#include "global.h" #if FJ_YING_XING_MACHINE == 1 void YX_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag); void YX_CTHL_ManualAction(void); void YX_CTHL_AutoStepAction(void); void YX_CTHL_TD_Motor(void); void YX_CTHL_FZ_Motor(void); void YX_CTHL_CheckStart(void); void YX_CTHL_TLiao_Step(void); //推料(推拉头) void YX_CTHL_AlarmProtect(void); void YX_CTHL_ZLT_Step(void); void YX_CTHL_ZhenDongAction(void); void YX_CTHL_Color_Action(void); /* void YXExtiAcitionX02(void) { if(bCheckEN_FLG) { bCheckEN_FLG = 0; YX_CTHL_CheckInX02PosBuff = GetPos(X_AXIS); } } */ void YX_CTHL_Color_Action(void) { if(bRunning && YX_CTHL_Colorcode_IN_UP) { YX_CTHL_ColorStep=1; } if(bRunning && YX_CTHL_XIAOCHA_IN_DW) { YX_CTHL_SetAlarmCode(YX_CTHL_XIAOCHA_ALARM,bRunning); } if(YX_CTHL_PARAM_COLOR_CODE) { switch(YX_CTHL_ColorStep) { case 1: { bRunning=0; cStopMode=0; bSingOneFlg=0; YX_CTHL_wltzi=0; YX_CTHL_MOTOR_MODE=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); // SetEn(X_AXIS, MOTOR_DISEN); // SetEn(Y_AXIS, MOTOR_DISEN); YX_CTHL_AutoStep = 0; YX_CTHL_stop=0; YX_CTHL_FZ_MotorStep =0; YX_CTHL_TD_MotorStep =0; YX_CTHL_ZhuangLiaoStep=0; YX_CTHL_TLiao_VAVLE=0; YX_CTHL_HSLiao_VAVLE =0; YX_CTHL_JLTou_VAVLE =0; YX_CTHL_CTXM_VAVLE =0; YX_CTHL_FKGD_VAVLE =0; YX_CTHL_YADAI_VAVLE = 0; YX_CTHL_LYLun_VAVLE = 0; // YX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YX_CTHL_MGuo_VAVLE = 0; YX_CTHL_CXC_VAVLE = 0; YX_CTHL_GDQM_VAVLE =0; YX_CTHL_TQM_VAVLE=0; SetPos(X_AXIS, 0); SetPos(Y_AXIS, 0); SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); } YX_CTHL_ColorStep=2; YX_CTHL_bColor_Delay=dwTickCount+500; break; case 2: if(dwTickCount >= YX_CTHL_bColor_Delay) { if(YX_CTHL_AUTO_run_LENGTH) { AxisMovePosAccDec(X_AXIS,3000,YX_CTHL_AUTO_run_LENGTH,800,600,20,20,0); YX_CTHL_ColorStep=3; } else { YX_CTHL_SetAlarmCode(YX_CTHL_COLOR_IN_ALARM,bRunning); } } break; case 3: if(!X_DRV) { YX_CTHL_bYJDW=1; YX_CTHL_ColorStep=4; YX_CTHL_bColor_Delay=dwTickCount+20; } break; case 4: if(dwTickCount >= YX_CTHL_bColor_Delay) { if(YX_CTHL_TD_MotorStep==0) { bStart=1; YX_CTHL_ColorStep=0; } } break; } } else { YX_CTHL_ColorStep=0; } } //故障报警 void YX_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag) { if(!YX_CTHL_cONERROR) { SetAlarmCode(YX_CTHL_ALARM_ADDR,alarm_code); YX_CTHL_cONERROR=1; } if(!YX_CTHL_wltzi) bAlarmStop = 1; else { YX_CTHL_AutoStep = 0; } } //初始化动作 void YX_CTHL_InitAction(void) { float buff_pulse,buff_dist; buff_pulse = YX_CTHL_PARAM_TDCYCLE_PULSE; buff_dist = YX_CTHL_PARAM_TDCYCLE_LENGTH; XGearRatio = buff_pulse/buff_dist; buff_pulse = YX_CTHL_PARAM_TDCYCLE_PULSE; buff_dist = YX_CTHL_PARAM_FZCYCLE_LENGTH; YGearRatio = buff_pulse/buff_dist; buff_pulse = YX_CTHL_PARAM_TDCYCLE_PULSE; buff_dist = YX_CTHL_PARAM_FZLDCYCLE_LENGTH; ZGearRatio = buff_pulse/buff_dist; SetAlarmCode(YX_CTHL_ALARM_ADDR,0); user_datas[121] = 0; user_datas[122] = 0; user_datas[123] = 0; SetEnReverse(X_AXIS, 0); SetEnReverse(Y_AXIS, 0); SetEnReverse(Z_AXIS, 0); 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); SetPos(X_AXIS, 0); //启动位置设为0点 SetPos(Y_AXIS, 0); //启动位置设为0点 SetPos(Z_AXIS, 0); //启动位置设为0点 } void YX_CTHL_Action(void) { dwXRealPos = GetPos(X_AXIS); dwYRealPos = GetPos(Y_AXIS); dwZRealPos = GetPos(Z_AXIS); user_datas[121] = YX_CTHL_ColorStep; user_datas[122] = dwYRealPos; user_datas[123] = dwXRealPos; user_datas[124] = YX_CTHL_TLiaoStep; user_datas[125] = YX_CTHL_ZhuangLiaoStep; user_datas[126] = YX_CTHL_FZ_MotorStep; user_datas[127] = YX_CTHL_TD_MotorStep; user_datas[128] = YX_CTHL_AutoStep; YX_CTHL_ZhenDongAction(); YX_CTHL_AlarmProtect(); YX_CTHL_CheckStart(); YX_CTHL_ZLT_Step(); YX_CTHL_TLiao_Step(); YX_CTHL_Color_Action(); YX_CTHL_TD_Motor(); YX_CTHL_FZ_Motor(); YX_CTHL_ManualAction(); YX_CTHL_AutoStepAction(); YX_CTHL_Test++; } void YX_CTHL_AlarmProtect(void) { } //自动动作 void YX_CTHL_AutoStepAction(void) { //测试用 if(dwTickCount >= YX_CTHL_TestDelay) { YX_CTHL_TestDelay = dwTickCount + 200; YX_CTHL_TestLED = !YX_CTHL_TestLED; YX_CTHL_Test = 0; } if(bRunning) { switch(YX_CTHL_AutoStep) { case 1: if(dwTickCount >= YX_CTHL_AutoDelay && YX_CTHL_TD_MotorStep==0 ) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { YX_CTHL_LYLun_VAVLE = 0; YX_CTHL_RYLun_VAVLE = 0; YX_CTHL_CXC_VAVLE=0; YX_CTHL_GDQM_VAVLE=1; YX_CTHL_TQM_VAVLE=0; YX_CTHL_AutoStep = 2; YX_CTHL_AutoDelay = dwTickCount + 10; if(YX_CTHL_ZhuangLiaoStep == 0) { YX_CTHL_ZhuangLiaoStep = 1; YX_CTHL_TryCnt = 0; } } } break; case 2: if(bZhuangLiaoOkFlg && (YX_CTHL_ZhuangLiaoStep == 0)) { if(dwTickCount >= YX_CTHL_AutoDelay && YX_CTHL_HSLiao_Origin_IN) { if(!YX_CTHL_LTou_Check ) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { YX_CTHL_CTXM_VAVLE=1; YX_CTHL_AutoStep = 3; // YX_CTHL_AutoDelay = dwTickCount + YX_CTHL_PARAM_GDQM_DELAY; } } else { YX_CTHL_wltzi=1; YX_CTHL_SetAlarmCode(YX_CTHL_ZLT_ALARM,bRunning); // 没有拉头 } } } break; case 3: // if(dwTickCount >= YX_CTHL_AutoDelay) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { YX_CTHL_AutoStep = 4; YX_CTHL_AutoDelay = dwTickCount + YX_CTHL_VAVLE_ERROR_TIME; } } break; case 4: if(YX_CTHL_CTM_Limit_IN) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { YX_CTHL_GDQM_VAVLE=1; YX_CTHL_JLTou_VAVLE=0; if(!YX_CTHL_PARAM_QM_MODE) { YX_CTHL_AutoStep = 5; YX_CTHL_AutoDelay = dwTickCount + YX_CTHL_PARAM_QMFZ_DELAY; } else { YX_CTHL_AutoStep = 6; YX_CTHL_AutoDelay = dwTickCount + YX_CTHL_PARAM_TQM_DELAY; } } } else if(dwTickCount >= YX_CTHL_AutoDelay) { YX_CTHL_SetAlarmCode(YX_CTHL_CTM_Limit_ALARM,bRunning); // 没有拉头 } break; case 5: if(dwTickCount >= YX_CTHL_AutoDelay) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { AxisMovePosAccDec(X_AXIS,5000,-YX_CTHL_PARAM_DWFZ_LENGTH,800,800,20,20,0); YX_CTHL_AutoStep = 6; YX_CTHL_AutoDelay = dwTickCount + YX_CTHL_PARAM_TQM_DELAY; } } break; case 6: if(dwTickCount >= YX_CTHL_AutoDelay && !X_DRV) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { YX_CTHL_LYLun_VAVLE=1; YX_CTHL_RYLun_VAVLE=1; YX_CTHL_TQM_VAVLE=1; YX_CTHL_AutoDelay = dwTickCount + YX_CTHL_VAVLE_ERROR_TIME; //延时输出压轮 YX_CTHL_AutoStep = 7; } } break; case 7: if(YX_CTHL_TQM_Limit_IN) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { if(!YX_CTHL_PARAM_QM_MODE) YX_CTHL_GDQM_VAVLE=0; YX_CTHL_FZ_MotorStep=1; YX_CTHL_FZ_MotorDelay = dwTickCount + YX_CTHL_PARAM_GDQMTD_BACK_DELAY; //延时反转 YX_CTHL_AutoStep =8; } } else if(dwTickCount >= YX_CTHL_AutoDelay) { YX_CTHL_SetAlarmCode(YX_CTHL_TQM_Limit_ALARM,bRunning); // 没有拉头 } break; case 8: if(YX_CTHL_FZ_MotorStep == 0) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { YX_CTHL_RYLun_VAVLE=0;//大插压轮 YX_CTHL_FZ_MotorStep=20; YX_CTHL_AutoStep =9; YX_CTHL_FZ_MotorDelay = dwTickCount + YX_CTHL_PARAM_XCDWTD_BACK_DELAY; //小插定位延时拖带 } } break; case 9: if(YX_CTHL_FZ_MotorStep == 0) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { bZhuangLiaoOkFlg=0; YX_CTHL_CXC_VAVLE=1; YX_CTHL_LYLun_VAVLE=0; YX_CTHL_AutoDelay = dwTickCount + YX_CTHL_PARAM_TXCYL_BACK_DELAY; //延时退小插压轮 YX_CTHL_AutoStep =10; } } break; case 10: if(dwTickCount >= YX_CTHL_AutoDelay) { if(!YX_CTHL_bDanBu_MODE || YX_CTHL_START_IN_UP) { YX_CTHL_TD_MotorStep=10; YX_CTHL_TD_MotorDelay = dwTickCount + YX_CTHL_PARAM_YSHL_DELAY; //延时合链 YX_CTHL_AutoStep =11; YX_CTHL_AutoDelay1 = dwTickCount + YX_CTHL_MOTOR_ALARM_TIME; YX_CTHL_AutoStep1=1; } } break; /* case 10: if(YX_CTHL_FK_Check_DW) { YX_CTHL_AutoStep =11; YX_CTHL_AutoDelay = dwTickCount + YX_CTHL_PARAM_GYH_DELAY; } break;*/ case 11: /* if(dwTickCount >= YX_CTHL_AutoDelay) { YX_CTHL_FKGD_VAVLE=0; YX_CTHL_CXC_VAVLE=0; }*/ if(YX_CTHL_TD_MotorStep==0 && (!YX_CTHL_CTXM_VAVLE )) { YX_CTHL_AutoStep = 2; AddToTal(YX_CTHL_TOTAL_ADDR); AddToTal(YX_CTHL_TRUST_ALARM_ADDR); AddToTal( YX_CTHL_TEST_ALARM_ADDR); CalProSP(YX_CTHL_SPEED_ADDR); YX_CTHL_cONERROR=0; if(YX_CTHL_cZipCnt<3) YX_CTHL_cZipCnt++; } break; } } //退下模后启动送拉头 switch(YX_CTHL_AutoStep1) { case 1: if(YX_CTHL_CTM_Origin_IN) { YX_CTHL_ZhuangLiaoStep = 1; YX_CTHL_TryCnt = 0; bZhuangLiaoOkFlg=0; YX_CTHL_AutoStep1 = 0; YX_CTHL_MGuo_VAVLE = 0; } /* else if(dwTickCount >= YX_CTHL_AutoDelay1) { //穿头模和一次穿入回位异常 if(!YX_CTHL_CTM_Origin_IN) YX_CTHL_SetAlarmCode(YX_CTHL_CTM_Origin_ALARM,bRunning); } */ break; } } void YX_CTHL_CheckStart(void) { /* if(YX_CTHL_SGY_START_IN) { YX_CTHL_MOTOR_MODE=1; SetEn(Z_AXIS, MOTOR_EN); // SetPos(Z_AXIS, 0); //启动位置设为0点 YX_CTHL_AutoDelay = dwTickCount + 100; if(!Z_DRV) { // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(Z_AXIS,6000,DIR_P,1000,1000,15,15); } } if(YX_CTHL_XGY_STOP_IN || (dwTickCount >= YX_CTHL_AutoDelay && YX_CTHL_MOTOR_MODE) ) { YX_CTHL_MOTOR_MODE=0; AxisEgmStop(Z_AXIS); } */ #if 1 if(YX_CTHL_wltzi) { if(YX_CTHL_START_IN_UP || bStart || YX_CTHL_bSingOne ) { YX_CTHL_wltzi=0; // if(!YX_CTHL_CTM_Origin_IN) YX_CTHL_SetAlarmCode(YX_CTHL_CTM_Origin_ALARM,bRunning); if(!YX_CTHL_FKJC) { if(bRunning) { YX_CTHL_cONERROR=0; YX_CTHL_CTXM_VAVLE =0; YX_CTHL_AutoStep = 1; YX_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 YX_CTHL_ZhuangLiaoDelay = dwTickCount + 150; YX_CTHL_ZhuangLiaoStep=1; } } } } //启动 自动启动 单一自动 if((YX_CTHL_START_IN_UP || bStart || YX_CTHL_bSingOne ) && !YX_CTHL_wltzi) { // if(!YX_CTHL_CTM_Origin_IN) YX_CTHL_SetAlarmCode(YX_CTHL_CTM_Origin_ALARM,bRunning); if(!bRunning) { bRunning = 1; if( YX_CTHL_bSingOne) { bSingOneFlg=1; } SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); SetEn(Z_AXIS, MOTOR_EN); YX_CTHL_FZ_MotorStep = 0; YX_CTHL_cONERROR=0; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; YX_CTHL_TryCnt = 0; bCL_EN_FLG = 0; YX_CTHL_MOTOR_MODE=0; YX_CTHL_stop=0; YX_CTHL_cZipCnt = 0; SetAlarmCode(YX_CTHL_ALARM_ADDR,0); YX_CTHL_AutoDelay = dwTickCount + 0; YX_CTHL_CTXM_VAVLE =0; YX_CTHL_FKGD_VAVLE =0; YX_CTHL_YADAI_VAVLE = 0; YX_CTHL_LYLun_VAVLE = 0; // YX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YX_CTHL_CXC_VAVLE = 0; // YX_CTHL_GDQM_VAVLE =0; YX_CTHL_TQM_VAVLE=0; if(!YX_CTHL_GDQM_VAVLE) { YX_CTHL_TD_MotorStep = 1; YX_CTHL_TD_MotorDelay = dwTickCount + 300; } else YX_CTHL_TD_MotorStep=0; YX_CTHL_AutoStep = 1; YX_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 YX_CTHL_ZhuangLiaoDelay = dwTickCount + 150; YX_CTHL_ZhuangLiaoStep=1; } bStart = 0; YX_CTHL_bSingOne=0; } if(YX_CTHL_ZhouWantwo) { YX_CTHL_ZhouWantwo=0; if(YX_CTHL_ZhouWanone) { YX_CTHL_ZhouWanone=0; bRunning=0; cStopMode=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); bSingOneFlg=0; YX_CTHL_AutoStep = 0; YX_CTHL_FZ_MotorStep =0; YX_CTHL_TD_MotorStep =0; } } //停止 if(YX_CTHL_STOP_IN_UP || bStop) { if(cStopMode < 2) cStopMode++; if(cStopMode==1 && bRunning) YX_CTHL_ZhouWanone=1; if(bRunning && cStopMode == 2) { bRunning=0; cStopMode=0; bSingOneFlg=0; YX_CTHL_wltzi=0; YX_CTHL_MOTOR_MODE=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); AxisEgmStop(Z_AXIS); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); SetEn(Z_AXIS, MOTOR_DISEN); YX_CTHL_AutoStep = 0; YX_CTHL_stop=0; YX_CTHL_FZ_MotorStep =0; YX_CTHL_TD_MotorStep =0; YX_CTHL_ZhuangLiaoStep=0; YX_CTHL_TLiao_VAVLE=0; YX_CTHL_HSLiao_VAVLE =0; YX_CTHL_JLTou_VAVLE =0; YX_CTHL_CTXM_VAVLE =0; YX_CTHL_FKGD_VAVLE =0; YX_CTHL_YADAI_VAVLE = 0; YX_CTHL_LYLun_VAVLE = 0; // YX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YX_CTHL_MGuo_VAVLE = 0; YX_CTHL_CXC_VAVLE = 0; YX_CTHL_GDQM_VAVLE =0; YX_CTHL_TQM_VAVLE=0; SetPos(X_AXIS, 0); SetPos(Y_AXIS, 0); SetPos(Z_AXIS, 0); SetAlarmCode(YX_CTHL_ALARM_ADDR,0); } else if(!bRunning) { bRunning=0; cStopMode=0; bSingOneFlg=0; YX_CTHL_wltzi=0; YX_CTHL_stop=0; YX_CTHL_MOTOR_MODE=0; YX_CTHL_RunStepSave = 0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); AxisEgmStop(Z_AXIS); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); SetEn(Z_AXIS, MOTOR_DISEN); YX_CTHL_TLiao_VAVLE=0; YX_CTHL_HSLiao_VAVLE =0; YX_CTHL_JLTou_VAVLE =0; YX_CTHL_CTXM_VAVLE =0; YX_CTHL_FKGD_VAVLE =0; YX_CTHL_YADAI_VAVLE = 0; YX_CTHL_LYLun_VAVLE = 0; // YX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YX_CTHL_MGuo_VAVLE = 0; YX_CTHL_CXC_VAVLE = 0; YX_CTHL_GDQM_VAVLE =0; YX_CTHL_TQM_VAVLE=0; YX_CTHL_AutoStep = 0; YX_CTHL_ZhuangLiaoStep=0; YX_CTHL_TLiaoStep=0; YX_CTHL_TD_MotorStep=0; YX_CTHL_SongLiaoStep =0; YX_CTHL_FZ_MotorStep =0; YX_CTHL_AutoStep1 =0; SetAlarmCode(YX_CTHL_ALARM_ADDR,0); SetPos(X_AXIS, 0); SetPos(Y_AXIS, 0); SetPos(Z_AXIS, 0); YX_CTHL_TLiaoStep = 0; YX_CTHL_AutoStep = 0; YX_CTHL_bQDinWeiOK = 0; YX_CTHL_LianLengthCheck = 0; YX_CTHL_LianLengthCheckOld = 0; } bStop=0; } if(bAlarmStop) { bRunning = 0; bAlarmStop=0; cStopMode=0; cXcxcrCnt=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); AxisEgmStop(Z_AXIS); YX_CTHL_AutoStep = 0; YX_CTHL_FZ_MotorStep =0; YX_CTHL_TD_MotorStep =0; } #endif } //拖带电机控制动作 X轴 void YX_CTHL_TD_Motor(void) // { #if 1 switch(YX_CTHL_TD_MotorStep) { //1步开始，纯定位, 没有穿入 case 1: if(dwTickCount >= YX_CTHL_TD_MotorDelay) //给锁轴时间 { bCheckEN_FLG = 1; YX_CTHL_CheckInX02PosBuff=0; YX_CTHL_TD_MotorStep = 2; SetPos(X_AXIS, 0); //启动位置设为0点 // SetPos(Y_AXIS, 0); //启动位置设为0点 dwXRealPos=0; AxisContinueMoveAcc(X_AXIS,YX_CTHL_PARAM_TD_RunSpeed * 66/100,DIR_P,1500,600,25,20); AxisContinueMoveAcc(Y_AXIS,YX_CTHL_PARAM_TD_RunSpeed * 1/2,DIR_N,1500,600,25,20); // AxisContinueMoveAcc(Y_AXIS,YX_CTHL_PARAM_TD_RunSpeed * 2/3,DIR_N,1500,600,15,15); YX_CTHL_bQDinWeiOK = 0; } break; case 2: if(dwXRealPos > 100) { if(YX_CTHL_FK_Check_UP ) { AxisContinueMoveAcc(X_AXIS,YX_CTHL_PARAM_BinLin_SPEED,DIR_P,3000,600,20,25); AxisContinueMoveAcc(Y_AXIS,YX_CTHL_PARAM_BinLin_SPEED,DIR_N,3000,600,20,25); SetStartSpeed(X_AXIS,YX_CTHL_PARAM_BinLin_SPEED); SetStartSpeed(Y_AXIS,YX_CTHL_PARAM_BinLin_SPEED); AxisChangeSpeed(X_AXIS,YX_CTHL_PARAM_BinLin_SPEED); AxisChangeSpeed(Y_AXIS,YX_CTHL_PARAM_BinLin_SPEED); YX_CTHL_TD_MotorStep = 3; YX_CTHL_YADAI_VAVLE=1; } } if(dwXRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } break; case 3://检测到过链 if(dwXRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if(YX_CTHL_FKDWE_IN_UP) { YX_CTHL_TD_MotorDelay = dwTickCount + YX_CTHL_PARAM_GYH_DELAY; YX_CTHL_XSavePosBuff = dwXRealPos; AxisMovePosAccDec(X_AXIS,YX_CTHL_PARAM_FKDW_Speed,YX_CTHL_PARAM_FKDW_Length, 1000,1000,20,130,50); AxisMovePosAccDec(Y_AXIS,YX_CTHL_PARAM_FKDW_Speed*1/2,-YX_CTHL_PARAM_FKDW_Length, 1000,1000,20,130,50); // AxisMovePosAccDec(Y_AXIS,YX_CTHL_PARAM_TD_RunSpeed * 2/3,-YX_CTHL_PARAM_FKDW_Length, // YX_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,10,50,150); YX_CTHL_TD_MotorStep = 4; } break; case 4: if(dwTickCount >= YX_CTHL_TD_MotorDelay) { YX_CTHL_GDQM_VAVLE=1; } if(!X_DRV || (dwXRealPos >= (YX_CTHL_XSavePosBuff + YX_CTHL_PARAM_FKDW_Length))) { YX_CTHL_TD_MotorStep = 0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); } break; //穿拉头定位 case 10: if(dwTickCount >= YX_CTHL_TD_MotorDelay) { YX_CTHL_TD_MotorDelay = dwTickCount + YX_CTHL_PARAM_TCXC_BACK_DELAY; YX_CTHL_TD_MotorStep = 50; SetPos(X_AXIS, 0); //启动位置设为0点 AxisContinueMoveAcc(X_AXIS,3000,DIR_P,1500,600,20,20); AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1500,600,20,20); YX_CTHL_XSavePosBuff = dwXRealPos; bCheckEN_FLG = 1; } break; case 50: if(dwTickCount >= YX_CTHL_TD_MotorDelay) { YX_CTHL_FKGD_VAVLE=0; YX_CTHL_CXC_VAVLE=0; } if(!YX_CTHL_FKGD_VAVLE) { YX_CTHL_TD_MotorDelay = dwTickCount + 20; YX_CTHL_TD_MotorStep = 11; } break; case 11: if(dwTickCount >= YX_CTHL_TD_MotorDelay) { YX_CTHL_XSavePosBuff3=dwXRealPos; if((YX_CTHL_cZipCnt < 2) || (YX_CTHL_LianLengthAutoCRCDcheck < 350)) { AxisContinueMoveAcc(X_AXIS,YX_CTHL_PARAM_HLT_SPEED_Speed * 66/100,DIR_P,3000,600,20,20); AxisContinueMoveAcc(Y_AXIS,YX_CTHL_PARAM_HLT_SPEED_Speed * 1/2,DIR_N,3000,600,20,20); } else { AxisMovePosAccDecNotStop(X_AXIS,YX_CTHL_PARAM_HLT_SPEED_Speed,YX_CTHL_LianLengthAutoCRCDcheck-YX_CTHL_XSavePosBuff3,1000,YX_CTHL_PARAM_FKDW_Speed,30,300,250); AxisMovePosAccDecNotStop(Y_AXIS,YX_CTHL_PARAM_HLT_SPEED_Speed*1/2,-(YX_CTHL_LianLengthAutoCRCDcheck-YX_CTHL_XSavePosBuff3),1000,YX_CTHL_PARAM_FKDW_Speed,30,300,250); } YX_CTHL_TD_MotorStep = 12; YX_CTHL_FKJC=0; } if(YX_CTHL_cZipCnt < 2) { if(dwXRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length) { YX_CTHL_SetAlarmCode(YX_CTHL_FKYC_ALARM,bRunning); //无拉链自动停机 } } else { if((YX_CTHL_LianLengthAutoFZcheck= 300) { YX_CTHL_LYLun_VAVLE=1; YX_CTHL_RYLun_VAVLE=1; YX_CTHL_MGuo_VAVLE=0; YX_CTHL_CTXM_VAVLE=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); YX_CTHL_TD_MotorStep = 13; } } if(dwXRealPos >= (100+YX_CTHL_LianLengthAutoCRCDcheck)) { YX_CTHL_MGuo_VAVLE=0; YX_CTHL_CTXM_VAVLE=0; } if(dwXRealPos >=(YX_CTHL_PARAM_WLCDSHEZHI_LENTH+ YX_CTHL_LianLengthAutoCRCDcheck)) { YX_CTHL_SetAlarmCode(YX_CTHL_FKYC_ALARM,bRunning); //无拉链自动停机 } } break; case 12: if(YX_CTHL_cZipCnt < 2) { if(dwXRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length) { YX_CTHL_SetAlarmCode(YX_CTHL_FKYC_ALARM,bRunning); //无拉链自动停机 } } else { if((YX_CTHL_LianLengthAutoFZcheck= 300) { YX_CTHL_LYLun_VAVLE=1; YX_CTHL_RYLun_VAVLE=1; YX_CTHL_MGuo_VAVLE=0; YX_CTHL_CTXM_VAVLE=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); YX_CTHL_TD_MotorStep = 13; if(YX_CTHL_cZipCnt ==1 ) YX_CTHL_LianLengthAutoCRCDcheck=dwXRealPos; if(YX_CTHL_cZipCnt >1 && dwXRealPos < YX_CTHL_LianLengthAutoCRCDcheck*0.8) { YX_CTHL_cZipCnt=0; } } } if(dwXRealPos >= (100+YX_CTHL_LianLengthAutoCRCDcheck)) { YX_CTHL_MGuo_VAVLE=0; YX_CTHL_CTXM_VAVLE=0; } if(dwXRealPos >=(YX_CTHL_PARAM_WLCDSHEZHI_LENTH+ YX_CTHL_LianLengthAutoCRCDcheck)) { YX_CTHL_SetAlarmCode(YX_CTHL_FKYC_ALARM,bRunning); //无拉链自动停机 } } if(YX_CTHL_FK_Check_UP) { YX_CTHL_LYLun_VAVLE=1; YX_CTHL_RYLun_VAVLE=1; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); YX_CTHL_TD_MotorDelay= dwTickCount+YX_CTHL_PARAM_TJSJ_TIME; if(YX_CTHL_cZipCnt ==1 ) YX_CTHL_LianLengthAutoCRCDcheck=dwXRealPos; if(YX_CTHL_cZipCnt >1 && dwXRealPos < YX_CTHL_LianLengthAutoCRCDcheck*0.8) { YX_CTHL_cZipCnt=0; } YX_CTHL_MGuo_VAVLE=0; YX_CTHL_CTXM_VAVLE=0; YX_CTHL_XSavePosBuff = dwXRealPos; if(cStopMode==1 || bSingOneFlg) { // cStopMode=2; YX_CTHL_ZhouWantwo=1; } else { YX_CTHL_TD_MotorStep = 13; } if(bSingOneFlg) { YX_CTHL_AutoStep = 0; bRunning = 0; YX_CTHL_TD_MotorStep = 0; bSingOneFlg = 0; } } break; case 13: if(dwXRealPos > 350) { YX_CTHL_CheckInX02PosBuff=0; } if(YX_CTHL_CTM_Origin_IN)//YX_CTHL_FKDWE_IN_UP) { YX_CTHL_LianLengthAutoSECONDcheck=dwXRealPos; YX_CTHL_TD_MotorStep = 14; if((YX_CTHL_cZipCnt < 2) || (YX_CTHL_LianLengthAutoSECONDONEcheck < 350)) { AxisContinueMoveAcc(X_AXIS,YX_CTHL_PARAM_TD_RunSpeed * 66/100,DIR_P,3000,600,20,25); AxisContinueMoveAcc(Y_AXIS,YX_CTHL_PARAM_TD_RunSpeed * 66/100,DIR_N,3000,600,20,25); } else { AxisMovePosAccDecNotStop(X_AXIS,YX_CTHL_PARAM_TD_RunSpeed,YX_CTHL_LianLengthAutoSECONDONEcheck,1500,YX_CTHL_PARAM_FKDW_Speed,25,300,250); AxisMovePosAccDecNotStop(Y_AXIS,YX_CTHL_PARAM_TD_RunSpeed,-YX_CTHL_LianLengthAutoSECONDONEcheck,1500,YX_CTHL_PARAM_FKDW_Speed,25,300,250); } } if(dwXRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } break; case 14: if(dwXRealPos>(YX_CTHL_LianLengthAutoSECONDcheck+800)) { if(YX_CTHL_FK_Check_UP) { AxisContinueMoveAcc(X_AXIS,YX_CTHL_PARAM_BinLin_SPEED,DIR_P,3000,600,20,25); AxisContinueMoveAcc(Y_AXIS,YX_CTHL_PARAM_BinLin_SPEED,DIR_N,3000,600,20,25); SetStartSpeed(X_AXIS,YX_CTHL_PARAM_BinLin_SPEED); SetStartSpeed(Y_AXIS,YX_CTHL_PARAM_BinLin_SPEED); AxisChangeSpeed(X_AXIS,YX_CTHL_PARAM_BinLin_SPEED); AxisChangeSpeed(Y_AXIS,YX_CTHL_PARAM_BinLin_SPEED); YX_CTHL_YADAI_VAVLE=1; YX_CTHL_TD_MotorStep = 15; } } if(YX_CTHL_cZipCnt > 1) { if(dwXRealPos >= (YX_CTHL_PARAM_WLCDSHEZHI_LENTH+YX_CTHL_LianLengthAutoCheck)) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if(dwXRealPos>(YX_CTHL_LianLengthAutoCheck- YX_CTHL_PARAM_YAdai_lenth)) { YX_CTHL_YADAI_VAVLE=1; } } else { if(dwXRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length+ YX_CTHL_LianLengthAutoFZcheck) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } break; case 15://检测到过链 if(YX_CTHL_cZipCnt > 1) { if(dwXRealPos >= (YX_CTHL_PARAM_WLCDSHEZHI_LENTH+YX_CTHL_LianLengthAutoCheck)) { YX_CTHL_AUTO_start=2; YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } else { if(dwXRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length+ YX_CTHL_LianLengthAutoFZcheck) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if(dwXRealPos>(YX_CTHL_LianLengthAutoCheck- YX_CTHL_PARAM_YAdai_lenth)) { YX_CTHL_YADAI_VAVLE=1; } } if(YX_CTHL_FKDWE_IN_UP) { YX_CTHL_YADAI_VAVLE=1; YX_CTHL_TD_MotorDelay = dwTickCount + YX_CTHL_PARAM_GYH_DELAY; YX_CTHL_XSavePosBuff = dwXRealPos; if(YX_CTHL_cZipCnt ==1) YX_CTHL_LianLengthAutoSECONDONEcheck= dwXRealPos-YX_CTHL_LianLengthAutoSECONDcheck; AxisMovePosAccDec(X_AXIS,YX_CTHL_PARAM_FKDW_Speed,YX_CTHL_PARAM_FKDW_Length, 1000,1000,20,250,50); AxisMovePosAccDec(Y_AXIS,YX_CTHL_PARAM_FKDW_Speed,-YX_CTHL_PARAM_FKDW_Length, 1000,1000,20,250,50); YX_CTHL_TD_MotorStep = 16; } break; case 16: if(dwTickCount >= YX_CTHL_TD_MotorDelay) { YX_CTHL_GDQM_VAVLE=1; } if(!X_DRV || (dwXRealPos >= (YX_CTHL_XSavePosBuff + YX_CTHL_PARAM_FKDW_Length))) { YX_CTHL_LYLun_VAVLE=0; YX_CTHL_RYLun_VAVLE=0; YX_CTHL_TD_MotorStep = 0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); YX_CTHL_LianLengthAutoTHREEcheck= dwXRealPos; if(YX_CTHL_cZipCnt ==1) YX_CTHL_LianLengthAutoCheck = dwXRealPos; } break; } #endif } //穿入电机动作，Y轴 void YX_CTHL_FZ_Motor(void) // { #if 1 //1步开始, 穿链反转长度开始 //20步开始 插销定位开始 switch(YX_CTHL_FZ_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= YX_CTHL_FZ_MotorDelay) { SetPos(Y_AXIS, 0); //启动位置设为0点 AxisContinueMoveAcc(Y_AXIS,YX_CTHL_PARAM_CRSD_SPEED,DIR_P,1000,1200,15,20); AxisContinueMoveAcc(X_AXIS,YX_CTHL_PARAM_CRSD_SPEED*YX_CTHL_PARAM_FMOTOR_BILI,DIR_N,1000,1200,15,20); YX_CTHL_FZ_MotorStep=2; YX_CTHL_YADAI_VAVLE=0; } break; case 2: if(YX_CTHL_cZipCnt < 2) { if(dwYRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } else { if(dwYRealPos >= (YX_CTHL_PARAM_WLCDSHEZHI_LENTH+ YX_CTHL_LianLengthAutoFZcheck)) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } if(dwYRealPos>YX_CTHL_PARAM_XKCR_LENGTH) { YX_CTHL_TQM_VAVLE=0; YX_CTHL_GDQM_VAVLE=0; if(YX_CTHL_cZipCnt<2) { AxisContinueMoveAcc(X_AXIS,YX_CTHL_PARAM_FZ_Speed * 2/3,DIR_N,3000,600,25,30); AxisContinueMoveAcc(Y_AXIS,(YX_CTHL_PARAM_FZ_Speed * 2/3),DIR_P,3000,600,25,30); } else { AxisMovePosAccDecNotStop(X_AXIS,YX_CTHL_PARAM_FZ_Speed,-(YX_CTHL_LianLengthAutoFZcheck-YX_CTHL_PARAM_XKCR_LENGTH),1500*YX_CTHL_PARAM_FMOTOR_BILI,YX_CTHL_PARAM_FKDW_Speed,20,300,250); AxisMovePosAccDecNotStop(Y_AXIS,YX_CTHL_PARAM_FZ_Speed,YX_CTHL_LianLengthAutoFZcheck-YX_CTHL_PARAM_XKCR_LENGTH,1500,YX_CTHL_PARAM_FKDW_Speed,20,300,250); } YX_CTHL_FZ_MotorStep=3; } break; case 3: if(YX_CTHL_cZipCnt < 2) { if(dwYRealPos >= YX_CTHL_PARAM_first_CL_MAX_Length) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } else { if(dwYRealPos >= (YX_CTHL_PARAM_WLCDSHEZHI_LENTH+ YX_CTHL_LianLengthAutoFZcheck)) { YX_CTHL_SetAlarmCode(YX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } if(YX_CTHL_FKQL_IN_UP) { AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); YX_CTHL_FKGD_VAVLE=1; YX_CTHL_FZ_MotorStep = 0; if(YX_CTHL_cZipCnt ==1 || dwYRealPos<(YX_CTHL_LianLengthAutoFZcheck*0.7)) YX_CTHL_LianLengthAutoFZcheck = dwYRealPos; } break; case 20: //此处最好算好定位长度相减 if(dwTickCount >= YX_CTHL_FZ_MotorDelay) { YX_CTHL_FZ_MotorStep = 21; SetPos(Y_AXIS, 0); //启动位置设为0点 } break; case 21: if(YX_CTHL_PARAM_CXDW_Length) { // YX_CTHL_FZ_MotorDelay=dwTickCount+ YX_CTHL_PARAM_CXCSC_DELAY; YX_CTHL_FZ_MotorStep = 22; AxisMovePosAccDec(Y_AXIS,5000,YX_CTHL_PARAM_CXDW_Length,800,800,25,25,0); if(YX_CTHL_PARAM_CXDW_Length> 20) AxisMovePosAccDec(X_AXIS,5000,-(YX_CTHL_PARAM_CXDW_Length- YX_CTHL_PARAM_CXDW_Length/30),800,800,25,25,0); } break; case 22: if(!Y_DRV || (dwYRealPos >= YX_CTHL_PARAM_CXDW_Length)) //插销定位已经结束 { AxisEgmStop(Y_AXIS); AxisEgmStop(X_AXIS); YX_CTHL_FZ_MotorStep = 0; } break; } #endif } //装拉头动作 void YX_CTHL_ZLT_Step(void) { switch(YX_CTHL_ZhuangLiaoStep) { case 1: if(bZhuangLiaoOkFlg) { YX_CTHL_ZhuangLiaoStep = 0; } else if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) { if(((YX_CTHL_MGuo_VAVLE && YX_CTHL_LTou_Check) || (!YX_CTHL_MGuo_VAVLE)) && !YX_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(YX_CTHL_CTM_Origin_IN && !YX_CTHL_CTXM_VAVLE) { YX_CTHL_JLTou_VAVLE = 0; YX_CTHL_MGuo_VAVLE = 0; if(YX_CTHL_TLiaoStep == 0) { YX_CTHL_TLiaoStep = 1; YX_CTHL_ZhuangLiaoStep = 2; } } else if(dwTickCount >= YX_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 { YX_CTHL_wltzi=1; YX_CTHL_SetAlarmCode(YX_CTHL_CTM_Origin_ALARM,bRunning); } } else //已经有拉头直接跳到结束 { YX_CTHL_ZhuangLiaoDelay = dwTickCount + 40; YX_CTHL_ZhuangLiaoStep = 9; } } break; case 2: if(YX_CTHL_TLiaoStep == 0) //推料已经完成 { YX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; YX_CTHL_JLTou_VAVLE = 0; YX_CTHL_MGuo_VAVLE = 0; if(!YX_CTHL_JLiao_Limit_IN) { YX_CTHL_ZhuangLiaoStep = 3; YX_CTHL_HSLiao_VAVLE = 1; } } break; case 3: //横送到位 if(YX_CTHL_HSLiao_Limit_IN && !YX_CTHL_HSLiao_Origin_IN) { YX_CTHL_ZhuangLiaoStep = 4; // YX_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 YX_CTHL_ZhuangLiaoDelay = dwTickCount + 10; } else if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) { YX_CTHL_wltzi=1; YX_CTHL_SetAlarmCode(YX_CTHL_HSLiao_Limit_ALARM,bRunning); YX_CTHL_ZhuangLiaoStep = 0; YX_CTHL_HSLiao_VAVLE = 0; } break; case 4: if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) { YX_CTHL_ZhuangLiaoStep = 5; YX_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 YX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 5: if(YX_CTHL_JLiao_Limit_IN) { YX_CTHL_ZhuangLiaoStep = 6; YX_CTHL_ZhuangLiaoDelay = dwTickCount + YX_CTHL_PARAM_MaGou_DELAY; } else if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) //接拉头(接料)到们信号异常 { YX_CTHL_SetAlarmCode(YX_CTHL_JLiao_Origin_ALARM,bRunning); YX_CTHL_HSLiao_VAVLE = 0; YX_CTHL_JLTou_VAVLE = 0; YX_CTHL_ZhuangLiaoStep = 0; } break; case 6: if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) //延时码勾 { YX_CTHL_MGuo_VAVLE = 1; //码勾输出 YX_CTHL_ZhuangLiaoStep = 7; YX_CTHL_ZhuangLiaoDelay = dwTickCount + YX_CTHL_PARAM_HSLiaoOff_DELAY; bTuiLaTouOkFlg = 0; //认为拉头没法带出 } break; case 7: if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) { YX_CTHL_HSLiao_VAVLE = 0; YX_CTHL_ZhuangLiaoStep = 8; YX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 8: if(!YX_CTHL_HSLiao_Limit_IN) // { YX_CTHL_ZhuangLiaoStep = 9; YX_CTHL_TLiaoStep = 1; //推拉头 YX_CTHL_ZhuangLiaoDelay = dwTickCount + YX_CTHL_PARAM_CheckLT_DELAY; //也是给下模能上升的时间 } else if (YX_CTHL_LTou_Check) //时间内信号这说明没有拉头 { //重送3次 YX_CTHL_TryCnt++; YX_CTHL_JLTou_VAVLE = 0; //接拉头关 YX_CTHL_MGuo_VAVLE = 0; //码勾打开 if(YX_CTHL_TryCnt >= 3) { YX_CTHL_TryCnt = 0; bZhuangLiaoOkFlg = 0; YX_CTHL_ZhuangLiaoStep = 0; YX_CTHL_wltzi=1; YX_CTHL_SetAlarmCode(YX_CTHL_ZLT_ALARM,bRunning); } else { YX_CTHL_ZhuangLiaoStep = 20; //重新送3次 YX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) { YX_CTHL_wltzi=1; YX_CTHL_SetAlarmCode(YX_CTHL_HSLiao_Limit_ALARM,bRunning); if(bRunning) { YX_CTHL_ZhuangLiaoStep = 0 ; } } break; case 9: if(YX_CTHL_LTou_Check) //时间内信号这说明没有拉头 { YX_CTHL_TryCnt++; YX_CTHL_JLTou_VAVLE = 0; //接拉头关 YX_CTHL_MGuo_VAVLE = 0; //码勾打开 if(YX_CTHL_TryCnt >= 3) { YX_CTHL_TryCnt=0; bZhuangLiaoOkFlg = 0; YX_CTHL_ZhuangLiaoStep = 0; YX_CTHL_wltzi=1; YX_CTHL_SetAlarmCode(YX_CTHL_ZLT_ALARM,bRunning); } else { YX_CTHL_ZhuangLiaoStep = 20; //重新送3次 YX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) { bZhuangLiaoOkFlg = 1; YX_CTHL_ZhuangLiaoStep = 0; } break; //装拉头不成攻重新送拉头 case 20: if(YX_CTHL_HSLiao_Origin_IN) { YX_CTHL_JLTou_VAVLE = 0; //接拉头关 YX_CTHL_MGuo_VAVLE = 0; //码勾打开 YX_CTHL_ZhuangLiaoStep = 1; YX_CTHL_ZhuangLiaoDelay = dwTickCount + 10; } else if(dwTickCount >= YX_CTHL_ZhuangLiaoDelay) { YX_CTHL_wltzi=1; YX_CTHL_SetAlarmCode(YX_CTHL_HSLiao_Origin_ALARM,bRunning); } break; } } void YX_CTHL_TLiao_Step(void) { switch(YX_CTHL_TLiaoStep) { case 1: if(bTuiLaTouOkFlg) { YX_CTHL_TLiaoStep = 0; } else { YX_CTHL_TLiao_Delay = dwTickCount + YX_CTHL_VAVLE_ERROR_TIME; YX_CTHL_TLiaoStep = 2; } break; case 2: //横送料在原位 if(YX_CTHL_HSLiao_Origin_IN && !YX_CTHL_HSLiao_Limit_IN && !YX_CTHL_HSLiao_VAVLE) { YX_CTHL_TLiao_VAVLE = 1; //推料(推拉头)输出 YX_CTHL_TLiao_Delay = dwTickCount + YX_CTHL_VAVLE_ERROR_TIME; YX_CTHL_TLiaoStep = 3; } else if(dwTickCount >= YX_CTHL_TLiao_Delay) { YX_CTHL_SetAlarmCode(YX_CTHL_HSLiao_Origin_ALARM,1); YX_CTHL_wltzi=1; } break; case 3: //推拉头到位 if(!YX_CTHL_TLiao_Origin_IN) { YX_CTHL_TLiao_Delay = dwTickCount + YX_CTHL_PARAM_TLiao_BACKDELAY; YX_CTHL_TLiaoStep = 4; } else if(dwTickCount >= YX_CTHL_TLiao_Delay) { YX_CTHL_SetAlarmCode(YX_CTHL_TLiao_Limit_ALARM,1); YX_CTHL_wltzi=1; } break; case 4: if(dwTickCount >= YX_CTHL_TLiao_Delay) { YX_CTHL_TLiao_VAVLE = 0; YX_CTHL_TLiao_Delay = dwTickCount + YX_CTHL_VAVLE_ERROR_TIME; YX_CTHL_TLiaoStep = 5; } break; case 5: if(YX_CTHL_TLiao_Origin_IN) { YX_CTHL_TLiaoStep = 0; YX_CTHL_TLiao_Delay = dwTickCount; bTuiLaTouOkFlg = 1; } else if(dwTickCount >= YX_CTHL_TLiao_Delay) { YX_CTHL_SetAlarmCode(YX_CTHL_TLiao_Limit_ALARM,0); YX_CTHL_wltzi=1; } break; } } //振动盘控制 void YX_CTHL_ZhenDongAction(void) { #if 0 if((YX_CTHL_bDLP || bRunning) && YX_CTHL_ZhenDongPian_OUT && YX_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) // { if(!XY_CTHL_PARAM_ZDP_AUTO) { if(YX_CTHL_ZhenDongPian_OUT == 0) { if(!YX_CTHL_ZDP_IN) { if(dwTickCount >= YX_CTHL_ZDP_Delay) { YX_CTHL_ZhenDongPian_OUT = 1; YX_CTHL_ZDP_Delay = dwTickCount + YX_CTHL_PARAM_ZDP_Stop_TIME;//YX_CTHL_PARAM_ZDP_Stop_TIME + 50; } } else { YX_CTHL_ZDP_Delay = dwTickCount + YX_CTHL_PARAM_ZDP_Start_TIME;//YX_CTHL_PARAM_ZDP_Start_TIME; } } else { if(YX_CTHL_ZDP_IN) { if(dwTickCount >= YX_CTHL_ZDP_Delay) { YX_CTHL_ZhenDongPian_OUT = 0; YX_CTHL_ZDP_Delay = dwTickCount + YX_CTHL_PARAM_ZDP_Start_TIME;//YX_CTHL_PARAM_ZDP_Start_TIME } } else YX_CTHL_ZDP_Delay = dwTickCount + YX_CTHL_PARAM_ZDP_Stop_TIME;//YX_CTHL_PARAM_ZDP_Stop_TIME+ 50; } } else if (YX_CTHL_PARAM_ZDP_AUTO ==1 ) { YX_CTHL_ZhenDongPian_OUT=0; YX_CTHL_ZDP_Delay = dwTickCount + 0; } else if(YX_CTHL_PARAM_ZDP_AUTO == 2) { YX_CTHL_ZhenDongPian_OUT=1; YX_CTHL_ZDP_Delay = dwTickCount + 0; } #endif } //手动动作 void YX_CTHL_ManualAction(void) { if(bRunning == 0) { if(bClearTotal) //切断计数清零 { bClearTotal = 0; ClrcToTal(QDCT_TOTAL_ADDR); } if(YX_CTHL_bHSL) //手动横送料 { YX_CTHL_bHSL= 0; if(YX_CTHL_HSLiao_VAVLE) { YX_CTHL_HSLiao_VAVLE = 0;//~XY_CTHL_HSLiao_VAVLE; } else if(!YX_CTHL_TLiao_VAVLE && !YX_CTHL_JLTou_VAVLE && !YX_CTHL_CTXM_VAVLE && (!YX_CTHL_bMG || (YX_CTHL_bMG && YX_CTHL_LTou_Check))) { if(YX_CTHL_CTM_Origin_IN) YX_CTHL_HSLiao_VAVLE = 1; } else { YX_CTHL_SetAlarmCode(YX_CTHL_JLiao_Origin_ALARM,0); } } if(YX_CTHL_bTLiao ) //手动推料(推拉头) { YX_CTHL_bTLiao = 0; if(YX_CTHL_TLiao_VAVLE) YX_CTHL_TLiao_VAVLE = 0;//YX_CTHL_TLiao_VAVLE; else if(!YX_CTHL_HSLiao_VAVLE && YX_CTHL_HSLiao_Origin_IN) { YX_CTHL_TLiao_VAVLE = 1; } else//条件警告 { YX_CTHL_SetAlarmCode(YX_CTHL_HSLiao_Origin_ALARM,0); // 横送料不能输出 } } if(YX_CTHL_bJLT) //接拉头 { YX_CTHL_bJLT = 0; if(YX_CTHL_JLTou_VAVLE) YX_CTHL_JLTou_VAVLE = 0; else if( !YX_CTHL_CTXM_VAVLE && YX_CTHL_CTM_Origin_IN) { YX_CTHL_MGuo_VAVLE = 0; YX_CTHL_JLTou_VAVLE = 1; } else//条件警告 { YX_CTHL_SetAlarmCode(YX_CTHL_CTM_Origin_ALARM,0); } } if(YX_CTHL_bMG) //码勾 { YX_CTHL_bMG = 0; YX_CTHL_MGuo_VAVLE = !YX_CTHL_MGuo_VAVLE; } if(YX_CTHL_bLYLun) //前压轮 { YX_CTHL_bLYLun = 0; YX_CTHL_LYLun_VAVLE = ~YX_CTHL_LYLun_VAVLE; } if(YX_CTHL_bFKGD) //方块固定 { YX_CTHL_bFKGD = 0; YX_CTHL_FKGD_VAVLE = ~YX_CTHL_FKGD_VAVLE; } if(YX_CTHL_bCXC) //插小插 { YX_CTHL_bCXC=0; YX_CTHL_CXC_VAVLE = ~YX_CTHL_CXC_VAVLE; } if(YX_CTHL_bXCDWGYZ) //固定前码 { YX_CTHL_bXCDWGYZ=0; YX_CTHL_GDQM_VAVLE = ~YX_CTHL_GDQM_VAVLE ; } if(YX_CTHL_bFKGM) //方块勾模 { YX_CTHL_bFKGM=0; YX_CTHL_TQM_VAVLE = ~YX_CTHL_TQM_VAVLE ; } if(YX_CTHL_bRYLun) //后压轮 { YX_CTHL_bRYLun= 0; YX_CTHL_RYLun_VAVLE = ~YX_CTHL_RYLun_VAVLE; } if(YX_CTHL_bCTXM) //下模 { YX_CTHL_bCTXM = 0; if(YX_CTHL_CTXM_VAVLE) { YX_CTHL_CTXM_VAVLE = 0; YX_CTHL_JLTou_VAVLE = 0; } else if(!YX_CTHL_HSLiao_VAVLE && YX_CTHL_HSLiao_Origin_IN) { YX_CTHL_CTXM_VAVLE = 1; } } //压带 if(YX_CTHL_bYD) { YX_CTHL_bYD = 0; YX_CTHL_YADAI_VAVLE =~YX_CTHL_YADAI_VAVLE; } //自动装料 if(YX_CTHL_bAutoZhuangLiao) { YX_CTHL_bAutoZhuangLiao = 0; if(YX_CTHL_ZhuangLiaoStep == 0) { bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg = 0; YX_CTHL_ZhuangLiaoStep = 1; YX_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 YX_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } } if(YX_CTHL_bYJDW) //一键定位 { YX_CTHL_bYJDW=0; if(YX_CTHL_TD_MotorStep==0) { YX_CTHL_CTXM_VAVLE =0; YX_CTHL_FKGD_VAVLE =0; YX_CTHL_YADAI_VAVLE = 0; YX_CTHL_LYLun_VAVLE = 0; // YX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YX_CTHL_CXC_VAVLE = 0; YX_CTHL_GDQM_VAVLE =0; YX_CTHL_TQM_VAVLE=0; if((GetEn(X_AXIS) == MOTOR_DISEN)) { SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); YX_CTHL_TD_MotorDelay = dwTickCount + 200; } else YX_CTHL_TD_MotorDelay = dwTickCount + 50; YX_CTHL_TD_MotorStep=1; } } //X轴Y轴电机测试 if(YX_CTHL_bCLMotor_N) { SetEn(Y_AXIS, MOTOR_EN); SetEn(X_AXIS, MOTOR_EN); if(!X_DRV) { // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,2000,DIR_P,1000,1000,15,15); AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,1000,15,15); } } if(YX_CTHL_bCLMotor_P) //后退限位已经取消 { SetEn(Y_AXIS, MOTOR_EN); SetEn(X_AXIS, MOTOR_EN); if(!X_DRV) { // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(Y_AXIS,2000,DIR_P,1000,1000,15,15); AxisContinueMoveAcc(X_AXIS,2000,DIR_N,1000,1000,15,15); } } if(!YX_CTHL_bCLMotor_P && !YX_CTHL_bCLMotor_N && (YX_CTHL_TD_MotorStep == 0) && YX_CTHL_ColorStep==0) { AxisEgmStop(Y_AXIS); AxisEgmStop(X_AXIS); } //Z轴电机测试 if(YX_CTHL_bCLMotor_Z) { SetEn(Z_AXIS, MOTOR_EN); if(!Z_DRV) { // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(Z_AXIS,2000,DIR_P,1000,1000,15,15); } } if(!YX_CTHL_bCLMotor_Z && (YX_CTHL_TD_MotorStep == 0) && !YX_CTHL_MOTOR_MODE) { AxisEgmStop(Z_AXIS); } } } #endif