GC23005/Machine/ChangShengGeiLiMachine/GLQueduanChuantou.c

#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE == 1

/*
unsigned short cTaiMiamMotor;
unsigned long cSlowPusle;

unsigned char  bDecEn,QDCT_bXiaMo_En,cHemo_OK,cQTltOK,cHTltOk,cQHsltOK,cHHsltOK,DCCT_cSL_En;
unsigned char  QDCT_bStartOnceTime,bOnceProcess,QDCT_bBackLimitCheck_EN;
unsigned short QDCT_cWorkCnt;

unsigned char QDCT_cQTryCnt = 0;
unsigned short QDCT_cZhaCnt = 0;
unsigned char QDCT_bQZhuangLiaoOkFlg = 0,QDCT_bHZhuangLiaoOkFlg = 0;
unsigned char QDCT_bQTuiLaTouOkFlg  = 0,QDCT_bHTuiLaTouOkFlg = 0;
unsigned char QDCT_bManFlg;
unsigned char QDCT_bStopFlg = 0, cResetOrigin_Flag= 0,QDCT_bCheck_Go_In_Flag;
unsigned char QDCT_bFirstQStartFlg = 0,QDCT_bFirstHStartFlg = 0;
unsigned char cCountFlg      = 0,QDCT_bTuiLianOKFlag = 0;
short *qdct_length_buff;
static long save_limit_pos;
unsigned char cTuiLianStep,QDCT_bChuan_LianCheckOK = 0,QDCT_cChuan_Lian_ErrorNum,cSongLaTouEn = 0,QDCT_bCheckDinWeiFlag;
*/

void GL_QDCT_ManualAction(void);
void GL_QDCT_JiaLianAction(void);
void GL_QDCT_AutoStepAction(void);
void GL_QDCT_QZhenDongAction(void);
void GL_QDCT_HZhenDongAction(void);
void GL_QDCT_TableAction(void);
void GL_QDCT_Motor(void);
void GL_QDCT_CheckStart(void);
void GL_QDCT_QTuiLT_Step(void);
void GL_QDCT_HTuiLT_Step(void);
void GL_QDCT_XiaQieAction(void);
void GL_QDCT_AlarmProtect(void);
void GL_QDCT_QZLT_Step(void);
void GL_QDCT_HZLT_Step(void);
void GL_QDCT_TuiLian(void);
void GL_QDCT_TuiLianAction(void);

void GL_QDCT_HeMo_Step(void);//装拉头完成合模动作
void GL_QDCT_TestMotor(void);

void GL_QDCT_ExtiActionX31(void)
{


}

void GL_QDCT_SeBiaoAction(void)
{
  
    if(QDCT_SEBIAO_IN_DW)
    {     
        if(QDCT_bSeBiaoEn && !QDCT_bSeBiaoOk)
        {
            QDCT_bSeBiaoEn = 0;
            QDCT_bSeBiaoOk = 1;
              AxisMovePosAccDec(X_AXIS,QDCT_SEBIAO_BACK_DW_SPEED,QDCT_SEBIAO_LENGTH,
                                QDCT_SEBIAO_BACK_DW_SPEED,QDCT_SEBIAO_BACK_DW_SPEED,5,10,10);    
                                 
            //直接定位长度
//            SetRemainLength(X_AXIS,QDCT_SEBIAO_LENGTH,QDCT_SEBIAO_BACK_DW_SPEED);
//             tXAxisStepper.State = 5;
        }
    }
}

//故障报警
void GL_QDCT_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QDCT_ALARM_ADDR,alarm_code);
    QDCT_bAlarmStop = 1;
}

//初始化动作
void GL_QDCT_InitAction(void)
{
    float buff_pulse,buff_dist;
   
    buff_pulse  = QDCT_PARAM_CYCLE_PULSE;
    buff_dist   = QDCT_PARAM_CYCLE_LENGTH;
    XGearRatio  =  buff_pulse/buff_dist;
    
    buff_pulse  = QDCT_PARAM_YLCYCLE_PULSE;
    buff_dist   = QDCT_PARAM_YLCYCLE_LENGTH;
    YGearRatio  =  buff_pulse/buff_dist;
    
    SetEnReverse(X_AXIS, 0);
    SetEnReverse(Y_AXIS, 1);
    SetEnReverse(Z_AXIS, 1);
    
    SetDirReverse(X_AXIS, 1);
    SetDirReverse(Y_AXIS, 0);
    SetDirReverse(Z_AXIS, 0);
    
    SetEn(X_AXIS, QDCT_MOTOR_DISEN);
    SetEn(Y_AXIS, QDCT_MOTOR_DISEN);
    SetEn(Z_AXIS, QDCT_MOTOR_DISEN);
    
    QDCT_QZDPStep= 1;  
    QDCT_HZDPStep= 1;  
    QDCT_TLPStep  = 1;
    QDCT_cWorkCnt = 0;
    QDCT_cZhaCnt = 0;
    dwZipCnt = 0;
    QDCT_bBackLimitCheck_EN = 1;
    if(QDCT_PARAM_MAX_BACK_LENGTH < 13000) 
        QDCT_PARAM_MAX_BACK_LENGTH = 25000;
    SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);
}

void GL_QDCT_Action(void)
{ 
    dwXRealPos = GetPos(X_AXIS);
    dwYRealPos = GetPos(Y_AXIS);
    dwZRealPos = GetPos(Z_AXIS);  
    user_datas[121] = dwXRealPos;// GetPos(Y_AXIS);//QDCT_HZhuangLiaoStep;//QDCT_AutoStep;
    user_datas[122] = GetPos(X_AXIS);
    user_datas[123] = QDCT_MotorStep;
    user_datas[124] = QDCT_AutoStep ;
    user_datas[125] = QDCT_XiaQieStep;//QDCT_bChuan_LianCheckOK;
    user_datas[126] = QDCT_HZhuangLiaoStep;//QDCT_QZhuangLiaoStep;
    user_datas[127] = QDCT_HZhuangLiaoStep;
//    user_datas[128] = QDCT_HTLTStep;//tXAxisStepper.cPmovPulse;
//  SetEn(X_AXIS, QDCT_MOTOR_DISEN);
 
    GL_QDCT_SeBiaoAction();
    GL_QDCT_TuiLian();
    GL_QDCT_AlarmProtect();
    GL_QDCT_QZhenDongAction();
    GL_QDCT_HZhenDongAction();
    GL_QDCT_CheckStart();
    GL_QDCT_QZLT_Step();
    GL_QDCT_HZLT_Step();
    GL_QDCT_TableAction();
    GL_QDCT_QTuiLT_Step();
    GL_QDCT_HTuiLT_Step();
    GL_QDCT_JiaLianAction();
    GL_QDCT_XiaQieAction();	
    GL_QDCT_Motor();
    GL_QDCT_ManualAction();
    GL_QDCT_AutoStepAction();  
    GL_QDCT_HeMo_Step();

    GL_QDCT_TestMotor();

}


void GL_QDCT_TestMotor(void)
{

  if(dwTickCount >= cTesttime)
  {
        cTesttime = dwTickCount + 250;
        QDCT_Test_OUT = !QDCT_Test_OUT;
  }  
#if 1  
    switch(QDCT_TestMotorStep)
    {
        //1到10步为回到原点
        case 1:
            SetEn(X_AXIS, QDCT_MOTOR_EN);      //锁轴
            QDCT_TestMotorDelay = dwTickCount + 150;
            QDCT_TestMotorStep = 2;
            break;
        case 2:
            if(dwTickCount >= QDCT_TestMotorDelay)//锁轴时间到
            {
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED, QDCT_DIR_N,1600,800,15,15);
                QDCT_TestMotorStep= 3;
            }  
            break;
        case 3:    //回到原点     
            if(QDCT_GO_LIMIT_IN)        //最前点感应
            {
                QDCT_TestMotorDelay = dwTickCount + 50;
                QDCT_TestMotorStep= 4;
                SetPos(X_AXIS, QDCT_PARAM_JJDINGWEI_LENGTH);
                dwXRealPos = QDCT_PARAM_JJDINGWEI_LENGTH;
                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_GO_LOWSPEED,-QDCT_PARAM_JJDINGWEI_LENGTH,QDCT_PARAM_GO_LOWSPEED,600,10,QDCT_PARAM_DEC_PULSE,0);               
            }  
            break;
        case 4:            
           if(!X_DRV)
           {
                SetPos(X_AXIS, 0);
                QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_FZ_DELAY;
                QDCT_TestMotorStep= 5;    
           }
           break;
        case 5:   
           if(dwTickCount >= QDCT_TestMotorDelay)
           {  
                if(1)//QDCT_bTest)
                 {
                        QDCT_TestMotorStep= 6;  
                        
                        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH,1600,800,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,50);
                     
                        cTesttime = dwTickCount;
                }
            }
            break;
        case 6:    
            if(!X_DRV)
            {
                user_datas[128] = dwTickCount - cTesttime;
                QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_FZ_DELAY;
                QDCT_TestMotorStep= 7; 
            }
            break;
        case 7:    
            if(dwTickCount >= QDCT_TestMotorDelay)
           { 
               if(1)//QDCT_bTest)
               {
                     QDCT_TestMotorStep= 3; 
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(QDCT_PARAM_SET_ZIPPER_LENGTH - QDCT_PARAM_JJDINGWEI_LENGTH-100),1600,800,
                                             QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,80);
                   cTesttime = dwTickCount;
                }  
            }
            break;   
    }  
#endif    
}
//
void GL_QDCT_TuiLian(void)
{
#if 1  
    if(QDCT_bTuiLianOKFlag && (QDCT_YD_OUT && QDCT_SL_OUT))
    {  
        QDCT_TuiLianStep = 0;
        return;
    }    
    switch(QDCT_TuiLianStep) 
    {
        case 0:
        break;
        case 1:
            QDCT_TuiLianStep = 2;
            QDCT_YD_OUT = 1;
        break;
        case 2:   
            QDCT_TLDelay     = dwTickCount+QDCT_PARAM_DELAY_SL;
            QDCT_TuiLianStep = 3;
        break;
        case 3:
            if(dwTickCount >= QDCT_TLDelay)
            {   
                  QDCT_SL_OUT    = 1;
                  QDCT_TLDelay     = dwTickCount;
                  QDCT_TuiLianStep = 4;
                  QDCT_bTuiLianOKFlag = 1;
            }
        break;
        case 4:
            if(dwTickCount >= QDCT_TLDelay)
            {
                QDCT_TuiLianStep = 0;
            }
        break;
    }
#endif    
}

//前振动
void GL_QDCT_QZhenDongAction(void)
{
#if 1  
    switch(QDCT_QZDPStep)
    {  
        case 1:
            if((dwTickCount >= QDCT_QZhenDongDelay))
            {
                if(!QDCT_PARAM_QLT_ON && bRunning)
                {
                    QDCT_QZDP_OUT = 0;
                    QDCT_QZDPStep = 0;
                }
                else
                {
                    if(!QDCT_QZDP_IN)
                    {
                        QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK;
                        QDCT_QZDPStep = 2;
                    }
                    else
                    {
                        QDCT_QZDP_OUT = 0;
                    }
                }
            }
            break;
        case 2:    
           if((dwTickCount >= QDCT_QZhenDongDelay))
            {
                QDCT_QZDP_OUT = 1;
                if(QDCT_QZDP_IN)
                {
                    QDCT_QZDPStep = 3;
                    QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;
                   
                }
            }
           break;
        case 3:    
            if((QDCT_QZDPStep == 3) && (dwTickCount >= QDCT_QZhenDongDelay))
            {
                if(QDCT_QZDP_IN)
                {
                    QDCT_QZDPStep = 1;           
                    QDCT_QZDP_OUT = 0;
                }
                else
                { 
                    QDCT_QZDPStep = 2;           
                }
            }
            break;
    }  
    //因打拉片和挡拉片共用，用时间来做动作
    if(QDCT_PARAM_TLP_TIME)
    {  
        if(QDCT_QZDP_OUT && QDCT_PARAM_TLP_ENABLE)
        {
           if((dwTickCount >= QDCT_QDLPDelay))
           {
                QDCT_QDLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME;
                QDCT_QDLP_OUT = ~QDCT_QDLP_OUT;
           }  
        }
        else
        {
            QDCT_QDLP_OUT = 0;
        }  
    }
 
#endif    
}
//后振动盘
void GL_QDCT_HZhenDongAction(void)
{
#if 1  
    switch(QDCT_HZDPStep)
    {  
        case 1:
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                //后拉头使能
                if(!QDCT_PARAM_HLT_ON && bRunning)
                {
                    QDCT_HZDP_OUT = 0;
                    QDCT_HZDPStep = 0;
                }
                else
                {
                    if(!QDCT_HZDP_IN)
                    {
                        QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK;
                        QDCT_HZDPStep = 2;
                    }
                    else
                    {
                        QDCT_HZDP_OUT = 0;
                    }
                }
            }
            break;
        case 2:    
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                QDCT_HZDP_OUT = 1;
                if(QDCT_HZDP_IN)
                {
                    QDCT_HZDPStep = 3;
                    QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;    
                }
            }
            break;
        case 3:    
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                if(QDCT_HZDP_IN)
                {
                    QDCT_HZDPStep = 1;
                    QDCT_HZDP_OUT = 0;
                }
                else
                {
                    QDCT_HZDPStep = 2;
                }       
            }
            break;
    }
     //因打拉片和挡拉片共用，用时间来做动作
    if(QDCT_PARAM_TLP_TIME)
    {  
        if(QDCT_HZDP_OUT && QDCT_PARAM_TLP_ENABLE)
        {
           if((dwTickCount >= QDCT_HDLPDelay))
           {
                QDCT_HDLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME;
                QDCT_HDLP_OUT = ~QDCT_HDLP_OUT;
           }  
        }
        else
        {
            QDCT_HDLP_OUT = 0;
        }  
    }
#endif    
}
void GL_QDCT_AlarmProtect(void)
{ 
    static unsigned short ka_dai_cnt;
#if 1
    if(QDCT_PARAM_BACK_ALARM_MODE)    
    {                              //感应后限模式
        if(!bRunning)
        {
            if(QDCT_BACK_LIMIT_IN_UP)
            {
                if(X_DRV && (QDCT_bMotorBack) || (QDCT_MotorStep != 0))        //到后限不能再后退但可以点前进
                {
                    QDCT_bMotorBack = 0;
                    
                    AxisEgmStop(X_AXIS); 
                    QDCT_JD_OUT   = 0;
                    GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                    user_datas[128] = 1;
                }
            }
        }
        else
        {
            if(QDCT_BACK_LIMIT_IN)
            {
                if((dwTickCount >= QDCT_MotorBackLimitDelay) && QDCT_bBackLimitCheck_EN && X_DRV)
                {
                    AxisEgmStop(X_AXIS); 
       
                    QDCT_JD_OUT = 0;
                    GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                }
            }
            else
            {
                QDCT_MotorBackLimitDelay = dwTickCount + 30;
            }  
        }
    }
    else  //软件限位
    {   
     
     }    
     if(QDCT_KA_DAI_IN)
     {
        if((dwTickCount >= QDCT_KaDaiTime) && bRunning)
        {
            GL_QDCT_SetAlarmCode(QDCT_KD_ALARM);
        }
     }
     else
     {
        QDCT_KaDaiTime = dwTickCount + 70;
     }
        
#endif
}

void GL_QDCT_JiaLianAction(void)
{
#if 1  
    switch(QDCT_JiaLianStep)
    {  
        case 1:   
            QDCT_JD_Delay = dwTickCount + QDCT_PARAM_JD_DELAY;
            QDCT_JiaLianStep  = 2;
            break;
        case 2:
            if(dwTickCount >= QDCT_JD_Delay)
            {
                QDCT_JD_OUT        = 1;
                QDCT_JD_Delay = dwTickCount + QDCT_PARAM_DELAY_KL;
                QDCT_JiaLianStep  = 3;
            }
            break;
        case 3:    
            if((dwTickCount >= QDCT_JD_Delay))
            {
                if(!QDCT_PARAM_QLT_ON && !QDCT_PARAM_HLT_ON)
                {
                    QDCT_JD_Delay = dwTickCount;
                    QDCT_YD_OUT = 0;
                    QDCT_JiaLianStep  = 4;
                }
                else
                {
                    //单拉头时开链
                    if(QDCT_LATOU)
                        QDCT_KL_OUT = 1;
                    else   //夹带输出后吹气
                    {
                        QDCT_CQ_OUT = 1;
                        QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                    }
//                    QDCT_YD_OUT = 0;
                    QDCT_JD_Delay = dwTickCount + QDCT_PARAM_KL_TIME;                    
                }
                QDCT_JiaLianStep  = 4;
            }
            break;
        case 4:        
            if(dwTickCount >= QDCT_JD_Delay)
            {
                QDCT_KL_OUT = 0;        
                QDCT_JiaLianStep  = 0;
            }
            break;
    }
#endif    
}

unsigned char GL_QDCT_CheckLength(void)
{
        //单拉头       无限长度
    if(QDCT_LATOU && QDCT_LONG_LENGTH_USE)
    {
        if(QDCT_PARAM_SET_ZIPPER_LENGTH > QDCT_PARAM_TRANS_LENGTH)
          return 1;
        else 
          return 0;
    }
    else
      return 0;
}


//自动动作
void GL_QDCT_AutoStepAction(void)
{  
//    static unsigned char jz_over; 
#if 1   
    if(bRunning)
    {     
        switch(QDCT_AutoStep)
        {  
            case 1:
                QDCT_bJZ_over = 0;
                QDCT_cQTryCnt = 0;
                QDCT_cChuan_Lian_ErrorNum = 0;
                QDCT_AutoStep = 2;
                if(QDCT_QZDPStep == 0)
                  QDCT_QZDPStep = 1;
                if(QDCT_HZDPStep == 0)
                  QDCT_HZDPStep = 1;
                QDCT_AutoDelay = dwTickCount + 5;
                if(!QDCT_bQZhuangLiaoOkFlg)
                    QDCT_QZhuangLiaoStep = 1;//前装料
                if(!QDCT_bHZhuangLiaoOkFlg)
                    QDCT_HZhuangLiaoStep = 1;//后装料     
                DCCT_cSL_En = 2;    //第一条可不受限制横送料
                
                break;
            case 2:
                if((QDCT_MotorStep  == 0))
                {       
                    DCCT_cSL_En = 2;    //第一条可不受限制横送料
                    if(dwTickCount >= QDCT_AutoDelay)
                        QDCT_AutoStep = 3;                    
                }
                break;
            case 3:            
                 if(QDCT_MotorStep  == 0)
                {
                    QDCT_MotorStep = 61;    //前进定位好后自动夹链和开链
                    
                    QDCT_AutoStep = 4;
                    QDCT_bBackLimitCheck_EN = 0;
                }
                break;
            case 4:
              //考虑第一条电机在前点要退出来，第二条后也不可能在前点,不能合模
                if(!QDCT_GO_LIMIT_IN || QDCT_JD_OUT)   
                    QDCT_AutoStep = 5;
                break;
            case 5:
                
                QDCT_AutoStep = 9; 
                break;
            case 6:
                 QDCT_AutoStep = 7;
                 break;
            case 7:
                QDCT_AutoStep = 8;  
                break;
            case 9:   
                if(QDCT_GO_LIMIT_IN || (dwZipCnt))  //第一条要到前限位才能合模
                {
                    if(QDCT_bCheckDinWeiFlag == 0)
                        QDCT_HeMoStep = 1;
                    QDCT_cQTryCnt = 0;
                    QDCT_AutoStep = 10;
                }                
                break;
            case 10:
              if((QDCT_MotorStep  == 0) && (QDCT_HeMoStep == 0))   //前定位完成,QDCT_GO_LIMIT_IN也肯定有信号
                {
                    QDCT_bXiaMo_En = 0;
                    QDCT_AutoStep = 11;
                    QDCT_bCheck_Go_In_Flag = 1;                    
                } 
              break;
            case 11:      
//                if(QDCT_START_IN_UP)
                            
                if((QDCT_MotorStep  == 0))  //
                {              
                   QDCT_bBackLimitCheck_EN = 1;
                  if(QDCT_SEBIAO_MODE)    //色标模式
                        QDCT_MotorStep = 1;
                    else
                    
                        QDCT_MotorStep = 30;//穿入启动   
                    DCCT_cSL_En = 0;    //不受限制横送料
                    QDCT_bChuan_LianCheckOK = 0;
                    QDCT_AutoStep = 12;
                } 
                            
                break;
                
            case 12:       
                
                if(((QDCT_MotorStep  == 0) || (QDCT_MotorStep  == 40)) && !X_DRV)
                {   
                    QDCT_AutoStep = 13;
                    
                }                
                break;
                
            case 13:
              
                if(GL_QDCT_CheckLength())    //判断长度转换压轮电机拖带
                {
                    QDCT_AutoStep = 50;
                }
                else
                    QDCT_AutoStep = 14;
                break;
            case 14:
                if(QDCT_bStartOnceTime)
                {
                    QDCT_bStartOnceTime = 0;
                    QDCT_AutoStep = 0;
                    bRunning  = 0;
                }
                else
                {                    
                    if((QDCT_XiaQieStep  == 0))
                    {
                        QDCT_XiaQieStep = 1;
                        DCCT_cSL_En = 0;    //下切时只横送不能锁紧拉头
                        QDCT_AutoStep = 15;                        
                    }  
                }
                break;               
            case 15://拖带完成
                if(!X_DRV && !Y_DRV)
                {
                    if(((QDCT_XiaQieStep  == 0) || (QDCT_XiaQieStep  == 7)) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
                    {
                         if(QDCT_MotorStep  == 0)
                        {         
                          //切断完成拉出链方式
                            if(QDCT_bJZ_over)//无限长方式由压轮带出拉链
                            {
                                  QDCT_bJZ_over = 0;
                                  QDCT_MotorStep = 160;
                                  QDCT_MotorDelay = dwTickCount + QDCT_PARAM_YL_SL_DELAY;
                            }
                            else
                                QDCT_MotorStep = 80;
                            QDCT_AutoStep = 16;
                        } 
                    }  
                }
                break;
            case 16:    
                if((QDCT_MotorStep  == 0))
                {     
                    QDCT_bXiaMo_En= 1;
                    DCCT_cSL_En = 2;    //横送料打开
                    if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || QDCT_bChuan_LianCheckOK)
                    {  
                        CalProSP(QDCT_SPEED_ADDR);	  //计算生产速度
                        if(QDCT_bCheckDinWeiFlag == 0)
                        {  
                            AddToTal(QDCT_TOTAL_ADDR);	//生产总量加1并保存
                            AddToTal(QDCT_NOWTOTAL_ADDR);	//生产总量加1并保存
                            QDCT_cWorkCnt++;
                            QDCT_cZhaCnt++;                            
                            
                            QDCT_PARAM_TB_CNT1++;
                            QDCT_PARAM_TB_CNT2++;
                            QDCT_cChuan_Lian_ErrorNum = 0;
                            if(GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_CLOK_ALARM)
                                SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM); 
                        }
                        QDCT_bCheckDinWeiFlag = 0;
                        if(dwZipCnt < 3)
                            dwZipCnt++;;
                    }
                    else
                    {
                        QDCT_cChuan_Lian_ErrorNum++;
                    
                        if(QDCT_cChuan_Lian_ErrorNum >= 1)
                        {
                            SetAlarmCode(QDCT_ALARM_ADDR,QDCT_CLOK_ALARM);
                            if(QDCT_cChuan_Lian_ErrorNum >= 2)
                                QDCT_bSingOneFlg = 1;
                        }  
                    }    
                    if(QDCT_PARAM_TB_CNT1 >= QDCT_PARAM_TABLE_NUM)
                    {
                        QDCT_TB_OUT = 1;
                        QDCT_PARAM_TB_CNT1      = 0;
                      //QDCT_PARAM_TB_CNT2     = 0;
                        QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME;
                    }            
                    if((GetTotal(QDCT_TOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR)) && (GetTotal(QDCT_SETTOTAL_ADDR) != 0))
                    {            
                        SetAlarmCode(QDCT_ALARM_ADDR,QDCT_TOTAL_ALARM);
                        QDCT_bSingOneFlg = 1;
                        QDCT_AutoStep = 17;	
                    }
                    else
                    {   
                        QDCT_AutoStep = 17;	
                    }                    
                }
                break;              
            case 17:
                 if(GetTotal(QDCT_NOWTOTAL_ADDR) >= QDCT_ZHA_NO) //扎数到
                 {                   
                    //扎数到了，台面输出
                     QDCT_TB_OUT = 1;
                     QDCT_PARAM_TB_CNT1      = 0;
                     QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME2;                     
                    
                     ClrcToTal(QDCT_NOWTOTAL_ADDR);
                                          
                     if(( QDCT_ZHA_STOP_TIME > 0)) //扎数不能为0
                     { 
                         if(QDCT_ZHA_NO > 0)
                         {
                              QDCT_AutoDelay = dwTickCount + QDCT_ZHA_STOP_TIME;
                              dwZipCnt = 5;
                         }      
                     }  
                     else
                        QDCT_bSingOneFlg = 1;
                     if(QDCT_bSingOneFlg)
                     {
                         QDCT_bSingOneFlg = 0;
                         QDCT_AutoStep = 0; 
                         bRunning = 0;
                     }
                     else
                       QDCT_AutoStep = 2;                       
                 }
                 else
                 {                  
                     QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY;
                     //单条停止
                     if(QDCT_bSingOneFlg)
                     {
                         QDCT_bSingOneFlg = 0;
                         QDCT_AutoStep = 0; 
                         bRunning = 0;
                     }
                     else
                       QDCT_AutoStep = 2;                   
                 }      
                break;  
            case 50:       
                QDCT_YL_OUT = 1;
                QDCT_AutoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_AutoStep = 51;  
                break;
            case 51:
                if(QDCT_YL_LIMIT_IN)
                {
                    QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_DELAY;
                    QDCT_AutoStep = 52;  
                }
                else if(dwTickCount >= QDCT_AutoDelay)
                  GL_QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
                break;
            case 52:   
                if((dwTickCount >= QDCT_AutoDelay) && (QDCT_MotorStep == 0))   
                {

                    QDCT_bJZ_over = 1;
                    QDCT_MotorStep = 150;   //走松夹子
                    if(!Y_DRV)//压轮电机动作  细分为1600
                        AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH-QDCT_PARAM_TRANS_LENGTH+1000),
                                        QDCT_PARAM_START_SPEED,1000,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,30);                       
                    QDCT_AutoStep = 53;  
                }
                break;
            case 53:
                if((dwTickCount >= QDCT_AutoDelay))
                {
                    if(!Y_DRV)
                    {
                        QDCT_YD_OUT = 1;
                        QDCT_AutoStep = 54;  
                        QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_FZ_DELAY;
                    }        
                }
                break;
            case 54:    
                if((dwTickCount >= QDCT_AutoDelay))
                {
                    if(!Y_DRV)
                      AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SPEED,-QDCT_PARAM_FZ_LENGTH,
                                        2000,1000,10,10,10);
                    QDCT_AutoStep = 14;  
                }
                break;
            //检测到拉链没有穿进去
            case 70:
                if((dwTickCount >= QDCT_AutoDelay))  //张开夹子
                {
                    //检测到拉链没有穿入,进到第一个拉头处夹住出不计数
                    QDCT_MotorStep = 200;  
                    QDCT_AutoStep = 71; 
                }
                break;
            case 71:
                if(QDCT_MotorStep == 0)
                {
                    QDCT_XM_OUT = 0;    //下模退
                    QDCT_QJLT_OUT = 0;  //前后夹拉头退
                    QDCT_HJLT_OUT = 0;
                    QDCT_AutoDelay = dwTickCount + 40;
                    QDCT_AutoStep = 72;  
                }  
                break;      
            case 72:
                if((dwTickCount >= QDCT_AutoDelay))  //延时下切
                {
                     if(QDCT_cChuan_Lian_ErrorNum == 0)
                        QDCT_AutoStep = 14; 
                     else
                        GL_QDCT_SetAlarmCode(QDCT_CLOK_ALARM);
                }
                break; 
 
        } 
    }
#endif    
}


//台面电机动作

void GL_QDCT_TableAction(void)
{
  if(QDCT_TB_OUT && (dwTickCount >= QDCT_TableDelay))
      QDCT_TB_OUT = 0;
}




void GL_QDCT_CheckStart(void)
{
    static unsigned char long_stop_flg = 0,yd_back_flg,sl_flg;
    static unsigned long long_time_delay,yd_back_delay,sl_delay,sl_delayStart,dw_Stop_In_Delay;
    
//运行指示灯
        QDCT_STATE_RUN = bRunning;
        if(GetAlarmCode(QDCT_ALARM_ADDR) == 0)
            QDCT_STATE_ERROR = 0;
        else
           QDCT_STATE_ERROR = 1;
    
       //启动    自动启动 单一自动	 			
    if((QDCT_START_IN_UP || bStart || QDCT_bOnceStart || QDCT_bCheckDinWei))
    {      
        if((dwTickCount >= sl_delayStart) && !bRunning)
        {  
            if(QDCT_bOnceStart)
            {
                QDCT_bOnceStart     = 0;
                QDCT_bStartOnceTime = 1;
                
            }
            bStart     = 0;
            
            if(!QDCT_NO_ZIPPER_CHECK_IN)GL_QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
            else if(QDCT_PARAM_SET_ZIPPER_LENGTH <500)GL_QDCT_SetAlarmCode(QDCT_ZIPPER_LENGTH_ALARM);
            else if((QDCT_QLTCZ_IN || QDCT_HLTCZ_IN) && !QDCT_XM_OUT)GL_QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM);
            else if(!QDCT_QHSL_ORIGIN_IN || !QDCT_HHSL_ORIGIN_IN)GL_QDCT_SetAlarmCode(QDCT_START_GL_ORIGIN_ALARM);
            else if(QDCT_HHSL_LIMIT_IN || QDCT_HHSL_LIMIT_IN)GL_QDCT_SetAlarmCode(QDCT_START_SL_LIMIT_ALARM);
            else if(!QDCT_XM_ORIGIN_IN)GL_QDCT_SetAlarmCode(QDCT_START_SM_ORIGIN_ALARM);
            else if(QDCT_XQ_LIMIT_IN && !QDCT_PARAM_XM_MODE)GL_QDCT_SetAlarmCode(QDCT_XQ_LIMIT_ALARM);
            else if(QDCT_SQ_LIMIT_IN)GL_QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);   
            else if(QDCT_YL_LIMIT_IN)GL_QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);  
            else if(QDCT_KA_DAI_IN)GL_QDCT_SetAlarmCode(QDCT_KD_ALARM);  
            else if(QDCT_GO_LIMIT_IN && (QDCT_YD_OUT && ((QDCT_SL_OUT && QDCT_PARAM_XM_MODE) || !QDCT_PARAM_XM_MODE) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM)))
            {
                if(((GetAlarmCode(QDCT_ALARM_ADDR) == 0) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM)))
                {
                    QDCT_bCheckDinWeiFlag = QDCT_bCheckDinWei;
                    bRunning   = 1;
                    yd_back_flg = 0;
                    QDCT_AutoStep  = 4;
                    SetAlarmCode(QDCT_ALARM_ADDR,0);
                    sl_flg = 0;
                    QDCT_MotorStep = 66;
                    QDCT_cWorkCnt   = 0;    
                    QDCT_cQTryCnt     = 0;
                    

                    QDCT_bQTuiLaTouOkFlg = 1;
                    QDCT_bHTuiLaTouOkFlg = 1; 
                    if(QDCT_QJLT_OUT)// 前夹拉头关 
                    {
                        QDCT_bQZhuangLiaoOkFlg = 1;
                    }
                    else
                    {
                        QDCT_bQZhuangLiaoOkFlg = 0; 
                        QDCT_QZhuangLiaoStep = 1;
                    
                    }  
                    if(QDCT_HJLT_OUT)      
                    {       
                      QDCT_bHZhuangLiaoOkFlg = 1; 
                    }   
                    else
                    {
                        QDCT_bHZhuangLiaoOkFlg = 0; 
                        QDCT_HZhuangLiaoStep = 1;
                    }
                    QDCT_bHTuiLaTouOkFlg = 1;
                    dwZipCnt    = 0;
                    QDCT_bFirstQStartFlg  = 1;
                    QDCT_bFirstHStartFlg  = 1;

                    QDCT_QZDPStep = 1;
                    QDCT_HZDPStep = 1;
                    QDCT_TLPStep  = 1;
                    
                    QDCT_bSingOneFlg = 0;
                    QDCT_bCheck_Go_In_Flag = 1;
                    DCCT_cSL_En = 2;
                    QDCT_bXiaMo_En = 1;
                    SetPos(X_AXIS, 0); 
                    QDCT_bBackLimitCheck_EN = 1;
                }        
            }
            else
            {
                if((GetAlarmCode(QDCT_ALARM_ADDR) == 0))
                {
                    QDCT_bCheckDinWeiFlag = QDCT_bCheckDinWei;
                    QDCT_bBackLimitCheck_EN = 1;
                    bRunning   = 1;
                    yd_back_flg = 0;
                    QDCT_AutoStep  = 1;
                    QDCT_cWorkCnt   = 0;    
                    QDCT_cQTryCnt     = 0;
                    
                    QDCT_bQTuiLaTouOkFlg = 1;
                    QDCT_bHTuiLaTouOkFlg = 1;
                    dwZipCnt    = 0;
                    QDCT_bFirstQStartFlg   = 1;
                    QDCT_bFirstHStartFlg   = 1;
                    if(QDCT_QJLT_OUT)// 前夹拉头关 
                    {
                        QDCT_bQZhuangLiaoOkFlg = 1;
                    }
                    else
                    {
                        QDCT_bQZhuangLiaoOkFlg = 0; 
                        QDCT_QZhuangLiaoStep = 1;
                    
                    }  
                    if(QDCT_HJLT_OUT)      
                    {       
                      QDCT_bHZhuangLiaoOkFlg = 1; 
                    }   
                    else
                    {
                        QDCT_bHZhuangLiaoOkFlg = 0; 
                        QDCT_HZhuangLiaoStep = 1;
                    }
                    QDCT_QZDPStep = 1;
                    QDCT_HZDPStep = 1;
                    QDCT_TLPStep  = 1;
                    QDCT_bSingOneFlg = 0;
                    QDCT_bCheck_Go_In_Flag = 1;
                    DCCT_cSL_En = 2;
                    QDCT_bXiaMo_En = 1;
                    QDCT_bHHSL_BackTimeOK = 0;
                    QDCT_bQHSL_BackTimeOK = 0;
                }
            }            
        }
        QDCT_bCheckDinWei= 0;
    }
    
    if(QDCT_bStopFlg == 1)
    {
         if(!X_DRV)  QDCT_bStopFlg = 0; 
    }    
    
    if(bStop)
    {
       QDCT_bSingOneFlg = 1;
       bStop = 0;
    }
    //停止
    if(QDCT_STOP_IN_UP && (dwTickCount >= dw_Stop_In_Delay))
    {	
 //               
        QDCT_bSingOneFlg = 0;
       if(bRunning)
       {
          dw_Stop_In_Delay = dwTickCount +50;
          SetDecTime(X_AXIS,12) ;
          SetDecTime(Y_AXIS,12) ;
          AxisDecStop(X_AXIS);
          AxisDecStop(Y_AXIS);
          bRunning = 0;
          QDCT_bOnceStart = 0;
          QDCT_bStartOnceTime = 0;
          bStop = 0; 		           
          QDCT_AutoStep = 0;
          QDCT_QZhuangLiaoStep = 0;
          QDCT_HZhuangLiaoStep = 0;
          QDCT_HeMoStep = 0;
          QDCT_MotorStep    = 0;
          QDCT_JiaLianStep  = 0;
          if(!QDCT_PARAM_CS_ENABLE)
            QDCT_XiaQieStep   = 0;
          QDCT_ZhenDongStep = 0;
          QDCT_QTLTStep = 0;  
          QDCT_HTLTStep = 0;  
          QDCT_bManFlg = 0;
          QDCT_bBackLimitCheck_EN = 1;
       }
       else
       {
           if(!X_DRV)
                SetEn(X_AXIS, QDCT_MOTOR_DISEN);
          SetDecTime(X_AXIS,12) ;
          SetDecTime(Y_AXIS,12) ;
          AxisDecStop(X_AXIS);
          AxisDecStop(Y_AXIS);
          bRunning = 0;
          QDCT_bOnceStart = 0;
          bStop = 0; 		
          QDCT_bStartOnceTime = 0;   
          QDCT_AutoStep = 0;
          QDCT_QZhuangLiaoStep = 0;
          QDCT_HZhuangLiaoStep = 0;
          QDCT_MotorStep    = 0;
          QDCT_JiaLianStep  = 0;
          QDCT_XiaQieStep   = 0;
          QDCT_ZhenDongStep = 0;
          QDCT_HeMoStep = 0;
 
          QDCT_QTLTStep = 0;
          QDCT_HTLTStep = 0;
          QDCT_SQ_OUT = 0;
          if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 0;
          
          QDCT_XM_OUT = 0;
          QDCT_JD_OUT = 0;   
          QDCT_QTLT_OUT = 0;
          QDCT_HTLT_OUT = 0;
          QDCT_QHSL_OUT = 0;
          QDCT_KL_OUT = 0;
          QDCT_YL_OUT   = 0;
          QDCT_CS_OUT   = 0;
          
          long_stop_flg = 1;
          long_time_delay = dwTickCount+1500;

          QDCT_HHSL_OUT= 0;
             
            SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);   
          QDCT_bManFlg = 0;
          DCCT_cSL_En = 2;
          QDCT_bXiaMo_En = 1;
          QDCT_bBackLimitCheck_EN = 1;
       }
       //测试停止
       QDCT_TestMotorStep = 0;
    }
    
    if(sl_flg)
    {
        if(dwTickCount >= sl_delay)
        {
            sl_flg = 0;
            QDCT_SL_OUT   = 0;
            sl_delayStart = dwTickCount+500;
        }
    }
    
    if(long_stop_flg)
    {
        if(dwTickCount >= long_time_delay)
        {
             if(QDCT_STOP_IN)
             {
                 QDCT_QJLT_OUT = 0;
                 QDCT_HJLT_OUT = 0;     
                 QDCT_YD_OUT   = 0;
                 QDCT_SL_OUT   = 0;
                 
             }
        }
        else if(!QDCT_STOP_IN)
        {
             long_stop_flg = 0;
        }
    }
    
    
    if(QDCT_bAlarmStop)
    {   
      
        bRunning         = 0;
        QDCT_bOnceStart = 0;
        QDCT_bAlarmStop = 0;
        QDCT_bStartOnceTime = 0;  
        AxisDecStop(X_AXIS);
        AxisDecStop(Y_AXIS);
        QDCT_AutoStep = 0;
        QDCT_QZhuangLiaoStep = 0;
        QDCT_HZhuangLiaoStep = 0;
        QDCT_MotorStep    = 0;
        QDCT_JiaLianStep  = 0;
        QDCT_ZhenDongStep = 0;
        if(!QDCT_QTLT_OUT)
            QDCT_QTLTStep = 0;
        if(!QDCT_HTLT_OUT)
            QDCT_HTLTStep = 0;
        QDCT_bManFlg = 0;        
        if(GetAlarmCode(QDCT_ALARM_ADDR) != QDCT_ZLT_ALARM)
        {
            if(QDCT_SL_OUT)
            {
                QDCT_YD_OUT   = 1;
                sl_flg        = 1;
                sl_delay      = dwTickCount+1000;
            }
        }       
    }
}   

unsigned long GL_GetLength(long dist0,long dist1)
{
    if(dist0 < dist1)
        return (dist1-dist0);
    else
        return (dist0-dist1);
}
//电机控制动作
void GL_QDCT_Motor(void)	 //
{  
  
  
  /*
  1~5步追色标
  30步开始后拉
  61  前进定位
  80步开始为切断后后拉松夹子
  200步,进去一定位置夹废料
  */
 //       static long save_buff,length_buff,gou_zhen_buff,back_dec_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff,xm_delay_back,back_delay;
 //       long speed_buff;
 //       long len_buff;
 //       unsigned short acc,dec,start_speed;
        
        if(!QDCT_NO_ZIPPER_CHECK_IN && bRunning)
        {
            GL_QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
        }
        
        switch(QDCT_MotorStep)
	{
      
                case 1:
                        QDCT_MotorDelay  =    dwTickCount + QDCT_PARAM_DELAY_BACK;
                        QDCT_MotorStep   = 2;
                        QDCT_YD_OUT      = 0;
                        break;
               case 2:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(QDCT_SEBIAO_MODE== 1)    //空位检测方式
                            {
                                QDCT_bSeBiaoOk = 0;
                                QDCT_bSeBiaoEn = 1;
                                if( QDCT_PARAM_Mold_Distance > 120)
                                    //夹子运动到模具位置时变为穿入速度
                                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_START_SPEED*3,QDCT_PARAM_Mold_Distance-100,
                                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,10,6,0);
                                else    
                                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_START_SPEED*3,QDCT_PARAM_Mold_Distance+10,
                                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,10,6,0);
                               //下模不动的话退送链
                                if(QDCT_PARAM_XM_MODE)
                                    QDCT_SL_OUT = 0;//送带退                                 
                                QDCT_bChuan_LianCheckOK = 0;
                                if(QDCT_bCheckDinWeiFlag)   //不用穿拉头，只定位
                                {
                                    QDCT_MotorStep   = 5;
                                    QDCT_MotorDelay = dwTickCount + 0;
                                }     
                                else
                                    QDCT_MotorStep   = 3;
                            }
                        }
                        break;
       
                case 3:                     
                        if(QDCT_SEBIAO_IN_UP)  //空位变慢
                        {
                             QDCT_MotorStep   = 7;                            
                        }
   
                        if(dwXRealPos >= (QDCT_PARAM_PUTIN_LENGTH))                  
                        {
                            if((QDCT_bCheckDinWeiFlag == 0))
                            {
                               if(QDCT_PARAM_QLT_ON && !QDCT_GO_LIMIT_IN)
                                    QDCT_QJLT_OUT     = 0;
                               if(QDCT_PARAM_HLT_ON && !QDCT_GO_LIMIT_IN)
                                    QDCT_HJLT_OUT     = 0;
                               QDCT_XM_OUT      = 0;
                            }
                            AxisEgmStop(X_AXIS);
                             QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
                             QDCT_MotorStep   = 5;
                        }//如果慢速长度到，
                        else if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))                       
                       {  //拉链长度大于(模具长度 + 穿入长度）说明穿入部分还有拉链加速
                            if(QDCT_LENTH_Check>= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH))
                            {
                                if(QDCT_PARAM_PUTIN_LENGTH > (QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))
                                {                         
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH,
                                                     QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,5,10,10);    
                                }  
                                else
                                {
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_LENTH_Check - dwXRealPos,
                                                      QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_BACK_LOWSPEED,5,10,20);                                    
                                }
                            }
                            else
                            {
                                  AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_LENTH_Check - dwXRealPos,
                                                      QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_BACK_LOWSPEED,5,10,20);  
                            }
                            QDCT_MotorStep   = 4;  
                       
                       } 
                        break;     
                       
                case 4:  
                        if(QDCT_SEBIAO_IN_UP)  //空位变慢
                        {
                             QDCT_MotorStep   = 7;                             
                        }
                        if((dwXRealPos >= (QDCT_PARAM_PUTIN_LENGTH)) || !X_DRV)                  
                        {
                            if((QDCT_bCheckDinWeiFlag == 0))
                            {
                               if(QDCT_PARAM_QLT_ON && !QDCT_GO_LIMIT_IN)
                                    QDCT_QJLT_OUT     = 0;
                               if(QDCT_PARAM_HLT_ON && !QDCT_GO_LIMIT_IN)
                                    QDCT_HJLT_OUT     = 0;
                               QDCT_XM_OUT      = 0;
                            }
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
                            QDCT_MotorStep   = 5;
                        }//如果慢速长度到，
                        break;
                        
                case 5:     
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            QDCT_MotorStep = 6;
                            AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_HIGH_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_SEBIAO_LOW_SPEED,15,15);
                        } 
                        break;
                         
                case 6:       
                        if(QDCT_SEBIAO_IN_UP)  //空位变慢
                        {
                          //
                            AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,10,6);
                          
                             QDCT_MotorStep   = 7;
                         }
                        break;
                     
                case 7:   
                     if(QDCT_QJLT_OUT)
                     {
                            if(QDCT_bCheckDinWeiFlag == 0)
                            {
                                if(dwXRealPos >= (QDCT_PARAM_PUTIN_LENGTH))                  
                                {
                                   if(QDCT_PARAM_QLT_ON && !QDCT_GO_LIMIT_IN)QDCT_QJLT_OUT     = 0;
                                   if(QDCT_PARAM_HLT_ON && !QDCT_GO_LIMIT_IN)QDCT_HJLT_OUT     = 0;
                                   QDCT_XM_OUT      = 0;

                                     QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
                                }
                            }
                     }
                     else if(!X_DRV)
                     {
                        AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_SEBIAO_LOW_SPEED,8,10);                            
                     }
                     if(dwTickCount >= QDCT_MotorDelay)   
                      {
                            QDCT_bSeBiaoOk = 0;
                            QDCT_bSeBiaoEn = 1;   
                            QDCT_MotorStep   = 8;
                      }
                     else if(!QDCT_SEBIAO_IN)
                            QDCT_MotorStep   = 6;
                     break;
                      
                case 8:     
                    if(QDCT_QJLT_OUT)
                     {
                            if(QDCT_bCheckDinWeiFlag == 0)
                            {
                                if(dwXRealPos >= (QDCT_PARAM_PUTIN_LENGTH))                  
                                {
                                   if(QDCT_PARAM_QLT_ON && !QDCT_GO_LIMIT_IN)
                                     QDCT_QJLT_OUT     = 0;
                                   if(QDCT_PARAM_HLT_ON && !QDCT_GO_LIMIT_IN)
                                        QDCT_HJLT_OUT     = 0;
                                    QDCT_XM_OUT      = 0;
                                   AxisEgmStop(X_AXIS);
                                     QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
                                }
                            }
                     }
                     else if(!X_DRV && (dwXRealPos >= (QDCT_PARAM_PUTIN_LENGTH)))
                     {
                        AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_SEBIAO_LOW_SPEED,8,10);
                      }
                      
                      if(!X_DRV)
                      {                           
                         if(QDCT_SEBIAO_ERROR_LENGHT && ((dwXRealPos > (QDCT_PARAM_SET_ZIPPER_LENGTH  + QDCT_SEBIAO_ERROR_LENGHT))
                              || (dwXRealPos < (QDCT_PARAM_SET_ZIPPER_LENGTH  - QDCT_SEBIAO_ERROR_LENGHT))))
                            {
                                GL_QDCT_SetAlarmCode(QDCT_SE_BIAO_ALARM);
                            }
                            else 
                            {
                                QDCT_MotorStep = 0;
                            }
                        }
                        
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }
                        break;
                    
                case 15:      
               break;
                   
                case 30:
                         QDCT_MotorDelay = dwTickCount;
                        if(GetEn(X_AXIS) == QDCT_MOTOR_DISEN)
                        {
                            SetEn(X_AXIS,QDCT_MOTOR_EN);
                            QDCT_MotorDelay = dwTickCount + 150;
                        }
                        else      
                            QDCT_MotorDelay  =  dwTickCount + QDCT_PARAM_DELAY_BACK;
                        QDCT_YD_OUT      = 0;   //压带
                        QDCT_MotorStep   = 31;     
                        QDCT_bCheck_Go_In_Flag = 0;
                        QDCT_bChuan_LianCheckOK = 0;
                        break;
 #if 0                       
                case 31:	                                       
                        if(dwTickCount >= QDCT_MotorDelay)
                        {   
                            QDCT_length_buff = &QDCT_PARAM_OFFSET_LENGTH;
                            if((*QDCT_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH) < 0)
                              *QDCT_length_buff = 0;                                               
                           if(QDCT_LATOU)  //单拉头
                           {
                               acc = QDCT_PARAM_ACC_PULSE;
                               dec = QDCT_PARAM_DEC_PULSE;
//                               if(QDCT_PARAM_PUTIN_LOW_SPEED < QDCT_PARAM_START_SPEED)
//                                   start_speed = QDCT_PARAM_PUTIN_LOW_SPEED;
//                               else 
                                   start_speed = QDCT_PARAM_START_SPEED;
                           }
                           else//双拉头
                           {
                               acc = QDCT_PARAM_ACC_PULSE;      //加速度
                             //  dec = QDCT_PARAM_DEC_PULSE*2;
                               dec = QDCT_PARAM_DEC_PULSE;      //减速度
 //                              if(QDCT_PARAM_PUTIN_LOW_SPEED < QDCT_PARAM_START_SPEED)
 //                                  start_speed = QDCT_PARAM_PUTIN_LOW_SPEED;
  //                             else 
                                   start_speed = QDCT_PARAM_START_SPEED;
                           }
                     
                           if( QDCT_PARAM_Mold_Distance > 120)
                                //夹子运动到模具位置时变为穿入速度
                                AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_START_SPEED*3,QDCT_PARAM_Mold_Distance-100,QDCT_PARAM_START_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,10,15，10);
                            else    
                                AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_START_SPEED*3,QDCT_PARAM_Mold_Distance+10,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,2,5);
                            if(QDCT_LATOU == 0)  //双头跳转
                                QDCT_MotorStep   = 33;
                            else //单头跳转
                                QDCT_MotorStep   = 333; 
                           QDCT_bChuan_LianCheckOK = 0;
                        }
			break; 

		case 33:  //这一步关夹拉头
                        //下模提前输出
                       if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE && (dwXRealPos >= QDCT_PARAM_Mold_Distance))
                             QDCT_XQ_OUT = 1;
                       //如果当前长度到达拉链长，最优先停
                       if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                       { 
                             AxisEgmStop(X_AXIS);
                             QDCT_MotorStep   = 34;
                             if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                       }
                       if(QDCT_CHUAN_LIAN_OK)
                           QDCT_bChuan_LianCheckOK = 1;
                       //如果穿入长度到也停止，开模
                        if((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
                            if(QDCT_PARAM_BACK_DELAY)   
                            {  
                                AxisEgmStop(X_AXIS);
                                QDCT_MotorStep   = 35;
                                QDCT_MotorDelay = dwTickCount + 15;

                            }
                            else
                                QDCT_MotorStep   = 34;
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                            if(QDCT_PARAM_QLT_ON )//&& !QDCT_GO_LIMIT_IN)
                            {
                                 QDCT_QJLT_OUT     = 0;
                              
                            }
                            if(QDCT_PARAM_HLT_ON && (QDCT_bChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)))//&& !QDCT_GO_LIMIT_IN)
                            {
                                 QDCT_HJLT_OUT     = 0;
                            }  

                        }  

                       
                       //如果慢速长度到，
                       if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))                       
                       {  
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                         //拉链长度大于(模具长度 + 穿入长度）说明穿入部分还有拉链加速
                            if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)> (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH))
                            {
                                
                                AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH,
                                                  tXAxisStepper.cCurSpeed,QDCT_PARAM_PUTIN_LOW_SPEED,5,5);    
                                tXAxisStepper.cCalDecPulse += 30;
                                QDCT_MotorStep   = 34;
                            }  
                            else
                            {
                                AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)- dwXRealPos,
                                                  tXAxisStepper.cCurSpeed,QDCT_BACK_LOWSPEED,5,5);   
                                tXAxisStepper.cCalDecPulse += 30;
                               QDCT_MotorStep   = 34;
                            }  
                       
                       } 
                        //行程超限
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 4;
                        }
			break;
                case 34:
                        if(QDCT_CHUAN_LIAN_OK)
                            QDCT_bChuan_LianCheckOK = 1;
                        //到达拉链长度要停止
                        if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 35;
                            QDCT_MotorDelay = dwTickCount + 10;
                           
                            
                            if(QDCT_PARAM_HLT_ON && (QDCT_bChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)))//&& !QDCT_GO_LIMIT_IN)
                            {
                                QDCT_HJLT_OUT     = 0;                            
                            }                        
                        }
                        //如果穿入长度到也停止，开模
                        if((dwXRealPos + 8) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorDelay = dwTickCount + 10;
                            QDCT_MotorStep   = 35;
                                                        
                            
                            if(QDCT_PARAM_HLT_ON && (QDCT_bChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)))//&& !QDCT_GO_LIMIT_IN)             
                            {
                                QDCT_HJLT_OUT     = 0; 
                           
                            }   

                            
                            QDCT_MotorDelay = dwTickCount + 10;//QDCT_PARAM_BACK_DELAY;                            
                        } 
                        else if((dwXRealPos + 60) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            if(QDCT_PARAM_HLT_ON && (QDCT_bChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)))//&& !QDCT_GO_LIMIT_IN)
                            {
                              QDCT_HJLT_OUT     = 0; 
                              
                            }                             
                        }

                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 5;
                        }
                        break;
                case 35:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            
                            if(QDCT_PARAM_HLT_ON && (QDCT_bChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)))//&& !QDCT_GO_LIMIT_IN)
                            {
                              QDCT_HJLT_OUT     = 0;                           
                            }   
                            QDCT_XM_OUT = 0;
                            QDCT_MotorStep   = 37;
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY; 
                            AxisContinueMoveAcc(X_AXIS,3,QDCT_DIR_N,3,5,5);
 //                           AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_JJBACK_SPEED,30,                                                        
 //                                                QDCT_BACK_LOWSPEED,QDCT_BACK_LOWSPEED,3,3);
       
                        }
                        break;
                case 36:
                                      
                  if(!X_DRV)
                  {
                      QDCT_MotorStep   = 37;
                  }
                  
                  break;
                case 37:   
                  if(dwXRealPos>= QDCT_PARAM_SET_ZIPPER_LENGTH)
                  {
                        AxisEgmStop(X_AXIS);                 
                  }  
                  //两路顶针离开
                 if(!QDCT_XM_OUT && ((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                 {
                    if(QDCT_PARAM_QLT_ON )//&& !QDCT_GO_LIMIT_IN)
                    {
                         QDCT_QJLT_OUT     = 0;                                
                     }
                            
                    if(dwTickCount >= QDCT_MotorDelay)
                    {
                            if(X_DRV)  //延时后退设时间为0时中间不停止
                            {      
                                if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos-QDCT_PARAM_LOWSPEED_LENGTH),tXAxisStepper.cCurSpeed,QDCT_BACK_LOWSPEED,5,5); 
                                QDCT_MotorStep   = 38;
                            } 
                            else if(dwTickCount >= QDCT_MotorDelay)
                            {
                                if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)> (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff - dwXRealPos -QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_BACK_LOWSPEED,8,8); 
                                else if(((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)<= (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH)) && ((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)> (dwXRealPos)))
                                   AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff- QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH),                                                        
                                                 QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_BACK_LOWSPEED,3,3);             
                                QDCT_MotorStep   = 38;
                            }
                            
                        }
                    }                         
                    if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                    {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 6;
                    }
                    
                        break;
		case 38:            
                        if(((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH + 400)) && (QDCT_PARAM_SET_ZIPPER_LENGTH > (dwXRealPos + 4000)))
                        {
                            DCCT_cSL_En = 2;
                        
                        }  
                       if(!X_DRV || (dwXRealPos>= QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                       {
                            AxisEgmStop(X_AXIS);
                            QDCT_YD_OUT   = 1;
                            if(QDCT_PARAM_FZ_LENGTH != 0)   //反转长度
                            {
                                QDCT_JJ_DIR   = QDCT_JJ_DIR_P;

                                AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_START_SPEED,-QDCT_PARAM_FZ_LENGTH,
                                                 QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,3,3);                    
                            }
                           
                            QDCT_MotorStep   = 39; 
                            
                       }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 6;
                        }                      
			break;
                case 39:    
                  
                      if(!X_DRV)
                      {
                            QDCT_YD_OUT   = 1;
                            QDCT_MotorStep   = 40;                        
                           if(bRunning)
                           {
                               if(!QDCT_NO_ZIPPER_CHECK_IN)
                                    GL_QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
                           } 
                      }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 7;
                        }
                        break;
                case 40:
                       QDCT_MotorStep = 0;
                       break;
                //这是单头程序
                case 333:  //这一步关夹拉头
                    
                        //下模提前输出
                       if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE && (dwXRealPos >= QDCT_PARAM_Mold_Distance))
                             QDCT_XQ_OUT = 1;
                       
                       //如果当前长度到达拉链长，最优先停
                       if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                       { 
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 335;  //直接跳到拖带结束
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                             //下模和夹拉头打开
                            QDCT_QJLT_OUT = 0;  //夹拉头
                            QDCT_XM_OUT = 0;    //拉头下模
                            QDCT_MotorDelay = dwTickCount;
                            if(QDCT_CHUAN_LIAN_OK)
                                QDCT_bChuan_LianCheckOK = 1;
                            break;
                       }                       
                       //如果穿入长度到也停止，开模
                        if((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;                           
                            
                            QDCT_MotorStep   = 335;
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                            QDCT_QJLT_OUT = 0;  //夹拉头  
                            QDCT_XM_OUT = 0;    //拉头下模
                            if(QDCT_CHUAN_LIAN_OK)
                                QDCT_bChuan_LianCheckOK = 1;
                        }                         
                       //如果慢速长度到，
                       if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))                       
                       {       
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                         //拉链长度大于(模具长度 + 穿入长度）说明穿入部分还有拉链加速
                            if((QDCT_PARAM_SET_ZIPPER_LENGTH +*qdct_length_buff)> (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH))
                            {                               
                            //    AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH,
                             //                     tXAxisStepper.cCurSpeed,QDCT_PARAM_PUTIN_LOW_SPEED,5,5);  
                              //到达穿入长度处时要回到穿入速度给开模时间
                                AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH),
                                                         tXAxisStepper.cCurSpeed,QDCT_PARAM_PUTIN_LOW_SPEED,5,5); 
                                
                                tXAxisStepper.cCalDecPulse += 20;
                            }  
                            else
                            {
                                AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff- dwXRealPos,
                                                  tXAxisStepper.cCurSpeed,3,5,5);//QDCT_BACK_LOWSPEED,5,5);   
                                tXAxisStepper.cCalDecPulse += 20;                
                            }  
                            QDCT_MotorStep   = 334;

                       } 
                        //行程超限
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 8;
                        }
			break;
                case 334:
                        
                        //到达拉链长度要停止
                        if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 335;  //直接跳到拖带结束
                             //下模和夹拉头打开
                            QDCT_QJLT_OUT = 0;  //夹拉头
                            QDCT_XM_OUT = 0;    //拉头下模
                            if(QDCT_CHUAN_LIAN_OK)
                                QDCT_bChuan_LianCheckOK = 1;
                            break;                            
                        }
                        //如果穿入长度到也停止，开模
                        if((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            QDCT_MotorStep = 335;  //说明拉链还有长度  电机没有停止
                            
                              //下模和夹拉头打开
                            QDCT_QJLT_OUT = 0;  //夹拉头
                            QDCT_XM_OUT = 0;    //拉头下模
                            if(QDCT_CHUAN_LIAN_OK)
                                QDCT_bChuan_LianCheckOK = 1;
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;                            
                        } 
                        //提前2.5MM
                        else if((dwXRealPos + 25) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            QDCT_QJLT_OUT = 0;  //夹拉头                   
                        }

                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 9;
                        }
                        break;
                case 335:
                    if(dwXRealPos>= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                    {
                        AxisEgmStop(X_AXIS);    
                    } 
                    if(QDCT_CHUAN_LIAN_OK)
                        QDCT_bChuan_LianCheckOK = 1;
                    //两路顶针离开
                    if(!QDCT_XM_OUT && ((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) ))
                    {       
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(X_DRV)  //延时后退设时间为0时中间不停止
                            {      
                                if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH-dwXRealPos-QDCT_PARAM_LOWSPEED_LENGTH),tXAxisStepper.cCurSpeed,QDCT_BACK_LOWSPEED,5,5); 
                                
                                QDCT_MotorStep   = 338;
                            } 
                            else if(dwTickCount >= QDCT_MotorDelay)
                            {
                                if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)> (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,((QDCT_PARAM_SET_ZIPPER_LENGTH+ *qdct_length_buff)- dwXRealPos -QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_BACK_LOWSPEED,8,8); 
                                //拉链长度到了也不切
                                else if(((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)<= (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH)) && ((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)> (dwXRealPos)))
                                   AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_JJBACK_SPEED,((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)- QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH),                                                        
                                                 QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_BACK_LOWSPEED,3,3);             
                                QDCT_MotorStep   = 338;
                            }                            
                        }
                    }                         
                    if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                    {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 10;
                    }
                    
                        break;
		case 338:            
                    if((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH + 100))
                    {
                        DCCT_cSL_En = 2;
                    }  
                    if(!X_DRV || (dwXRealPos>= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)))
                    {

                        AxisEgmStop(X_AXIS);
                        QDCT_YD_OUT   = 1;
                        
                        if(QDCT_PARAM_FZ_LENGTH != 0)   //反转长度
                        {
                            QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
                                AxisMovePosAccDec_LYQ(X_AXIS,QDCT_PARAM_START_SPEED,-QDCT_PARAM_FZ_LENGTH,
                                                 QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,3,3);                    
                        }                          
                        QDCT_MotorStep = 339;   
                        
                    }
                    if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                    {
                        QDCT_JD_OUT = 0;
                        GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        user_datas[128] = 11;
                    }                      
                    break;
                case 339:    
                  
                      if(!X_DRV)
                      {
                            QDCT_YD_OUT   = 1;
                            QDCT_MotorStep   = 40;     //                     
                           if(bRunning)
                           {
                               if(!QDCT_NO_ZIPPER_CHECK_IN)
                                    GL_QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
                           } 
                      }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 12;
                        }
                        break;
                
		case 80:
                     //     if(dwTickCount >= QDCT_MotorDelay)
                           {
                                jz_buff = dwXRealPos;
                                QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                                if(QDCT_PARAM_SJZ_LENGTH == 0)
                                {
                                    QDCT_JD_OUT = 0;
                                }
                                QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME;                                
                                QDCT_MotorStep   = 81;
                           }
                            break;
                case 81:
                           if(QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay))
                           {
                                if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || QDCT_bChuan_LianCheckOK)
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,-(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
                               else
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,-(1000 + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
                                QDCT_MotorStep   = 82;
                           }
                           break;
		case 82:	
                            if(QDCT_LONG_LENGTH_USE)// 无限长切断完成后拉电机动作
                            {
                                if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0)|| QDCT_bChuan_LianCheckOK)
                                {   
                                    if(((QDCT_PARAM_SJZ_LENGTH) <= (jz_buff- dwXRealPos)))
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 83;
                                        
                                    }
                                    else if(!X_DRV)
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 83;
                                    }
                                }
                                else
                              {
                              //松夹子长度
                                    if(((QDCT_PARAM_SJZ_LENGTH) <= (dwXRealPos - jz_buff)))
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 83;
                                    }
                                    else if(!X_DRV)
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 83;
                                    }
                                }  
                            }
                            else        //普通长度
                            {//松夹子长度
                                if(((QDCT_PARAM_SJZ_LENGTH) <= (dwXRealPos - jz_buff)))
                                {
                                    QDCT_JD_OUT = 0;
                                    QDCT_MotorStep   = 83;
                                }
                                else if(!X_DRV)
                                {
                                    QDCT_JD_OUT = 0;
                                    QDCT_MotorStep   = 83;
                                }
                                
                            }
                           if(!QDCT_JD_OUT) 
                           {
                                DCCT_cSL_En = 2;
                           }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 13;
                        }
                        break;
                case 83:	                           // 切断完成后拉电机动作
                      if(!X_DRV)
                      {
                           QDCT_MotorStep   = 0;   
                                QDCT_MotorDelay  =    dwTickCount;
                      }     
                            
                       if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
                        {
                             QDCT_JD_OUT = 0;
                              GL_QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 14;
                        }
                        break;   
            case 61: // 前点定位数控模式
                        QDCT_MotorDelay = dwTickCount; 
                        if((QDCT_JD_OUT && (!QDCT_GO_LIMIT_IN)) || (QDCT_SZ_OUT == QDCT_MOTOR_DISEN))
                        {
                            if(!QDCT_GO_LIMIT_IN)
                                QDCT_JD_OUT   = 0;  
                            
                            if((QDCT_SZ_OUT == QDCT_MOTOR_DISEN))
                                QDCT_MotorDelay = dwTickCount + 40;  
                            QDCT_SZ_OUT   = QDCT_MOTOR_EN;                           
                            
                        }
                        //下模不动时要推链
                        if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !QDCT_JD_OUT)
                            QDCT_TuiLianStep = 1;
                        QDCT_SZ_OUT   = QDCT_MOTOR_EN;
                        QDCT_JJ_DIR   = QDCT_JJ_DIR_P;//方向设定
                        QDCT_MotorStep = 62;
                        break;
                case 62://电机锁轴时间到
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            //已经夹住并且在前点的条件,认为布带已经夹好
                            if(QDCT_JD_OUT && QDCT_GO_LIMIT_IN)
                            {
                                QDCT_MotorStep   = 67;
                            }
                            else{                                      
                              //前点亮的情况下要先后退离开
                                if(QDCT_GO_LIMIT_IN )
                                {
                                    QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                                    //后退离开长度
                                    AxisContinueMoveAcc(X_AXIS,5, QDCT_DIR_N,5,10,10);
                                    
                                                          
                                    QDCT_MotorDelay = dwTickCount + 500;
                                    QDCT_MotorStep = 620; 
                                }
                                else
                                {
                                    QDCT_MotorStep = 63;
                                    QDCT_MotorDelay = dwTickCount;
                                }     
                                QDCT_JD_OUT = 0;  
                            }
                        }
			break;
                case 620:
                    if(QDCT_GO_LIMIT_IN)
                    {
                        SetPos(X_AXIS, 0);
                    }
                    else //后退离开长度    
                    {
                      AxisMovePosAccDec_LYQ(X_AXIS,12,500,6,6,3,3);
              //         AxisMovePos(X_AXIS,6,-500);  
                       
                        QDCT_MotorStep = 63;    
                         QDCT_MotorDelay = dwTickCount + 500;
                    }   
                    break;
		case 63://                                                                     后夹拉头
                        if(!X_DRV && !QDCT_GO_LIMIT_IN && (dwTickCount >= QDCT_MotorDelay))
                        {
                            go_buff  = dwXRealPos;
                            QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
                            //此判断实则没用
                            if(QDCT_LATOU)       //1为单拉头
                            {
                                acc = QDCT_PARAM_ACC_PULSE;
                                start_speed = QDCT_PARAM_START_SPEED;
                                dec = QDCT_PARAM_DEC_PULSE;
                            }
                            else //双拉头
                            {
                                acc = QDCT_PARAM_ACC_PULSE;
                                start_speed = QDCT_PARAM_START_SPEED;                             
                                dec = QDCT_PARAM_DEC_PULSE;
                            }
            //                if(QDCT_START_IN_UP)
                            {
                            //不是第一次
                            if(dwZipCnt > 0)
                            {
                               speed_buff =  QDCT_PARAM_JJGO_SPEED;                                                                         
                                   //LYQ 改为直接当前位置返回长度
                                if(dwZipCnt == 5)  //扎数到的启动
                                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED/2,-(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH),start_speed,QDCT_PARAM_GO_LOWSPEED,3,5);   //acc,dec
                               else
                                       AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH),start_speed,QDCT_PARAM_GO_LOWSPEED,acc,dec);
                                QDCT_MotorStep  = 65;
                               QDCT_MotorDelay =  dwTickCount + MOTOR_ALARM_TIME;                                  
                            }
                            else
                            {
                                   AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED,QDCT_DIR_P,QDCT_PARAM_GO_LOWSPEED,acc,dec);
                                   QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                   QDCT_MotorStep  = 65;
                            }
                            }
                        }  
			break;
		case 65:
                        //碰到前点限位停止
                        if(QDCT_GO_LIMIT_IN)
                        {
                            user_datas[128]  = tXAxisStepper.cCurSpeed;
                            SetPos(X_AXIS, QDCT_PARAM_JJDINGWEI_LENGTH); 
                            
                            CancelPmoveState(X_AXIS);
                            QDCT_MotorStep   = 66;  
                            
                            dwXRealPos = GetPos(X_AXIS);
                            AxisChangeSpeed(X_AXIS,2);
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)
                            GL_QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
                        break;
		case 66:
                       if(dwXRealPos <= 0)   //位置到零点后停止
                       {
                            AxisEgmStop(X_AXIS);
                            SetPos(X_AXIS, 0); 
                            QDCT_MotorStep   = 67;
                       }     
                        break;
                case 67:       
                        if(!X_DRV)  //电机已经
                        {   
                            QDCT_MotorDelay =    dwTickCount;
                            QDCT_MotorStep   = 68;
                        }
			break;   
		case 68:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(QDCT_JiaLianStep == 0)
                            {
                                QDCT_JiaLianStep = 1;
                                QDCT_MotorStep   = 69;
                            }
                        }
			break;
                case 69:
 //                       if(QDCT_START_IN_UP)
                            {
                        if(QDCT_JiaLianStep == 0)
                        {
                            
                            QDCT_MotorStep   = 0;
                        }
                            }
                        break;
                //切断后压轮送出链        
                case 160:
                        if((dwTickCount >= QDCT_MotorDelay) && !Y_DRV)
                        {
                            QDCT_YL_DIR = QDCT_YL_DIR_N;
                            if(!Y_DRV)
                                    AxisMovePos(Y_AXIS,QDCT_PARAM_YL_SL_SPEED,QDCT_PARAM_YL_SL_LENGTH);
                            QDCT_MotorDelay =    dwTickCount + QDCT_PARAM_YL_BACK_DELAY;
                            QDCT_MotorStep   = 161;
                        }break;
                case 161:
                        if(dwTickCount >= QDCT_MotorDelay)QDCT_YL_OUT = 0;
                        if(!Y_DRV)
                        {
                            QDCT_YL_OUT = 0;
                            QDCT_MotorDelay =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                            QDCT_MotorStep   = 162;
                        }
                         break;
                case 162:
                        if(!QDCT_YL_LIMIT_IN)  
                        {
                            QDCT_MotorDelay =    dwTickCount;
                            QDCT_MotorStep   = 0;
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)
                            GL_QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
                         break;
		case 150:
                     //     if(dwTickCount >= QDCT_MotorDelay)
                           {
                                jz_buff = dwXRealPos;
                                QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                                QDCT_JD_OUT = 0;
                                QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME+150;                                
                                QDCT_MotorStep   = 151;
                           }
                            break;
                case 151:
                           if(QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay))
                           {
                                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED/2,-(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                QDCT_MotorStep   = 152;
                           }
                           break;
                case 152:
                           if(!X_DRV) QDCT_MotorStep   = 0;
                           break;
                //以下为夹子进去夹废料
                case 200:                        
                       QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
                       AxisMovePosAccDec(X_AXIS,QDCT_PARAM_GO_LOWSPEED,dwXRealPos-350,13,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                       QDCT_MotorStep  = 201;
                      break;
                case 201:
                       if(!X_DRV)
                       {    
                           QDCT_JD_OUT        = 1;
                           QDCT_MotorStep   = 202;   
                           QDCT_MotorDelay = dwTickCount + 50;
                       }
                       break;
                
		case 202:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            QDCT_MotorStep   = 0;
                        }
			break;   
#endif                        
	}
   
}



//切断动作
void GL_QDCT_XiaQieAction(void)	 
{
#if 1    
    switch(QDCT_XiaQieStep)
    {  
        case 1:
            if(bRunning)
            {
                if(!QDCT_NO_ZIPPER_CHECK_IN)
                {
                    GL_QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
                }
            } 
            
            if(QDCT_GO_LIMIT_IN)
            {
                GL_QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM);
                QDCT_XiaQieStep   = 0;
            }
            else
            {
                QDCT_XiaQieStep = 2;       
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUT_DELAY;
                
            }            
            break;
        case 2:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_XiaQieStep = 3; 
                QDCT_YD_OUT     = 1;
                QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                if(!QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE)
                {
                     QDCT_XQ_OUT = 1; 
                }
            }
            break;
        case 3:        
           if(QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE || QDCT_PARAM_CS_ENABLE)
           {
               QDCT_XiaQieDelay = dwTickCount;
               QDCT_XiaQieStep = 4;   
           }
           else if(dwTickCount >= QDCT_XiaQieDelay)
           {
               GL_QDCT_SetAlarmCode(QDCT_XQ_ALARM);
               QDCT_XiaQieStep = 0;
           }
           break;
        case 4:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                if(!QDCT_SL_ORIGIN_IN && QDCT_PARAM_XM_MODE)
                    GL_QDCT_SetAlarmCode(QDCT_SL_ORIGIN_ALARM);
                else
                {
                    QDCT_SQ_OUT = 1;   //上切刀输出
                    if(!QDCT_PARAM_XM_MODE)
                      QDCT_XQ_OUT = 1;  //  超声模式同时输出
                    QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                }
                QDCT_XiaQieStep = 5;         	
            }
            break;
        case 5:   
          //上下切刀到位
            if(QDCT_SQ_LIMIT_IN && QDCT_XQ_LIMIT_IN)
            {    
                QDCT_bTuiLianOKFlag = 0;
                if(QDCT_PARAM_CS_ENABLE)
                {
                    QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_DELAY;
                    QDCT_XiaQieStep = 50;         //跳到超声处理   
                }
                else
                {
                    QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUTBACK_DELAY;
                    QDCT_XiaQieStep = 6;  
                }
            }
            else if(dwTickCount >= QDCT_XiaQieDelay)
            {
                if(!QDCT_SQ_LIMIT_IN)
                {
                    GL_QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);
                    QDCT_XiaQieStep = 0;
                }
                else
                {
                    GL_QDCT_SetAlarmCode(QDCT_XQ_ALARM);
                    QDCT_XiaQieStep = 0;
                }
            } 
            break;
        case 6:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_SQ_OUT = 0;
                QDCT_XQ_OUT = 0;
                QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_XiaQieStep = 7;             
            }
            break;
        case 7:
            if(!QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
            {
              //下模动
                    if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !bRunning)
                        QDCT_TuiLianStep = 1;
                    QDCT_XiaQieStep = 0;   
            }
            else if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_XiaQieStep  = 0;
                if(QDCT_SQ_LIMIT_IN) GL_QDCT_SetAlarmCode(QDCT_SQ_ORIGIN_ALARM);
                else if(QDCT_XQ_LIMIT_IN)GL_QDCT_SetAlarmCode(QDCT_XQ_ALARM);
            }
            break;
        case 50:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                if(QDCT_PARAM_CS_CONTROL)
                    QDCT_CS_OUT = 1;
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_TIME;
                QDCT_XiaQieStep = 51;             
            }
            break;
        case 51:   
            if((dwTickCount >= QDCT_XiaQieDelay))
            {
                QDCT_CS_OUT = 0;
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_COLD_TIME;
                QDCT_XiaQieStep = 6;             
            }
            break;
    }       
#endif
}
//装拉头完成合模动作
void GL_QDCT_HeMo_Step(void)
{
#if 1  
  
    switch(QDCT_HeMoStep)
    {
        case 0:
           break; 
        case 1:
            if(QDCT_bQZhuangLiaoOkFlg && QDCT_bHZhuangLiaoOkFlg && (QDCT_QZhuangLiaoStep == 0) && (QDCT_HZhuangLiaoStep == 0))
            {
           //          前横送输出       前限位                前横送输出      前夹拉头     后横送输出      后夹拉头
                if(!QDCT_QHSL_OUT && (QDCT_GO_LIMIT_IN || QDCT_bXiaMo_En)&& QDCT_QJLT_IN && !QDCT_HHSL_OUT && QDCT_HJLT_IN)
                {
                    QDCT_XM_OUT   = 1;     //下模输出 
                    QDCT_HeMoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                    QDCT_HeMoStep = 2;     
                    QDCT_QZhuangLiaoStep = 0;
                    QDCT_HZhuangLiaoStep = 0;
                }          
            } 
        break;
        case 2:
            if(QDCT_XM_LIMIT_IN)  //下模到位
            {
                QDCT_HeMoStep = 3; 
                QDCT_HeMoDelay = dwTickCount + 100;                          
            }
            else if(dwTickCount >= QDCT_HeMoDelay)
            {
                GL_QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); 
            }
            break;
        case 3:
        //两个顶针信号或调试模式
            if((QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )
            {
                QDCT_cQTryCnt = 0;                
                QDCT_bHemo_OK = 1;
                QDCT_HeMoStep = 0;
            }
            else if(dwTickCount >= QDCT_HeMoDelay)
            {
                if(bRunning)
                {        
                    QDCT_cQTryCnt++;
                    QDCT_HeMoStep = 4;
                    if(QDCT_cQTryCnt >= 4)
                    {
                        GL_QDCT_SetAlarmCode(QDCT_ZLT_ALARM);  
                        QDCT_bHemo_OK = 0;  
                        if(!QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON)
                        {
                            QDCT_bQZhuangLiaoOkFlg = 0;
                            QDCT_QJLT_OUT = 0;
                        }    
                        if(!QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON)
                        {
                            QDCT_bHZhuangLiaoOkFlg = 0;
                            QDCT_HJLT_OUT = 0;
                        }    
                    }
                    else
                    { 
                        if(!QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON)
                            QDCT_bQZhuangLiaoOkFlg = 0;
                        if(!QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON)
                            QDCT_bHZhuangLiaoOkFlg = 0;
                    }
                }     
            }
            break;
        case 4:  
           if(QDCT_GO_LIMIT_IN || (dwXRealPos > 1600) || ((dwXRealPos > 1200) && !X_DRV))
           {
                QDCT_XM_OUT  = 0; 
                QDCT_HeMoDelay = dwTickCount + 600; 
                if(QDCT_cQTryCnt >= 4)
                {
                    QDCT_HeMoStep = 0;
                     GL_QDCT_SetAlarmCode(QDCT_ZLT_ALARM);  
                } 
                else 
                    QDCT_HeMoStep = 5;
           }
        break;  
        case 5:
            if(!QDCT_XM_LIMIT_IN)  //下模下到位
            {
                QDCT_HeMoDelay = dwTickCount + 250; 
                QDCT_HeMoStep = 6;                 
            }
            else if(dwTickCount >= QDCT_HeMoDelay)
            {
                QDCT_HeMoStep = 0; 
                GL_QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            } 
         break; 
        case 6:
            if(dwTickCount >= QDCT_HeMoDelay)
            {
                QDCT_HeMoStep = 1; 
                
                if((QDCT_bQZhuangLiaoOkFlg == 0)&& QDCT_PARAM_QLT_ON)
                {  
                    QDCT_QJLT_OUT = 0;
                    QDCT_QZhuangLiaoStep = 1;
                }    
                if((QDCT_bHZhuangLiaoOkFlg== 0 )&& QDCT_PARAM_HLT_ON)
                {
                    QDCT_HJLT_OUT = 0;
                    QDCT_HZhuangLiaoStep = 1;
                }   
                
            } 
        break;
    }
    if(bRunning && (QDCT_HeMoStep == 0) && (QDCT_XM_ORIGIN_IN_UP) && (QDCT_cQTryCnt < 3) && !QDCT_XM_OUT)
    {  
        if((!QDCT_QJLT_OUT) && (QDCT_QZhuangLiaoStep == 0) && QDCT_PARAM_QLT_ON)
        {
            QDCT_bQZhuangLiaoOkFlg = 0;
            QDCT_QZhuangLiaoStep = 1; 
        }
        if(!QDCT_HJLT_OUT &&(QDCT_HZhuangLiaoStep == 0) && QDCT_PARAM_HLT_ON)
        {
            QDCT_bHZhuangLiaoOkFlg = 0;                   
            QDCT_HZhuangLiaoStep = 1;
        }                            
    }
#endif    
}

 
            
//前装拉头动作(横送拉头)
void GL_QDCT_QZLT_Step(void)
{
  
#if 1  
    switch(QDCT_QZhuangLiaoStep)
    {
        case 1: 
            if(!QDCT_PARAM_QLT_ON)  //不打开
            {
                 QDCT_bQZhuangLiaoOkFlg = 1;
                 QDCT_QJLT_OUT    = 1;
            }
            if(QDCT_bQZhuangLiaoOkFlg)
            {
                 QDCT_QZhuangLiaoStep = 0;
            }
            else
            {
                 if(QDCT_bFirstQStartFlg && QDCT_QJLT_IN && QDCT_QJLT_OUT)
                 {
                     QDCT_bQZhuangLiaoOkFlg = 1;
                     QDCT_QZhuangLiaoStep = 0;
                     QDCT_bFirstQStartFlg = 0;
                 }
                 else
                 {
                     QDCT_bFirstQStartFlg = 0;
                     if(QDCT_QTLTStep == 0)   
                     {
                         QDCT_QTLTStep = 1;    //推拉头开始  当QTuiLaTouOkFlg = 1 时动作自动清零                           
                     }
                     QDCT_QZhuangLiaoStep = 2; 
                 }
            }
            break;
        case 2: //推拉头完成
            if(QDCT_QTLTStep == 0)
            {
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 3;   
            }
            break;
        case 3:    //横送料原点  下模原点
            if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN )   //
            {
                if((DCCT_cSL_En >= 1) || (!bRunning))
                {
                  QDCT_QZhuangLiaoStep = 4;
                  QDCT_QZhuangLiaoDelay = dwTickCount + 0;//QDCT_PARAM_HSL_DELAY;
                }  
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                if(!QDCT_XM_ORIGIN_IN)
                    GL_QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            }
            break;
        case 4: //横送输出
            if((dwTickCount >= QDCT_QZhuangLiaoDelay))
            {
                QDCT_QHSL_OUT = 1;      //前横送输出
                QDCT_QJLT_OUT = 0;      // 前夹拉头关 
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 5;      
            }
            break;
        case 5: //横送到位   
            if(QDCT_QHSL_LIMIT_IN)
            {
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT;
                QDCT_QZhuangLiaoStep = 6;   
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                GL_QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
            }
            break;
        case 6://延时夹拉头
            if((dwTickCount >= QDCT_QZhuangLiaoDelay)/* && ((DCCT_cSL_En >= 2) || (!bRunning))*/)
            {
                QDCT_QJLT_OUT = 1; 
               
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 7;   
            }
            break;
        case 7://夹拉头到位   
            if(QDCT_QJLT_IN)
            { //
                QDCT_bQTuiLaTouOkFlg = 0;
                QDCT_QTLTStep = 1;  //横送料退回时启动推拉头 
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK;
                QDCT_QZhuangLiaoStep = 8;
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                GL_QDCT_SetAlarmCode(QDCT_JLT_ALARM);
            }
            break;
        case 8:
            if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_QHSL_OUT   = 0;
                QDCT_bQZhuangLiaoOkFlg = 1;
                QDCT_QZhuangLiaoStep = 9;
                QDCT_QHSLBackTime = dwTickCount;
            }
            break;
        case 9:   
            if(!QDCT_QHSL_LIMIT_IN)
            {
                 QDCT_QZhuangLiaoStep = 10;
                if(!QDCT_bQHSL_BackTimeOK)
                    QDCT_QZhuangLiaoDelay = dwTickCount + 550;
                 else
                 {
                    if(QDCT_QHSL_CheckBackTime < 50)                      
                        QDCT_QZhuangLiaoDelay = dwTickCount + 30;
                    else if(QDCT_QHSL_CheckBackTime >= 150)
                        QDCT_QZhuangLiaoDelay = dwTickCount + 70;//QDCT_QHSL_CheckBackTime/2;
                    else
                        QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_QHSL_CheckBackTime/2;
                 }   
            }
            break;
        case 10:
            if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_QZhuangLiaoStep = 0;
                if((!QDCT_bQHSL_BackTimeOK) && QDCT_QHSL_ORIGIN_IN)
                {
                    QDCT_bQHSL_BackTimeOK= 1;
                    QDCT_QHSL_CheckBackTime = dwTickCount-QDCT_QHSLBackTime;
                }
            }  
            break;
    }
#endif    
}

//后装拉头动作
void GL_QDCT_HZLT_Step(void)
{
#if 1  
    switch(QDCT_HZhuangLiaoStep)   
    {
        case 1:   
            if(!QDCT_PARAM_HLT_ON)
            {
                QDCT_bHZhuangLiaoOkFlg = 1;
                QDCT_HJLT_OUT    = 1;
            }
            if(QDCT_bHZhuangLiaoOkFlg)
            {
                QDCT_HZhuangLiaoStep = 0;
            }
            else
            {
                if(QDCT_bFirstHStartFlg && QDCT_HJLT_IN && QDCT_HJLT_OUT)
                {
                    QDCT_bHZhuangLiaoOkFlg = 1;
                    QDCT_bFirstHStartFlg = 0;
                    QDCT_HZhuangLiaoStep = 0;
                }
                else
                {
                    QDCT_bFirstHStartFlg = 0;
                    if(QDCT_HTLTStep == 0)
                    {
                        QDCT_HTLTStep = 1;                                
                    }
                    QDCT_HZhuangLiaoStep = 2; 
                }
            }
            break;
        case 2:  
            if(QDCT_HTLTStep == 0)//后推拉头完成
            {
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 3;   
            }
            break;
        case 3:
            if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN )   //
            {
                if((DCCT_cSL_En >= 1) || (!bRunning))
                {
                    QDCT_HZhuangLiaoDelay = dwTickCount + 0;//QDCT_PARAM_HSL_DELAY;
                    QDCT_HZhuangLiaoStep = 4;  
                }
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                if(!QDCT_XM_ORIGIN_IN)
                    GL_QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            }
            break;
        case 4: 
            if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_HHSL_OUT = 1;  //横送料输出
                QDCT_HJLT_OUT = 0; 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 5;   
            }
            break;
        case 5:     
            if(QDCT_HHSL_LIMIT_IN)  //横送到位
            {
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT;
                QDCT_HZhuangLiaoStep = 6;   
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                GL_QDCT_SetAlarmCode(QDCT_HHSL_LIMIT_ALARM);
            }
            break;
        case 6:        //延时夹拉头
            if((dwTickCount >= QDCT_HZhuangLiaoDelay)/* && ((DCCT_cSL_En >= 2) || (!bRunning))*/)
            {
                QDCT_HJLT_OUT = 1; 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 7;   
            }
            break;
        case 7://夹拉头到位
            if(QDCT_HJLT_IN)
            {
                QDCT_bHTuiLaTouOkFlg = 0;
                QDCT_HTLTStep = 1;  //横送料退回时启动推拉头 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK;
                QDCT_HZhuangLiaoStep = 8;
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                GL_QDCT_SetAlarmCode(QDCT_HJLT_ALARM);
            }
            break;
        case 8: //延时退横送料
            if((dwTickCount >= QDCT_HZhuangLiaoDelay))
            {
                QDCT_HHSL_OUT   = 0;
                QDCT_bHZhuangLiaoOkFlg = 1;                
                QDCT_HZhuangLiaoStep = 9;
                QDCT_HHSLBackTime = dwTickCount;
            }
            break;
        case 9:   
            if(!QDCT_HHSL_LIMIT_IN)
            {
                 QDCT_HZhuangLiaoStep = 10;
                 if(!QDCT_bHHSL_BackTimeOK)
                    QDCT_HZhuangLiaoDelay = dwTickCount + 550;
                 else
                 {
                     if(QDCT_HHSL_CheckBackTime < 50)                      
                        QDCT_HZhuangLiaoDelay = dwTickCount + 30;
                    else if(QDCT_HHSL_CheckBackTime >= 150)
                        QDCT_HZhuangLiaoDelay = dwTickCount + 70;//QDCT_QHSL_CheckBackTime/2;
                    else
                        QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_HHSL_CheckBackTime/2;
                 }   
            }
            break;
        case 10:
            if((dwTickCount >= QDCT_HZhuangLiaoDelay) || QDCT_HHSL_ORIGIN_IN)
            {
                QDCT_HZhuangLiaoStep = 0;
                if((!QDCT_bHHSL_BackTimeOK) && QDCT_HHSL_ORIGIN_IN)
                {
                    QDCT_bHHSL_BackTimeOK= 1;
                    QDCT_HHSL_CheckBackTime = dwTickCount-QDCT_HHSLBackTime;
                }
            }  
            break;
    }
#endif    
}
//前推拉头动作
void GL_QDCT_QTuiLT_Step(void)
{
 //   static unsigned long q_dlp_delay;

#if 1    
    if(QDCT_QDLP_OUT && (dwTickCount >= QDCT_QDLPDelay))
        QDCT_QDLP_OUT = 0;
    switch(QDCT_QTLTStep)
    {  
        case 1:
        //前拉头使能
            if(!QDCT_PARAM_QLT_ON)  //前拉头关,  
            {
               QDCT_bQTuiLaTouOkFlg = 1;
            }
            if(QDCT_bQTuiLaTouOkFlg)
            {
                QDCT_QTLTStep = 0; 
            }
            else
            {
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QTLTStep = 2;
            }
            break;
        case 2:
            if(QDCT_QHSL_ORIGIN_IN && !QDCT_QHSL_LIMIT_IN)
            {
                QDCT_QTLT_OUT = 1;
                if(QDCT_cQTryCnt<= QDCT_PARAM_TRY_TIMES)//后推头输出
                //只两次放开挡拉头
                  QDCT_QDLP_OUT       = 1;
                QDCT_QDLPDelay = dwTickCount + QDCT_PARAM_DLP_TIME;
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QTLTStep = 3;
            }          
            break;
        case 3:
            if(QDCT_QTLT_LIMIT_IN)
            { 
                QDCT_QTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
                QDCT_QTLTStep = 4;
            }
            else if(dwTickCount >= QDCT_QTLT_Delay) 
                GL_QDCT_SetAlarmCode(QDCT_SL_ALARM);        
            break;
        case 4:
            if((dwTickCount >= QDCT_QTLT_Delay))
            {
                QDCT_QTLT_OUT       = 0;
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
                QDCT_QTLTStep = 5;
                QDCT_bQTuiLaTouOkFlg    = 1;
            }
            break;
        case 5:    
            if(!QDCT_QTLT_LIMIT_IN)
            {
                QDCT_QTLTStep = 0;
                QDCT_QTLT_Delay = dwTickCount;                
            }
            else if(dwTickCount >= QDCT_QTLT_Delay) 
                GL_QDCT_SetAlarmCode(QDCT_SL_ALARM); 
            break;
    }
#endif    
}

//后推拉头动作
void GL_QDCT_HTuiLT_Step(void)
{
//    static unsigned long h_dlp_delay;
#if 1    
//    static unsigned short dlp_flg = 0;
    if(QDCT_HDLP_OUT && (dwTickCount >= QDCT_HDLPDelay))
        QDCT_HDLP_OUT = 0;
    switch(QDCT_HTLTStep)
    {
        case 1:
            if(!QDCT_PARAM_HLT_ON)   //后拉头关,  
            {
               QDCT_bHTuiLaTouOkFlg = 1;
            }
            if(QDCT_bHTuiLaTouOkFlg)
            {
                QDCT_HTLTStep = 0; 
            }
            else
            {
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HTLTStep = 2;
            }
            break;
        case 2:
            if(QDCT_HHSL_ORIGIN_IN && !QDCT_HHSL_LIMIT_IN)
            {
                QDCT_HTLT_OUT       = 1;    //后推头输出
                //只两次放开挡拉头
                if(QDCT_cQTryCnt<= QDCT_PARAM_TRY_TIMES)  //后挡拉头(打拉片)
                    QDCT_HDLP_OUT = 1; 
                QDCT_HDLPDelay = dwTickCount + QDCT_PARAM_DLP_TIME;
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HTLTStep = 3;
            }
            break;
        case 3:    
            if(QDCT_HTLT_LIMIT_IN)
            { 
                QDCT_HTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
                QDCT_HTLTStep = 4;
            }
            else if(dwTickCount >= QDCT_HTLT_Delay) 
              GL_QDCT_SetAlarmCode(QDCT_SL_ALARM);        
            break;
        case 4:
            if((dwTickCount >= QDCT_HTLT_Delay))
            {
                QDCT_HTLT_OUT       = 0;
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
                QDCT_HTLTStep = 5;
                QDCT_bHTuiLaTouOkFlg    = 1;
            }
            break;
       case 5:  
            if(!QDCT_HTLT_LIMIT_IN)
            {
                QDCT_HTLTStep = 0;
                QDCT_HTLT_Delay = dwTickCount;   
            }
            else if(dwTickCount >= QDCT_HTLT_Delay) 
                GL_QDCT_SetAlarmCode(QDCT_SL_ALARM);    
            break;
    }
#endif    
}
//手动动作
void GL_QDCT_ManualAction(void)
{ 

#if 1    
    if(bRunning == 0)  
    {   
        if(bClearTotal) //切断计数清零
        {
            bClearTotal       = 0;
            ClrcToTal(QDCT_TOTAL_ADDR);
        }
        
        if(QDCT_bClerNowTotal)
        {
            QDCT_bClerNowTotal = 0;
            QDCT_PARAM_TB_CNT1 = 0;
            QDCT_PARAM_TB_CNT2 = 0;
            ClrcToTal(QDCT_NOWTOTAL_ADDR);
        }		
	//切断	
        if(QDCT_bQieDuan)
        {
            QDCT_bQieDuan = 0;
            if(QDCT_XiaQieStep == 0)
            {
                  if(QDCT_PARAM_XM_MODE)      //下模不动
                  {
                        if(QDCT_SL_ORIGIN_IN )
                          QDCT_XiaQieStep = 1;
                    }
                    else
                    {
                        QDCT_XiaQieStep = 1;
                    }
            }
        }
        //测试行程
        if(QDCT_bReset_Origin)
        {
            QDCT_bReset_Origin = 0;
            QDCT_TestMotorStep = 1;
        } 
        //前点定位
        if(QDCT_bQianDianDW)
        {
            QDCT_bQianDianDW = 0;
            if((QDCT_MotorStep == 0) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
            {
                QDCT_MotorStep = 61;
                dwZipCnt      = 0;
            }
            else if(QDCT_SQ_LIMIT_IN)
                GL_QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);  
        }
        //下模
        if(QDCT_bManXM)
        {
            QDCT_bManXM = 0;
            QDCT_XM_OUT = ~QDCT_XM_OUT;
            
            if(QDCT_QHSL_OUT || QDCT_HHSL_OUT)QDCT_XM_OUT = 0;
        }
        //上切刀       
        if(QDCT_bManSQ)
        {
            QDCT_bManSQ = 0;
            
           if(QDCT_SQ_OUT) 
                QDCT_SQ_OUT = 0;
            //         送料原点              下模动                                  //下模不动
           else if((QDCT_SL_ORIGIN_IN && (QDCT_PARAM_XM_MODE != 0))||(QDCT_PARAM_XM_MODE == 0))
           {    
                QDCT_SQ_OUT = 1;
                QDCT_bTuiLianOKFlag = 0;
           }
        }
        //下切刀
        if(QDCT_bManXQ)
        {
            QDCT_bManXQ = 0;
            QDCT_XQ_OUT = ~QDCT_XQ_OUT;
            QDCT_bTuiLianOKFlag = 0;
            if(QDCT_GO_LIMIT_IN)
              QDCT_XQ_OUT = 0;
        }
       //夹带 
        if(QDCT_bManJD)
        {
            QDCT_bManJD = 0;
            QDCT_JD_OUT = ~QDCT_JD_OUT;
        }
        //前推拉头
        if(QDCT_bManQTLT)
        {
           QDCT_bManQTLT = 0;
           if(QDCT_QHSL_ORIGIN_IN)
           {
              if(QDCT_QTLTStep == 0)
              {
                  QDCT_QTLTStep = 1;
                  QDCT_bQTuiLaTouOkFlg    = 0;
                  QDCT_cQTryCnt = 0;
              }
              else
              {
                    QDCT_QTLT_OUT       = 0;
              }  
           }
        }
        //后推拉头
        if(QDCT_bManHTLT)
        {
           QDCT_bManHTLT = 0;
           if(QDCT_HHSL_ORIGIN_IN)
           {
               if(QDCT_HTLTStep == 0)
               {
                   QDCT_HTLTStep  = 1;
                   QDCT_bHTuiLaTouOkFlg = 0;
                   QDCT_cQTryCnt = 0;
               }
               else     //后推拉头
                   QDCT_HTLT_OUT       = 0;
           }
        }
        //前横送料
        if(QDCT_bManQHSL)
        {
           QDCT_bManQHSL = 0;
           QDCT_QHSL_OUT = ~QDCT_QHSL_OUT;
           
           if(QDCT_XM_OUT || QDCT_QTLT_LIMIT_IN)QDCT_QHSL_OUT = 0;
          
        }
        
        if(QDCT_bManHHSL)
        {
           QDCT_bManHHSL = 0;
           QDCT_HHSL_OUT = ~QDCT_HHSL_OUT;
           
           if(QDCT_XM_OUT || QDCT_HTLT_LIMIT_IN)QDCT_HHSL_OUT = 0;
          
        }
        //前振动盘
        if(QDCT_bManQZD)
        {
           QDCT_bManQZD = 0;
           if(QDCT_QZDP_OUT)
           {
               QDCT_QZDP_OUT = 0;
               QDCT_QZDPStep = 0;
           }
           else
           {
               QDCT_QZDP_OUT = 1;
               QDCT_QZDPStep = 2;
               if(QDCT_TLPStep==0)QDCT_TLPStep  = 1;
           }
        }
    //后振动盘
        if(QDCT_bManHZD)
        {
           QDCT_bManHZD = 0;
           if(QDCT_HZDP_OUT)
           {
               QDCT_HZDP_OUT = 0;
               QDCT_HZDPStep = 0;
           }
           else
           {
               QDCT_HZDP_OUT = 1;
               QDCT_HZDPStep = 2;
           }
        }
        
        //前夹拉头
        if(QDCT_bManQJLT)
        {
            QDCT_bManQJLT = 0;
            QDCT_QJLT_OUT = ~QDCT_QJLT_OUT;
            if(!QDCT_QJLT_OUT)
                QDCT_bQZhuangLiaoOkFlg = 0;
        }
        //后夹拉头
        if(QDCT_bManHJLT)
        {
            QDCT_bManHJLT = 0;
            QDCT_HJLT_OUT = ~QDCT_HJLT_OUT;
            if(!QDCT_HJLT_OUT)
                QDCT_bHZhuangLiaoOkFlg = 0;
        }
        //台面电机
        if(QDCT_bTable)
        {
            QDCT_bTable = 0;
            QDCT_TB_OUT = 1;
            QDCT_TableDelay = dwTickCount+QDCT_PARAM_TABLE_TIME;
        }
        //前装料
        if(QDCT_bQZuangLT)
        {
            QDCT_bQZuangLT = 0;
            if(QDCT_QZhuangLiaoStep == 0)
            {
                QDCT_cQTryCnt              = 0;
                QDCT_bQTuiLaTouOkFlg      = 1;
                QDCT_QZhuangLiaoStep = 3;
                QDCT_bFirstQStartFlg      = 0;
            }
        }
        //后装料
        if(QDCT_bHZuangLT)
        {
            QDCT_bHZuangLT = 0;
            if(QDCT_HZhuangLiaoStep == 0)
            {
                QDCT_cQTryCnt              = 0;
                QDCT_bHTuiLaTouOkFlg      = 1;
                QDCT_HZhuangLiaoStep = 3;
                QDCT_bFirstHStartFlg      = 0;
            }
        }
        //压带
        if(QDCT_bManYD)
        {
            QDCT_bManYD = 0;
            QDCT_YD_OUT = ~QDCT_YD_OUT;
        }
        //吹气
        if(QDCT_bManCQ)
        {
            QDCT_bManCQ = 0;
            QDCT_CQ_OUT = 1;  //吹气
            QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
        }
        //推拉片
        if(QDCT_bManDLP)
        {
            QDCT_bManDLP = 0;
            QDCT_HDLP_OUT = ~QDCT_HDLP_OUT;//M0327  // Y27 后打拉片
            QDCT_QDLP_OUT = QDCT_HDLP_OUT;
        }
        //穿拉头
        if(QDCT_bChuanLT)
        {
            QDCT_bChuanLT = 0;
            if(!QDCT_BACK_LIMIT_IN)
            {
                if(QDCT_MotorStep == 0)QDCT_MotorStep = 30;
            }
        }
        //电机松轴
        if(QDCT_bManSZ)
        {
            QDCT_bManSZ = 0;
            
            SetEn(X_AXIS, QDCT_MOTOR_DISEN);
        }
//电机控制        前进
        if(QDCT_bMotorGo && !QDCT_GO_LIMIT_IN && !QDCT_SQ_LIMIT_IN)
        {           
            QDCT_JD_OUT   = 1;
            SetEn(X_AXIS, QDCT_MOTOR_EN);
            QDCT_bBackLimitCheck_EN= 0;
            
            if(!X_DRV)
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED, QDCT_DIR_N,QDCT_PARAM_GO_LOWSPEED,800,15,15);

                   
        }
        else if(QDCT_bMotorGo && QDCT_SQ_LIMIT_IN)
            GL_QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);      
        
        if(QDCT_bMotorBack && !QDCT_BACK_LIMIT_IN)
        {
            SetEn(X_AXIS, QDCT_MOTOR_EN);
            QDCT_bBackLimitCheck_EN = 1;
            if(!X_DRV)
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED, QDCT_DIR_P,QDCT_PARAM_GO_LOWSPEED,800,15,15);
        }
 
        if(!QDCT_bMotorGo && !QDCT_bMotorBack && (QDCT_MotorStep == 0) && (QDCT_bStopFlg == 0) && (QDCT_TestMotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QDCT_GO_LIMIT_IN && (QDCT_MotorStep == 0) && !QDCT_bMotorBack &&(QDCT_AutoStep == 0) && (QDCT_bStopFlg == 0) 
           && (QDCT_bStopFlg == 0) && (QDCT_TestMotorStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
        if(QDCT_bYLGO)
        {           
            if(!Y_DRV)//AxisContinueMoveAcc(Y_AXIS,5, QDCT_YL_DIR_P,5,10,10);
                AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_GO_LOWSPEED, QDCT_DIR_P,QDCT_PARAM_GO_LOWSPEED,800,15,15);
        }

        if(QDCT_bYLBACK)
        {           
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_GO_LOWSPEED, QDCT_DIR_N,QDCT_PARAM_GO_LOWSPEED,800,15,15);
        }
        
        if(!QDCT_bYLGO && !QDCT_bYLBACK && (QDCT_MotorStep == 0) && (QDCT_AutoStep == 0))
        {
            if(Y_DRV)AxisEgmStop(Y_AXIS);
        }
        
        if(QDCT_bYL)
        {
             QDCT_bYL = 0;
             QDCT_YL_OUT = ~QDCT_YL_OUT;
        }
        
        if(QDCT_bManKL)
        {
            QDCT_bManKL = 0;
            QDCT_KL_OUT = ~QDCT_KL_OUT;
         //   QDCT_JiaLianStep = 3;
        }
        
        if(QDCT_bManCS)
        {
            QDCT_bManCS = 0;
            QDCT_CS_Delay = dwTickCount + QDCT_PARAM_CS_TIME;
            QDCT_CS_OUT = 1;
        }
        if(QDCT_CS_OUT && (dwTickCount >= QDCT_CS_Delay))
        {
             QDCT_CS_OUT = 0;
        }    
    }
    if(QDCT_CQ_OUT && (dwTickCount >= QDCT_CQDelay)) 
        QDCT_CQ_OUT = 0;
#endif    
}

#endif