#include "global.h" #if JIN_HONG_MACHINE==1 unsigned short cTaiMiamMotor; unsigned long cSlowPusle; unsigned char bDecEn,cXiaMo_En,cHemo_OK,cQTltOK,cHTltOk,cQHsltOK,cHHsltOK,cSL_En; unsigned char bStartOnceTime,bOnceProcess,cBackLimitCheck_EN; unsigned short cWorkCnt; unsigned char QTryCnt = 0, HTryCnt = 0; unsigned short cZhaCnt = 0; unsigned char QZhuangLiaoOkFlg = 0,HZhuangLiaoOkFlg = 0; unsigned char QTuiLaTouOkFlg = 0,HTuiLaTouOkFlg = 0; unsigned char ManFlg; unsigned char cStopFlg = 0, cResetOrigin_Flag= 0,cCheck_Go_In_Flag; unsigned char cFirstQStartFlg = 0,cFirstHStartFlg = 0; unsigned char cCountFlg = 0,cQDCT_TuiLianOKFlag = 0; short *qdct_length_buff; long save_limit_pos, cDinWeiPos; unsigned char cTuiLianStep,cChuan_LianCheckOK = 0,cChuan_Lian_ErrorNum,cSongLaTouEn = 0,cCheckDinWei; unsigned char KaDaiFlag = 0; long KaDaiSaveLen,KaDaiSaveLenY; unsigned char LengthType; unsigned long CutRemainLength; long temppos; void QDCT_ManualAction(void); void QDCT_JiaLianAction(void); void QDCT_AutoStepAction(void); void QDCT_QZhenDongAction(void); void QDCT_HZhenDongAction(void); void QDCT_TableAction(void); void QDCT_Motor(void); void QDCT_CheckStart(void); void QDCT_QTuiLT_Step(void); void QDCT_HTuiLT_Step(void); void QDCT_XiaQieAction(void); void QDCT_AlarmProtect(void); void QDCT_QZLT_Step(void); void QDCT_HZLT_Step(void); void QDCT_TuiLian(void); void QDCT_TuiLianAction(void); void QDCT_HeMo_Step(void);//装拉头完成合模动作 void QDCT_TestMotor(void); void QDCT_ExtiActionX31(void) { } void QDCT_SeBiaoAction(void) { if(QDCT_SEBIAO_IN_DW) { if(cSeBiaoEn && !cSeBiaoOk) { cSeBiaoEn = 0; cSeBiaoOk = 1; if(QDCT_XM_OUT) { AxisChangeSpeedDirect(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED); } //user_datas[126] = dwXRealPos; cDinWeiPos = dwXRealPos; } } } //故障报警 void QDCT_SetAlarmCode(unsigned alarm_code) { SetAlarmCode(QDCT_ALARM_ADDR,alarm_code); if(alarm_code != QDCT_KD_ALARM) QDCT_bAlarmStop = 1; } //初始化动作 void QDCT_InitAction(void) { float buff_pulse,buff_dist; buff_pulse = QDCT_PARAM_CYCLE_PULSE; buff_dist = QDCT_PARAM_CYCLE_LENGTH; XGearRatio = buff_pulse/buff_dist; buff_pulse = QDCT_PARAM_YLCYCLE_PULSE; buff_dist = QDCT_PARAM_YLCYCLE_LENGTH; YGearRatio = buff_pulse/buff_dist; //QDCT_SZ_OUT = QDCT_MOTOR_DISEN; SetEnReverse(X_AXIS, 0); SetEn(X_AXIS, QDCT_MOTOR_DISEN); SetEn(Y_AXIS, QDCT_MOTOR_DISEN); QDCT_QZDPStep= 1; QDCT_HZDPStep= 1; QDCT_TLPStep = 1; cWorkCnt = 0; cZhaCnt = 0; dwZipCnt = 0; cBackLimitCheck_EN = 1; if(QDCT_PARAM_MAX_BACK_LENGTH < 13000) QDCT_PARAM_MAX_BACK_LENGTH = 25000; SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM); SetDirReverse(X_AXIS, 0); //设置加减速模式 //axis_set_parameter(axis_x, AXIS_ACCDEC_MODE,QDCT_SEBIAO_LOW_SPEED); } void QDCT_Action(void) { //设置加减速模式 //axis_set_parameter(axis_x, AXIS_ACCDEC_MODE,QDCT_SEBIAO_LOW_SPEED); //InputPinConfig(); QDCT_SeBiaoAction(); QDCT_TuiLian(); QDCT_AlarmProtect(); QDCT_QZhenDongAction(); QDCT_HZhenDongAction(); QDCT_CheckStart(); QDCT_QZLT_Step(); QDCT_HZLT_Step(); QDCT_TableAction(); QDCT_QTuiLT_Step(); QDCT_HTuiLT_Step(); QDCT_JiaLianAction(); QDCT_XiaQieAction(); QDCT_Motor(); QDCT_ManualAction(); QDCT_AutoStepAction(); QDCT_HeMo_Step(); QDCT_TestMotor(); //OutputPinConfig(); } unsigned char cTestMotorStep; unsigned long cTesttime; void QDCT_TestMotor(void) { switch(cTestMotorStep) { //1到10步为回到原点 case 1: //QDCT_SZ_OUT = QDCT_MOTOR_EN; //锁轴 SetEn(X_AXIS, QDCT_MOTOR_EN); QDCT_TestMotorDelay = dwTickCount + 50; cTestMotorStep = 2; break; case 2: if(dwTickCount >= QDCT_TestMotorDelay)//锁轴时间到 { AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED, QDCT_DIR_N,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,10,10); cTestMotorStep= 3; } break; case 3: //回到原点 if(QDCT_GO_LIMIT_IN) //最前点感应 { AxisEgmStop(X_AXIS); QDCT_TestMotorDelay = dwTickCount + 50; cTestMotorStep= 4; SetPos(X_AXIS, 0); } break; case 4: if(!X_DRV) { QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_CQ_TIME; cTestMotorStep= 5; } break; case 5: if(dwTickCount >= QDCT_TestMotorDelay) { if(1)//QDCT_bTest) { QDCT_bTest = 0; cTestMotorStep= 6; AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,100); // AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short acc_pulse,unsigned short dec_pulse) // AxisMovePoint(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-QDCT_PARAM_SET_ZIPPER_LENGTH); cTesttime = dwTickCount; } } break; case 6: if(!X_DRV) { QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_CQ_TIME; cTestMotorStep= 7; } break; case 7: if(dwTickCount >= QDCT_TestMotorDelay) { if(1)//QDCT_bTest) { QDCT_bTest = 0; cTestMotorStep= 8; // MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,-(QDCT_PARAM_SET_ZIPPER_LENGTH)),PosToPulse(X_AXIS,-QDCT_PARAM_SET_ZIPPER_LENGTH/2),PosToPulse(X_AXIS,-QDCT_PARAM_SET_ZIPPER_LENGTH/2),5,5,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); // AxisMove(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(QDCT_PARAM_SET_ZIPPER_LENGTH-600),QDCT_PARAM_JJGO_SPEED/2,-600,QDCT_DIR // AxisMovePos(X_AXIS,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH); AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-QDCT_PARAM_SET_ZIPPER_LENGTH, QDCT_PARAM_START_SPEED,QDCT_PARAM_GO_LOWSPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,500); // AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short acc_pulse,unsigned short dec_pulse) // AxisMovePoint(X_AXIS,QDCT_PARAM_JJGO_SPEED,0); cTesttime = dwTickCount; } } break; case 8: if(!X_DRV) { // if(dwXRealPos <= (QDCT_PARAM_SET_ZIPPER_LENGTH/2)) // { // MoveChangSpeed(X_AXIS,5); cTestMotorStep= 4; // } } break; } } // void QDCT_TuiLian(void) { if(cQDCT_TuiLianOKFlag && (QDCT_YD_OUT && QDCT_SL_OUT)) { QDCT_TuiLianStep = 0; return; } switch(QDCT_TuiLianStep) { case 0: break; case 1: QDCT_TuiLianStep = 2; QDCT_YD_OUT = 1; break; case 2: QDCT_TLDelay = dwTickCount+QDCT_PARAM_DELAY_SL; QDCT_TuiLianStep = 3; break; case 3: if(dwTickCount >= QDCT_TLDelay) { if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 1; QDCT_TLDelay = dwTickCount; QDCT_TuiLianStep = 4; cQDCT_TuiLianOKFlag = 1; } break; case 4: if(dwTickCount >= QDCT_TLDelay) { QDCT_TuiLianStep = 0; } break; } } //前振动 void QDCT_QZhenDongAction(void) { switch(QDCT_QZDPStep) { case 1: if((dwTickCount >= QDCT_QZhenDongDelay)) { if(!QDCT_PARAM_QLT_ON && bRunning) { QDCT_QZDP_OUT = 0; QDCT_QZDPStep = 0; } else { if(!QDCT_QZDP_IN) { QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK; QDCT_QZDPStep = 2; } else { QDCT_QZDP_OUT = 0; } } } break; case 2: if((dwTickCount >= QDCT_QZhenDongDelay)) { QDCT_QZDP_OUT = 1; if(QDCT_QZDP_IN) { QDCT_QZDPStep = 3; QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME; } } break; case 3: if((QDCT_QZDPStep == 3) && (dwTickCount >= QDCT_QZhenDongDelay)) { if(QDCT_QZDP_IN) { QDCT_QZDPStep = 1; QDCT_QZDP_OUT = 0; } else { QDCT_QZDPStep = 2; } } break; } //打拉片,两个共用一个盘 if((QDCT_TLPStep == 1) && (dwTickCount >= QDCT_TLPDelay)) { if((QDCT_QZDP_OUT | QDCT_HZDP_OUT) && QDCT_PARAM_TLP_ENABLE) { QDCT_TLPStep = 2; QDCT_TLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME; QDCT_TLP_OUT = 1; } } else if((QDCT_TLPStep == 2) && (dwTickCount >= QDCT_TLPDelay)) { QDCT_TLPStep = 1; QDCT_TLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME; QDCT_TLP_OUT = 0; } if(QDCT_QZDP_OUT || QDCT_HZDP_OUT) { QDCT_ZDPCQ_OUT = 1; } else { QDCT_ZDPCQ_OUT = 0; } } //后振动盘 void QDCT_HZhenDongAction(void) { switch(QDCT_HZDPStep) { case 1: if((dwTickCount >= QDCT_HZhenDongDelay)) { //后拉头使能 if(!QDCT_PARAM_HLT_ON && bRunning) { QDCT_HZDP_OUT = 0; QDCT_HZDPStep = 0; } else { if(!QDCT_HZDP_IN) { QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK; QDCT_HZDPStep = 2; } else { QDCT_HZDP_OUT = 0; } } } break; case 2: if((dwTickCount >= QDCT_HZhenDongDelay)) { QDCT_HZDP_OUT = 1; if(QDCT_HZDP_IN) { QDCT_HZDPStep = 3; QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME; } } break; case 3: if((dwTickCount >= QDCT_HZhenDongDelay)) { if(QDCT_HZDP_IN) { QDCT_HZDPStep = 1; QDCT_HZDP_OUT = 0; } else { QDCT_HZDPStep = 2; } } break; } } void QDCT_AlarmProtect(void) { static unsigned short ka_dai_cnt; dwXRealPos = GetPos(X_AXIS); dwYRealPos = GetPos(Y_AXIS); if(QDCT_PARAM_BACK_ALARM_MODE) { //感应后限模式 if(!bRunning) { if(QDCT_BACK_LIMIT_IN_UP) { if(X_DRV && (QDCT_bMotorBack) || (QDCT_MotorStep != 0)) //到后限不能再后退但可以点前进 { QDCT_bMotorBack = 0; AxisEgmStop(X_AXIS); QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 1; } } } else { if(QDCT_BACK_LIMIT_IN) { if((dwTickCount >= QDCT_MotorBackLimitDelay) && cBackLimitCheck_EN && X_DRV) { AxisEgmStop(X_AXIS); QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); } } else { QDCT_MotorBackLimitDelay = dwTickCount + 30; } } } else //软件限位 { } if(QDCT_KA_DAI_IN) { if(ka_dai_cnt < 110)ka_dai_cnt++; } else { ka_dai_cnt = 0; // if(GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_KD_ALARM)QDCT_SetAlarmCode(QDCT_NO_ALARM); } if(ka_dai_cnt > 100) { QDCT_YD_OUT = 0; if(bRunning) { QDCT_SetAlarmCode(QDCT_KD_ALARM); if(KaDaiFlag==0) { KaDaiSaveLen = dwXRealPos; KaDaiSaveLenY = dwYRealPos; KaDaiFlag = 1; } } } } void QDCT_JiaLianAction(void) { switch(QDCT_JiaLianStep) { case 1: QDCT_JD_Delay = dwTickCount + QDCT_PARAM_JD_DELAY; QDCT_JiaLianStep = 2; break; case 2: if(dwTickCount >= QDCT_JD_Delay) { QDCT_JD_OUT = 1; QDCT_JD_Delay = dwTickCount + QDCT_PARAM_DELAY_KL; QDCT_JiaLianStep = 3; } break; case 3: if((dwTickCount >= QDCT_JD_Delay)) { if(!QDCT_PARAM_QLT_ON && !QDCT_PARAM_HLT_ON) { QDCT_JD_Delay = dwTickCount; QDCT_YD_OUT = 0; QDCT_JiaLianStep = 4; } else { QDCT_CQ_OUT = 1; //QDCT_KL_OUT = 1; QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME; QDCT_JD_Delay = dwTickCount; QDCT_JiaLianStep = 4; } } break; case 4: if(dwTickCount >= QDCT_JD_Delay) { //QDCT_KL_OUT = 0; QDCT_JiaLianStep = 0; } break; } } unsigned char QDCT_CheckLength(void) { //无限长度 if(QDCT_LONG_LENGTH_USE) { if(QDCT_PARAM_SET_ZIPPER_LENGTH > QDCT_PARAM_TRANS_LENGTH) return 1; else return 0; } else return 0; } //自动动作 void QDCT_AutoStepAction(void) { static unsigned char jz_over; if(bRunning) { switch(QDCT_AutoStep) { case 1: jz_over = 0; QTryCnt = 0; cChuan_Lian_ErrorNum = 0; QDCT_AutoStep = 2; if(QDCT_QZDPStep == 0 && !QZDPAutoDisable) QDCT_QZDPStep = 1; if(QDCT_HZDPStep == 0 && !HZDPAutoDisable) QDCT_HZDPStep = 1; QDCT_AutoDelay = dwTickCount + 5; if(!QZhuangLiaoOkFlg) QDCT_QZhuangLiaoStep = 1;//前装料 if(!HZhuangLiaoOkFlg) QDCT_HZhuangLiaoStep = 1;//后装料 cSL_En = 2; //第一条可不受限制横送料 break; case 2: if((QDCT_MotorStep == 0)) { cSL_En = 2; //第一条可不受限制横送料 if(dwTickCount >= QDCT_AutoDelay) { QDCT_AutoStep = 3; SetAlarmCode(QDCT_ALARM_ADDR,0); } user_datas[122]=0; } break; case 3: if(QDCT_MotorStep == 0) { QDCT_MotorStep = 61; //前进定位好后自动夹链和开链 QDCT_AutoStep = 4; cBackLimitCheck_EN = 0; } break; case 4: //考虑第一条电机在前点要退出来，第二条后也不可能在前点,不能合模 if(!QDCT_GO_LIMIT_IN || QDCT_JD_OUT) QDCT_AutoStep = 9; break; case 5: QDCT_AutoStep = 9; break; case 6: QDCT_AutoStep = 7; break; case 7: QDCT_AutoStep = 8; break; case 9: if(((QDCT_GO_LIMIT_IN || dwZipCnt) && !QDCT_PARAM_HM_MODE) || ((QDCT_MotorStep == 68 || QDCT_MotorStep == 0) && QDCT_PARAM_HM_MODE)) //第一条要到前限位才能合模 { if((cCheckDinWei == 0) && (QDCT_PARAM_QLT_ON || QDCT_PARAM_HLT_ON)) { QDCT_HeMoStep = 1; QDCT_HeMoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } QTryCnt = 0; QDCT_AutoStep = 10; } break; case 10: if((QDCT_MotorStep == 0) && (QDCT_HeMoStep == 0)) //前定位完成,QDCT_GO_LIMIT_IN也肯定有信号 { cXiaMo_En = 0; QDCT_AutoStep = 11; cCheck_Go_In_Flag = 1; } break; case 11: if((QDCT_MotorStep == 0)) //开始后拉穿入 { cBackLimitCheck_EN = 1; if(QDCT_SEBIAO_MODE) //色标模式 { QDCT_MotorStep = 1; } else { QDCT_MotorStep = 30;//穿入启动 } cSL_En = 0; //不受限制横送料 cChuan_LianCheckOK = 0; QDCT_AutoStep = 12; } break; case 12: if(((QDCT_MotorStep == 0) || (QDCT_MotorStep == 40)) && !X_DRV) { QDCT_AutoStep = 13; } break; case 13: if(QDCT_CheckLength()) //判断长度转换压轮电机拖带 { QDCT_AutoStep = 50; } else { if(LengthType==0) QDCT_AutoStep = 14; else QDCT_AutoStep = 15; } break; case 14: if((QDCT_XiaQieStep == 0)) { QDCT_XiaQieStep = 1; cSL_En = 0; //下切时只横送不能锁紧拉头 QDCT_AutoStep = 15; } break; case 15://拖带完成 if(!X_DRV && !Y_DRV) { if(((QDCT_XiaQieStep == 0) || (QDCT_XiaQieStep == 7)) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE)) { if(QDCT_MotorStep == 0) { if(jz_over)//无限长方式由压轮带出拉链 { jz_over = 0; QDCT_MotorStepY = 160; QDCT_MotorDelay = dwTickCount + QDCT_PARAM_YL_SL_DELAY; } else QDCT_MotorStep = 80; QDCT_AutoStep = 16; } } } break; /**/ case 16: if((QDCT_MotorStep == 0) && (QDCT_CheckLength()==0 || QDCT_MotorStepY==0 || QDCT_MotorStepY==162 || QDCT_MotorStepY==163)) { cXiaMo_En= 1; cSL_En = 2; //横送料打开 if(bStartOnceTime) { bStartOnceTime = 0; SingOneFlg = 1; } if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || (!QDCT_PARAM_QLT_ON && !QDCT_PARAM_HLT_ON) || cChuan_LianCheckOK) { CalProSP(QDCT_SPEED_ADDR); //计算生产速度 if(cCheckDinWei == 0) { AddToTal(QDCT_TOTAL_ADDR); //生产总量加1并保存 AddToTal(QDCT_NOWTOTAL_ADDR); //生产总量加1并保存 cWorkCnt++; cZhaCnt++; QDCT_PARAM_TB_CNT1++; QDCT_PARAM_TB_CNT2++; cChuan_Lian_ErrorNum = 0; if(GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_CLOK_ALARM) SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM); } else { SingOneFlg = 1; } cCheckDinWei = 0; if(dwZipCnt < 3) dwZipCnt++; } else { cChuan_Lian_ErrorNum++; if(cChuan_Lian_ErrorNum >= 1) { SetAlarmCode(QDCT_ALARM_ADDR,QDCT_CLOK_ALARM); if(cChuan_Lian_ErrorNum >= 2) SingOneFlg = 1; } } if(QDCT_PARAM_TB_CNT1 >= QDCT_PARAM_TABLE_NUM) { QDCT_TB_OUT = 1; QDCT_PARAM_TB_CNT1 = 0; //QDCT_PARAM_TB_CNT2 = 0; QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME; } if((GetTotal(QDCT_TOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR)) && (GetTotal(QDCT_SETTOTAL_ADDR) != 0)) { SetAlarmCode(QDCT_ALARM_ADDR,QDCT_TOTAL_ALARM); SingOneFlg = 1; QDCT_AutoStep = 17; } else { QDCT_AutoStep = 17; } } break; case 17: if(GetTotal(QDCT_NOWTOTAL_ADDR) >= QDCT_ZHA_NO) //扎数到 { //扎数到了，台面输出 QDCT_TB_OUT = 1; QDCT_PARAM_TB_CNT1 = 0; QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME2; ClrcToTal(QDCT_NOWTOTAL_ADDR); QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY; if(( QDCT_ZHA_STOP_TIME > 0)) //扎数不能为0 { if(QDCT_ZHA_NO > 0) { QDCT_AutoDelay = dwTickCount + QDCT_ZHA_STOP_TIME; dwZipCnt = 0; SetAlarmCode(QDCT_ALARM_ADDR,QDCT_ZHA_ALARM); } } else { SetAlarmCode(QDCT_ALARM_ADDR,QDCT_ZHA_ALARM); SingOneFlg = 1; } if(SingOneFlg) { SingOneFlg = 0; QDCT_AutoStep = 0; bRunning = 0; //QDCT_HHSL_OUT = 0; } else QDCT_AutoStep = 2; } else { QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY; //单条停止 if(SingOneFlg) { SingOneFlg = 0; QDCT_AutoStep = 0; bRunning = 0; //QDCT_HHSL_OUT = 0; } else QDCT_AutoStep = 2; } break; case 50: if(GetEn(Y_AXIS) == QDCT_MOTOR_DISEN) { SetEn(Y_AXIS, QDCT_MOTOR_EN); } if(QDCT_SYL_OUT && !QDCT_SYL_ORIGIN_IN) { QDCT_AutoDelay = dwTickCount + 1; QDCT_AutoStep = 52; } else { QDCT_SYL_OUT = 1; QDCT_AutoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_AutoStep = 51; } break; case 51: if(!QDCT_SYL_ORIGIN_IN) { QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_DELAY; QDCT_AutoStep = 52; } else if(dwTickCount >= QDCT_AutoDelay) QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM); break; case 52: if(dwTickCount >= QDCT_AutoDelay) { QDCT_YL_OUT = 1; QDCT_AutoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_AutoStep = 53; } break; case 53: if(QDCT_YL_LIMIT_IN) { QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_DELAY; QDCT_AutoStep = 54; } else if(dwTickCount >= QDCT_AutoDelay) QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM); break; case 54: if((dwTickCount >= QDCT_AutoDelay) && (QDCT_MotorStep == 0)) { //QDCT_YL_DIR = QDCT_YL_DIR_N; jz_over = 1; QDCT_MotorStep = 150; //走松夹子 if(!Y_DRV)//压轮电机动作 AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH-QDCT_PARAM_TRANS_LENGTH), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_YL_SPEED/400,QDCT_PARAM_YL_SPEED/400,0); QDCT_AutoStep = 55; } break; case 55: if((dwTickCount >= QDCT_AutoDelay)) { if(!Y_DRV && KaDaiFlag==0) { QDCT_AutoStep = 56; //QDCT_YL_DIR = QDCT_YL_DIR_P; QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_FZ_DELAY; } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(Y_DRV) AxisDecStop(Y_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH-QDCT_PARAM_TRANS_LENGTH-KaDaiSaveLenY), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_YL_SPEED/400,QDCT_PARAM_YL_SPEED/400,0); } else { KaDaiSaveLenY=dwYRealPos; } } } break; case 56: if((dwTickCount >= QDCT_AutoDelay)) { if(!Y_DRV)AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SPEED,(-QDCT_PARAM_FZ_LENGTH), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,10,10,0); QDCT_AutoStep = 14; } break; //检测到拉链没有穿进去 case 70: if((dwTickCount >= QDCT_AutoDelay)) //张开夹子 { //检测到拉链没有穿入,进到第一个拉头处夹住出不计数 QDCT_MotorStep = 200; QDCT_AutoStep = 71; } break; case 71: if(QDCT_MotorStep == 0) { QDCT_XM_OUT = 0; //下模退 QDCT_QJLT_OUT = 0; //前后夹拉头退 QDCT_HJLT_OUT = 0; QDCT_AutoDelay = dwTickCount + 40; QDCT_AutoStep = 72; } break; case 72: if((dwTickCount >= QDCT_AutoDelay)) //延时下切 { if(cChuan_Lian_ErrorNum == 0) QDCT_AutoStep = 14; else QDCT_SetAlarmCode(QDCT_CLOK_ALARM); } break; } } } //台面电机动作 void QDCT_TableAction(void) { if(QDCT_TB_OUT && (dwTickCount >= QDCT_TableDelay)) QDCT_TB_OUT = 0; } void QDCT_CheckStart(void) { static unsigned char long_stop_flg = 0,yd_back_flg,sl_flg; static unsigned long long_time_delay,yd_back_delay,sl_delay,sl_delayStart,dw_Stop_In_Delay; QDCT_STATE_RUN = bRunning; if(GetAlarmCode(QDCT_ALARM_ADDR) == 0) QDCT_STATE_ERROR = 0; else QDCT_STATE_ERROR = 1; //启动 自动启动 单一自动 if((QDCT_START_IN_UP || bStart || (QDCT_bOnceStart && !KaDaiFlag) || QDCT_bCheckDinWei)) { if((dwTickCount >= sl_delayStart) && !bRunning) { if(QDCT_bOnceStart) { QDCT_bOnceStart = 0; bStartOnceTime = 1; dwZipCnt = 0; } bStart = 0; if(!QDCT_NO_ZIPPER_CHECK_IN)QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM); else if(QDCT_PARAM_SET_ZIPPER_LENGTH <500)QDCT_SetAlarmCode(QDCT_ZIPPER_LENGTH_ALARM); else if((QDCT_QLTCZ_IN || QDCT_HLTCZ_IN) && !QDCT_XM_OUT)QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM); else if(!QDCT_QHSL_ORIGIN_IN || !QDCT_HHSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_GL_ORIGIN_ALARM); else if(QDCT_HHSL_LIMIT_IN || QDCT_QHSL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_START_SL_LIMIT_ALARM); //else if(!QDCT_XQ_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_XQ_ORIGIN_ALARM); else if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_SM_ORIGIN_ALARM); else if(QDCT_XQ_LIMIT_IN && !QDCT_PARAM_XM_MODE)QDCT_SetAlarmCode(QDCT_XQ_LIMIT_ALARM); else if(QDCT_SQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM); else if(QDCT_YL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM); else if(!QDCT_SYL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM); else if(QDCT_KA_DAI_IN)QDCT_SetAlarmCode(QDCT_KD_ALARM); else if(QDCT_GO_LIMIT_IN && (QDCT_YD_OUT && ((QDCT_SL_OUT && QDCT_PARAM_XM_MODE) || !QDCT_PARAM_XM_MODE) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM))) { if(((GetAlarmCode(QDCT_ALARM_ADDR) == 0) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM))) { AxisEgmStop(X_AXIS); cCheckDinWei = QDCT_bCheckDinWei; bRunning = 1; cTuiLianStep = 0; yd_back_flg = 0; QDCT_AutoStep = 4; SetAlarmCode(QDCT_ALARM_ADDR,0); sl_flg = 0; QDCT_MotorStep = 66; cWorkCnt = 0; QTryCnt = 0; HTryCnt = 0; QTuiLaTouOkFlg = 1; HTuiLaTouOkFlg = 1; if(QDCT_QJLT_OUT)// 前夹拉头关 { QZhuangLiaoOkFlg = 1; } else { QZhuangLiaoOkFlg = 0; QDCT_QZhuangLiaoStep = 1; } if(QDCT_HJLT_OUT) { HZhuangLiaoOkFlg = 1; } else { HZhuangLiaoOkFlg = 0; QDCT_HZhuangLiaoStep = 1; } HTuiLaTouOkFlg = 1; dwZipCnt = 0; cFirstQStartFlg = 1; cFirstHStartFlg = 1; if(!QZDPAutoDisable) QDCT_QZDPStep = 1; if(!HZDPAutoDisable) QDCT_HZDPStep = 1; QDCT_TLPStep = 1; SingOneFlg = 0; cCheck_Go_In_Flag = 1; cSL_En = 2; cXiaMo_En = 1; SetPos(X_AXIS, 0); cBackLimitCheck_EN = 1; if(QDCT_TB_OUT) QDCT_TableDelay = dwTickCount + 300; KaDaiFlag = 0; KaDaiSaveLen=0; KaDaiSaveLenY=0; } } else { if((GetAlarmCode(QDCT_ALARM_ADDR) == 0)) { AxisEgmStop(X_AXIS); cCheckDinWei = QDCT_bCheckDinWei; cBackLimitCheck_EN = 1; bRunning = 1; yd_back_flg = 0; QDCT_AutoStep = 1; cWorkCnt = 0; QTryCnt = 0; HTryCnt = 0; QTuiLaTouOkFlg = 1; HTuiLaTouOkFlg = 1; dwZipCnt = 0; cFirstQStartFlg = 1; cFirstHStartFlg = 1; if(QDCT_QJLT_OUT)// 前夹拉头关 { QZhuangLiaoOkFlg = 1; } else { QZhuangLiaoOkFlg = 0; QDCT_QZhuangLiaoStep = 1; } if(QDCT_HJLT_OUT) { HZhuangLiaoOkFlg = 1; } else { HZhuangLiaoOkFlg = 0; QDCT_HZhuangLiaoStep = 1; } if(!QZDPAutoDisable) QDCT_QZDPStep = 1; if(!HZDPAutoDisable) QDCT_HZDPStep = 1; QDCT_TLPStep = 1; SingOneFlg = 0; cCheck_Go_In_Flag = 1; cSL_En = 2; cXiaMo_En = 1; if(QDCT_TB_OUT) QDCT_TableDelay = dwTickCount + 300; KaDaiFlag = 0; KaDaiSaveLen=0; KaDaiSaveLenY=0; } } } QDCT_bCheckDinWei= 0; } if(cStopFlg == 1) { if(!X_DRV) cStopFlg = 0; } if(bStop) { SingOneFlg = 1; bStop = 0; } //停止 if(QDCT_STOP_IN_UP && (dwTickCount >= dw_Stop_In_Delay)) { // SingOneFlg = 0; if(bRunning) { dw_Stop_In_Delay = dwTickCount +50; //SetDecTime(X_AXIS,12) ; //SetDecTime(Y_AXIS,12) ; AxisDecStop(X_AXIS); AxisDecStop(Y_AXIS); bRunning = 0; QDCT_bOnceStart = 0; bStartOnceTime = 0; bStop = 0; QDCT_AutoStep = 0; //QDCT_QZhuangLiaoStep = 0; //QDCT_HZhuangLiaoStep = 0; QDCT_HeMoStep = 0; QDCT_MotorStep = 0; QDCT_JiaLianStep = 0; if(!QDCT_PARAM_CS_ENABLE)QDCT_XiaQieStep = 0; QDCT_ZhenDongStep = 0; QDCT_QTLTStep = 0; QDCT_HTLTStep = 0; ManFlg = 0; cBackLimitCheck_EN = 1; QDCT_MotorStepY = 0; QDCT_YL_OUT = 0; QDCT_SYL_OUT = 0; } else { if(!X_DRV) //QDCT_SZ_OUT = QDCT_MOTOR_DISEN; SetEn(X_AXIS, QDCT_MOTOR_DISEN); if(!Y_DRV) SetEn(Y_AXIS, QDCT_MOTOR_DISEN); //SetDecTime(X_AXIS,12) ; //SetDecTime(Y_AXIS,12) ; AxisDecStop(X_AXIS); AxisDecStop(Y_AXIS); bRunning = 0; QDCT_bOnceStart = 0; bStop = 0; bStartOnceTime = 0; QDCT_AutoStep = 0; QDCT_QZhuangLiaoStep = 0; QDCT_HZhuangLiaoStep = 0; QDCT_MotorStep = 0; QDCT_JiaLianStep = 0; QDCT_XiaQieStep = 0; QDCT_ZhenDongStep = 0; QDCT_HeMoStep = 0; QDCT_QTLTStep = 0; QDCT_HTLTStep = 0; QDCT_SQ_OUT = 0; if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 0; QDCT_XM_OUT = 0; QDCT_JD_OUT = 0; QDCT_QTLT_OUT = 0; QDCT_HTLT_OUT = 0; QDCT_QHSL_OUT = 0; //QDCT_KL_OUT = 0; QDCT_YL_OUT = 0; QDCT_SYL_OUT = 0; QDCT_CS_OUT = 0; KaDaiFlag = 0; KaDaiSaveLen=0; KaDaiSaveLenY=0; long_stop_flg = 1; long_time_delay = dwTickCount+1500; QDCT_HHSL_OUT= 0; SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM); ManFlg = 0; cSL_En = 2; cXiaMo_En = 1; cBackLimitCheck_EN = 1; if((dwTickCount - QDCT_TableDelay) >= 1000) QDCT_TableDelay = dwTickCount + 300; QDCT_MotorStepSave=0; QDCT_MotorStepY = 0; } //测试停止 cTestMotorStep = 0; } if(sl_flg) { if(dwTickCount >= sl_delay) { sl_flg = 0; if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 0; sl_delayStart = dwTickCount+500; } } if(long_stop_flg) { if(dwTickCount >= long_time_delay) { if(QDCT_STOP_IN) { QDCT_QJLT_OUT = 0; QDCT_HJLT_OUT = 0; QDCT_YD_OUT = 0; if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 0; } } else if(!QDCT_STOP_IN) { long_stop_flg = 0; } } if(QDCT_bAlarmStop) { bRunning = 0; QDCT_bOnceStart = 0; QDCT_bAlarmStop = 0; bStartOnceTime = 0; AxisDecStop(X_AXIS); AxisDecStop(Y_AXIS); QDCT_AutoStep = 0; QDCT_QZhuangLiaoStep = 0; QDCT_HZhuangLiaoStep = 0; QDCT_MotorStep = 0; QDCT_MotorStepY = 0; QDCT_JiaLianStep = 0; QDCT_ZhenDongStep = 0; if(!QDCT_QTLT_OUT) QDCT_QTLTStep = 0; if(!QDCT_HTLT_OUT) QDCT_HTLTStep = 0; ManFlg = 0; KaDaiFlag = 0; KaDaiSaveLen=0; KaDaiSaveLenY=0; if(GetAlarmCode(QDCT_ALARM_ADDR) != QDCT_ZLT_ALARM && !QDCT_JD_OUT) { if(QDCT_SL_OUT && QDCT_PARAM_XM_MODE) { QDCT_YD_OUT = 1; sl_flg = 1; sl_delay = dwTickCount+1000; } } } } unsigned long GetLength(long dist0,long dist1) { if(dist0 < dist1) return (dist1-dist0); else return (dist0-dist1); } //电机控制动作 void QDCT_Motor(void) // { /* 1~5步追色标 30步开始后拉 61 前进定位 80步开始为切断后后拉松夹子 200步,进去一定位置夹废料 */ static long save_buff,length_buff,gou_zhen_buff,back_dec_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff,xm_delay_back; unsigned short start_speed; user_datas[127] = length_buff; qdct_length_buff = (short *)&QDCT_PARAM_OFFSET_LENGTH; if(!QDCT_NO_ZIPPER_CHECK_IN && bRunning) { QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM); } switch(QDCT_MotorStepY)//走链 { case 160: if((dwTickCount >= QDCT_MotorYDelay) && !Y_DRV) { if(!Y_DRV) { AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SL_SPEED,QDCT_PARAM_YL_SL_LENGTH, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_YL_SL_SPEED/400,QDCT_PARAM_YL_SL_SPEED/400,0); //user_datas[123]++; } QDCT_MotorYDelay = dwTickCount + QDCT_PARAM_YL_BACK_DELAY; QDCT_MotorStepY = 161; }break; case 161: if(dwTickCount >= QDCT_MotorYDelay)QDCT_YL_OUT = 0; if(!Y_DRV) { QDCT_YL_OUT = 0; QDCT_MotorYDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_MotorStepY = 162; } break; case 162: if(!QDCT_YL_LIMIT_IN) { QDCT_SYL_OUT=0;//送压轮退 QDCT_MotorYDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_MotorStepY = 163; } else if(dwTickCount >= QDCT_MotorYDelay) QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM); break; case 163: if(QDCT_SYL_ORIGIN_IN) { QDCT_MotorStepY = 0; SetEn(Y_AXIS, QDCT_MOTOR_DISEN); } else if(dwTickCount >= QDCT_MotorYDelay) QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM); break; } switch(QDCT_MotorStep) { case 1: QDCT_MotorDelay = dwTickCount + QDCT_PARAM_DELAY_BACK; QDCT_MotorStep = 2; QDCT_YD_OUT = 0; LengthType = 0; break; case 2: cSeBiaoOk = 0; cSeBiaoEn = 0; SetPos(X_AXIS,0); if(dwTickCount >= QDCT_MotorDelay) { back_buff = dwXRealPos; back_dec_buff = dwXRealPos; cSeBiaoOk = 0; cSeBiaoEn = 0; cChuan_LianCheckOK = 0; if(dwZipCnt>=1) { //夹子运动到模具位置时变为穿入速度 if( QDCT_PARAM_Mold_Distance > 120) AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,50); else AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance+10,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); } else//第一条测长度 { AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P, QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } QDCT_MotorStep = 3; if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 0;//送带退 } break; case 3: //到拉链空位 if((!KaDaiFlag && QDCT_SEBIAO_IN_UP) || (dwXRealPos >= (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) && dwZipCnt>=1)) //空位变慢 { AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED); cSeBiaoOk = 0; cSeBiaoEn = 1; QDCT_MotorStep = 7; break; } if(QDCT_CHUAN_LIAN_OK) cChuan_LianCheckOK = 1; //如果穿入长度到 if((dwXRealPos) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { QDCT_MotorStep = 5; if(QDCT_PARAM_MODE) //反穿停电机 { AxisEgmStop(X_AXIS); QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY; } else { QDCT_MotorDelay = dwTickCount; } QDCT_XM_OUT = 0; if(cCheckDinWei == 0) QDCT_QJLT_OUT = 0; if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 0;//送带退 if(QDCT_PARAM_HLT_ON ) { QDCT_HJLT_OUT = 0; } break; } else if((dwXRealPos + 100) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { if(QDCT_PARAM_HLT_ON ) { QDCT_HJLT_OUT = 0; } } if(dwZipCnt>=1) { //如果慢速长度到， if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH)) { //拉链长度大于(模具长度 + 穿入长度）说明穿入部分还有拉链加速 if(length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH > QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH) AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH, QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0); else AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH-dwXRealPos, QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0); } QDCT_MotorStep = 4; } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else { KaDaiSaveLen=dwXRealPos; } } //行程超限 if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 4; } break; case 4: //到拉链空位 if((!KaDaiFlag && QDCT_SEBIAO_IN_UP) || (dwXRealPos >= (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) && dwZipCnt>=1)) //空位变慢 { AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED); cSeBiaoOk = 0; cSeBiaoEn = 1; QDCT_MotorStep = 7; break; } if(QDCT_CHUAN_LIAN_OK) cChuan_LianCheckOK = 1; //如果穿入长度到 if((dwXRealPos) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { QDCT_MotorStep = 5; if(QDCT_PARAM_MODE) //反穿停电机 { AxisEgmStop(X_AXIS); QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY; } else { QDCT_MotorDelay = dwTickCount; } QDCT_XM_OUT = 0; if(cCheckDinWei == 0) QDCT_QJLT_OUT = 0; if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 0;//送带退 if(QDCT_PARAM_HLT_ON ) { QDCT_HJLT_OUT = 0; } break; } else if((dwXRealPos + 100) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { if(QDCT_PARAM_HLT_ON ) { QDCT_HJLT_OUT = 0; } } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else { KaDaiSaveLen=dwXRealPos; } } //行程超限 if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 4; } break; case 5: if((!KaDaiFlag && QDCT_SEBIAO_IN_UP) || (dwXRealPos >= (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) && dwZipCnt>=1) ) //空位变慢 { AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED); cSeBiaoOk = 0; cSeBiaoEn = 1; QDCT_MotorStep = 7; break; } // //到达穿入长度位置 if(dwTickCount>= QDCT_MotorDelay) { if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )) { if(cCheckDinWei == 0) { if(QDCT_PARAM_QLT_ON )//&& !QDCT_GO_LIMIT_IN) { QDCT_QJLT_OUT = 0; } } if(dwZipCnt>=1) { if(dwXRealPos+QDCT_SEBIAO_BACK_LSPEED_LENGTH+QDCT_SEBIAO_LENGTH+50 < length_buff) AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,length_buff-dwXRealPos-QDCT_SEBIAO_BACK_LSPEED_LENGTH-QDCT_SEBIAO_LENGTH, QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0); else AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED); } else { if(!X_DRV)//反穿轴停的情况，要重新启动后拉 AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P, QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } QDCT_MotorStep = 6; } } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else { KaDaiSaveLen=dwXRealPos; } } //行程超限 if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 4; } break; case 6: if((!KaDaiFlag && QDCT_SEBIAO_IN_UP) || (dwXRealPos >= (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) && dwZipCnt>=1) ) //空位变慢 { AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED); cSeBiaoOk = 0; cSeBiaoEn = 1; QDCT_MotorStep = 7; user_datas[129] = dwXRealPos; break; } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else { KaDaiSaveLen=dwXRealPos; } } //行程超限 if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 4; } break; case 7: if((cCheckDinWei == 0)) { if(QDCT_XM_OUT) { if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { if(QDCT_PARAM_HLT_ON ) QDCT_HJLT_OUT = 0; if(QDCT_PARAM_MODE) //反穿停电机 { AxisEgmStop(X_AXIS); QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY; } else { QDCT_MotorDelay = dwTickCount; } QDCT_XM_OUT = 0; QDCT_QJLT_OUT = 0; } else if((dwXRealPos + 100) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { if(QDCT_PARAM_HLT_ON ) { QDCT_HJLT_OUT = 0; } } } else { if(dwTickCount >= QDCT_MotorDelay) { if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )) { if(QDCT_PARAM_QLT_ON ) { QDCT_QJLT_OUT = 0; } if(!X_DRV && !KaDaiFlag)//反穿轴停的情况，要重新启动后拉 AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P, QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } } } } if(cSeBiaoOk) { if(cCheckDinWei == 0) { if(QDCT_XM_OUT) { if((dwXRealPos + 300) >= (cDinWeiPos + QDCT_SEBIAO_LENGTH )) { if(QDCT_PARAM_HLT_ON ) QDCT_HJLT_OUT = 0; if(QDCT_PARAM_MODE) //反穿停电机 { AxisEgmStop(X_AXIS); QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY; } else { QDCT_MotorDelay = dwTickCount; } QDCT_XM_OUT = 0; if(cCheckDinWei == 0) QDCT_QJLT_OUT = 0; } else if((dwXRealPos + 400) >= (cDinWeiPos + QDCT_SEBIAO_LENGTH )) { if(QDCT_PARAM_HLT_ON ) { QDCT_HJLT_OUT = 0; } } } else { if(dwTickCount >= QDCT_MotorDelay) { if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )) { if(QDCT_PARAM_QLT_ON ) { QDCT_QJLT_OUT = 0; } AxisMovePosAccDec(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,cDinWeiPos + QDCT_SEBIAO_LENGTH-dwXRealPos, QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); QDCT_MotorStep = 8; } } } } } if(((dwXRealPos >= (cDinWeiPos + QDCT_SEBIAO_LENGTH )))&& cSeBiaoOk) { AxisEgmStop(X_AXIS); if(cCheckDinWei == 0) { if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )) { if(QDCT_PARAM_QLT_ON ) { QDCT_QJLT_OUT = 0; } } } if((dwZipCnt >= 1) && QDCT_SEBIAO_ERROR_LENGHT && (((dwXRealPos > (length_buff + QDCT_SEBIAO_ERROR_LENGHT)) || dwXRealPos < (length_buff - QDCT_SEBIAO_ERROR_LENGHT)))) { QDCT_SetAlarmCode(QDCT_SE_BIAO_ALARM); } else { QDCT_MotorStep = 9; //第一条保存长度 if(dwZipCnt==0) length_buff = dwXRealPos; } } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else { KaDaiSaveLen=dwXRealPos; } } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 3; } break; case 8: if(((dwXRealPos >= (cDinWeiPos + QDCT_SEBIAO_LENGTH )))&& cSeBiaoOk || (!X_DRV && !KaDaiFlag)) { AxisEgmStop(X_AXIS); if(cCheckDinWei == 0) { if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )) { if(QDCT_PARAM_QLT_ON ) { QDCT_QJLT_OUT = 0; } } } if(QDCT_SEBIAO_ERROR_LENGHT && (((dwXRealPos > (QDCT_PARAM_SET_ZIPPER_LENGTH + QDCT_SEBIAO_ERROR_LENGHT)) || dwXRealPos < (QDCT_PARAM_SET_ZIPPER_LENGTH - QDCT_SEBIAO_ERROR_LENGHT)))) { QDCT_SetAlarmCode(QDCT_SE_BIAO_ALARM); } else { QDCT_MotorStep = 9; //第一条保存长度 if(dwZipCnt==0) length_buff = dwXRealPos; } } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else { KaDaiSaveLen=dwXRealPos; } } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 3; } break; case 9: QDCT_MotorStep = 0; break; case 30: QDCT_MotorDelay = dwTickCount + QDCT_PARAM_DELAY_BACK; if(GetEn(X_AXIS) == QDCT_MOTOR_DISEN) { //QDCT_SZ_OUT = QDCT_MOTOR_EN; SetEn(X_AXIS, QDCT_MOTOR_EN); if(QDCT_PARAM_DELAY_BACK < 50) QDCT_MotorDelay = dwTickCount + 50; } QDCT_YD_OUT = 0; //压带 QDCT_MotorStep = 31; cCheck_Go_In_Flag = 0; cChuan_LianCheckOK = 0; SetPos(X_AXIS,0); break; case 31: if(dwTickCount >= QDCT_MotorDelay) { gou_zhen_buff = dwXRealPos; save_buff = dwXRealPos; back_buff = dwXRealPos; if((*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH) < 0) *qdct_length_buff = 0; //拉链长度小于刀口到模具距离加穿入长度，需要在切断后继续穿入 if((*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH < QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH)) { CutRemainLength = QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH - (*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH); LengthType = 1; } else { LengthType = 0; } if(QDCT_PARAM_PUTIN_LOW_SPEED < QDCT_PARAM_START_SPEED) start_speed = QDCT_PARAM_PUTIN_LOW_SPEED; else start_speed = QDCT_PARAM_START_SPEED; if(LengthType == 0) { if( QDCT_PARAM_Mold_Distance > 120) //夹子运动到模具位置时变为穿入速度 AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED, 10,10,50); else AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_Mold_Distance+10,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED, 10,10,0); QDCT_MotorStep = 33; } else//超短链 { //拉链长度小于刀口到模具距离，走到拉链长度停 if(*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH < QDCT_PARAM_Mold_Distance) { AxisMovePosAccDec(X_AXIS,start_speed*3,*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,10,10,0); } else { AxisMovePosAccDecNotStop(X_AXIS,start_speed*3,QDCT_PARAM_Mold_Distance,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,10,10,0); } QDCT_MotorStep = 433; } cChuan_LianCheckOK = 0; } break; case 33: if(QDCT_CHUAN_LIAN_OK) cChuan_LianCheckOK = 1; //下切刀提前输出 if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE && (dwXRealPos >= QDCT_PARAM_Mold_Distance)) QDCT_XQ_OUT = 1; //如果当前长度到达拉链长，最优先停 if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)) { QDCT_MotorStep = 35; break; } //如果穿入长度到也停止，开模 if((dwXRealPos) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { QDCT_MotorStep = 35; break; } //如果慢速长度到， if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH)) { if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 0;//送带退 //穿入长度大于穿入慢速 if(QDCT_PARAM_PUTIN_LENGTH > QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH) AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH, QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); QDCT_MotorStep = 34; } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else { KaDaiSaveLen=dwXRealPos; } } //行程超限 if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 4; } break; case 34: if(QDCT_CHUAN_LIAN_OK) cChuan_LianCheckOK = 1; //到达拉链长度要停止 if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)) { QDCT_MotorStep = 35; break; } //如果穿入长度到也停止，开模 if((dwXRealPos + 8) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { QDCT_MotorStep = 35; break; } else if((dwXRealPos + 80) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH )) { if(QDCT_PARAM_HLT_ON && (cChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)) && !QDCT_GO_LIMIT_IN) { QDCT_HJLT_OUT = 0; } } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else { KaDaiSaveLen=dwXRealPos; } } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 5; } break; case 35: if(QDCT_PARAM_MODE)//反穿停 { AxisEgmStop(X_AXIS); if(QDCT_PARAM_QLT_ON) { QDCT_QJLT_OUT = 0; } } else { AxisChangeSpeedDirect(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED/3); } if(QDCT_PARAM_HLT_ON && (cChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)) && !QDCT_GO_LIMIT_IN) { QDCT_HJLT_OUT = 0; } QDCT_XM_OUT = 0; if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 0;//送带退 QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY; QDCT_MotorStep = 37; break; case 36: break; case 37: //两路顶针离开 if(!QDCT_XM_OUT && ((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )) { if(QDCT_PARAM_QLT_ON ) { QDCT_QJLT_OUT = 0; } if(dwTickCount >= QDCT_MotorDelay) { if(dwXRealPos < QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) { if(QDCT_CheckLength())//无限长 { if((QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH)) AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff-dwXRealPos), QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); else AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff-dwXRealPos), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); } else//普通长 { if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH)) AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos), QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); else AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); } } QDCT_MotorStep = 38; } } else if(dwTickCount >= QDCT_MotorDelay+2000) { if((QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON) || (QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON)) QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM); } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 6; } break; case 38: if(((dwXRealPos) >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH + 400)) && (QDCT_PARAM_SET_ZIPPER_LENGTH > (dwXRealPos + 4000))) { cSL_En = 2; } if(QDCT_CheckLength() && !QDCT_YL_LIMIT_IN && !QDCT_GO_LIMIT_IN && dwXRealPos>=4000) { QDCT_SYL_OUT=1;//送压轮 } if((!X_DRV && !KaDaiFlag) || (dwXRealPos>= QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)) { AxisEgmStop(X_AXIS); if(!QDCT_CheckLength()) { QDCT_YD_OUT = 1; } QDCT_MotorStep = 390; QDCT_MotorDelay = dwTickCount+10; } //卡带处理，停止后可再次启动 if(KaDaiFlag==1) { if(X_DRV) AxisDecStop(X_AXIS); else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN) { QDCT_bOnceStart=0; bStartOnceTime = 1; KaDaiFlag=0; if(dwXRealPos < QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) { if(QDCT_CheckLength())//无限长 { if((QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH)) AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff-dwXRealPos), QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); else AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff-dwXRealPos), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); } else//普通长 { if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH)) AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos), QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); else AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); } } } else { KaDaiSaveLen=dwXRealPos; } } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 6; } break; case 390: if(dwTickCount >= QDCT_MotorDelay) { if(QDCT_PARAM_FZ_LENGTH != 0) //反转长度 { AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,-QDCT_PARAM_FZ_LENGTH, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,10,10,0); } QDCT_MotorStep = 39; } break; case 39: if(!X_DRV) { if(!QDCT_CheckLength()) { QDCT_YD_OUT = 1; } QDCT_MotorStep = 40; if(bRunning) { if(!QDCT_NO_ZIPPER_CHECK_IN) QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM); } } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 7; } break; case 40: QDCT_MotorStep = 0; break; //超短链 case 433: //如果当前长度到达拉链长，最优先停 if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)) { AxisEgmStop(X_AXIS); QDCT_MotorStep = 434; QDCT_MotorDelay = dwTickCount + 50; if(QDCT_PARAM_XM_MODE) { QDCT_SL_OUT = 0;//送带退 } } //行程超限 if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 8; } break; case 434: if(dwTickCount >= QDCT_MotorDelay) { //下切 if((QDCT_XiaQieStep == 0) && (QDCT_SL_ORIGIN_IN || !QDCT_PARAM_XM_MODE)) { QDCT_XiaQieStep = 1; cSL_En = 0; //下切时只横送不能锁紧拉头 QDCT_MotorStep = 435; QDCT_MotorDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } break; case 435: //下切完 if(QDCT_XiaQieStep==0) { QDCT_YD_OUT = 0; //压带 AxisMovePosAccDec(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED,CutRemainLength,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,10,10,0); QDCT_MotorStep = 436; } else if(dwTickCount >= QDCT_MotorDelay) { QDCT_SetAlarmCode(QDCT_XQ_ALARM); } break; case 436: if(dwXRealPos>= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH) || !X_DRV) { AxisEgmStop(X_AXIS); //下模和夹拉头打开 QDCT_QJLT_OUT = 0; //夹拉头 QDCT_HJLT_OUT = 0; //夹拉头 QDCT_XM_OUT = 0; //拉头下模 QDCT_MotorStep = 437; QDCT_MotorDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; if(QDCT_CHUAN_LIAN_OK) cChuan_LianCheckOK = 1; } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 10; } break; case 437: if(QDCT_CHUAN_LIAN_OK) cChuan_LianCheckOK = 1; //两路顶针离开 if(!QDCT_XM_OUT && (!QDCT_QLTCZ_IN || !QDCT_PARAM_QLT_ON) && (!QDCT_HLTCZ_IN || !QDCT_PARAM_HLT_ON)) { //结束 QDCT_MotorStep = 40; } else if(dwTickCount >= QDCT_MotorDelay) { QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM); } if(bRunning) { if(!QDCT_NO_ZIPPER_CHECK_IN) QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM); } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 10; } break; case 80: jz_buff = dwXRealPos; if(QDCT_PARAM_SJZ_LENGTH == 0) { QDCT_JD_OUT = 0; } QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME; QDCT_MotorStep = 81; break; case 81: if(!QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay)) { if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || cChuan_LianCheckOK) AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,15,15,50); else AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,(1000 + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,15,15,50); QDCT_MotorStep = 82; } break; case 82: //松夹子长度 if(((QDCT_PARAM_SJZ_LENGTH) <= (dwXRealPos - jz_buff))) { QDCT_JD_OUT = 0; QDCT_MotorStep = 83; } else if(!X_DRV) { QDCT_JD_OUT = 0; QDCT_MotorStep = 83; } if(!QDCT_JD_OUT || (500 <= (dwXRealPos - jz_buff))) { cSL_En = 2; } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 13; } break; case 83: // 切断完成后拉电机动作 if(!X_DRV) { QDCT_MotorStep = 0; QDCT_MotorDelay = dwTickCount; } if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos) { QDCT_JD_OUT = 0; QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM); user_datas[128] = 14; } break; case 61: // 前点定位数控模式 QDCT_MotorDelay = dwTickCount; if((QDCT_JD_OUT && (!QDCT_GO_LIMIT_IN)) || (GetEn(X_AXIS) == QDCT_MOTOR_DISEN)) { if(!QDCT_GO_LIMIT_IN) QDCT_JD_OUT = 0; if((GetEn(X_AXIS) == QDCT_MOTOR_DISEN)) QDCT_MotorDelay = dwTickCount + 40; } //下模不动时要推链 if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !QDCT_JD_OUT) QDCT_TuiLianStep = 1; //QDCT_SZ_OUT = QDCT_MOTOR_EN; SetEn(X_AXIS, QDCT_MOTOR_EN); QDCT_MotorStep = 62; break; case 62://电机锁轴时间到 if(dwTickCount >= QDCT_MotorDelay) { //已经夹住并且在前点的条件,认为布带已经夹好 if(QDCT_JD_OUT && QDCT_GO_LIMIT_IN) { QDCT_MotorStep = 67; } else{ //前点亮的情况下要先后退离开 if(QDCT_GO_LIMIT_IN ) { //后退离开长度 AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_START_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, 10,10); QDCT_MotorDelay = dwTickCount + 500; QDCT_MotorStep = 620; } else { QDCT_MotorStep = 63; QDCT_MotorDelay = dwTickCount; } QDCT_JD_OUT = 0; } } break; case 620: if(QDCT_GO_LIMIT_IN) { SetPos(X_AXIS, 0); } else //后退离开长度 { AxisMovePosAccDec(X_AXIS,QDCT_PARAM_START_SPEED,500,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, 10,10,0); QDCT_MotorStep = 63; QDCT_MotorDelay = dwTickCount + 500; } break; case 63:// 前进 if(!X_DRV && !QDCT_GO_LIMIT_IN && (dwTickCount >= QDCT_MotorDelay) && QDCT_SYL_ORIGIN_IN) { go_buff = dwXRealPos; //不是第一次 if(dwZipCnt > 0) { if(dwZipCnt == 5) //扎数到的启动 AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED/2,-(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH), QDCT_PARAM_START_SPEED,QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,0); // AxisMoveTwoPosNoStop(X_AXIS,QDCT_PARAM_JJGO_SPEED/2,(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH), // QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_GO_LOWSPEED_LENGTH-100,QDCT_DIR_N, // QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10); else AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH), QDCT_PARAM_START_SPEED,QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,0); // AxisMoveTwoPosNoStop(X_AXIS,QDCT_PARAM_JJGO_SPEED,(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH), // QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_GO_LOWSPEED_LENGTH-100,QDCT_DIR_N, // QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10); QDCT_MotorStep = 65; QDCT_MotorDelay = dwTickCount + QDCT_MOTOR_ALARM_TIME; }//第一次 else { AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED,QDCT_DIR_N,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, 15,15); QDCT_MotorDelay = dwTickCount + QDCT_MOTOR_ALARM_TIME; QDCT_MotorStep = 65; } } else if(dwTickCount >= QDCT_MotorDelay+3000) { if(!QDCT_SYL_ORIGIN_IN) QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM); } break; case 65: //碰到前点限位停止 if(QDCT_GO_LIMIT_IN) { SetPos(X_AXIS, QDCT_PARAM_JJDINGWEI_LENGTH); QDCT_MotorStep = 66; dwXRealPos = GetPos(X_AXIS); user_datas[125]=GetCurSpeed(X_AXIS); AxisMovePosAccDec(X_AXIS,3000,-QDCT_PARAM_JJDINGWEI_LENGTH, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,5,5,0); } else if(dwTickCount >= QDCT_MotorDelay) QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM); break; case 66: if(dwXRealPos <= 0 || !X_DRV) //位置到零点后停止 { AxisEgmStop(X_AXIS); SetPos(X_AXIS, 0); QDCT_MotorStep = 67; } break; case 67: if(!X_DRV) //电机已经 { QDCT_MotorDelay = dwTickCount; QDCT_MotorStep = 68; } break; case 68: if(dwTickCount >= QDCT_MotorDelay) { if(QDCT_JiaLianStep == 0) { QDCT_JiaLianStep = 1; QDCT_MotorStep = 69; } } break; case 69: if(QDCT_JiaLianStep == 0) { QDCT_MotorStep = 0; if(bRunning == 0) { SetEn(X_AXIS, QDCT_MOTOR_DISEN); //手动下松轴方便手拉 QDCT_YD_OUT = 0; } } break; case 150: jz_buff = dwXRealPos; QDCT_JD_OUT = 0; QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME; QDCT_MotorStep = 151; break; case 151: if(QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay)) { if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos+QDCT_PARAM_CUT_BACK_LENGTH) { temppos = QDCT_PARAM_MAX_BACK_LENGTH-dwXRealPos-200; } else { temppos = QDCT_PARAM_CUT_BACK_LENGTH; } AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,temppos, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,15,15,0); QDCT_MotorStep = 152; } break; case 152: if(!X_DRV) { QDCT_MotorStep = 153; QDCT_MotorDelay = dwTickCount + 30; } break; case 153: if(dwTickCount >= QDCT_MotorDelay) { jz_buff = dwXRealPos; AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(QDCT_PARAM_TRANS_LENGTH + temppos-3500), QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); QDCT_MotorStep = 154; } break; case 154: if((!X_DRV)) { AxisEgmStop(X_AXIS); QDCT_MotorStep = 0; } break; //以下为夹子进去夹废料 case 200: //QDCT_JJ_DIR = QDCT_JJ_DIR_P; AxisMovePosAccDec(X_AXIS,QDCT_PARAM_GO_LOWSPEED,dwXRealPos-350, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); QDCT_MotorStep = 201; break; case 201: if(!X_DRV) { QDCT_JD_OUT = 1; QDCT_MotorStep = 202; QDCT_MotorDelay = dwTickCount + 50; } break; case 202: if(dwTickCount >= QDCT_MotorDelay) { QDCT_MotorStep = 0; } break; } } //切断动作 void QDCT_XiaQieAction(void) { dwXRealPos = GetPos(X_AXIS); dwYRealPos = GetPos(Y_AXIS); user_datas[121] = dwXRealPos;// GetPos(Y_AXIS);//QDCT_HZhuangLiaoStep;//QDCT_AutoStep; //user_datas[122] = dwYRealPos; if(user_datas[122]= QDCT_XiaQieDelay) { QDCT_XiaQieStep = 3; QDCT_YD_OUT = 1; QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; if(!QDCT_PARAM_XM_MODE)// && !QDCT_PARAM_CS_ENABLE) { QDCT_XQ_OUT = 1; } } break; case 3: if(QDCT_XQ_LIMIT_IN || QDCT_PARAM_CS_ENABLE)//|| QDCT_PARAM_XM_MODE )//|| QDCT_PARAM_CS_ENABLE) { QDCT_XiaQieDelay = dwTickCount; QDCT_XiaQieStep = 4; } else if(dwTickCount >= QDCT_XiaQieDelay) { QDCT_SetAlarmCode(QDCT_XQ_ALARM); QDCT_XiaQieStep = 0; } break; case 4: if(dwTickCount >= QDCT_XiaQieDelay) { if(!QDCT_SL_ORIGIN_IN && QDCT_PARAM_XM_MODE) QDCT_SetAlarmCode(QDCT_SL_ORIGIN_ALARM); else { QDCT_SQ_OUT = 1; //上切刀输出 if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 1; QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_XiaQieStep = 5; } } break; case 5: //上下切刀到位 if(QDCT_SQ_LIMIT_IN && (QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE)) { cQDCT_TuiLianOKFlag = 0; if(QDCT_PARAM_CS_ENABLE) { QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_DELAY; QDCT_XiaQieStep = 50; //跳到超声处理 } else { QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUTBACK_DELAY; QDCT_XiaQieStep = 6; } } else if(dwTickCount >= QDCT_XiaQieDelay) { if(!QDCT_SQ_LIMIT_IN) { QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM); QDCT_XiaQieStep = 0; } else if(QDCT_PARAM_XM_MODE== 0) // 下模动才警告下模 { QDCT_SetAlarmCode(QDCT_XQ_ALARM); QDCT_XiaQieStep = 0; } } break; case 6: if(dwTickCount >= QDCT_XiaQieDelay) { QDCT_SQ_OUT = 0; if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 0; QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_XiaQieStep = 7; } break; case 7: if(!QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE)) { //下模动 if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !bRunning) QDCT_TuiLianStep = 1; QDCT_XiaQieStep = 0; } else if(dwTickCount >= QDCT_XiaQieDelay) { QDCT_XiaQieStep = 0; if(QDCT_SQ_LIMIT_IN) QDCT_SetAlarmCode(QDCT_SQ_ORIGIN_ALARM); else if(QDCT_XQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XQ_ALARM); } break; case 50: if(dwTickCount >= QDCT_XiaQieDelay) { // if(QDCT_PARAM_CS_CONTROL) QDCT_CS_OUT = 1; QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_TIME; QDCT_XiaQieStep = 51; } break; case 51: if((dwTickCount >= QDCT_XiaQieDelay)) { QDCT_CS_OUT = 0; QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_COLD_TIME; QDCT_XiaQieStep = 6; } break; } #endif } //装拉头完成合模动作 void QDCT_HeMo_Step(void) { switch(QDCT_HeMoStep) { case 0: break; case 1: if(QZhuangLiaoOkFlg && HZhuangLiaoOkFlg && (QDCT_QZhuangLiaoStep == 0) && (QDCT_HZhuangLiaoStep == 0)) { // 前横送输出 前限位 前横送输出 前夹拉头 后横送输出 后夹拉头 if(!QDCT_QHSL_OUT && (QDCT_GO_LIMIT_IN || cXiaMo_En)&& QDCT_QJLT_IN && !QDCT_HHSL_OUT && QDCT_HJLT_IN) { QDCT_XM_OUT = 1; //下模输出 QDCT_HeMoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_HeMoStep = 2; QDCT_QZhuangLiaoStep = 0; QDCT_HZhuangLiaoStep = 0; } else if(dwTickCount >= QDCT_HeMoDelay) { if(!QDCT_HJLT_IN) { QDCT_SetAlarmCode(QDCT_HJLT_ALARM); } else if(!QDCT_QJLT_IN) { QDCT_SetAlarmCode(QDCT_JLT_ALARM); } else if(!QDCT_GO_LIMIT_IN) { QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM); } else if(QDCT_QHSL_OUT || QDCT_HHSL_OUT) { QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM); } } } break; case 2: if(QDCT_XM_LIMIT_IN) //下模到位 { QDCT_HeMoStep = 3; QDCT_HeMoDelay = dwTickCount + 100; } else if(dwTickCount >= QDCT_HeMoDelay) { QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); } break; case 3: //两个顶针信号或调试模式 if((QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) && (QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ) { QTryCnt = 0; HTryCnt = 0; cHemo_OK = 1; QDCT_HeMoStep = 0; } else if(dwTickCount >= QDCT_HeMoDelay) { if(bRunning) { QTryCnt++; QDCT_HeMoStep = 4; if(QTryCnt >= 4) { SetAlarmCode(QDCT_ALARM_ADDR,QDCT_ZLT_ALARM); cHemo_OK = 0; if(!QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON) { QZhuangLiaoOkFlg = 0; QDCT_QJLT_OUT = 0; } if(!QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON) { HZhuangLiaoOkFlg = 0; QDCT_HJLT_OUT = 0; } } else { if(!QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON) QZhuangLiaoOkFlg = 0; if(!QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON) HZhuangLiaoOkFlg = 0; } } } break; case 4: if(QDCT_GO_LIMIT_IN || (dwXRealPos > 1600) || ((dwXRealPos > 1200) && !X_DRV)) { QDCT_XM_OUT = 0; QDCT_HeMoDelay = dwTickCount + 600; if(QTryCnt >= 4) { QDCT_HeMoStep = 0; QDCT_SetAlarmCode(QDCT_ZLT_ALARM); } else QDCT_HeMoStep = 5; } break; case 5: if(!QDCT_XM_LIMIT_IN) //下模下到位 { QDCT_HeMoDelay = dwTickCount + 250; QDCT_HeMoStep = 6; } else if(dwTickCount >= QDCT_HeMoDelay) { QDCT_HeMoStep = 0; QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM); } break; case 6: if(dwTickCount >= QDCT_HeMoDelay) { QDCT_HeMoStep = 1; QDCT_HeMoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; if((QZhuangLiaoOkFlg == 0)&& QDCT_PARAM_QLT_ON) { QDCT_QJLT_OUT = 0; QDCT_QZhuangLiaoStep = 1; } if((HZhuangLiaoOkFlg== 0 )&& QDCT_PARAM_HLT_ON) { QDCT_HJLT_OUT = 0; QDCT_HZhuangLiaoStep = 1; } } break; } if(bRunning && (QDCT_HeMoStep == 0) && (QDCT_XM_ORIGIN_IN_UP) && (QTryCnt < 3) && !QDCT_XM_OUT) { if((!QDCT_QJLT_OUT) && (QDCT_QZhuangLiaoStep == 0) && QDCT_PARAM_QLT_ON) { QZhuangLiaoOkFlg = 0; QDCT_QZhuangLiaoStep = 1; } if(!QDCT_HJLT_OUT &&(QDCT_HZhuangLiaoStep == 0) && QDCT_PARAM_HLT_ON) { HZhuangLiaoOkFlg = 0; QDCT_HZhuangLiaoStep = 1; } } } //前装拉头动作(横送拉头) void QDCT_QZLT_Step(void) { switch(QDCT_QZhuangLiaoStep) { case 1: if(!QDCT_PARAM_QLT_ON) //不打开 { QZhuangLiaoOkFlg = 1; QDCT_QJLT_OUT = 1; } if(QZhuangLiaoOkFlg) { QDCT_QZhuangLiaoStep = 0; } else { if(cFirstQStartFlg && QDCT_QJLT_IN && QDCT_QJLT_OUT) { QZhuangLiaoOkFlg = 1; QDCT_QZhuangLiaoStep = 0; cFirstQStartFlg = 0; } else { cFirstQStartFlg = 0; if(QDCT_QTLTStep == 0) { QDCT_QTLTStep = 1; //推拉头开始 当QTuiLaTouOkFlg = 1 时动作自动清零 } QDCT_QZhuangLiaoStep = 2; } } break; case 2: //推拉头完成 if(QDCT_QTLTStep == 0) { QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_QZhuangLiaoStep = 3; } break; case 3: //横送料原点 下模原点 if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN ) // { if((cSL_En >= 1) || (!bRunning)) { QDCT_QZhuangLiaoStep = 4; QDCT_QZhuangLiaoDelay = dwTickCount + 0;//QDCT_PARAM_HSL_DELAY; } } else if(dwTickCount >= QDCT_QZhuangLiaoDelay) { if(!QDCT_XM_ORIGIN_IN) QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM); } break; case 4: //横送输出 if((dwTickCount >= QDCT_QZhuangLiaoDelay)) { QDCT_QHSL_OUT = 1; //前横送输出 QDCT_QJLT_OUT = 0; // 前夹拉头关 QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_QZhuangLiaoStep = 5; } break; case 5: //横送到位 if(QDCT_QHSL_LIMIT_IN) { QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT; QDCT_QZhuangLiaoStep = 6; } else if(dwTickCount >= QDCT_QZhuangLiaoDelay) { if(QDCT_QHSL_OUT) //在自动程序运行结束时关闭了横送的情况，不报横送故障 QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM); QDCT_QHSL_OUT = 0; } break; case 6://延时夹拉头 if((dwTickCount >= QDCT_QZhuangLiaoDelay)/* && ((cSL_En >= 2) || (!bRunning))*/) { QDCT_QJLT_OUT = 1; QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_QZhuangLiaoStep = 7; } break; case 7://夹拉头到位 if(QDCT_QJLT_IN) { // QTuiLaTouOkFlg = 0; QDCT_QTLTStep = 1; //横送料退回时启动推拉头 QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK; QDCT_QZhuangLiaoStep = 8; } else if(dwTickCount >= QDCT_QZhuangLiaoDelay) { QDCT_SetAlarmCode(QDCT_JLT_ALARM); QDCT_QHSL_OUT = 0; } break; case 8: if(dwTickCount >= QDCT_QZhuangLiaoDelay) { QDCT_QHSL_OUT = 0; QZhuangLiaoOkFlg = 1; QDCT_QZhuangLiaoStep = 9; } break; case 9: if(!QDCT_QHSL_LIMIT_IN) { QDCT_QZhuangLiaoStep = 10; QDCT_QZhuangLiaoDelay = dwTickCount + 30; } break; case 10: if((dwTickCount >= QDCT_QZhuangLiaoDelay) || QDCT_QHSL_ORIGIN_IN) { QDCT_QZhuangLiaoStep = 0; } break; } } //后装拉头动作 void QDCT_HZLT_Step(void) { switch(QDCT_HZhuangLiaoStep) { case 1: if(!QDCT_PARAM_HLT_ON) { HZhuangLiaoOkFlg = 1; QDCT_HJLT_OUT = 1; } if(HZhuangLiaoOkFlg) { QDCT_HZhuangLiaoStep = 0; } else { if(cFirstHStartFlg && QDCT_HJLT_IN && QDCT_HJLT_OUT) { HZhuangLiaoOkFlg = 1; cFirstHStartFlg = 0; QDCT_HZhuangLiaoStep = 0; } else { cFirstHStartFlg = 0; if(QDCT_HTLTStep == 0) { QDCT_HTLTStep = 1; } QDCT_HZhuangLiaoStep = 2; } } break; case 2: if(QDCT_HTLTStep == 0)//后推拉头完成 { QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_HZhuangLiaoStep = 3; } break; case 3: if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN ) // { if((cSL_En >= 1) || (!bRunning)) { QDCT_HZhuangLiaoDelay = dwTickCount + 0;//QDCT_PARAM_HSL_DELAY; QDCT_HZhuangLiaoStep = 4; } } else if(dwTickCount >= QDCT_HZhuangLiaoDelay) { if(!QDCT_XM_ORIGIN_IN) QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM); } break; case 4: if(dwTickCount >= QDCT_HZhuangLiaoDelay) { QDCT_HHSL_OUT = 1; //横送料输出 QDCT_HJLT_OUT = 0; QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_HZhuangLiaoStep = 5; } break; case 5: if(QDCT_HHSL_LIMIT_IN) //横送到位 { QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT; QDCT_HZhuangLiaoStep = 6; } else if(dwTickCount >= QDCT_HZhuangLiaoDelay) { if(QDCT_HHSL_OUT) //在自动程序运行结束时关闭了横送的情况，不报横送故障 QDCT_SetAlarmCode(QDCT_HHSL_LIMIT_ALARM); QDCT_HHSL_OUT = 0; } break; case 6: //延时夹拉头 if((dwTickCount >= QDCT_HZhuangLiaoDelay)/* && ((cSL_En >= 2) || (!bRunning))*/) { QDCT_HJLT_OUT = 1; QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_HZhuangLiaoStep = 7; } break; case 7://夹拉头到位 if(QDCT_HJLT_IN) { HTuiLaTouOkFlg = 0; QDCT_HTLTStep = 1; //横送料退回时启动推拉头 QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK; QDCT_HZhuangLiaoStep = 8; } else if(dwTickCount >= QDCT_HZhuangLiaoDelay) { QDCT_SetAlarmCode(QDCT_HJLT_ALARM); QDCT_HHSL_OUT = 0; } break; case 8: //延时退横送料 if((dwTickCount >= QDCT_HZhuangLiaoDelay)) { QDCT_HHSL_OUT = 0; HZhuangLiaoOkFlg = 1; QDCT_HZhuangLiaoStep = 9; } break; case 9: if(!QDCT_HHSL_LIMIT_IN) { QDCT_HZhuangLiaoStep = 10; QDCT_HZhuangLiaoDelay = dwTickCount + 30; } break; case 10: if((dwTickCount >= QDCT_HZhuangLiaoDelay) || QDCT_HHSL_ORIGIN_IN) { QDCT_HZhuangLiaoStep = 0; } break; } } //前推拉头动作 void QDCT_QTuiLT_Step(void) { static unsigned long q_dlp_delay; if(QDCT_QDLP_OUT && (dwTickCount >= q_dlp_delay)) QDCT_QDLP_OUT = 0; switch(QDCT_QTLTStep) { case 1: //前拉头使能 if(!QDCT_PARAM_QLT_ON) { QTuiLaTouOkFlg = 1; } if(QTuiLaTouOkFlg) { QDCT_QTLTStep = 0; } else { QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_QTLTStep = 2; } break; case 2: if(QDCT_QHSL_ORIGIN_IN && !QDCT_QHSL_LIMIT_IN) { QDCT_QTLT_OUT = 1; if(QTryCnt<= QDCT_PARAM_TRY_TIMES) QDCT_QDLP_OUT = 1; q_dlp_delay = dwTickCount + QDCT_PARAM_DLP_TIME; QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_QTLTStep = 3; } break; case 3: if(QDCT_QTLT_LIMIT_IN) { QDCT_QTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY; QDCT_QTLTStep = 4; } else if(dwTickCount >= QDCT_QTLT_Delay) { QDCT_SetAlarmCode(QDCT_SL_ALARM); QDCT_QTLT_OUT=0; } break; case 4: if((dwTickCount >= QDCT_QTLT_Delay)) { QDCT_QTLT_OUT = 0; QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_QTLTStep = 5; QTuiLaTouOkFlg = 1; } break; case 5: if(!QDCT_QTLT_LIMIT_IN) { QDCT_QTLTStep = 0; QDCT_QTLT_Delay = dwTickCount; } else if(dwTickCount >= QDCT_QTLT_Delay) QDCT_SetAlarmCode(QDCT_SL_ALARM); break; } } //后推拉头动作 void QDCT_HTuiLT_Step(void) { static unsigned long h_dlp_delay; // static unsigned short dlp_flg = 0; if(QDCT_HDLP_OUT && (dwTickCount >= h_dlp_delay)) QDCT_HDLP_OUT = 0; switch(QDCT_HTLTStep) { case 1: if(!QDCT_PARAM_HLT_ON) { HTuiLaTouOkFlg = 1; } if(HTuiLaTouOkFlg) { QDCT_HTLTStep = 0; } else { QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_HTLTStep = 2; } break; case 2: if(QDCT_HHSL_ORIGIN_IN && !QDCT_HHSL_LIMIT_IN) { QDCT_HTLT_OUT = 1; if(QTryCnt<= QDCT_PARAM_TRY_TIMES) QDCT_HDLP_OUT = 1; h_dlp_delay = dwTickCount + QDCT_PARAM_DLP_TIME; QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_HTLTStep = 3; } break; case 3: if(QDCT_HTLT_LIMIT_IN) { QDCT_HTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY; QDCT_HTLTStep = 4; } else if(dwTickCount >= QDCT_HTLT_Delay) { QDCT_SetAlarmCode(QDCT_SL_ALARM); QDCT_HTLT_OUT=0; } break; case 4: if((dwTickCount >= QDCT_HTLT_Delay)) { QDCT_HTLT_OUT = 0; QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; QDCT_HTLTStep = 5; HTuiLaTouOkFlg = 1; } break; case 5: if(!QDCT_HTLT_LIMIT_IN) { QDCT_HTLTStep = 0; QDCT_HTLT_Delay = dwTickCount; } else if(dwTickCount >= QDCT_HTLT_Delay) QDCT_SetAlarmCode(QDCT_SL_ALARM); break; } } //手动动作 void QDCT_ManualAction(void) { static unsigned char cs_flg; static long cs_delay; //轴使能状态，供屏显示 if(GetEn(X_AXIS)==QDCT_MOTOR_DISEN) { QDCT_AxisEn_status=0; } else { QDCT_AxisEn_status=1; } //轴使能状态，供屏显示 if(GetEn(Y_AXIS)==QDCT_MOTOR_DISEN) { QDCT_YAxisEn_status=0; } else { QDCT_YAxisEn_status=1; } //前振动盘 if(QDCT_bManQZD) { QDCT_bManQZD = 0; if(QDCT_QZDPStep) { QDCT_QZDP_OUT = 0; QDCT_QZDPStep = 0; QZDPAutoDisable=1; } else { QDCT_QZDP_OUT = 1; QDCT_QZDPStep = 2; if(QDCT_TLPStep==0)QDCT_TLPStep = 1; QZDPAutoDisable=0; } } //后振动盘 if(QDCT_bManHZD) { QDCT_bManHZD = 0; if(QDCT_HZDPStep) { QDCT_HZDP_OUT = 0; QDCT_HZDPStep = 0; HZDPAutoDisable=1; } else { QDCT_HZDP_OUT = 1; QDCT_HZDPStep = 2; HZDPAutoDisable=0; } } if(bRunning == 0) { if(bClearTotal) //切断计数清零 { bClearTotal = 0; ClrcToTal(QDCT_TOTAL_ADDR); } if(QDCT_bClerNowTotal) { QDCT_bClerNowTotal = 0; QDCT_PARAM_TB_CNT1 = 0; QDCT_PARAM_TB_CNT2 = 0; ClrcToTal(QDCT_NOWTOTAL_ADDR); } //切断 if(QDCT_bQieDuan) { QDCT_bQieDuan = 0; if(QDCT_XiaQieStep == 0) { if(QDCT_PARAM_XM_MODE) //下模不动 { if(QDCT_SL_ORIGIN_IN ) QDCT_XiaQieStep = 1; else QDCT_SetAlarmCode(QDCT_SL_ORIGIN_ALARM); } else { QDCT_XiaQieStep = 1; } } } //测试行程 if(QDCT_bReset_Origin) { QDCT_bReset_Origin = 0; cTestMotorStep = 1; } //前点定位 if(QDCT_bQianDianDW) { QDCT_bQianDianDW = 0; if((QDCT_MotorStep == 0) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE) && QDCT_SYL_ORIGIN_IN && !QDCT_YL_LIMIT_IN) { QDCT_MotorStep = 61; dwZipCnt = 0; } else if(QDCT_SQ_LIMIT_IN) { QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM); } else if(!QDCT_SYL_ORIGIN_IN) { QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM); } else if(QDCT_YL_LIMIT_IN) { QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM); } } //下模 if(QDCT_bManXM) { QDCT_bManXM = 0; QDCT_XM_OUT = ~QDCT_XM_OUT; if(QDCT_QHSL_OUT || QDCT_HHSL_OUT)QDCT_XM_OUT = 0; } //上切刀 if(QDCT_bManSQ) { QDCT_bManSQ = 0; if(QDCT_SQ_OUT) QDCT_SQ_OUT = 0; // 送料原点 下模动 //下模不动 else if((QDCT_SL_ORIGIN_IN && (QDCT_PARAM_XM_MODE != 0))||(QDCT_PARAM_XM_MODE == 0)) { QDCT_SQ_OUT = 1; cQDCT_TuiLianOKFlag = 0; } } //下切刀 if(QDCT_bManXQ) { QDCT_bManXQ = 0; if(!QDCT_PARAM_XM_MODE) //有下刀 { QDCT_XQ_OUT = ~QDCT_XQ_OUT; //QDCT_SL_OUT = 0; } else { QDCT_SL_OUT = ~QDCT_SL_OUT; //QDCT_XQ_OUT = 0; } cQDCT_TuiLianOKFlag = 0; if(QDCT_GO_LIMIT_IN) { QDCT_XQ_OUT = 0; QDCT_SL_OUT=0; } } //夹带 if(QDCT_bManJD) { QDCT_bManJD = 0; QDCT_JD_OUT = ~QDCT_JD_OUT; } //前推拉头 if(QDCT_bManQTLT) { QDCT_bManQTLT = 0; if(QDCT_QHSL_ORIGIN_IN) { if(QDCT_QTLTStep == 0) { QDCT_QTLTStep = 1; QTuiLaTouOkFlg = 0; QTryCnt = 0; } else { QDCT_QTLT_OUT = 0; } } } //后推拉头 if(QDCT_bManHTLT) { QDCT_bManHTLT = 0; if(QDCT_HHSL_ORIGIN_IN) { if(QDCT_HTLTStep == 0) { QDCT_HTLTStep = 1; HTuiLaTouOkFlg = 0; QTryCnt = 0; } else //后推拉头 QDCT_HTLT_OUT = 0; } } //前横送料 if(QDCT_bManQHSL) { QDCT_bManQHSL = 0; QDCT_QHSL_OUT = ~QDCT_QHSL_OUT; if(QDCT_XM_OUT || QDCT_QTLT_LIMIT_IN) QDCT_QHSL_OUT = 0; if(QDCT_QHSL_OUT && QDCT_QJLT_OUT) QDCT_QJLT_OUT=0; } if(QDCT_bManHHSL) { QDCT_bManHHSL = 0; QDCT_HHSL_OUT = ~QDCT_HHSL_OUT; if(QDCT_XM_OUT || QDCT_HTLT_LIMIT_IN)QDCT_HHSL_OUT = 0; if(QDCT_HHSL_OUT && QDCT_HJLT_OUT) QDCT_HJLT_OUT=0; } /* //前振动盘 if(QDCT_bManQZD) { QDCT_bManQZD = 0; if(QDCT_QZDPStep) { QDCT_QZDP_OUT = 0; QDCT_QZDPStep = 0; } else { QDCT_QZDP_OUT = 1; QDCT_QZDPStep = 2; if(QDCT_TLPStep==0)QDCT_TLPStep = 1; } } //后振动盘 if(QDCT_bManHZD) { QDCT_bManHZD = 0; if(QDCT_HZDPStep) { QDCT_HZDP_OUT = 0; QDCT_HZDPStep = 0; } else { QDCT_HZDP_OUT = 1; QDCT_HZDPStep = 2; } } */ //前夹拉头 if(QDCT_bManQJLT) { QDCT_bManQJLT = 0; QDCT_QJLT_OUT = ~QDCT_QJLT_OUT; if(!QDCT_QJLT_OUT) QZhuangLiaoOkFlg = 0; } //后夹拉头 if(QDCT_bManHJLT) { QDCT_bManHJLT = 0; QDCT_HJLT_OUT = ~QDCT_HJLT_OUT; if(!QDCT_HJLT_OUT) HZhuangLiaoOkFlg = 0; } //台面电机 if(QDCT_bTable) { QDCT_bTable = 0; QDCT_TB_OUT = ~QDCT_TB_OUT; if(QDCT_TB_OUT) QDCT_TableDelay = dwTickCount+100000; else QDCT_TableDelay = dwTickCount+100; } //前装料 if(QDCT_bQZuangLT) { QDCT_bQZuangLT = 0; if(QDCT_QZhuangLiaoStep == 0) { QTryCnt = 0; QTuiLaTouOkFlg = 1; QDCT_QZhuangLiaoStep = 3; cFirstQStartFlg = 0; } } //后装料 if(QDCT_bHZuangLT) { QDCT_bHZuangLT = 0; if(QDCT_HZhuangLiaoStep == 0) { QTryCnt = 0; HTuiLaTouOkFlg = 1; QDCT_HZhuangLiaoStep = 3; cFirstHStartFlg = 0; } } //压带 if(QDCT_bManYD) { QDCT_bManYD = 0; QDCT_YD_OUT = ~QDCT_YD_OUT; } //吹气 if(QDCT_bManCQ) { QDCT_bManCQ = 0; QDCT_CQ_OUT = 1;//~QDCT_CQ_OUT; //吹气 QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME; } //推拉片 if(QDCT_bManDLP) { QDCT_bManDLP = 0; QDCT_TLP_OUT = ~QDCT_TLP_OUT; } //穿拉头 if(QDCT_bChuanLT) { QDCT_bChuanLT = 0; if(!QDCT_BACK_LIMIT_IN) { if(QDCT_MotorStep == 0)QDCT_MotorStep = 30; } } //电机松轴 if(QDCT_bManSZ) { QDCT_bManSZ = 0; if(GetEn(X_AXIS)==QDCT_MOTOR_DISEN) { SetEn(X_AXIS, QDCT_MOTOR_EN); } else { SetEn(X_AXIS, QDCT_MOTOR_DISEN); } } //电机控制 if(QDCT_bMotorGo && !QDCT_GO_LIMIT_IN && !QDCT_SQ_LIMIT_IN) { QDCT_JD_OUT = 0; //QDCT_JJ_DIR = QDCT_JJ_DIR_P; //QDCT_SZ_OUT = QDCT_MOTOR_EN; SetEn(X_AXIS, QDCT_MOTOR_EN); cBackLimitCheck_EN= 0; if(!X_DRV)AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_N, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } else if(QDCT_bMotorGo && QDCT_SQ_LIMIT_IN) QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM); if(QDCT_bMotorBack && !QDCT_BACK_LIMIT_IN) { // QDCT_JD_OUT = 0; //QDCT_SZ_OUT = QDCT_MOTOR_EN; SetEn(X_AXIS, QDCT_MOTOR_EN); //QDCT_JJ_DIR = QDCT_JJ_DIR_N; cBackLimitCheck_EN = 1; if(!X_DRV)AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } if(!QDCT_bMotorGo && !QDCT_bMotorBack && (QDCT_MotorStep == 0) && (cStopFlg == 0) && (cTestMotorStep == 0)) { if(X_DRV)AxisDecStop(X_AXIS); } if(QDCT_GO_LIMIT_IN && (QDCT_MotorStep == 0) && !QDCT_bMotorBack &&(QDCT_AutoStep == 0) && (cStopFlg == 0) && (cStopFlg == 0) && (cTestMotorStep == 0)) { if(X_DRV)AxisEgmStop(X_AXIS); } if(QDCT_bYLGO) { SetEn(Y_AXIS, QDCT_MOTOR_EN); //QDCT_YL_DIR = QDCT_YL_DIR_P; if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_START_SPEED, QDCT_YL_DIR_P, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } if(QDCT_bYLBACK) { SetEn(Y_AXIS, QDCT_MOTOR_EN); //QDCT_YL_DIR = QDCT_YL_DIR_N; if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_START_SPEED, QDCT_YL_DIR_N, QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); } if(!QDCT_bYLGO && !QDCT_bYLBACK && (QDCT_MotorStepY == 0) && (QDCT_AutoStep == 0)) { if(Y_DRV)AxisDecStop(Y_AXIS); } if(QDCT_bYL) { QDCT_bYL = 0; QDCT_YL_OUT = ~QDCT_YL_OUT; } if(QDCT_bSYL) { QDCT_bSYL = 0; QDCT_SYL_OUT = ~QDCT_SYL_OUT; } //Y电机松轴 if(QDCT_bManSZ_Y) { QDCT_bManSZ_Y = 0; if(GetEn(Y_AXIS)==QDCT_MOTOR_DISEN) { SetEn(Y_AXIS, QDCT_MOTOR_EN); } else { SetEn(Y_AXIS, QDCT_MOTOR_DISEN); } } if(QDCT_bManKL) { QDCT_bManKL = 0; //QDCT_KL_OUT = ~QDCT_KL_OUT; // QDCT_JiaLianStep = 3; } if(QDCT_bManCS) { QDCT_bManCS = 0; cs_delay = dwTickCount + QDCT_PARAM_CS_TIME; QDCT_CS_OUT = 1; cs_flg = 1; } } if(cs_flg) { if(QDCT_CS_OUT && (dwTickCount >= cs_delay)) { QDCT_CS_OUT = 0; cs_flg = 0; } } //这里特殊改动 // if(QDCT_PARAM_XM_MODE!== 0) // { if(QDCT_CQ_OUT && (dwTickCount >= QDCT_CQDelay)) QDCT_CQ_OUT = 0; // } } #endif