#include "global.h"

#if XI_DONG_MACHINE

//输入说明
//输入说明
//X000      起动  
//X001      停止
//X002      手动钩针
//X003      手动前导板
//X004      手动夹胶
//X005      手动送胶
//X006      手动熔胶
//X007      自动位
//X010      单-自动
//X011      过链接近开关
//X012      勾针磁感
//X013      前导板磁感
//X014      送胶到位磁感
//X015      退胶到位磁感（熔接磁感）
//X016      复位微动
//X017      机型选择(就是送胶、前导板)
//X020		合模到位微动
//X021		音波自动
//X022		熔接时勾针关选择　1　先下勾针熔接，0　熔接时不下勾针
//X023		内部时间选择，0　拔码，1  内部时间

//输出说明
//NEW 2006/03/22
//输出说明
//Y000	    离合器
//Y001      勾针阀   
//Y002      导板阀 
//Y003      夹胶阀	     
//Y004      送胶阀
//Y005      熔接（合模）
//Y006      计数	     
//Y007      拖带电机
//Y010 　　 释放
//Y011		警告输出
//Y012      压带输出
//Y020      音波
//Y021      音波

//X00      起动  
#define     __sw_start()                    (X00)
#define     __sw_start_on()                 (X00_UP)
//X01      停止
#define     __sw_stop()                     (X01)
#define     __sw_stop_on()                  (X01_UP)
//X02      手动钩针
#define     __sw_gou_zhen_on()              (X02_UP)
#define     __sw_gou_zhen_off()             (X02_DW)
//X03      手动前导板
#define     __sw_dao_ban()                  (X03 != 0)
#define     __sw_dao_ban_on()               (X03_UP)
#define     __sw_dao_ban_off()              (X03_DW)
//X04      手动夹胶
#define     __sw_jia_jiao()                 (X04 != 0) /* 手动夹胶状态*/
#define     __sw_jia_jiao_on()              (X04_UP)
#define     __sw_jia_jiao_off()             (X04_DW)
//X05      手动送胶
#define     __sw_song_jiao()                (X05)
#define     __sw_song_jiao_on()             (X05_UP)
#define     __sw_song_jiao_off()            (X05_DW)
//X06      手动熔胶
#define     __sw_rong_jiao()                (X06 != 0)
#define     __sw_rong_jiao_on()             (X06_UP)
#define     __sw_rong_jiao_off()            (X06_DW)
//X07      自动位
#define     __sw_manual()                   (X07 != 0)     /* 开关为手动状态*/
#define     __sw_manual_on()                (X07_UP)       /* 开关改为手动瞬间*/
//X10      单-自动
#define     __x_dan_zi_dong()              (X10 != 0)
//X11      过链接近开关
#define     __x_guo_lian()                 (X11 != 0)
#define     __x_guo_lian_on()              (X11_UP)
#define     __x_guo_lian_off()             (X11_DW)
//X12      勾针磁感
#define     __x_gou_zhen()                 (X12 != 0)
//X13      前导板磁感
#define     __x_dao_ban()                  (X13 != 0)
//X14      送胶到位磁感
#define     __x_song_jiao_dao_wei()        (X14 != 0)
//X15      退胶到位磁感（熔接磁感）
#define     __x_tui_jiao_dao_wei()         (X15 != 0)
//X16      复位微动
#define     __x_reset()                    (X16 != 0)
#define     __x_reset_on()                 (X16_UP)
//X17      机型选择(就是送胶、前导板)
//X20		合模到位微动
#define     __x_he_mo_dao_wei()            (X20 != 0)
#define     __x_he_mo_dao_wei_on()         (X20_UP)
//X21		音波自动
#define     __sw_auto_yin_bo()             (X21 == 0)
//输出说明
//NEW 2006/03/22
//输出说明
//Y000	    离合器
#define     __y_li_he()                   (Y000 != 0)
#define     __y_li_he_on()                (SETY000())
#define     __y_li_he_off()               (CLRY000())
//Y001      勾针阀   
#define     __y_gou_zhen()                (Y001 != 0)
#define     __y_gou_zhen_on()             (SETY001())
#define     __y_gou_zhen_off()            (CLRY001())
//Y002      导板阀 
#define     __y_dao_ban()                 (Y002 != 0)
#define     __y_dao_ban_on()              (SETY002())
#define     __y_dao_ban_off()             (CLRY002())
//Y003      夹胶阀
#define     __y_jia_jiao()                (Y003 != 0)
#define     __y_jia_jiao_on()             (SETY003())
#define     __y_jia_jiao_off()            (CLRY003())
//Y004      送胶阀
#define     __y_song_jiao()               (Y004 != 0)
#define     __y_song_jiao_on()            (SETY004())
#define     __y_song_jiao_off()           (CLRY004())
//Y005      熔接（合模）
#define     __y_he_mo()                   (Y005 != 0)
#define     __y_he_mo_on()                (SETY005())
#define     __y_he_mo_off()               (CLRY005())
//Y006      计数
#define     __y_ji_shu_on()               (SETY006())
#define     __y_ji_shu_off()              (CLRY006())
//Y012 
#define     __y_Ya_Dai()                  (Y012 != 0)     
#define     __y_Ya_Dai_on()               (SETY012())
#define     __y_Ya_Dai_off()              (CLRY012())
//Y007       拖带电机
//Y008 　　

#define     __yin_bo_on()                 (SETY015())
#define     __yin_bo_off()                (CLRY015())
	

char TBJ_GcDanYiXunHuanFlag;
unsigned char TBJ_cSpeaker_EN,TBJ_cGuZhang_Flag;
unsigned short TBJ_cWordTime[3],TBJ_cCountOutTime;
unsigned long TBJ_cErrorTime1,TBJ_cErrorTime;

void TBJ_Motor (void);

void TBJ_InitAction(void)
{
        XGearRatio  = 1;
        YGearRatio  = 1;        
}

static void TBJ_ManualAction (void)
{  
    if(M11)   //累计产量清零
    {
            M11 = 0;
            ClrcToTal(76);
    }
    if(M8)
    {
            M8 = 0;
            if(__y_Ya_Dai())
            {
                    __y_Ya_Dai_off();
            }
            else
                    __y_Ya_Dai_on();
    }
    if(X07_UP) 
    {		//自动变手动
        Y00 = 0;
        Y01 = 0;
        Y02 = 0;
        Y03 = 0;
        Y04 = 0;
        Y05 = 0;
        Y07 = 0;
        Y10 = 0;
        Y11 = 0;
        Y13 = 0;
        Y14 = 0;
        Y15 = 0;

        cStepMByte = 0;
        cStepMByte1 = 0;
        cStepMByte2 = 0;
        cStepMByte3 = 0;
        cStepMByte4 = 0;
	cStepMByte5	= 0;
	cStepMByte6	= 0;
        TBJ_bRunning = 0;
        AxisEgmStop(X_AXIS);  
        SETY010();
    }

    if(__sw_gou_zhen_on() || M2)		//勾针动作
    {
        M2 = 0;
        if(__y_gou_zhen())
        {
                __y_gou_zhen_off();
        }
        else if((user_datas[4] != 2) || (!__y_song_jiao()))	 
                __y_gou_zhen_on();                                            /* 钩针阀on*/
    }
    else if(__sw_gou_zhen_off())
        __y_gou_zhen_off();                                           /* 钩针阀off*/

    if (__sw_dao_ban_on() || M3) 
    {                                            /* 手动前导板开关ON*/
       	M3 = 0;
	if(__y_dao_ban())__y_dao_ban_off();
	    /*   未合模         复位      合模未到位    手动熔接*/
        else if (!__y_he_mo() && __x_reset() && !__x_he_mo_dao_wei() && !__sw_rong_jiao())
        {
            __y_dao_ban_on();                                         /* 导板阀 */
        }
        else //警告处理
        {
                M15 = 0;  //M15	
                M0091 = 1;	  //M91 不用记录
                SETY011();					//蜂鸣器
                if(Y005 != 0)user_datas[100] = ERY05;           //Y005 无输出
                else if(X006 != 0)user_datas[100] = ERX06;      //X006 有输入
                else if(X016 == 0)user_datas[100] = ERX16;      //X016 有输入
                else if(X020 != 0)user_datas[100] = ERX20;      //X020 有输入	
        }
    }
    /*  手动前导板   机型选择(就是送胶、前导板)*/
    if ((__sw_dao_ban_off()) || (X017))__y_dao_ban_off();
	//手动夹胶
    if (__sw_jia_jiao() || M4)
    {
	    M4 = 0;
	    if(__y_jia_jiao())
	   		__y_jia_jiao_off(); 
		else
			__y_jia_jiao_on();                                            /* 夹胶阀ON*/
    }
	//手动送胶
    if (__sw_song_jiao_on() || M5) 
    {
		M5 = 0;
		if(__y_song_jiao())  //关送胶
		{
			__y_song_jiao_off(); 
		}
                /*   未合模         复位      合模未到位    手动熔接*/
                        //        Y005            X016 != 0
                else if (!__y_he_mo() && __x_reset() && !__x_he_mo_dao_wei() && !__sw_rong_jiao() && 
                ((!__y_gou_zhen() && __x_gou_zhen()) || (user_datas[4] != 2))) 
                {
                    __y_song_jiao_on();                                       /* 送胶伐ON*/
                }
		else //条件不满足处理
		{
		 	M15 = 0;  //M15	
			M0091 = 1;	  //M91 不用记录
			SETY011();					  //蜂鸣器
			if(Y005 != 0)user_datas[100] = ERY05;      //Y005 无输出
			else if(X006 != 0)user_datas[100] = ERX06;      //X006 有输入
			else if(X016 == 0)user_datas[100] = ERX16;      //X016 有输入
			else if(X020 != 0)user_datas[100] = ERX20;      //X020 有输入
			else if(__y_gou_zhen())user_datas[100] = ERY01;      //Y001 有输出
			else if(!__x_gou_zhen())user_datas[100] = ERX12;      //X012 有输入
		}
    }
    /*  手动前导板   机型选择(就是送胶、前导板)*/
    if (__sw_song_jiao_off() || (X017))
        __y_song_jiao_off();
    //手动熔胶      导板阀   送胶阀 离合器    退胶到位磁感（熔接磁感）
    if (X06_UP || M6) 
    {
        M6 = 0;
        if(__y_he_mo())
        {
                cStepMByte3 = 0;
                __yin_bo_off(); //音波关
                __y_he_mo_off(); //退合模
        }
        else if (!__y_dao_ban() && !__y_song_jiao() &&
        (cStepMByte3 == 0) && !__y_li_he() &&
        __x_tui_jiao_dao_wei() &&
        !__x_dao_ban() && (!__x_gou_zhen() || (user_datas[4] == 2)))
        { /*  前导板磁感     勾针磁感*/
                cStepMByte3 = 1;	//合模熔接开始
                /* 合模熔接*/
                TBJ_cWordTime[0] = user_datas[6];    //延时发超声时间
                TBJ_cWordTime[1] = user_datas[7];	//发超声时间
                TBJ_cWordTime[2] = user_datas[8];	//固化时间
        }
        else  //不满足条件警告处理
        {
                M15 = 0;  	//M15	
                M0091 = 1;	  	//M91不用记录
                SETY011();					  	//蜂鸣器
                if(Y005 != 0)user_datas[100] = ERY05;     //Y05 前导板电磁阀
                else if(Y004 != 0)user_datas[100] = ERY04;     //X006 有输入
                else if(Y000 != 0)user_datas[100] = ERY00;      //X016 有输入
                else if(X015 == 0)user_datas[100] = ERX15;      //X020 有输入								
                else if(X013 != 0)user_datas[100] = ERX13;      //X020 有输入							
                else if(X012 != 0)user_datas[100] = ERX12;      //X020 有输入
        }
    }
}
/*********************************************************************************************************
**  Function name:          func_name
**  Descriptions:           自动运行
**  input parameters:       input
**  output parameters:      NONE
**  Returned value:         NONE
**  Created by:             Huanghui
**  Created Date:           2012-6-18
**--------------------------------------------------------------------------------------------------------
**  Modified by:
**  Modified date:
**--------------------------------------------------------------------------------------------------------
*********************************************************************************************************/
static void TBJ_AutoAciton (void)
{
    TBJ_Motor();
    switch (cStepMByte) 
    { //电机、离合器、导板阀、夹胶阀起动
	    case 1:
	        if (__x_gou_zhen() && __x_reset())
		{
	            cStepMByte = 2;
	            cStepMByte2 = 1;                                           
	            
	            SETY003();//夹胶输出 
                    cDelayTime1 = dwTickCount + (unsigned long)50;    //延时输出前导板                                     /* 夹胶阀*/
	        }
	        break;    
	    case 2:
                if((dwTickCount >= cDelayTime1) && (Y002 == 0))	  /* 延时输出导板*/
                {
                        if ((X003 == 0) && (X017 == 0))
                        {
                                SETY002();//前导板输出__y_dao_ban_on();
                                TBJ_cErrorTime1 = dwTickCount + (unsigned long) TBJ_ERRORTIME;
                        }
                        else
                                __y_dao_ban_off();
                }
                //前导板出错
                if((dwTickCount >= TBJ_cErrorTime1) && Y002 && (X013 == 0))
                {
                        M0081 = 1; //M81 记录
                        user_datas[100] = 2; //检查过链接近开关或没有拉链
                        M15 = 0; //M15
                        user_datas[101] = 0;
                }
			//  勾针己输出　并且在链上		 拖带完成
	        if (((X012 == 0) && X011) || (cStepMByte2 == 0) || (user_datas[4] == 1)) //送胶起动
                {
                        if(user_datas[4] == 2)
                        {
                                if((cStepMByte2 == 0)) 	//压带已经有输出
                                {	
                                        if(dwTickCount >= cDelayTime1) __y_gou_zhen_off();  	//下勾针
                                        if(__x_gou_zhen())		//勾针下到位
                                        {                                     
                                                        //前导板到位	  前导板输出
                                            if ((X013 != 0))
                                            {
                                                cStepMByte = 3;                                   
                                                if((X005 == 0) && (X017 == 0))		 /* 送胶阀*/
                                                {
                                                    SETY004(); 
                                                    TBJ_cErrorTime1 = dwTickCount + (unsigned long) TBJ_ERRORTIME;
                                                }
                                                else
                                                    CLRY004(); 
                                            }
                                                                
                                        }
                                }
                                else
                                        cDelayTime1 = dwTickCount + (unsigned long)50;
                        }
                        else
                        {
                                //前导板到位	  前导板输出
                            if ((X013 != 0) || ((Y002 == 0) && (user_datas[4] == 0)))
                            {
                                cStepMByte = 3;                                   
                                if((X005 == 0) && (X017 == 0))		 /* 送胶阀*/
                                {
                                    SETY004(); 
                                    TBJ_cErrorTime1 = dwTickCount + (unsigned long) TBJ_ERRORTIME;
                                }
                                else
                                    CLRY004(); 
                            }
                         }
	        }
	        break;
	        //送胶到位
	    case 3: //送胶到位磁感
	        if (X014 || (Y004 == 0)) 
		{
	            cStepMByte = 4;
		    cDelayTime1 = dwTickCount + (unsigned long)20;
	        }
		else if(dwTickCount >= TBJ_cErrorTime1)	  //送胶到位出错
		{
		    M0082 = 1; //M82 记录
	            user_datas[100] = 3; //检查过链接近开关或没有拉链
	            M15 = 0; //M15
	            user_datas[101] = 0;
		}
	        break;
	        //导板、夹胶关闭
	    case 4: 
                if(Y003 && dwTickCount >= cDelayTime1)
                {
                        CLRY003(); //夹胶阀关
                        cDelayTime1 = dwTickCount + (unsigned long)10 * user_datas[9];
                }
			//勾针起   拖带到位            勾针磁感
	        if ((cStepMByte2 == 0) && !Y003 && (((Y001 != 0) && (X012 == 0)) || (user_datas[4] == 2))) 
                {
	            cStepMByte = 5;
	            CLRY002(); //前导板关
                    CLRY003(); //夹胶阀关
                    TBJ_cErrorTime1 = dwTickCount + (unsigned long) TBJ_ERRORTIME;	
	        }
	        break;
	        //退送胶
	    case 5:
	        //送胶停止
	        if((X013 == 0) && (dwTickCount>= cDelayTime1)) 
		{
	            cStepMByte = 6;  
	            CLRY004();/* 送胶关 M19*/
	            cStepMByte2 = 6; //拖带反转
		    TBJ_cErrorTime1 = dwTickCount + (unsigned long) TBJ_ERRORTIME;
	        }
		else if((dwTickCount >= TBJ_cErrorTime1)) //退导板出错
		{
		    M0081 = 1; //M81 记录
	            user_datas[100] = 2; //检查过链接近开关或没有拉链
	            M15 = 0; //M15
	            user_datas[101] = 0;
		}
	        break;
	    case 6: //退胶到位
	        if((cStepMByte2 == 0) && (Y004 == 0) && X015) 
		{
	            cStepMByte = 7;
	        }
		else if((dwTickCount >= TBJ_cErrorTime1)) //退送胶出错
		{
		    M0083 = 1; //M83 记录
	            user_datas[100] = 4; //检查过链接近开关或没有拉链
	            M15 = 0; //M15
	            user_datas[101] = 0;
		}
	        break;
	        //在自动状态
	    case 7:	//  单一自动　　       自动启动					熔接
	        if(__x_dan_zi_dong() || (TBJ_GcDanYiXunHuanFlag == 0) || M6)
		{ 
				M6 = 0;
			if(!__sw_rong_jiao() && !__y_dao_ban() && !__y_song_jiao() && __x_tui_jiao_dao_wei() && !__x_dao_ban() &&
	                ((__y_gou_zhen() && !__x_gou_zhen()) || (user_datas[4] == 2)) && __x_guo_lian()) 
			{
		            cStepMByte = 8;		//等待合模熔接完成
			    cStepMByte3 = 1;	//合模熔接开始
                            TBJ_cWordTime[0] = user_datas[6];    //延时发超声时间
                            TBJ_cWordTime[1] = user_datas[7];	//发超声时间
                            TBJ_cWordTime[2] = user_datas[8];	//固化时间
	        	}
		}
	        break;
	    case 8:
	        if(cStepMByte3 == 0)  //合模熔接已经完成
		{
	            cStepMByte = 9;
	            CLRY001();	   //退勾针
		    TBJ_cErrorTime1 = dwTickCount + (unsigned long) TBJ_ERRORTIME;
	        }
	        break;
	    case 9:	 //复位到位
	        if (X016)
		{
	            cStepMByte = 10;
	            cDelayTime1 = dwTickCount + (unsigned long) 30;
	        }
		else if((dwTickCount >= TBJ_cErrorTime1)) //复位微动异常
		{
		    M0084 = 1; //M84 记录
	            user_datas[100] = 5; 
	            M15 = 0; //M15
	            user_datas[101] = 0;
		}
	        break;
	    case 10:
	        if ((X016 != 0) && (dwTickCount >= cDelayTime1)) 
                {
	            cStepMByte = 11;
	            cDelayTime1 = dwTickCount + (unsigned long) 60;
	            TBJ_cCountOutTime = 5; //计数
	            SETY006();
	            CLRY010(); //锁轴
	        } 
                else if (X016 == 0) 
                {
	            cStepMByte = 9;
		    TBJ_cErrorTime1 = dwTickCount + (unsigned long) TBJ_ERRORTIME;
	        }
	        break;
	    case 11:
	        if (dwTickCount >= cDelayTime1) 
                {  //   单一循环
                    if(TBJ_GcDanYiXunHuanFlag)
                    {
                            cStepMByte = 0;
                            TBJ_bRunning = 0;	
                    }
                    else
	            	cStepMByte = 1;
	            AddToTal(76);		//生产总量加1保存
	            CalProSP(78); 	//计算生产速度
	        }
	        break;
    }

 /*   if (!__sw_dao_ban() && M17 && (X017 == 0))
        __y_dao_ban_on();
    else
        __y_dao_ban_off();
    if (!__sw_jia_jiao() && M18 && (X017 == 0))
        __y_jia_jiao_on();
    else
        __y_jia_jiao_off();
    if (!__sw_song_jiao() && M19 && (X017 == 0))
        __y_song_jiao_on();
    else
        __y_song_jiao_off();
*/
}


// 检测是否踏了脚踏开关
void TBJ_CheckStart (void)
{
    static unsigned long TBJ_iKaDaiTime;
    /*  启动ON          自动启动　单一自动　        */
    if ((__sw_start_on() || M0 || M7) && (TBJ_bRunning == 0))
    { 	//  勾针磁感		复位磁感			停止OFF 		  自动
		if(__x_gou_zhen() && __x_reset() && !__sw_stop() && !__sw_manual())
		{//自动启动
                        TBJ_bRunning = 1; // 取反运行标志位
                        cStepMByte = 1;
			TBJ_GcDanYiXunHuanFlag = 0;
			if(M7)TBJ_GcDanYiXunHuanFlag = 1;
			middle_coils[10].value = 0; //记录
                        middle_coils[11].value = 0; //记录
                        user_datas[100] = 0;   
                        M15 = 0;
                        user_datas[101] = 0;
			TBJ_cSpeaker_EN = 0;
		}
		else 	//警告输出
		{
			M15 = 0;  	//M15	
			M0091 = 1;  	//M91不用记录
			SETY011();					  	//蜂鸣器
			if(X007 != 0)user_datas[100] = ERX07;     //X007 有输入
			else if(X001 != 0)user_datas[100] = ERX01;      //X001 有输入								
			else if(X016 == 0)user_datas[100] = ERX16;      //X016 没输入							
			else if(X012 == 0)user_datas[100] = ERX12;      //没输入	
		}
		M0 = 0;
		M7 = 0;
    }
    //停止
    if ((X01_UP || TBJ_bStop || M1) )
    {
	if(TBJ_bRunning && (X001 != 0))TBJ_cGuZhang_Flag = 1;
        TBJ_iKaDaiTime = dwTickCount + 1000;
	M1 = 0;
        TBJ_bStop = 0;
        Y00 = 0;
        Y01 = 0;
        Y02 = 0;
        Y03 = 0;
        Y04 = 0;
        Y05 = 0;
        Y07 = 0;
        Y10 = 0;
        Y11 = 0;
        Y12 = 0;
        Y13 = 0;
        Y14 = 0;
        Y15 = 0;

        cStepMByte = 0;
        cStepMByte1 = 0;
        cStepMByte2 = 0;
        cStepMByte3 = 0;
        cStepMByte4 = 0;
	cStepMByte5	= 0;
	cStepMByte6	= 0;
        TBJ_bRunning = 0;
        AxisEgmStop(X_AXIS);  
        SETDR();
        SETY010();
        CLRY011();
        TBJ_cSpeaker_EN = 1;
    }
    if((X001 != 0) && (dwTickCount >= TBJ_iKaDaiTime) && TBJ_cGuZhang_Flag)
    {
          TBJ_cGuZhang_Flag = 0;
          M0086 = 1;
          user_datas[100] = 7;
          TBJ_cSpeaker_EN = 0;
          SETY011();
    }
    //警告退出
    if(M15)
    {
           middle_coils[10].value = 0;  
           middle_coils[11].value = 0;  
           user_datas[100] = 0;   /* 压带出错，没法压到位*/
           M15 = 0;
    }
} 
//贴布sm 电机控制
void TBJ_Motor (void)
{
    switch(cStepMByte2) 
    {
	    case 1: //离合器起动
	        cStepMByte2 = 2;
	        __y_li_he_on();		  //离合启动　Y000
	        if (user_datas[90] == 55)cDelayTime3 = dwTickCount + (unsigned long) 300;
	        CLRDR();
		SETY007();
	        CLRY010();
                MoveAction_Const_AccDec(X_AXIS,TBJ_DIR_P,user_datas[3],user_datas[2],user_datas[1],1);      
		__y_Ya_Dai_off();     //压带关
	        break;
	    case 2: //过链接近下降沿
	        if ((__x_guo_lian_off()) || ((user_datas[90] == 55) && (dwTickCount >= cDelayTime3))) 
                {
	            cStepMByte2 = 3;
	            cDelayTime3 = dwTickCount + (unsigned long)user_datas[10];		//延时上勾针
	            TBJ_cErrorTime = dwTickCount + (unsigned long) TBJ_ERRORTIME;
	            AxisChangeSpeed(X_AXIS,user_datas[2]);	
	        }
	        break;
	    case 3: //要加延时上勾针
		if(dwTickCount >= cDelayTime3)__y_gou_zhen_on();  /* 上勾针*/	
	        //过链接近上升沿  	//拖带到
	        if ((__x_guo_lian_on() || (user_datas[90] == 55)) && (dwTickCount >= cDelayTime3))
                {
	            cStepMByte2 = 4;
	            cDelayTime3 = dwTickCount + (unsigned long)user_datas[0];
		    __y_gou_zhen_on();  /* 上勾针*/	
	        }
	        else if (dwTickCount >= TBJ_cErrorTime) 
                { //拖带警告
	            M0087 = 1; //M87 记录
	            user_datas[100] = 8; //检查过链接近开关或没有拉链
	            M15 = 0; //M15
	            user_datas[101] = 0;
	            TBJ_bStop = 1;
	        }
	        break;
	    case 4:
	        if(dwTickCount >= cDelayTime3)
		{
	            cStepMByte2 = 5;
	            __y_li_he_off();	  	     //关离合
	            AxisEgmStop(X_AXIS);  
	            TBJ_cErrorTime = dwTickCount + (unsigned long) TBJ_ERRORTIME;				
		    if(user_datas[4])cDelayTime3 = dwTickCount + (unsigned long)40;
	        }
	        break;
	    case 5: //勾针上到
	        if (!__x_gou_zhen() && (dwTickCount >= cDelayTime3))
		{
	            cStepMByte2 = 0; //拖带反转
	            SETDR();
		    __y_Ya_Dai_on();       		//压带开
	        } 
		else if (dwTickCount >= TBJ_cErrorTime) //压带警告
	        {
	            M0080 = 1; //记录
	            user_datas[100] = 1; //压带出错，没法压到位
	            M15 = 0; //M15
	            user_datas[101] = 0;
	        }
	        break;
	    case 6:
	        AxisMovePosAccDec(X_AXIS, 5,80,1,1,1);	      
	        cStepMByte2 = 7; //等拖带完成 
	        break;
	    case 7:
	        if(!X_DRV) 
                {
	            cStepMByte2 = 0; //拖带完成
	            SETY010();	  	//释放电机
	        }
	        break;
    }
}
//合模超声动作
void TBJ_HeMo (void)
{
	switch (cStepMByte3) 
        {
	    case 1:			
                cDelayTime4 = dwTickCount + (unsigned long)TBJ_ERRORTIME; //延时时间			
                if(X022)
                {
                    __y_gou_zhen_off();
                    if(__x_gou_zhen())
                    {
                            __y_he_mo_on(); 	//合模
                            cStepMByte3 = 2;
                    }
                }
                else
                {
                    __y_he_mo_on(); 	//合模
                    cStepMByte3 = 2;			
                }	
	        break;
	    case 2: 
		if(__x_he_mo_dao_wei_on()) 
                {   /* 合模到位瞬间*/
	            cStepMByte3 = 3;
	            cDelayTime4 = dwTickCount + (unsigned long) TBJ_cWordTime[0] * 10; //延时时间
	        }
		else if((dwTickCount >= cDelayTime4) && TBJ_bRunning) //合模到位微动异常
	        {
	            M0085 = 1; //M85记录
	            user_datas[100] = 6;        //合模出错
	            M15 = 0; //M15
	            user_datas[101] = 0;
	        }  
	        break;//延时发振
	    case 3:
		if(dwTickCount >= cDelayTime4) 
                {
	            cStepMByte3 = 4;
	            cDelayTime4 = dwTickCount + (unsigned long) TBJ_cWordTime[1] * 10; //熔接时间
	            if(user_datas[5] != 0)	 //通信方式下音波开选择
	                __yin_bo_on(); //音波开
	        }
	        break; 
	    case 4:
	        if (dwTickCount >= cDelayTime4) 
                {
	            cStepMByte3 = 5;
	            cDelayTime4 = dwTickCount + (unsigned long) TBJ_cWordTime[2] * 10; //熔接时间
	            __yin_bo_off(); //音波关
	        }
	        break;
	    case 5:
	        if(dwTickCount >= cDelayTime4)
                {
	            cStepMByte3 = 0;
	            __y_he_mo_off();
                    __y_Ya_Dai_off();
	        }
	        break;
	}
}
/*********************************************************************************************************
**  Function name:          func_name
**  Descriptions:           descriptions
**  input parameters:       input
**  output parameters:      NONE
**  Returned value:         NONE
**  Created by:             Huanghui
**  Created Date:           2012-6-18
**--------------------------------------------------------------------------------------------------------
**  Modified by:
**  Modified date:
**--------------------------------------------------------------------------------------------------------
*********************************************************************************************************/
void TBJ_Action (void)
{
        static unsigned long c10msDelay = 0;
        TBJ_CheckStart(); // 调用脚踏开关检测程序
        if(dwTickCount >= c10msDelay)
        {
            c10msDelay = dwTickCount+10;
            if (TBJ_cCountOutTime > 0) 
            {
                TBJ_cCountOutTime--;
                if (TBJ_cCountOutTime == 0)
                    CLRY006();
            }	
            if(user_datas[100] == 0)
            {	
                CLRY011();
            }
            else   //显示故障代码
            {
                SETY011();
            }
        }


	TBJ_HeMo ();   //合模熔接动作
        // 没有按下急停按钮
	//手动状态下 
	if(TBJ_bRunning && !__sw_stop())
	{
	    TBJ_AutoAciton();                                                   /* 自动运行*/
	} 
	else if(__sw_stop_on() || M1)
	{
            Y00 = 0;
            Y01 = 0;
            Y02 = 0;
            Y03 = 0;
            Y04 = 0;
            Y05 = 0;
            Y07 = 0;
            Y12 = 0;
            Y13 = 0;
            Y14 = 0;
            Y15 = 0;
            cStepMByte = 0;
            cStepMByte1 = 0;
            cStepMByte2 = 0;
            cStepMByte3 = 0;
            cStepMByte4 = 0;
            cStepMByte5	= 0;
            cStepMByte6	= 0;
            TBJ_bRunning = 0;
            AxisEgmStop(X_AXIS);  
	    SETY010();
	}
	else if(TBJ_bRunning == 0)
	{
	    TBJ_ManualAction();                                                 /* 手动运行*/
	} 
}


#endif