GC23005/Machine/HaiHuaMachine/HHQueDuanJi.c

#include "global.h"


#if HAI_HUA_MACHINE

void QueDuan_AlarmProtect(void);
void QueDuan_ManualAction(void);
void QueDuan_AutoAction(void);
void QueDuan_StepCheckStart(void);
void QueDuan_XiaQue(void);
void QueDuan_Motor(void);
void QueDuan_YuanDianAction(void);
void QueDuan_TuiLianAction(void);
void QueDuan_TuiFangKuai(void);
void QueDuan_ExtiActionX31(void);
void QueDuan_BingLian(void);
static unsigned long cZipCnt = 0,cTuiFangKuaiCnt = 0;
static long save_limit_pos,cRealPos;
static long dwSaveLength;

unsigned char cCheckLianFlg = 0;
unsigned char cCheckLianFlgEN = 0;
unsigned char cGoLimitEn    = 0;
unsigned char cCheckLengthEn = 0;
short *offset_length_buff;
unsigned short STOP_IN_FLAG,STOP_IN_FLAG_OLD,STOP_FILTER;

long TestDisplay;

void QueDuan_ExtiActionX31(void)
{
    cCheckLianFlg = 1;
}
void QD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void QueDuan_InitAction(void)
{
    float length_buff,pulse_buff;
    save_limit_pos = QD_SAVE_POS;
    
    length_buff = QD_PARAM_CYCLE_LENGTH;
    pulse_buff  = QD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;
    axis_x->inputs.dir_reverse = 0;

    axis_y->speed_unit = 300;
    SetAccTime(Y_AXIS,10);
    SetDecTime(Y_AXIS,10);
    
    YGearRatio  = XGearRatio;
    
    QD_SZ_OUT   = 1;
    STOP_IN_FLAG = STOP_IN;
    STOP_IN_FLAG_OLD = STOP_IN_FLAG;
}

void QueDuan_Action(void)
{
    QueDuan_AlarmProtect();
    QueDuan_TuiFangKuai();
    QueDuan_Motor();
    QueDuan_XiaQue();
    QueDuan_ManualAction();
    QueDuan_YuanDianAction();
    QueDuan_TuiLianAction();
    QueDuan_BingLian();
    QueDuan_AutoAction();
    QueDuan_StepCheckStart();   // 调用脚踏开关检测程序
}


//手动动作
void QueDuan_ManualAction(void)
{  
    if(bRunning == 0)  
    {   
        if(QD_bClearTotal) //切断计数清零
        {
            QD_bClearTotal       = 0;
            ClrcToTal(QD_TOTAL_ADDR);
        }
        
        if(QD_bClearNowTotal)
        {
            QD_bClearNowTotal = 0;
            QD_PARAM_NOW_CNT = 0;
            QD_PARAM_TB_CNT  = 0;
        }
        
        if(QD_bXiaQie)
        {
            QD_bXiaQie = 0;
            if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;
        }
        
        if(QD_bQianDianDW)
        {
            QD_bQianDianDW = 0;
            if(QD_MotorStep == 0)
            {
                QD_MotorStep = 61;

                cZipCnt      = 0;
            }
        }
        
        if(QD_bTL)
        {  
            QD_bTL = 0;
            QD_TL_VAVLE = ~QD_TL_VAVLE;
        }
        
        
        if(QD_bYD)
        {
            QD_bYD = 0;
            QD_YD_VAVLE = ~QD_YD_VAVLE;
        }
        
        if(QD_bGZ)
        {
            QD_bGZ = 0;
            QD_GZ_VAVLE = ~QD_GZ_VAVLE;
        }
        
        if(QD_bJD)
        {
           QD_bJD = 0;
           QD_JD_VAVEL = ~QD_JD_VAVEL;
        }
        
        if(QD_bXM)
        {
           QD_bXM = 0;
           QD_XM_VAVLE = ~QD_XM_VAVLE;
        }
        
        if(QD_bXiaMu)
        {
            QD_bXiaMu = 0;
            QD_XIA_MU_VAVLE = ~QD_XIA_MU_VAVLE;
        }
        
        if(QD_bSM)
        {
           QD_bSM = 0;
           QD_SM_VAVLE = ~QD_SM_VAVLE;
        }
        
        if(QD_bTFK)
        {
            QD_bTFK = 0;
            if(QD_TFK_VAVEL)
            {
                QD_TFK_VAVEL = 0;
                QD_TFK_VAVEL_BACK = 1;
                QD_DWelay = dwTickCount + 100;
            }
            else
            {
                QD_TFK_VAVEL = 1;
                QD_TFK_VAVEL_BACK = 0;
                QD_DWelay = dwTickCount + 100;
            }
        }
        
        if(QD_bTB)
        {
            QD_bTB = 0;           
            QD_TABLE_VAVLE = ~QD_TABLE_VAVLE;
        }
        
        if(QD_bYBD)
        {
            QD_bYBD = 0;
            QD_YBD_VAVLE = ~QD_YBD_VAVLE;
        }
        
        if(QD_bTestCS)
        {
           QD_bTestCS = 0;
           QD_CS_OUT  = 1;
           QD_CSDelay = dwTickCount + QD_PARAM_CS_TIME;
        }
        
        if(QD_bBL)
        {
            QD_bBL = 0;
            QD_BL_VAVLE = ~QD_BL_VAVLE;
        }
        
        if(QD_XiaQieStep == 0)
        {
            if(dwTickCount >= QD_CSDelay)QD_CS_OUT  = 0;
        }
        
        if(QD_bYuanDianDW)
        {
            QD_bYuanDianDW = 0;
            cZipCnt      = 0;
            if(QD_YuanDianStep == 0)QD_YuanDianStep = 1;
        }
        
//电机控制        
        if(QD_bGoMotor && !QD_QIAN_LIMIT_IN)
        {           
            QD_SZ_OUT   = 0;
            QD_MOTOR_DIR = QD_DIR_N;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QD_DIR_N, 10,1,10,10);
        }
        
        if(QD_bBackMotor && !QD_BACK_LIMIT_IN)
        {
            QD_SZ_OUT   = 0;    
            QD_MOTOR_DIR = QD_DIR_P;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, 10,1,10,10);
        }
        
        if(!QD_bGoMotor && !QD_bBackMotor && (QD_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QD_QIAN_LIMIT_IN && (QD_MotorStep == 0) && !QD_bBackMotor &&(QD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
    }
    
    if((dwTickCount >= QD_DWelay) && QD_TFK_VAVEL_BACK)QD_TFK_VAVEL_BACK = 0;
    
    if(QD_TABLE_VAVLE)
    {
       if(!Y_DRV)
       {
            AxisContinueMove(Y_AXIS,QD_PARAM_TABLE_SPEED,QD_DIR_P);       
       }
    }
    else 
    {
       if(Y_DRV)AxisDecStop(Y_AXIS);
    }
}

void QueDuan_YuanDianAction(void)
{
    switch(QD_YuanDianStep)
    {
        case 0:break;
        case 1:
            if(QD_MotorStep == 0)QD_MotorStep = 61;
            QD_YuanDianStep = 2;
        break;
        case 2:
            if(QD_MotorStep == 0)
            {
               QD_MotorStep = 30;
               QD_YuanDianStep = 3;
               QD_JD_VAVEL = 1;
            }
        break;
        case 3:
           if(QD_MotorStep == 0)
           {
               QD_MotorStep = 0;
               QD_YuanDianStep = 0;
           }
        break;
    }
}


void QueDuan_AlarmProtect(void)
{ 
    cRealPos = GetPos(X_AXIS);

    if(QD_PARAM_BACK_ALARM_MODE)    
    {                              //感应后限模式
        if(!bRunning)
        {
            if(QD_BACK_LIMIT_IN_UP)
            {
                if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor)        //到后限不能再后退但可以点前进
                {
                    QD_bBackMotor = 0;
                    
                    AxisDecStop(X_AXIS);   
                    QD_JD_VAVEL   = 0;
                    QD_SetAlarmCode(QD_BACK_ALARM);
                    
                }
            }
        }
        else
        {
            if(QD_BACK_LIMIT_IN_UP)
            {
                AxisDecStop(X_AXIS);   
   
                QD_JD_VAVEL = 0;
                QD_SetAlarmCode(QD_BACK_ALARM);
            }
        }
    }
    else
    {   
        
        if(QD_QIAN_LIMIT_IN_UP)      //数控后限模式
        {
            save_limit_pos = cRealPos;
            SetData32bits(200,save_limit_pos);
        }
        
        if(QD_PARAM_MAX_BACK_LENGTH < (cRealPos - save_limit_pos)) 
        {
            if(!bRunning)
            {
                if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor)        //到后限不能再后退但可以点前进
                {
                    QD_bBackMotor = 0;
                    AxisDecStop(X_AXIS);   
                    QD_JD_VAVEL   = 0;
                    QD_SetAlarmCode(QD_BACK_ALARM);
                    
                }
            }
            else
            {
                AxisDecStop(X_AXIS);   
                QD_JD_VAVEL = 0;
                QD_SetAlarmCode(QD_BACK_ALARM);
            }
        } 
        
     }
}

void QueDuan_AutoAction(void)
{  
    if(bRunning)
    {
        if((dwTickCount >= QD_TBDelay) && (QD_PARAM_TB_TIME))QD_TABLE_VAVLE = 0;
        switch(QD_AutoStep)
        {
            case 1:
                  if(dwTickCount >= QD_AutoDelay)
                  {	
                      QD_AutoStep = 2;	    
                      if(QD_MotorStep == 0)
                      {
                          QD_MotorStep = 61;   //前点定位
                      }
                  }	
                  break;	
            case 2:	 
                  if(QD_MotorStep == 0)
                  {   
                      QD_MotorStep = 30;  
                      QD_AutoStep = 3;	    
                  }
                  break;	
            case 3:	
                  if(QD_MotorStep == 0)
                  {   
                      if(QD_XiaQieStep == 0)
                      {
                          QD_XiaQieStep = 1;                 
                          QD_AutoStep = 4;	
                      }
                  }              
                  break;
            case 4:
                  if(QD_PARAM_MACHINE_CHOOSE == QD_QQ_TUIFANGKUAI)
                  {
                      if(((QD_XiaQieStep == 0) || (QD_XiaQieStep >= 4)) && !QD_SHANG_MU_LIMIT_IN)
                      {
                          if(QD_MotorStep == 0) 
                          {
                              QD_MotorStep = 40;     //切完后退
                              QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                          }
                          QD_AutoStep = 5;	    
                      }
                  }
                  else if(QD_PARAM_MACHINE_CHOOSE == QD_NO_GL_TUIFANGKUAI)
                  {
                      
                      if((QD_XiaQieStep == 0) || ((QD_XiaQieStep <= 9) && (QD_XiaQieStep >= 8)))
                      {
                          if(QD_MotorStep == 0) 
                          {
                              QD_MotorStep = 40;     //切完后退
                               QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                          }
                          QD_AutoStep = 5;	    
                      }
                  }
                  else
                  {
                      if(((QD_XiaQieStep == 0) || ((QD_XiaQieStep <= 13) && (QD_XiaQieStep >= 11))))
                      {
                          if(QD_MotorStep == 0) 
                          {
                              QD_MotorStep = 40;     //切完后退
                          }
                          QD_AutoStep = 5;	    
                      }                  
                  }
                  break;
            case 5:	 
                  if(QD_MotorStep == 0)
                  {
                      cZipCnt++;
                      QD_PARAM_NOW_CNT++;
                      QD_PARAM_TB_CNT++;
                      AddToTal(QD_TOTAL_ADDR);
                      CalProSP(QD_PROSPEED_ADDR);
                      
                      QD_AutoStep = 1; 
                      QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
                      

                     if(QD_PARAM_TB_CNT >= QD_PARAM_TABLE_NUM)
                      {
                          QD_PARAM_TB_CNT = 0;
                          QD_TABLE_VAVLE   = 1;
                          QD_TBDelay       = dwTickCount + QD_PARAM_TB_TIME;
                      }

                      if(QD_PARAM_NOW_CNT >= QD_PARAM_ZHA_SHU)    
                      {
                          QD_AutoDelay = dwTickCount + QD_PARAM_ZS_STOP_TIME;
                          QD_PARAM_NOW_CNT = 0;
                      }

                          
                      
                      if((GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) || SingOneFlg)
                      {
                           QD_AutoStep = 6; 
                      }
                  }
                  break;
            case 6:
                   if((QD_MotorStep == 0) && (QD_XiaQieStep == 0) && !QD_SM_VAVLE)
                   {
                        bRunning = 0;
                        QD_AutoStep = 0; 
                        SingOneFlg = 0;
                        
                        if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);   
                   }
                  break;
                
        }	
    }
}

void QueDuan_StepCheckStart(void)
{
    static unsigned long sz_delay;
    static unsigned char sz_flg;
    static unsigned char dec_flg;
//		启动      			
    if((START_IN_UP) || bStart || QD_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (QD_AutoStep == 0))
        {
            if(!QD_SHANG_MU_ORIGIN_IN)QD_SetAlarmCode(QD_SM_YUANWEI);
            else if((QD_XM_LIMIT || !QD_XM_ORIGIN) && (USE_GUOLIAN_GANYING == 1))QD_SetAlarmCode(QD_XM_DAOWEI);
            else if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
            else if(QD_SM_VAVLE)QD_SetAlarmCode(QD_SM_ALARM);
            else
            {
                SetAlarmCode(QD_ALARM_ADDR,QD_NO_ALARM);   
                bRunning    = 1;
                QD_AutoStep = 1;
                sz_flg    = 0;
                if(QD_bSingle) SingOneFlg= 1;
                cZipCnt      = 0;
                cTuiFangKuaiCnt = 0;
                MV_Set_Command_Pos_CPU(X_AXIS,0);

            }
        }
        QD_bSingle = 0;
    }

   if(STOP_IN)
   {
       if(STOP_FILTER < 500)
       {
           STOP_FILTER++;
       }
       else
           STOP_IN_FLAG = 1;
   }
   else if(STOP_FILTER > 25)
   {
       STOP_FILTER--;
   }
   else
       STOP_IN_FLAG = 0;
    //停止
   if((STOP_IN_FLAG && !STOP_IN_FLAG_OLD) || bStop)
   {
        bStop = 0;
        user_datas[127] = 0;
        
        if(bRunning)
        {
            bRunning   = 0;
            QD_XiaQieStep = 0;
            QD_AutoStep   = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            QD_YuanDianStep = 0;
            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay  = dwTickCount;
            QD_TLDelay     = dwTickCount;
            QD_CheckDelay  = dwTickCount;
            SingOneFlg  = 0; 
            QD_JD_VAVEL = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVEL= 0;
            QD_DWelay = dwTickCount + 100;
            QD_TFK_VAVEL_BACK = 1;
            QD_TL_VAVLE      = 0;
            QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            
            //QD_SZ_OUT   = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            QD_XHG_VAVLE = 0;
            
            dec_flg  = 1;
            QD_YuanDianStep = 0;
            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            if(X_DRV)MoveChangSpeed(X_AXIS,1);
            SetAlarmCode(QD_ALARM_ADDR,QD_NO_ALARM);      
            QD_CheckLengthStep = 0;
        }
        else
        {
            bRunning   = 0;
            QD_XiaQieStep = 0;
            QD_AutoStep   = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            QD_YuanDianStep = 0;
            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay  = dwTickCount;
            QD_TLDelay     = dwTickCount;
            QD_CheckDelay  = dwTickCount;
            SingOneFlg  = 0; 
            QD_JD_VAVEL = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVEL= 0;
            QD_DWelay = dwTickCount + 100;
            QD_TFK_VAVEL_BACK = 1;
            QD_TL_VAVLE      = 0;
            QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            if(X_DRV)MoveChangSpeed(X_AXIS,1);
           // QD_SZ_OUT   = 1;
            sz_delay = dwTickCount + 2000;
            sz_flg  = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            QD_XHG_VAVLE = 0;
            dec_flg  = 1;
            QD_YuanDianStep = 0;
            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            user_datas[121] = 0;
            user_datas[122] = 0;
            SetAlarmCode(QD_ALARM_ADDR,QD_NO_ALARM);   
            QD_CheckLengthStep = 0;
            QD_CheckLengthStep = 0;
 //           MV_Set_Command_Pos_CPU(X_AXIS,0);
        //    tXAxisStepper.cRealPosi = 0;
        }
    }
    
   if(dec_flg)
    {   
        if(tXAxisStepper.cCurSpeed <= (QD_PARAM_GO_LOW_SPEED + 5))
        {
            MV_Set_Dec_CPU(X_AXIS,5);
            AxisDecStop(X_AXIS);             
            dec_flg = 0;
        }
    }
       
    if(sz_flg)
    {
         if((dwTickCount >= sz_delay) && !X_DRV && !bRunning)
         {
             if(STOP_IN)
             {
                 sz_flg = 0;
                 QD_SZ_OUT   = 1;
             }
         }
    }
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        QD_XiaQieStep = 0;
        QD_AutoStep   = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 0;
        QD_TuiFangKuaiStep = 0;
        QD_YuanDianStep = 0;
        QD_XiaQieStep = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 0;
        QD_TuiFangKuaiStep = 0;
        QD_AutoDelay   = dwTickCount;
        QD_MotorDelay = dwTickCount;
        QD_XiaQieDelay  = dwTickCount;
        QD_KaDaiDelay   = dwTickCount;
        QD_CSDelay = dwTickCount;
        QD_TBDelay  = dwTickCount;
        QD_TFKDelay  = dwTickCount;
        QD_TLDelay     = dwTickCount;
        QD_CheckDelay  = dwTickCount;
        SingOneFlg  = 0; 
        bRunning   = 0;
        AxisDecStop(X_AXIS); 
        QD_TABLE_VAVLE = 0;
        QD_CheckLengthStep = 0;
    }
    
}   



void QueDuan_Motor_CS(void)
{
        static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,guo_lian_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff,fz_buff;
        unsigned long pulse_buff;
        user_datas[124]= QD_MotorStep;
        user_datas[125]= go_length_buff;
        user_datas[123] = length_buff;
        user_datas[127] = cRealPos;
  
     
	switch(QD_MotorStep)
	{
		case 0:
			break;
                case 1: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                       // if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                        if((QD_TuiLianStep == 0) && !QD_TL_VAVLE  && !QD_PARAM_TL_MODE)QD_TuiLianStep = 1;
                        QD_MotorStep = 2;
                        break;
                case 2:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN)
                            {
                               // if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
                                MV_Set_Acc_CPU(X_AXIS, 10);
                                AxisMovePos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_ON_BACK_LENGTH);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 3;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 3:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))
                        {
                            if(cZipCnt == 0)
                            {
                               // if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                                AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);         //第一条走低速
                            }
                            else 
                            {  
                               // if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;                              
                                AxisMoveTwoPos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,(length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH +QD_PARAM_SJZ_LENGTH),QD_PARAM_GO_LOW_SPEED,0xFFFFFF,QD_DIR_P);//第二条开始走两段速
                            }
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   = 4;
                        }  
			break;
		case 4:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 5;
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                     
			break;
		case 5:
                        if(!X_DRV)
                        {   
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 6;
                        }
			break;   
		case 6:
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0))
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVEL = 1;
                            }
                            QD_MotorStep   = 7;
                            QD_MotorDelay  =    dwTickCount + 100;
                        }
			break;
                case 7:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YBD_VAVLE   = 0;
                            QD_TL_VAVLE    = 0;
                            QD_TFK_VAVEL = 0;
                            QD_TFK_VAVEL_BACK = 1;
                            QD_MotorStep   = 0;
                        }
                        break;
		case 20:// 后退使用电机定长
                        QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        QD_MotorStep   = 21;
                        break;
                case 21:                 
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            //if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                            AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-QD_PARAM_ZIPPER_LENGTH);
                            QD_MotorStep   = 22;
                        }
			break;
		case 22:	
                        if(!X_DRV)
                        {
                            QD_MotorDelay =    dwTickCount +  QD_PARAM_DELAY_FZ;
                            QD_MotorStep   = 23;
                        }
			break;
		case 23:	
                        if(dwTickCount >= QD_MotorDelay)
                        {
                           // if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
                            AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
                            QD_MotorStep   = 24;
                        }
			break;
                case 24:	
                        if(!X_DRV)
                        {
                            QD_MotorStep   = 0;
                            QD_MotorDelay  =    dwTickCount;
                        }
                        break;
                case 30:
                        QD_MotorStep   = 31;
                        if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                        break;
                case 31:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPos;
                            save_limit_pos = cRealPos;
                            QD_MOTOR_DIR  = QD_DIR_P;
                            offset_length_buff = &QD_PARAM_OFFSET_LENGTH;
                            
                            length_buff   = QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff);
                         
                            AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,(QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff)));
                            MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DEC_PULSE)));        
                            QD_MotorStep   = 35;
                        }
			break; 
		case 32:
                         if(QD_PARAM_GOUZHEN_LENGTH != 0)
                         {
                             if((gou_zhen_buff - cRealPos + QD_PARAM_GOUZHEN_LENGTH) >= length_buff)QD_GZ_VAVLE    = 1;  
                         }
                         if(QD_GUO_LIAN_IN_UP)
                         {
                             MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                             fz_buff    = cRealPos;
                             QD_MotorStep   = 33;
                         }                     
			break;
                case 33:
                         if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPos;
                         if(QD_PARAM_GOUZHEN_LENGTH != 0)
                         {
                             if((gou_zhen_buff - cRealPos + QD_PARAM_GOUZHEN_LENGTH) >= length_buff)QD_GZ_VAVLE    = 1;  
                         }
                         if((fz_buff - cRealPos) >= QD_PARAM_DELAY_CHECK)
                         {
                             if(QD_GUO_LIAN_IN_DW)
                             {
                                  guo_lian_buff = cRealPos;
                                  QD_MotorStep   = 34;
                             }     
                         } 
                        break;
                case 34:
                         if(QD_PARAM_GOUZHEN_LENGTH != 0)
                         {
                             if((gou_zhen_buff - cRealPos + QD_PARAM_GOUZHEN_LENGTH) >= (length_buff))QD_GZ_VAVLE    = 1;  
                         }
                        if((guo_lian_buff - cRealPos) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                        {
                            AxisEgmStop(X_AXIS);  
                            QD_MotorStep   = 35;       
                        }                                               
                     break;
		case 35:
                     if((gou_zhen_buff - cRealPos + QD_PARAM_GOUZHEN_LENGTH) >= length_buff)QD_GZ_VAVLE    = 1;  
                     if(!X_DRV)
                     {                    
    /*                       if((back_buff - cRealPos + (*offset_length_buff)) >= (QD_PARAM_ZIPPER_LENGTH + QD_PARAM_ERROR_LENGTH))
                           {
                               QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                               QD_TFK_VAVEL_BACK = 0;
                               QD_TFK_VAVEL = 1;
                               QD_DWelay = dwTickCount + 100;
                           }
                           else if((back_buff - cRealPos + (*offset_length_buff) + QD_PARAM_ERROR_LENGTH) >= (QD_PARAM_ZIPPER_LENGTH))
                           {
                               QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
                               QD_TFK_VAVEL_BACK = 0;
                               QD_TFK_VAVEL = 1;
                               QD_DWelay = dwTickCount + 100;
                           }
                           else;      */             
                           QD_YD_VAVLE = 1;
                           QD_BL_VAVLE = 0;
                           QD_XM_VAVLE = 1;
                           QD_GZ_VAVLE = 1;
                           QD_MotorStep   = 0;                          
                     }
			break;
		case 40:
                           QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                           QD_MotorStep   = 41;
                        break;
                case 41:
                          if(dwTickCount >= QD_MotorDelay)
                          {
                                jz_buff = cRealPos;
                                if(QD_PARAM_SJZ_LENGTH == 0)
                                {
                                    QD_JD_VAVEL = 0; 
                                } 
                                QD_MotorDelay     = dwTickCount + QD_PARAM_DELAY_SJ_TIME;
                                QD_MotorStep   = 45;
 
                           }
                            break;
 
                case 45:   if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
                           { 
                               AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                               QD_MotorStep   = 43;   
                           }
                           break;
               		case 43:	 
                          // 切断完成后拉电机动作
                           if(dwTickCount >= QD_MotorDelay)
                           {
                                if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff)))
                                {
                                    QD_JD_VAVEL = 0;
                                    QD_MotorStep   = 44;
                                }
                                else if(!X_DRV)
                                {
                                    QD_JD_VAVEL = 0;
                                    QD_MotorStep   = 44;
                                }
                           }
                        break;
                case 44:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QD_MotorStep   = 0;
                                QD_MotorDelay  =    dwTickCount;
                            }
                        
                        break;   
 
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                        
                        if(!QD_TL_VAVLE)
                        {
                            if(!QD_SHANG_MU_LIMIT_IN)
                            {
                                 QD_TuiLianStep = 1;
                                 QD_MotorStep = 62;
                            }                          
                        }
                        else
                            QD_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
                            {
                                QD_MOTOR_DIR  = QD_DIR_P;
                                AxisMovePos(X_AXIS,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_ON_BACK_LENGTH);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 63;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN)
                        {
                            go_buff  = cRealPos;
                            QD_MOTOR_DIR  = QD_DIR_N;
                            if(cZipCnt > 0)
                                 MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N, QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                            else
                                 MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N, QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                      
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   =64;
                        }  
			break;
                case 64:
                        offset_length_buff = &QD_PARAM_OFFSET_LENGTH;
                        length_buff        = QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH - QD_PARAM_FZ_LENGTH - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_DEC_PULSE))) ;
                        if(((cRealPos - go_buff) > (length_buff)) || QD_QIAN_DEC_IN_UP)
                        {          
                            MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                            QD_MotorStep   =65;
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);

                        break;
		case 65:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 66;                            
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                        break;
		case 66:
                        if(!X_DRV)
                        {   
                            QD_MotorDelay =    dwTickCount + QD_PARAM_JD_DELAY;
                            QD_MotorStep   = 67;
                        }
			break;   
		case 67:
                        if((dwTickCount >= QD_MotorDelay))
                        {
                            if(bRunning)
                            {
                                MV_Set_Command_Pos_CPU(X_AXIS,0);
                                QD_JD_VAVEL = 1;
                                 QD_MotorDelay =    dwTickCount + VAVLE_ALARM_TIME;
                            }
                            QD_MotorStep   = 68;
                        }
			break;
                case 68:    
                        if(QD_JD_ORIGIN_IN)
                        {
                            QD_MotorDelay  =    dwTickCount;
                            QD_YD_VAVLE   = 0;
                            if(QD_PARAM_DELAY_HL_LENGTH == 0)QD_BL_VAVLE   = 1;
                            QD_TL_VAVLE    = 0;
                            QD_TFK_VAVEL   = 0;
                            QD_TFK_VAVEL_BACK = 1;
                            QD_DWelay = dwTickCount + 100;
                            QD_MotorStep   = 0;
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                            QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                        break;
               
	}
}

//推方块动作
void QueDuan_TuiFangKuai(void)
{

    
}
void QueDuan_BingLian(void)
{
    static long bl_pos_buff;
    
    switch(QD_BinLianStep)
    {
        case 0:break;
        case 1:
              bl_pos_buff = cRealPos;
              QD_BinLianStep = 2;
        break;       
        case 2:
              if((cRealPos - bl_pos_buff) >= QD_PARAM_DELAY_HL_LENGTH)
              {
                   QD_BL_VAVLE = 1;   
                   QD_BinLianStep = 3;
              }
             
        break;
        case 3:
              if(QD_SM_VAVLE)QD_BL_VAVLE = 0;
        break;
    default:;    
    }
    
}


//不带过链感应长度输入电机长度
void QueDuan_Motor_NoGL(void)
{
        static long save_buff,gou_zhen_buff,back_buff,go_buff,jz_buff;
        unsigned long pulse_buff;
        static long length_buff;

        user_datas[121]= GetPos(Y_AXIS);
        user_datas[122]= QD_MotorStep;
  //      user_datas[123]= QD_PARAM_ERROR_LENGTH;
        user_datas[124]= cRealPos;
     //   user_datas[125]= QD_PARAM_BACK_LOW_SPEED;
 //       user_datas[126] = QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff) - QD_PARAM_GOUZHEN_LENGTH;
        if(USE_GUOLIAN_GANYING == 0)
        {
            switch(QD_MotorStep)
            {
                    case 30:
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                            QD_MotorStep   = 31;
                            
                            if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                            break;
                    case 31:	                                       
                            if(dwTickCount >= QD_MotorDelay)
                            {   
                                back_buff = cRealPos;
                                gou_zhen_buff = cRealPos;
                                save_buff = cRealPos;
                                MV_Set_Command_Pos_CPU(X_AXIS,0);
                                QD_MOTOR_DIR  = QD_DIR_P;
                                offset_length_buff = &QD_PARAM_OFFSET_LENGTH;
                                pulse_buff    = PosToPulse(X_AXIS,QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff) - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DEC_PULSE))));
                                MoveAction_Const_Back_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,pulse_buff,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE*1.5,QD_PARAM_DEC_PULSE);
                                QD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                                QD_MotorStep   = 32;
                            }
                            break; 
                    case 32:
                           offset_length_buff = &QD_PARAM_OFFSET_LENGTH;
                           if(QD_QIAN_DEC_IN_DW && !QD_XM_VAVLE)QD_XM_VAVLE   = 1;
                           if((cRealPos-gou_zhen_buff+QD_PARAM_TQ_BL_BACK) > (QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff)))QD_BL_VAVLE = 0;
                             
                           if(((cRealPos-gou_zhen_buff) > ((QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff)) - QD_PARAM_GOUZHEN_LENGTH))&& !QD_GZ_VAVLE)
                           {
                                save_buff = cRealPos;
                                QD_GZ_VAVLE = 1;
                           }
                           if((cRealPos - back_buff) > ((QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff)) - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DEC_PULSE)))))
                           {                 
                               MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); 
                               QD_MotorStep   = 33;
                           }
                           else if((cRealPos - back_buff + (*offset_length_buff)) >= (QD_PARAM_ZIPPER_LENGTH + QD_PARAM_ERROR_LENGTH))
                               QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                           else if(dwTickCount >= QD_MotorDelay)
                           {
                               QD_SetAlarmCode(QD_GZ_ALARM);
                           }
                            break;
                    case 33:
                           if(QD_QIAN_DEC_IN_DW && !QD_XM_VAVLE)QD_XM_VAVLE   = 1;
                           if((cRealPos-gou_zhen_buff+QD_PARAM_TQ_BL_BACK) > (QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff)))QD_BL_VAVLE = 0;
                           if(((cRealPos - gou_zhen_buff) > ((QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff)) - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)
                           {
                               user_datas[125] = cRealPos-gou_zhen_buff;
                               user_datas[126] = cRealPos;
                               QD_GZ_VAVLE = 1;
                           }
                                         
                           
                           if(QD_GOUZHEN_IN)
                           {
                               QD_YD_VAVLE = 1;
                               QD_MotorDelay  =    dwTickCount;
                               QD_MotorStep   = 34;
                           }
                           else if((cRealPos - back_buff + (*offset_length_buff)) >= (QD_PARAM_ZIPPER_LENGTH + QD_PARAM_ERROR_LENGTH))
                               QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                           else if(dwTickCount >= QD_MotorDelay)
                           {
                               QD_SetAlarmCode(QD_GZ_ALARM);
                           }
                            break;
                    case 34:
                           if(!X_DRV && (dwTickCount >= QD_MotorDelay))
                           {
                                QD_MOTOR_DIR  = QD_DIR_N;
                                QD_BL_VAVLE = 0;
                                if(((cRealPos - back_buff+ (*offset_length_buff)) >= (QD_PARAM_ZIPPER_LENGTH + QD_PARAM_ERROR_LENGTH)) || ((cRealPos - back_buff+ (*offset_length_buff)) <= (QD_PARAM_ZIPPER_LENGTH - QD_PARAM_ERROR_LENGTH)))
                                    QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                else
                                {
                                    AxisMovePosAccDec(X_AXIS,QD_PARAM_GO_HIGH_SPEED,-QD_PARAM_FZ_LENGTH,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                                    QD_MotorStep   = 35;
                                }
                           }
                            break;
                    case 35:	
                         //  if(!X_DRV)
                           {
                                    QD_MotorStep   = 36;                          
                           }
                            break;
                    case 36:         
                                QD_MotorDelay  =    dwTickCount;
                                QD_MotorStep   = 0;
                            break;
                    case 40:
                               if(dwTickCount >= QD_MotorDelay)
                               {
                                    jz_buff = cRealPos;

                                    
                                    if(QD_PARAM_SJZ_LENGTH == 0)
                                    {
                                        QD_JD_VAVEL = 0; 
                                    } 
                                    QD_MotorDelay     = dwTickCount + QD_PARAM_DELAY_SJ_TIME;
                                    QD_MotorStep   = 41;
     
                               }
                                break;
     
                    case 41:   if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
                               { 
                                   QD_MOTOR_DIR  = QD_DIR_P;
                                   AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                                   QD_MotorStep   = 42;   
                               }
                               break;                        
                    case 42:	 
                              // 切断完成后拉电机动作
                               if(dwTickCount >= QD_MotorDelay)
                               {
                                    if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff)))
                                    {
                                        QD_JD_VAVEL = 0;
                                        if(bRunning)QD_SM_VAVLE = 0;
                                        QD_MotorStep   = 43;
                                    }
                                    else if(!X_DRV)
                                    {
                                        QD_JD_VAVEL = 0;
                                        if(bRunning)QD_SM_VAVLE = 0;
                                        QD_MotorStep   = 43;
                                    }
                               }
                            break;
                    case 43:	                           // 切断完成后拉电机动作
                                if(!X_DRV)
                                {
                                    QD_MotorStep   = 0;
                                    MV_Set_Command_Pos_CPU(X_AXIS,0);
                                    QD_MotorDelay  =    dwTickCount;
                                }
                            
                            break;   
                    case 61: // 前点定位数控模式
                            if(QD_SZ_OUT)
                            {
                                QD_SZ_OUT   = 0;                       
                                QD_MotorDelay = dwTickCount + 50;
                            }
                            
                            if(!QD_TL_VAVLE)
                            {
                                if(!QD_SHANG_MU_LIMIT_IN)
                                {
                                     QD_TuiLianStep = 1;
                                     QD_MotorStep = 62;
                                }                          
                            }
                            else
                                QD_MotorStep = 62;
                            break;
                    case 62:
                            if(dwTickCount >= QD_MotorDelay)
                            {
                                if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
                                {
                                    QD_MOTOR_DIR  = QD_DIR_P;
                                    AxisMovePos(X_AXIS,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_ON_BACK_LENGTH);                           
                                    QD_MotorDelay = dwTickCount + 1000;
                                }
                                QD_MotorStep = 63;            
                                QD_JD_VAVEL = 0;  
                            }
                            break;
                    case 63:
                            if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN)
                            {
                                go_buff  = cRealPos;
                                QD_MOTOR_DIR  = QD_DIR_N;
                                if(cZipCnt > 0)
                                     MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N, QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                                else
                                     MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N, QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                          
                                QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                QD_MotorStep   =64;
                            }  
                            break;
                    case 64:
                            if(cZipCnt > 0)
                            {
                                offset_length_buff = &QD_PARAM_OFFSET_LENGTH;
                                length_buff        = QD_PARAM_ZIPPER_LENGTH + (*offset_length_buff) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH - QD_PARAM_FZ_LENGTH - (QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_ZIPPER_LENGTH/60 + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_DEC_PULSE))) ;
                                if(((cRealPos - go_buff) > (length_buff)))
                                {          
                                    MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                    QD_MotorStep   =65;
                                }
                                else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                            }
                            else
                            {
                                if(QD_QIAN_DEC_IN)
                                {
                                    QD_MotorStep   =65;
                                    MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                }
                            }  
                            
                            break;
                    case 65:
                            if(QD_QIAN_LIMIT_IN)
                            {
                                AxisEgmStop(X_AXIS);
                                QD_MotorStep   = 66;                            
                            }
                            else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                            else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                            break;
                    case 66:
                            if(!X_DRV)
                            {   
                                QD_MotorDelay =    dwTickCount + QD_PARAM_JD_DELAY;
                                QD_MotorStep   = 67;
                            }
                            break;   
                    case 67:
                            if((dwTickCount >= QD_MotorDelay))
                            {
                                if(bRunning)
                                {
                                    MV_Set_Command_Pos_CPU(X_AXIS,0);
                                    QD_JD_VAVEL = 1;
                                     QD_MotorDelay =    dwTickCount + VAVLE_ALARM_TIME;
                                }
                                QD_MotorStep   = 68;
                            }
                            break;
                    case 68:    
                            if(QD_JD_ORIGIN_IN)
                            {
                                QD_MotorDelay  =    dwTickCount;
                                QD_YD_VAVLE   = 0;
                                QD_TL_VAVLE    = 0;
                                QD_MotorStep   = 0;
                            }
                            else if(dwTickCount >= QD_MotorDelay)
                                QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                            break;
                   
            }
        }
        else
        {
        
                switch(QD_MotorStep)
                {
                        case 30:
                                QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                                QD_MotorStep   = 31;
                                
                                if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                                break;
                        case 31:	                                       
                                if(dwTickCount >= QD_MotorDelay)
                                {   
                                    back_buff = cRealPos;
                                    gou_zhen_buff = cRealPos;
                                    save_buff = cRealPos;
                                    QD_MOTOR_DIR  = QD_DIR_P;
                                    offset_length_buff = &QD_PARAM_OFFSET_LENGTH;
                                    
                                    if(cZipCnt < 2)
                                    {  
                                         MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_BACK_SPEED/2,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                                    }
                                    else
                                    {
                                        pulse_buff    = PosToPulse(X_AXIS,length_buff - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DEC_PULSE))));
                                        MoveAction_Const_Back_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,pulse_buff,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);                            
                                    }
                                        QD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                                   
                                    QD_MotorStep   = 32;
                                }
                                break; 
                        case 32:
                                if(cZipCnt < 2)
                                {  
                                    if(QD_GUO_LIAN_IN)
                                    {
                                        QD_CheckDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                        MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); 
                                        QD_MotorStep   = 33;
                                    } 
                                }
                                else
                                {
                                   if((cRealPos-gou_zhen_buff+QD_PARAM_TQ_BL_BACK) > (length_buff + (*offset_length_buff)))QD_BL_VAVLE = 0;
                                     
                                   if(((cRealPos-gou_zhen_buff) > ((length_buff) - QD_PARAM_GOUZHEN_LENGTH))&& !QD_GZ_VAVLE)
                                   {
                                        save_buff = cRealPos;
                                        QD_GZ_VAVLE = 1;
                                   }
                                   if((cRealPos - back_buff) > ((length_buff) - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DEC_PULSE)))))
                                   {                 
                                       if(X_DRV)
                                       {
                                           MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); 
                                       }
                                       
                                       QD_MotorStep   = 33;
                                   }
                                   else if((cRealPos - back_buff) >= (length_buff + QD_PARAM_ERROR_LENGTH))
                                       QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                   else if(dwTickCount >= QD_MotorDelay)
                                   {
                                       QD_SetAlarmCode(QD_GZ_ALARM);
                                   }
                                }
                                break;
                        case 33:
                                if(cZipCnt < 2)
                                {  
                                    if(dwTickCount >= QD_CheckDelay)QD_GZ_VAVLE = 1;
                                    if(QD_GOUZHEN_IN && QD_GZ_UP_LIMIT)
                                    {
                                        QD_MotorStep   = 34;
                                        QD_MotorDelay  =    dwTickCount;
                                        AxisEgmStop(X_AXIS);  
                                    }
                                   else if(dwTickCount >= QD_MotorDelay)
                                   {
                                       QD_SetAlarmCode(QD_GZ_ALARM);
                                   }   
                                }
                                else
                                {
                                   if((cRealPos-gou_zhen_buff+QD_PARAM_TQ_BL_BACK) > (length_buff))QD_BL_VAVLE = 0;
                                   if(((cRealPos - gou_zhen_buff) > ((length_buff) - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)
                                   {
                                       QD_GZ_VAVLE = 1;
                                   }
                                                 
                                  
                                   if(QD_GOUZHEN_IN)
                                   {
                                       QD_YD_VAVLE = 1;
                                       AxisEgmStop(X_AXIS);  
                                       QD_MotorDelay  =    dwTickCount;
                                       QD_MotorStep   = 34;
                                   }
                                   else if((cRealPos - back_buff) >= (length_buff + QD_PARAM_ERROR_LENGTH))
                                       QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                   else if(dwTickCount >= QD_MotorDelay)
                                   {
                                       QD_SetAlarmCode(QD_GZ_ALARM);
                                   }                        
                                }

                                break;
                        case 34:
                               if(!X_DRV && (dwTickCount >= QD_MotorDelay))
                               {
                                    QD_MOTOR_DIR  = QD_DIR_N;
                                    if(cZipCnt == 1)length_buff =  cRealPos - back_buff;
                                    QD_BL_VAVLE = 0;
               /*if(((cRealPos - back_buff+ (*offset_length_buff)) >= (QD_PARAM_ZIPPER_LENGTH + QD_PARAM_ERROR_LENGTH)) || ((cRealPos - back_buff+ (*offset_length_buff)) <= (QD_PARAM_ZIPPER_LENGTH - QD_PARAM_ERROR_LENGTH)))
                                        QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                    else*/
                                    {
                                        AxisMovePosAccDec(X_AXIS,QD_PARAM_GO_HIGH_SPEED,-QD_PARAM_FZ_LENGTH,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                                        QD_MotorStep   = 35;
                                    }
                               }
                                break;
                        case 35:	
                             //  if(!X_DRV)
                               {
                                        QD_MotorStep   = 36;  
                                        QD_YD_VAVLE    = 1;
                               }
                                break;
                        case 36:         
                                    QD_MotorDelay  =    dwTickCount;
                                    QD_MotorStep   = 0;
                                break;
                        case 40:
                                   if(dwTickCount >= QD_MotorDelay)
                                   {
                                        jz_buff = cRealPos;

                                        
                                        if(QD_PARAM_SJZ_LENGTH == 0)
                                        {
                                            QD_JD_VAVEL = 0; 
                                        } 
                                        QD_MotorDelay     = dwTickCount + QD_PARAM_DELAY_SJ_TIME;
                                        QD_MotorStep   = 41;
         
                                   }
                                    break;
         
                        case 41:   if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
                                   { 
                                       QD_MOTOR_DIR  = QD_DIR_P;
                                       AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                                       QD_MotorStep   = 42;   
                                   }
                                   break;                        
                        case 42:	 
                                  // 切断完成后拉电机动作
                                   if(dwTickCount >= QD_MotorDelay)
                                   {
                                        if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff)))
                                        {
                                            QD_JD_VAVEL = 0;
                                            if(bRunning)QD_SM_VAVLE = 0;
                                            QD_MotorStep   = 43;
                                        }
                                        else if(!X_DRV)
                                        {
                                            QD_JD_VAVEL = 0;
                                            if(bRunning)QD_SM_VAVLE = 0;
                                            QD_MotorStep   = 43;
                                        }
                                   }
                                break;
                        case 43:	                           // 切断完成后拉电机动作
                                    if(!X_DRV)
                                    {
                                        QD_MotorStep   = 0;
                                        MV_Set_Command_Pos_CPU(X_AXIS,0);
                                        QD_MotorDelay  =    dwTickCount;
                                    }
                                
                                break;   
                        case 61: // 前点定位数控模式
                                if(QD_SZ_OUT)
                                {
                                    QD_SZ_OUT   = 0;                       
                                    QD_MotorDelay = dwTickCount + 50;
                                }
                                
                                    QD_MotorStep = 62;
                                break;
                        case 62:
                                if(dwTickCount >= QD_MotorDelay)
                                {
                                    if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
                                    {
                                        QD_MOTOR_DIR  = QD_DIR_P;
                                        AxisMovePos(X_AXIS,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_ON_BACK_LENGTH);                           
                                        QD_MotorDelay = dwTickCount + 1000;
                                    }
                                    QD_MotorStep = 63;            
                                    QD_JD_VAVEL = 0;  
                                }
                                break;
                        case 63:
                                if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN)
                                {
                                    go_buff  = cRealPos;
                                    QD_MOTOR_DIR  = QD_DIR_N;
                                    if(cZipCnt > 1)
                                         MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N, QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                                    else
                                         MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N, QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_PULSE,QD_PARAM_DEC_PULSE);
                              
                                    QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    QD_MotorStep   =64;
                                }  
                                break;
                        case 64:  
                                if(cZipCnt > 1)
                                {
                                    if(((cRealPos - go_buff) > ((QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH)+length_buff-(QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_DEC_PULSE))))) || QD_QIAN_DEC_IN_UP)
                                    {          
                                        MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                        QD_MotorStep   =65;
                                    }
                                    else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                                }
                                else
                                {
                                    if(QD_QIAN_DEC_IN)
                                    {
                                        MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                        QD_MotorStep   =65;
                                    }
                                }
                                break;
                        case 65:
                                if(QD_QIAN_LIMIT_IN_UP)
                                {
                                    AxisEgmStop(X_AXIS);
                                    QD_MotorStep   = 66;                            
                                }
                                else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                                else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                                break;
                        case 66:
                                if(!X_DRV)
                                {   
                                    QD_MotorDelay =    dwTickCount + QD_PARAM_JD_DELAY;
                                    QD_MotorStep   = 67;
                                }
                                break;   
                        case 67:
                                if((dwTickCount >= QD_MotorDelay))
                                {
                                    if(bRunning)
                                    {
                                        MV_Set_Command_Pos_CPU(X_AXIS,0);
                                        QD_JD_VAVEL = 1;
                                         QD_MotorDelay =    dwTickCount + VAVLE_ALARM_TIME;
                                    }
                                    QD_MotorStep   = 68;
                                }
                                break;
                        case 68:    
                                if(QD_JD_ORIGIN_IN)
                                {
                                    QD_MotorDelay  =    dwTickCount;
                                    QD_YD_VAVLE   = 0;
                                    QD_MotorStep   = 0;
                                }
                                else if(dwTickCount >= QD_MotorDelay)
                                    QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                                break;
                       
                }
        }
}
//电机动作
void QueDuan_Motor(void)	 //
{
     switch(QD_PARAM_MACHINE_CHOOSE)
     {
         case QD_NO_CS_TUIFANGKUAI: QueDuan_Motor_CS();break;
         case QD_NO_GL_TUIFANGKUAI:QueDuan_Motor_NoGL();break;
         default:;
     }
}

//超声方式下切
void QueDuan_XiaQue_CS(void)	
{
   switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
               if(bRunning)
               {
                 QD_XiaQieStep = 5;   
                 QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY;
               }
               else
                 QD_XiaQieStep = 4;                     
                break;
        case 2:
           //     if(QD_PARAM_XM_ENABLE) QD_XM_VAVLE   = 1;
                QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                QD_XiaQieStep = 3;   
               break;
        case 3:
                if(QD_PARAM_XM_ENABLE)
                {
                  if(QD_XIA_MU_LIMIT_IN)
                  {
                      QD_XiaQieDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                      QD_XiaQieStep = 4; 
                  }
                  else if(dwTickCount >= QD_XiaQieDelay)
                  {
                      QD_SetAlarmCode(QD_XM_DAOWEI);
                  }              
                }
                else
                {
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                    QD_XiaQieStep = 4; 
                }
                break;
        case 4:   
                QD_GZ_VAVLE  = 1;
                QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                QD_XiaQieStep = 5;  
                
                break;
        case 5:  
                if(dwTickCount >= QD_XiaQieDelay)
                {
                  QD_TFK_VAVEL = 1;
                  QD_YD_VAVLE  = 1;
                  QD_TFK_VAVEL_BACK = 0;
                  QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                  QD_XiaQieStep = 6;  
                }
                break;
        case 6: 
                if(QD_PARAM_XM_ENABLE)
                {
                    if(QD_XIA_MU_LIMIT_IN)
                    {         
                        QD_XiaQieStep = 7;  
                        QD_XiaQieDelay = dwTickCount + 1000;
                        QD_CheckDelay = dwTickCount + QD_PARAM_DELAY_CHECK_GZ;
                    }
                     else if(dwTickCount >= QD_XiaQieDelay)
                    {
                        QD_SetAlarmCode(QD_XM_DAOWEI);
                    }
                }
                else
                {
                    QD_XiaQieStep = 7;  
                    QD_CheckDelay = dwTickCount + QD_PARAM_DELAY_CHECK_GZ;
                    QD_XiaQieDelay = dwTickCount + 1000;                
                }
                break;
        case 7:
               if(QD_GOUZHEN_IN && (dwTickCount >= QD_CheckDelay))
               {
                   QD_YD_VAVLE = 1;
                   QD_BL_VAVLE = 1;
                   cTuiFangKuaiCnt = 0;
                   QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                   QD_XiaQieStep = 8;   
               }
               else if((dwTickCount >= QD_XiaQieDelay))
               {  
                   if(cTuiFangKuaiCnt == 0)
                   {
                       QD_TFK_VAVEL = 0;
                       QD_TFK_VAVEL_BACK = 1;
                       QD_DWelay = dwTickCount + 100;
                       cTuiFangKuaiCnt++;
                       QD_XiaQieDelay = dwTickCount + 1000;
                       QD_XiaQieStep = 100;   
                   }
                   else                   
                       QD_SetAlarmCode(QD_GZ_ALARM);
               }
               break;
        case 100:
               if((dwTickCount >= QD_XiaQieDelay))
               {
                   QD_XiaQieStep = 5;   
               }
               break;
        case 8:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                  QD_XM_VAVLE = 1;
                  QD_SM_VAVLE = 1;
                  QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                  QD_XiaQieStep = 9;   
               }
               break;
        case 9:
                if(QD_SHANG_MU_LIMIT_IN && QD_XIA_MU_LIMIT_IN && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                {
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       // 
                        QD_XiaQieStep = 10; 
                        QD_YD_VAVLE = 0;
                        QD_TFK_VAVEL  = 0;
                        QD_TFK_VAVEL_BACK = 0;
                        QD_DWelay = dwTickCount + 100;
                }
                else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
                break;
        case 10:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                    QD_XiaQieStep = 11;      
                }
                break;
        case 11:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_CS_OUT = 0;
                    QD_GZ_VAVLE = 0;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;       // 
                    QD_XiaQieStep = 12;	
                }
                break;
        case 12:  
               if(dwTickCount >= QD_XiaQieDelay)
               {
                    QD_SM_VAVLE   = 0;
                    QD_XM_VAVLE   = 0;

                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;   
                    QD_XiaQieStep = 13;	
               }// 
                break;
        case 13:
                if(QD_SHANG_MU_ORIGIN_IN && !QD_XIA_MU_LIMIT_IN)	
                {   
                    QD_XiaQieStep = 0;                      
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_YUANWEI);
                }
                break;
    }	
}



void QueDuan_TuiLianNoGL(void)
{
    switch(QD_TuiLianStep) 
    {
        case 0:
        break;
        case 1:
            QD_TuiLianStep = 2;
        break;
        case 2:                              
            if(!QD_YD_VAVLE)QD_TLDelay     = dwTickCount + QD_PARAM_YD_DELAY;
            QD_YD_VAVLE    = 1;
            QD_TuiLianStep = 3;
        break;
        case 3:
            if(dwTickCount >= QD_TLDelay)
            {   
                  QD_TL_VAVLE    = 1;
                  QD_TFK_VAVEL = 1;
                  QD_TFK_VAVEL_BACK = 0;
                  QD_TLDelay     = dwTickCount + QD_PARAM_TL_DELAY;
                  QD_TuiLianStep = 4;
            }
        break;
        case 4:
            if(dwTickCount >= QD_TLDelay)
            {
                QD_TuiLianStep = 0;
            }
        break;
    }
}

void QueDuan_TuiLianAction(void)
{
   if(!QD_PARAM_XM_MODE)
   {    
       QueDuan_TuiLianNoGL();
    }
}


void QueDuan_XiaQue_NO_GL(void)
{
    if(USE_GUOLIAN_GANYING == 0)
    {
            switch(QD_XiaQieStep) 
            {
                case 0:
                        break;
                case 1:
                            QD_YD_VAVLE = 1;   
                            if(!bRunning)QD_XM_VAVLE   = 1;     
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                            QD_XiaQieStep = 2;  
                        break;
                case 2:
                       if(dwTickCount >= QD_XiaQieDelay)
                       {
                            QD_XiaQieStep = 3;  
                       }
                       break;
                case 3:
                        {      
                            {
                                QD_SM_VAVLE   = 1;                      
                                QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                                QD_XiaQieStep = 4;   
                            }
                        }
                break;
                case 4:
                        if(QD_SHANG_MU_LIMIT_IN && QD_XIA_MU_LIMIT_IN)
                        {
                            QD_XiaQieStep = 5;    
                            QD_GZ_VAVLE   = 0;
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM;       // 
                        }
                        else if(dwTickCount >= QD_XiaQieDelay)
                        {
                            if(!QD_SHANG_MU_LIMIT_IN)
                                QD_SetAlarmCode(QD_SM_DAOWEI);
                            else
                                QD_SetAlarmCode(QD_XM_DAOWEI);
                        }
                break;
                case 5:
                        if(dwTickCount >= QD_XiaQieDelay)
                        {
                            {
                                QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       // 
                                QD_XiaQieStep = 6;                      
                            }
                        }
                        break;
                case 6:
                        if(dwTickCount >= QD_XiaQieDelay)	
                        {
                            if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                            QD_XiaQieStep = 7;      
                        }
                        break;
                case 7:
                        if(dwTickCount >= QD_XiaQieDelay)	
                        {
                            QD_CS_OUT = 0;
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;       // 
                            QD_XiaQieStep = 8;	
                        }
                        break;
                case 8:
                        if(dwTickCount >= QD_XiaQieDelay)	
                        {
                            
                            if(!bRunning)   QD_SM_VAVLE   = 0;     
                            QD_XM_VAVLE   = 0;
                            QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                            QD_XiaQieStep = 9;	
                        }
                break;
                case 9:
                        if(((QD_SHANG_MU_ORIGIN_IN && !QD_SHANG_MU_LIMIT_IN && !bRunning) || bRunning) && !QD_XIA_MU_LIMIT_IN)	
                        {   
                            if(!bRunning)QD_JD_VAVEL = 0;
                            QD_XiaQieStep = 0;
                            QD_XiaQieDelay = dwTickCount;
                                                  
                        }
                        else if(dwTickCount >= QD_XiaQieDelay)	
                        {
                            QD_SetAlarmCode(QD_SM_YUANWEI);
                        }
                                        
                break;
            }
    }
    else
    {
            switch(QD_XiaQieStep) 
            {
                case 0:
                        break;
                case 1:

                            QD_XIA_MU_VAVLE   = 1;     
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                            QD_XiaQieStep = 2;  
                        break;
                case 2:
                       if(dwTickCount >= QD_XiaQieDelay)
                       {
                            QD_XiaQieStep = 3;  
                       }
                       break;
                case 3:
                        {      
                            {
                                QD_SM_VAVLE   = 1;                      
                                QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                                QD_XiaQieStep = 4;   
                            }
                        }
                break;
                case 4:
                        if(QD_SHANG_MU_LIMIT_IN && QD_XM_LIMIT)
                        {
                            QD_XiaQieStep = 5;    
                            QD_GZ_VAVLE   = 0;
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM;       // 
                        }
                        else if(dwTickCount >= QD_XiaQieDelay)
                        {
                            if(!QD_SHANG_MU_LIMIT_IN)
                                QD_SetAlarmCode(QD_SM_DAOWEI);
                            else
                                QD_SetAlarmCode(QD_XM_DAOWEI);
                        }
                break;
                case 5:
                        if(dwTickCount >= QD_XiaQieDelay)
                        {
                            {
                                QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       // 
                                QD_XiaQieStep = 6;                      
                            }
                        }
                        break;
                case 6:
                        if(dwTickCount >= QD_XiaQieDelay)	
                        {
                            if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                            QD_XiaQieStep = 7;      
                        }
                        break;
                case 7:
                        if(dwTickCount >= QD_XiaQieDelay)	
                        {
                            QD_CS_OUT = 0;
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;       // 
                            QD_XiaQieStep = 8;	
                        }
                        break;
                case 8:
                        if(dwTickCount >= QD_XiaQieDelay)	
                        {
                            
                            if(!bRunning)   QD_SM_VAVLE   = 0;     
                            QD_XIA_MU_VAVLE   = 0;
                            QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                            QD_XiaQieStep = 9;	
                        }
                break;
                case 9:
                        if(((QD_SHANG_MU_ORIGIN_IN && !QD_SHANG_MU_LIMIT_IN && !bRunning) || bRunning) && !QD_XM_LIMIT)	
                        {   
                            if(!bRunning)QD_JD_VAVEL = 0;
                            QD_XiaQieStep = 0;
                            QD_XiaQieDelay = dwTickCount;
                                                  
                        }
                        else if(dwTickCount >= QD_XiaQieDelay)	
                        {
                            QD_SetAlarmCode(QD_SM_YUANWEI);
                        }
                                        
                break;
            }
    }
}
//切断动作
void QueDuan_XiaQue(void)	 
{
    switch(QD_PARAM_MACHINE_CHOOSE)
    {	
        case QD_NO_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break;	
        case QD_NO_GL_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break;
        default:;
    }
}




#endif