#include "global.h" #if FJ_YING_XING_MACHINE ==1 void QueDuan_AlarmProtect(void); void QueDuan_ManualAction(void); void QueDuan_AutoAction(void); void QueDuan_StepCheckStart(void); void QueDuan_XiaQue(void); void QueDuan_Motor(void); void QueDuan_YuanDianAction(void); void QueDuan_TuiLianAction(void); void QueDuan_ExtiActionX31(void); void QueDuan_BingLian(void); void QD_TuiDaiAction(void); static unsigned long cZipCnt = 0,cTableCnt = 0,cTuiFangKuaiCnt = 0; static long save_limit_pos,cRealPos; static long dwSaveLength; unsigned char cCheckLianFlg = 0; unsigned char cCheckLianFlgEN = 0; unsigned char cGoLimitEn = 0; short *length_buffer; void QueDuan_ExtiActionX31(void) { cCheckLianFlg = 1; } void QD_SetAlarmCode(unsigned alarm_code) { SetAlarmCode(QD_ALARM_ADDR,alarm_code); bAlarmStop = 1; } void QueDuan_InitAction(void) { float length_buff,pulse_buff; length_buff = QD_PARAM_CYCLE_LENGTH; pulse_buff = QD_PARAM_CYCLE_PULSE; XGearRatio = pulse_buff/length_buff; QD_SZ_OUT = 1; } void QueDuan_Action(void) { InputPinConfig(); QueDuan_AlarmProtect(); QueDuan_Motor(); QueDuan_XiaQue(); QueDuan_ManualAction(); QueDuan_TuiLianAction(); QueDuan_BingLian(); QueDuan_AutoAction(); QueDuan_StepCheckStart(); // 调用脚踏开关检测程序 OutputPinConfig(); } //手动动作 void QueDuan_ManualAction(void) { if(bRunning == 0) { cGoLimitEn = 0; if(QD_bClearTotal) //切断计数清零 { QD_bClearTotal = 0; ClrcToTal(QD_TOTAL_ADDR); } if(QD_bClearNowTotal) { QD_bClearNowTotal = 0; QD_PARAM_NOW_CNT = 0; } if(QD_bXiaQie) { QD_bXiaQie = 0; if((QD_XiaQieStep == 0) && !QD_TL_VAVLE) { QD_XiaQieStep = 1; } } if(QD_bQianDianDW) { QD_bQianDianDW = 0; if(QD_MotorStep == 0) { QD_MotorStep = 61; cZipCnt = 0; } } if(QD_bTL) { QD_bTL = 0; if(QD_TL_VAVLE) { QD_TL_VAVLE = 0; } else if(!QD_GZ_VAVLE && !QD_SM_VAVLE) { QD_TL_VAVLE = ~QD_TL_VAVLE; } } // if(!Y_DRV)QD_bTL = 0; if(QD_bYD) { QD_bYD = 0; QD_YD_VAVLE = ~QD_YD_VAVLE; } if(QD_bGZ) { QD_bGZ = 0; QD_GZ_VAVLE = ~QD_GZ_VAVLE; } if(QD_bJD) { QD_bJD = 0; QD_JD_VAVLE = ~QD_JD_VAVLE; } if(QD_bXM) { QD_bXM = 0; QD_XM_VAVLE = ~QD_XM_VAVLE; if(!QD_XM_VAVLE)QD_GZ_VAVLE = 0; } if(QD_bSM) { QD_bSM = 0; if(QD_SM_VAVLE) QD_SM_VAVLE = 0; else if(!QD_TL_VAVLE) QD_SM_VAVLE = 1; } //推方块 if(QD_bTFK) { QD_bTFK = 0; QD_TFK_VAVLE = ~QD_TFK_VAVLE; } //台面电机 if(QD_bTB) { QD_bTB = 0; QD_TABLE_VAVLE = ~QD_TABLE_VAVLE; } // if(QD_bYBD) // / { // QD_bYBD = 0; // QD_YBD_VAVLE = ~QD_YBD_VAVLE; // } if(QD_bTestCS) { QD_bTestCS = 0; QD_CS_OUT = 1; QD_CSDelay = dwTickCount + QD_PARAM_CS_TIME; } if(QD_bBL)//合链 { QD_bBL = 0; QD_BL_VAVLE = ~QD_BL_VAVLE; } if(QD_bHL) //护链,双开用 { QD_bHL = 0; QD_HL_VAVLE = ~QD_HL_VAVLE; } if(QD_bYX) { QD_bYX = 0; QD_YX_VAVLE = ~QD_YX_VAVLE; } if(QD_XiaQieStep == 0) { if(dwTickCount >= QD_CSDelay)QD_CS_OUT = 0; } //电机控制 if(QD_bGoMotor && !QD_QIAN_LIMIT_IN) { QD_SZ_OUT = 0; // QD_JZ_DIR = QD_YDIR_N; if(!X_DRV) // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED/3,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15); } if(QD_bBackMotor) //后退限位已经取消 { QD_SZ_OUT = 0; // QD_JZ_DIR = QD_YDIR_P; if(!X_DRV) // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED/3,QD_DIR_P,QD_PARAM_GO_LOW_SPEED/3,15,15); } if(!QD_bGoMotor && !QD_bBackMotor && (QD_MotorStep == 0)) { if(X_DRV)AxisDecStop(X_AXIS); } if(QD_QIAN_LIMIT_IN && (QD_MotorStep == 0) && !QD_bBackMotor &&(QD_AutoStep == 0)) { if(X_DRV)AxisEgmStop(X_AXIS); } } } void QueDuan_AlarmProtect(void) { cRealPos = GetPos(X_AXIS); if(!bRunning) { ; // #if 0 if(QD_BACK_LIMIT_IN_UP) { if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor) //到后限不能再后退但可以点前进 { QD_bBackMotor = 0; AxisDecStop(X_AXIS); QD_JD_VAVLE = 0; QD_SetAlarmCode(QD_BACK_ALARM); } } #endif } else { if((cRealPos > QD_PARAM_RUN_LENGTH) && (QD_PARAM_RUN_LENGTH > 3000) && (cGoLimitEn != 0)) { AxisEgmStop(X_AXIS); QD_JD_VAVLE = 0; QD_SetAlarmCode(QD_BACK_ALARM); } } } void QueDuan_AutoAction(void) { //台面电机定时关掉 if(bRunning) { if(dwTickCount >= QD_TBDelay) QD_TABLE_VAVLE = 0; switch(QD_AutoStep) { case 1: if(dwTickCount >= QD_AutoDelay) { QD_AutoStep = 2; if(QD_MotorStep == 0) { QD_MotorStep = 61; //前点定位 } cGoLimitEn = 0; } break; case 2: if(QD_MotorStep == 0) { QD_MotorStep = 30; QD_AutoStep = 3; cGoLimitEn = 1; } break; case 3: if(QD_MotorStep == 0) { if(QD_SAFE_IN) { bStop = 1; } else { if(QD_XiaQieStep == 0) QD_XiaQieStep = 1; QD_AutoStep = 4; } } break; case 4: // 闭口 if((QD_XiaQieStep == 0) || ((QD_XiaQieStep == 6) && QD_KB_MODE)|| ((QD_XiaQieStep == 13) && (QD_KB_MODE == 0)))// && !QD_SHANG_MU_LIMIT_IN) { if(QD_MotorStep == 0) { cGoLimitEn=0; QD_MotorStep = 40; //切完后退 } QD_AutoStep = 5; } break; case 5: if(QD_MotorStep == 0) { cZipCnt++; QD_PARAM_NOW_CNT++; cTableCnt++; AddToTal(QD_TOTAL_ADDR); AddToTal(CT_WORKTOTAL_ADDR); CalProSP(QD_PROSPEED_ADDR); if(cTableCnt >= QD_PARAM_TABLE_NUM) { cTableCnt = 0; QD_TABLE_VAVLE = 1; QD_TBDelay = dwTickCount + QD_PARAM_TB_TIME; } if( SingOneFlg) { { bRunning = 0; QD_AutoStep = 0; SingOneFlg = 0; } // if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM); } else { QD_AutoStep = 1; if((QD_PARAM_NOW_CNT >= QD_PARAM_ZHA_SHU) && (QD_PARAM_ZHA_SHU > 0)) { QD_AutoDelay = dwTickCount + QD_PARAM_ZS_STOP_TIME; QD_PARAM_NOW_CNT = 0; if(QD_PARAM_ZS_STOP_TIME == 0) { bRunning = 0; QD_AutoStep = 0; SingOneFlg = 0; QD_SetAlarmCode(QD_TOTAL_ALARM); } } else QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY; } } break; } } } void QueDuan_StepCheckStart(void) { // 启动 if((START_IN_UP) || bStart || QD_bSingle) { bStart = 0; if(!bRunning && (QD_AutoStep == 0)) { if(QD_XIA_MU_LIMIT_IN && !QD_PARAM_XM_ENABLE)QD_SetAlarmCode(QD_XM_DAOWEI); // else if(GetAlarmCode(QD_ALARM_ADDR) != 0); //else if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM); // else if(QD_BL_VAVLE)QD_SetAlarmCode(QD_BL_ALARM); else if(QD_SM_VAVLE)QD_SetAlarmCode(QD_SM_ALARM); else { bRunning = 1; QD_AutoStep = 1; if(QD_bSingle) SingOneFlg= 1; cZipCnt = 0; cTuiFangKuaiCnt = 0; QD_BL_VAVLE = 0; //并链关 QD_DGLG_VAVLE = 0; //顶过链杆关 SetAlarmCode(QD_ALARM_ADDR,0); } } QD_bSingle = 0; } //停止 if(STOP_IN_UP || bStop) { bStop = 0; if(bRunning) { QD_AutoDelay = dwTickCount; QD_MotorDelay = dwTickCount; QD_XiaQieDelay = dwTickCount; QD_KaDaiDelay = dwTickCount; QD_CSDelay = dwTickCount; QD_TBDelay = dwTickCount; QD_TFKDelay = dwTickCount; QD_TLDelay = dwTickCount; dwTickCount = QD_TBDelay; SingOneFlg = 0; QD_JD_VAVLE = 0; QD_SM_VAVLE = 0; QD_XM_VAVLE = 0; QD_YD_VAVLE = 0; QD_TFK_VAVLE= 0; QD_TL_VAVLE = 0; QD_HL_VAVLE = 0; QD_CS_OUT = 0; QD_XiaQieStep = 0; QD_MotorStep = 0; QD_TuiLianStep = 0; //QD_SZ_OUT = 1; QD_GZ_VAVLE = 0; QD_TABLE_VAVLE = 0; QD_DGLG_VAVLE = 0; //顶过链杆关 AxisDecStop(X_AXIS); QD_BinLianStep = 0; QD_BL_VAVLE = 0; user_datas[121] = 0; user_datas[122] = 0; SetAlarmCode(QD_ALARM_ADDR,0); } else { QD_AutoDelay = dwTickCount; QD_MotorDelay = dwTickCount; QD_XiaQieDelay = dwTickCount; QD_KaDaiDelay = dwTickCount; QD_CSDelay = dwTickCount; QD_TBDelay = dwTickCount; QD_TFKDelay = dwTickCount; QD_TLDelay = dwTickCount; dwTickCount = QD_TBDelay; SingOneFlg = 0; QD_JD_VAVLE = 0; QD_SM_VAVLE = 0; QD_XM_VAVLE = 0; QD_YD_VAVLE = 0; QD_TFK_VAVLE= 0; QD_YX_VAVLE = 0; QD_HL_VAVLE = 0; QD_TL_VAVLE = 0; QD_DGLG_VAVLE = 0; //顶过链杆关 QD_CS_OUT = 0; QD_XiaQieStep = 0; QD_MotorStep = 0; QD_TuiLianStep = 0; QD_SZ_OUT = 1; QD_GZ_VAVLE = 0; QD_TABLE_VAVLE = 0; AxisDecStop(X_AXIS); QD_BinLianStep = 0; QD_BL_VAVLE = 0; SetAlarmCode(QD_ALARM_ADDR,0); } bRunning = 0; QD_XiaQieStep = 0; QD_AutoStep = 0; QD_MotorStep = 0; QD_TuiLianStep = 0; } if(bAlarmStop) { bAlarmStop = 0; QD_XiaQieStep = 0; QD_AutoStep = 0; QD_MotorStep = 0; QD_TuiLianStep = 0; QD_XiaQieStep = 0; QD_MotorStep = 0; QD_TuiLianStep = 0; QD_AutoDelay = dwTickCount; QD_MotorDelay = dwTickCount; QD_XiaQieDelay = dwTickCount; QD_KaDaiDelay = dwTickCount; QD_CSDelay = dwTickCount; QD_TBDelay = dwTickCount; QD_TFKDelay = dwTickCount; QD_TLDelay = dwTickCount; SingOneFlg = 0; bRunning = 0; AxisDecStop(X_AXIS); dwTickCount = QD_TBDelay; QD_TABLE_VAVLE = 0; QD_JD_VAVLE=0; QD_GZ_VAVLE=0; } } //记忆长度模式误差检测 void QueDuan_CheckLength(long zip_length) { static long start_dist; switch(QD_CheckLengthStep) { case 0:break; case 1: start_dist = cRealPos; dwSaveLength = 0; QD_CheckLengthStep = 2; break; case 2: if(QD_GUO_LIAN_IN_DW){ dwSaveLength = cRealPos - start_dist; // user_datas[127] = cRealPos; } break; } } #if !QD_KB_MODE //开口 //开口切专用 //30步开始后拉开始，分解4种工作模式 //40步开始用切断后拉动作 //60步开始为前方向，开闭口一样 void QueDuan_Motor_KK(void) { static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff; unsigned short ch; user_datas[121]= QD_MotorStep; user_datas[122]= length_buff; user_datas[123] = cRealPos; user_datas[124] = GetCurSpeed(X_AXIS); user_datas[125] = QD_AutoStep; user_datas[126] = QD_XiaQieStep; // user_datas[127] = QD_XiaQieStep; QueDuan_CheckLength(length_buff); switch(QD_MotorStep) { case 30: switch(QD_PARAM_BACK_MODE) //开口分四种模式 { case 0: //单数控模式 QD_MotorStep = 310; //每种模式留20步 QD_DGLG_VAVLE = 1; //顶过链杆关 break; case 1://单感应模式 QD_MotorStep = 330; //每种模式留20步 break; case 2: //先感应后数控模式+检测 QD_MotorStep = 350; //每种模式留20步 break; default: //数控模式+过链检测长度 QD_MotorStep = 370; //每种模式留20步 break; } QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK; break; //310步到315步为数控模式 case 310: QD_MotorStep = 311; SetDir(X_AXIS, QD_DIR_P); if(QD_PARAM_BL_ENABLE) QD_BinLianStep = 1; //并链起动 break; case 311: if(dwTickCount >= QD_MotorDelay) { length_buffer = &QD_PARAM_OFFSET_LENGTH; //李永庆代码 //两段速度移动距离 拉链长度+慢速长度停止 // 轴 第一段速度 第一段长度 第二段速度 第二段长度 方向 AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH + (*length_buffer)-QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_DIR_P); back_buff = cRealPos; gou_zhen_buff = cRealPos; save_buff = cRealPos; QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME; QD_MotorStep = 312; } break; case 312: //勾针提前输出 ，争取时间推方块 if (!QD_GZ_VAVLE && (cRealPos >= (QD_PARAM_ZIPPER_LENGTH- 230))) QD_GZ_VAVLE = 1; if((cRealPos) > (QD_PARAM_ZIPPER_LENGTH + (*length_buffer)-QD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*length_buffer) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC))))) { QD_MotorStep = 313; } else if(cRealPos >= (QD_PARAM_ZIPPER_LENGTH + (*length_buffer) + QD_PARAM_ERROR_LENGTH)) { QD_SetAlarmCode(QD_GZ_ALARM); } break; case 313: if(!QD_GZ_VAVLE && ((cRealPos) > (QD_PARAM_ZIPPER_LENGTH - 230))) QD_GZ_VAVLE = 1; if(!X_DRV) { AxisEgmStop(X_AXIS); QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY; QD_MotorStep = 314; QD_BL_VAVLE = 0; //停止时并链一定要打开 if((QD_PARAM_BACK_MODE == 2) && !QD_DGLG_VAVLE) //模式2,先检测长度后数控 {//对比长度 ,发须要有过链信号,模式2,3. 模式0,1不用在这里经 if(cZipCnt > 1) //长度检测 { if(QD_PARAM_ERROR_LENGTH != 0) //长度误差值不能为0 { if(((dwSaveLength + QD_PARAM_MOTOR_DELAY_LENGTH) > (length_buff + QD_PARAM_ERROR_LENGTH)) || (dwSaveLength == 0)) { QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);//拉链变长,对比警告 } else if((dwSaveLength + QD_PARAM_MOTOR_DELAY_LENGTH+ QD_PARAM_ERROR_LENGTH) < length_buff) { QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM); ////拉链变短 } QD_CheckLengthStep = 0; } } } } break; case 314: if(!X_DRV && (dwTickCount >= QD_MotorDelay)) //数控到停止 { QD_MotorStep = 0; QD_TFK_VAVLE = 1; //推方块输出 } break; //330步到349步单感应模式 case 330: back_buff = cRealPos; gou_zhen_buff = cRealPos; SetDir(X_AXIS, QD_DIR_P); QD_MotorStep = 331; user_datas[127] = 0; break; case 331: if(dwTickCount >= QD_MotorDelay) { QD_MotorStep = 332; if(cZipCnt < 2) { if(QD_PARAM_BL_ENABLE) QD_BinLianStep = 10; //并链起动 //第一条都是过链感应，后拉速度减半//原来QD_PARAM_CHECK_BACK_HSPEED/2 // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,9000,QD_DIR_P,QD_PARAM_START_SPEED,8,13); // 轴 第一段速度 第一段长度 第二段速度 第二段长度 方向 // AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH + (*length_buffer)-QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_DIR_P); } else { if(QD_PARAM_BL_ENABLE) QD_BinLianStep = 1; //并链起动 //因为每条都是过链感应，所以直接运行检测模式后拉速度 // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,QD_PARAM_CHECK_BACK_HSPEED,QD_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC); } } break; case 332: if(cZipCnt > 1) //第二条开始数控降速 { if((cRealPos + QD_PARAM_BACK_LOW_SPEED_LENGTH + 600)>= length_buff) { CancelPmoveState(X_AXIS); //长度模式去掉 AxisChangeSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); user_datas[127] = cRealPos; QD_MotorStep = 334; //到检测定位 } if(QD_GUO_LIAN_IN_DW) //重新到链上 { CancelPmoveState(X_AXIS); AxisChangeSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); gou_zhen_buff = cRealPos; QD_MotorStep = 335; //到检测定位 } // // if((cRealPos >= (QD_PARAM_BACK_LOW_SPEED_LENGTH + 60)) && QD_GUO_LIAN_IN) // { // } } else //第一条工作 { if(QD_GUO_LIAN_IN_UP) { checkdelay_buff = cRealPos; MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); QD_MotorDelay = dwTickCount + 0;//QD_PARAM_DELAY_XM; QD_MotorStep = 333; } else if((cRealPos >= QD_PARAM_RUN_LENGTH) && (QD_PARAM_RUN_LENGTH >= 5000)) //模组最长限制 { // QD_SetAlarmCode(QD_PARAM_RUN_LENGTH_ALARM); //超出轨道运行长度 } } break; case 333: if(dwTickCount >= QD_MotorDelay) { QD_MotorStep = 334; } break; case 334: if(QD_GUO_LIAN_IN_DW) //下降沿,定位长度 { //滤波有待调试 // if((((cRealPos - checkdelay_buff) >= QD_PARAM_DELAY_CHECK) && (QD_PARAM_LT_ENABLE)) || (((cRealPos - checkdelay_buff) >= QD_PARAM_NO_LT_DELAY_CHECK) && (QD_PARAM_LT_ENABLE == 0))) // { if(QD_GUO_LIAN_IN_DW) { gou_zhen_buff = cRealPos; QD_MotorStep = 335; } // } } break; case 335: if(QD_GUO_LIAN_IN_DW) { gou_zhen_buff = cRealPos; } //在空们都把延时清零 if(QD_GUO_LIAN_IN) { gou_zhen_buff = cRealPos; } //定位停止 if(((cRealPos - gou_zhen_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH) && !QD_GUO_LIAN_IN) { AxisEgmStop(X_AXIS); QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME; QD_MotorStep = 336; QD_GZ_VAVLE = 1; } break; case 336: if(!X_DRV) { QD_GZ_VAVLE = 1; QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME; // QD_XM_VAVLE = 1; QD_MotorStep = 337; } break; case 337: if(1) { QD_MotorStep = 338; QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY; } // else if(dwTickCount >= QD_MotorDelay) QD_SetAlarmCode(QD_XM_DAOWEI); break; case 338: if((dwTickCount >= QD_MotorDelay)) { QD_TFK_VAVLE = 1; //推方块输出 QD_MotorStep = 339; QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME; } break; case 339: if(cZipCnt == 1) { length_buff = cRealPos - save_buff; SetData32bits(QD_PARAM_ZIPPER_LENGTH_ADDR,length_buff); } else if(cZipCnt > 1) //长度检测 { if(QD_PARAM_ERROR_LENGTH != 0) //长度误差值不能为0 { if(cRealPos >= length_buff) //拉链变长,对比警告 { if((cRealPos - save_buff) > (length_buff+QD_PARAM_ERROR_LENGTH)) QD_SetAlarmCode(QD_LENGTH_LONG_ALARM); } else //拉链变短 { if((cRealPos - save_buff + QD_PARAM_ERROR_LENGTH) < (length_buff)) QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM); } } } QD_MotorStep = 0; break; //350步到369步单感应模式 case 350: back_buff = cRealPos; gou_zhen_buff = cRealPos; SetDir(X_AXIS, QD_DIR_P); QD_MotorStep = 351; break; case 351: if(dwTickCount >= QD_MotorDelay) { QD_MotorStep = 352; //第一,二条都是过链感应，测量长度 if(cZipCnt < 2) { if(QD_PARAM_BL_ENABLE) //因为长度未知,只能通过过链退合链 QD_BinLianStep = 10; //并链起动 QD_DGLG_VAVLE = 0; //顶过链杆关 // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,9000,QD_DIR_P,QD_PARAM_START_SPEED,8,12); } else { if(QD_PARAM_BL_ENABLE) QD_BinLianStep = 1; //并链起动 QD_DGLG_VAVLE = 1; //顶过链杆关 QD_CheckLengthStep = 1; //长度检测,第3条才有对比 //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走 QD_MotorStep = 311; } } break; case 352: //前两条都按最低速度工作 if(QD_GUO_LIAN_IN_UP) { checkdelay_buff = cRealPos; MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); QD_MotorDelay = dwTickCount + 2;//因慢速，加8MS滤波 QD_MotorStep = 353; } else if((cRealPos >= QD_PARAM_RUN_LENGTH) && (QD_PARAM_RUN_LENGTH >= 5000)) //模组最长限制 { // QD_SetAlarmCode(QD_PARAM_RUN_LENGTH_ALARM); //超出轨道运行长度 } break; case 353: if(dwTickCount >= QD_MotorDelay) { QD_MotorStep = 354; } break; case 354: if(QD_GUO_LIAN_IN_DW) //下降沿,定位长度 { if(QD_GUO_LIAN_IN_DW) { gou_zhen_buff = cRealPos; QD_MotorStep = 355; } } break; case 355: if(QD_GUO_LIAN_IN_DW) { gou_zhen_buff = cRealPos; } //在空们都把延时清零 if(QD_GUO_LIAN_IN) { gou_zhen_buff = cRealPos; } //定位停止 if(((cRealPos - gou_zhen_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH) && !QD_GUO_LIAN_IN) { AxisEgmStop(X_AXIS); QD_MotorStep = 356; QD_GZ_VAVLE = 1; } break; case 356: if(!X_DRV) { QD_GZ_VAVLE = 1; QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME; // QD_XM_VAVLE = 1; QD_MotorStep = 357; } break; case 357: if(1) { QD_MotorStep = 358; QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY; } break; case 358: if((dwTickCount >= QD_MotorDelay)) { QD_TFK_VAVLE = 1; //推方块输出 QD_MotorStep = 359; QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME; } break; case 359: if(cZipCnt == 1) { length_buff = cRealPos - save_buff; //测量出来长度 SetData32bits(QD_PARAM_ZIPPER_LENGTH_ADDR,length_buff); } QD_MotorStep = 0; break; //370步到389步为数控模式 case 370: QD_MotorStep = 371; SetDir(X_AXIS, QD_DIR_P); if(QD_PARAM_BL_ENABLE) QD_BinLianStep = 1; //并链起动 QD_CheckLengthStep = 1; //长度检测开始 break; case 371: if(dwTickCount >= QD_MotorDelay) { back_buff = cRealPos; gou_zhen_buff = cRealPos; save_buff = cRealPos; //李永庆代码 //两段速度移动距离 拉链长度+慢速长度停止 // 轴 第一段速度 第一段长度 第二段速度 第二段长度 方向 AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_DIR_P); QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME; QD_MotorStep = 372; } break; case 372: //勾针提前输出 ，争取时间推方块 if (!QD_GZ_VAVLE && (cRealPos >= (QD_PARAM_ZIPPER_LENGTH - 230))) QD_GZ_VAVLE = 1; if((cRealPos) > (QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*length_buffer) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC))))) { QD_MotorStep = 373; } break; case 373: if(!QD_GZ_VAVLE && ((cRealPos) > (QD_PARAM_ZIPPER_LENGTH - 230))) QD_GZ_VAVLE = 1; if(!X_DRV) { AxisEgmStop(X_AXIS); QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY; QD_MotorStep = 374; QD_BL_VAVLE = 0; //停止时并链一定要打开 //对比长度 ,发须要有过链信号,模式2,3. 模式0,1不用在这里经 if(cZipCnt > 1) //长度检测 { if((QD_PARAM_ERROR_LENGTH != 0) && length_buff) //长度误差值不能为0 { if((dwSaveLength > (length_buff + QD_PARAM_ERROR_LENGTH)) || (dwSaveLength == 0)) { QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);//拉链变长,对比警告 } //上升沿的长度 else if((dwSaveLength + QD_PARAM_ERROR_LENGTH) < length_buff) { QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM); ////拉链变短 } QD_CheckLengthStep = 0; } } else if(cZipCnt == 1) //长度检测 { if(dwSaveLength) length_buff = dwSaveLength; } } break; case 374: if(!X_DRV && (dwTickCount >= QD_MotorDelay)) //数控到停止 { QD_MotorStep = 0; QD_TFK_VAVLE = 1; //推方块输出 } break; //切完延时后拉带松夹子 case 40: if(QD_PARAM_SJZ_LENGTH == 0) { QD_JD_VAVLE = 0; } QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY; SetDir(X_AXIS, QD_DIR_P); QD_MotorStep = 41; break; case 41: if((dwTickCount >= QD_MotorDelay)) { jz_buff = cRealPos; if(QD_JD_VAVLE) //两段速度移动距离 { // 轴 第一段速度 第一段长度 第二段速度 第二段长度 方向 AxisMoveTwoPos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,QD_PARAM_SJZ_LENGTH,5000,QD_PARAM_BACK_LENGTH,QD_DIR_P); } else {//夹子已经张开 SetDir(X_AXIS,QD_DIR_P); AxisMovePosAccDec(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH),QD_PARAM_START_SPEED,10,10); } // AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH)); QD_MotorStep = 42; } break; case 42: if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff))) { QD_JD_VAVLE = 0; QD_MotorStep = 43; } if(!X_DRV) { QD_JD_VAVLE = 0; QD_MotorStep = 43; } break; case 43: // 切断完成后拉电机动作 if(!X_DRV) { QD_MotorStep = 0; QD_MotorDelay = dwTickCount; } break; case 61: // 前点定位数控模式 if(QD_SZ_OUT) { QD_SZ_OUT = 0; QD_MotorDelay = dwTickCount + 150; SetDir(X_AXIS, QD_DIR_N); SetPos(X_AXIS, 0); } else QD_MotorDelay = dwTickCount; QD_BL_VAVLE = 0;//并链也要打开 // QD_JZ_DIR = QD_YDIR_N; if(!QD_TL_VAVLE && cZipCnt) //没送链情况下主动送链 { if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0)) { QD_TuiLianStep = 1; QD_MotorStep = 62; } } else QD_MotorStep = 62; break; case 62: if(dwTickCount >= QD_MotorDelay) { if(QD_QIAN_LIMIT_IN) { SetPos(X_AXIS, 0);//在前点，直接置零点 // QD_JZ_DIR = QD_YDIR_P; //前点亮的情况下先退出 AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,1000); QD_MotorDelay = dwTickCount + 300; } QD_MotorStep = 63; QD_JD_VAVLE = 0; } break; case 63: if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))// && !QD_SHANG_MU_LIMIT_IN) { // QD_JZ_DIR = QD_YDIR_N; SetDir(X_AXIS, QD_DIR_N); go_buff = cRealPos; QD_YD_VAVLE = 1; QD_HL_VAVLE = 1; QD_YX_VAVLE = 1; //李永庆代码,当位置在慢速之外,走数控到慢速点 if(cZipCnt > 0) { if(cRealPos>(QD_PARAM_GO_LOW_SPEED_LENGTH)) { AxisMoveThreePosNoStop(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos -QD_PARAM_GO_LOW_SPEED_LENGTH-300, QD_PARAM_GO_HIGH_SPEED*2/3,350, QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED_LENGTH,QD_DIR_N) ; } else { // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15); } } else { // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15); } QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME; QD_MotorStep =64; } break; case 64: if(cZipCnt > 1) { //李永庆代码 if(((cRealPos) < (QD_PARAM_GO_LOW_SPEED_LENGTH+1200)))// || (QD_QIAN_DEC_IN)) { user_datas[126]= GetCurSpeed(X_AXIS); // MoveChangSpeedDec(X_AXIS,QD_PARAM_GO_HIGH_SPEED*2/3,6,8); // AxisChangeSpeed(X_AXIS,40); QD_MotorStep =65; } if(QD_QIAN_LIMIT_IN) //前点限位 { AxisEgmStop(X_AXIS); QD_MotorStep = 66; } } else { if(QD_QIAN_LIMIT_IN) //前点限位 { AxisEgmStop(X_AXIS); QD_MotorStep = 66; } } break; case 65: if(QD_QIAN_LIMIT_IN) { AxisEgmStop(X_AXIS); QD_MotorStep = 66; } else if(dwTickCount >= QD_MotorDelay) QD_SetAlarmCode(QD_NO_ZIPPER_ALARM); break; case 66: if(!X_DRV) { SetPos(X_AXIS, 0); QD_MotorDelay = dwTickCount; QD_MotorStep = 67; } break; case 67: //等推链完成后, if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) ) { if(bRunning) { QD_JD_VAVLE = 1; QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK; } QD_MotorStep = 68; } break; case 68: if(dwTickCount >= QD_MotorDelay) { QD_YD_VAVLE = 0; QD_HL_VAVLE = 0; QD_YX_VAVLE = 0; QD_TL_VAVLE = 0; QD_MotorStep = 0; QD_MotorDelay = dwTickCount; } break; } } #endif void QueDuan_BingLian(void) { static long bl_pos_buff,HL_delay; switch(QD_BinLianStep) { case 0:break; case 1: bl_pos_buff = cRealPos; QD_BinLianStep = 2; break; case 2: if((cRealPos - bl_pos_buff) >= QD_PARAM_DELAY_HL_LENGTH) { QD_BL_VAVLE = 1; QD_BinLianStep = 3; } break; case 3://有过链检测 if(QD_GUO_LIAN_IN_DW || ((cRealPos - bl_pos_buff) >= (QD_PARAM_ZIPPER_LENGTH - QD_PARAM_HL_DELAY_BACK))) { QD_BL_VAVLE = 0; QD_BinLianStep = 0; } break; case 10: bl_pos_buff = cRealPos; QD_BinLianStep = 11; break; case 11: if((cRealPos - bl_pos_buff) >= QD_PARAM_DELAY_HL_LENGTH) { QD_BL_VAVLE = 1; QD_BinLianStep = 12; } break; case 12://有过链检测 if(QD_GUO_LIAN_IN_DW) { QD_BL_VAVLE = 0; QD_BinLianStep = 0; } break; default:; } } #if QD_KB_MODE==1 //闭口 //作闭口专用程序 //不带过链感应长度输入电机长度 闭口有勾针到位 void QueDuan_Motor_NoGL(void) { static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff; long pulse_buff; unsigned short ch,kk; user_datas[121] = QD_MotorStep; user_datas[122] = QD_AutoStep; user_datas[124]= cRealPos; user_datas[125]= bRunning; // user_datas[123] = length_buff - (*length_buffer); // user_datas[127] = cRealPos; // user_datas[126] = go_buff - cRealPos; if((QD_MotorStep >= 101) && (QD_MotorStep <= 103)) { if(QD_QIAN_LIMIT_IN_DW)QD_HL_VAVLE = 0; } switch(QD_MotorStep) { case 30: QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK; length_buffer = &QD_PARAM_OFFSET_LENGTH; if(QD_PARAM_BL_ENABLE) // QD_BinLianStep = 1; if(QD_MACHINE_TYPE == QD_CS_TUIFANGKUAI) //双开带过链感应 { if(QD_PARAM_DEC_MODE == QD_BACK_NOMAL_DEC_MODE)//测长数控 QD_MotorStep = 101; else QD_MotorStep = 31; } else //闭口走长度 QD_MotorStep = 31; break; case 31: if(dwTickCount >= QD_MotorDelay) { back_buff = cRealPos; gou_zhen_buff = cRealPos; save_buff = cRealPos; length_buffer = &QD_PARAM_OFFSET_LENGTH; //李永庆代码 SetDir(X_AXIS, QD_DIR_P); //两段速度移动距离 // 轴 第一段速度 第一段长度要减去送链长度 第二段速度 第二段长度 方向 AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH-200,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_BACK_LOW_SPEED_LENGTH + (*length_buffer),QD_DIR_P); QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME; QD_MotorStep = 32; } break; case 32: //勾针提前输出 if (!QD_GZ_VAVLE && ((cRealPos + QD_PARAM_GOUZHEN_LENGTH + 200) >= (QD_PARAM_ZIPPER_LENGTH ))) QD_GZ_VAVLE = 1; if((cRealPos) > (QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*length_buffer) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC))))) { QD_MotorDelay = dwTickCount + 2000; //钩针未到位延时警告 QD_MotorStep = 33; } else if(cRealPos >= (QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)))//QD_PARAM_ERROR_LENGTH)) { QD_SetAlarmCode(QD_GZ_ALARM); } break; case 33: if(!QD_GZ_VAVLE && (cRealPos + QD_PARAM_GOUZHEN_LENGTH + 200) > (QD_PARAM_ZIPPER_LENGTH )) { QD_GZ_VAVLE = 1; QD_MotorDelay = dwTickCount + 2000; //钩针未到位延时警告 } //提前12MM取消数控模式,进入连续运动 // if((cRealPos + 180 + 200) > (QD_PARAM_ZIPPER_LENGTH )) // { // CancelPmoveState(X_AXIS); // SetStartSpeed(X_AXIS,1500); // AxisChangeSpeed(X_AXIS,1500); // } if(QD_GOUZHEN_IN) { AxisEgmStop(X_AXIS); QD_MotorDelay = dwTickCount + 10; QD_YD_VAVLE = 1; QD_MotorStep = 34; QD_BL_VAVLE = 0; //停止时并链一定要打开 } else if((cRealPos >= QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)))// && dwTickCount >= QD_MotorDelay) { AxisEgmStop(X_AXIS); if(dwTickCount >= QD_MotorDelay) QD_SetAlarmCode(QD_GZ_ALARM); } break; case 34: if(!X_DRV && (dwTickCount >= QD_MotorDelay)) { QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME; QD_YD_VAVLE = 1; QD_MotorStep = 35; } break; case 35: if(cZipCnt == 0) { ch = QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)-90; kk = QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)+90; } else { ch = QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)-70; kk = QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)+70; }user_datas[128] = ch; user_datas[127] = kk; if(((cRealPos) < (ch))) { SetAlarmCode(QD_ALARM_ADDR,QD_LENGTH_LONG_ALARM); if(dwTickCount >= QD_MotorDelay) bAlarmStop = 1; } else if((cRealPos > kk))//(QD_PARAM_ERROR_LENGTH - 200 + (*length_buffer)+50))) { SetAlarmCode(QD_ALARM_ADDR,QD_LENGTH_LONG_ALARM); if(dwTickCount >= QD_MotorDelay) bAlarmStop = 1; } else { SetDir(X_AXIS, QD_DIR_P); AxisMovePosAccDec(X_AXIS,QD_PARAM_BACK_LOW_SPEED,-QD_PARAM_FZ_LENGTH,3000,QD_PARAM_ACC,QD_PARAM_DCC); SetDir(X_AXIS, QD_DIR_P); QD_MotorStep = 0; } break; case 101: if(dwTickCount >= QD_MotorDelay) { back_buff = cRealPos; gou_zhen_buff = cRealPos; save_buff = cRealPos; if(cZipCnt <= 2) { QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME; MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_FIRST_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC); QD_MotorStep = 102; } else { MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC); QD_MotorStep = 102; } } break; case 102: if(cZipCnt <= 2) { //拉链上升沿,就是到空位 if(QD_GUO_LIAN_IN_UP) { QD_MotorDelay = dwTickCount + QD_PARAM_GZ_DELAY; if(X_DRV) MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); //降速 QD_MotorStep = 103; } } else { //1为双开 if((QD_SK_MODE) && (((cRealPos + QD_PARAM_YALIAN_LENGTH- gou_zhen_buff) > (length_buff - QD_PARAM_GOUZHEN_LENGTH)))) { QD_YX_VAVLE = 1; QD_HL_VAVLE = 1; } if(((cRealPos - gou_zhen_buff) > (length_buff - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE) { QD_GZ_VAVLE = 1; QD_YX_VAVLE = 1; } if((cRealPos - back_buff) > (length_buff - QD_PARAM_BACK_LOW_SPEED_LENGTH-PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)))) { if(X_DRV) { MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); } QD_MotorStep = 103; } } break; case 103: if(cZipCnt <= 2) {//双开暂不用,先保留 #if QD_SK_MODE if((QD_SK_MODE) && ((dwTickCount + QD_PARAM_GZ_DELAY/2) >= QD_MotorDelay)) { QD_YX_VAVLE = 1; QD_HL_VAVLE = 1; } #endif if(dwTickCount >= QD_MotorDelay) { QD_GZ_VAVLE = 1; QD_YX_VAVLE = 1; #if QD_SK_MODE //双开暂不用,先保留 if(QD_SK_MODE) QD_MotorStep = 154; else #endif QD_MotorStep = 160; } } else { #if QD_SK_MODE //双开暂不用,先保留 if((QD_SK_MODE) && (((cRealPos + QD_PARAM_YALIAN_LENGTH- gou_zhen_buff) > (length_buff - QD_PARAM_GOUZHEN_LENGTH)))) { QD_YX_VAVLE = 1; QD_HL_VAVLE = 1; } #endif if(((cRealPos - gou_zhen_buff) > (length_buff - QD_PARAM_GOUZHEN_LENGTH))) { QD_GZ_VAVLE = 1; QD_YX_VAVLE = 1; #if QD_SK_MODE //双开暂不用,先保留 if(QD_SK_MODE) QD_MotorStep = 154; else #endif QD_MotorStep = 160; } if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + length_buff)) && QD_GZ_VAVLE) { QD_SetAlarmCode(QD_LENGTH_LONG_ALARM); } } break; case 154: #if QD_SK_MODE //双开暂不用,先保留 if(QD_GZ_UP_IN) { QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_CHECK_GZ; QD_MotorStep = 104; } #endif break; case 160: if(QD_GOUZHEN_IN) { AxisEgmStop(X_AXIS); QD_YD_VAVLE = 1; QD_MotorStep = 105; } else if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + length_buff)) && QD_GZ_VAVLE && (cZipCnt > 2)) { QD_SetAlarmCode(QD_LENGTH_LONG_ALARM); } break; case 104: #if QD_SK_MODE //双开暂不用,先保留 if(dwTickCount >= QD_MotorDelay) { //勾针离开就是到位 if(!QD_GOUZHEN_IN && QD_GZ_UP_IN) { AxisEgmStop(X_AXIS); QD_MotorStep = 105; } } #endif break; case 105: if(!X_DRV) { QD_MotorStep = 0; QD_HL_VAVLE = 1; QD_YD_VAVLE = 1; if(cZipCnt == 1) { go_length_buff = cRealPos - back_buff; } else if(cZipCnt == 2) { length_buff = cRealPos - back_buff; } else if(cZipCnt > 2) { if(((cRealPos - save_buff) < (length_buff - QD_PARAM_ERROR_LENGTH- (*length_buffer))))QD_SetAlarmCode(QD_LENGTH_LONG_ALARM); else if(((cRealPos - save_buff) > (QD_PARAM_ERROR_LENGTH + length_buff - (*length_buffer))))QD_SetAlarmCode(QD_LENGTH_LONG_ALARM); else { } } AxisMovePosAccDec(X_AXIS,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_FZ_LENGTH,1,QD_PARAM_ACC,QD_PARAM_DCC); } break; case 106: if(!X_DRV) { QD_SetAlarmCode(QD_GZ_ALARM); } else { if(QD_GOUZHEN_IN) { AxisEgmStop(X_AXIS); QD_YD_VAVLE = 1; QD_MotorStep = 0; } } break; case 40: QD_JD_VAVLE = 0; SetDir(X_AXIS, QD_DIR_P); QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY; QD_MotorStep = 41; break; case 41: if((dwTickCount >= QD_MotorDelay)) { //夹子已经张开 AxisMovePosAccDec(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH),QD_PARAM_START_SPEED,10,10); // AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH)); QD_MotorStep = 42; } break; case 42: // if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff))) // { // QD_JD_VAVLE = 0; // QD_MotorStep = 43; // } // else if(!X_DRV) { QD_JD_VAVLE = 0; QD_MotorStep = 43; } break; case 43: // 切断完成后拉电机动作 if(!X_DRV) { QD_MotorStep = 0; QD_MotorDelay = dwTickCount; } break; case 61: // 前点定位数控模式 if(QD_SZ_OUT) { QD_SZ_OUT = 0; QD_MotorDelay = dwTickCount + 150; SetPos(X_AXIS, 0); } else QD_MotorDelay = dwTickCount; QD_BL_VAVLE = 0;//并链也要打开 SetDir(X_AXIS,QD_DIR_N); if(!QD_TL_VAVLE && cZipCnt) //没送链情况下主动送链 { if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0)) { QD_TuiLianStep = 1; QD_MotorStep = 62; } } else QD_MotorStep = 62; break; case 62: if(dwTickCount >= QD_MotorDelay) { if(QD_QIAN_LIMIT_IN) { SetPos(X_AXIS, 0);//在前点，直接置零点 SetDir(X_AXIS,QD_DIR_P); //前点亮的情况下先退出 AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,1000); QD_MotorDelay = dwTickCount + 300; } QD_MotorStep = 63; QD_JD_VAVLE = 0; } break; case 63: if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))// && !QD_SHANG_MU_LIMIT_IN) { SetDir(X_AXIS, QD_DIR_N); go_buff = cRealPos; QD_YD_VAVLE = 1; QD_HL_VAVLE = 1; QD_YX_VAVLE = 1; //李永庆代码,当位置在慢速之外,走数控到慢速点 if(cZipCnt > 0) { if(cRealPos>(QD_PARAM_GO_LOW_SPEED_LENGTH)) { // AxisMovePosAccDecNotStop(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos-QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC,QD_PARAM_DCC); // SetStartSpeed(X_AXIS,QD_PARAM_START_SPEED); // SetAccTime(X_AXIS,QD_PARAM_ACC); // SetDecTime(X_AXIS,QD_PARAM_DCC); //两段速度移动距离 // 轴 第一段速度 第一段长度 第二段速度 第二段长度 方向 // AxisMoveTwoPos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos-QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED_LENGTH+ 100,QD_DIR_N); //跑三段速度 AxisMoveThreePosNoStop(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos -QD_PARAM_GO_LOW_SPEED_LENGTH-300, QD_PARAM_GO_HIGH_SPEED*2/3,350, QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED_LENGTH,QD_DIR_N) ; } else { // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15); // MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC); } } else { // X轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15); // MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);// } QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME; QD_MotorStep =64; } break; case 64: if(cZipCnt > 1) { //李永庆代码 if(((cRealPos) < (QD_PARAM_GO_LOW_SPEED_LENGTH+1200)))// || (QD_QIAN_DEC_IN)) { user_datas[126]= GetCurSpeed(X_AXIS); // MoveChangSpeedDec(X_AXIS,QD_PARAM_GO_HIGH_SPEED*2/3,6,8); // AxisChangeSpeed(X_AXIS,40); QD_MotorStep =65; } if(QD_QIAN_LIMIT_IN) //前点限位 { AxisEgmStop(X_AXIS); QD_MotorStep = 66; } } else { if(QD_QIAN_LIMIT_IN) //前点限位 { AxisEgmStop(X_AXIS); QD_MotorStep = 66; } } break; case 65: if(QD_QIAN_LIMIT_IN) { AxisEgmStop(X_AXIS); QD_MotorStep = 66; } else if(dwTickCount >= QD_MotorDelay) QD_SetAlarmCode(QD_NO_ZIPPER_ALARM); break; case 66: if(!X_DRV) { SetPos(X_AXIS, 0); QD_MotorDelay = dwTickCount; QD_MotorStep = 67; } break; case 67: //等推链完成后, if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) ) { if(bRunning) { QD_JD_VAVLE = 1; QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK; } QD_MotorStep = 68; } break; case 68: if(dwTickCount >= QD_MotorDelay) { QD_YD_VAVLE = 0; QD_HL_VAVLE = 0; QD_YX_VAVLE = 0; QD_TL_VAVLE = 0; QD_MotorStep = 0; QD_MotorDelay = dwTickCount; } break; } } #endif //电机动作 void QueDuan_Motor(void) { if(QD_KB_MODE) //闭口 { #if QD_KB_MODE //闭口 QueDuan_Motor_NoGL(); #endif } else //开口 { #if !QD_KB_MODE //开口 QueDuan_Motor_KK(); // #endif } } //超声方式下切,开口专用 void QueDuan_XiaQue_KK(void) { switch(QD_XiaQieStep) { case 0: break; case 1: QD_XiaQieStep = 2; break; case 2: QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; QD_XiaQieStep = 3; break; case 3: if(1) { QD_XiaQieDelay = dwTickCount + 0;//QD_PARAM_GZ_DELAY; QD_XiaQieStep = 4; } else if(dwTickCount >= QD_XiaQieDelay) { QD_SetAlarmCode(QD_XM_DAOWEI); } break; case 4: if(QD_GZ_VAVLE) //勾针已经有输出就不需要延时 { QD_XiaQieDelay = dwTickCount + 0; } else QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY; QD_GZ_VAVLE = 1; cTuiFangKuaiCnt=0; QD_XiaQieStep = 5; break; case 5: if(dwTickCount >= QD_XiaQieDelay) { QD_TFK_VAVLE = 1; QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; QD_XiaQieStep = 6; } break; case 6: if(1) { QD_XiaQieStep = 7; QD_XiaQieDelay = dwTickCount + 1000; } else if(dwTickCount >= QD_XiaQieDelay) { QD_SetAlarmCode(QD_XM_DAOWEI); } break; case 7: if(QD_GOUZHEN_IN) { cTuiFangKuaiCnt = 0; QD_YD_VAVLE = 1; if(!bRunning) QD_XiaQieDelay = dwTickCount + 200; else QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY; if(!QD_QIAN_LIMIT_IN) QD_XiaQieStep = 8; else QD_SetAlarmCode(QD_QIAN_LIMIT_ALARM); } else if((dwTickCount >= QD_XiaQieDelay)) { if(cTuiFangKuaiCnt < QD_PARAM_TFK_NUMBER) { QD_TFK_VAVLE = 0; cTuiFangKuaiCnt++; QD_XiaQieDelay = dwTickCount + 500; QD_XiaQieStep = 100; } else QD_SetAlarmCode(QD_GZ_ALARM); } break; case 100: if((dwTickCount >= QD_XiaQieDelay)) { QD_XiaQieStep = 5; } break; case 8://上下模同时输出 if(dwTickCount >= QD_XiaQieDelay) { QD_SM_VAVLE = 1; if(QD_PARAM_XM_ENABLE == 0) //配置下模动 QD_XM_VAVLE = 1; QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; QD_XiaQieStep = 9; } break; case 9://上下模到位，调试模下的话，等按下一步按键 下模不动 if(QD_SHANG_MU_LIMIT_IN && (QD_XIA_MU_LIMIT_IN || QD_PARAM_XM_ENABLE) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) ) { if(!QD_PARAM_CS_MODE) //无超声配置 { QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM; // QD_XiaQieStep = 12; } else { QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS; // QD_XiaQieStep = 10; } } else if(dwTickCount >= QD_XiaQieDelay) { if(!QD_SHANG_MU_LIMIT_IN)QD_SetAlarmCode(QD_SM_DAOWEI); else QD_SetAlarmCode(QD_XM_DAOWEI); } break; case 10: if(dwTickCount >= QD_XiaQieDelay) { QD_CS_OUT = 1; // QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME; // QD_XiaQieStep = 11; } break; case 11: if(dwTickCount >= QD_XiaQieDelay) { QD_CS_OUT = 0; QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME; // QD_XiaQieStep = 12; } break; case 12: if(dwTickCount >= QD_XiaQieDelay) { QD_SM_VAVLE = 0; if(QD_PARAM_XM_ENABLE == 0) //配置下模动 QD_XM_VAVLE = 0; QD_TFK_VAVLE = 0; QD_GZ_VAVLE = 0; QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; QD_XiaQieStep = 13; }// break; case 13: if(!QD_SHANG_MU_LIMIT_IN) { //启动推链(送链) if((QD_TuiLianStep == 0) && !QD_TL_VAVLE) QD_TuiLianStep = 1; } if(!QD_SHANG_MU_LIMIT_IN && (!QD_XIA_MU_LIMIT_IN || QD_PARAM_XM_ENABLE)) { QD_XiaQieStep = 0; } else if(dwTickCount >= QD_XiaQieDelay) { QD_SetAlarmCode(QD_SM_YUANWEI); } break; } } void QueDuan_TuiLianAction(void) { if(QD_PARAM_XM_ENABLE == 0) { QD_TuiLianStep = 0; } else { switch(QD_TuiLianStep) { case 1: QD_TuiLianStep = 2; break; case 2: QD_TLDelay = dwTickCount + QD_PARAM_YD_DELAY; QD_TuiLianStep = 3; break; case 3: if(!QD_SM_VAVLE && !QD_SHANG_MU_LIMIT_IN)//dwTickCount >= QD_TLDelay) { QD_TL_VAVLE = 1; if(!bRunning)QD_TFK_VAVLE = 0; QD_TLDelay = dwTickCount + QD_PARAM_TL_DELAY; QD_TuiLianStep = 4; } break; case 4: if(dwTickCount >= QD_TLDelay) { QD_TuiLianStep = 0; } break; case 10: QD_TuiLianStep = 11; break; case 11: if(!Y_DRV) { { QD_TuiLianStep = 0; } } break; } } } //闭口专用 void QueDuan_XiaQue_NO_GL(void) { switch(QD_XiaQieStep) { case 0: break; case 1: if(!bRunning) { if((QD_MACHINE_TYPE == QD_CS_TUIFANGKUAI) && QD_SK_MODE) { //跳到双开 // QD_YD_VAVLE = 1; QD_HL_VAVLE = 1; //护链 QD_YX_VAVLE = 1; //压带 QD_GZ_VAVLE = 1; //勾针 QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY; QD_XiaQieStep = 100; } else { // QD_GZ_VAVLE = 1; //勾针 // QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY; // QD_XiaQieStep = 100; QD_YD_VAVLE = 1; QD_XiaQieStep = 2; QD_XiaQieDelay = dwTickCount + 30; } } else { QD_YD_VAVLE = 1; QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY; QD_XiaQieStep = 2; } break; case 2: if(dwTickCount >= QD_XiaQieDelay) { QD_XiaQieStep = 3; QD_XiaQieDelay = dwTickCount; } break; case 3: if(dwTickCount >= QD_XiaQieDelay) { if((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) { QD_SM_VAVLE = 1; QD_XM_VAVLE = 1; QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; // QD_XiaQieStep = 4; } } break; case 4://永兴为下模固定 if(QD_SHANG_MU_LIMIT_IN && (QD_XIA_MU_LIMIT_IN || QD_PARAM_XM_ENABLE)) { QD_GZ_VAVLE = 0; if(!QD_PARAM_CS_MODE) //气切 { QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM; // QD_XiaQieStep = 5; } else { QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS; // QD_XiaQieStep = 10; } // } else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI); break; case 5: if(dwTickCount >= QD_XiaQieDelay) { QD_SM_VAVLE = 0; QD_XM_VAVLE = 0; QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; // QD_XiaQieStep = 6; } break; case 6: if(!QD_SHANG_MU_LIMIT_IN && (!QD_XIA_MU_LIMIT_IN || QD_PARAM_XM_ENABLE)) //下模不动就不用判断 { if(QD_TuiLianStep == 0) QD_TuiLianStep = 1; if(!bRunning) QD_JD_VAVLE = 0; QD_XiaQieStep = 0; } else if(dwTickCount >= QD_XiaQieDelay) { QD_SetAlarmCode(QD_SM_YUANWEI); } break; //10~11步为超声 case 10: if(dwTickCount >= QD_XiaQieDelay) { if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1; QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME; // QD_XiaQieStep = 11; } break; case 11: if(dwTickCount >= QD_XiaQieDelay) { QD_CS_OUT = 0; QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME; // QD_XiaQieStep = 5; } break; case 100: if(dwTickCount >= QD_XiaQieDelay) { //这是双开程序，暂时不考虑 #if 1 if(QD_GOUZHEN_IN) { QD_YD_VAVLE = 1; QD_XiaQieStep = 3; } #endif } break; } } //切断动作 void QueDuan_XiaQue(void) { if(QD_KB_MODE) //闭口 { QueDuan_XiaQue_NO_GL(); // } else //开口 { QueDuan_XiaQue_KK(); } #if 0 switch(QD_MACHINE_TYPE) { case QD_NO_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break; case QD_NO_GL_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break; case QD_CS_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break; default:; } #endif } #endif