CC_CTHL_bCXCR = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(CC_CTHL_CTXM_VAVLE && CC_CTHL_MGuo_VAVLE && !CC_CTHL_CXQJD_VAVLE && CC_CTHL_CTM_Limit_IN && !CC_CTHL_LTou_Check) { if(CC_CTHL_CL_MotorStep == 0) { CC_CTHL_bCXCR_Step = 11; SetEn(Y_AXIS, MOTOR_EN); if(!CC_CTHL_SF_Origin_IN) CC_CTHL_CL_MotorStep = 40; } } else //警告不能自动穿插销 { CC_CTHL_SetAlarmCode(CC_CTHL_WFZIDONGCX_ALARM,0); } } //电机合链动作 if(CC_CTHL_bMotorHL) { CC_CTHL_bMotorHL = 0; if(CC_CTHL_SF_Origin_IN) { if((CC_CTHL_CL_MotorStep == 0) && !CC_CTHL_CTXM_VAVLE && (!CC_CTHL_CTM_Limit_IN)) { bCL_OK_FLG = 0; CC_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 CC_CTHL_CL_MotorStep = 1; CC_CTHL_CL_MotorDelay = dwTickCount + CC_CTHL_PARAM_HLJJ_CL_DELAY + 130; if((GetEn(Y_AXIS) == MOTOR_DISEN)) { SetEn(Y_AXIS, MOTOR_EN); CC_CTHL_CL_MotorDelay = dwTickCount + 250; } } } else { CC_CTHL_bCLMotor_O =1; } } //一次穿链动作 if(CC_CTHL_bCL_First) { CC_CTHL_bCL_First = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(CC_CTHL_CTXM_VAVLE && CC_CTHL_MGuo_VAVLE && !CC_CTHL_CXQJD_VAVLE && CC_CTHL_CTM_Limit_IN && !CC_CTHL_LTou_Check && (CC_CTHL_CL_MotorStep == 0)) { CC_CTHL_bCLFirst_Step = 19; CC_CTHL_CXHJD_VAVLE = 1; //插销后夹带 CC_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 CC_CTHL_CXQJD_VAVLE = 0; //插销前夹带 } } } } #endif