#include "global.h" #if FJ_YING_XING_MACHINE == 1 //盈兴穿头机 void ChuanTou_AlarmProtect(void); void ChuanTou_ManualAction(void); void ChuanTou_AutoAction(void); void ChuanTou_StepCheckStart(void); void ChuanTou_Motor(void); void ChuanTou_SongLiaoAction(void); void ChuanTou_HengSongLiao_Action(void); //横送料 void ChuanTou_ZhuangLiaoStep(void); //装料 void ChuanTou_HeMo(void); //合模动作 void ChuanTou_CLT_Step(void); //穿拉头动作 void ChuanTou_ZhenDongAction(void); static unsigned char cSongLiaoOk = 0,cMotorDinWei_OK = 0; static unsigned char cZhuangLiaoOk = 0; static unsigned char cZLCnt = 0; unsigned long Zipper_Length = 0; void CT_SetAlarmCode(unsigned alarm_code) { SetAlarmCode(CT_ALARM_ADDR,alarm_code); bAlarmStop = 1; } void ChuanTou_InitAction(void) { float length_buff,pulse_buff; axis_x->speed_unit = 1; //速度频率倍率单位 length_buff = CT_PARAM_CYCLE_LENGTH; pulse_buff = CT_PARAM_CYCLE_PULSE; XGearRatio = pulse_buff/length_buff; YGearRatio = 1; SetEn(X_AXIS,CT_MOTOR_DISEN); CT_ZhenDongPian_OUT = 1; } void ChuanTou_Action(void) { //数据监控 dwRealPos = GetPos(X_AXIS); user_datas[121] = CT_MotorStep; user_datas[122] = CT_AutoStep; user_datas[123] = dwRealPos; user_datas[124] = CT_HeMoStep; // user_datas[125] = CT_SL_Step; //user_datas[126] = CT_HSL_Step; // user_datas[127] = dwZipCnt; user_datas[128] = CT_CLT_Step; ChuanTou_AlarmProtect(); ChuanTou_StepCheckStart(); // 调用脚踏开关检测程序 ChuanTou_Motor(); ChuanTou_ManualAction(); ChuanTou_AutoAction(); ChuanTou_ZhenDongAction(); ChuanTou_SongLiaoAction(); ChuanTou_HengSongLiao_Action(); //横送料 ChuanTou_ZhuangLiaoStep(); //装料 ChuanTou_HeMo(); //合模动作 ChuanTou_CLT_Step(); } //手动动作 void ChuanTou_ManualAction(void) { static unsigned long CheckTime; if(bRunning == 0) { if(bClearTotal) //切断计数清零 { bClearTotal = 0; ClrcToTal(CT_TOTAL_ADDR); } //手动分带 if(CT_bFD) { CT_bFD = 0; CT_FenDai_VAVLE = ~CT_FenDai_VAVLE; } //手动下模 if(CT_bXM) { CT_bXM = 0; if(CT_XiaMo_VAVLE) CT_XiaMo_VAVLE = 0; else if(CT_HSL_ORIGIN_IN && !CT_HangSongLiao_VAVLE) CT_XiaMo_VAVLE = 1; else //下模输出条件警告 { SetAlarmCode(CT_ALARM_ADDR,CT_XiaMo_out_ALARM); //横送料在原点才能输出 } } if(CT_DZ_IN) CT_GouZhen_VAVLE = 1; if(CT_GUO_LIAN_IN_UP) CT_GouZhen_VAVLE = 0; //手动送料 if(CT_bSL) { CT_bSL = 0; CT_SongLiao_VAVLE = ~CT_SongLiao_VAVLE; } // 手动合链 if(CT_bHL) { CT_bHL = 0; CT_HeLian_VAVLE = ~CT_HeLian_VAVLE; } // 手动横送料 if(CT_bHSL) { CT_bHSL = 0; if(CT_HangSongLiao_VAVLE) { CT_HangSongLiao_VAVLE = 0; } //送料电磁阀 接料电磁阀 下模电磁阀 保证没拉头 else if(!CT_SongLiao_VAVLE && !CT_JieLiao_VAVLE && !CT_XiaMo_VAVLE && (!CT_MaGou_VAVLE || (CT_MaGou_VAVLE && CT_MG_IN))) { CT_MaGou_VAVLE = 0; CT_HangSongLiao_VAVLE = 1; } else //警告代码 { if(CT_SongLiao_VAVLE) SetAlarmCode(CT_ALARM_ADDR,CT_SongLiao_VAVLE_Not_ALARM); //送料不能有输出 else if(CT_JieLiao_VAVLE) SetAlarmCode(CT_ALARM_ADDR,CT_JieLiao_VAVLE_Not_ALARM); //接料不能有输出 else if(CT_XiaMo_VAVLE)//下模不能有输出 SetAlarmCode(CT_ALARM_ADDR,CT_XiaMo_VAVLE_Not_ALARM); else //已经有拉头 SetAlarmCode(CT_ALARM_ADDR,CT_LaTuo_Not_ALARM); //不能有拉头 } } //手动接料 if(CT_bJL) { CT_bJL = 0; if(CT_JieLiao_VAVLE) { //如果接料输出后，没马勾或横送料已回到原位才能退 if((!CT_HangSongLiao_VAVLE && CT_HSL_ORIGIN_IN) || !CT_MaGou_VAVLE) CT_JieLiao_VAVLE = 0; else //退接料警告 { SetAlarmCode(CT_ALARM_ADDR,CT_TuiJieLiao_ALARM); //码勾输出情况下横送料要退回原点 } } else if(!CT_MaGou_VAVLE || (CT_HSL_ORIGIN_IN && !CT_HangSongLiao_VAVLE)) { CT_JieLiao_VAVLE = 1; } else //接料警告 { SetAlarmCode(CT_ALARM_ADDR,CT_JieLiao_out_ALARM); //码勾没输出或横送料在原点才能输出 } } if(CT_bGM) //手动勾码 { CT_bGM = 0; CT_MaGou_VAVLE = ~CT_MaGou_VAVLE; } if(CT_bHC) //手动护齿 { CT_bHC = 0; CT_HuChi_VAVLE = ~CT_HuChi_VAVLE; } //手动装料 if(CT_bZL) { CT_bZL = 0; if(CT_ZL_Step == 0) { cSongLiaoOk = 1; cZhuangLiaoOk = 0; CT_ZL_Step = 1; } } // //手动定位 if(CT_bMotorDW) { CT_bMotorDW = 0; if(CT_MotorStep == 0) { if(!CT_FenDai_VAVLE) { CT_HuChi_VAVLE = 0; CT_HeLian_VAVLE = 0; CT_MotorStep = 1; } else { if(CT_FenDai_VAVLE) SetAlarmCode(CT_ALARM_ADDR,CT_FenDai_out_ALARM); //分带输出不能拖带 //护链输出不能拖带 } } } //自动装料 if(CT_bZL) { CT_bZL = 0; if(CT_ZL_Step == 0) CT_ZL_Step = 1; } //合模 (半自动) if(CT_bHM) { CT_bHM = 0; if(CT_XiaMo_VAVLE && CT_FenDai_VAVLE) { CT_XiaMo_VAVLE = 0; CT_FenDai_VAVLE = 0; CT_HeLian_VAVLE = 0; CT_HuChi_VAVLE = 0; CT_JieLiao_VAVLE = 0; CT_MaGou_VAVLE = 0; CT_HeMoStep = 0; } else if(CT_HeMoStep == 0) { if(CT_HSL_ORIGIN_IN && !CT_HangSongLiao_VAVLE) { CT_HeMoStep = 1; CT_MaGou_VAVLE = 1; CT_HeMoDelay = dwTickCount +70; //给码勾检测是否有拉头 } else //合模条件不满足 { SetAlarmCode(CT_ALARM_ADDR,CT_XiaMo_out_ALARM); //横送料在原点才能输出 } } if(!CT_GUO_LIAN_IN) SetAlarmCode(CT_ALARM_ADDR,CT_Guo_Lian_IN_ALARM); //拉链在空位上容易爆链 } // if(CT_bMotorH) { if(!X_DRV)AxisContinueMove(X_AXIS,20,CT_DIR_N); } if((QD_MotorStep == 0) && !CT_bMotorH && (CT_AutoStep == 0)) { if(X_DRV)AxisEgmStop(X_AXIS); } //振动盘 if(CT_bZDP) { CT_bZDP = 0; CT_ZDP_Delay = dwTickCount + CT_PARAM_ZDP_STOP_TIME; CT_ZhenDongPian_OUT = 1; } } } void ChuanTou_AlarmProtect(void) { } //振动盘控制 void ChuanTou_ZhenDongAction(void) { if((CT_bDLP || bRunning) && CT_ZhenDongPian_OUT && CT_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; #if 1 // if(bRunning) // { // if(CT_PARAM_ZDP_MODE) // { if(CT_ZhenDongPian_OUT == 0) { if(!CT_ZDP_IN) { CT_ZhenDongPian_OUT = 1; CT_ZDP_Delay = dwTickCount + CT_PARAM_ZDP_STOP_TIME+ 50; } else { CT_ZDP_Delay = dwTickCount + CT_PARAM_ZDP_START_TIME; } } else { if(CT_ZDP_IN) { if((dwTickCount >= CT_ZDP_Delay)) { CT_ZhenDongPian_OUT = 0; } } else CT_ZDP_Delay = dwTickCount + CT_PARAM_ZDP_STOP_TIME+ 50; } // } // else // { // if(CT_ZDP_IN_DW)CT_ZenDongPian_OUT = 0; // if(CT_ZDP_IN_UP)CT_ZenDongPian_OUT = 1; // } // } #if 0 else { if(!CT_ZDP_IN && (CT_ZhenDongPian_OUT == 0)) { CT_ZhenDongPian_OUT = 1; CT_ZDP_Delay = dwTickCount + CT_PARAM_ZDP_TIME + 20; } if((dwTickCount >= CT_ZDP_Delay) && CT_ZhenDongPian_OUT) { CT_ZhenDongPian_OUT = 0; } } #endif #endif } //送料 void ChuanTou_SongLiaoAction(void) { #if 1 switch(CT_SL_Step) { case 1: if(cSongLiaoOk) { CT_SL_Step = 0; } else { // if(CT_PARAM_SL_MODE == 0)//横送模式 // { CT_SL_Step = 2; CT_SL_Delay = dwTickCount + VAVLE_ALARM_TIME; // } // else //直送料 // { // ; // } } break; case 2: { //横送料必须保持在原位 if(CT_HSL_ORIGIN_IN && !CT_HSL_LIMIT_IN && !CT_HangSongLiao_VAVLE) { CT_SongLiao_VAVLE = 1; CT_SL_Delay = dwTickCount + VAVLE_ALARM_TIME; CT_SL_Step = 3; } else if(dwTickCount >= CT_SL_Delay) { if(!CT_HSL_ORIGIN_IN)CT_SetAlarmCode(CT_HSL_ORIGIN_ALARM); else if(CT_HSL_LIMIT_IN)CT_SetAlarmCode(CT_HSL_LIMIT_ALARM); else if(!CT_HangSongLiao_VAVLE)CT_SetAlarmCode(CT_HangSongLiao_Out_ALARM); } } break; case 3: {//送料离开原位 if(!CT_SL_ORIGIN_IN) { CT_SL_Step = 4; CT_SL_Delay = dwTickCount + CT_PARAM_SL_DELAY_BACK; } else if(dwTickCount >= CT_SL_Delay) { CT_SetAlarmCode(CT_SL_ORIGIN_ALARM); } }break; case 4: {//送料时间到延时返回 if(dwTickCount >= CT_SL_Delay) { CT_SongLiao_VAVLE = 0; CT_SL_Delay = dwTickCount + VAVLE_ALARM_TIME; CT_SL_Step = 5; } }break; case 5: { if(CT_SL_ORIGIN_IN) { cSongLiaoOk = 1; CT_SL_Step = 0; } else if(dwTickCount >= CT_SL_Delay) { CT_SetAlarmCode(CT_SL_ORIGIN_ALARM); } } break; } #endif } //横送料 void ChuanTou_HengSongLiao_Action(void) { #if 1 switch(CT_HSL_Step) { case 1: {//送料,下模,马勾在原位,电磁阀不能有输出 if(CT_SL_ORIGIN_IN && CT_XM_ORIGIN_IN && !CT_JieLiao_VAVLE && !CT_XiaMo_VAVLE) { CT_HSL_Step = 2; CT_MaGou_VAVLE = 0; //马勾自动打开 CT_JieLiao_VAVLE = 0; //接料也要关掉 } else if(!bRunning) { CT_HSL_Step = 0; } } break; case 2: if(CT_SL_Step == 0) { CT_HangSongLiao_VAVLE = 1; CT_HSL_Delay = dwTickCount + VAVLE_ALARM_TIME; CT_HSL_Step = 3; } break; case 3: { if(CT_HSL_LIMIT_IN) { //横送到位延接料,等待拉片稳定 CT_HSL_Delay = dwTickCount + CT_PARAM_JIELIAO_DELAY; CT_HSL_Step = 4; } else if(dwTickCount >= CT_HSL_Delay) //横送料到位异常 { CT_SetAlarmCode(CT_HSL_LIMIT_ALARM); } } break; case 4: if(dwTickCount >= CT_HSL_Delay) { CT_HSL_Step = 5; CT_JieLiao_VAVLE = 1; //接料输出上升 CT_HSL_Delay = dwTickCount + VAVLE_ALARM_TIME; } break; case 5: { if(!CT_XM_ORIGIN_IN)//下模离开后,延时输出马勾 { cSongLiaoOk = 0; CT_HSL_Delay = dwTickCount + CT_PARAM_GJ_TIME; //延时码勾输出 CT_HSL_Step = 6; } else if(dwTickCount >= CT_HSL_Delay) //下模没法离开,电磁阀没有输出 { CT_HSL_Step = 0; CT_SetAlarmCode(CT_XM_ORIGIN_ALARM); } } break; case 6: if(dwTickCount >= CT_HSL_Delay) { CT_MaGou_VAVLE = 1; CT_HSL_Delay = dwTickCount + CT_PARAM_HSL_BACK_DELAY; CT_HSL_Step = 7; } break; case 7: if(dwTickCount >= CT_HSL_Delay) //码勾输出后横送料退 { CT_HangSongLiao_VAVLE = 0; CT_HSL_Delay = dwTickCount + VAVLE_ALARM_TIME; CT_HSL_Step = 8; CT_SL_Step = 1; } break; case 8://横送料退回 if(CT_HSL_ORIGIN_IN && !CT_HSL_LIMIT_IN) { CT_HSL_Step = 0; } else if(dwTickCount >= CT_HSL_Delay) { CT_SetAlarmCode(CT_HSL_ORIGIN_ALARM); } break; case 9: break; } #endif } //装料 void ChuanTou_ZhuangLiaoStep(void) { #if 1 switch(CT_ZL_Step) { case 1: { if(cZhuangLiaoOk || (CT_MaGou_VAVLE && !CT_MG_IN)) { CT_ZL_Step = 0; cZhuangLiaoOk = 1; } else { CT_ZL_Delay = dwTickCount + VAVLE_ALARM_TIME; CT_ZL_Step = 2; cZLCnt = 0; CT_ZL_Delay = dwTickCount + 60; cSongLiaoOk = 1; CT_MaGou_VAVLE = 1; } } break; case 2: if((dwTickCount >= CT_ZL_Delay) || CT_MG_IN) { // if(CT_SL_Step == 0) // CT_SL_Step = 1; CT_ZL_Step = 3; if(CT_MaGou_VAVLE && !CT_MG_IN) { CT_ZL_Step = 0; cZhuangLiaoOk = 1; } } break; case 3: { if(CT_SL_Step == 0) { CT_ZL_Step = 4; CT_HSL_Step = 1; } } break; case 4: { if(CT_HSL_Step == 0) { CT_ZL_Step = 0; cZhuangLiaoOk = 1; if(CT_MG_IN && CT_MaGou_VAVLE) { cZhuangLiaoOk = 0; CT_MaGou_VAVLE = 0; CT_JieLiao_VAVLE = 0; CT_ZL_Delay = dwTickCount + 600; cZLCnt++; if(cZLCnt>= 3) { CT_ZL_Delay = dwTickCount + 0; CT_ZL_Step = 0; CT_SetAlarmCode(CT_ZhuangLiao_ALARM); } else CT_ZL_Step = 2; } } } break; default:break; } #endif } //合模动作 void ChuanTou_HeMo(void) { switch(CT_HeMoStep) { case 1: if(CT_HSL_ORIGIN_IN && !CT_HangSongLiao_VAVLE && !CT_HSL_LIMIT_IN && (dwTickCount >= CT_HeMoDelay)) { CT_HeMoStep = 2; if(CT_MaGou_VAVLE) { if(CT_MG_IN) { cZhuangLiaoOk = 0; CT_MaGou_VAVLE = 0; } } else { CT_MaGou_VAVLE = 1; } CT_ZL_Step = 1; CT_HuChi_VAVLE = 1; if(!bRunning || (dwZipCnt <= 2)) CT_HeMoDelay = dwTickCount +70; //给码勾检测是否有拉头 else CT_HeMoDelay = dwTickCount +CT_PARAM_FD_DELAY; //延时分带 if((CT_PARAM_HouMa_MODE != HouMa_MODE_YOUHOUMA)) //有后码时不能有输出 { CT_HeLian_VAVLE = 1; if(bRunning) CT_HeMoDelay = dwTickCount; // } CT_ZL_Step = 1; } break; case 2: if(dwTickCount >= CT_HeMoDelay) { CT_HeMoStep = 3; CT_FenDai_VAVLE = 1; // CT_HeMoDelay = dwTickCount +VAVLE_ALARM_TIME; //延时分带 if(CT_MG_IN) { cZhuangLiaoOk = 0; CT_MaGou_VAVLE = 0; if(CT_ZL_Step == 0) CT_ZL_Step = 1; } } break; case 3: if(CT_FD_IN) { //装已经完成或在手动情况下 if(cZhuangLiaoOk && !CT_MG_IN) { if(CT_HSL_ORIGIN_IN && !CT_HangSongLiao_VAVLE && !CT_HSL_LIMIT_IN) { CT_HeMoStep = 4; CT_XiaMo_VAVLE = 1; CT_HeMoDelay = dwTickCount + 50; //延时退接料 } } else if(CT_MaGou_VAVLE && CT_MG_IN) { if(CT_ZL_Step == 0) { CT_MaGou_VAVLE = 0; CT_ZL_Step = 2; CT_ZL_Delay = dwTickCount + 0; } } } else if(dwTickCount >= CT_HeMoDelay) { if(bRunning) { CT_SetAlarmCode(CT_FD_IN_ALARM); CT_HeMoStep = 0; } } break; case 4: if(dwTickCount >= CT_HeMoDelay) CT_JieLiao_VAVLE = 0; //下模离开原点，拉头顶到顶针处,或手动 if(!CT_XM_ORIGIN_IN && CT_DZ_IN) { CT_HeMoStep = 5; CT_JieLiao_VAVLE = 0; CT_GouZhen_VAVLE = 1; CT_HeMoDelay = dwTickCount + 20; //退勾针延时拖带 } break; case 5: if(dwTickCount >= CT_HeMoDelay) { CT_HeMoStep = 0; } break; } } void ChuanTou_CLT_Step(void) { static long xm_buff; long ch; #if 1 switch(CT_CLT_Step) { case 1: SetPos(X_AXIS, 0); //开始穿入位为零点 dwRealPos = GetPos(X_AXIS); CT_CLT_Step = 2; break; case 2: //两段速度移动距离 // 轴 第一段速度 第一段长度 第二段速度 第二段长度 方向 // AxisMoveTwoPos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,QD_PARAM_SJZ_LENGTH,5000,QD_PARAM_BACK_LENGTH,QD_DIR_P); AxisMovePosAccDec(X_AXIS,CT_PARAM_CR_SPEED,CT_PARAM_CR_LENGTH + 230 - CT_PARAM_STOP_LENGTH ,3000,8,12); // SetDir(X_AXIS, CT_DIR_P); CT_HuChi_VAVLE = 0; CT_CLT_Step = 3; xm_buff = 0; cMotorDinWei_OK = 0; break; case 3: //穿入过程,检测到空位 if(CT_GUO_LIAN_IN_DW) { xm_buff = 0; CancelPmoveState(X_AXIS); AxisChangeSpeed(X_AXIS,CT_PARAM_LSPEED); } //在上升沿 if(CT_GUO_LIAN_IN_UP) { xm_buff = dwRealPos; AxisEgmStop(X_AXIS); } //根据后码模式退合链 if(CT_PARAM_HouMa_MODE == HouMa_MODE_DANKUAI) { if(dwRealPos >= CT_PARAM_TUIHELIAN_DELAY) CT_HeLian_VAVLE = 0; } //退分带动作//提前8MM退分带 或退长度到 if(((dwRealPos + 80) >= CT_PARAM_CR_LENGTH) || (dwRealPos >= CT_PARAM_TUIFENGDAI_DELAY)) CT_FenDai_VAVLE = 0; if((dwRealPos + 35) >= CT_PARAM_CR_LENGTH) { CT_MaGou_VAVLE = 0; } if((dwRealPos) >= CT_PARAM_CR_LENGTH) { AxisEgmStop(X_AXIS); } //穿入长度到 if(!X_DRV) {//如果无后码单开模式长度过长时也强制打开 //双闭口要先慢速退 if((CT_PARAM_HouMa_MODE == HouMa_MODE_DANKUAI) || ((CT_PARAM_HouMa_MODE == HouMa_MODE_SHUANGBI) && (CT_PARAM_TUIHELIAN_DELAY == 0))) { CT_HeLian_VAVLE = 0; //合链关 } CT_FenDai_VAVLE = 0; //分带关 CT_XiaMo_VAVLE = 0; //下模关 CT_MaGou_VAVLE = 0; //码勾关 CT_CLT_Step = 4; } break; case 4: if(!CT_DZ_IN) { CT_CLT_Delay = dwTickCount + CT_PARAM_XM_BACK_DELAY_START; CT_CLT_Step = 5; } break; case 5: //下模退回 if(((dwTickCount >= CT_CLT_Delay) || CT_XM_ORIGIN_IN) && !CT_FD_IN) { CT_ZL_Step = 2; //重装料 cZLCnt = 0; CT_ZL_Delay = dwTickCount + 0; CT_MaGou_VAVLE = 0; //码勾输出检测拉头是否脱离模具 if(xm_buff) //已经检测到拉链 { CT_CLT_Step = 8; CT_MotorStep = 50; //只走定位长度步 } else //没有检测到拉链 { if((CT_PARAM_HouMa_MODE == HouMa_MODE_SHUANGBI) && CT_HeLian_VAVLE) //双闭口要先慢速退 { xm_buff = dwRealPos; CT_CLT_Step = 6; ch = 1400; SetStartSpeed(X_AXIS,ch); if((Zipper_Length > (dwRealPos + 2000)) && (dwZipCnt > 2)) { AxisContinueMove(X_AXIS,(CT_PARAM_HSPEED + CT_PARAM_HSPEED/3),CT_DIR_N); //主要生成高速表 } else AxisContinueMove(X_AXIS,(CT_PARAM_HSPEED),CT_DIR_N);//主要生成高速表 //低速走长度给合链退回争取时间，快转碰拉头，损坏拉链 AxisChangeSpeed(X_AXIS,ch); //也进入过链检测状态 CT_MotorStep = 3; CT_MotorDelay = dwTickCount + 0; } else { CT_CLT_Step = 8; CT_CLT_Delay = dwTickCount + 0; } } } break; case 6: ch = CT_PARAM_TUIHELIAN_DELAY; if(ch > 30) //最长限制1.5CM ch = 28; // if(dwRealPos >= (xm_buff + ch)) { CT_HeLian_VAVLE = 0; CT_CLT_Delay = dwTickCount + 30; //延时时间再加速 CT_CLT_Step = 7; } break; case 7: if(dwTickCount >= CT_CLT_Delay) { if(CT_MotorStep == 3) //如果电机还在检测拉链状态，就到变速程序 CT_MotorStep = 40; CT_CLT_Step = 8; } break; case 8: CT_CLT_Step = 0; if((CT_MotorStep == 0) && (cMotorDinWei_OK == 0)) CT_MotorStep = 1; break; } #endif } void ChuanTou_AutoAction(void) { if(bRunning) { #if 1 switch(CT_AutoStep) { case 1: if(dwTickCount >= CT_AutoDelay) { CT_AutoStep = 2; if(CT_MotorStep == 0) { CT_MotorStep = 1; } } break; case 2: if(CT_MotorStep == 0) //电机定位完成 { if(SingOneFlg) //当为单一自动时,装料 { bRunning = 0; CT_AutoStep = 0; } else { if(dwZipCnt == 2) Zipper_Length = dwRealPos; CT_AutoStep = 3; CT_HeMoStep = 1; } } break; case 3: if((CT_MotorStep == 0) && (CT_HeMoStep == 0)) { CT_CLT_Step = 1; CT_AutoStep = 4; } break; case 4: if(CT_CLT_Step >= 3) { AddToTal(CT_TOTAL_ADDR); AddToTal(CT_WORKTOTAL_ADDR); CalProSP(CT_PROSPEED_ADDR); CT_AutoStep = 5; } break; case 5: if(CT_CLT_Step == 0) { dwZipCnt++; dwZipCnt &= 7; CT_AutoStep = 1; CT_AutoDelay = dwTickCount + 0; } break; } #endif } } void ChuanTou_StepCheckStart(void) { // 启动 if((CT_START_IN_UP) || bStart || CT_bSingle) { bStart = 0; #if 1 if(!bRunning && (CT_AutoStep == 0)) { if(!CT_HSL_ORIGIN_IN)CT_SetAlarmCode(CT_HSL_ORIGIN_ALARM); else if(CT_HSL_LIMIT_IN)CT_SetAlarmCode(CT_HSL_LIMIT_ALARM); else if(!CT_SL_ORIGIN_IN)CT_SetAlarmCode(CT_SL_ORIGIN_ALARM); { bRunning = 1; SetEn(X_AXIS,CT_MOTOR_EN); CT_AutoStep = 3; CT_HeMoStep = 1; // if(!cZhuangLiaoOk) // CT_ZL_Step = 1; SingOneFlg= 0; if(CT_bSingle) SingOneFlg= 1; dwZipCnt = 0; Zipper_Length = 0; CT_AutoDelay = dwTickCount + 30; CT_HeMoDelay = dwTickCount +70; CT_MaGou_VAVLE = 1; cZLCnt = 0; SetAlarmCode(CT_ALARM_ADDR,0); } } CT_bSingle = 0; #endif } #if 1 //停止 if(CT_STOP_IN_UP || bStop) { bStop = 0; if(bRunning) { bRunning = 0; CT_AutoStep = 0; CT_MotorStep = 0; CT_AutoDelay = dwTickCount; CT_MotorDelay = dwTickCount; AxisDecStop(X_AXIS); SingOneFlg = 0; } else { bRunning = 0; CT_AutoStep = 0; CT_MotorStep = 0; CT_HeMoStep = 0; CT_SL_Step = 0; CT_HSL_Step = 0; CT_ZL_Step = 0; CT_CLT_Step = 0; CT_ZD_Step = 0; CT_AutoDelay = dwTickCount; CT_MotorDelay = dwTickCount; CT_HeMoDelay = dwTickCount; CT_SL_Delay = dwTickCount; CT_HSL_Delay = dwTickCount; CT_ZL_Delay = dwTickCount; CT_XM_BACK_Delay = dwTickCount; CT_CLT_Delay = dwTickCount; CT_ZDP_Delay = dwTickCount; SingOneFlg = 0; AxisDecStop(X_AXIS); SetEn(X_AXIS,CT_MOTOR_DISEN); cSongLiaoOk = 0; cZhuangLiaoOk = 0; CT_XiaMo_VAVLE = 0; //下模 CT_SongLiao_VAVLE = 0; //送料 CT_GouZhen_VAVLE = 0; //勾针 CT_DaLaPian_VAVLE = 0; //顶拉片(打拉片) CT_FenDai_VAVLE = 0; //分带 CT_HeLian_VAVLE = 0; //合链(穿模后面) CT_ZhenDongPian_OUT = 0; //振动盘 CT_HuChi_VAVLE = 0; //护齿 CT_HangSongLiao_VAVLE = 0; //横送料 if(!CT_MaGou_VAVLE || (CT_HSL_ORIGIN_IN && !CT_HangSongLiao_VAVLE)) CT_JieLiao_VAVLE = 0; //接料下模 CT_MaGou_VAVLE = 0; //马勾 SetAlarmCode(CT_ALARM_ADDR,0); } } #endif #if 1 if(bAlarmStop) { bAlarmStop = 0; bRunning = 0; CT_AutoStep = 0; // CT_MotorStep = 0; CT_HeMoStep = 0; CT_ZL_Step = 0; CT_HSL_Step = 0; CT_AutoDelay = dwTickCount; CT_MotorDelay = dwTickCount; SingOneFlg = 0; AxisEgmStop(X_AXIS); } #endif } //电机动作 //第1~10前拖带定位 // void ChuanTou_Motor(void) // { static long back_buff,save_buff; unsigned short ch; switch(CT_MotorStep) { case 0: break; //拖带定位动作 case 1: if(cMotorDinWei_OK && bRunning) { CT_MotorStep = 0; break; } else { cMotorDinWei_OK = 0; if(!GetEn(X_AXIS)) { SetEn(X_AXIS,CT_MOTOR_EN); // CT_SZ_OUT = CT_MOTOR_Y_EN; CT_MotorDelay = dwTickCount + 150; } else CT_MotorDelay = dwTickCount + 0; SetDir(X_AXIS, CT_DIR_N); CT_GouZhen_VAVLE = 1; CT_MotorStep = 2; } break; case 2: if(dwTickCount >= CT_MotorDelay) { save_buff = dwRealPos; SetDir(X_AXIS, CT_DIR_P); ch = CT_PARAM_HSPEED; SetDir(X_AXIS, CT_DIR_N); if((Zipper_Length > dwRealPos + 2000) && (dwZipCnt > 2)) { ch += CT_PARAM_HSPEED/3; CT_MotorStep = 4; } else CT_MotorStep = 3; if(!X_DRV) AxisContinueMove(X_AXIS,ch,CT_DIR_N); } break; case 3: //不用变速 if(!CT_GUO_LIAN_IN) { back_buff = dwRealPos; user_datas[127] = dwRealPos;//ch; AxisChangeSpeed(X_AXIS,CT_PARAM_LSPEED); CT_MotorStep = 5; CT_MotorDelay = dwTickCount + VAVLE_ALARM_TIME; } else if(((dwRealPos - save_buff) >= CT_PARAM_MAX_LENGTH) && bRunning && CT_PARAM_MAX_LENGTH) //拖带拉链最大长度 { CT_SetAlarmCode(CT_ZIPPER_MAXLENGHT_ALARM); //拉链长度保护 CT_MotorStep = 0; } break; case 4://到空位 if(((dwRealPos + 1700) >= Zipper_Length) && Zipper_Length && (dwZipCnt > 2) && (CT_CLT_Step== 0)) { AxisChangeSpeed(X_AXIS,CT_PARAM_HSPEED); } if(!CT_GUO_LIAN_IN) { back_buff = dwRealPos; user_datas[127] = dwRealPos;//ch; AxisChangeSpeed(X_AXIS,CT_PARAM_LSPEED); CT_MotorStep = 5; CT_MotorDelay = dwTickCount + VAVLE_ALARM_TIME; } else if(((dwRealPos - save_buff) >= CT_PARAM_MAX_LENGTH) && bRunning && CT_PARAM_MAX_LENGTH) //拖带拉链最大长度 { CT_SetAlarmCode(CT_ZIPPER_MAXLENGHT_ALARM); //拉链长度保护 CT_MotorStep = 0; } break; case 5: if(CT_GUO_LIAN_IN_UP) { back_buff = dwRealPos; AxisChangeSpeed(X_AXIS,CT_PARAM_LSPEED/2); CT_MotorStep = 6; } else if(dwTickCount >= CT_MotorDelay)//(dwRealPos - back_buff) >= 4500) //空位走25公分停止 { CT_SetAlarmCode(CT_NO_ZIPPER_ALARM); CT_MotorStep = 0; } break; case 6: //延迟上勾针 if((dwRealPos - back_buff) >= CT_PARAM_GZ_LENGTH) { CT_GouZhen_VAVLE = 0; if((CT_PARAM_HouMa_MODE == HouMa_MODE_DANKUAI) || (CT_PARAM_HouMa_MODE == HouMa_MODE_SHUANGBI) ) { CT_HeLian_VAVLE = 1; //合链关 } } //定位长度 if((dwRealPos - back_buff) >= CT_PARAM_STOP_LENGTH) { CT_GouZhen_VAVLE = 0; AxisEgmStop(X_AXIS); CT_MotorStep = 7; if((CT_PARAM_HouMa_MODE == HouMa_MODE_DANKUAI) || (CT_PARAM_HouMa_MODE == HouMa_MODE_SHUANGBI) ) { CT_HeLian_VAVLE = 1; //合链关 } } break; case 7: if(!X_DRV) { CT_MotorStep = 0; cMotorDinWei_OK = 1; } break; case 40: save_buff = 0; ch = CT_PARAM_HSPEED; if((Zipper_Length > (dwRealPos + 1800)) && (dwZipCnt > 2)) { ch += CT_PARAM_HSPEED/3; CT_MotorStep = 4; } else CT_MotorStep = 3; user_datas[125] = ch; user_datas[126] = Zipper_Length; user_datas[128] = dwRealPos; AxisChangeSpeed(X_AXIS,ch); break; case 50: //此步为穿链时已经检测到拉链上升沿 back_buff = dwRealPos; SetStartSpeed(X_AXIS,CT_PARAM_LSPEED/2); AxisContinueMove(X_AXIS,CT_PARAM_LSPEED/2,CT_DIR_N); CT_MotorStep = 6; break; /* //穿入动作 case 100: //穿入电机慢慢复位动作 CT_MotorStep = 101; break; case 101: if(CT_CR_ORIGIN_IN) { AxisDecStop(Y_AXIS); CT_MotorStep = 102; } else if(dwTickCount >= CT_MotorDelay) CT_SetAlarmCode(CT_CR_ORIGIN_ALARM); break; case 102: if(!Y_DRV) { CT_MotorStep = 0; } break; */ } } #endif