#include "global.h" #if YU_WEN_XUAN_MACHINE == 1 void YWX_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag); void YWX_CTHL_ManualAction(void); void YWX_CTHL_AutoStepAction(void); void YWX_CTHL_TableAction(void); void YWX_CTHL_TD_Motor(void); void YWX_CTHL_FZ_Motor(void); void YWX_CTHL_CheckStart(void); void YWX_CTHL_TLiao_Step(void); //推料(推拉头) void YWX_CTHL_AlarmProtect(void); void YWX_CTHL_ZLT_Step(void); void YWX_CTHL_ZhenDongAction(void); void YWX_CTHL_bFKCXTDDWStep(void); void YWX_CTHL_bCXCRStep(void); void YWX_CTHL_bCLFirstStep(void); void ExtiAcitionX02_CTHeLian_TwoMotor(void) { if(bCheckEN_FLG) { bCheckEN_FLG = 0; YWX_CTHL_CheckInX02PosBuff = GetPos(X_AXIS); } } //故障报警 void YWX_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag) { SetAlarmCode(YWX_CTHL_ALARM_ADDR,alarm_code); // bAlarmStop = 0; // if(!cWULATOUCnt) { bAlarmStop = cStopFlag; } } //初始化动作 void YWX_CTHL_InitAction(void) { float buff_pulse,buff_dist; buff_pulse = YWX_CTHL_PARAM_TDCYCLE_PULSE; buff_dist = YWX_CTHL_PARAM_TDCYCLE_LENGTH; XGearRatio = buff_pulse/buff_dist; buff_pulse = YWX_CTHL_PARAM_FZCYCLE_PULSE; buff_dist = YWX_CTHL_PARAM_FZCYCLE_LENGTH; YGearRatio = buff_pulse/buff_dist; SetAlarmCode(YWX_CTHL_ALARM_ADDR,0); YWX_CTHL_bZDP= 1; 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, 1); 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 } void YWX_CTHL_Action(void) { // user_datas[121] = YWX_CTHL_LianLengthCheck; // user_datas[122] =axis_x->cur_speed; // user_datas[123] = YWX_CTHL_bCXCR_Step; dwXRealPos = GetPos(X_AXIS); dwYRealPos = GetPos(Y_AXIS); dwZRealPos = GetPos(Z_AXIS); user_datas[121] = dwXRealPos; user_datas[122] = dwYRealPos; user_datas[123] = YWX_CTHL_TD_MotorStep; // user_datas[124] = cDinWeiStep; user_datas[125] = YWX_CTHL_LianLengthCheckOld; // user_datas[126] = YWX_CTHL_TD_MotorStep;//YWX_CTHL_FZ_MotorStep; user_datas[127] = YWX_CTHL_LianLengthCheck; user_datas[128] = YWX_CTHL_AutoStep; YWX_CTHL_ZhenDongAction(); YWX_CTHL_AlarmProtect(); YWX_CTHL_CheckStart(); YWX_CTHL_ZLT_Step(); YWX_CTHL_TLiao_Step(); YWX_CTHL_TD_Motor(); YWX_CTHL_FZ_Motor(); YWX_CTHL_bFKCXTDDWStep(); YWX_CTHL_bCXCRStep(); YWX_CTHL_ManualAction(); YWX_CTHL_AutoStepAction(); YWX_CTHL_Test++; } void YWX_CTHL_AlarmProtect(void) { } //自动动作 void YWX_CTHL_AutoStepAction(void) { if(bRunning) { switch(YWX_CTHL_AutoStep) { case 50: YWX_CTHL_XKDW_VAVLE =0; YWX_CTHL_DXK_VAVLE =0; YWX_CTHL_FKGD_VAVLE =0; YWX_CTHL_FWCX_VAVLE = 0; YWX_CTHL_BAIBI_VAVLE = 0; //摆臂 YWX_CTHL_HELT_VAVLE = 0; YWX_CTHL_LYLun_VAVLE= 0; //Y15方块压轮 YWX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YWX_CTHL_CTXM_VAVLE = 0; if(YWX_CTHL_CTM_Origin_IN) { YWX_CTHL_AutoStep = 1; YWX_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } else if(dwTickCount >= YWX_CTHL_AutoDelay) { //穿头模和一次穿入回位异常 YWX_CTHL_SetAlarmCode(YWX_CTHL_CTM_Origin_ALARM,bRunning); } break; case 1: /* YWX_CTHL_AutoStep = 10; //测试拖带定位 YWX_CTHL_AutoDelay = dwTickCount + 1000; break; */ if(dwTickCount >= YWX_CTHL_AutoDelay) { YWX_CTHL_FKGD_VAVLE = 0; //方块固定关 YWX_CTHL_YADAI_VAVLE = 1; //过链压带 YWX_CTHL_LYLun_VAVLE = 0; //Y15方块压轮 YWX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YWX_CTHL_DXK_VAVLE = 0; //Y01顶斜口电磁阀 YWX_CTHL_XKDW_VAVLE = 0; //Y02斜口定位(定位上止) YWX_CTHL_FWCX_VAVLE = 0; //Y03复位插销 YWX_CTHL_BAIBI_VAVLE = 0; //Y04摆臂 YWX_CTHL_AutoStep = 2; YWX_CTHL_AutoDelay = dwTickCount + 120; if(YWX_CTHL_ZhuangLiaoStep == 0) { YWX_CTHL_ZhuangLiaoStep = 1; YWX_CTHL_TryCnt = 0; } } break; case 2: if(dwTickCount >= YWX_CTHL_AutoDelay) //压带后才开始拖带 { YWX_CTHL_AutoStep = 3; YWX_CTHL_AutoDelay = dwTickCount + 0; } break; case 3://斜口定位 if(dwTickCount >= YWX_CTHL_AutoDelay) { YWX_CTHL_AutoStep = 4; YWX_CTHL_AutoDelay = dwTickCount + 0;//YWX_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if((dwTickCount >= YWX_CTHL_AutoDelay) && (YWX_CTHL_TD_MotorStep == 0) && !YWX_CTHL_CTM_Limit_IN) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; if(YWX_CTHL_cZipCnt == 0) { YWX_CTHL_TD_MotorStep = 1; //合链定位 只感应一次 YWX_CTHL_AutoStep = 5; } else { YWX_CTHL_TD_MotorStep = 10; //数控穿入, 感应两次定位 YWX_CTHL_AutoStep = 5; } } } break; case 5: if(YWX_CTHL_TD_MotorStep == 0) //方块定位完成，下模上去准备斜口拉头穿入 { //装料已经完成 if((YWX_CTHL_ZhuangLiaoStep == 0) && bZhuangLiaoOkFlg) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 6; YWX_CTHL_CTXM_VAVLE = 1; //下模合上 YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; YWX_CTHL_LYLun_VAVLE = 1; //Y15方块压轮 YWX_CTHL_RYLun_VAVLE = 1; //Y16插销压轮 } } } break; case 6: if(!YWX_CTHL_CTM_Origin_IN) YWX_CTHL_JLTou_VAVLE = 0; //Y11接拉头关 if(YWX_CTHL_CTM_Limit_IN && !YWX_CTHL_CTM_Origin_IN) //穿头模上升到位 { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 7; YWX_CTHL_XKDW_VAVLE = 1; //Y02斜口定位(定位上止) YWX_CTHL_YADAI_VAVLE = 0; //过链压带 YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; } } else if(dwTickCount >= YWX_CTHL_AutoDelay) { YWX_CTHL_SetAlarmCode(YWX_CTHL_CTM_Limit_ALARM,bRunning); //穿头下模上升异常 } break; case 7: if(YWX_CTHL_FKSC_DW_IN) //X23方块上止到位异常 { YWX_CTHL_AutoStep = 8; YWX_CTHL_AutoDelay = dwTickCount + 10;//方块上止定位输出后电机延时反转定位 } else if(dwTickCount >= YWX_CTHL_AutoDelay) { YWX_CTHL_SetAlarmCode(YWX_CTHL_FKSC_DW_ALARM,bRunning); //X23方块上止到位异常 } break; case 8: if(dwTickCount >= YWX_CTHL_AutoDelay) //延时电机延时反转定位(也等压轮压到位) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 9; if((YWX_CTHL_PARAM_FKSC_DW_DELAY) && (YWX_CTHL_PARAM_NL_JY_SELECT == 0)) { AxisMovePosAccDec(Y_AXIS,1000,YWX_CTHL_PARAM_FKSC_DW_DELAY,800,550,6,6,0); if(YWX_CTHL_PARAM_FKSC_DW_DELAY > 10) AxisMovePosAccDec(X_AXIS,950,-(YWX_CTHL_PARAM_FKSC_DW_DELAY-YWX_CTHL_PARAM_FKSC_DW_DELAY/40), 800,500,6,6,0); } } } break; case 9: if(YWX_CTHL_FKSC_TDW_IN) { AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); } if(!Y_DRV && !X_DRV) //方块上止定位完成 { if(YWX_CTHL_FKSC_TDW_IN || YWX_CTHL_PARAM_NL_JY_SELECT) { YWX_CTHL_AutoStep = 10; YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_PARAM_DXK_DELAY; } else //方块斜码退到位异常 { YWX_CTHL_SetAlarmCode(YWX_CTHL_FKSC_TDW_ALARM,bRunning);//X03斜码退到位异常 } } break; case 10: if((dwTickCount >= YWX_CTHL_AutoDelay) && !X_DRV) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_DXK_VAVLE = 1; //Y01顶斜口电磁阀 YWX_CTHL_AutoStep = 11; YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; } } break; case 11: if(YWX_CTHL_XKTDW) { YWX_CTHL_AutoStep = 12; YWX_CTHL_XKDW_VAVLE = 0; YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; } else if(dwTickCount >= YWX_CTHL_AutoDelay) //顶斜口到位异常 { YWX_CTHL_SetAlarmCode(YWX_CTHL_XKSC_Limit_ALARM,bRunning);//X03斜口上止到位异常 } break; case 12: if(!YWX_CTHL_FKSC_DW_IN) { YWX_CTHL_AutoStep = 13; YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_PARAM_XK_CR_DELAY;//顶斜口后延时穿入 } else if(dwTickCount >= YWX_CTHL_AutoDelay) //退方块上止离开异常 { YWX_CTHL_SetAlarmCode(YWX_CTHL_FKSC_DW_ALARM,bRunning); //X23方块上止到位异常 } break; case 13: if(dwTickCount >= YWX_CTHL_AutoDelay) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 14; YWX_CTHL_FZ_MotorStep = 1; cDinWeiStep = 0; YWX_CTHL_bFirstFKOK = 0; YWX_CTHL_bQDinWeiOK = 0; } } break; case 14: if(YWX_CTHL_FZ_MotorStep == 0) //穿入定位完成 { YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_PARAM_GDFK_DELAY; YWX_CTHL_AutoStep = 15; } break; case 15: if(dwTickCount >= YWX_CTHL_AutoDelay) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) {YWX_CTHL_bTiaoShiStep = 0; // if(YWX_CTHL_GQ_IN) { YWX_CTHL_FKGD_VAVLE = 1; //Y00方块固定 YWX_CTHL_AutoStep = 16; YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; } // else // { // } } } break; case 16: if(YWX_CTHL_FKGD_DW_IN) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 17; YWX_CTHL_LYLun_VAVLE = 0; //Y15方块压轮 YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_PARAM_DWCX_DELAY; } } else if(dwTickCount >= YWX_CTHL_AutoDelay) //Y00方块固定到位异常 { YWX_CTHL_SetAlarmCode(YWX_CTHL_XCFW_DW_ALARM,bRunning);//X20插销穿入异常 } break; case 17: if(dwTickCount >= YWX_CTHL_AutoDelay) //延时定位插销 { YWX_CTHL_AutoStep = 18; YWX_CTHL_FZ_MotorStep = 20; //定位插销启动 } break; case 18: if(YWX_CTHL_FZ_MotorStep == 0) { YWX_CTHL_YADAI_VAVLE = 1; //Y06压带 YWX_CTHL_BAIBI_VAVLE = 1; //摆臂 YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_PARAM_BAIBI_TUI_YALUN_DELAY;//延时摆臂 //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 19; } } break; case 19: if(dwTickCount >= YWX_CTHL_AutoDelay) { YWX_CTHL_AutoStep = 20; YWX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_PARAM_CXCR_DELAY; //延时穿插销 } break; case 20: if(dwTickCount >= YWX_CTHL_AutoDelay) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 21; AxisMovePosAccDec(X_AXIS,3000,(YWX_CTHL_PARAM_XXCR_LENTH),1000,500,6,6,50); } YWX_CTHL_XSavePosBuff = dwXRealPos + YWX_CTHL_PARAM_CXDW_Length - 30; } break; case 21: if((dwXRealPos>= YWX_CTHL_XSavePosBuff) && ((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep)) { YWX_CTHL_FWCX_VAVLE = 1; } if(!X_DRV)// && YWX_CTHL_FWCX_VAVLE) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 22; YWX_CTHL_FWCX_VAVLE = 1; YWX_CTHL_AutoDelay = dwTickCount + YWX_CTHL_PARAM_CXCR_O_Time; //延时退方块固定 } } break; case 22: if(dwTickCount >= YWX_CTHL_AutoDelay) { //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_AutoStep = 23; YWX_CTHL_FKGD_VAVLE = 0; //Y00方块固定 YWX_CTHL_AutoDelay = dwTickCount + 15; YWX_CTHL_MGuo_VAVLE = 0; //码勾退 } } if(YWX_CTHL_XCFW_DW_IN) { //插销穿入异常 YWX_CTHL_AutoStep = 0; bRunning = 0; bSingOneFlg = 0; YWX_CTHL_SetAlarmCode(YWX_CTHL_XCFW_DW_ALARM,bRunning); } break; case 23: if(!YWX_CTHL_FKGD_DW_IN) { YWX_CTHL_CTXM_VAVLE = 0; //下模打开 //调试模式 if((!YWX_CTHL_bTiaoShiMode) || YWX_CTHL_bTiaoShiStep) { //信号离开后6MS穿入 if(dwTickCount >= YWX_CTHL_AutoDelay) { YWX_CTHL_bTiaoShiStep = 0; YWX_CTHL_TD_MotorStep = 10; // YWX_CTHL_AutoStep = 24; YWX_CTHL_MGuo_VAVLE = 0; //码勾退 YWX_CTHL_TD_MotorDelay = dwTickCount + 16; } } } else { YWX_CTHL_AutoDelay = dwTickCount + 2; if(YWX_CTHL_XCFW_DW_IN) { //插销穿入异常 YWX_CTHL_AutoStep = 0; bRunning = 0; bSingOneFlg = 0; YWX_CTHL_SetAlarmCode(YWX_CTHL_XCFW_DW_ALARM,bRunning); } } break; case 24: if((dwXRealPos > 50) && X_DRV) //穿入3MM后退码勾和摆臂 { YWX_CTHL_AutoStep = 25; YWX_CTHL_MGuo_VAVLE = 0; //码勾退 YWX_CTHL_BAIBI_VAVLE = 0; YWX_CTHL_AutoDelay = dwTickCount + 6; //延时穿下模 bZhuangLiaoOkFlg = 0; } break; case 25: if(dwTickCount >= YWX_CTHL_AutoDelay) { YWX_CTHL_AutoStep = 26; YWX_CTHL_CTXM_VAVLE = 0; //下模打开 //退下出错警告 YWX_CTHL_AutoDelay1 = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; YWX_CTHL_AutoStep1 = 1; } break; case 26: if((YWX_CTHL_TD_MotorStep == 0) && (!YWX_CTHL_CTXM_VAVLE )) { YWX_CTHL_AutoStep = 5; AddToTal(YWX_CTHL_TOTAL_ADDR); AddToTal(YWX_CTHL_WORK_TOTAL_ADDR); CalProSP(YWX_CTHL_SPEED_ADDR); if(YWX_CTHL_cZipCnt<3) YWX_CTHL_cZipCnt++; if(bSingOneFlg) { YWX_CTHL_AutoStep = 0; bRunning = 0; bSingOneFlg = 0; } } break; //退带时 } YWX_CTHL_RunStepSave = YWX_CTHL_AutoStep; } //退下模后启动送拉头 switch(YWX_CTHL_AutoStep1) { case 1: /* if(cStopMode==1) { cStopMode=2; bStop=1; } */ if(YWX_CTHL_CTM_Origin_IN) { YWX_CTHL_ZhuangLiaoStep = 1; YWX_CTHL_TryCnt = 0; YWX_CTHL_AutoStep1 = 0; YWX_CTHL_MGuo_VAVLE = 0; YWX_CTHL_JLTou_VAVLE = 0; } else if(dwTickCount >= YWX_CTHL_AutoDelay1) { //穿头模和一次穿入回位异常 if(!YWX_CTHL_CTM_Origin_IN) YWX_CTHL_SetAlarmCode(YWX_CTHL_CTM_Origin_ALARM,bRunning); } break; } } void YWX_CTHL_CheckStart(void) { #if 1 //启动 自动启动 单一自动 if(YWX_CTHL_START_IN_UP || bStart ) { if(!bRunning) { // if(YWX_CTHL_SafeDoor_IN) { bSingOneFlg= 0; cStopMode=0; bRunning = 1; cWULATOUCnt=0; SetEn(Y_AXIS, MOTOR_EN); YWX_CTHL_FZ_MotorStep = 0; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; YWX_CTHL_TryCnt = 0; bCL_EN_FLG = 0; YWX_CTHL_cZipCnt = 0; YWX_CTHL_LianLengthCheck = 0; YWX_CTHL_LianLengthCheckOld = 0; cStopInCnt = 0; YWX_CTHL_bFZ_LengthOK = 0; YWX_CTHL_bHDinWeiOk = 0; SetAlarmCode(YWX_CTHL_ALARM_ADDR,0); YWX_CTHL_AutoDelay = dwTickCount + 0; YWX_CTHL_TD_MotorStep = 0; if(GetEn(X_AXIS) == MOTOR_EN) //电机不能松掉 { if(cDinWeiStep == 1) //前拖带定位 { YWX_CTHL_XKDW_VAVLE =0; YWX_CTHL_DXK_VAVLE =0; YWX_CTHL_FKGD_VAVLE =0; YWX_CTHL_FWCX_VAVLE = 0; YWX_CTHL_BAIBI_VAVLE = 0; //摆臂 YWX_CTHL_HELT_VAVLE = 0; YWX_CTHL_YADAI_VAVLE = 1; YWX_CTHL_LYLun_VAVLE= 0; //Y15方块压轮 YWX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YWX_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + 150; YWX_CTHL_ZhuangLiaoStep=1; if(YWX_CTHL_bQDinWeiOK) //前拖带已经完成 {//开始输出下模, 斜码处穿入 YWX_CTHL_AutoStep = 5; //对应的步 } else { YWX_CTHL_CTXM_VAVLE =0; YWX_CTHL_AutoStep = 4; if(!YWX_CTHL_bFirstFKOK) //说明方块已经过了一个 ,直接只过一次就可以 { YWX_CTHL_TD_MotorStep = 1; } } } else //if(cDinWeiStep == 2) //后拖带定位阶段 { YWX_CTHL_CTXM_VAVLE = 0; YWX_CTHL_MGuo_VAVLE = 0; YWX_CTHL_AutoStep = 50; SetEn(X_AXIS, MOTOR_EN); YWX_CTHL_AutoDelay = dwTickCount + 1500; } } else { SetEn(X_AXIS, MOTOR_EN); YWX_CTHL_AutoStep = 1; YWX_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + 150; YWX_CTHL_ZhuangLiaoStep=1; } } SetEn(X_AXIS, MOTOR_EN); } bStart = 0; } //停止 if(YWX_CTHL_STOP_IN_UP || bStop) { if(cStopMode < 3) cStopMode++; if(bRunning && !bSingOneFlg)// && cStopMode==2) { if((cStopMode >1) || YWX_CTHL_STOP_IN_UP) { bRunning=0; cStopMode=0; cXcxcrCnt=0; cWULATOUCnt=0; if(YWX_CTHL_TD_MotorStep != 16) AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); YWX_CTHL_AutoStep = 0; YWX_CTHL_FZ_MotorStep =0; //YWX_CTHL_ZhuangLiaoStep=0; YWX_CTHL_XKDW_VAVLE =0; SetAlarmCode(YWX_CTHL_ALARM_ADDR,0); } else bSingOneFlg= 1; } else { bRunning=0; YWX_CTHL_RunStepSave = 0; cXcxcrCnt=0; cWULATOUCnt=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); cDinWeiStep = 0; // if(cStopMode >2) YWX_CTHL_TLiao_VAVLE=0; YWX_CTHL_HSLiao_VAVLE =0; YWX_CTHL_JLTou_VAVLE =0; YWX_CTHL_XKDW_VAVLE =0; YWX_CTHL_DXK_VAVLE =0; YWX_CTHL_CTXM_VAVLE =0; YWX_CTHL_FKGD_VAVLE =0; YWX_CTHL_YADAI_VAVLE = 0; YWX_CTHL_FWCX_VAVLE = 0; YWX_CTHL_BAIBI_VAVLE = 0; //摆臂 YWX_CTHL_LYLun_VAVLE = 0; // YWX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 YWX_CTHL_HELT_VAVLE = 0; YWX_CTHL_MGuo_VAVLE =0; YWX_CTHL_AutoStep = 0; YWX_CTHL_ZhuangLiaoStep=0; YWX_CTHL_TLiaoStep=0; YWX_CTHL_TD_MotorStep=0; YWX_CTHL_SongLiaoStep =0; YWX_CTHL_FZ_MotorStep =0; YWX_CTHL_AutoStep1 =0; YWX_CTHL_bFKCXTDDW_Step=0; YWX_CTHL_bCXCR_Step=0; YWX_CTHL_bCLFirst_Step=0; SetAlarmCode(YWX_CTHL_ALARM_ADDR,0); SetPos(X_AXIS, 0); YWX_CTHL_TLiaoStep = 0; YWX_CTHL_AutoStep = 0; cDinWeiStep = 0; YWX_CTHL_bFirstFKOK = 0; YWX_CTHL_bQDinWeiOK = 0; YWX_CTHL_LianLengthCheck = 0; YWX_CTHL_LianLengthCheckOld = 0; } bStop=0; } if(bAlarmStop) { bRunning = 0; bAlarmStop=0; cStopMode=0; cXcxcrCnt=0; if(YWX_CTHL_TD_MotorStep != 16) { AxisEgmStop(X_AXIS); YWX_CTHL_TD_MotorStep = 0; } AxisEgmStop(Y_AXIS); YWX_CTHL_AutoStep = 0; YWX_CTHL_FZ_MotorStep =0; } #endif } //拖带电机控制动作 X轴 void YWX_CTHL_TD_Motor(void) // { #if 1 switch(YWX_CTHL_TD_MotorStep) { //1步开始，纯定位, 没有穿入 case 1: if(dwTickCount >= YWX_CTHL_TD_MotorDelay) //给锁轴时间 { bCheckEN_FLG = 1; YWX_CTHL_CheckInX02PosBuff= 0; YWX_CTHL_TD_MotorStep = 2; SetPos(X_AXIS, 0); //启动位置设为0点 AxisContinueMoveAcc(X_AXIS,6000,DIR_P,1500,600,15,15); AxisContinueMoveAcc(Y_AXIS,5000,DIR_N,1500,600,15,15); if(bRunning) { cDinWeiStep = 1; } YWX_CTHL_bQDinWeiOK = 0; } break; case 2://检测到过链 if(dwXRealPos > 100) //穿入2CM后退 { YWX_CTHL_FWCX_VAVLE = 0; //复位插销 } if((dwXRealPos >= YWX_CTHL_PARAM_WLCDSHEZHI_LENTH) && bRunning && (YWX_CTHL_cZipCnt!= 0)) { YWX_CTHL_SetAlarmCode(YWX_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 bAlarmStop = 1; } if(!YWX_CTHL_FK_Check) { YWX_CTHL_FWCX_VAVLE = 0; //复位插销 YWX_CTHL_XSavePosBuff = dwXRealPos; YWX_CTHL_TD_MotorStep = 3; AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_FKDW_Speed ,200, 1000,YWX_CTHL_PARAM_FKDW_Speed,10,10,0); AxisContinueMoveAcc(Y_AXIS,YWX_CTHL_PARAM_FKDW_Speed*2/3,DIR_N,1500,600,15,15); } break; case 3: if(!YWX_CTHL_FKDW_IN) { AxisMovePosAccDec(X_AXIS,YWX_CTHL_PARAM_FKDW_Speed,YWX_CTHL_PARAM_FKDW_Length +25, YWX_CTHL_PARAM_FKDW_Speed,YWX_CTHL_PARAM_FKDW_Speed,10,5,10); YWX_CTHL_TD_MotorStep = 4; YWX_CTHL_XSavePosBuff = dwXRealPos + YWX_CTHL_PARAM_FKDW_Length + 25; } if((dwXRealPos >= YWX_CTHL_PARAM_WLCDSHEZHI_LENTH)&& bRunning && (YWX_CTHL_cZipCnt!= 0)) { YWX_CTHL_SetAlarmCode(YWX_CTHL_XKSC_Limit_ALARM,bRunning); //X03斜口上止到位异常 bAlarmStop = 1; } break; case 4: if((!X_DRV) || (dwXRealPos >= YWX_CTHL_XSavePosBuff)) { YWX_CTHL_TD_MotorStep = 0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); if(bRunning) { YWX_CTHL_bQDinWeiOK = 1; YWX_CTHL_bFirstFKOK = 0; } } break; //穿拉头定位 case 10: if(dwTickCount >= YWX_CTHL_TD_MotorDelay) { YWX_CTHL_TD_MotorStep = 11; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; AxisContinueMoveAcc(X_AXIS,3000,DIR_P,1000,1200,15,5); AxisContinueMoveAcc(Y_AXIS,2800,DIR_N,800,1000,15,15); YWX_CTHL_CheckInX02PosBuff= 0; bCheckEN_FLG = 1; bHeLaTouOK = 1; YWX_CTHL_XSavePosBuff = dwXRealPos; YWX_CTHL_FWCX_VAVLE = 0; //复位插销 YWX_CTHL_TD_MotorDelay = dwTickCount + 4; cDinWeiStep = 1; YWX_CTHL_bFirstFKOK = 0; YWX_CTHL_bQDinWeiOK = 0; } break; case 11: if(YWX_CTHL_CTM_Limit_IN) YWX_CTHL_TD_MotorDelay = dwTickCount + 4; if(dwXRealPos > 150) YWX_CTHL_HELT_VAVLE = 1; if(dwXRealPos > 350) { YWX_CTHL_HELT_VAVLE = 1; if(!YWX_CTHL_CTM_Limit_IN && !YWX_CTHL_CTXM_VAVLE) //穿入2CM后退 { YWX_CTHL_CheckInX02PosBuff= 0; YWX_CTHL_FWCX_VAVLE = 0; //复位插销 (重复) if(dwTickCount >= YWX_CTHL_TD_MotorDelay) { YWX_CTHL_TD_MotorStep = 12; cFKCheckCnt = 0; YWX_CTHL_bFKCheck_Time = dwTickCount; bHeLaTouOK = 1; if(YWX_CTHL_cZipCnt > 1) { if(YWX_CTHL_LianLengthCheckOld == 0) { YWX_CTHL_DataBuff = 6000; // AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_TD_RunSpeed*3/2,YWX_CTHL_LianLengthCheck - dwXRealPos, // 3000,YWX_CTHL_PARAM_TD_RunSpeed,45,20,0); //YWX_CTHL_PARAM_TD_RunSpeed AxisMovePosAccDecNotStop(X_AXIS,6000,YWX_CTHL_LianLengthCheck - dwXRealPos, 3000,YWX_CTHL_PARAM_TD_RunSpeed,45,20,0); //YWX_CTHL_PARAM_TD_RunSpeed } else if((YWX_CTHL_LianLengthCheck < 2000) && (YWX_CTHL_LianLengthCheckOld <2000)) { YWX_CTHL_DataBuff = YWX_CTHL_PARAM_TD_RunSpeed; AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_TD_RunSpeed,YWX_CTHL_LianLengthCheck + YWX_CTHL_LianLengthCheckOld - 450 - dwXRealPos, 3000,YWX_CTHL_PARAM_FKDW_Speed* 4/5,45,15,0); } else if(YWX_CTHL_LianLengthCheck >= (YWX_CTHL_LianLengthCheckOld + YWX_CTHL_LianLengthCheckOld/7)) { // AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_TD_RunSpeed*3/2,YWX_CTHL_LianLengthCheck/2 +YWX_CTHL_LianLengthCheckOld/2 - dwXRealPos, // 3000,YWX_CTHL_PARAM_TD_RunSpeed,45,20,0); //YWX_CTHL_PARAM_TD_RunSpeed YWX_CTHL_DataBuff = YWX_CTHL_PARAM_TD_RunSpeed*3/2; AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_TD_RunSpeed*3/2,YWX_CTHL_LianLengthCheck * 2 - 450 - dwXRealPos, 3000,YWX_CTHL_PARAM_FKDW_Speed,45,15,0); //YWX_CTHL_PARAM_TD_RunSpeed } else { // AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_TD_RunSpeed*3/2,YWX_CTHL_LianLengthCheck/2 +YWX_CTHL_LianLengthCheckOld/2 - dwXRealPos, // 3000,YWX_CTHL_PARAM_TD_RunSpeed,45,20,0); //YWX_CTHL_PARAM_TD_RunSpeed YWX_CTHL_DataBuff = YWX_CTHL_PARAM_TD_RunSpeed*3/2; AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_TD_RunSpeed*3/2,YWX_CTHL_LianLengthCheck + YWX_CTHL_LianLengthCheckOld - 450 - dwXRealPos, 3000,YWX_CTHL_PARAM_FKDW_Speed,45,15,0); //YWX_CTHL_PARAM_TD_RunSpeed } } else { YWX_CTHL_DataBuff = 6000; AxisMovePosAccDecNotStop(X_AXIS,6000,YWX_CTHL_LianLengthCheck - dwXRealPos, 3000,YWX_CTHL_PARAM_TD_RunSpeed/2,25,20,0); //YWX_CTHL_PARAM_TD_RunSpeed } AxisContinueMoveAcc(Y_AXIS,YWX_CTHL_DataBuff*4/5,DIR_N,1500,800,15,15); } } } //已经完成两条长度 if(YWX_CTHL_LianLengthCheck && YWX_CTHL_LianLengthCheckOld) { if(YWX_CTHL_LianLengthCheck >= YWX_CTHL_LianLengthCheckOld) YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck * 2 + 5000; else YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck + YWX_CTHL_LianLengthCheckOld + 5000; //下模没法下去的情况下 if(dwXRealPos>= (YWX_CTHL_LianLengthBuff)) { //没链自动 bRunning = 0; bAlarmStop = 1; YWX_CTHL_TD_MotorStep= 0; // SetAlarmCode(YWX_CTHL_ALARM_ADDR,YWX_CTHL_WLZDTJ_ALARM); } } break; case 12://检测到过链 // if(YWX_CTHL_cZipCnt) { //保障到5公分后退合链 if(((dwXRealPos + YWX_CTHL_PARAM_CL_Length) >= (YWX_CTHL_LianLengthCheck + 500)) && YWX_CTHL_LianLengthCheck) { YWX_CTHL_HELT_VAVLE = 0; } } if((!YWX_CTHL_FKDW_IN)) // { YWX_CTHL_TD_MotorStep = 13; if(YWX_CTHL_cZipCnt == 0) YWX_CTHL_HELT_VAVLE = 0; YWX_CTHL_XSavePosBuff = dwXRealPos; YWX_CTHL_bFKCheck_Time = dwTickCount + 5; YWX_CTHL_XSavePosBuff1 = 0; YWX_CTHL_bFirstFKOK = 1; } //已经完成两条长度 if(YWX_CTHL_LianLengthCheck && YWX_CTHL_LianLengthCheckOld) { if(YWX_CTHL_LianLengthCheck >= YWX_CTHL_LianLengthCheckOld) YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck * 2 + 5000; else YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck + YWX_CTHL_LianLengthCheckOld + 5000; //下模没法下去的情况下 if(dwXRealPos>= (YWX_CTHL_LianLengthBuff)) { //没链自动 bRunning = 0; bAlarmStop = 1; YWX_CTHL_TD_MotorStep= 0; // SetAlarmCode(YWX_CTHL_ALARM_ADDR,YWX_CTHL_WLZDTJ_ALARM); } } break; case 13: if(YWX_CTHL_cZipCnt) { if(((dwXRealPos + YWX_CTHL_PARAM_CL_Length) >= (YWX_CTHL_LianLengthCheck + 500)) && YWX_CTHL_LianLengthCheck) { YWX_CTHL_HELT_VAVLE = 0; } } if((YWX_CTHL_FKDW_IN) && (dwXRealPos >= (YWX_CTHL_XSavePosBuff + 200))) { YWX_CTHL_TD_MotorStep = 14; // AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_TD_RunSpeed ,500,3000,YWX_CTHL_PARAM_TD_RunSpeed,10,3,0); } //已经完成两条长度 if(YWX_CTHL_LianLengthCheck && YWX_CTHL_LianLengthCheckOld) { if(YWX_CTHL_LianLengthCheck >= YWX_CTHL_LianLengthCheckOld) YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck * 2 + 5000; else YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck + YWX_CTHL_LianLengthCheckOld + 5000; //下模没法下去的情况下 if(dwXRealPos>= (YWX_CTHL_LianLengthBuff)) { //没链自动 bRunning = 0; bAlarmStop = 1; YWX_CTHL_TD_MotorStep= 0; // SetAlarmCode(YWX_CTHL_ALARM_ADDR,YWX_CTHL_WLZDTJ_ALARM); } } break; case 14: if(YWX_CTHL_cZipCnt) { if(((dwXRealPos + YWX_CTHL_PARAM_CL_Length) >= (YWX_CTHL_LianLengthCheck + 500)) && YWX_CTHL_LianLengthCheck) { YWX_CTHL_HELT_VAVLE = 0; } } if(YWX_CTHL_LianLengthCheckOld >= YWX_CTHL_LianLengthCheck) { //说明下一条没有方块 if((dwXRealPos >= (YWX_CTHL_XSavePosBuff + YWX_CTHL_LianLengthCheckOld + 1500)) && (YWX_CTHL_LianLengthCheck >1500)) { YWX_CTHL_TD_MotorStep = 12; } } else { //说明下一条没有方块 if((dwXRealPos >= (YWX_CTHL_XSavePosBuff + YWX_CTHL_LianLengthCheck + 1500)) && (YWX_CTHL_LianLengthCheck >1700)) { YWX_CTHL_TD_MotorStep = 12; } } if((!YWX_CTHL_FK_Check) && (dwXRealPos >= (YWX_CTHL_XSavePosBuff + 500))) // { YWX_CTHL_TD_MotorStep = 15; YWX_CTHL_XSavePosBuff1 = dwXRealPos + 200; if(YWX_CTHL_cZipCnt > 2) { if((dwXRealPos + 1000 - YWX_CTHL_XSavePosBuff) < (YWX_CTHL_LianLengthCheck)) { YWX_CTHL_cZipCnt = 0; YWX_CTHL_TD_MotorStep = 50; YWX_CTHL_LianLengthCheck = 0; YWX_CTHL_LianLengthCheckOld = 0; AxisContinueMoveAcc(X_AXIS,2000,DIR_P,1000,600,15,15); AxisContinueMoveAcc(Y_AXIS,1600,DIR_N,1000,600,15,15); // AxisEgmStop(X_AXIS); // AxisEgmStop(Y_AXIS); YWX_CTHL_TD_MotorDelay = dwTickCount + 200; YWX_CTHL_bFZ_LengthOK= 0; return; break; } } // if(GetCurSpeed(X_AXIS) <= YWX_CTHL_PARAM_TD_RunSpeed) // AxisMovePosAccDecNotStop(X_AXIS,2500 ,250,3000,YWX_CTHL_PARAM_FKDW_Speed,10,3,0); AxisContinueMoveAcc(Y_AXIS,YWX_CTHL_PARAM_FKDW_Speed,DIR_P,1500,YWX_CTHL_PARAM_FKDW_Speed,15,2); // else // AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_FKDW_Speed,5,1500,YWX_CTHL_PARAM_FKDW_Speed,10,0,0); AxisContinueMoveAcc(Y_AXIS,YWX_CTHL_PARAM_FKDW_Speed* 3/4,DIR_N,1500,800,15,5); } //已经完成两条长度 if(YWX_CTHL_LianLengthCheck && YWX_CTHL_LianLengthCheckOld) { if(YWX_CTHL_LianLengthCheck >= YWX_CTHL_LianLengthCheckOld) YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck * 2 + 5000; else YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck + YWX_CTHL_LianLengthCheckOld + 5000; //下模没法下去的情况下 if(dwXRealPos>= (YWX_CTHL_LianLengthBuff)) { //没链自动 bRunning = 0; bAlarmStop = 1; YWX_CTHL_TD_MotorStep= 0; // SetAlarmCode(YWX_CTHL_ALARM_ADDR,YWX_CTHL_WLZDTJ_ALARM); } } break; case 15: if((!YWX_CTHL_FKDW_IN)) { // user_datas[125] = GetCurSpeed(X_AXIS); // user_datas[126] = dwXRealPos; // AxisMovePosAccDec(X_AXIS,YWX_CTHL_PARAM_FKDW_Speed,YWX_CTHL_PARAM_FKDW_Length, // YWX_CTHL_PARAM_FKDW_Speed,YWX_CTHL_PARAM_FKDW_Speed,2,5,0); YWX_CTHL_TD_MotorStep = 16; YWX_CTHL_bFZ_LengthOK = 1; if(((dwXRealPos - YWX_CTHL_XSavePosBuff) > (YWX_CTHL_LianLengthCheck + YWX_CTHL_LianLengthCheck/7)) || ((dwXRealPos - YWX_CTHL_XSavePosBuff) < (YWX_CTHL_LianLengthCheck - YWX_CTHL_LianLengthCheck/7)) || (YWX_CTHL_LianLengthCheckOld == 0) ||((dwXRealPos - YWX_CTHL_XSavePosBuff) > (YWX_CTHL_LianLengthCheckOld + YWX_CTHL_LianLengthCheckOld/7)) || ((dwXRealPos - YWX_CTHL_XSavePosBuff) < (YWX_CTHL_LianLengthCheckOld - YWX_CTHL_LianLengthCheckOld/7)) ) { YWX_CTHL_LianLengthCheckOld = YWX_CTHL_LianLengthCheck; YWX_CTHL_LianLengthCheck = dwXRealPos - YWX_CTHL_XSavePosBuff; } YWX_CTHL_XSavePosBuff = dwXRealPos + YWX_CTHL_PARAM_FKDW_Length; } //已经完成两条长度 if(YWX_CTHL_LianLengthCheck && YWX_CTHL_LianLengthCheckOld) { if(YWX_CTHL_LianLengthCheck >= YWX_CTHL_LianLengthCheckOld) YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck * 2 + 5000; else YWX_CTHL_LianLengthBuff = YWX_CTHL_LianLengthCheck + YWX_CTHL_LianLengthCheckOld + 5000; //下模没法下去的情况下 if(dwXRealPos>= (YWX_CTHL_LianLengthBuff)) { //没链自动 bRunning = 0; bAlarmStop = 1; YWX_CTHL_TD_MotorStep= 0; // SetAlarmCode(YWX_CTHL_ALARM_ADDR,YWX_CTHL_WLZDTJ_ALARM); } } break; case 16: if((!X_DRV) || (dwXRealPos >= YWX_CTHL_XSavePosBuff)) { user_datas[124] = dwXRealPos; YWX_CTHL_TD_MotorStep = 0; YWX_CTHL_bQDinWeiOK = 1; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); } break; case 50: if(YWX_CTHL_FKDW_IN_UP) { AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); YWX_CTHL_cZipCnt = 0; YWX_CTHL_LianLengthCheck = 0; YWX_CTHL_LianLengthCheckOld = 0; YWX_CTHL_TD_MotorStep = 51; YWX_CTHL_TD_MotorDelay = dwTickCount + 50; YWX_CTHL_bFZ_LengthOK= 0; } break; case 51: if(dwTickCount >= YWX_CTHL_TD_MotorDelay)//YWX_CTHL_bTiaoShiStep) { bStart = 1; bRunning = 0; YWX_CTHL_bTiaoShiStep = 1; YWX_CTHL_TD_MotorStep = 0; YWX_CTHL_TD_MotorDelay = dwTickCount + 000; YWX_CTHL_TryCnt = 0; bCL_EN_FLG = 0; YWX_CTHL_cZipCnt = 0; YWX_CTHL_LianLengthCheck = 0; YWX_CTHL_LianLengthCheckOld = 0; YWX_CTHL_bFZ_LengthOK = 0; YWX_CTHL_bHDinWeiOk = 0; } break; } #endif } //穿入电机动作，Y轴 void YWX_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(YWX_CTHL_FZ_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= YWX_CTHL_FZ_MotorDelay) { SetPos(Y_AXIS, 0); //启动位置设为0点 SetPos(X_AXIS, 0); //启动位置设为0点 // SetDirReverse(X_AXIS, 0); if(YWX_CTHL_bFZ_LengthOK)// && (YWX_CTHL_LianLengthCheck && YWX_CTHL_LianLengthCheckOld)) //确定当条拉链长度已经明确 { // AxisMovePosAccDec(Y_AXIS,YWX_CTHL_PARAM_FZ_Speed,(YWX_CTHL_LianLengthCheck-700),800,600,6,6,50); // AxisContinueMoveAcc(Y_AXIS,(YWX_CTHL_PARAM_FZ_Speed + YWX_CTHL_PARAM_FZ_Speed/30),DIR_P,2000,1000,10,10); // AxisContinueMoveAcc(X_AXIS,YWX_CTHL_PARAM_FZ_Speed,DIR_N,2000,1000,10,10); //必须要保证拖带轮的线速度比后退轮的线速度大 if(YWX_CTHL_LianLengthCheck >= 280) { if(YWX_CTHL_cZipCnt < 3) YWX_CTHL_LENTH = YWX_CTHL_LianLengthCheck - 350; else { if((YWX_CTHL_LianLengthCheck >= (YWX_CTHL_LianLengthCheckOld + 280)) && YWX_CTHL_LianLengthCheckOld) YWX_CTHL_LENTH = YWX_CTHL_LianLengthCheckOld - 50; else YWX_CTHL_LENTH = YWX_CTHL_LianLengthCheck - 150; } } else YWX_CTHL_LENTH = YWX_CTHL_LianLengthCheck*2/3; AxisMovePosAccDecNotStop(Y_AXIS,(YWX_CTHL_PARAM_FZ_Speed + YWX_CTHL_PARAM_FZ_Speed*YWX_CTHL_PARAM_SDXZ/1000),YWX_CTHL_LENTH, 2000,920,15,15,00); AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_FZ_Speed,-(YWX_CTHL_LENTH - YWX_CTHL_LENTH*YWX_CTHL_PARAM_SDXZ/1000), 1950,920-920*YWX_CTHL_PARAM_SDXZ/1000,15,15,50); } else //在未知长度情况下 { AxisMovePosAccDecNotStop(Y_AXIS,(YWX_CTHL_PARAM_FZ_Speed + YWX_CTHL_PARAM_FZ_Speed*YWX_CTHL_PARAM_SDXZ/1000),1000, 2000,1250,15,15,00); AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_FZ_Speed,-980, 1950,1250-1250*YWX_CTHL_PARAM_SDXZ/1000,15,15,00); } YWX_CTHL_FZ_MotorStep = 2; } break; case 2: if(dwYRealPos > 350) YWX_CTHL_DXK_VAVLE = 0; //Y01顶斜口电磁阀 if(YWX_CTHL_bFZ_LengthOK) { if(((dwYRealPos + 800) > YWX_CTHL_LianLengthCheck) && YWX_CTHL_LianLengthCheck) { YWX_CTHL_FZ_MotorStep = 3; } } else if((dwYRealPos > 100) && YWX_CTHL_GQ_IN) { AxisEgmStop(Y_AXIS); AxisEgmStop(X_AXIS); YWX_CTHL_FZ_MotorStep = 0; // YWX_CTHL_LianLengthCheckOld = YWX_CTHL_LianLengthCheck; if(YWX_CTHL_cZipCnt < 2) YWX_CTHL_LianLengthCheck = dwYRealPos; cDinWeiStep = 2; } //方块检测异常(光纤) if((dwYRealPos >= (YWX_CTHL_LianLengthCheck + 800)) && YWX_CTHL_bFZ_LengthOK && YWX_CTHL_LianLengthCheck) { AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); //修正 YWX_CTHL_SetAlarmCode(YWX_CTHL_GQ_IN_ALARM,1); } break; case 3: if(YWX_CTHL_GQ_IN) { AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); YWX_CTHL_FZ_MotorStep = 0; if(YWX_CTHL_cZipCnt < 2) YWX_CTHL_LianLengthCheck = dwYRealPos; cDinWeiStep = 2; } //方块检测异常(光纤) if((dwYRealPos >= (YWX_CTHL_LianLengthCheck + 800)) && YWX_CTHL_bFZ_LengthOK && YWX_CTHL_LianLengthCheck) { AxisEgmStop(Y_AXIS); AxisEgmStop(X_AXIS); //修正 YWX_CTHL_SetAlarmCode(YWX_CTHL_GQ_IN_ALARM,1); } break; //夹带插销到穿入位置 case 20: //此处最好算好定位长度相减 YWX_CTHL_FZ_MotorStep = 21; SetPos(Y_AXIS, 0); //启动位置设为0点 break; case 21: if(YWX_CTHL_PARAM_CXDW_Length) { AxisMovePosAccDec(Y_AXIS,3080,YWX_CTHL_PARAM_CXDW_Length,800,800,6,6,0); if(YWX_CTHL_PARAM_CXDW_Length> 20) AxisMovePosAccDec(X_AXIS,3080,-(YWX_CTHL_PARAM_CXDW_Length + 100),800,800,6,6,0); } YWX_CTHL_FZ_MotorStep = 22; break; case 22: if(!Y_DRV && !X_DRV)// || (dwYRealPos >= YWX_CTHL_PARAM_CXDW_Length)) //插销定位已经结束 { AxisEgmStop(Y_AXIS); AxisEgmStop(X_AXIS); YWX_CTHL_FZ_MotorStep = 0; } break; } #endif } //装拉头动作 void YWX_CTHL_ZLT_Step(void) { switch(YWX_CTHL_ZhuangLiaoStep) { case 1: if(bZhuangLiaoOkFlg) { YWX_CTHL_ZhuangLiaoStep = 0; } else if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) { if(((YWX_CTHL_MGuo_VAVLE && YWX_CTHL_LTou_Check) || (!YWX_CTHL_MGuo_VAVLE)) && !YWX_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(YWX_CTHL_CTM_Origin_IN && !YWX_CTHL_CTXM_VAVLE) { YWX_CTHL_JLTou_VAVLE = 0; YWX_CTHL_MGuo_VAVLE = 0; if(YWX_CTHL_TLiaoStep == 0) { YWX_CTHL_TLiaoStep = 1; YWX_CTHL_ZhuangLiaoStep = 2; } } else if(dwTickCount >= YWX_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 { YWX_CTHL_SetAlarmCode(YWX_CTHL_CTM_Origin_ALARM,bRunning); } } else //已经有拉头直接跳到结束 { YWX_CTHL_ZhuangLiaoDelay = dwTickCount + 40; YWX_CTHL_ZhuangLiaoStep = 9; } } break; case 2: if(YWX_CTHL_TLiaoStep == 0) //推料已经完成 { YWX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; YWX_CTHL_JLTou_VAVLE = 0; YWX_CTHL_MGuo_VAVLE = 0; if(!YWX_CTHL_JLiao_Limit_IN) { YWX_CTHL_ZhuangLiaoStep = 3; YWX_CTHL_HSLiao_VAVLE = 1; } } break; case 3: //横送到位 if(YWX_CTHL_HSLiao_Limit_IN && !YWX_CTHL_HSLiao_Origin_IN) { YWX_CTHL_ZhuangLiaoStep = 4; // YWX_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + 10; } else if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) { YWX_CTHL_SetAlarmCode(YWX_CTHL_HSLiao_Limit_ALARM,bRunning); YWX_CTHL_ZhuangLiaoStep = 0; YWX_CTHL_HSLiao_VAVLE = 0; } break; case 4: if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) { YWX_CTHL_ZhuangLiaoStep = 5; YWX_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 5: if(YWX_CTHL_JLiao_Limit_IN) { YWX_CTHL_ZhuangLiaoStep = 6; YWX_CTHL_ZhuangLiaoDelay = dwTickCount + YWX_CTHL_PARAM_MaGou_DELAY; } else if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) //接拉头(接料)到们信号异常 { YWX_CTHL_SetAlarmCode(YWX_CTHL_JLiao_Limit_ALARM,bRunning); YWX_CTHL_HSLiao_VAVLE = 0; YWX_CTHL_JLTou_VAVLE = 0; YWX_CTHL_ZhuangLiaoStep = 0; } break; case 6: if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) //延时码勾 { YWX_CTHL_MGuo_VAVLE = 1; //码勾输出 YWX_CTHL_ZhuangLiaoStep = 7; YWX_CTHL_ZhuangLiaoDelay = dwTickCount + YWX_CTHL_PARAM_HSLiaoOff_DELAY; bTuiLaTouOkFlg = 0; //认为拉头没法带出 } break; case 7: if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) { YWX_CTHL_HSLiao_VAVLE = 0; YWX_CTHL_ZhuangLiaoStep = 8; YWX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 8: if(!YWX_CTHL_HSLiao_Limit_IN) // { YWX_CTHL_ZhuangLiaoStep = 9; YWX_CTHL_TLiaoStep = 1; //推拉头 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + YWX_CTHL_PARAM_CheckLT_DELAY; //也是给下模能上升的时间 } else if (YWX_CTHL_LTou_Check) //时间内信号这说明没有拉头 { //重送3次 YWX_CTHL_TryCnt++; YWX_CTHL_JLTou_VAVLE = 0; //接拉头关 YWX_CTHL_MGuo_VAVLE = 0; //码勾打开 if(YWX_CTHL_TryCnt >= 3) { YWX_CTHL_TryCnt = 0; bZhuangLiaoOkFlg = 0; YWX_CTHL_ZhuangLiaoStep = 0; YWX_CTHL_SetAlarmCode(YWX_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { YWX_CTHL_ZhuangLiaoStep = 20; //重新送3次 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) { YWX_CTHL_SetAlarmCode(YWX_CTHL_HSLiao_Limit_ALARM,bRunning); if(bRunning) { YWX_CTHL_ZhuangLiaoStep = 0 ; } } break; case 9: if(YWX_CTHL_LTou_Check) //时间内信号这说明没有拉头 { YWX_CTHL_TryCnt++; YWX_CTHL_JLTou_VAVLE = 0; //接拉头关 YWX_CTHL_MGuo_VAVLE = 0; //码勾打开 if(YWX_CTHL_TryCnt >= 3) { YWX_CTHL_TryCnt=0; bZhuangLiaoOkFlg = 0; YWX_CTHL_ZhuangLiaoStep = 0; YWX_CTHL_SetAlarmCode(YWX_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { YWX_CTHL_ZhuangLiaoStep = 20; //重新送3次 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) { bZhuangLiaoOkFlg = 1; YWX_CTHL_ZhuangLiaoStep = 0; } break; //装拉头不成攻重新送拉头 case 20: if(YWX_CTHL_HSLiao_Origin_IN) { YWX_CTHL_JLTou_VAVLE = 0; //接拉头关 YWX_CTHL_MGuo_VAVLE = 0; //码勾打开 YWX_CTHL_ZhuangLiaoStep = 1; YWX_CTHL_ZhuangLiaoDelay = dwTickCount + 10; } else if(dwTickCount >= YWX_CTHL_ZhuangLiaoDelay) { YWX_CTHL_SetAlarmCode(YWX_CTHL_HSLiao_Origin_ALARM,bRunning); } break; } } void YWX_CTHL_TLiao_Step(void) { switch(YWX_CTHL_TLiaoStep) { case 1: if(bTuiLaTouOkFlg) { YWX_CTHL_TLiaoStep = 0; } else { YWX_CTHL_TLiao_Delay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; YWX_CTHL_TLiaoStep = 2; } break; case 2: //横送料在原位 if(YWX_CTHL_HSLiao_Origin_IN && !YWX_CTHL_HSLiao_Limit_IN && !YWX_CTHL_HSLiao_VAVLE) { YWX_CTHL_TLiao_VAVLE = 1; //推料(推拉头)输出 YWX_CTHL_TLiao_Delay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; YWX_CTHL_TLiaoStep = 3; } else if(dwTickCount >= YWX_CTHL_TLiao_Delay) YWX_CTHL_SetAlarmCode(YWX_CTHL_HSLiao_Origin_ALARM,1); break; case 3: //推拉头到位 if(YWX_CTHL_TLiao_Limit_IN) { YWX_CTHL_TLiao_Delay = dwTickCount + YWX_CTHL_PARAM_TLiao_BACKDELAY; YWX_CTHL_TLiaoStep = 4; } else if(dwTickCount >= YWX_CTHL_TLiao_Delay) YWX_CTHL_SetAlarmCode(YWX_CTHL_TLiao_Limit_ALARM,1); break; case 4: if(dwTickCount >= YWX_CTHL_TLiao_Delay) { YWX_CTHL_TLiao_VAVLE = 0; YWX_CTHL_TLiao_Delay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; YWX_CTHL_TLiaoStep = 5; } break; case 5: if(!YWX_CTHL_TLiao_Limit_IN) { YWX_CTHL_TLiaoStep = 0; YWX_CTHL_TLiao_Delay = dwTickCount; bTuiLaTouOkFlg = 1; } else if(dwTickCount >= YWX_CTHL_TLiao_Delay) YWX_CTHL_SetAlarmCode(YWX_CTHL_TLiao_Limit_ALARM,0); break; } } //振动盘控制 void YWX_CTHL_ZhenDongAction(void) { #if 0 if((YWX_CTHL_bDLP || bRunning) && YWX_CTHL_ZhenDongPian_OUT && YWX_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(YWX_CTHL_bZDP) { if(YWX_CTHL_ZhenDongPian_OUT == 0) { if(!YWX_CTHL_ZDP_IN) { if(dwTickCount >= YWX_CTHL_ZDP_Delay) { YWX_CTHL_ZhenDongPian_OUT = 1; YWX_CTHL_ZDP_Delay = dwTickCount + YWX_CTHL_PARAM_ZDP_Stop_TIME;//YWX_CTHL_PARAM_ZDP_Stop_TIME + 50; } } else { YWX_CTHL_ZDP_Delay = dwTickCount + YWX_CTHL_PARAM_ZDP_Start_TIME;//YWX_CTHL_PARAM_ZDP_Start_TIME; } } else { if(YWX_CTHL_ZDP_IN) { if(dwTickCount >= YWX_CTHL_ZDP_Delay) { YWX_CTHL_ZhenDongPian_OUT = 0; YWX_CTHL_ZDP_Delay = dwTickCount + YWX_CTHL_PARAM_ZDP_Start_TIME;//YWX_CTHL_PARAM_ZDP_Start_TIME } } else YWX_CTHL_ZDP_Delay = dwTickCount + YWX_CTHL_PARAM_ZDP_Stop_TIME;//YWX_CTHL_PARAM_ZDP_Stop_TIME+ 50; } } else { YWX_CTHL_ZhenDongPian_OUT = 0; } #endif } void YWX_CTHL_bFKCXTDDWStep(void) { #if 0 switch(YWX_CTHL_bFKCXTDDW_Step) { case 1: YWX_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 YWX_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 YWX_CTHL_FKGD_VAVLE = 0; //方块固定关 YWX_CTHL_bFKCXTDDW_Step = 2; break; case 2: if(!YWX_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { YWX_CTHL_bFKCXTDDW_Step = 3; YWX_CTHL_bFKCXTDDW_Delay = dwTickCount + 20; } break; case 3://斜口定位 if(dwTickCount >= YWX_CTHL_bFKCXTDDW_Delay) { YWX_CTHL_XKDW_VAVLE = 1; YWX_CTHL_bFKCXTDDW_Step = 4; YWX_CTHL_bFKCXTDDW_Delay = dwTickCount + YWX_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if(dwTickCount >= YWX_CTHL_bFKCXTDDW_Delay) { AxisContinueMoveAcc(X_AXIS,1200,DIR_P,800,600,10,10);//拖带电机 YWX_CTHL_bFKCXTDDW_Step = 5; YWX_CTHL_XSavePosBuff = dwXRealPos; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; } break; case 5: if(YWX_CTHL_XKSC_Limit_IN) //方块到位 { AxisEgmStop(X_AXIS); YWX_CTHL_bFKCXTDDW_Step = 0; YWX_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 YWX_CTHL_bFKCXTDDW_Delay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; } else if(dwXRealPos >= (YWX_CTHL_XSavePosBuff + 800)) { YWX_CTHL_SetAlarmCode(YWX_CTHL_FKCXDW_ALARM,bRunning);//方块插销定位异常警告 } break; } #endif } //插销穿入动作 void YWX_CTHL_bCXCRStep(void) { #if 0 switch(YWX_CTHL_bCXCR_Step) { case 11: YWX_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 YWX_CTHL_FKGD_VAVLE = 0; //方块固定关 YWX_CTHL_bCXCR_Step = 12; break; case 12: if(!YWX_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { YWX_CTHL_bCXCR_Step = 13; YWX_CTHL_bCXCR_Delay = dwTickCount + 20; } break; case 13: if((YWX_CTHL_CL_MotorStep == 0) && (YWX_CTHL_SF_Origin_IN) && (dwTickCount >= YWX_CTHL_bCXCR_Delay)) //插销前夹带回到原位 { YWX_CTHL_bCXCR_Step = 14; YWX_CTHL_FKGD_VAVLE = 1; //方块固定关 YWX_CTHL_CXQJD_VAVLE = 1; //插销前夹带 YWX_CTHL_bCXCR_Delay = dwTickCount + YWX_CTHL_PARAM_XCQJD_XCDW_DELAY; } break; case 14: if(dwTickCount >= YWX_CTHL_bCXCR_Delay) { YWX_CTHL_bCXCR_Step = 15; YWX_CTHL_FKGD_VAVLE = 1; //方块固定 //Y轴启动插销 YWX_CTHL_CL_MotorStep = 20; //插销定位 } break; case 15: if(YWX_CTHL_CL_MotorStep == 0) //插销定位完成 { YWX_CTHL_bCXCR_Step = 16; YWX_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 YWX_CTHL_bCXCR_Delay = dwTickCount + 10; //延时插销下移 } break; case 16: if(dwTickCount >= YWX_CTHL_bCXCR_Delay) { YWX_CTHL_bCXCR_Step = 17; YWX_CTHL_CXXY_VAVLE = 1; //Y06 插销下移电磁阀 YWX_CTHL_bCXCR_Delay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 } break; case 17: if(YWX_CTHL_CXXY_Limit_IN) { // if(YWX_CTHL_START_IN_UP) { YWX_CTHL_bCXCR_Step = 18; if( cXcxcrCnt==0 && !X_DRV) //拖带电机反转 { // SetDir(X_AXIS, DIR_N); AxisMovePosAccDec(X_AXIS,10000,-YWX_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } YWX_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 YWX_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 YWX_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 YWX_CTHL_bCXCR_Delay = dwTickCount + YWX_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } else if(dwTickCount >= YWX_CTHL_bCXCR_Delay) { YWX_CTHL_SetAlarmCode(YWX_CTHL_CXXY_Limit_ALARM,bRunning);//插销下移异常 } break; case 18: // if(START_IN_UP) { if(dwTickCount >= YWX_CTHL_bCXCR_Delay) { YWX_CTHL_bCXCR_Step = 19; YWX_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) YWX_CTHL_bCXCR_Delay = dwTickCount + YWX_CTHL_VAVLE_ERROR_TIME +1000; //插销穿入到位异常时间 YWX_CTHL_CL_MotorStep = 50; //合链电机回原点 } } break; case 19: if( cXcxcrCnt > 1) { YWX_CTHL_SetAlarmCode(YWX_CTHL_CX_Limit_ALARM,bRunning); //插销穿入到位异常 } if( YWX_CTHL_CX_Limit_IN && cXcxcrCnt<2 ) { cXcxcrCnt=0; bZhuangLiaoOkFlg = 0; YWX_CTHL_bCXCR_Step = 0; YWX_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 } else if (dwTickCount >= YWX_CTHL_bCXCR_Delay) { cXcxcrCnt++; YWX_CTHL_CXHJD_VAVLE=0; YWX_CTHL_CXHDW_VAVLE=0; YWX_CTHL_CXDWZ_VAVLE = 0; YWX_CTHL_CXXY_VAVLE=0; YWX_CTHL_bCXCR_Step = 11; } break; } #endif } //手动动作 void YWX_CTHL_ManualAction(void) { if(bRunning) // 运行灯输出 { YWX_CTHL_Run_State=1; YWX_CTHL_Stop_State=0; } else { YWX_CTHL_Stop_State=1; YWX_CTHL_Run_State=0; } if(bRunning == 0) { if(bClearTotal) //切断计数清零 { bClearTotal = 0; ClrcToTal(QDCT_TOTAL_ADDR); } if(YWX_CTHL_bDXK) //顶斜口 { YWX_CTHL_bDXK = 0; if(YWX_CTHL_DXK_VAVLE) YWX_CTHL_DXK_VAVLE = 0; else YWX_CTHL_DXK_VAVLE = 1; } if(YWX_CTHL_bXKDW) //斜口定位 { YWX_CTHL_bXKDW = 0; YWX_CTHL_XKDW_VAVLE = ~YWX_CTHL_XKDW_VAVLE; } if(YWX_CTHL_bFWCX) //复位插销 { YWX_CTHL_bFWCX = 0; YWX_CTHL_FWCX_VAVLE = ~YWX_CTHL_FWCX_VAVLE; } if(YWX_CTHL_bBB) //摆臂 { YWX_CTHL_bBB = 0; YWX_CTHL_BAIBI_VAVLE = ~YWX_CTHL_BAIBI_VAVLE; } //退插销 //夹带 if(YWX_CTHL_bTLiao ) //手动推料(推拉头) { YWX_CTHL_bTLiao = 0; if(YWX_CTHL_TLiao_VAVLE) YWX_CTHL_TLiao_VAVLE = 0;//YWX_CTHL_TLiao_VAVLE; else if(!YWX_CTHL_HSLiao_VAVLE && YWX_CTHL_HSLiao_Origin_IN) { YWX_CTHL_TLiao_VAVLE = 1; } else//条件警告 { YWX_CTHL_SetAlarmCode(YWX_CTHL_HENSONGLIAO_ALARM,0); // 横送料不能输出 } } if(YWX_CTHL_bHSL) //手动横送料 { YWX_CTHL_bHSL= 0; if(YWX_CTHL_HSLiao_VAVLE) { YWX_CTHL_HSLiao_VAVLE = 0;//~YWX_CTHL_HSLiao_VAVLE; } else if(!YWX_CTHL_TLiao_VAVLE && !YWX_CTHL_TLiao_Limit_IN && YWX_CTHL_CTM_Origin_IN && !YWX_CTHL_JLiao_Limit_IN && !YWX_CTHL_JLTou_VAVLE && !YWX_CTHL_CTXM_VAVLE && (!YWX_CTHL_bMG || (YWX_CTHL_bMG && YWX_CTHL_LTou_Check))) { YWX_CTHL_HSLiao_VAVLE = 1; } else //条件警告 最后一个括号条件为已经有拉头 { YWX_CTHL_SetAlarmCode(YWX_CTHL_YCCT_ALARM,0); } } if(YWX_CTHL_bJLT) //接拉头 { YWX_CTHL_bJLT = 0; if(YWX_CTHL_JLTou_VAVLE) YWX_CTHL_JLTou_VAVLE = 0; else if( !YWX_CTHL_CTXM_VAVLE && YWX_CTHL_CTM_Origin_IN) { YWX_CTHL_MGuo_VAVLE = 0; YWX_CTHL_JLTou_VAVLE = 1; } else//条件警告 { YWX_CTHL_SetAlarmCode(YWX_CTHL_YCXM_Origin_ALARM,0); } } if(YWX_CTHL_bMG) //码勾 { YWX_CTHL_bMG = 0; YWX_CTHL_MGuo_VAVLE = !YWX_CTHL_MGuo_VAVLE; } if(YWX_CTHL_bCTXM) //穿头下模 { YWX_CTHL_bCTXM = 0; if(YWX_CTHL_CTXM_VAVLE) { YWX_CTHL_CTXM_VAVLE = 0; YWX_CTHL_JLTou_VAVLE = 0; } else if(!YWX_CTHL_HSLiao_VAVLE && YWX_CTHL_HSLiao_Origin_IN) { YWX_CTHL_MGuo_VAVLE = 1; YWX_CTHL_CTXM_VAVLE = 1; } } if(YWX_CTHL_bLYLun) //左压轮 { YWX_CTHL_bLYLun = 0; YWX_CTHL_LYLun_VAVLE = ~YWX_CTHL_LYLun_VAVLE; } if(YWX_CTHL_bRYLun) //右压轮 { YWX_CTHL_bRYLun= 0; YWX_CTHL_RYLun_VAVLE = ~YWX_CTHL_RYLun_VAVLE; } if(YWX_CTHL_bFKGD) //方块固定 { YWX_CTHL_bFKGD = 0; YWX_CTHL_FKGD_VAVLE = ~YWX_CTHL_FKGD_VAVLE; } //合拉头 if(YWX_CTHL_bHeLT) { YWX_CTHL_bHeLT = 0; YWX_CTHL_HELT_VAVLE = ~YWX_CTHL_HELT_VAVLE; } //压带 if(YWX_CTHL_bYD) { YWX_CTHL_bYD = 0; YWX_CTHL_YADAI_VAVLE =~YWX_CTHL_YADAI_VAVLE; } //自动装料 if(YWX_CTHL_bAutoZhuangLiao) { YWX_CTHL_bAutoZhuangLiao = 0; if(YWX_CTHL_ZhuangLiaoStep == 0) { bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg = 0; YWX_CTHL_ZhuangLiaoStep = 1; YWX_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 YWX_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } } #if 0 //测试电机 if(YWX_CTHL_bCLMotor_N) { SetEn(Y_AXIS, MOTOR_EN); SetEn(X_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_N,1000,1000,15,15); AxisContinueMoveAcc(X_AXIS,2000,DIR_P,1000,1000,15,15); } } if(YWX_CTHL_bCLMotor_P) //后退限位已经取消 { SetEn(Y_AXIS, MOTOR_EN); SetEn(X_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); AxisContinueMoveAcc(X_AXIS,2000,DIR_N,1000,1000,15,15); } } if(!YWX_CTHL_bCLMotor_P && !YWX_CTHL_bCLMotor_N && (YWX_CTHL_FZ_MotorStep == 0)) { AxisEgmStop(Y_AXIS); AxisEgmStop(X_AXIS); } #endif //合链电机返回原点 if(YWX_CTHL_bCLMotor_O) { YWX_CTHL_bCLMotor_O = 0; if(YWX_CTHL_FZ_MotorStep == 0) YWX_CTHL_FZ_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(YWX_CTHL_bFKTDDW) { YWX_CTHL_bFKTDDW = 0; if(YWX_CTHL_TD_MotorStep == 0) { YWX_CTHL_FKGD_VAVLE = 0; //Y00方块固定 YWX_CTHL_DXK_VAVLE = 0; //Y01顶斜口电磁阀 YWX_CTHL_XKDW_VAVLE = 0; //Y02斜口定位(定位上止) YWX_CTHL_FWCX_VAVLE = 0; //Y03复位插销 YWX_CTHL_BAIBI_VAVLE = 0; //Y04摆臂 YWX_CTHL_HELT_VAVLE = 0; //Y05合拉头 YWX_CTHL_YADAI_VAVLE = 0; //Y06压带 YWX_CTHL_XKDW_VAVLE = 0; //斜口定位 YWX_CTHL_MGuo_VAVLE = 0; //Y12码勾 YWX_CTHL_CTXM_VAVLE = 0; //Y13穿头下模 YWX_CTHL_LYLun_VAVLE= 0; //Y15方块压轮 YWX_CTHL_RYLun_VAVLE = 0; //Y16插销压轮 if((GetEn(X_AXIS) == MOTOR_DISEN)) { SetEn(X_AXIS, MOTOR_EN); YWX_CTHL_TD_MotorDelay = dwTickCount + 200; } else YWX_CTHL_TD_MotorDelay = dwTickCount + 50; YWX_CTHL_TD_MotorStep = 1; } } //拖带方块插销定位(斜口推带，斜口定位，顶斜口) if(YWX_CTHL_bFKCXTDDW) { YWX_CTHL_bFKCXTDDW = 0; if((YWX_CTHL_bFKCXTDDW_Step == 0) && (YWX_CTHL_FZ_MotorStep == 0) && !YWX_CTHL_CTXM_VAVLE) { YWX_CTHL_bFKCXTDDW_Step = 1; SetEn(X_AXIS, MOTOR_EN); } } //插销穿入(包含电机前定位,插销下移,后夹,后定位) if(YWX_CTHL_bCXCR) { YWX_CTHL_bCXCR = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(YWX_CTHL_CTXM_VAVLE && YWX_CTHL_MGuo_VAVLE && YWX_CTHL_CTM_Limit_IN && !YWX_CTHL_LTou_Check) { if(YWX_CTHL_FZ_MotorStep == 0) { YWX_CTHL_bCXCR_Step = 11; SetEn(Y_AXIS, MOTOR_EN); } } else //警告不能自动穿插销 { YWX_CTHL_SetAlarmCode(YWX_CTHL_WFZIDONGCX_ALARM,0); } } //电机合链动作 if(YWX_CTHL_bMotorHL) { YWX_CTHL_bMotorHL = 0; } //一次穿链动作 if(YWX_CTHL_bCL_First) { YWX_CTHL_bCL_First = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(YWX_CTHL_CTXM_VAVLE && YWX_CTHL_MGuo_VAVLE && YWX_CTHL_CTM_Limit_IN && !YWX_CTHL_LTou_Check && (YWX_CTHL_FZ_MotorStep == 0)) { YWX_CTHL_bCLFirst_Step = 19; } } /* YWX_CTHL_LianLengthCheck = 6989; if(YWX_CTHL_bTiaoShiStep) { YWX_CTHL_bTiaoShiStep = 0; SetPos(X_AXIS,0); SetPos(Y_AXIS,0); dwXRealPos = 0; dwYRealPos = 0; AxisMovePosAccDec(Y_AXIS,YWX_CTHL_PARAM_FZ_Speed,-YWX_CTHL_LianLengthCheck, 2000,1000,10,15,200); AxisMovePosAccDec(X_AXIS,YWX_CTHL_PARAM_FZ_Speed,(YWX_CTHL_LianLengthCheck), 2000,1000,10,15,200); } if(YWX_CTHL_bTiaoShiMode) { YWX_CTHL_bTiaoShiMode = 0; SetPos(X_AXIS,0); SetPos(Y_AXIS,0); dwXRealPos = 0; dwYRealPos = 0; AxisMovePosAccDec(Y_AXIS,YWX_CTHL_PARAM_FZ_Speed,YWX_CTHL_LianLengthCheck, 2000,1000,10,15,200); AxisMovePosAccDec(X_AXIS,YWX_CTHL_PARAM_FZ_Speed,-(YWX_CTHL_LianLengthCheck), 2000,1000,10,15,200); } */ } } #endif