#include "global.h" #if XIN_YE_MACHINE == 1 void XY_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag); void XY_CTHL_ManualAction(void); void XY_CTHL_AutoStepAction(void); void XY_CTHL_TableAction(void); void XY_CTHL_TD_Motor(void); void XY_CTHL_CL_Motor(void); void XY_CTHL_CheckStart(void); void XY_CTHL_TLiao_Step(void); //推料(推拉头) void XY_CTHL_AlarmProtect(void); void XY_CTHL_ZLT_Step(void); void XY_CTHL_ZhenDongAction(void); void XY_CTHL_bFKCXTDDWStep(void); void XY_CTHL_bCXCRStep(void); void XY_CTHL_bCLFirstStep(void); void ExtiAcitionX02(void) { if(bCheckEN_FLG) { bCheckEN_FLG = 0; XY_CTHL_CheckInX02PosBuff = GetPos(X_AXIS); } } //故障报警 void XY_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag) { SetAlarmCode(XY_CTHL_ALARM_ADDR,alarm_code); // bAlarmStop = 0; // if(cStopFlag) if(!cWULATOUCnt && !cXiaoChaCNT && !cCHULIANBAOJIN) { bAlarmStop = 1; } else { cWULATOUCnt=0; } } //初始化动作 void XY_CTHL_InitAction(void) { float buff_pulse,buff_dist; buff_pulse = XY_CTHL_PARAM_CYCLE_PULSE; buff_dist = XY_CTHL_PARAM_CYCLE_LENGTH; XGearRatio = buff_pulse/buff_dist; buff_pulse = 2000;//XY_CTHL_PARAM_CYCLE_PULSE; buff_dist = 750;//XY_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(XY_CTHL_ALARM_ADDR,0); // QDCT_SZ_OUT = QDCT_MOTOR_DISEN; } void XY_CTHL_Action(void) { user_datas[121] = XY_CTHL_LianLengSave; // user_datas[122] =axis_x->cur_speed; // user_datas[123] = XY_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] = XY_CTHL_CL_MotorStep; user_datas[127] = XY_CTHL_TD_MotorStep; user_datas[128] = XY_CTHL_AutoStep; XY_CTHL_ZhenDongAction(); XY_CTHL_AlarmProtect(); XY_CTHL_CheckStart(); XY_CTHL_ZLT_Step(); XY_CTHL_TLiao_Step(); XY_CTHL_TD_Motor(); XY_CTHL_CL_Motor(); XY_CTHL_bFKCXTDDWStep(); XY_CTHL_bCXCRStep(); XY_CTHL_bCLFirstStep(); XY_CTHL_ManualAction(); XY_CTHL_AutoStepAction(); } void XY_CTHL_AlarmProtect(void) { } //自动动作 void XY_CTHL_AutoStepAction(void) { if(bRunning) { switch(XY_CTHL_AutoStep) { case 1: if(XY_CTHL_SF_Origin_IN || cBanAuTo) { /* XY_CTHL_AutoStep = 10; //测试拖带定位 XY_CTHL_AutoDelay = dwTickCount + 1000; break; */ if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 XY_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 XY_CTHL_FKGD_VAVLE = 0; //方块固定关 // XY_CTHL_XKDW_VAVLE = 1; XY_CTHL_AutoStep = 2; // XY_CTHL_AutoDelay = dwTickCount + 10; if(XY_CTHL_ZhuangLiaoStep == 0) { XY_CTHL_ZhuangLiaoStep = 1; XY_CTHL_TryCnt = 0; } } } break; case 2: if(!XY_CTHL_XKTD_Origin_IN)// && (dwTickCount >= XY_CTHL_AutoDelay)) //斜口推带原位离开 { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 3; XY_CTHL_XKDW_VAVLE = 1; XY_CTHL_AutoDelay = dwTickCount + 20; } } break; case 3://斜口定位 if(dwTickCount >= XY_CTHL_AutoDelay) { XY_CTHL_AutoStep = 4; // XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if(!cBanAuTo) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { AxisMovePosAccDecNotStop(X_AXIS,1600,1500,600,1000,15,30,00); XY_CTHL_AutoStep = 5; XY_CTHL_XSavePosBuff = dwXRealPos; // SetPos(X_AXIS, 0); //启动位置设为0点 if(cZipCnt < 1) XY_CTHL_AutoDelay = dwTickCount +350; else XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_FKJD_DELAY; } } else { XY_CTHL_AutoStep = 5; XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_FKJD_DELAY; XY_CTHL_XSavePosBuff = dwXRealPos; } break; case 5: if(dwTickCount >= XY_CTHL_AutoDelay) { XY_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 } if(bCL_EN_FLG && (dwXRealPos >= 230) && XY_CTHL_XKSC_Limit_IN) { XY_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 } if(XY_CTHL_XKSC_Limit_IN) //方块上止到位 { AxisEgmStop(X_AXIS); // AxisMovePosAccDec(X_AXIS,1200,10,1200,1200,6,6,0); if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_QDXK_VAVLE = 1; XY_CTHL_FKJD_VAVLE=0; XY_CTHL_AutoStep = 6; // XY_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) { bCL_OK_FLG = 0; XY_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 XY_CTHL_CL_MotorStep = 1; XY_CTHL_CL_MotorDelay = dwTickCount + XY_CTHL_PARAM_HLJJ_CL_DELAY; XY_CTHL_AutoDelay = dwTickCount + 50 + XY_CTHL_PARAM_HLJJ_CL_DELAY; } else { XY_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; } } } else if(dwXRealPos >= (XY_CTHL_XSavePosBuff + 3000)) { XY_CTHL_SetAlarmCode(XY_CTHL_FKCXDW_ALARM,bRunning); //方块插销定位异常警告 } break; case 6: if((dwYRealPos > 1000) || XY_CTHL_CL_MotorStep==0) { XY_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; } if(XY_CTHL_XKTD_Origin_IN) //斜口推带回到原位 { if(bZhuangLiaoOkFlg && (XY_CTHL_ZhuangLiaoStep == 0)) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { if(dwTickCount >= XY_CTHL_bLTCHECK_Delay) { if(bSingOneFlg) { XY_CTHL_AutoStep = 0; bRunning = 0; } else { if(!XY_CTHL_LTou_Check) { if(XY_CTHL_PARAM_TDFZ_LENTH && !X_DRV) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,8000,-XY_CTHL_PARAM_DXKFZ_LENTH,800,600,6,6,0); if(!XY_CTHL_PARAM_NLSL_MODE) XY_CTHL_FKJD_VAVLE= 0; //方块夹带气缸关 } if(XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE = 1; XY_CTHL_CTXM_VAVLE = 1; //穿头下模上升 XY_CTHL_AutoStep = 7; XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; } else { cWULATOUCnt=1; XY_CTHL_SetAlarmCode(XY_CTHL_ZLT_ALARM,bRunning); // 没有拉头 } } } } } } else if((dwTickCount >= XY_CTHL_AutoDelay) && !XY_CTHL_XKTD_VAVLE && !cBanAuTo) { XY_CTHL_SetAlarmCode(XY_CTHL_XKTD_Origin_ALARM,bRunning); //斜口推带回到异常 } break; case 7: if(!XY_CTHL_CTM_Origin_IN) { XY_CTHL_JLTou_VAVLE = 0; //接拉头 } if(XY_CTHL_CTM_Limit_IN) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { if(XY_CTHL_PARAM_NLSL_MODE) { XY_CTHL_XKTD_VAVLE=1; } XY_CTHL_JLTou_VAVLE = 0; XY_CTHL_AutoStep = 8; XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_DXKYS_DELAY; } } else if(dwTickCount >= XY_CTHL_AutoDelay) { XY_CTHL_SetAlarmCode(XY_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(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { if((dwTickCount >= XY_CTHL_AutoDelay) || (XY_CTHL_PARAM_NLSL_MODE)) { if(!XY_CTHL_PARAM_NLSL_MODE) XY_CTHL_DXK_VAVLE=1; XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_DXK_XKDW_Off_DELAY; XY_CTHL_AutoStep = 9; } } } break; case 9: if((dwTickCount >= XY_CTHL_AutoDelay) && (bCL_OK_FLG)) //顶斜口延时退斜口上止定位 { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { // AxisMovePosAccDec(X_AXIS,2000,-150,1200,1200,3,6,0); //反转1.5CM XY_CTHL_XKDW_VAVLE = 0; //斜口上止定位关 XY_CTHL_FKJD_VAVLE = 0; //方块夹带气缸关 XY_CTHL_AutoStep = 10; XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_XK_CR_DELAY; } } break; case 10: if(!cBanAuTo) { if((dwTickCount >= XY_CTHL_AutoDelay) && !X_DRV) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_TD_MotorStep = 10; //启动拖带穿入 XY_CTHL_AutoStep = 11; } } } else { XY_CTHL_AutoStep = 801; XY_CTHL_AutoDelay = dwTickCount + 1000; cCHULIANBAOJIN=1; } break; case 801: if(dwTickCount >= XY_CTHL_AutoDelay) { bRunning=0; cBanAuTo=0; XY_CTHL_QDXK_VAVLE=0; XY_CTHL_XKTD_VAVLE = 0; XY_CTHL_DXK_VAVLE=0; XY_CTHL_AutoStep = 0; } break; case 11: if(XY_CTHL_TD_MotorStep == 0) //穿入定位完成 { /* //测试拖带定位 XY_CTHL_AutoStep = 1; XY_CTHL_AutoDelay = dwTickCount + 1000; if(cZipCnt<3) cZipCnt++; break; */ if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_XKDW_VAVLE = 0; //斜口上止定位关 XY_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 XY_CTHL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀 cXcxcrCnt = 0; if(XY_CTHL_CL_MotorStep == 0) { XY_CTHL_CXQJD_VAVLE = 1; } XY_CTHL_AutoStep = 12; XY_CTHL_AutoDelay = dwTickCount; } } break; case 12: if(XY_CTHL_CL_MotorStep == 0) //插销前夹带回到原位 { if(XY_CTHL_SF_Origin_IN) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 14; XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_XCQJD_XCDW_DELAY; if(cXcxcrCnt != 1) { XY_CTHL_CXQJD_VAVLE = 1; } } } else if(!XY_CTHL_SF_Origin_IN) { XY_CTHL_CL_MotorStep = 50; //伺服回原点 } } break; case 14: if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_XKDW_VAVLE = 1; //斜口定位 XY_CTHL_AutoStep = 15; XY_CTHL_FKGD_VAVLE = 1; //方块固定 //Y轴启动插销 if(cXcxcrCnt != 1) { XY_CTHL_CL_MotorStep = 20; //插销定位 } } } break; case 15: if(XY_CTHL_CL_MotorStep == 0) //插销定位完成 { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 16; XY_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 XY_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 XY_CTHL_AutoDelay = dwTickCount + 10; //延时插销下移 } } break; case 16: if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 17; if(XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE = 0; else XY_CTHL_CXXY_VAVLE = 1; //Y06 插销下移电磁阀 XY_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 } } break; case 17: if(XY_CTHL_PARAM_CXXY_MODE) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { if(XY_CTHL_CXXY_Limit_IN) { XY_CTHL_AutoStep = 18; if( cXcxcrCnt==0 && !X_DRV && !cCXCONE) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,8000,-XY_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 XY_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 XY_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } else if(dwTickCount >= XY_CTHL_AutoDelay) { XY_CTHL_SetAlarmCode(XY_CTHL_CXXY_Limit_ALARM,bRunning); //插销下移异常 } } else { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 18; if( cXcxcrCnt==0 && !X_DRV && !cCXCONE) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,8000,-XY_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 XY_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 XY_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } break; case 18: // if(START_IN_UP) { if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 19; cBAOHUCNT=0; XY_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) XY_CTHL_AutoDelay = dwTickCount + 500; //插销穿入到位异常时间 XY_CTHL_CL_MotorStep = 50; //合链电机回原点 } } } break; case 19: if(XY_CTHL_CX_Limit_IN && (cXcxcrCnt<4)) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { cXcxcrCnt=0; cXiaoChaCNT=0; user_datas[100]=0; bZhuangLiaoOkFlg = 0; XY_CTHL_CXXY_VAVLE=0; XY_CTHL_AutoStep = 901; XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_FKGD_DELAY; //退方块固定时间 XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 } } else if ((dwTickCount >= XY_CTHL_AutoDelay) && (cXcxcrCnt<3) ) { cXcxcrCnt++; XY_CTHL_CXHJD_VAVLE=0; XY_CTHL_CXHDW_VAVLE=0; if(!XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE=0; else XY_CTHL_CXXY_VAVLE=1; if(cXcxcrCnt<3) { XY_CTHL_CXSCDW_VAVLE=1; XY_CTHL_AutoStep = 12; XY_CTHL_AutoDelay = dwTickCount + 120; } } else if((dwTickCount >= (XY_CTHL_AutoDelay +3000)) && !XY_CTHL_CX_Limit_IN ) { cXiaoChaCNT=1; if(!XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE=0; else XY_CTHL_CXXY_VAVLE=1; XY_CTHL_CXHJD_VAVLE =0; cBAOHUCNT=1; XY_CTHL_SetAlarmCode(XY_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常 } if( cXcxcrCnt > 2) { cXiaoChaCNT=1; XY_CTHL_CXXY_VAVLE=0; XY_CTHL_CXHJD_VAVLE =0; cBAOHUCNT=1; XY_CTHL_SetAlarmCode(XY_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常 } break; case 901: if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_FKGD_VAVLE = 0; //方块固定退 XY_CTHL_AutoStep = 20; if(!cBAOHUCNT) XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_First_CL_DELAY;//延时一次穿入 else { XY_CTHL_AutoDelay = dwTickCount + 1000;//手动插销保护时间 cBAOHUCNT=0; } } } break; case 20: if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 21; XY_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出 XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; } } break; case 21: if(!XY_CTHL_First_CT_Origin_IN) //原点离开后才开始时间 { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 22; XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_First_CL_Timer; //一次穿入时间 } } else if(dwTickCount >= XY_CTHL_AutoDelay) { XY_CTHL_SetAlarmCode(XY_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常 } break; case 22: if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 23; XY_CTHL_MGuo_VAVLE = 0; //码勾退 XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_MGOff_XiaMo_DELAY; XY_CTHL_FKGD_VAVLE = 0; //方块固定退 XY_CTHL_FKJD_VAVLE=0; XY_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 XY_CTHL_CXXY_VAVLE = 0; //Y06 插销下移电磁阀关 } } break; case 23: if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 24; XY_CTHL_CTXM_VAVLE = 0; //穿头下模下降 XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; } } break; case 24: if(!XY_CTHL_CTM_Limit_IN) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 25; XY_CTHL_AutoDelay = dwTickCount + 20; //一次穿入延时返回 } } else if(dwTickCount >= XY_CTHL_AutoDelay) { XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Origin_ALARM,bRunning);//穿头下模下降异常 } break; case 25: if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { XY_CTHL_AutoStep = 26; XY_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 XY_CTHL_AutoDelay = dwTickCount + 5; XY_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 //退下出错警告 XY_CTHL_AutoDelay1 = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; XY_CTHL_AutoStep1 = 1; } } break; case 26: if(dwTickCount >= XY_CTHL_AutoDelay) { if(!XY_CTHL_bDanBu || XY_CTHL_START_IN_UP) { if(!cCXCONE) { XY_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 XY_CTHL_FKGD_VAVLE = 0; //方块固定关 XY_CTHL_AutoStep = 2; bCL_EN_FLG = 1; cXcxcrCnt=0; AddToTal(XY_CTHL_TOTAL_ADDR); CalProSP(XY_CTHL_SPEED_ADDR); if(cZipCnt<3) cZipCnt++; } else { bRunning=0; cCXCONE=0; XY_CTHL_AutoStep = 0; } } } break; } } //退下模后启动送拉头 switch(XY_CTHL_AutoStep1) { case 1: if(cStopMode==1) { bCL_EN_FLG=1; cStopMode=2; bStop=1; } if(XY_CTHL_CTM_Origin_IN && XY_CTHL_First_CT_Origin_IN) { XY_CTHL_ZhuangLiaoStep = 1; XY_CTHL_TryCnt = 0; XY_CTHL_AutoStep1 = 0; XY_CTHL_MGuo_VAVLE = 0; XY_CTHL_JLTou_VAVLE = 0; } else if(dwTickCount >= XY_CTHL_AutoDelay1) { //穿头模和一次穿入回位异常 if(!XY_CTHL_CTM_Origin_IN) XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Origin_ALARM,bRunning); else if(!XY_CTHL_First_CT_Origin_IN) XY_CTHL_SetAlarmCode(XY_CTHL_First_CT_Origin_ALARM,bRunning); } break; } } void XY_CTHL_CheckStart(void) { //监控 if(cBanAuTo) { XY_CTHL_PARAM_XCRU=1; } else { XY_CTHL_PARAM_XCRU=0; } //监控 if(cCXCONE) { XY_CTHL_PARAM_CXCR=1; } else { XY_CTHL_PARAM_CXCR=0; } if(cXCXQXQD) { if(XY_CTHL_START_IN_UP || bStart) { bStart=0; if(!bRunning) { if(XY_CTHL_SafeDoor_IN ) { bRunning=1; cXCXQXQD =0; XY_CTHL_TD_MotorStep = 0; XY_CTHL_AutoStep=11; } else { XY_CTHL_SetAlarmCode(XY_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } } } if(cWULATOUCnt) // 无拉头警告后按 { if(XY_CTHL_START_IN_UP || bStart) { bStart=0; if(!bRunning) { if(XY_CTHL_SafeDoor_IN) { bRunning=1; XY_CTHL_TryCnt=0; cWULATOUCnt=0; XY_CTHL_ZhuangLiaoStep = 1; XY_CTHL_AutoStep=6; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; XY_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 XY_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } else { XY_CTHL_SetAlarmCode(XY_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } } } if(!XY_CTHL_SafeDoor_IN && bRunning && !cBanAuTo && !cCXCONE) { bStop=1; XY_CTHL_SetAlarmCode(XY_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } //启动 自动启动 单一自动 if((XY_CTHL_START_IN_UP || bStart ) && !cWULATOUCnt && !cXCXQXQD) { if(cCHULIANBAOJIN) //无链停机启动 { cCHULIANBAOJIN=0; SetEn(X_AXIS, MOTOR_EN); // dwXRealPos=0; XY_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); SetEn(Y_AXIS, MOTOR_DISEN); XY_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } cZipCnt=0; XY_CTHL_TD_MotorDelay = dwTickCount + 500; XY_CTHL_AutoDelay = dwTickCount + 150; if(GetAlarmCode(XY_CTHL_ALARM_ADDR) != 0) SetAlarmCode(XY_CTHL_ALARM_ADDR,0); } if(!bRunning) { if(XY_CTHL_SafeDoor_IN) { cStopMode=0; bRunning = 1; cWULATOUCnt=0; cHeLian=0; SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); XY_CTHL_CL_MotorStep = 40; XY_CTHL_AutoStep = 1; bTuiLaTouOkFlg = 1; XY_CTHL_PARAM_ZDP_AUTO= 0; bZhuangLiaoOkFlg= 0; XY_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 XY_CTHL_ZhuangLiaoDelay = dwTickCount + 150; // bCL_EN_FLG = 0; cZipCnt = 0; cQDXK_DXK=0; XY_CTHL_LianLengthCheck = 0; cStopInCnt = 0; } else { XY_CTHL_SetAlarmCode(XY_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } bStart = 0; } //停止 if(XY_CTHL_STOP_IN_UP || bStop) { if(cStopMode < 2) cStopMode++; if(bRunning && cStopMode==2) { cBanAuTo=0; cCXCONE=0; bRunning=0; cStopMode=0; cXcxcrCnt=0; cXCXQXQD=0; cCHULIANBAOJIN=0; cWULATOUCnt=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); XY_CTHL_AutoStep = 0; XY_CTHL_CL_MotorStep =0; XY_CTHL_bCLFirst_Step=0; XY_CTHL_ZhuangLiaoStep=0; // XY_CTHL_XKTD_VAVLE = 0; cQDXK_DXK=0; // XY_CTHL_XKDW_VAVLE =0; if(XY_CTHL_SF_ALR_IN ) { XY_CTHL_SF_ALR_CLR=1; XY_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); XY_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } if(GetAlarmCode(XY_CTHL_ALARM_ADDR) != 0) SetAlarmCode(XY_CTHL_ALARM_ADDR,0); } else if(!bRunning) { cBanAuTo=0; cCXCONE=0; bRunning=0; cXcxcrCnt=0; cStopMode=0; cCHULIANBAOJIN=0; cXCXQXQD=0; cWULATOUCnt=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(XY_CTHL_SF_ALR_IN ) { XY_CTHL_SF_ALR_CLR=1; XY_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); XY_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } XY_CTHL_TLiao_VAVLE=0; XY_CTHL_HSLiao_VAVLE =0; XY_CTHL_JLTou_VAVLE =0; XY_CTHL_XKTD_VAVLE =0; XY_CTHL_XKDW_VAVLE =0; XY_CTHL_DXK_VAVLE =0; XY_CTHL_CXXY_VAVLE =0; XY_CTHL_CTXM_VAVLE =0; XY_CTHL_First_CT_VAVLE =0; XY_CTHL_FKGD_VAVLE =0; XY_CTHL_CXQJD_VAVLE =0; XY_CTHL_CXDWZ_VAVLE =0; XY_CTHL_CXHJD_VAVLE =0; XY_CTHL_CXHDW_VAVLE =0; XY_CTHL_FKJD_VAVLE =0; XY_CTHL_HLJJ_VAVLE =0; XY_CTHL_CXSCDW_VAVLE =0; XY_CTHL_MGuo_VAVLE =0; XY_CTHL_QDXK_VAVLE=0; XY_CTHL_AutoStep = 0; XY_CTHL_ZhuangLiaoStep=0; XY_CTHL_TLiaoStep=0; XY_CTHL_TD_MotorStep=0; XY_CTHL_JiaLianStep =0; XY_CTHL_SongLiaoStep =0; XY_CTHL_CL_MotorStep =0; XY_CTHL_AutoStep1 =0; XY_CTHL_bFKCXTDDW_Step=0; XY_CTHL_bCXCR_Step=0; XY_CTHL_bCLFirst_Step=0; if(GetAlarmCode(XY_CTHL_ALARM_ADDR) != 0) SetAlarmCode(XY_CTHL_ALARM_ADDR,0); SetPos(X_AXIS, 0); XY_CTHL_TLiaoStep = 0; XY_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); XY_CTHL_AutoStep = 0; cQDXK_DXK=0; XY_CTHL_CL_MotorStep =0; XY_CTHL_bCLFirst_Step=0; XY_CTHL_SongLiaoStep =0; XY_CTHL_ZhuangLiaoStep=0; // XY_CTHL_XKTD_VAVLE = 0; // XY_CTHL_XKDW_VAVLE =0; } } //拖带电机控制动作 X轴 void XY_CTHL_TD_Motor(void) // { #if 1 switch(XY_CTHL_TD_MotorStep) { //1步开始，纯定位, 没有穿入 case 1: if(dwTickCount >= XY_CTHL_TD_MotorDelay) //给锁轴时间 { bCheckEN_FLG = 1; XY_CTHL_CheckInX02PosBuff= 0; XY_CTHL_TD_MotorStep = 2; SetPos(X_AXIS, 0); //启动位置设为0点 AxisContinueMoveAcc(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed*2/3,DIR_P,800,600,15,15); XY_CTHL_X_CXPosBuff=0; } break; case 2://检测到过链 if(dwXRealPos > 400) //穿入2CM后退 { if(XY_CTHL_PARAM_NLSL_MODE) { XY_CTHL_XKTD_VAVLE=0; } XY_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 XY_CTHL_QDXK_VAVLE = 0; } if(dwXRealPos >= XY_CTHL_PARAM_WLCDSHEZHI_LENTH) { XY_CTHL_SetAlarmCode(XY_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if(XY_CTHL_FK_Check) { XY_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 XY_CTHL_QDXK_VAVLE = 0; XY_CTHL_XSavePosBuff = dwXRealPos; XY_CTHL_TD_MotorStep = 3; user_datas[123] = dwXRealPos - XY_CTHL_CheckInX02PosBuff; if((dwXRealPos >= XY_CTHL_CheckInX02PosBuff) && XY_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed*2/3,XY_CTHL_PARAM_first_length, XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,30,300,50); else AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed*2/3,XY_CTHL_PARAM_first_length, XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,30,300,50); } break; case 3: if(XY_CTHL_CXSC_Limit_IN_UP) { XY_CTHL_X_CXPosBuff = dwXRealPos; } if(!X_DRV || (dwXRealPos >= (XY_CTHL_XSavePosBuff + XY_CTHL_PARAM_FKDW_Length))) { AxisEgmStop(X_AXIS); XY_CTHL_TD_MotorStep =4 ; XY_CTHL_LianLengthAutoCheck = dwXRealPos; } break; case 4: if(XY_CTHL_PARAM_XCX_LENTH) //0的话不判断位置 { if ((dwXRealPos - XY_CTHL_X_CXPosBuff) > (XY_CTHL_PARAM_XCX_LENTH + XY_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 1; XY_CTHL_TD_MotorStep = 0; XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(XY_CTHL_X_CXPosBuff == 0) { // user_datas[121] = 3; XY_CTHL_TD_MotorStep = 0; XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { XY_CTHL_TD_MotorStep = 0; XY_CTHL_X_CXPosBuff=dwXRealPos; } } else { XY_CTHL_TD_MotorStep = 0; // XY_CTHL_X_CXPosBuff=dwXRealPos; } break; case 9: if(dwTickCount >= XY_CTHL_TD_MotorDelay) { XY_CTHL_TD_MotorStep = 10; XY_CTHL_TD_MotorDelay=dwTickCount+500; SetEn(X_AXIS, MOTOR_EN); } break; //穿拉头定位 case 10: if(dwTickCount >= XY_CTHL_TD_MotorDelay) { XY_CTHL_TD_MotorStep = 11; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; AxisContinueMoveAcc(X_AXIS,XY_CTHL_PARAM_TDCR_LowSpeed,DIR_P,1200,1200,15,15); XY_CTHL_CheckInX02PosBuff= 0; XY_CTHL_X_CXPosBuff=0; bCheckEN_FLG = 1; } break; case 11: if(dwXRealPos > 350) //穿入2CM后退 { if(XY_CTHL_PARAM_NLSL_MODE) { XY_CTHL_XKTD_VAVLE=0; } XY_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 XY_CTHL_QDXK_VAVLE =0; } if(dwXRealPos > XY_CTHL_PARAM_TDCR_LowSpeedLength) //穿入2CM后退 { XY_CTHL_CheckInX02PosBuff= 0; XY_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 XY_CTHL_QDXK_VAVLE = 0; if(XY_CTHL_PARAM_NLSL_MODE) { XY_CTHL_XKTD_VAVLE=0; } XY_CTHL_TD_MotorStep = 12; if((cZipCnt < 2) || (XY_CTHL_LianLengthCheck < XY_CTHL_PARAM_TDCR_LowSpeedLength)) AxisContinueMoveAcc(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed*2/3,DIR_P,3000,600,10,10); else ////两段速度移动距离 { AxisMovePosAccDecNotStop(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed ,XY_CTHL_LianLengthCheck-(XY_CTHL_PARAM_TDCR_LowSpeedLength),1500,7000,30,300,250); } } if(XY_CTHL_FK_Check) //在这里检测到说明速度还没有起来 { // XY_CTHL_SongDai_VAVLE=1; XY_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 XY_CTHL_QDXK_VAVLE = 0; if(XY_CTHL_PARAM_NLSL_MODE) { XY_CTHL_XKTD_VAVLE=0; } XY_CTHL_TD_MotorDelay= dwTickCount + XY_CTHL_PARAM_FKJDSECONG_DEALY; XY_CTHL_LianLengthReal = dwXRealPos; XY_CTHL_XSavePosBuff = dwXRealPos; XY_CTHL_TD_MotorStep = 13; // user_datas[122] = XY_CTHL_PARAM_FKDW_Length - (dwXRealPos- XY_CTHL_CheckInX02PosBuff); if((dwXRealPos >= XY_CTHL_CheckInX02PosBuff) && XY_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed,XY_CTHL_PARAM_FKDW_Length - (dwXRealPos- XY_CTHL_CheckInX02PosBuff), XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,30,250,40); else AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed,XY_CTHL_PARAM_FKDW_Length, XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,30,250,40); //XY_CTHL_TD_MotorStep = 0; } else if(XY_CTHL_CXSC_Limit_IN_UP) { AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed * 2/3,XY_CTHL_PARAM_FKDW_Length, XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,30,250,50); } else if(XY_CTHL_CXSC_Limit_IN_DW) { XY_CTHL_SetAlarmCode(XY_CTHL_DK_ERROR_ALARM,bRunning); } break; case 12://检测到过链 if(cZipCnt<2) { if(dwXRealPos >= XY_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; } XY_CTHL_SetAlarmCode(XY_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } else { if(dwXRealPos >= XY_CTHL_LianLengthAutoCheckERROR + XY_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; } XY_CTHL_SetAlarmCode(XY_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } if(XY_CTHL_FK_Check) { XY_CTHL_TD_MotorDelay= dwTickCount + XY_CTHL_PARAM_FKJDSECONG_DEALY; XY_CTHL_LianLengthReal = dwXRealPos; //if(cZipCnt == 1) // user_datas[122] = dwXRealPos; // user_datas[121] = dwXRealPos; if((cZipCnt == 1) || dwXRealPos < (XY_CTHL_LianLengthCheck*0.85) || dwXRealPos>(XY_CTHL_LianLengthCheck*1.3)) XY_CTHL_LianLengthCheck = dwXRealPos; XY_CTHL_LianLengthCheckOLD=XY_CTHL_LianLengthNEWCheck; XY_CTHL_LianLengthNEWCheck = dwXRealPos; //break; XY_CTHL_XSavePosBuff = dwXRealPos; XY_CTHL_TD_MotorStep = 13; // user_datas[122] = XY_CTHL_PARAM_FKDW_Length - (dwXRealPos- XY_CTHL_CheckInX02PosBuff); if(cZipCnt > 1 ) { if((dwXRealPos >= XY_CTHL_CheckInX02PosBuff) && XY_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed*2/3,XY_CTHL_PARAM_FKDW_Length - (dwXRealPos- XY_CTHL_CheckInX02PosBuff), XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,30,300,50); else AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed*2/3,XY_CTHL_PARAM_FKDW_Length, XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,30,300,50); } else { AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed*2/3,XY_CTHL_PARAM_first_length, XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,30,300,50); } //XY_CTHL_TD_MotorStep = 0; } else if(XY_CTHL_CXSC_Limit_IN_UP) { AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed * 2/3,XY_CTHL_PARAM_FKDW_Length, XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,10,150,50); } else if(XY_CTHL_CXSC_Limit_IN_DW) { XY_CTHL_SetAlarmCode(XY_CTHL_DK_ERROR_ALARM,bRunning); } break; case 13: if(dwTickCount >= XY_CTHL_TD_MotorDelay) { XY_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 } if(XY_CTHL_CXSC_Limit_IN_DW) { XY_CTHL_X_CXPosBuff = dwXRealPos; } if((!X_DRV ))// || (dwXRealPos >= (XY_CTHL_XSavePosBuff + XY_CTHL_PARAM_FKDW_Length))) { // user_datas[123] = dwXRealPos-XY_CTHL_CheckInX02PosBuff; AxisEgmStop(X_AXIS); XY_CTHL_TD_MotorStep = 14; /* if(cZipCnt>2) { if(((XY_CTHL_LianLengthNEWCheck+XY_CTHL_LianLengthCheckOLD)*0.5) < (XY_CTHL_LianLengthCheck*0.95)) { cZipCnt=0; cHeLian=1; } }*/ if(cZipCnt==1) XY_CTHL_LianLengthAutoCheckERROR = dwXRealPos; if(cZipCnt==1) XY_CTHL_LianLengSave=dwXRealPos; XY_CTHL_LianLengthAutoCheck = dwXRealPos; // user_datas[122] = dwXRealPos-XY_CTHL_X_CXPosBuff; } break; case 14: if(XY_CTHL_PARAM_XCX_LENTH) //0的话不判断位置 { if ((dwXRealPos - XY_CTHL_X_CXPosBuff) > (XY_CTHL_PARAM_XCX_LENTH + XY_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 1; XY_CTHL_TD_MotorStep = 0; cXCXQXQD=1; XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if((dwXRealPos - XY_CTHL_X_CXPosBuff) < (XY_CTHL_PARAM_XCX_LENTH - XY_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 2; XY_CTHL_TD_MotorStep = 0; cXCXQXQD=1; XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(XY_CTHL_X_CXPosBuff == 0) { // user_datas[121] = 3; XY_CTHL_TD_MotorStep = 0; cXCXQXQD=1; XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { XY_CTHL_TD_MotorStep = 15; } } else { XY_CTHL_TD_MotorStep = 15; } break; case 15: // if(XY_CTHL_START_IN_UP) XY_CTHL_TD_MotorStep = 0; break; } #endif } //穿入电机动作，Y轴 void XY_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(XY_CTHL_CL_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= XY_CTHL_CL_MotorDelay) { // SetDir(Y_AXIS, DIR_P); if(XY_CTHL_PARAM_CL_Length >= XY_CTHL_PARAM_CL_MAX_Length) XY_CTHL_PARAM_CL_Length = XY_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((XY_CTHL_LianLengthAutoCheck < (XY_CTHL_PARAM_CL_Length + 500 )) && bRunning) AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,(XY_CTHL_LianLengthAutoCheck-500),800,600,6,6,50); else AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,(XY_CTHL_PARAM_CL_Length-100),800,600,6,6,50); XY_CTHL_CL_MotorStep = 2; } break; case 2: if((dwYRealPos + 120) > XY_CTHL_PARAM_CL_Length) XY_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= XY_CTHL_PARAM_CL_Length) { XY_CTHL_HLJJ_VAVLE = 0; XY_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; XY_CTHL_CL_MotorDelay = dwTickCount + 40; //延时数控回零点 } break; case 3: if(dwTickCount >= XY_CTHL_CL_MotorDelay) { XY_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) { XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length + 30; XY_CTHL_CL_MotorStep = 21; } else { XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length ; XY_CTHL_CL_MotorStep = 21; } break; case 21: SetDir(Y_AXIS, DIR_P); AxisMovePosAccDec(Y_AXIS,8000,XY_CTHL_LENTH,800,500,6,6,50); XY_CTHL_CL_MotorStep = 22; break; case 22: if(!Y_DRV || (dwYRealPos >= XY_CTHL_LENTH)) //插销定位已经结束 { AxisEgmStop(Y_AXIS); XY_CTHL_YsaveCXDWPosBuff = 0; XY_CTHL_CL_MotorStep = 0; } break; //回原点开始 case 40: //要先离开 if(XY_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN)) { XY_CTHL_CL_MotorStep = 41; SetDir(Y_AXIS, DIR_P); } else { SetDir(Y_AXIS, DIR_N); XY_CTHL_CL_MotorStep = 46; } if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); XY_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } else //已经锁轴 XY_CTHL_CL_MotorDelay = dwTickCount + 5; break; case 41: if(dwTickCount >= XY_CTHL_CL_MotorDelay) { XY_CTHL_CL_MotorStep = 42; AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15); } break; case 42: if(!XY_CTHL_SF_Origin_IN) { XY_CTHL_CL_MotorStep = 43; XY_CTHL_YSavePosBuff = dwYRealPos; } break; case 43: //离开原点5CM停止 if((dwYRealPos - XY_CTHL_YSavePosBuff) >= 800) { AxisEgmStop(Y_AXIS); XY_CTHL_CL_MotorStep = 46; //留空几步备用 XY_CTHL_CL_MotorDelay = dwTickCount + 50; } break; case 46: if(dwTickCount >= XY_CTHL_CL_MotorDelay) { XY_CTHL_CL_MotorStep = 47; //检测回到原位 if(!XY_CTHL_SF_Origin_IN) AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1000,800,15,10); } break; case 47: if(XY_CTHL_SF_Origin_IN) { XY_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,XY_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos + 150,5000,2000,10,50,50); } else AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15); XY_CTHL_CL_MotorStep = 51; break; case 51: if(XY_CTHL_SF_Origin_IN) { XY_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(XY_CTHL_CL_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= XY_CTHL_CL_MotorDelay) { if(XY_CTHL_SF_Origin_IN) { if(!XY_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(XY_CTHL_LianLengthAutoCheck <= 700) { XY_CTHL_Y_CL_Length=XY_CTHL_LianLengthAutoCheck-200; if(XY_CTHL_Y_CL_Length<10) XY_CTHL_Y_CL_Length=200; if(XY_CTHL_Y_CL_Length >= XY_CTHL_PARAM_CL_MAX_Length) XY_CTHL_Y_CL_Length = XY_CTHL_PARAM_CL_MAX_Length-40; AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,XY_CTHL_Y_CL_Length,800,600,6,6,50); } else if(XY_CTHL_LianLengthAutoCheck>700) { user_datas[123] =XY_CTHL_LianLengthAutoCheck; if(cZipCnt>1) XY_CTHL_Y_CL_Length=XY_CTHL_LianLengSave-XY_CTHL_PARAM_HLTSY_LENTH-300; else { if(cZipCnt<1) XY_CTHL_Y_CL_Length=XY_CTHL_LianLengthAutoCheck-XY_CTHL_PARAM_HLTSY_LENTH-100; else XY_CTHL_Y_CL_Length=XY_CTHL_LianLengthAutoCheck-XY_CTHL_PARAM_HLTSY_LENTH-300; } if(XY_CTHL_Y_CL_Length<200) XY_CTHL_Y_CL_Length=200; if(XY_CTHL_Y_CL_Length >= XY_CTHL_PARAM_CL_MAX_Length) XY_CTHL_Y_CL_Length = XY_CTHL_PARAM_CL_MAX_Length-40; AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,XY_CTHL_Y_CL_Length,800,600,6,6,50); } } else { if(XY_CTHL_PARAM_CL_Length >= XY_CTHL_PARAM_CL_MAX_Length) XY_CTHL_PARAM_CL_Length = XY_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((XY_CTHL_LianLengthAutoCheck < (XY_CTHL_PARAM_CL_Length + 500 )) && bRunning) AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,(XY_CTHL_LianLengthAutoCheck-500),800,600,6,6,50); else AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,(XY_CTHL_PARAM_CL_Length-100),800,600,6,6,50); } XY_CTHL_CL_MotorStep = 2; } } break; case 2: if(XY_CTHL_PARAM_AUTO_MODE) { if((dwYRealPos + 120) > XY_CTHL_PARAM_CL_Length) XY_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= XY_CTHL_PARAM_CL_Length) { XY_CTHL_HLJJ_VAVLE = 0; XY_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; XY_CTHL_CL_MotorDelay = dwTickCount + 30; //延时数控回零点 } } else { if((dwYRealPos + 120) > XY_CTHL_Y_CL_Length) XY_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= XY_CTHL_Y_CL_Length) { XY_CTHL_HLJJ_VAVLE = 0; XY_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; XY_CTHL_CL_MotorDelay = dwTickCount + 30; //延时数控回零点 } } break; case 3: if(dwTickCount >= XY_CTHL_CL_MotorDelay) { XY_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) { if(cXcxcrCnt==1) XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length+XY_CTHL_PARAM_TDFZ_LENTH + 50; if(cXcxcrCnt>1) XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length +XY_CTHL_PARAM_TDFZ_LENTH + 120; XY_CTHL_CL_MotorStep = 21; } else { XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length ; XY_CTHL_CL_MotorStep = 21; } break; case 21: if(XY_CTHL_SF_Origin_IN) { SetDir(Y_AXIS, DIR_P); XY_CTHL_Y_CL_PosBuff = dwYRealPos; AxisMovePosAccDec(Y_AXIS,20000,XY_CTHL_LENTH,800,500,6,6,50); XY_CTHL_CL_MotorStep = 22; } break; case 22: if(dwYRealPos >= XY_CTHL_Y_CL_PosBuff+XY_CTHL_LENTH-XY_CTHL_PARAM_CXDW_Length) //插销定位已经结束 { XY_CTHL_CXSCDW_VAVLE = 1; } if(!Y_DRV || (dwYRealPos >= XY_CTHL_Y_CL_PosBuff+XY_CTHL_LENTH)) //插销定位已经结束 { AxisEgmStop(Y_AXIS); XY_CTHL_YsaveCXDWPosBuff = 0; XY_CTHL_CL_MotorStep = 0; } break; case 30: XY_CTHL_YsaveCXDWPosBuff = 0; XY_CTHL_CL_MotorStep = 0; break; //回原点开始 case 40: //要先离开 if(XY_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN)) { XY_CTHL_CL_MotorStep = 41; SetDir(Y_AXIS, DIR_P); } else { SetDir(Y_AXIS, DIR_N); XY_CTHL_CL_MotorStep = 46; } if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); XY_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } else //已经锁轴 XY_CTHL_CL_MotorDelay = dwTickCount + 5; break; case 41: if(dwTickCount >= XY_CTHL_CL_MotorDelay) { XY_CTHL_CL_MotorStep = 42; AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15); } break; case 42: if(!XY_CTHL_SF_Origin_IN) { XY_CTHL_CL_MotorStep = 43; XY_CTHL_YSavePosBuff = dwYRealPos; } break; case 43: //离开原点5CM停止 if((dwYRealPos - XY_CTHL_YSavePosBuff) >= 800) { AxisEgmStop(Y_AXIS); XY_CTHL_CL_MotorStep = 46; //留空几步备用 XY_CTHL_CL_MotorDelay = dwTickCount + 50; } break; case 46: if(dwTickCount >= XY_CTHL_CL_MotorDelay) { XY_CTHL_CL_MotorStep = 47; //检测回到原位 if(!XY_CTHL_SF_Origin_IN) AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1000,800,15,10); } break; case 47: if(XY_CTHL_SF_Origin_IN) { XY_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,XY_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos + 150,5000,2500,30,200,00); } else AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15); XY_CTHL_CL_MotorStep = 51; break; case 51: if(XY_CTHL_SF_Origin_IN) { XY_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; } #endif } //装拉头动作 void XY_CTHL_ZLT_Step(void) { switch(XY_CTHL_ZhuangLiaoStep) { case 1: if(bZhuangLiaoOkFlg) { XY_CTHL_ZhuangLiaoStep = 0; } else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) { if(((XY_CTHL_MGuo_VAVLE && XY_CTHL_LTou_Check) || (!XY_CTHL_MGuo_VAVLE)) && !XY_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(XY_CTHL_CTM_Origin_IN && !XY_CTHL_CTXM_VAVLE) { XY_CTHL_First_CT_VAVLE = 0; XY_CTHL_JLTou_VAVLE = 0; XY_CTHL_MGuo_VAVLE = 0; if(XY_CTHL_TLiaoStep == 0) { XY_CTHL_TLiaoStep = 1; XY_CTHL_ZhuangLiaoStep = 2; } } else if(dwTickCount >= XY_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 { XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Origin_ALARM,bRunning); } } else //已经有拉头直接跳到结束 { XY_CTHL_ZhuangLiaoDelay = dwTickCount + 40; XY_CTHL_ZhuangLiaoStep = 9; } } break; case 2: if(XY_CTHL_TLiaoStep == 0) //推料已经完成 { XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; XY_CTHL_JLTou_VAVLE = 0; XY_CTHL_MGuo_VAVLE = 0; if(!XY_CTHL_JLiao_Limit_IN && XY_CTHL_First_CT_Origin_IN) { XY_CTHL_ZhuangLiaoStep = 3; XY_CTHL_HSLiao_VAVLE = 1; } } break; case 3: //横送到位 if(XY_CTHL_HSLiao_Limit_IN && !XY_CTHL_HSLiao_Origin_IN) { XY_CTHL_ZhuangLiaoStep = 4; // XY_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 XY_CTHL_ZhuangLiaoDelay = dwTickCount + 5; } else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) { XY_CTHL_SetAlarmCode(XY_CTHL_HSLiao_Limit_ALARM,bRunning); } break; case 4: if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) { XY_CTHL_ZhuangLiaoStep = 5; XY_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 5: if(XY_CTHL_JLiao_Limit_IN) { XY_CTHL_ZhuangLiaoStep = 6; XY_CTHL_ZhuangLiaoDelay = dwTickCount + XY_CTHL_PARAM_MaGou_DELAY; } else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) //接拉头(接料)到们信号异常 { XY_CTHL_SetAlarmCode(XY_CTHL_JLiao_Limit_ALARM,bRunning); } break; case 6: if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) //延时码勾 { XY_CTHL_MGuo_VAVLE = 1; //码勾输出 XY_CTHL_ZhuangLiaoStep = 7; XY_CTHL_ZhuangLiaoDelay = dwTickCount + XY_CTHL_PARAM_HSLiaoOff_DELAY; bTuiLaTouOkFlg = 0; //认为拉头没法带出 } break; case 7: if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) { XY_CTHL_HSLiao_VAVLE = 0; XY_CTHL_ZhuangLiaoStep = 8; XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 8: if(!XY_CTHL_HSLiao_Limit_IN) // { XY_CTHL_ZhuangLiaoStep = 9; XY_CTHL_TLiaoStep = 1; //推拉头 XY_CTHL_ZhuangLiaoDelay = dwTickCount + XY_CTHL_PARAM_CheckLT_DELAY; //也是给下模能上升的时间 } else if (XY_CTHL_LTou_Check) //时间内信号这说明没有拉头 { //重送3次 XY_CTHL_TryCnt++; XY_CTHL_JLTou_VAVLE = 0; //接拉头关 XY_CTHL_MGuo_VAVLE = 0; //码勾打开 if(XY_CTHL_TryCnt >= 3) { XY_CTHL_TryCnt = 0; bZhuangLiaoOkFlg = 0; XY_CTHL_ZhuangLiaoStep = 0; XY_CTHL_SetAlarmCode(XY_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { XY_CTHL_ZhuangLiaoStep = 20; //重新送3次 XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) { XY_CTHL_SetAlarmCode(XY_CTHL_HSLiao_Limit_ALARM,bRunning); if(bRunning) { XY_CTHL_ZhuangLiaoStep = 0 ; } } break; case 9: if(XY_CTHL_LTou_Check) //时间内信号这说明没有拉头 { XY_CTHL_TryCnt++; XY_CTHL_JLTou_VAVLE = 0; //接拉头关 XY_CTHL_MGuo_VAVLE = 0; //码勾打开 if(XY_CTHL_TryCnt >= 3) { XY_CTHL_TryCnt=0; bZhuangLiaoOkFlg = 0; XY_CTHL_ZhuangLiaoStep = 0; XY_CTHL_SetAlarmCode(XY_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { XY_CTHL_ZhuangLiaoStep = 20; //重新送3次 XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) { bZhuangLiaoOkFlg = 1; XY_CTHL_ZhuangLiaoStep = 0; } break; //装拉头不成攻重新送拉头 case 20: if(XY_CTHL_HSLiao_Origin_IN) { XY_CTHL_JLTou_VAVLE = 0; //接拉头关 XY_CTHL_MGuo_VAVLE = 0; //码勾打开 XY_CTHL_ZhuangLiaoStep = 1; XY_CTHL_ZhuangLiaoDelay = dwTickCount + 10; } else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) { XY_CTHL_SetAlarmCode(XY_CTHL_HSLiao_Origin_ALARM,bRunning); } break; } } void XY_CTHL_TLiao_Step(void) { switch(XY_CTHL_TLiaoStep) { case 1: if(bTuiLaTouOkFlg) { XY_CTHL_TLiaoStep = 0; } else { XY_CTHL_TLiao_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; XY_CTHL_TLiaoStep = 2; } break; case 2: //横送料在原位 if(XY_CTHL_HSLiao_Origin_IN && !XY_CTHL_HSLiao_Limit_IN && !XY_CTHL_HSLiao_VAVLE) { XY_CTHL_TLiao_VAVLE = 1; //推料(推拉头)输出 XY_CTHL_TLiao_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; XY_CTHL_TLiaoStep = 3; } else if(dwTickCount >= XY_CTHL_TLiao_Delay) XY_CTHL_SetAlarmCode(XY_CTHL_HSLiao_Origin_ALARM,1); break; case 3: //推拉头到位 if(XY_CTHL_TLiao_Limit_IN) { XY_CTHL_TLiao_Delay = dwTickCount + XY_CTHL_PARAM_TLiao_BACKDELAY; XY_CTHL_TLiaoStep = 4; } else if(dwTickCount >= XY_CTHL_TLiao_Delay) XY_CTHL_SetAlarmCode(XY_CTHL_TLiao_Limit_ALARM,1); break; case 4: if(dwTickCount >= XY_CTHL_TLiao_Delay) { XY_CTHL_TLiao_VAVLE = 0; XY_CTHL_TLiao_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; XY_CTHL_TLiaoStep = 5; } break; case 5: if(!XY_CTHL_TLiao_Limit_IN) { XY_CTHL_TLiaoStep = 0; XY_CTHL_TLiao_Delay = dwTickCount; bTuiLaTouOkFlg = 1; } else if(dwTickCount >= XY_CTHL_TLiao_Delay) XY_CTHL_SetAlarmCode(XY_CTHL_TLiao_Limit_ALARM,0); break; } } //振动盘控制 void XY_CTHL_ZhenDongAction(void) { #if 0 if((XY_CTHL_bDLP || bRunning) && XY_CTHL_ZhenDongPian_OUT && XY_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(XY_CTHL_PARAM_ZDP_AUTO) { case 0: if(XY_CTHL_ZhenDongPian_OUT == 0) { if(!XY_CTHL_ZDP_IN) { if(dwTickCount >= XY_CTHL_ZDP_Delay) { XY_CTHL_ZhenDongPian_OUT = 1; XY_CTHL_ZDP_Delay = dwTickCount + XY_CTHL_PARAM_ZDP_Stop_TIME;//XY_CTHL_PARAM_ZDP_Stop_TIME + 50; } } else { XY_CTHL_ZDP_Delay = dwTickCount + XY_CTHL_PARAM_ZDP_Start_TIME;//XY_CTHL_PARAM_ZDP_Start_TIME; } } else { if(XY_CTHL_ZDP_IN) { if(dwTickCount >= XY_CTHL_ZDP_Delay) { XY_CTHL_ZhenDongPian_OUT = 0; XY_CTHL_ZDP_Delay = dwTickCount + XY_CTHL_PARAM_ZDP_Start_TIME;//XY_CTHL_PARAM_ZDP_Start_TIME } } else XY_CTHL_ZDP_Delay = dwTickCount + XY_CTHL_PARAM_ZDP_Stop_TIME;//XY_CTHL_PARAM_ZDP_Stop_TIME+ 50; } break; case 1: XY_CTHL_ZhenDongPian_OUT=0; XY_CTHL_ZDP_Delay = dwTickCount; break; case 2: XY_CTHL_ZhenDongPian_OUT=1; XY_CTHL_ZDP_Delay = dwTickCount; break; } if(XY_CTHL_ZhenDongPian_OUT) { if(XY_CTHL_PARAM_LaPian_EN) { if(dwTickCount >= XY_CTHL_DLP_Delay) { XY_CTHL_DaLaPian_OUT = !XY_CTHL_DaLaPian_OUT; if(XY_CTHL_DaLaPian_OUT) XY_CTHL_DLP_Delay = dwTickCount + XY_CTHL_PARAM_DaLaPian; else XY_CTHL_DLP_Delay = dwTickCount + XY_CTHL_PARAM_DaLaPian+50; } } else XY_CTHL_DaLaPian_OUT = 0; } else XY_CTHL_DaLaPian_OUT = 0; #endif } void XY_CTHL_bFKCXTDDWStep(void) { switch(XY_CTHL_bFKCXTDDW_Step) { case 1: XY_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 XY_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 XY_CTHL_FKGD_VAVLE = 0; //方块固定关 XY_CTHL_bFKCXTDDW_Step = 2; break; case 2: if(!XY_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { XY_CTHL_bFKCXTDDW_Step = 3; XY_CTHL_bFKCXTDDW_Delay = dwTickCount + 20; } break; case 3://斜口定位 if(dwTickCount >= XY_CTHL_bFKCXTDDW_Delay) { XY_CTHL_XKDW_VAVLE = 1; XY_CTHL_bFKCXTDDW_Step = 4; // XY_CTHL_bFKCXTDDW_Delay = dwTickCount + XY_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if(dwTickCount >= XY_CTHL_bFKCXTDDW_Delay) { AxisContinueMoveAcc(X_AXIS,1200,DIR_P,800,600,10,10);//拖带电机 XY_CTHL_bFKCXTDDW_Step = 5; XY_CTHL_XSavePosBuff = dwXRealPos; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; } break; case 5: if(XY_CTHL_XKSC_Limit_IN) //方块到位 { AxisEgmStop(X_AXIS); XY_CTHL_QDXK_VAVLE=1; XY_CTHL_bFKCXTDDW_Step = 6; XY_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 XY_CTHL_bFKCXTDDW_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; } else if(dwXRealPos >= (XY_CTHL_XSavePosBuff + 800)) { XY_CTHL_SetAlarmCode(XY_CTHL_FKCXDW_ALARM,bRunning);//方块插销定位异常警告 } break; case 6: if(XY_CTHL_PARAM_TDFZ_LENTH && !X_DRV) //拖带电机反转 AxisMovePosAccDec(X_AXIS,8000,-XY_CTHL_PARAM_DXKFZ_LENTH,800,600,6,6,0); if(XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE = 1; XY_CTHL_bFKCXTDDW_Step = 0; break; } } //插销穿入动作 void XY_CTHL_bCXCRStep(void) { switch(XY_CTHL_bCXCR_Step) { case 11: XY_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 XY_CTHL_FKGD_VAVLE = 0; //方块固定关 XY_CTHL_CXSCDW_VAVLE=1; XY_CTHL_bCXCR_Step = 12; break; case 12: if(!XY_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { XY_CTHL_bCXCR_Step = 13; // XY_CTHL_CXQJD_VAVLE = 1; //插销前夹带 XY_CTHL_bCXCR_Delay = dwTickCount + 20; } break; case 13: if((XY_CTHL_CL_MotorStep == 0) && (XY_CTHL_SF_Origin_IN) && (dwTickCount >= XY_CTHL_bCXCR_Delay)) //插销前夹带回到原位 { XY_CTHL_bCXCR_Step = 14; // XY_CTHL_FKGD_VAVLE = 1; //方块固定开 XY_CTHL_CXQJD_VAVLE = 1; //插销前夹带 XY_CTHL_bCXCR_Delay = dwTickCount + XY_CTHL_PARAM_XCQJD_XCDW_DELAY+100; } break; case 14: if(dwTickCount >= XY_CTHL_bCXCR_Delay) { XY_CTHL_bCXCR_Step = 15; XY_CTHL_FKGD_VAVLE = 1; //方块固定 //Y轴启动插销 XY_CTHL_CL_MotorStep = 20; //插销定位 } break; case 15: if(XY_CTHL_CL_MotorStep == 0) //插销定位完成 { XY_CTHL_bCXCR_Step = 16; XY_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 XY_CTHL_bCXCR_Delay = dwTickCount + 10; //延时插销下移 } break; case 16: if(dwTickCount >= XY_CTHL_bCXCR_Delay) { XY_CTHL_bCXCR_Step = 17; if(XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE = 0; else XY_CTHL_CXXY_VAVLE = 1; //Y06 插销下移电磁阀 if(XY_CTHL_PARAM_NLSL_MODE == 0) XY_CTHL_bCXCR_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 else XY_CTHL_bCXCR_Delay = dwTickCount + 80; //插销下移异常时间 } break; case 17: if((XY_CTHL_CXXY_Limit_IN) || XY_CTHL_PARAM_NLSL_MODE) { if(XY_CTHL_CXXY_Limit_IN || (dwTickCount >= XY_CTHL_bCXCR_Delay)) { XY_CTHL_bCXCR_Step = 18; if( cXcxcrCnt==0 && !X_DRV) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,10000,-XY_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 XY_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 XY_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 XY_CTHL_bCXCR_Delay = dwTickCount + XY_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } else if(dwTickCount >= XY_CTHL_bCXCR_Delay) { XY_CTHL_SetAlarmCode(XY_CTHL_CXXY_Limit_ALARM,bRunning);//插销下移异常 } break; case 18: // if(START_IN_UP) { if(dwTickCount >= XY_CTHL_bCXCR_Delay) { XY_CTHL_bCXCR_Step = 19; XY_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) XY_CTHL_bCXCR_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME +1000; //插销穿入到位异常时间 XY_CTHL_CL_MotorStep = 50; //合链电机回原点 } } break; case 19: if( cXcxcrCnt > 1) { XY_CTHL_SetAlarmCode(XY_CTHL_CX_Limit_ALARM,bRunning); //插销穿入到位异常 } if( XY_CTHL_CX_Limit_IN && cXcxcrCnt<2 ) { cXcxcrCnt=0; bZhuangLiaoOkFlg = 0; XY_CTHL_bCXCR_Step = 0; XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 } else if (dwTickCount >= XY_CTHL_bCXCR_Delay) { cXcxcrCnt++; XY_CTHL_CXHJD_VAVLE=0; XY_CTHL_CXHDW_VAVLE=0; XY_CTHL_CXDWZ_VAVLE = 0; if(XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE = 0; else XY_CTHL_CXXY_VAVLE = 1; //Y06 插销下移电磁阀 XY_CTHL_bCXCR_Step = 11; } break; } } void XY_CTHL_bCLFirstStep(void) { switch(XY_CTHL_bCLFirst_Step) { case 19: XY_CTHL_JLTou_VAVLE = 0; //接拉头 bZhuangLiaoOkFlg = 0; XY_CTHL_bCLFirst_Step = 20; XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 XY_CTHL_CXXY_VAVLE = 0; //Y06 插销下移电磁阀关 XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_PARAM_First_CL_DELAY;//延时一次穿入 break; case 20: if(dwTickCount >= XY_CTHL_bCLFirst_Delay) { XY_CTHL_bCLFirst_Step = 21; XY_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出 XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; } break; case 21: if(!XY_CTHL_First_CT_Origin_IN) //原点离开后才开始时间 { XY_CTHL_bCLFirst_Step = 22; XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_PARAM_First_CL_Timer; //一次穿入时间 } else if(dwTickCount >= XY_CTHL_bCLFirst_Delay) { XY_CTHL_SetAlarmCode(XY_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常 } break; case 22: if(dwTickCount >= XY_CTHL_bCLFirst_Delay) { XY_CTHL_bCLFirst_Step = 23; XY_CTHL_MGuo_VAVLE = 0; //码勾退 XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_PARAM_MGOff_XiaMo_DELAY; XY_CTHL_FKGD_VAVLE = 0; //方块固定退 XY_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 XY_CTHL_CXXY_VAVLE = 0; //Y06 插销下移电磁阀关 } break; case 23: if(dwTickCount >= XY_CTHL_bCLFirst_Delay) { XY_CTHL_bCLFirst_Step = 24; XY_CTHL_CTXM_VAVLE = 0; //穿头下模下降 XY_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; } break; case 24: if(!XY_CTHL_CTM_Limit_IN) { XY_CTHL_bCLFirst_Step= 25; XY_CTHL_bCLFirst_Delay = dwTickCount + 25; //一次穿入延时返回 } else if(dwTickCount >= XY_CTHL_bCLFirst_Delay) { XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Origin_ALARM,bRunning); //穿头下模下降异常 } break; case 25: if(dwTickCount >= XY_CTHL_bCLFirst_Delay) { XY_CTHL_bCLFirst_Step= 0; XY_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 XY_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 //退下出错警告 XY_CTHL_AutoDelay1 = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; XY_CTHL_AutoStep1 = 1; bTuiLaTouOkFlg = 1; } break; } } //手动动作 void XY_CTHL_ManualAction(void) { if(bRunning) // 运行灯输出 { XY_CTHL_Run_State=1; XY_CTHL_Stop_State=0; } else { XY_CTHL_Stop_State=1; XY_CTHL_Run_State=0; } if((XY_CTHL_SF_ALR_IN && (XY_CTHL_PARAM_DB_MODE == 1))|| (((GetAlarm(Y_AXIS)==0) || (GetAlarm(X_AXIS)==0)) && (XY_CTHL_PARAM_DB_MODE == 0))) // 伺服报警 { cCHULIANBAOJIN=1; XY_CTHL_SetAlarmCode(XY_CTHL_SF_ALR_ALARM,0); } if(dwTickCount >= XY_CTHL_bSFBBAOJIN_Delay) { XY_CTHL_SF_ALR_CLR=0; 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(XY_CTHL_bTLiao ) //手动推料(推拉头) { XY_CTHL_bTLiao = 0; if(XY_CTHL_TLiao_VAVLE) XY_CTHL_TLiao_VAVLE = 0;//XY_CTHL_TLiao_VAVLE; else if(!XY_CTHL_HSLiao_VAVLE && XY_CTHL_HSLiao_Origin_IN) { XY_CTHL_TLiao_VAVLE = 1; } else//条件警告 { XY_CTHL_SetAlarmCode(XY_CTHL_HENSONGLIAO_ALARM,0); // 横送料不能输出 } } if(XY_CTHL_bHSL) //手动横送料 { XY_CTHL_bHSL= 0; if(!XY_CTHL_First_CT_VAVLE) { if(XY_CTHL_HSLiao_VAVLE) { XY_CTHL_HSLiao_VAVLE = 0;//~XY_CTHL_HSLiao_VAVLE; } else if(!XY_CTHL_TLiao_VAVLE && !XY_CTHL_TLiao_Limit_IN && XY_CTHL_CTM_Origin_IN && !XY_CTHL_JLiao_Limit_IN && !XY_CTHL_JLTou_VAVLE && !XY_CTHL_CTXM_VAVLE && !XY_CTHL_CXDWZ_VAVLE && (!XY_CTHL_bMG || (XY_CTHL_bMG && XY_CTHL_LTou_Check))) { XY_CTHL_HSLiao_VAVLE = 1; } else //条件警告 最后一个括号条件为已经有拉头 { XY_CTHL_SetAlarmCode(XY_CTHL_YCCT_ALARM,0); } } } if(XY_CTHL_bJLT) //接拉头 { XY_CTHL_bJLT = 0; if(XY_CTHL_JLTou_VAVLE) XY_CTHL_JLTou_VAVLE = 0; else if(!XY_CTHL_First_CT_VAVLE && !XY_CTHL_CTXM_VAVLE && XY_CTHL_CTM_Origin_IN && XY_CTHL_First_CT_Origin_IN) { XY_CTHL_MGuo_VAVLE = 0; XY_CTHL_JLTou_VAVLE = 1; } else//条件警告 { XY_CTHL_SetAlarmCode(XY_CTHL_YCXM_Origin_ALARM,0); } } if(XY_CTHL_bMG) //码勾 { XY_CTHL_bMG = 0; XY_CTHL_MGuo_VAVLE = !XY_CTHL_MGuo_VAVLE; } if(XY_CTHL_bFKJD) //方块夹带 { XY_CTHL_bFKJD = 0; XY_CTHL_FKJD_VAVLE = !XY_CTHL_FKJD_VAVLE; } if(XY_CTHL_bXKTD) //斜口推带 { XY_CTHL_bXKTD = 0; if(XY_CTHL_XKTD_VAVLE) XY_CTHL_XKTD_VAVLE = 0; else if(!XY_CTHL_DXK_VAVLE && (!XY_CTHL_XKSC_Limit_IN || !XY_CTHL_CTXM_VAVLE|| XY_CTHL_PARAM_NLSL_MODE)) XY_CTHL_XKTD_VAVLE = 1; else//条件警告 { XY_CTHL_SetAlarmCode(XY_CTHL_DXKCTXM_Origin_ALARM,0); } } if(XY_CTHL_bXKDW) //斜口定位 { XY_CTHL_bXKDW = 0; XY_CTHL_XKDW_VAVLE = ~XY_CTHL_XKDW_VAVLE; } if(XY_CTHL_bCTXM) //穿头下模 { XY_CTHL_bCTXM = 0; if(XY_CTHL_CTXM_VAVLE ) { if(!XY_CTHL_CXXY_VAVLE) { XY_CTHL_CTXM_VAVLE = 0; XY_CTHL_JLTou_VAVLE = 0; } else { XY_CTHL_SetAlarmCode(XY_CTHL_TXC_Limit_ALARM,0); } } else if(!XY_CTHL_HSLiao_VAVLE && XY_CTHL_HSLiao_Origin_IN && (!XY_CTHL_XKSC_Limit_IN || !XY_CTHL_XKTD_VAVLE)) { if(XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE = 1; XY_CTHL_MGuo_VAVLE = 1; XY_CTHL_CTXM_VAVLE = 1; } } if(XY_CTHL_bQianDXK) //前顶斜口 { XY_CTHL_bQianDXK = 0; if(XY_CTHL_QDXK_VAVLE) XY_CTHL_QDXK_VAVLE = 0; else if(!XY_CTHL_XKTD_VAVLE) XY_CTHL_QDXK_VAVLE = 1; else //条件警告 { XY_CTHL_SetAlarmCode(XY_CTHL_XKTD_ALARM,0); } } if(XY_CTHL_bDXK) //顶斜口 { XY_CTHL_bDXK = 0; if(!XY_CTHL_PARAM_NLSL_MODE) { if(XY_CTHL_DXK_VAVLE) XY_CTHL_DXK_VAVLE = 0; else if(!XY_CTHL_XKTD_VAVLE) { if(!XY_CTHL_PARAM_NLSL_MODE) XY_CTHL_DXK_VAVLE = 1; } else //条件警告 { XY_CTHL_SetAlarmCode(XY_CTHL_XKTD_ALARM,0); } } else { if(XY_CTHL_XKTD_VAVLE) XY_CTHL_XKTD_VAVLE = 0; else if(!XY_CTHL_DXK_VAVLE ) { if(!XY_CTHL_XKSC_Limit_IN || !XY_CTHL_CTXM_VAVLE || XY_CTHL_PARAM_NLSL_MODE) XY_CTHL_XKTD_VAVLE = 1; else { XY_CTHL_SetAlarmCode(XY_CTHL_YCXM_Origin_ALARM,0); } } else//条件警告 { XY_CTHL_SetAlarmCode(XY_CTHL_DXKCTXM_Origin_ALARM,0); } } } if(XY_CTHL_bQianDXK_DXK) { XY_CTHL_bQianDXK_DXK = 0; if(!XY_CTHL_XKTD_VAVLE && XY_CTHL_AutoStep==0) { cQDXK_DXK=1; XY_CTHL_AutoStep = 8; SetEn(X_AXIS, MOTOR_EN); XY_CTHL_AutoDelay = dwTickCount + 50; bRunning=1; } } //斜码插入 if(XY_CTHL_bBanZiDong) { XY_CTHL_bBanZiDong=0; cBanAuTo=1; // XY_CTHL_PARAM_BanAuto_MODE=1; XY_CTHL_ZhuangLiaoDelay = dwTickCount + 150; XY_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 XY_CTHL_ZhuangLiaoStep = 1; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; bCL_EN_FLG=0; XY_CTHL_AutoStep = 1; bRunning=1; } //小插插入 if(XY_CTHL_CXC)//穿小插 { XY_CTHL_CXC=0; cCXCONE=1; cBanAuTo=0; // XY_CTHL_PARAM_BanAuto_MODE=0; XY_CTHL_AutoStep = 11; bRunning=1; if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); XY_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } } if(XY_CTHL_bFKGD) //方块固定 { XY_CTHL_bFKGD = 0; XY_CTHL_FKGD_VAVLE = ~XY_CTHL_FKGD_VAVLE; } if(XY_CTHL_bCXQJD) //插销前夹带 { XY_CTHL_bCXQJD = 0; XY_CTHL_CXQJD_VAVLE = ~XY_CTHL_CXQJD_VAVLE; } if(XY_CTHL_bCXSY) //插销下移电磁阀 { XY_CTHL_bCXSY = 0; XY_CTHL_CXXY_VAVLE = !XY_CTHL_CXXY_VAVLE; } if(XY_CTHL_bCXDWZ) //Y14 插销定位针电磁阀 { XY_CTHL_bCXDWZ = 0; if(XY_CTHL_CXDWZ_VAVLE) XY_CTHL_CXDWZ_VAVLE = 0; else if(XY_CTHL_HSLiao_Origin_IN) { XY_CTHL_CXDWZ_VAVLE = 1; } else //条件警告 { XY_CTHL_SetAlarmCode(XY_CTHL_HENSONGLIAO_ALARM,0); } } if(XY_CTHL_bCXHJD) //Y15 插销后夹带电磁阀 { XY_CTHL_bCXHJD = 0; XY_CTHL_CXHJD_VAVLE =~XY_CTHL_CXHJD_VAVLE; } if(XY_CTHL_bCXHDW) //Y16 插销后定位电磁阀 { XY_CTHL_bCXHDW = 0; if(XY_CTHL_CXHDW_VAVLE) XY_CTHL_CXHDW_VAVLE = 0; else if(!XY_CTHL_CXQJD_VAVLE) XY_CTHL_CXHDW_VAVLE = 1; else//条件警告 { XY_CTHL_SetAlarmCode(XY_CTHL_CXQJD_ALARM,0); } } if(XY_CTHL_bFirst_CT) //Y20 一次穿头电磁阀 { XY_CTHL_bFirst_CT = 0; if( !XY_CTHL_First_CT_VAVLE ) { if(!XY_CTHL_CXXY_VAVLE) XY_CTHL_First_CT_VAVLE=1; else XY_CTHL_SetAlarmCode(XY_CTHL_TXC_Limit_ALARM,0); } else if(XY_CTHL_First_CT_VAVLE) { XY_CTHL_First_CT_VAVLE=0; } } if(XY_CTHL_bHLJJ) //Y21 合链夹具电磁阀 { XY_CTHL_bHLJJ = 0; XY_CTHL_HLJJ_VAVLE = ~XY_CTHL_HLJJ_VAVLE; } if(XY_CTHL_bCXSCDW) //Y23 插销上止定位电磁阀 { XY_CTHL_bCXSCDW = 0; XY_CTHL_CXSCDW_VAVLE = ~XY_CTHL_CXSCDW_VAVLE; } //自动装料 if(XY_CTHL_bAutoZhuangLiao) { XY_CTHL_bAutoZhuangLiao = 0; if(XY_CTHL_ZhuangLiaoStep == 0) { bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg = 0; XY_CTHL_ZhuangLiaoStep = 1; XY_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 XY_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } } //测试电机 if(XY_CTHL_bCLMotor_N) { SetEn(Y_AXIS, MOTOR_EN); if(!XY_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); } else { XY_CTHL_bCLMotor_N = 0; } } if(XY_CTHL_bCLMotor_P) //后退限位已经取消 { SetEn(Y_AXIS, MOTOR_EN); 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); } if(!XY_CTHL_bCLMotor_P && !XY_CTHL_bCLMotor_N && (XY_CTHL_CL_MotorStep == 0)) { AxisEgmStop(Y_AXIS);//AxisDecStop(Y_AXIS); } //合链电机返回原点 if(XY_CTHL_bCLMotor_O) { XY_CTHL_bCLMotor_O = 0; if(XY_CTHL_CL_MotorStep == 0) XY_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(XY_CTHL_bFKTDDW) { XY_CTHL_bFKTDDW = 0; if(XY_CTHL_TD_MotorStep == 0) { XY_CTHL_XKDW_VAVLE = 0; //斜口定位 XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带 if(!XY_CTHL_PARAM_CXXY_MODE) XY_CTHL_CXXY_VAVLE = 0; //插销下移 XY_CTHL_CXHJD_VAVLE = 0; //插销后夹带 XY_CTHL_CXHDW_VAVLE = 0; //插销后定位 XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针 XY_CTHL_bHLJJ = 0; //合链夹具 XY_CTHL_FKJD_VAVLE = 0; //方块夹带 if((GetEn(X_AXIS) == MOTOR_DISEN)) { SetEn(X_AXIS, MOTOR_EN); XY_CTHL_TD_MotorDelay = dwTickCount + 200; } else XY_CTHL_TD_MotorDelay = dwTickCount + 50; XY_CTHL_TD_MotorStep = 1; } } //拖带方块插销定位(斜口推带，斜口定位，顶斜口) if(XY_CTHL_bFKCXTDDW) { XY_CTHL_bFKCXTDDW = 0; if((XY_CTHL_bFKCXTDDW_Step == 0) && (XY_CTHL_CL_MotorStep == 0) && !XY_CTHL_CTXM_VAVLE) { XY_CTHL_bFKCXTDDW_Step = 1; SetEn(X_AXIS, MOTOR_EN); XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带 XY_CTHL_CXXY_VAVLE = 0; //插销下移 XY_CTHL_CXHJD_VAVLE = 0; //插销后夹带 XY_CTHL_CXHDW_VAVLE = 0; //插销后定位 XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针 XY_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(XY_CTHL_bCXCR) { XY_CTHL_bCXCR = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(XY_CTHL_CTXM_VAVLE && XY_CTHL_MGuo_VAVLE && !XY_CTHL_CXQJD_VAVLE && XY_CTHL_CTM_Limit_IN && !XY_CTHL_LTou_Check) { if(XY_CTHL_CL_MotorStep == 0) { XY_CTHL_bCXCR_Step = 11; SetEn(Y_AXIS, MOTOR_EN); if(!XY_CTHL_SF_Origin_IN) XY_CTHL_CL_MotorStep = 40; } } else //警告不能自动穿插销 { XY_CTHL_SetAlarmCode(XY_CTHL_WFZIDONGCX_ALARM,0); } } //电机合链动作 if(XY_CTHL_bMotorHL) { XY_CTHL_bMotorHL = 0; if(XY_CTHL_SF_Origin_IN) { if((XY_CTHL_CL_MotorStep == 0) && !XY_CTHL_CTXM_VAVLE && (!XY_CTHL_CTM_Limit_IN)) { bCL_OK_FLG = 0; XY_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 XY_CTHL_CL_MotorStep = 1; XY_CTHL_CL_MotorDelay = dwTickCount + XY_CTHL_PARAM_HLJJ_CL_DELAY + 130; if((GetEn(Y_AXIS) == MOTOR_DISEN)) { SetEn(Y_AXIS, MOTOR_EN); XY_CTHL_CL_MotorDelay = dwTickCount + 250; } } } else { XY_CTHL_bCLMotor_O =1; } } //一次穿链动作 if(XY_CTHL_bCL_First) { XY_CTHL_bCL_First = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(XY_CTHL_CTXM_VAVLE && XY_CTHL_MGuo_VAVLE && !XY_CTHL_CXQJD_VAVLE && XY_CTHL_CTM_Limit_IN && !XY_CTHL_LTou_Check && (XY_CTHL_CL_MotorStep == 0)) { XY_CTHL_bCLFirst_Step = 19; XY_CTHL_CXHJD_VAVLE = 1; //插销后夹带 XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带 } } } } #endif