GC23005/Machine/JinLongMachine/JLKKQueDuanJi.c

#include "global.h"


#if JIN_LONG_MACHINE ==1


void KK_QueDuan_AlarmProtect(void);
void KK_QueDuan_ManualAction(void);
void KK_QueDuan_AutoAction(void);
void KK_QueDuan_StepCheckStart(void);
void KK_QueDuan_XiaQue(void);
void KK_QueDuan_Motor(void);
void KK_QueDuan_YuanDianAction(void);
void KK_QueDuan_TuiLianAction(void);
void KK_QueDuan_ExtiActionX31(void);
void KK_QueDuan_BingLian(void);
void KK_StopCode(void);
void KKQD_TuiDaiAction(void);

short *KK_length_buffer;


void KKQD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(KKQD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}
void KK_QueDuan_ExtiActionX31(void)
{
    KK_cCheckLianFlg = 1;
    KK_cRealPos = GetPos(X_AXIS);
}
void KK_StopCode(void)
{
   switch(KKQD_StopStep)
        {
          case 1:            
             KKQD_StopStep=2;
             if(X_DRV)
             {
                AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
                AxisDecStop(X_AXIS);
             }
            break;
          case 2:    
            if(!X_DRV || (KK_cRealPos < 10))
            {
                KKQD_StopCodeDelay=dwTickCount+350;
                KKQD_StopStep = 3;
            }  
            break;
          case 3:
            if(dwTickCount >= KKQD_StopCodeDelay)
            {
              if(!KK_cSTOPONE)
              {                
                    KKQD_StopStep=0;
                    
              }
              else
              {        
                    KKQD_SetAlarmCode(KKQD_PARAM_ANQUANMEN_ALARM);
                    KKQD_StopStep=0;
                    KK_cSTOPONE=0;
              }
              KKQD_SZ_OUT   = 1;  //电机松轴
            }
            break;
        }
   
   switch(KKQD_CHUIQIStep) 
   {
          case 1:
            KKQD_CQ_VAVLE=1;
            KKQD_CHUIQIStep=2;
            KKQD_ChuiQiDelay=dwTickCount+KKQD_PARAM_ChuiQi_TIME;
          break;
        case 2:
          if(dwTickCount >= KKQD_ChuiQiDelay)
          {
           KKQD_CQ_VAVLE=0;
            KKQD_CHUIQIStep=0;
          }
          break;
   
   }
}



void KK_QueDuan_InitAction(void)
{
  
    float length_buff,pulse_buff;
  //  axis_x->speed_unit = 1;   //速度频率倍率单位
    length_buff = KKQD_PARAM_CYCLE_LENGTH;
    pulse_buff  = KKQD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;  
   
  //  KKQD_SZ_OUT   = 1;
  // Motor_SZ(KKQD_MOTOR_DIS); //电机松轴
   KKQD_SetAlarmCode(0);
     SetDirReverse(X_AXIS, 1);
}

void KK_QueDuan_Action(void)
{
    
    KK_QueDuan_AlarmProtect();
    KK_QueDuan_Motor();
    KK_QueDuan_XiaQue();
    KK_QueDuan_ManualAction();
    KK_QueDuan_TuiLianAction();
    KK_QueDuan_BingLian();
    KK_StopCode();
    KK_QueDuan_AutoAction();
    KK_QueDuan_StepCheckStart();   // 调用脚踏开关检测程序 
    
    
}

//手动动作
void KK_QueDuan_ManualAction(void)
{  
 //条数或扎数达到后，台面电机转两秒之后再停机
  if(KK_cTABLETIME)
      {
        if(KK_cTABLETOTAL)
        {
          KK_cTABLETOTAL=0;
          KKQD_TABLE_VAVLE = 1;
          KKQD_TableDelay=dwTickCount + 2000;
        
        }
        if(dwTickCount >= KKQD_TableDelay)
        {
          KKQD_TABLE_VAVLE = 0;
           KK_cTABLETIME=0;
        
        }
      }
  if(KKQD_HOUXIANWEI_UP && bRunning)
  {
  AxisEgmStop(X_AXIS);
   KKQD_SetAlarmCode(KKQD_PARAM_RUN_LENGTH_ALARM);
  }
    if(bRunning == 0)  
    {   

     
      
        KK_cGoLimitEn = 0;
        if(KKQD_bClearTotal) //切断计数清零
        {
            KKQD_bClearTotal       = 0;
            ClrcToTal(KKQD_TOTAL_ADDR);
        }
        
        if(KKQD_bClearNowTotal)
        {
            KKQD_bClearNowTotal = 0;
            KKQD_PARAM_NOW_CNT = 0;
        }
        
        if(KKQD_bXiaQie)
        {
            KKQD_bXiaQie = 0;
            if(KKQD_XiaQieStep == 0)
            {
                KKQD_XiaQieStep = 1;
            }  
        }
        
        if(KKQD_bQianDianDW)
        {
            KKQD_bQianDianDW = 0;
            if(KKQD_MotorStep == 0)
            {
                KKQD_MotorStep = 61;
                KK_cZipCnt      = 0;
            }
        }
        
        if(KKQD_bTL)
        {  
            KKQD_bTL = 0;
            if(KKQD_TL_VAVLE)
            {
                KKQD_TL_VAVLE = 0;
            } 
            else if(!KKQD_GZ_VAVLE && !KKQD_SM_VAVLE)
            {
                KKQD_TL_VAVLE = ~KKQD_TL_VAVLE;
            }
        }
        
//        if(!Y_DRV)KKQD_bTL = 0;
        
        if(KKQD_bYD)
        {
            KKQD_bYD = 0;
            KKQD_DTFK_VAVLE=~KKQD_DTFK_VAVLE;
            KKQD_YD_VAVLE = ~KKQD_YD_VAVLE;
        }
        
        if(KKQD_bGZ)
        {
            KKQD_bGZ = 0;
            KKQD_GZ_VAVLE = ~KKQD_GZ_VAVLE;
        }
            if(KKQD_bDGLG)
        {
          KKQD_bDGLG = 0;
           KKQD_DGLG_VAVLE = ~KKQD_DGLG_VAVLE;
        }
       
        if(KKQD_bJD)
        {
           KKQD_bJD = 0;
           KKQD_JD_VAVLE = ~KKQD_JD_VAVLE;
        }
        
        if(KKQD_bXM)
        {
           KKQD_bXM = 0;
           KKQD_XM_VAVLE = ~KKQD_XM_VAVLE;
           if(!KKQD_XM_VAVLE)KKQD_GZ_VAVLE = 0;
        }
        if(KKQD_GOUZHEN_IN_UP)
        {
        KKQD_YD_VAVLE=1;
        }
        
        if(KKQD_bSM)
        {
           KKQD_bSM = 0;
           if(KKQD_SM_VAVLE)
                KKQD_SM_VAVLE = 0;
           else if(!KKQD_SM_VAVLE)
                KKQD_SM_VAVLE = 1;
        }
        //推方块
        if(KKQD_bTFK)
        {
            KKQD_bTFK = 0;
            KKQD_TFK_VAVLE = ~KKQD_TFK_VAVLE;
        }
        //台面电机
        if(KKQD_bTB)
        {
            KKQD_bTB = 0;           
            KKQD_TABLE_VAVLE = ~KKQD_TABLE_VAVLE;
        }
        
//        if(KKQD_bYBD)
//  /      {
//            KKQD_bYBD = 0;
//            KKQD_YBD_VAVLE = ~KKQD_YBD_VAVLE;
//        }
        
        if(KKQD_bTestCS)
        {
           KKQD_bTestCS = 0;
           KKQD_CS_OUT  = 1;
           KKQD_CSDelay = dwTickCount + KKQD_PARAM_CS_TIME;
        }
        
        if(KKQD_bBL)//吹气
        {
            KKQD_bBL = 0;
            KKQD_BL_VAVLE = ~KKQD_BL_VAVLE;
        }
        
        if(KKQD_bHL)  //护链,双开用
        {
            KKQD_bHL = 0;
            KKQD_HL_VAVLE = ~KKQD_HL_VAVLE;
        }
        
        if(KKQD_bYX)
        {
            KKQD_bYX = 0;
            KKQD_YX_VAVLE = ~KKQD_YX_VAVLE;
        }
        if(KKQD_XiaQieStep == 0)
        {
            if(dwTickCount >= KKQD_CSDelay)KKQD_CS_OUT  = 0;
        }        
//电机控制        
        if(KKQD_QIAN_LIMIT_IN && KKQD_bGoMotor)
        {
        AxisEgmStop(X_AXIS);
        }
        if(KKQD_bGoMotor && !KKQD_QIAN_LIMIT_IN)
        {           
            KKQD_SZ_OUT   = 0;
        //   KKQD_JZ_DIR   = KKQD_YDIR_N;
          
            if(!X_DRV)
             AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_GO_LOW_SPEED,10,12);
     
        }
         if(KKQD_HOUXIANWEI && KKQD_bBackMotor)
        {
        AxisEgmStop(X_AXIS);
        }
        
        if(KKQD_bBackMotor && !KKQD_HOUXIANWEI)  //后退限位已经取消
        {
            KKQD_SZ_OUT   = 0;
     //       KKQD_JZ_DIR   = KKQD_YDIR_P;
            if(!X_DRV)
          
               AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_P,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_GO_LOW_SPEED,10,12);
      
        }
        
        if(!KKQD_bGoMotor && !KKQD_bBackMotor && (KKQD_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(KKQD_QIAN_LIMIT_IN && (KKQD_MotorStep == 0) && !KKQD_bBackMotor &&(KKQD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }       
    }
}




void KK_QueDuan_AlarmProtect(void)
{ 
    KK_cRealPos = GetPos(X_AXIS);

    if(!bRunning)
    {
      ;
      //
#if 0     
        if(KKQD_BACK_LIMIT_IN_UP)
        {
            if((KKQD_MotorStep == 0) && X_DRV && KKQD_bBackMotor)        //到后限不能再后退但可以点前进
            {
                KKQD_bBackMotor = 0;
                
                AxisDecStop(X_AXIS);   
                KKQD_JD_VAVLE   = 0;
                KKQD_SetAlarmCode(KKQD_BACK_ALARM);
                
            }
        }
#endif      
    }
    else
    {
        if((KK_cRealPos > KKQD_PARAM_RUN_LENGTH) && (KKQD_PARAM_RUN_LENGTH > 3000)
            && (KK_cGoLimitEn != 0))
        {
            AxisEgmStop(X_AXIS);   
            KKQD_JD_VAVLE = 0;
            KKQD_SetAlarmCode(KKQD_BACK_ALARM);
        }
    }
}


void KK_QueDuan_AutoAction(void)
{  
  //台面电机定时关掉
  
  
  if(KKQD_QIAN_STOP_Auto)
  {
   
    KK_cDLJ_ATUO=1;
    AxisEgmStop(X_AXIS);
    
      
      
  }
  if(KKQD_QIAN_START_Auto)
  {
    if(KK_cDLJ_ATUO)
    {
       KK_cDLJ_ATUO=0;
        KKQD_AutoDelay = dwTickCount + 1000;
        KKQD_MotorDelay = dwTickCount + 2000;
     if((KKQD_MotorStep==63 || KKQD_MotorStep==64 || KKQD_MotorStep==65) && !KKQD_QIAN_LIMIT_IN)
          AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,KKQD_PARAM_GO_LOW_SPEED/3,15,15);
      else if((KK_cRealPos < KKQD_PARAM_ZIPPER_LENGTH) && (KKQD_MotorStep > 311))
        AxisMoveTwoPos(X_AXIS,1000,(KKQD_PARAM_ZIPPER_LENGTH - KK_cRealPos) + (*KK_length_buffer),
                       KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED_LENGTH,KKQD_DIR_P,5000,3000,20,30);
      
  

    }             
        
        
  }
   if(!KK_cDLJ_ATUO)
   {
    if(bRunning)
    {  
      if(!KK_cTABLETIME)
      {
        if(dwTickCount >= KKQD_TBDelay)
         KKQD_TABLE_VAVLE = 0;
      }
        switch(KKQD_AutoStep)
        {
            case 1:
                  if(dwTickCount >= KKQD_AutoDelay)
                  {	
                      KKQD_AutoStep = 2;	    
                      if(KKQD_MotorStep == 0)
                      {
                          KKQD_MotorStep = 61;   //前点定位
                      }
                      KK_cGoLimitEn = 0;
                  }	
                  break;	
            case 2:	 
                  if(KKQD_MotorStep == 0)
                  {   
                      KKQD_MotorStep = 30;  
                      KKQD_AutoStep = 3;	
                      KK_cGoLimitEn = 1;
                  }
                  break;	
            case 3:	
            
                  if(KKQD_MotorStep == 0)
                  {   
                      if(KKQD_SAFE_IN)
                      {
                          bStop = 1;
                      }
                      else 
                      {
                           
                          if(KKQD_XiaQieStep == 0)
                             KKQD_XiaQieStep = 1;                 
                         KKQD_AutoStep = 4;
                      }
                  }              
                  break;
            case 4:
                
                      //                                  闭口
                      if((KKQD_XiaQieStep == 0) || ((KKQD_XiaQieStep == 6) && KKQD_KB_MODE)|| ((KKQD_XiaQieStep == 14) && (KKQD_KB_MODE == 0)))// && !KKQD_SHANG_MU_LIMIT_IN)
                      {
                          if(KKQD_MotorStep == 0) 
                          {
                            KK_cGoLimitEn=0;
                              KKQD_MotorStep = 40;     //切完后退
                              
                          }
                          KKQD_AutoStep = 5;	    
                      }

                 break;
            case 5:	 
                
                  if(KKQD_MotorStep == 0)
                  {
                      KK_cZipCnt++;
                      KKQD_PARAM_NOW_CNT++;
                      KK_cTableCnt++;
                      AddToTal(KKQD_TOTAL_ADDR);
                      AddToTal(CT_WORKTOTAL_ADDR);
                      CalProSP(KKQD_PROSPEED_ADDR);
                      
                      if(KK_cTableCnt >= KKQD_PARAM_TABLE_NUM)
                      {
                          KK_cTableCnt = 0;
                          KKQD_TABLE_VAVLE = 1;
                          KKQD_TBDelay = dwTickCount + KKQD_PARAM_TB_TIME;
                      }
                      
                      if( SingOneFlg || KK_cZhouWanone)
                      {
   
                          {
                            KK_cZhouWanone=0;
                           KK_cStopMode=0;
                              bRunning = 0;
                              KKQD_AutoStep = 0; 
                              SingOneFlg = 0;
                               KKQD_TABLE_VAVLE = 0;
                               
                          }
                          
 //                         if(GetTotal(KKQD_TOTAL_ADDR) >= KKQD_PARAM_SET_TOTAL) KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
                      }
                      else
                      {
                          KKQD_AutoStep = 1; 
                          
                          if((KKQD_PARAM_NOW_CNT >= KKQD_PARAM_ZHA_SHU) && (KKQD_PARAM_ZHA_SHU > 0))   
                          {
                              KKQD_AutoDelay = dwTickCount + KKQD_PARAM_ZS_STOP_TIME;
                              KKQD_PARAM_NOW_CNT = 0;
                                  KK_cTABLETIME = 1;
                                 KK_cTABLETOTAL= 1;
                              if(KKQD_PARAM_ZS_STOP_TIME == 0)
                              {
                                  bRunning = 0;
                                  KKQD_AutoStep = 0; 
                                  SingOneFlg = 0;
                                  KK_cTABLETIME = 1;
                                 KK_cTABLETOTAL= 1;
                                  KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
                              }
                          }
                          else
                              KKQD_AutoDelay = dwTickCount + KKQD_PARAM_CYCLE_DELAY;
                      }
                  }
                  break;
        }	
    }
   }
}

void KK_QueDuan_StepCheckStart(void)
{
  
  if(KKQD_DANXUNHUAN_LIMIT_IN_UP)
  {
  KKQD_bSingle=1;
  }
//		启动      			
    if((KKQD_START_IN_UP) || bStart || KKQD_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (KKQD_AutoStep == 0))
        {
            if(KKQD_XIA_MU_LIMIT_IN && !KKQD_PARAM_XM_ENABLE)KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
//            else if(GetAlarmCode(KKQD_ALARM_ADDR) != 0);
            //else if(GetTotal(KKQD_TOTAL_ADDR) >= KKQD_PARAM_SET_TOTAL) KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
 //           else if(KKQD_BL_VAVLE)KKQD_SetAlarmCode(KKQD_BL_ALARM);
            else if(KKQD_SM_VAVLE)KKQD_SetAlarmCode(KKQD_SM_ALARM);
             else
            {
                bRunning    = 1;
                KKQD_AutoStep = 1;
                if(KKQD_PARAM_BL_ENABLE)
                    KKQD_PARAM_BL_ENABLE=1 ; //并链起动
                if(KKQD_bSingle) 
                    SingOneFlg= 1;
                KK_cZipCnt      = 0;
                      KK_cTABLETIME = 0;
               KK_cTABLETOTAL= 0;
               KKQD_DTFK_VAVLE=0;
                  KKQD_TFK_VAVLE   = 1;    //推方块输出   
                KK_cSTOPONE=0;
                KK_cTuiFangKuaiCnt = 0;
                KKQD_BL_VAVLE = 0;    //并链关
                  KK_cDLJ_ATUO=0;
                KKQD_DGLG_VAVLE = 0;  //顶过链杆关
                SetAlarmCode(KKQD_ALARM_ADDR,0); 
            }
        }
        KKQD_bSingle = 0;
    }
    if(KKQD_STOP_ANNIU_IN_UP) 
    {
        bRunning   = 0;
        KKQD_XiaQieStep = 0;
        KKQD_AutoStep   = 0;
        KKQD_MotorStep  = 0;
        KKQD_TuiLianStep = 0;
         KKQD_AutoDelay   = dwTickCount;
            KKQD_MotorDelay = dwTickCount;
            KKQD_XiaQieDelay  = dwTickCount;
            KKQD_KaDaiDelay   = dwTickCount;
            KKQD_CSDelay = dwTickCount;
            KKQD_TBDelay  = dwTickCount;
            KKQD_TFKDelay = dwTickCount;
            KKQD_TLDelay  = dwTickCount;
            dwTickCount = KKQD_TBDelay;
             KKQD_CHUIQIStep=0;
            SingOneFlg  = 0; 
            KKQD_JD_VAVLE = 0;
            KKQD_SM_VAVLE = 0;
            KKQD_XM_VAVLE = 0;
            KKQD_YD_VAVLE = 0;
            KKQD_TFK_VAVLE= 0;
            KKQD_YX_VAVLE = 0;
            KKQD_HL_VAVLE  = 0;
            KKQD_TL_VAVLE      = 0;
            KKQD_DGLG_VAVLE = 0;  //顶过链杆关
            KKQD_CS_OUT   = 0;
            KKQD_XiaQieStep = 0;
            KKQD_MotorStep  = 0;
            KKQD_TuiLianStep = 0;
            KKQD_SZ_OUT   = 1;
            KKQD_GZ_VAVLE    = 0;
            KKQD_TABLE_VAVLE   = 0;
             KKQD_StopStep=1;
            KK_cTABLETIME = 0;
            KK_cTABLETOTAL= 0;
            KKQD_BinLianStep  = 0;
            KKQD_BL_VAVLE    = 0;
            SetAlarmCode(KKQD_ALARM_ADDR,0);
    
    }
    //停止
   if(KKQD_STOP_IN_UP || bStop)
   {
        bStop = 0;
      if(KK_cStopMode < 2)
        KK_cStopMode++;
      if(KK_cStopMode==1 && bRunning)
        KK_cZhouWanone=1;
        if(bRunning && KK_cStopMode==2)
        {
            

            KKQD_AutoDelay   = dwTickCount;
            KKQD_MotorDelay = dwTickCount;
            KKQD_XiaQieDelay  = dwTickCount;
            KKQD_KaDaiDelay   = dwTickCount;
            KKQD_CSDelay = dwTickCount;
            KKQD_TBDelay  = dwTickCount;
            KKQD_TFKDelay  = dwTickCount;
            KKQD_TLDelay     = dwTickCount;
            dwTickCount = KKQD_TBDelay;
            SingOneFlg  = 0; 
                    bRunning   = 0;
        KKQD_XiaQieStep = 0;
        KKQD_AutoStep   = 0;
        KKQD_MotorStep  = 0;
        KKQD_TuiLianStep = 0;
         KK_cJiaDaione=0;
            KKQD_JD_VAVLE = 0;
            KKQD_SM_VAVLE = 0;
            KKQD_XM_VAVLE = 0;
            KKQD_YD_VAVLE = 0;
            KKQD_TFK_VAVLE= 0;
            KKQD_TL_VAVLE      = 0;
            KKQD_HL_VAVLE  = 0;
            KKQD_CS_OUT   = 0;
            KKQD_XiaQieStep = 0;
            KKQD_MotorStep  = 0;
            KKQD_TuiLianStep = 0;
            //KKQD_SZ_OUT   = 1;
            KKQD_GZ_VAVLE    = 0;
            KKQD_TABLE_VAVLE   = 0;
            KKQD_DGLG_VAVLE = 0;  //顶过链杆关
          if((KKQD_StopStep == 0) && X_DRV)
                KKQD_StopStep = 1;
            KKQD_BinLianStep  = 0;
            KKQD_BL_VAVLE    = 0;
               KK_cTABLETIME = 0;
               KK_cTABLETOTAL= 0;
            user_datas[121] = 0;
            user_datas[122] = 0;

            SetAlarmCode(KKQD_ALARM_ADDR,0);        
        }
        else if(!bRunning)
        {
            KKQD_AutoDelay   = dwTickCount;
            KKQD_MotorDelay = dwTickCount;
            KKQD_XiaQieDelay  = dwTickCount;
            KKQD_KaDaiDelay   = dwTickCount;
            KKQD_CSDelay = dwTickCount;
            KKQD_TBDelay  = dwTickCount;
            KKQD_TFKDelay = dwTickCount;
            KKQD_TLDelay  = dwTickCount;
            dwTickCount = KKQD_TBDelay;
            KKQD_CHUIQIStep=0;
             KK_cJiaDaione=0;
            SingOneFlg  = 0; 
            KKQD_JD_VAVLE = 0;
            KKQD_SM_VAVLE = 0;
            KKQD_XM_VAVLE = 0;
            KKQD_YD_VAVLE = 0;
            KKQD_TFK_VAVLE= 0;
            KKQD_YX_VAVLE = 0;
            KKQD_HL_VAVLE  = 0;
            KK_cStopMode=0;
                KK_cZhouWanone=0;
            KKQD_TL_VAVLE      = 0;
            KKQD_DGLG_VAVLE = 0;  //顶过链杆关
            KKQD_CS_OUT   = 0;
            KKQD_XiaQieStep = 0;
            KKQD_MotorStep  = 0;
            KKQD_TuiLianStep = 0;
          
            KKQD_GZ_VAVLE    = 0;
            KKQD_TABLE_VAVLE   = 0;
                 if((KKQD_StopStep == 0))
            {
                 KK_cSTOPONE = 0;
                 AxisEgmStop(X_AXIS);   
               KKQD_SZ_OUT   = 1;
            }   
            KK_cTABLETIME = 0;
            KK_cTABLETOTAL= 0;
            KKQD_BinLianStep  = 0;
            KKQD_BL_VAVLE    = 0;
            SetAlarmCode(KKQD_ALARM_ADDR,0);
                    bRunning   = 0;
        KKQD_XiaQieStep = 0;
        KKQD_AutoStep   = 0;
        KKQD_MotorStep  = 0;
        KKQD_TuiLianStep = 0;
        }

    }
    
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        KKQD_XiaQieStep = 0;
        KKQD_AutoStep   = 0;
        KKQD_MotorStep  = 0;
        KKQD_TuiLianStep = 0;
        
        KKQD_XiaQieStep = 0;
        KKQD_MotorStep  = 0;
        KKQD_TuiLianStep = 0;
        KKQD_AutoDelay   = dwTickCount;
        KKQD_MotorDelay = dwTickCount;
        KKQD_XiaQieDelay  = dwTickCount;
        KKQD_KaDaiDelay   = dwTickCount;
        KKQD_CSDelay = dwTickCount;
        KKQD_TBDelay  = dwTickCount;
        KKQD_TFKDelay  = dwTickCount;
        KKQD_TLDelay     = dwTickCount;
        SingOneFlg  = 0; 
        bRunning   = 0;
         KKQD_StopStep=1;
                  KK_cStopMode=0;
                KK_cZhouWanone=0;
        dwTickCount = KKQD_TBDelay;
        KKQD_TABLE_VAVLE = 0;
        KKQD_TFK_VAVLE =0;
       if(KK_cJiaDaione)
       {
        KKQD_JD_VAVLE=0;
        KK_cJiaDaione=0;
       
       }
        KKQD_GZ_VAVLE=0;
    }
    
}   
//记忆长度模式误差检测
void KK_QueDuan_CheckLength(long zip_length)
{
    static long start_dist;
    switch(KKQD_CheckLengthStep)
    {
        case 0:break;
        case 1:
               start_dist = KK_cRealPos;
               KK_dwSaveLength = 0;
               KKQD_CheckLengthStep = 2;
               break;
        case 2:
          if(KKQD_GUO_LIAN_IN_DW)
          {  
            KK_dwSaveLength = KK_cRealPos - start_dist;   
 //           user_datas[127] = KK_cRealPos;

          }
               break;         
    }          
}

#if !KKQD_KB_MODE  //开口
//开口切专用
//30步开始后拉开始，分解4种工作模式
//40步开始用切断后拉动作
//60步开始为前方向，开闭口一样

void KK_QueDuan_Motor(void)
{
        static long save_buff,length_buff,gou_zhen_buff,jz_buff;

        KK_cRealPos = GetPos(X_AXIS);
        user_datas[121]= KKQD_MotorStep;
        user_datas[122]= length_buff; 
        user_datas[123] = KK_cRealPos;
        user_datas[124] = KKQD_BinLianStep;
        user_datas[125] = KKQD_AutoStep;
        user_datas[126] = KKQD_XiaQieStep;
    //    user_datas[127] = KKQD_XiaQieStep;
        KK_QueDuan_CheckLength(length_buff);
      if(!KK_cDLJ_ATUO)
        { 
	switch(KKQD_MotorStep)
	{
                case 30:
                 
                    switch(KKQD_PARAM_BACK_MODE)  //开口分四种模式 
                    {
                        case 0: //单数控模式
                              KKQD_MotorStep   = 310;  //每种模式留20步
                           
                              break;
                        case 1://单感应模式
                            KKQD_MotorStep   = 330;  //每种模式留20步
                            
                            break;
                        case 2: //先感应后数控模式+检测
                            KKQD_MotorStep   = 350;  //每种模式留20步
                            break;
                        default:  //数控模式+过链检测长度
                            KKQD_MotorStep   = 370;  //每种模式留20步
                            break;
                    }  
                    KKQD_MotorDelay  =    dwTickCount + KKQD_PARAM_DELAY_BACK;    
                    break;
         //310步到315步为数控模式                    
                case 310:
                    SetDir(X_AXIS, KKQD_DIR_P);
                    if(KKQD_PARAM_BL_ENABLE)
                        KKQD_BinLianStep = 1;  //并链起动
                     KKQD_MotorStep   = 311;
                    break;
                case 311:   
                   if(dwTickCount >= KKQD_MotorDelay)
                    {   
                      KK_length_buffer =(short *) (&KKQD_PARAM_OFFSET_LENGTH);
                         SetPos(X_AXIS, 0);
                      //两段速度移动距离  拉链长度+慢速长度停止
                     //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方
                       KK_DCC_TIME_BL=KKQD_PARAM_BACK_SPEED/500;                                         
                AxisMovePosAccDecNotStop(X_AXIS,KKQD_PARAM_BACK_SPEED,KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer), KKQD_PARAM_START_SPEED,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_ACC,KK_DCC_TIME_BL,KKQD_PARAM_BACK_LOW_SPEED_LENGTH);          
                     gou_zhen_buff = KK_cRealPos;
                     save_buff = KK_cRealPos;     
                    KKQD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                    KKQD_MotorStep   = 312;
                   }
                    break;   
		case 312:
                  if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                     KKQD_DTFK_VAVLE=1;
                        //勾针提前输出 ，争取时间推方块
                     if(KK_cRealPos>300)
                        KKQD_DGLG_VAVLE = 1;  //顶过链杆关
                       if (!KKQD_GZ_VAVLE && (KK_cRealPos >= (KKQD_PARAM_ZIPPER_LENGTH- 230)))
                                  KKQD_GZ_VAVLE = 1;
                        
                       if((KK_cRealPos) > (KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer)-KKQD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*KK_length_buffer) - (KKQD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(KKQD_PARAM_BACK_SPEED,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_DCC)))))
                       {                            
                           KKQD_MotorStep   = 313;
                           
                       }
                       else if(KK_cRealPos >= (KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer) + KKQD_PARAM_ERROR_LENGTH))
                       {
                           KKQD_SetAlarmCode(KKQD_GZ_ALARM);
                       }

			break;
                case 313:
                     if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                                 KKQD_DTFK_VAVLE=1;
                       if (!KKQD_GZ_VAVLE && (KK_cRealPos >= (KKQD_PARAM_ZIPPER_LENGTH- 230)))
                                    KKQD_GZ_VAVLE = 1;
                       if(!X_DRV || KK_cRealPos>=(KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer)))
                       {                         
                           AxisEgmStop(X_AXIS);
                            KKQD_DTFK_VAVLE=0;
                           KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
                           KKQD_MotorStep   = 314;
                           KKQD_BL_VAVLE = 0;  //停止时并链一定要打开
                           
                           if((KKQD_PARAM_BACK_MODE == 2) && !KKQD_DGLG_VAVLE) //模式2,先检测长度后数控
                           {//对比长度 ,发须要有过链信号,模式2,3.  模式0,1不用在这里经           
                               if(KK_cZipCnt > 1)  //长度检测
                                {
                                   if(KKQD_PARAM_ERROR_LENGTH != 0)  //长度误差值不能为0
                                    {     
                                        if(((KK_dwSaveLength + KKQD_PARAM_MOTOR_DELAY_LENGTH) > (length_buff + KKQD_PARAM_ERROR_LENGTH)) || (KK_dwSaveLength == 0))
                                        {
                                           KKQD_SetAlarmCode(KKQD_LENGTH_LONG_ALARM);//拉链变长,对比警告                                   
                                        }
                                        else if((KK_dwSaveLength + KKQD_PARAM_MOTOR_DELAY_LENGTH+ KKQD_PARAM_ERROR_LENGTH) < length_buff) 
                                        {
                                           KKQD_SetAlarmCode(KKQD_LENGTH_SHORT_ALARM);  ////拉链变短     
                                       }
                                      
                                        KKQD_CheckLengthStep = 0;
                                    }    
                                }
                            }
                       }             
                        break;
                case 314:
                       if(!X_DRV && (dwTickCount >= KKQD_MotorDelay))  //数控到停止
                       {      
                            KKQD_MotorStep   = 0;
                            KKQD_TFK_VAVLE   = 1;    //推方块输出                       
                       }
                       break;
              //330步到349步单感应模式   
                case 330:  
                  
                      gou_zhen_buff = KK_cRealPos;
                        KKQD_DGLG_VAVLE = 0;  //顶过链杆关
                      SetDir(X_AXIS, KKQD_DIR_P);
                    KKQD_MotorStep   = 331;          
                    user_datas[127] = 0;
                    break;
                case 331:  
                 
                    if(dwTickCount >= KKQD_MotorDelay)
                    {   
                         
                        if(KK_cZipCnt < 2)
                        {
                            if(KKQD_PARAM_BL_ENABLE)
                                KKQD_BinLianStep = 10;  //并链起动
                           //第一条都是过链感应，后拉速度减半//原来KKQD_PARAM_CHECK_BACK_HSPEED/2
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                          AxisContinueMoveAcc(X_AXIS,9000,KKQD_DIR_P,KKQD_PARAM_START_SPEED,2000,8,13);
                          
                             //               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,KKQD_PARAM_BACK_SPEED,KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer)-KKQD_PARAM_BACK_LOW_SPEED_LENGTH,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED_LENGTH,KKQD_DIR_P); 
                          
                        }   
                        else
                        {  
                            if(KKQD_PARAM_BL_ENABLE)
                                KKQD_BinLianStep = 1;  //并链起动
                          //因为每条都是过链感应，所以直接运行检测模式后拉速度
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                          AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_CHECK_BACK_HSPEED,KKQD_DIR_P,KKQD_PARAM_START_SPEED,2000,KKQD_PARAM_ACC,KKQD_PARAM_DCC);
                              
                         }
                        KKQD_MotorStep   = 332;
                    }
                    break;
                case 332:
                 if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                                   KKQD_DTFK_VAVLE=1;
                  if(KK_cRealPos>300)
                  {
                    if(KK_cZipCnt > 1)  //第二条开始数控降速
                    {
                        if((KK_cRealPos +  KKQD_PARAM_BACK_LOW_SPEED_LENGTH + 600)>= length_buff)
                        { 
                        //    CancelPmoveState(X_AXIS);  //长度模式去掉
                            AxisChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED);   
                            user_datas[127] = KK_cRealPos;
                            KKQD_MotorStep   = 334;  //到检测定位
                        }   
                        if(KKQD_GUO_LIAN_IN_DW)  //重新到链上
                        {
                           //  CancelPmoveState(X_AXIS);
                             AxisChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED);
                             gou_zhen_buff = KK_cRealPos;
                             KKQD_MotorStep   = 335;  //到检测定位
                        }
                 //
                 //       if((KK_cRealPos >=  (KKQD_PARAM_BACK_LOW_SPEED_LENGTH + 60)) &&  KKQD_GUO_LIAN_IN)
                 //       {
                            
                 //       }
                    }  
                    else   //第一条工作
                    {  
                        if(KKQD_GUO_LIAN_IN_UP)
                        {                                 
                           AxisChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED);
                             KKQD_MotorDelay  = dwTickCount + 0;//KKQD_PARAM_DELAY_XM;
                              KKQD_MotorStep   = 333;
                         }  
                         else if((KK_cRealPos >= KKQD_PARAM_RUN_LENGTH) && (KKQD_PARAM_RUN_LENGTH >= 5000))  //模组最长限制
                        {
 //                           KKQD_SetAlarmCode(KKQD_PARAM_RUN_LENGTH_ALARM);  //超出轨道运行长度
                        }
                    }
                  }
                    break;
                 case 333:
                     if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                                   KKQD_DTFK_VAVLE=1;
    
                       if(dwTickCount >= KKQD_MotorDelay)
                       {
                           KKQD_MotorStep   = 334;
                       }                        
                        break;   
                case 334:
                    if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                     KKQD_DTFK_VAVLE=1;

                   if(KKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
                   {      


                            if(KKQD_GUO_LIAN_IN_DW)
                            {                  
                                 gou_zhen_buff = KK_cRealPos;
                                 KKQD_MotorStep   = 335;
                            }
                     
                   }
                   break;
                case 335:
                    if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                     KKQD_DTFK_VAVLE=1;

                    if(KKQD_GUO_LIAN_IN_DW)
                    {
                        gou_zhen_buff = KK_cRealPos; 
                         
                    }
                    //在空们都把延时清零    
                    if(KKQD_GUO_LIAN_IN)
                    {
                        gou_zhen_buff = KK_cRealPos; 
                    }                        
                        //定位停止
                    if(((KK_cRealPos - gou_zhen_buff) >= KKQD_PARAM_MOTOR_DELAY_LENGTH) && !KKQD_GUO_LIAN_IN)
                    {                         
                        AxisEgmStop(X_AXIS);   
                        KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                        KKQD_MotorStep   = 336;
                        KKQD_GZ_VAVLE = 1;
                    }   
                    break;
                case 336:   
 
                  
                    if(!X_DRV)
                    {      
                       KKQD_GZ_VAVLE = 1;
                       KKQD_DTFK_VAVLE=0;
                      
                        KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                           // KKQD_XM_VAVLE    = 1;
                        KKQD_MotorStep   = 337;
                    }
                    break;
                case 337:
                    if(1)
                    {
                      
                        KKQD_MotorStep   = 338;
                        KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
                    } 
           //             else if(dwTickCount >= KKQD_MotorDelay) KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
                        break;
                case 338:  
                    if((dwTickCount >= KKQD_MotorDelay))
                    { 
                      KKQD_TFK_VAVLE   = 1;    //推方块输出                       
                      KKQD_MotorStep   = 339;
                      KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                    }
                    break;                    
                case 339:
                    if(KK_cZipCnt == 1)
                    {
                         length_buff = KK_cRealPos - save_buff;
                         SetData32bits(KKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff-KKQD_PARAM_DK_LENGTH);
                    }     
                    else if(KK_cZipCnt > 1)  //长度检测
                    {
                        if(KKQD_PARAM_ERROR_LENGTH != 0)  //长度误差值不能为0
                        {       
                            if(KK_cRealPos >= length_buff)  //拉链变长,对比警告
                            {
                                if((KK_cRealPos - save_buff) > (length_buff+KKQD_PARAM_ERROR_LENGTH)) 
                                {
                                    KKQD_SetAlarmCode(KKQD_LENGTH_LONG_ALARM);
                                     KK_cJiaDaione=1;
                                }
                                
                            }
                            else   //拉链变短
                            {
                                if((KK_cRealPos - save_buff + KKQD_PARAM_ERROR_LENGTH) < (length_buff))
                                {
                                     KKQD_SetAlarmCode(KKQD_LENGTH_SHORT_ALARM);
                                      KK_cJiaDaione=1;
                                }
                             } 
                         }
                    }
                    KKQD_MotorStep   = 0;
                    break;
              //350步到369步单感应模式   
                case  350:  
                     gou_zhen_buff = KK_cRealPos;
                      SetDir(X_AXIS, KKQD_DIR_P);                     
                    KKQD_MotorStep   = 351;   
                    break;
                case 351:  
                    if(dwTickCount >= KKQD_MotorDelay)
                    {   
                      
                        //第一,二条都是过链感应，测量长度
                        if(KK_cZipCnt < 2)
                        {
                            if(KKQD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
                                KKQD_BinLianStep = 10;  //并链起动
                           KKQD_DGLG_VAVLE = 0;  //顶过链杆关
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                            AxisContinueMoveAcc(X_AXIS,9000,KKQD_DIR_P,KKQD_PARAM_START_SPEED,2000,8,12);
                           KKQD_MotorStep   = 352; 
                        }   
                        else
                        {  
                            if(KKQD_PARAM_BL_ENABLE)
                                KKQD_BinLianStep = 1;  //并链起动
                            KKQD_DGLG_VAVLE = 1;  //顶过链杆关
                            KKQD_CheckLengthStep = 1;    //长度检测,第3条才有对比
                            //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
                            KKQD_MotorStep   = 311; 
                        }  
                        
                         
                    }
                    break;
                case 352:
                      if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                                         KKQD_DTFK_VAVLE=1;
                   if(KK_cRealPos>300)
                  {
                  //前两条都按最低速度工作
                    if(KKQD_GUO_LIAN_IN_UP)
                    {                                 
                         AxisChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED);
                         KKQD_MotorDelay  = dwTickCount + 2;//因慢速，加8MS滤波
                         KKQD_MotorStep   = 353;
                     }  
                     else if((KK_cRealPos >= KKQD_PARAM_RUN_LENGTH) && (KKQD_PARAM_RUN_LENGTH >= 5000))  //模组最长限制
                     {
 //                       KKQD_SetAlarmCode(KKQD_PARAM_RUN_LENGTH_ALARM);  //超出轨道运行长度
                     }
                  }

                    break;
                 case 353:
                     if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                     KKQD_DTFK_VAVLE=1;

                     if(dwTickCount >= KKQD_MotorDelay)
                     {
                         KKQD_MotorStep   = 354;
                     }                        
                     break;   
                case 354:
                    if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                     KKQD_DTFK_VAVLE=1;

                   if(KKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
                   {      

                            if(KKQD_GUO_LIAN_IN_DW)
                            {                  
                                 gou_zhen_buff = KK_cRealPos;
                                 KKQD_MotorStep   = 355;
                            }
                     
                   }
                   break;
                case 355:
                    if(KK_cRealPos>KKQD_PARAM_DTFK_LENGTH)
                     KKQD_DTFK_VAVLE=1;

                    if(KKQD_GUO_LIAN_IN_DW)
                    {
                        gou_zhen_buff = KK_cRealPos; 
                         
                    }
                    //在空们都把延时清零    
                    if(KKQD_GUO_LIAN_IN)
                    {
                        gou_zhen_buff = KK_cRealPos; 
                    }                        
                        //定位停止
                    if(((KK_cRealPos - gou_zhen_buff) >= KKQD_PARAM_MOTOR_DELAY_LENGTH) && !KKQD_GUO_LIAN_IN)
                    {                         
                        AxisEgmStop(X_AXIS);   
                        KKQD_MotorStep   = 356;
                        KKQD_GZ_VAVLE = 1;
                    }   
                    break;
                case 356:  
   
                    if(!X_DRV)
                    {      
                       KKQD_GZ_VAVLE = 1;
                       KKQD_DTFK_VAVLE=0;
                        KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                           // KKQD_XM_VAVLE    = 1;
                        KKQD_MotorStep   = 357;
                    }
                    break;
                case 357:
                    if(1)
                    {
                     
                        KKQD_MotorStep   = 358;
                        KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
                    } 
                    break;
                case 358:  
                    if((dwTickCount >= KKQD_MotorDelay))
                    { 
                      KKQD_TFK_VAVLE   = 1;    //推方块输出                       
                      KKQD_MotorStep   = 359;
                      KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                    }
                    break;                    
                case 359:
                    if(KK_cZipCnt == 1)
                    {
                         length_buff = KK_cRealPos - save_buff;
                         //测量出来长度
                         SetData32bits(KKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff-KKQD_PARAM_DK_LENGTH);
                    }     
                    KKQD_MotorStep   = 0;
                    break;                    
              case 40:
                         //切完延时后拉带松夹子
	               if(KKQD_PARAM_SJZ_LENGTH == 0)
                        {
                            KKQD_MotorDelay  = dwTickCount + KKQD_PARAM_TDYS_DELAY;
                           SetDir(X_AXIS, KKQD_DIR_P);
                            KKQD_MotorStep   = 43;
                            KKQD_JD_VAVLE = 0; 
                        }
                        else
                        {
                       jz_buff = KK_cRealPos;
                        SetDir(X_AXIS, KKQD_DIR_P);
                        KKQD_MotorStep   = 41;
                        }
                        break; 
              case 41:
                
                  AxisMovePosAccDecNotStop(X_AXIS,KKQD_PARAM_CUT_BACK_SPEED,KKQD_PARAM_SJZ_LENGTH+KKQD_PARAM_BACK_LENGTH,500,1500,100,100,00);          
           //        AxisMovePosAccDec(X_AXIS,KKQD_PARAM_CUT_BACK_SPEED,KKQD_PARAM_SJZ_LENGTH+KKQD_PARAM_BACK_LENGTH,1000,1000,80,100,0);
                    KKQD_MotorStep   = 42;
                   //   KKQD_MotorDelay  = dwTickCount+ 10;
                 break;  
                 
	     case 42:	 

                    if((KKQD_PARAM_SJZ_LENGTH <= (KK_cRealPos - jz_buff)))
                    {
                
                        KKQD_JD_VAVLE = 0;
                        KKQD_GZ_VAVLE=0; 
                      
                        KKQD_MotorStep   = 44;
                    }
                    break;
                case 44:	                           // 切断完成后拉电机动作
                        if((KK_cRealPos - jz_buff) >= (KKQD_PARAM_SJZ_LENGTH+KKQD_PARAM_BACK_LENGTH))
                        {
                            AxisEgmStop(X_AXIS);
                            KKQD_MotorStep   = 0;
                             KKQD_GZ_VAVLE=0;
                            KKQD_MotorDelay  =    dwTickCount;
                        }
                        break; 
                case 61: // 前点定位数控模式
                        if(KKQD_SZ_OUT)
                        {
                            KKQD_SZ_OUT   = 0;                       
                            KKQD_MotorDelay = dwTickCount + 150;
                         
                        }
                        else
                            KKQD_MotorDelay = dwTickCount;
                        
                        KKQD_BL_VAVLE = 0;//并链也要打开
                   //     KKQD_JZ_DIR   = KKQD_YDIR_N; 
                        if(KKQD_TuiLianStep==0)
                        {
                          if(!KKQD_TL_VAVLE && KK_cZipCnt)  //没送链情况下主动送链
                          {
                              if(!KKQD_SHANG_MU_LIMIT_IN && (KKQD_TuiLianStep == 0))
                              {
                                   KKQD_TuiLianStep = 1;
                                   KKQD_MotorStep = 62;
                              }                          
                          }
                          else
                             KKQD_MotorStep = 62;
                            
                        }
                        else
                            KKQD_MotorStep = 62;
                        break;
                case 62:
                
                        if(dwTickCount >= KKQD_MotorDelay)
                        {                            
                            if(KKQD_QIAN_LIMIT_IN)
                            {
                                SetPos(X_AXIS, 0);//在前点，直接置零点
                       //        KKQD_JZ_DIR   = KKQD_YDIR_P;
                                //前点亮的情况下先退出
                       
                                AxisMovePos(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,1000);                           
                                KKQD_MotorDelay = dwTickCount + 300;
                            }
                            KKQD_MotorStep = 63;            
                            KKQD_JD_VAVLE = 0;  
                        }
			break;
		case 63:
                        if(KKQD_ANQUANMEN_LIMIT_IN_UP)
                        {
                         
                         KKQD_StopStep=1;
                           KK_cSTOPONE=1;
                        }
                        if(!X_DRV && !KKQD_QIAN_LIMIT_IN && (dwTickCount >= KKQD_MotorDelay))// && !KKQD_SHANG_MU_LIMIT_IN)
                        {
                       
               
                            KKQD_YD_VAVLE = 1;
                            KKQD_HL_VAVLE = 1;      
                            KKQD_YX_VAVLE = 1;
                            //李永庆代码,当位置在慢速之外,走数控到慢速点
                            if(KK_cZipCnt > 0)
                            {
                             
                                if(KK_cRealPos>(KKQD_PARAM_GO_LOW_SPEED_LENGTH))   
                                {   
                                   KK_DCC_TIME_BL=KKQD_PARAM_GO_HIGH_SPEED/500;
                                 AxisMovePosAccDecNotStop(X_AXIS,KKQD_PARAM_GO_HIGH_SPEED,-KK_cRealPos,
                                              KKQD_PARAM_START_SPEED,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_ACC,KK_DCC_TIME_BL,
                                              KKQD_PARAM_GO_LOW_SPEED_LENGTH);                            
                                } 
                               
                                else
                                 {
                                    //                  X轴       运行速度                    启动速度        加速度  减速度
                                    AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,2000,15,20);
       
                                }
                              
                            }
                            else
                            {
                               //                  X轴       运行速度                    启动速度        加速度  减速度
                                    AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,2000,15,20);
                           }
                            
                            KKQD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            KKQD_MotorStep   =64;
                        }  
                       
			break;
                case 64:
                 if(KK_cZipCnt > 0)
                  {
                  if(KK_cRealPos<600 && !KKQD_XIA_MU_ORIGIN_IN && !KKQD_SHANG_MU_ORIGIN_IN)
                  {
                   AxisContinueMoveAcc(X_AXIS,1000,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,1000,15,20);
                  }
                  }
                            if(KKQD_ANQUANMEN_LIMIT_IN_UP)
                            {
                             
                             KKQD_StopStep=1;
                               KK_cSTOPONE=1;
                            }
                        if(KK_cZipCnt > 1)
                        {                         
                              //李永庆代码
                              if(((KK_cRealPos) < (KKQD_PARAM_GO_LOW_SPEED_LENGTH+1200)))// || (KKQD_QIAN_DEC_IN))
                              {
                                   user_datas[126]= GetCurSpeed(X_AXIS);
                               //     MoveChangSpeedDec(X_AXIS,KKQD_PARAM_GO_HIGH_SPEED*2/3,6,8);
                             //    AxisChangeSpeed(X_AXIS,40);
                                   KKQD_MotorStep   =65;
                              }
                                if(KKQD_QIAN_LIMIT_IN)  //前点限位
                                {
                                 
                                    AxisMovePosAccDec(X_AXIS,3000,KKQD_PARAM_QDW_LENGTH,2000,2000,KKQD_PARAM_ACC,KKQD_PARAM_DCC,0);                                   
                 
                                    KKQD_MotorStep   = 66;                            
                                }
                        }
                        else
                        {                            
                            if(KKQD_QIAN_LIMIT_IN)  //前点限位
                            {
                                 AxisMovePosAccDec(X_AXIS,3000,KKQD_PARAM_QDW_LENGTH,2000,2000,KKQD_PARAM_ACC,KKQD_PARAM_DCC,0);                                   
                 
                                KKQD_MotorStep   = 66;                            
                            }
                        }

                        break;
		case 65:
                    if(KK_cZipCnt > 0)
                  {
                  if(KK_cRealPos<600 && !KKQD_XIA_MU_ORIGIN_IN && !KKQD_SHANG_MU_ORIGIN_IN)
                  {
                   AxisContinueMoveAcc(X_AXIS,1000,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,1000,15,20);
                  }
                  }
                            if(KKQD_ANQUANMEN_LIMIT_IN_UP)
                            {
                             
                             KKQD_StopStep=1;
                               KK_cSTOPONE=1;
                            }
                        if(KKQD_QIAN_LIMIT_IN)
                        {       
                         
                            AxisMovePosAccDec(X_AXIS,3000,KKQD_PARAM_QDW_LENGTH,2000,2000,KKQD_PARAM_ACC,KKQD_PARAM_DCC,0);                                   
                 
                            KKQD_MotorStep   = 66;                                  
                        }
                        else if(dwTickCount >= KKQD_MotorDelay)
                            KKQD_SetAlarmCode(KKQD_NO_ZIPPER_ALARM);
                        
                        break;
		case 66:
                   if(KK_cZipCnt > 0)
                  {
                  if(KK_cRealPos<600 && !KKQD_XIA_MU_ORIGIN_IN && !KKQD_SHANG_MU_ORIGIN_IN)
                  {
                   AxisContinueMoveAcc(X_AXIS,1000,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,1000,15,20);
                  }
                  }
                            if(KKQD_ANQUANMEN_LIMIT_IN_UP)
                            {
                             
                             KKQD_StopStep=1;
                               KK_cSTOPONE=1;
                            }
                        if(!X_DRV)
                        {   
                        
                             AxisEgmStop(X_AXIS);
                            SetPos(X_AXIS, 0);
                            KKQD_MotorDelay =    dwTickCount;
                            KKQD_MotorStep   = 67;
                        }
			break;   
		case 67:  //等推链完成后,
                        if((dwTickCount >= KKQD_MotorDelay) && (KKQD_TuiLianStep == 0) && ((KKQD_PARAM_TIAOSHI_MODE && KKQD_bTS) || (KKQD_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                KKQD_JD_VAVLE = 1;
                                KKQD_MotorDelay =    dwTickCount + KKQD_PARAM_DELAY_BACK;
                            }
                            KKQD_MotorStep   = 68;
                        }
			break;
                case 68:
                        if(dwTickCount >= KKQD_MotorDelay)
                        {
                            KKQD_YD_VAVLE = 0;
                            KKQD_HL_VAVLE = 0;      
                            KKQD_YX_VAVLE = 0;
                            KKQD_TFK_VAVLE=0;
                            KKQD_TL_VAVLE    = 0;
                            KKQD_MotorStep   = 0;
                            KKQD_MotorDelay  = dwTickCount;
                        }
                        break;
               
	}
        }
}
#endif

void KK_QueDuan_BingLian(void)
{
    static long bl_pos_buff;
    
    switch(KKQD_BinLianStep)
    {
        case 1:
              bl_pos_buff = KK_cRealPos;
            
              KKQD_BinLianStep = 2;
        break;       
        case 2:
              if((KK_cRealPos - bl_pos_buff) >= KKQD_PARAM_DELAY_HL_LENGTH)
              {
                   KKQD_BL_VAVLE = 1;   
                   KKQD_BinLianStep = 3;
              }            
        break;
        case 3://有过链检测
              if((KK_cRealPos - bl_pos_buff) >= (KKQD_PARAM_ZIPPER_LENGTH - KKQD_PARAM_HL_DELAY_BACK))  
              {
                    KKQD_BL_VAVLE = 0;
                   KKQD_BinLianStep = 0;   
              }
              if(KKQD_GUO_LIAN_IN_DW && KKQD_PARAM_BACK_MODE ==1) //|| (KKQD_PARAM_BACK_MODE==2 && KK_cZipCnt < 2)))
              {
                 KKQD_BL_VAVLE = 0;
                  KKQD_BinLianStep = 0;  
              }
        break;
        case 10:
           bl_pos_buff = KK_cRealPos;
              KKQD_BinLianStep = 11;
        break;       
        case 11:
              if((KK_cRealPos - bl_pos_buff) >= KKQD_PARAM_DELAY_HL_LENGTH)
              {
                   KKQD_BL_VAVLE = 1;   
                   KKQD_BinLianStep = 12;
              }            
        break;
        case 12://有过链检测
              if(KKQD_GUO_LIAN_IN_DW)  
              {
                    KKQD_BL_VAVLE = 0;
                   KKQD_BinLianStep = 0;   
              }
        break;
        default:;    
    }
    
}

//超声方式下切,开口专用
void KK_QueDuan_XiaQue_KK(void)	
{
   switch(KKQD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
         
                 KKQD_XiaQieStep = 2;                     
                break;
        case 2:             
                KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                KKQD_XiaQieStep = 3;   
               break;
        case 3:
                if(1)
                {
                    KKQD_XiaQieDelay = dwTickCount + 0;//KKQD_PARAM_GZ_DELAY;
                    KKQD_XiaQieStep = 4; 
                     KKQD_DTFK_VAVLE=0;
                }
                else if(dwTickCount >= KKQD_XiaQieDelay)
                {
                    KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
                }
                break;
        case 4:   
                if(KKQD_GZ_VAVLE )  //勾针已经有输出就不需要延时
                {
                    KKQD_XiaQieDelay = dwTickCount + 20;
                }
                else
                   KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
                KKQD_GZ_VAVLE  = 1;
                KK_cTuiFangKuaiCnt=0;
                KKQD_XiaQieStep = 5;  
                
                break;
        case 5:  
                if(dwTickCount >= KKQD_XiaQieDelay)
                {
                    KKQD_TFK_VAVLE = 1;
                    KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                    KKQD_XiaQieStep = 6;  
                }
                break;
        case 6: 
                if(1)
                {                         
                    KKQD_XiaQieStep = 7;  
                    KKQD_XiaQieDelay = dwTickCount + 1000;
                }
                else if(dwTickCount >= KKQD_XiaQieDelay)
                {
                    KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
                }
                break;
        case 7:
           
               if(KKQD_GOUZHEN_IN)
               {      
                 
                   KK_cTuiFangKuaiCnt = 0;
                   KKQD_YD_VAVLE    = 1;
                   if(!bRunning)
                     KKQD_XiaQieDelay = dwTickCount + 200;
                   else
                     KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CUT_DELAY;
                   
                   if(!KKQD_QIAN_LIMIT_IN)
                       KKQD_XiaQieStep = 8;   
                   else
                       KKQD_SetAlarmCode(KKQD_QIAN_LIMIT_ALARM);
               }
               else if((dwTickCount >= KKQD_XiaQieDelay))
               {  
                   if(KK_cTuiFangKuaiCnt < KKQD_PARAM_TFK_NUMBER)
                   {
                       KKQD_TFK_VAVLE = 0;
                       KK_cTuiFangKuaiCnt++;
                       KKQD_XiaQieDelay = dwTickCount + 500;
                       KKQD_XiaQieStep = 100;   
                   }
                   else   
                      
                       KKQD_SetAlarmCode(KKQD_GZ_ALARM);
               }
               break;
        case 100:
               if((dwTickCount >= KKQD_XiaQieDelay))
               {
                   KKQD_XiaQieStep = 5;   
               }
               break;
        case 8://上下模同时输出
             if(KKQD_GOUZHEN_IN)
                  {
   
               if(dwTickCount >= KKQD_XiaQieDelay)
               {
                  KKQD_SM_VAVLE = 1;
                  if(KKQD_PARAM_XM_ENABLE == 0)   //配置下模动
                        KKQD_XM_VAVLE   = 1;
                  KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                  KKQD_XiaQieStep = 9;   
               }
                   
                  }
         
               break;
    case 9://上下模到位，调试模下的话，等按下一步按键     下模不动
                if(KKQD_SHANG_MU_LIMIT_IN && (KKQD_XIA_MU_LIMIT_IN || KKQD_PARAM_XM_ENABLE) && ((KKQD_PARAM_TIAOSHI_MODE && KKQD_bTS) || (KKQD_PARAM_TIAOSHI_MODE == 0)) )
                {
                    if(!KKQD_PARAM_CS_MODE)   //无超声配置
                    {
                        KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_DELAYBACK_SM;       // 
                        KKQD_XiaQieStep = 12;        
                    }
                    else
                    {
                        KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_DELAY_CS;       // 
                        KKQD_XiaQieStep = 10;                      
                    }
                }
                else if(dwTickCount >= KKQD_XiaQieDelay)
                {
                    if(!KKQD_SHANG_MU_LIMIT_IN)KKQD_SetAlarmCode(KKQD_SM_DAOWEI);
                    else KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
                }
                break;
        case 10:
                if(dwTickCount >= KKQD_XiaQieDelay)	
                {
 
                        KKQD_CS_OUT = 1;
                 //
                    KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CS_TIME;       // 
                    KKQD_XiaQieStep = 11;      
                }
                break;
        case 11:
                if(dwTickCount >= KKQD_XiaQieDelay)	
                {
                    KKQD_CS_OUT = 0;
                    KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CS_COLD_TIME;       // 
                    KKQD_XiaQieStep = 12;	
                }
                break;
        case 12:  
               if(dwTickCount >= KKQD_XiaQieDelay)
               {
                    KKQD_SM_VAVLE   = 0;
                    if(KKQD_PARAM_XM_ENABLE == 0)   //配置下模动
                        KKQD_XM_VAVLE   = 0;
                 
                 //  KKQD_DGLG_VAVLE = 0;  //顶过链杆关
                    KKQD_TFK_VAVLE  = 0;
          //          KKQD_GZ_VAVLE = 0  
                    KKQD_XiaQieStep = 13;	
               }// 
                break;
          case 13:
            KKQD_GZ_VAVLE = 0;
            KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_TTFK_TIME;
            KKQD_XiaQieStep = 14;   
            break;
        case 14:
                if(dwTickCount >= KKQD_XiaQieDelay)
                {
                  
                    KKQD_TFK_VAVLE  = 1;
                  
                     
                }
                if(!KKQD_SHANG_MU_LIMIT_IN && (!KKQD_XIA_MU_LIMIT_IN || KKQD_PARAM_XM_ENABLE))
                {
                    //启动推链(送链)
                    if((KKQD_TuiLianStep == 0) && !KKQD_TL_VAVLE)
                       KKQD_TuiLianStep = 1;
                }
                if(KKQD_TFK_VAVLE && !KKQD_SHANG_MU_LIMIT_IN && (!KKQD_XIA_MU_LIMIT_IN || KKQD_PARAM_XM_ENABLE))	
                {   
                    KKQD_XiaQieStep = 0;                      
                }

                break;
    }	
}


void KK_QueDuan_TuiLianAction(void)
{
    if(KKQD_PARAM_XM_ENABLE == 0)
    {
        KKQD_TuiLianStep = 0;
    }
    else
    {  
        switch(KKQD_TuiLianStep) 
        {
            case 1:
                KKQD_TuiLianStep = 2;
            break;
            case 2:
                  KKQD_TLDelay     = dwTickCount + KKQD_PARAM_YD_DELAY;
                  KKQD_TuiLianStep = 3;
            break;
            case 3:
                if(!KKQD_SM_VAVLE && !KKQD_SHANG_MU_LIMIT_IN)//dwTickCount >= KKQD_TLDelay)
                {   
                    KKQD_TL_VAVLE    = 0;
                   // KKQD_TFK_VAVLE  = 0;
                  //  if(!bRunning)KKQD_TFK_VAVLE = 1;
                 
                     KKQD_TLDelay     = dwTickCount + KKQD_PARAM_TL_DELAY;
                    KKQD_TuiLianStep = 4;
                }
            break;
            case 4:
                if(dwTickCount >= KKQD_TLDelay)
                {
                    KKQD_TuiLianStep = 0;
                   
                }
            break;
            case 10:
             
                KKQD_TuiLianStep = 11;
            break;
            case 11:
                if(!Y_DRV)
                {
                   {
                      KKQD_TuiLianStep = 0;
                   }
                }
            break;
        }
    }
}


//切断动作
void KK_QueDuan_XiaQue(void)	 
{
  
  if(KKQD_KB_MODE) //闭口
    {
        ;//KK_QueDuan_XiaQue_NO_GL();  //
    }
    else  //开口
    {
        KK_QueDuan_XiaQue_KK(); 
    }  
#if 0  
    switch(KKQD_MACHINE_TYPE)
    {	
        case KKQD_NO_CS_TUIFANGKUAI:KK_QueDuan_XiaQue_CS();break;	
        case KKQD_NO_GL_TUIFANGKUAI:KK_QueDuan_XiaQue_NO_GL();break;
        case KKQD_CS_TUIFANGKUAI:KK_QueDuan_XiaQue_NO_GL();break;
        default:;
    }
#endif  
}






#endif