GC23005/Machine/ChangShengGeiLiMachine/GLTieBuJi-SF.c

#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE == 1
unsigned short Prv_SQJCOUNT,Prv_XQJCOUNT;

void TBJ_InitAction(void);
void TBJ_Action(void);
void TBJ_ChuiQi(void);
void TBJ_ChaoShengHeMo(void);
void TBJ_SetAlarmCode(unsigned alarm_code); //等待调用
void TBJ_StartStopAction(void);
void TBJ_AutoRunStep(void);
void TBJ_Motor(void);
void TBJ_SongJiao(void);
void TBJ_STOP_Action(void);
void TBJ_ChuiQi_Stop(void);
void TBJ_QJCount(void);
void TBJ_QieJiao_Proc(void);
void TBJ_XCReset_Proc(void);
void TBJ_SFHeMo_Proc(void);
void TBJ_ChaoShengHeMo_SF(void);
void TBJ_QJCQ_Stop(void);
void TBJ_Action(void)
{
    //步骤显示
    DISPLAY_DATA0 = dwYRealPos_com;//TBJ_XC_RstStep;//TBJ_Auto_Step;
    DISPLAY_DATA1 = dwYRealPos;//TBJ_Motor_Step;
    DISPLAY_DATA2 = TBJ_HMCS_Step;
    DISPLAY_DATA3 = TBJ_HeMo_Step;//TBJ_SJ_FJ_Step;
    DISPLAY_DATA4 = TBJ_Auto_Step;//TBJ_XC_CS_LOCAL;//servo_y.IO_TO_COM;//TBJ_STOP_Step;
    DISPLAY_DATA5 = TBJ_FIRST_CS_Y_LOCAL;//TBJ_Motor_Step;//GetTarr(Y_AXIS);//dwXRealPos;
    DISPLAY_DATA6 = TBJ_CS_Y_Local;
    DISPLAY_DATA7 = TBJ_GH_Y_Local;
    CTHL_bServo_Com_Y=servo_y.IO_TO_COM;
    dwXRealPos = GetPos(X_AXIS);
    dwYRealPos = GetPos(Y_AXIS);
    dwYRealPos_com=get_encode_value(Y_AXIS)/4;//减速比
    TBJ_ManualAction();
    //TBJ_ChaoShengHeMo();
    TBJ_ChaoShengHeMo_SF();
    TBJ_StartStopAction();
    TBJ_AutoRunStep();
    TBJ_Motor();
    TBJ_SongJiao();

    TBJ_STOP_Action();
    TBJ_ChuiQi_Stop();
    TBJ_QJCQ_Stop();
    TBJ_QJCount();
    
    servo_com_run();
    
    TBJ_QieJiao_Proc();
    TBJ_XCReset_Proc();
    TBJ_SFHeMo_Proc();
}
void TBJ_QJCount(void)
{
  if(TBJ_SQJGY_IN_UP)
  {
    TBJ_PARAM_SQJCOUNT++;
  }
  if(TBJ_XQJGY_IN_UP)
  {
    TBJ_PARAM_XQJCOUNT++;
  }
}
//故障报警
void TBJ_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(TBJ_ALARM_ADDR, alarm_code);
    TBJ_bAlarmStop = 1;
}

void TBJ_InitAction(void)
{
    float buff_pulse, buff_dist;

    //电机脉冲与距离比例计算
    buff_pulse = TBJ_PARAM_CYCLE_PULSE;  //电机走一圈所需的脉冲
    buff_dist = TBJ_PARAM_CYCLE_LENGTH;  //电机走一圈长度
    XGearRatio = buff_pulse / buff_dist; //可根据距离换算所需脉冲，反之一样
    
    buff_pulse = TBJ_PARAM_YCYCLE_PULSE;  //电机走一圈所需的脉冲
    buff_dist = TBJ_PARAM_YCYCLE_LENGTH;  //电机走一圈长度
    YGearRatio= buff_pulse / buff_dist; //可根据距离换算所需脉冲，反之一样

    TBJ_CHENGXU_UPDATE = 1; //便于屏幕判断程序有无更新


    SetDirReverse(X_AXIS, 1);
    //传递伺服齿轮比参数
    set_com_servo_param(Y_AXIS,TBJ_PARAM_YCYCLE_PULSE,TBJ_PARAM_YCYCLE_LENGTH);
    SetServoComUse(X_AXIS,0);//X轴正常模式。  
    SetServoComUse(Y_AXIS,1);//Y轴伺服扭矩通讯。
    ReadServoAlarm_Enable(Y_AXIS,1);
    ReadServoEncode_Enable(Y_AXIS,1); 
    
     SetEnReverse(X_AXIS, 1);
     SetEnReverse(Y_AXIS, 0);
    //电机松轴
    SetEn(X_AXIS, TBJ_MOTOR_DISEN);
    SetEn(Y_AXIS, TBJ_MOTOR_DISEN);
    
    SetAlarmCode(TBJ_ALARM_ADDR, TBJ_NO_ALARM); //警告要清除
    
    TBJ_Hemo_flag=0;
    TBJ_XC_Reset_flag=1;
    if(TBJ_PARAM_XCRest_MODE)TBJ_bXCRest=1;
}

//吹气
void TBJ_ChuiQi(void)
{
    if (!TBJ_CQ_VAVLE)
    {
        TBJ_CQ_VAVLE = 1;
        TBJ_CQ_Delay = dwTickCount + TBJ_PARAM_ChuiQi_TIME;
    }
}
//停止吹气
void TBJ_ChuiQi_Stop(void)
{
    if (TBJ_CQ_VAVLE && dwTickCount >= TBJ_CQ_Delay)// && dwTickCount >= TBJ_CS_Delay)
        TBJ_CQ_VAVLE = 0;
}
//切胶吹气
void TBJ_QJCQ_Start(void)
{
    if (!TBJ_QJCQ_VAVLE)
    {
        TBJ_QJCQ_VAVLE = 1;
        TBJ_QJCQ_Delay = dwTickCount + TBJ_PARAM_QJCQ_TIME;
    }
}
//停止吹气
void TBJ_QJCQ_Stop(void)
{
    if (TBJ_QJCQ_VAVLE && dwTickCount >= TBJ_QJCQ_Delay)// && dwTickCount >= TBJ_CS_Delay)
        TBJ_QJCQ_VAVLE = 0;
}

//红外算出来的时间重新赋值
void TBJ_ResetCsTime(void)
{
    if (TBJ_PARAM_CS_MODE == 0)
        user_datas[33] = user_datas[57];
    else
        user_datas[6] = user_datas[57];
}
//超声时间选择
unsigned short TBJ_Choose_CSTime(void)
{
    if (TBJ_PARAM_CS_MODE == 0)       //超声模式 0为透明胶 1为布胶
        return TBJ_PARAM_TMJ_CS_TIME; //透明胶超声时间
    else
        return TBJ_PARAM_BJ_CS_TIME; //布胶超声时间
}
//固化时间选择
unsigned short TBJ_Choose_COLDTime(void)
{
    if (TBJ_PARAM_CS_MODE == 0)
        return TBJ_PARAM_TMJ_GH_TIME; //透明胶固化时间
    else
        return TBJ_PARAM_BJ_GH_TIME; //布胶固化时间
}
//手动动作
void TBJ_ManualAction(void)
{
#if 1
    if (!TBJ_bRunning)
    {
        //屏幕按钮手动钩针
        if (TBJ_bGZ)
        {
            TBJ_bGZ = 0;
            if (TBJ_GZ_VAVLE)
                TBJ_GZ_VAVLE = 0;
            else
                TBJ_GZ_VAVLE = 1;
        }
        //手动分胶
        if (TBJ_bFJ &&((TBJ_PARAM_SGZSelect)                            //单钩针模式下的判断
             || ((TBJ_PARAM_SGZSelect == 0) && !TBJ_GZ_LIMIT_IN ))       //双钩针模式下的判断
            &&TBJ_Y_ORIGIN_IN                                            //上模在原点
            && (TBJ_FJ_VAVLE || (!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN)) //未进分胶，送胶不能输出，进完分胶后，无视送胶状态，可退分胶
        )
        {
            TBJ_bFJ = 0;
            if (TBJ_FJ_VAVLE)
                TBJ_FJ_VAVLE = 0;
            else
                TBJ_FJ_VAVLE = 1;
        }
        else if (TBJ_bFJ)
        {
            TBJ_bFJ = 0;
            if (!((TBJ_PARAM_SGZSelect) || ((TBJ_PARAM_SGZSelect == 0) && !TBJ_GZ_LIMIT_IN)))
                TBJ_SetAlarmCode(34); //E34 手动分胶停止，钩针未退位；
            else if (!TBJ_Y_ORIGIN_IN)//上摸不在原点
                TBJ_SetAlarmCode(36); //E36 手动分胶停止，下冲气缸未退位或X14下冲到位感应异常
            else if (TBJ_SJ_LIMIT_IN)
                TBJ_SetAlarmCode(38); //E38 手动分胶停止，送胶阀未退回，或X16送胶到位感应异常
            else if (!TBJ_SJ_ORIGIN_IN)
                TBJ_SetAlarmCode(39); //E39 手动分胶停止，送胶阀未退回，或X17退胶到位感应异常
        }
        //手动切胶
        if(TBJ_bQJ)
        {
          if(TBJ_SJ_ORIGIN_IN)TBJ_QJ_Step=1;
          else
            TBJ_SetAlarmCode(TBJ_QJ_SJNORIGIN_ALARM); //E43 手动切胶，送胶不在原位
          TBJ_bQJ=0;
        }

        //手动送胶
        if (((TBJ_bSJ && !TBJ_SJ_VAVLE)))               //按钮按下 送胶阀未输出 进行送胶
        {                                                                       //手动送胶 || （按钮送胶 && 送胶阀没输出）&& （！1二次拖带的情况下考虑钩针阀没有输出）
            if ((TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN) ) //单钩针模式，钩针与送胶阀错位，不用考虑相撞，双钩针模式下的判断，钩针钩住拖带后退，可能会与送胶阀产生碰撞
                && (TBJ_FJ_LIMIT_IN ^ TBJ_FJ_ORIGIN_IN) && TBJ_SJ_ORIGIN_IN     //判断分胶阀有无出错，只能到位或原位  送胶阀后感应亮
                && TBJ_Y_ORIGIN_IN                                              //上模原点  超声未打开
                && !TBJ_GZ_VAVLE)                  //考虑钩针有无退回
            {
                TBJ_SJ_FJ_Step=20;
                TBJ_bSJ = 0;
            }
            else if (TBJ_bSJ) //送胶失败，发送警告
            {
                TBJ_bSJ = 0;
                if (!(TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)))
                    TBJ_SetAlarmCode(40); //E40 手动送胶停止，双钩针模式下钩针未退回
                else if (!(TBJ_FJ_LIMIT_IN ^ TBJ_FJ_ORIGIN_IN))
                    TBJ_SetAlarmCode(41); //E41 手动送胶停止，分胶阀处于异常状态，X12,X13前后感应灯同亮或同灭
                else if (!TBJ_SJ_VAVLE && !TBJ_SJ_ORIGIN_IN)
                    TBJ_SetAlarmCode(42); //E42 手动送胶停止，X17送胶后感应异常
                else if (!TBJ_Y_ORIGIN_IN)
                    TBJ_SetAlarmCode(44); //E44 手动送胶停止，下冲气缸未退回，或X14 下冲到位感应异常
                if (TBJ_SJ_VAVLE)
                    TBJ_SJ_VAVLE = 0;
            }
        }
        else if (((TBJ_bSJ && TBJ_SJ_VAVLE))) //送胶阀已输出，进行退胶
        {
            TBJ_SJ_FJ_Step=25;
            TBJ_bSJ = 0;
        }
        //手动合模
        if (TBJ_bHM&&TBJ_Hemo_flag==0)//&& !TBJ_SM_VAVLE) //屏幕按钮按下 ||  上模没输出   &&    手动合模输入
        {
            if ( !TBJ_XC_Reset_flag&&TBJ_FJ_ORIGIN_IN && !TBJ_FJ_LIMIT_IN //分胶阀感应判断
                && ((!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN) || TBJ_PARAM_SongJiaoMode) //送胶阀原点，或者滚筒模式                           //送胶阀感应判断
                && !TBJ_FJ_VAVLE && !TBJ_SJ_VAVLE && !TBJ_CS_OUT //分胶阀，送胶阀、超声未动作                                              //分胶阀判断 送胶阀判断  超声判断
                && ((TBJ_PARAM_SGZSelect) || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)))//双钩钩针在原点、或单钩针                                  //双钩针模式需考虑钩针有无输出
            {
                if(TBJ_PARAM_XiaChong_MODE==0)
                {
                   TBJ_SM_VAVLE = 1;//气缸合模
                   TBJ_Hand_Hemo_flag=1;                   
                }
                else
                {
                  TBJ_HeMo_Step=1;//伺服合模   
                  TBJ_GZ_VAVLE = 0;//钩针
                  TBJ_FJ_VAVLE = 0; //分胶
                  TBJ_DZ_VAVLE=0;//顶针
                  TBJ_SJ_VAVLE=0;//送胶
                  TBJ_HeMo_Delay=dwTickCount+100;
                  if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN;
                  else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN;
                  set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,
                                            TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW);
                }                
                if (TBJ_PARAM_XiaMo_Mode == 0)TBJ_XM_VAVLE = 1; //下模活动  
                TBJ_bHM = 0;
            }
            else 
            {
                TBJ_bHM = 0;                
                if (!TBJ_FJ_ORIGIN_IN)
                    TBJ_SetAlarmCode(46); //E46 手动合模停止，分胶阀未退位，或 X13分胶后感应异常
                else if (TBJ_FJ_LIMIT_IN)
                    TBJ_SetAlarmCode(47); //E47 手动合模停止，分胶阀未退位，或 X12分胶前感应异常
                else if (TBJ_SJ_LIMIT_IN)
                    TBJ_SetAlarmCode(48); //E48 手动合模停止，送胶阀未退位，或 X16送胶前感应异常
                else if (!TBJ_SJ_ORIGIN_IN)
                    TBJ_SetAlarmCode(49); //E49 手动合模停止，送胶阀未退位，或 X17分胶后感应异常
                else if (TBJ_CS_OUT)
                    TBJ_SetAlarmCode(50); //E50 手动合模停止，超声未关闭
                else if(TBJ_XC_Reset_flag)
                    TBJ_SetAlarmCode(TBJ_XC_NO_REST); //E09 下冲电机未复位
            }
        }
        else if (TBJ_bHM&&TBJ_Hemo_flag)//  && TBJ_SM_VAVLE) //屏幕按钮按下 &&  上模已输出   &&    手动合模没输入
        {
          if(TBJ_PARAM_XiaChong_MODE==0)TBJ_SM_VAVLE = 0; //上模退回
          else 
          {
            TBJ_HeMo_Step=20;//伺服合模 
            SetPos(Y_AXIS,dwYRealPos_com);
            //Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
            TBJ_SERVO_CLR=0;
            TBJ_HeMo_Delay=dwTickCount+100;
          }
          if (TBJ_PARAM_XiaMo_Mode == 0)TBJ_XM_VAVLE = 0; //下模退回 //双钩针模式下 或下模活动模式
          TBJ_bHM = 0;
        }
        //合模后吹气一次
        if (TBJ_SM_LIMIT_IN&&TBJ_Hand_Hemo_flag) //合模到位
        {
            TBJ_ChuiQi(); //启动吹气
            TBJ_Hand_Hemo_flag = 0;
        }
        //连续超声
        if(TBJ_bCS)
        {
            if ((!TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN ) //分胶阀判断
                && ( !TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || TBJ_PARAM_SongJiaoMode))                                                      //送胶阀判断
            {
               if (TBJ_bCS && !TBJ_bCS_FLAG) //按钮已按下，超声未开始
               {
                  TBJ_bCS_FLAG = 1;                                 //cMidleCoil[0] |= (1<<10);  //M10
                  TBJ_CS_OUT = 1;                                   //发超声
                  TBJ_CS_Delay = dwTickCount + TBJ_Choose_CSTime(); //限长时间1.5
                }
             }
           TBJ_bCS=0; 
        }
        if(TBJ_bCS_FLAG&&dwTickCount >= TBJ_CS_Delay)
        {
           TBJ_bCS_FLAG=0;
           TBJ_bCS_FLAG = 0; //超声标志位清零
           TBJ_CS_OUT = 0;   //关闭超声
           TBJ_ChuiQi();     //开启吹气
        }
        //合模+超声
        if(TBJ_bSC&& !TBJ_bSC_FLAG)
        {
          TBJ_bSC=0;
          if (!TBJ_XC_Reset_flag&&(!TBJ_FJ_VAVLE && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN || TBJ_PARAM_FenJiaoSelect) //分胶阀判断
            && (!TBJ_SJ_VAVLE && !TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || TBJ_PARAM_SongJiaoMode)                                                      //送胶阀判断
            && (dwTickCount >= TBJ_CS_Delay)) 
          {
              if ((TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)))
              {
                  TBJ_bSC_FLAG = 1;
                  TBJ_HMCS_Step = 1; //整个合模超声过程
                  TBJ_GZ_VAVLE = 0;//钩针
                  TBJ_FJ_VAVLE = 0; //分胶
                  TBJ_DZ_VAVLE=0;//顶针
                  TBJ_SJ_VAVLE=0;//送胶
                  if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN;
                  else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN;
                  set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,
                                            TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW);
              }
          }
          else
          {
            if (TBJ_FJ_VAVLE)
                TBJ_SetAlarmCode(57); //E57 手动上超停止，分胶阀未退回
            else if (TBJ_FJ_LIMIT_IN)
                TBJ_SetAlarmCode(58); //E58 手动上超停止，分胶阀未退回，或X12分胶前感应异常
            else if (!TBJ_PARAM_FenJiaoSelect && !TBJ_FJ_ORIGIN_IN)
                TBJ_SetAlarmCode(59); //E59 手动上超停止，分胶阀未退回，或X13分胶后感应异常
            else if (TBJ_PARAM_SongJiaoMode == 0)
            {
                if (TBJ_SJ_VAVLE)
                    TBJ_SetAlarmCode(60); //E60 手动上超停止，送胶阀未退回
                if (TBJ_SJ_LIMIT_IN)
                    TBJ_SetAlarmCode(61); //E61 手动上超停止，送胶阀未退回,或X16送胶到位感应异常
                if (!TBJ_SJ_ORIGIN_IN)
                    TBJ_SetAlarmCode(62); //E62 手动上超停止，送胶阀未退回,或X17退胶到位感应异常
            }
            else if(TBJ_XC_Reset_flag)
                    TBJ_SetAlarmCode(TBJ_XC_NO_REST); //E50 手动合模停止，超声未关闭
          }          
        }
        //手动夹胶(压带)
        if (TBJ_bJJ)
        {
            if (TBJ_JJ_VAVLE)
                TBJ_JJ_VAVLE = 0;
            else
                TBJ_JJ_VAVLE = 1;
            TBJ_bJJ = 0;
        }
        //手动压带
         if (TBJ_bYD)
        {
            if (TBJ_YD_VAVLE)
                TBJ_YD_VAVLE = 0;
            else
                TBJ_YD_VAVLE = 1;
            TBJ_bYD = 0;
        }
        //顶针
        if (TBJ_bDZ)
        {
            if (TBJ_DZ_VAVLE)
                TBJ_DZ_VAVLE = 0;
            else
                TBJ_DZ_VAVLE = 1;
            TBJ_bDZ = 0;
        }
      /*给力无松带
         //松带
        if (TBJ_bSD)
        {
            if (TBJ_SD_VAVLE)
                TBJ_SD_VAVLE = 0;
            else
                TBJ_SD_VAVLE = 1;
            TBJ_bSD = 0;
        }
       */
        //风扇
        if (TBJ_bFS)
        {
          if (TBJ_LQFS_OUT){
              SetEn(X_AXIS, TBJ_MOTOR_DISEN);
              SetEn(Y_AXIS, TBJ_MOTOR_DISEN);
              TBJ_XC_Reset_flag=1;
              TBJ_LQFS_OUT = 0;
          }
            else
            {
              SetEn(X_AXIS, TBJ_MOTOR_EN);
              SetEn(Y_AXIS, TBJ_MOTOR_EN);
              TBJ_LQFS_OUT = 1;
            }
            TBJ_bFS = 0;
        }
      
        //手动拖带
        if(TBJ_bMotor_N)
        {
           SetEn(X_AXIS, TBJ_MOTOR_EN);
          if(!X_DRV)
          {
            AxisContinueMoveAcc(X_AXIS,1000,DIR_N,1000,1000,10,12);
          }
        }
        else if(TBJ_bMotor_P)
        {
           SetEn(X_AXIS, TBJ_MOTOR_EN);
           if(TBJ_GZ_LIMIT_IN)
          {
            TBJ_bMotor_N=0;
            AxisEgmStop(X_AXIS);
          }
          if(!X_DRV&&!TBJ_GZ_LIMIT_IN)
          {
            AxisContinueMoveAcc(X_AXIS,1000,DIR_P,1000,1000,10,12);
          }
        }
        else 
        {
          if(X_DRV)
          {
            AxisEgmStop(X_AXIS);   
          }
        }
        //手动下冲
        if(TBJ_bYMotor_N)
        {
          SetEn(Y_AXIS, TBJ_MOTOR_EN);
          if(TBJ_Y_ORIGIN_IN)AxisEgmStop(Y_AXIS); 
          if(!Y_DRV&&!TBJ_Y_ORIGIN_IN)
          {
            AxisContinueMoveAcc(Y_AXIS,800,DIR_N,800,800,10,12);
          }
        }
        else if(TBJ_bYMotor_P)
        {
          SetEn(Y_AXIS, TBJ_MOTOR_EN);
          //if(TBJ_Y_RUNING_IN)AxisEgmStop(Y_AXIS); 
          if(!Y_DRV&&TBJ_FJ_ORIGIN_IN&&TBJ_SJ_ORIGIN_IN)
          {
            AxisContinueMoveAcc(Y_AXIS,800,DIR_P,800,1000,10,12);
          }
        }
        else 
        {
          if(Y_DRV&&!TBJ_bXCResting&&TBJ_HMCS_Step==0&&TBJ_HeMo_Step==0)
          {
            AxisEgmStop(Y_AXIS);   
          }
        }
        //复位下冲
        if(TBJ_bXCRest&&GetServoComState(Y_AXIS))
        {
          TBJ_bXCRest=0;
          TBJ_bXCResting=1;
          TBJ_XC_RstStep=1;
          TBJ_GZ_VAVLE = 0;//钩针
          TBJ_FJ_VAVLE = 0; //分胶
          TBJ_DZ_VAVLE=0;//顶针
          TBJ_SJ_VAVLE=0;//送胶
          SetEn(Y_AXIS, TBJ_MOTOR_EN);
          TBJ_XCRst_Delay=dwTickCount+100;
          //Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
          TBJ_SERVO_CLR=0;
          if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN;
          else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN;
          set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_SFZSY_SPEED,TBJ_PARAM_SFZSY_SPEED,SERVO_TARR_CW);
        }
    }
#endif
}
//伺服合模处理
void TBJ_SFHeMo_Proc(void)
{
  switch(TBJ_HeMo_Step)
  {
  case 1:
    if(dwTickCount>=TBJ_HeMo_Delay)
    {
      TBJ_LENTH=TBJ_PARAM_Y_Work_Local-dwYRealPos;
      AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED,TBJ_LENTH,1000,1000,20,20,10);                                   
      TBJ_HeMo_Step++;
    }
    break;
  case 2:
    if(!Y_DRV)
    {
      TBJ_HeMo_Step=3;       
      //Set_Ctrlmode_trans(Y_AXIS,TARR_MODE);
      TBJ_SERVO_CLR=1;
      TBJ_HeMo_Delay=dwTickCount+100;
    }
    break;
  case 3:
    if(dwTickCount>=TBJ_HeMo_Delay)
    {
      TBJ_HeMo_Step=0;
      TBJ_Hemo_flag=1;
      SetPos(Y_AXIS,dwYRealPos_com);      
    }
    break;  
  case 20:
    if(dwTickCount>=TBJ_HeMo_Delay)
    {
      TBJ_LENTH=dwYRealPos-0;
      AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, -TBJ_LENTH, 1000,
                                  1000, 20, 20, 10); 
      TBJ_HeMo_Step++;
    }
    break; 
  case 21:
    if(!Y_DRV)
    {
      TBJ_HeMo_Step=0;
      TBJ_Hemo_flag=0;
      TBJ_ChuiQi(); //启动吹气
    }
    break;
  }
}
//下冲复位处理
void TBJ_XCReset_Proc(void)
{
  switch(TBJ_XC_RstStep)
  {
  case 1:
    if(TBJ_XC_Reset_flag)
    {
      AxisDisableSoftwarelmt(Y_AXIS);
      if(TBJ_Y_ORIGIN_IN&&dwTickCount>=TBJ_XCRst_Delay)
      {
        TBJ_XC_RstStep=4;            
        AxisContinueMove(Y_AXIS,200,DIR_P);
      }
      else
      {
        TBJ_XC_RstStep++;
        AxisContinueMove(Y_AXIS,800,DIR_N);
      }
    }
    else
    {
      TBJ_XC_RstStep=14;
      SetPos(Y_AXIS,dwYRealPos_com);
    }
    break;
  case 2:
    if(TBJ_Y_ORIGIN_IN)
    {
      TBJ_XC_RstStep++;
      AxisEgmStop(Y_AXIS); 
      TBJ_XCRst_Delay=dwTickCount+10;
    }
    break;
  case 3:
    if(dwTickCount>=TBJ_XCRst_Delay)
    {
      TBJ_XC_RstStep++;
      AxisContinueMove(Y_AXIS,200,DIR_P); 
    }
    break;
  case 4:
    if(!TBJ_Y_ORIGIN_IN)
    {
      TBJ_XC_RstStep++;
      AxisEgmStop(Y_AXIS); 
      TBJ_XCRst_Delay=dwTickCount+10;
    }
    break;
  case 5:
    TBJ_XC_RstStep++;
    AxisMovePosAccDec(Y_AXIS,800,10,800,800,10,10,0);    
    break;
  case 6:
    if(dwTickCount>=TBJ_XCRst_Delay&&!Y_DRV)
    {
      TBJ_XC_RstStep++;
      AxisContinueMove(Y_AXIS,200,DIR_N);  
    }
    break;
  case 7:
    if(TBJ_Y_ORIGIN_IN)
    {
      TBJ_XC_RstStep++;
      AxisEgmStop(Y_AXIS); 
      TBJ_XCRst_Delay=dwTickCount+10;
    }
    break;
  case 8:
   if(dwTickCount>=TBJ_XCRst_Delay&&!Y_DRV)
    {
      TBJ_XC_RstStep++;
      //AxisMovePos(Y_AXIS,400,-10);
      AxisMovePosAccDec(Y_AXIS,400,-10,400,400,10,10,0);
    }
    break;
  case 9:
    if(!Y_DRV)
    {
      /*if(TBJ_PARAM_SFXC_MODE)
      {
        if(get_tarr_set(Y_AXIS)!=2)//伺服配置转矩限制失败
        {
          TBJ_XC_RstStep=0;
          SetEn(Y_AXIS, MOTOR_DISEN);//设置扭矩做准备
          TBJ_XC_Reset_flag=1;
          TBJ_SetAlarmCode(65);//伺服转矩配置失败
        }
      }*/
      TBJ_XC_RstStep++;
      TBJ_XCRst_Delay=dwTickCount+100;
    }
    break;
  case 10:
    if(dwTickCount>=TBJ_XCRst_Delay&&!Y_DRV)
    {
      
      SetPos(Y_AXIS, 0);
      axis_set_com_pos(Y_AXIS,0); 
      //if(TBJ_PARAM_SFXC_MODE==0)
      {        
        TBJ_XC_RstStep=0;
        TBJ_bXCResting=0;
        TBJ_XC_Reset_flag=0;
        AxisEnableSoftwarelmt(Y_AXIS,TBJ_PARAM_Y_SOFT_PLIMIT,0);
      }
      /*else
      {       
        TBJ_XC_RstStep++;
        TBJ_XCRst_Delay=dwTickCount+10;
      }*/      
    }
    break;
  case 11:
      if(dwTickCount>=TBJ_XCRst_Delay)
      {
        TBJ_XC_RstStep++;
        //Set_Ctrlmode_trans(Y_AXIS,TARR_MODE); 
        TBJ_SERVO_CLR=1;
        TBJ_XCRst_Delay=dwTickCount+100;
      }
      break;
  case 12://扭矩到达      
      if (dwTickCount >= TBJ_XCRst_Delay)
      {
          TBJ_XC_RstStep ++;
          TBJ_XCRst_Delay = dwTickCount + 500;            
      }
      break;
   case 13://扭矩到达并维持10ms
     // if (!(GetTarr(Y_AXIS)))  
     if (TBJ_TARR_LIMIT)         
      {
        if((dwTickCount >= TBJ_XCRst_Delay))
        {
          TBJ_XC_RstStep++;
          TBJ_PARAM_Y_Work_Local= dwYRealPos_com-30;
          TBJ_PARAM_Y_SOFT_PLIMIT=dwYRealPos_com-20;
          //AxisEnableSoftwarelmt(Y_AXIS,TBJ_PARAM_Y_SOFT_PLIMIT,0);
          SetPos(Y_AXIS,dwYRealPos_com);
          //Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
          TBJ_SERVO_CLR=0;
          TBJ_XCRst_Delay = dwTickCount + 10;
        }
      }
      else
      {
         TBJ_XCRst_Delay = dwTickCount + 100; 
      }
      break;
   case 14://扭矩到达
      if(dwTickCount>=TBJ_XCRst_Delay)
      {
          TBJ_XC_RstStep ++;
          AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, -dwYRealPos, 1000,
                                  1000, 20, 20, 10) ;         
      }
      break;
   case 15://扭矩到达
      if(!Y_DRV)
      {
        TBJ_XCRst_Delay = dwTickCount + 100;
         TBJ_XC_RstStep = 16;  
      }
      break;
    case 16://扭矩到达
      if(dwTickCount>=TBJ_XCRst_Delay)
      {
        if(TBJ_Y_ORIGIN_IN)
        {
          TBJ_XC_RstStep = 0;
          TBJ_bXCResting=0;
          TBJ_XC_Reset_flag=0;
        }
        else
        {
          TBJ_XC_RstStep = 1;
          TBJ_bXCResting=1;
          TBJ_XC_Reset_flag=1;
        }
      }
      break;
  }
}
//送胶动作
void TBJ_SongJiao(void)
{
#if 1
    if (TBJ_bStop)
        return;
    switch (TBJ_SJ_FJ_Step)
    {
    case 0:
        break;
    case 1:
        TBJ_SJ_FJ_Step = 2;
        TBJ_SJ_Delay = dwTickCount + TBJ_PARAM_FJ_DELAY;
        break;
    case 2:
        if (dwTickCount >= TBJ_SJ_Delay)
        {
            TBJ_SJ_FJ_Step = 3;
            TBJ_FJ_VAVLE = 1;                           //分胶阀输出
            //TBJ_JJ_VAVLE = 1;                           //夹胶阀输出
            TBJ_JJ_VAVLE = 0; //2024-0903
            TBJ_FJ_Delay = dwTickCount + 1;            //分胶阀输出时间
            TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME; //分胶阀输出容错时间
        }
        break;
    case 3:
        if (TBJ_FJ_LIMIT_IN )
        {
            TBJ_SJ_FJ_Step = 4;
            TBJ_SJ_VAVLE = 1; //送胶输出
            TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME;
            TBJ_FJ_Delay = dwTickCount + TBJ_PARAM_SJ_TIME;
        }
        else if (dwTickCount > TBJ_SJ_ErrorTime)
        {
            TBJ_SetAlarmCode(10); //E10 分胶未到位或 X12分胶前感应异常,无法送胶
        } 
        break;
    case 4:
        TBJ_SJ_FJ_Step = 5;
       /*
        if ((TBJ_PARAM_SGZSelect || (TBJ_Motor_Step == 0)) && (dwTickCount >= TBJ_SJ_Delay))
        {
            if (TBJ_FJ_LIMIT_IN && TBJ_FJ_VAVLE)
            {
                TBJ_SJ_FJ_Step = 5;
                TBJ_SJ_VAVLE = 1; //送胶输出
                TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME;
                TBJ_FJ_Delay = dwTickCount + TBJ_PARAM_SJ_TIME;
            }
            else if (dwTickCount > TBJ_SJ_ErrorTime)
            {
                TBJ_SetAlarmCode(10); //E10 分胶未到位或 X12分胶前感应异常,无法送胶
            }
        }*/
        break;
    case 5:
        if (TBJ_SJ_LIMIT_IN_UP || (TBJ_PARAM_SongJiaoMode && (dwTickCount > TBJ_FJ_Delay)))
        {
           TBJ_SJ_FJ_Step = 6;
           TBJ_FJ_Delay = dwTickCount + 20; 
        }
        else if (dwTickCount > TBJ_SJ_ErrorTime)
        {
            TBJ_SetAlarmCode(4); //E04 送胶不到位或 X07送胶前感应异常
        }
        break;
    case 6:
        if ((dwTickCount >= TBJ_FJ_Delay) && (!X_DRV || TBJ_GUO_LIAN_IN_UP))
        {
            TBJ_SJ_FJ_Step = 7;
            //TBJ_QJ_Step=1;
            TBJ_FJ_VAVLE = 0; //关分胶
            //TBJ_JJ_VAVLE = 0;     //关夹胶
            TBJ_JJ_VAVLE=1;//2024-0903
            TBJ_FJ_Delay = dwTickCount + 10;
            TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME;
        }
        break;
    case 7:
        if (!TBJ_FJ_LIMIT_IN  && (dwTickCount >= TBJ_FJ_Delay) )
        {
            TBJ_SJ_FJ_Step = 8;
            if (TBJ_PARAM_SongJiaoMode == 0)TBJ_SJ_VAVLE = 0; //气缸送胶先退，滚轮送胶先不退或是触摸屏手动退送胶
            TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME;
        }
        else if (dwTickCount >= TBJ_SJ_ErrorTime)
        {
            TBJ_SetAlarmCode(6); //E06 退分胶不到位警告或 X13分胶后感应异常
        }
        break;
    case 8:
        if ((TBJ_PARAM_SongJiaoMode)||(!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN))
        {
            TBJ_SJ_FJ_Step = 0;
            TBJ_JJ_VAVLE=0;//2024-0903
        }
        else if (dwTickCount >= TBJ_SJ_ErrorTime)
        {
            TBJ_SetAlarmCode(5); //E05 退胶不到位警告 或 X16、X17送胶前后感应异常
        }
        break; 
    //手动送胶    
    case 20://手动送胶
      TBJ_JJ_VAVLE = 0;                //压胶阀输出
      TBJ_SJ_Delay = dwTickCount + 70; //延迟70ms输出送胶阀
      TBJ_SJ_FJ_Step = 21;
      break;
    case 21:
      if (dwTickCount >= TBJ_SJ_Delay)
      {
        TBJ_SJ_VAVLE = 1;                //压胶阀输出
        TBJ_SJ_FJ_Step = 22;
      }
      break;
    case 22:
      if (TBJ_SJ_LIMIT_IN)
      {
        //TBJ_JJ_VAVLE = 1;               //压胶阀输出
        TBJ_SJ_FJ_Step = 23;
        TBJ_FJ_Delay = dwTickCount + 100;
      }
      break;
    case 23:
      if (dwTickCount>=TBJ_FJ_Delay)
      {
        TBJ_JJ_VAVLE = 1;               //压胶阀输出
        TBJ_SJ_FJ_Step = 0;
        TBJ_FJ_Delay = dwTickCount + 50;
      }
      break;
   
   case 25://手动退送胶
      TBJ_JJ_VAVLE = 1;                //压胶阀输出
      TBJ_SJ_Delay = dwTickCount + 50; //延迟120ms退回送胶阀
      TBJ_SJ_FJ_Step = 26;
      break;
    case 26:
      if (dwTickCount >= TBJ_SJ_Delay)
      {
        TBJ_SJ_VAVLE = 0;                //压胶阀输出
        TBJ_SJ_FJ_Step = 27;
        //TBJ_QJ_Step=1;
      }
      break;
    case 27:
      if (TBJ_SJ_ORIGIN_IN)
      {
        //判断是否使用切胶
        //TBJ_YD_VAVLE = 0;               //压胶阀输出        
        //TBJ_SJ_FJ_Step = 0;
        //TBJ_QJ_Step=1;
        TBJ_SJ_FJ_Step = 28;
        TBJ_SJ_Delay = dwTickCount + 50; //延迟120ms退回送胶阀
      }
      break;
    case 28:
      if ((dwTickCount >= TBJ_SJ_Delay))
      //if (TBJ_QJ_Step==0&& (dwTickCount >= TBJ_SJ_Delay))
      {
        TBJ_JJ_VAVLE = 0;                  
        TBJ_SJ_FJ_Step = 0;
      }
      break;
    }
#endif    
}

//切胶处理
void TBJ_QieJiao_Proc(void)
{
#if 1   
  switch (TBJ_QJ_Step)
  {
  case 1:
    if(TBJ_SJ_ORIGIN_IN)
    {
      TBJ_QJ_Step=2;
      TBJ_QJ_VAVLE=1;
      TBJ_QieJiao_Delay=dwTickCount+ERRORTIME;
    }
    break;
  case 2:
    if(TBJ_QJ_LIMIT_IN)
    {
      TBJ_QJ_Step=3;
      TBJ_QJCQ_Start();
      TBJ_QieJiao_Delay=dwTickCount+10;
    }
    else if(dwTickCount>=TBJ_QieJiao_Delay)
    {
      TBJ_SetAlarmCode(TBJ_QJLIMIT_ALARM); //E15 切胶到位异常，检查X11
    }
    break;
  case 3:
    TBJ_QJ_Step=0;
    TBJ_QJ_VAVLE=0;
    break;
  }
#endif  
}
//合模超声动作
void TBJ_ChaoShengHeMo(void)
{
#if 1  
    unsigned short cs_time;
    switch (TBJ_HMCS_Step)
    {
    case 0:
        break;
    case 1:
        if (!TBJ_FJ_VAVLE && (!TBJ_SJ_VAVLE || TBJ_PARAM_SongJiaoMode)               //输出阀判断
            && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN                                //分胶阀位置判断
            && (!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || (TBJ_PARAM_SongJiaoMode == 1)) //送胶阀位置判断
            && (TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)))                                //钩针阀判断
        {
            TBJ_SM_VAVLE = 1; // 下冲
            TBJ_SFHM_Step=1;
            if ((TBJ_PARAM_XiaMo_Mode == 0) && (TBJ_PARAM_SGZSelect != 0))
                TBJ_XM_VAVLE = 1;
            TBJ_HMCS_Step = 2;
            TBJ_SM_ErrorTime = dwTickCount + (unsigned long)ERRORTIME; //上模下冲容错时间
        }
        else if (!TBJ_bRunning)
            TBJ_HMCS_Step = 0;
        break;
    case 2:
        if (TBJ_SM_LIMIT_IN && ((TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)) || TBJ_PARAM_XiaMo_Mode)) //1 下模不动
        {
            TBJ_CS_Delay = dwTickCount + TBJ_PARAM_CS_DELAY; //延时超声
            TBJ_HMCS_Step = 3;
            if (TBJ_PARAM_TuiGouZhen_Mode == 1) //0　先超声后下勾针，1　先下勾针后超声
                TBJ_GZ_VAVLE = 0;
        }
        else if ((dwTickCount >= TBJ_SM_ErrorTime) && !TBJ_SM_LIMIT_IN)
        {
            TBJ_SetAlarmCode(26); //E26 超声停止，合模不到位或 X03下冲到位感应异常
        }
        else if ((dwTickCount >= TBJ_SM_ErrorTime) && (TBJ_GZ_LIMIT_IN))
        {
            TBJ_SetAlarmCode(27); //E27 超声停止，钩针不到位或 TBJ_GZ_ORIGIN_IN钩针复位感应异常
        }
        break;
    case 3:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_bCS = 0;
            TBJ_CS_OUT = 1; //超声打开
            cs_time = TBJ_Choose_CSTime();
            if (cs_time > 1500)
                cs_time = 1500; //超声时间上限为1.5 S
            TBJ_CS_Delay = dwTickCount + cs_time;
            TBJ_HMCS_Step = 4;
        }
        TBJ_SJ_VAVLE = 0;
        break;
    case 4:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_HMCS_Step = 5;
            TBJ_CS_OUT = 0;
            TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime() / 3); //固化一半时间
        }
        break;
    case 5:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_HMCS_Step = 6;
            TBJ_ChuiQi();
            TBJ_GZ_VAVLE = 0;
            TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime()*2 / 3);
        }
        break;
    case 6:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            if (TBJ_PARAM_HONGWAI_GanYin != 0)
            {
                //重新算温度
                cs_time = user_datas[55];
                if (user_datas[39] == 0)
                    user_datas[39] = 1;
                //测温值              降时间阀值
                if ((cs_time >= user_datas[37]) && (cs_time >= user_datas[58]))
                {
                    cs_time = (cs_time - user_datas[58]) / user_datas[39];
                    cs_time *= user_datas[38];
                    if (cs_time > 3)
                        cs_time = 3;
                    if ((user_datas[59] + cs_time) < 4)
                        user_datas[59] += cs_time;
                    else if (user_datas[59] < 4)
                    {
                        cs_time = 3 - user_datas[59];
                        user_datas[59] = 3;
                    }
                    else
                        cs_time = 0;
                }
                else
                    cs_time = 0;
                user_datas[57] = TBJ_Choose_CSTime();
                user_datas[57] -= cs_time;
                TBJ_ResetCsTime();
            }
            user_datas[56] = user_datas[55];
            if (user_datas[56] > user_datas[58])
                user_datas[58] = user_datas[55];
            TBJ_SM_VAVLE = 0;            
            TBJ_XM_VAVLE = 0;
            TBJ_HMCS_Step = 0;
            TBJ_CS_Delay = dwTickCount + 350;
        }
        break;
    }
#endif    
}
//合模超声动作,伺服合模
void TBJ_ChaoShengHeMo_SF(void)
{
#if 1  
    unsigned short cs_time;
    static unsigned char JLXL_flag=0,JLXL_flag1=0;
    switch (TBJ_HMCS_Step)
    {
    case 0:
        break;
    case 1://走位置
        if (!Y_DRV&&!TBJ_FJ_VAVLE && (!TBJ_SJ_VAVLE || TBJ_PARAM_SongJiaoMode)               //输出阀判断
            && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN                                //分胶阀位置判断
            && (!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || (TBJ_PARAM_SongJiaoMode == 1)) //送胶阀位置判断
            )                                //钩针阀判断
        {          
            if(TBJ_PARAM_TuiGouZhen_Mode)//先下钩针
            {
               TBJ_GZ_VAVLE=0;
               TBJ_CS_Delay = dwTickCount + TBJ_PARAM_GZREBACK_TIME;
               TBJ_HMCS_Step = 2; 
            }
            else//先超声
            {                
                TBJ_HMCS_Step = 3;
                TBJ_CS_Delay = dwTickCount + 0;
            }
        }
        else if (!TBJ_bRunning)
            TBJ_HMCS_Step = 0;
        break;
    case 2://转扭矩
        if(dwTickCount>=TBJ_CS_Delay)
        {
           TBJ_DZ_VAVLE=0;
           TBJ_HMCS_Step = 3; 
           TBJ_CS_Delay = dwTickCount+10; 
        }
        break;
    case 3://转扭矩
        if(dwTickCount>=TBJ_CS_Delay)
        {
          if(TBJ_PARAM_SFXC_MODE&&TEST1<1) //自适应模式第一条走扭矩
          {
             TBJ_LENTH=100-dwYRealPos;
             AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, TBJ_LENTH, 1000,
                                  1000, 20, 20, 10);
          }
          else
          {
            TBJ_LENTH=TBJ_PARAM_Y_Work_Local-dwYRealPos;
            AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, TBJ_LENTH, 1000,
                                  1000, 20, 20, 10);
          }
          TBJ_HMCS_Step = 4;
        }
        break;         
    case 4://转扭矩        
        if (!Y_DRV)
        {            
            TBJ_HMCS_Step = 5;
            //Set_Ctrlmode_trans(Y_AXIS,TARR_MODE);
            TBJ_SERVO_CLR=1;
            TBJ_CS_Delay = dwTickCount + 10;
            if (TBJ_PARAM_TuiGouZhen_Mode == 1)TBJ_GZ_VAVLE = 0;//0　先超声后下勾针，1　先下勾针后超声
        }
        break;
    case 5://扭矩到达
       // if (!GetTarr(Y_AXIS))
        if (TBJ_TARR_LIMIT)
        {
          if(dwTickCount >= TBJ_CS_Delay)
          {
            TBJ_HMCS_Step = 6;
            TBJ_CS_Delay = dwTickCount + 10;
          }            
        }
        else
        {
          TBJ_CS_Delay = dwTickCount + 10;
        }
        break;
    case 6://扭矩到达并维持10ms
        //if (!GetTarr(Y_AXIS)&&(dwTickCount >= TBJ_CS_Delay))
        if (TBJ_TARR_LIMIT&&(dwTickCount >= TBJ_CS_Delay))
        {
            //获取Y轴位置
           if(TBJ_PARAM_SFXC_MODE&&TEST1<1)  
              TBJ_CS_Delay = dwTickCount + 200; //延时超声             
           else
              TBJ_CS_Delay = dwTickCount + TBJ_PARAM_CS_DELAY; //延时超声
            TBJ_HMCS_Step = 7;            
        }
        break;
    case 7:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_CS_Y_Local=dwYRealPos_com;
            if(TEST1<=1)TBJ_FIRST_CS_Y_LOCAL=dwYRealPos_com;            
            if(abs(TBJ_FIRST_CS_Y_LOCAL-TBJ_CS_Y_Local)<=3)
            {   
              TBJ_bCS = 0;
              TBJ_CS_OUT = 1; //超声打开
              cs_time = TBJ_Choose_CSTime();
              if (cs_time > 1500)
                  cs_time = 1500; //超声时间上限为1.5 S
              TBJ_CS_Delay = dwTickCount + cs_time;
              if(TBJ_PARAM_CS_MODE)
                  TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_JL_BD_DELAY;
              else
                  TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_JL_TM_DELAY;
              JLXL_flag=1;
              TBJ_HMCS_Step = 8;
            }
            else
            {
              TBJ_HMCS_Step = 10;
              TBJ_CS_Delay = dwTickCount + 100;
            }
        }        
        break;
    case 8:
        if(dwTickCount>=TBJ_HeMo_JLXL_Delay&&JLXL_flag)
        {
           JLXL_flag=0;
           JLXL_flag1=1;
           if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMAX;
           else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMAX;
            
           set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW);
           if(TBJ_PARAM_CS_MODE)
               TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_XL_BD_DELAY;
            else
               TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_XL_TM_DELAY;
        }
        if(dwTickCount>=TBJ_HeMo_JLXL_Delay&&JLXL_flag1)
        {
           JLXL_flag1=0;  
           if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN;
           else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN;
           set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW);
        }
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_HMCS_Step = 9;
            TBJ_GH_Y_Local=dwYRealPos_com;
            TBJ_CS_OUT = 0;
            TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime() / 3); //固化一半时间
            if(JLXL_flag)
            {
              if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMAX;
              else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMAX;
              set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW);            
              if(TBJ_PARAM_CS_MODE)
                 TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_XL_BD_DELAY;
              else
                 TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_XL_TM_DELAY;
              JLXL_flag1=1;
            }
        }
        break;
    case 9:
        if(dwTickCount>=TBJ_HeMo_JLXL_Delay&&JLXL_flag1)
        {
           JLXL_flag1=0;
           if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN;
           else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN;
           set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW);
        }
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_HMCS_Step = 10;
            TBJ_ChuiQi();
            TBJ_GZ_VAVLE = 0;
            TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime()*2 / 3);
        }
        break;
    case 10:
        if(dwTickCount>=TBJ_HeMo_JLXL_Delay&&JLXL_flag1)
        {
           JLXL_flag1=0;
           if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN;
           else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN;
           set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW);
        }
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_XM_VAVLE = 0;
            TBJ_HMCS_Step = 11;
            SetPos(Y_AXIS,dwYRealPos_com);
            Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
            TBJ_SERVO_CLR=0;
            TBJ_XC_CS_LOCAL=dwYRealPos_com;
            if(TEST1<1)
            {
                TBJ_PARAM_Y_Work_Local= dwYRealPos_com-25;
                TBJ_PARAM_Y_SOFT_PLIMIT=dwYRealPos_com-15;
                TBJ_WAIT_LOCAL=dwYRealPos_com-TBJ_PARAM_Y_Wait_Local;
                AxisEnableSoftwarelmt(Y_AXIS,TBJ_PARAM_Y_SOFT_PLIMIT,0);
            }
            TBJ_CS_Delay = dwTickCount + 10;
        }
        break;
     case 11:
        if (dwTickCount >= TBJ_CS_Delay)
        {
           SetPos(Y_AXIS,dwYRealPos_com);
           dwYRealPos = GetPos(Y_AXIS);
           TBJ_LENTH=dwYRealPos-0; 
           TBJ_CS_Delay = dwTickCount+1500; 
           AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, -TBJ_LENTH, 1000,
                                  1000, 20, 20, 10);
           TBJ_HMCS_Step = 12;
        }        
        break;
      case 12:
        if (TBJ_Y_ORIGIN_IN)
        {
            TBJ_GZ_VAVLE=0;
            TBJ_YD_VAVLE=0;
            TBJ_DZ_VAVLE=0; 
            TBJ_HMCS_Step = 0;
            TBJ_bSC_FLAG=0;   
        }
        else if(dwTickCount >= TBJ_CS_Delay)
        {
          TBJ_SetAlarmCode(TBJ_NO_YORIGIN_ALARM);//E19 超声结束后伺服未复位到原点
        }
        break;
    }
#endif    
}

//启动停止故障停止动作
void TBJ_StartStopAction(void)
{
#if 1 
    //告警灯
    if(GetAlarmCode(TBJ_ALARM_ADDR)==0)
    {
      TBJ_LED_R_OUT=0;
      TBJ_LED_Y_OUT=0;
      TBJ_LED_G_OUT=0;
      if(TBJ_bRunning)TBJ_LED_G_OUT=1;
      else TBJ_LED_Y_OUT=1;
    }
    else
    {
      TBJ_LED_R_OUT=1;
      TBJ_LED_Y_OUT=0;
      TBJ_LED_G_OUT=0;
    }
    //卡带感应
    if(TBJ_KADAI_IN)
    {
      TBJ_SetAlarmCode(TBJ_KADAI_ALARM);      
    }
    else
    {
      if(GetAlarmCode(TBJ_ALARM_ADDR) == TBJ_KADAI_ALARM)SetAlarmCode(TBJ_ALARM_ADDR,0);
    }
    if(GetAlarm(Y_AXIS)==1)
    {
      TBJ_SetAlarmCode(TBJ_SERVO_ALARM); 
    }
    else
    {
      if(GetAlarmCode(TBJ_ALARM_ADDR) == TBJ_SERVO_ALARM)SetAlarmCode(TBJ_ALARM_ADDR,0);
    }
    if ((TBJ_START_IN_UP || TBJ_bStart||TBJ_bSingle||TBJ_HandWork) && !TBJ_bRunning && (TBJ_Auto_Step == 0))
    {
        if (GetTotal(TBJ_TOTAL_ADDR) >= TBJ_SET_TOTAL)
            TBJ_SetAlarmCode(TBJ_TOTAL_ALARM); 
        else if(!(GetServoComState(Y_AXIS)))
            TBJ_SetAlarmCode(TBJ_SERVO_COM_ALARM);
        else
        {
            if(TBJ_XC_Reset_flag||!TBJ_Y_ORIGIN_IN)
            {
                TBJ_bXCRest=0;
                TBJ_bXCResting=1;
                TBJ_XC_RstStep=1;
                SetEn(Y_AXIS, TBJ_MOTOR_EN);                
                //Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
                TBJ_SERVO_CLR=0;
                if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN;
                else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN;
                set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,
                                          TBJ_PARAM_SFZSY_SPEED,TBJ_PARAM_SFZSY_SPEED,SERVO_TARR_CW);  
            }
            SetEn(X_AXIS, TBJ_MOTOR_EN); 
            TBJ_Auto_Delay = dwTickCount + 100;
            TBJ_Auto_Step = 1;
            TBJ_bRunning = 1;
            TBJ_Auto_Delay = 0;
            TBJ_PARAM_SQJCOUNT=0;
            TBJ_PARAM_XQJCOUNT=0;
            //TBJ_SD_VAVLE=1;
            TBJ_GZ_VAVLE = 0;//钩针
            TBJ_FJ_VAVLE = 0; //分胶
            TBJ_DZ_VAVLE=0;//顶针
            TBJ_SJ_VAVLE=0;//送胶
            TBJ_YD_VAVLE=0;
            if(TBJ_bSingle)TBJ_bSingleOne=1;
            if(TBJ_HandWork)
            {
               TBJ_HandWorking=1;
               TBJ_bSingleOne=1;              
            }
        }
        TBJ_HandWork=0;
        TBJ_bStart = 0;
        TBJ_bSingle=0;
        TBJ_bSC_FLAG=0;
        TBJ_LLPL_flag=0;
    }
    if (TBJ_STOP_IN_UP || TBJ_bStop)
    {
        /*当自动步骤达到4，已完成送胶动作，将本次贴胶动作做完*/
        if (TBJ_bRunning && !TBJ_bSingleOne)
        {
            TBJ_bStop = 0;
            TBJ_bSingleOne = 1;
        }
        else
        {
            TBJ_bStart = 0;
            TBJ_bRunning = 0;
            TBJ_bSingleOne=0;
            TBJ_HandWorking=0;
            TBJ_bAlarmStop = 0;
            TBJ_bStop = 0;
            TBJ_HMCS_Step = 0;
            TBJ_Auto_Step = 0;
            TBJ_SJ_FJ_Step = 0;
            TBJ_Motor_Step = 0;            
            TBJ_bXCResting=0;
            TBJ_XC_RstStep=0;
            TBJ_QJ_Step=0;
            //TBJ_HeMo_Step=0;
            TBJ_QJ_Step=0;
            AxisEgmStop(X_AXIS);            //刹停电机
            SetEn(X_AXIS, TBJ_MOTOR_DISEN); //松轴
            AxisEgmStop(Y_AXIS);            //刹停电机
            if(GetAlarm(Y_AXIS)==1)SetClr(Y_AXIS, 1);            
            //SetEn(Y_AXIS, TBJ_MOTOR_DISEN); //松轴
            TBJ_GZ_VAVLE = 0;               //Y01钩针
            TBJ_FJ_VAVLE = 0;               //Y02分胶
            TBJ_SM_VAVLE = 0;               //Y03上模（下冲）
            TBJ_CS_OUT = 0;                 //Y10超声
            TBJ_MOTOR_OUT = 0;              //Y11拖带电机
            TBJ_XM_VAVLE = 0;               //Y12下模
            TBJ_DZ_VAVLE=0;
            TBJ_YD_VAVLE=0;
            //TBJ_SD_VAVLE=0;
            if (TBJ_PARAM_SHENGJIAO == 1)
                TBJ_STOP_Step = 1; //停机节省布胶动作
            else
            {
                TBJ_JJ_VAVLE = 0; //Y05压带
                TBJ_SJ_VAVLE = 0; //Y04送胶退回
            }
            TBJ_bSC_FLAG=0;
            TBJ_XC_RstStep=0;
            TBJ_bXCResting=0;
            
            TBJ_SERVO_CLR=0;
            //Set_Ctrlmode_trans(Y_AXIS,POS_MODE);             
            TBJ_HeMo_Step=20;//伺服开模 
            TBJ_HeMo_Delay=dwTickCount+100;
        }
    }
    if (TBJ_bAlarmStop)
    {
        TBJ_bAlarmStop = 0;
        AxisEgmStop(X_AXIS);
        TBJ_Auto_Step = 0;
        TBJ_HMCS_Step = 0;
        TBJ_Motor_Step = 0;
        TBJ_SJ_FJ_Step = 0;
        TBJ_bRunning = 0;
        SingOneFlg = 0;
        SetEn(X_AXIS, TBJ_MOTOR_DISEN); //松轴
    }
#endif    
}

void TBJ_STOP_Action(void)
{
#if 1
    switch (TBJ_STOP_Step)
    {
    case 0:
        break;
    case 1:
    {
        TBJ_JJ_VAVLE = 0;
        TBJ_STOP_Delay = dwTickCount + 50;
        TBJ_STOP_Step = 2;
    }
    break;
    case 2:
        if (dwTickCount >= TBJ_STOP_Delay)
        {
            TBJ_SJ_VAVLE = 0;
            TBJ_STOP_Step = 3;
        }
        break;
    case 3:
        if (TBJ_SJ_ORIGIN_IN)
        {
            TBJ_JJ_VAVLE = 0;
            TBJ_STOP_Step = 0;
        }
        break;
    }
#endif    
}

//电机动作
void TBJ_Motor(void) //
{
#if 1
    switch (TBJ_Motor_Step)
    {
    case 0:
        //AxisDecStop(X_AXIS); //上钩针后减速停，保证拉链到位
        break;
    case 1:
        TBJ_Motor_Step = 2;
        SetPos(X_AXIS, 0);
        TBJ_DJ_ErrorTime = dwTickCount + TBJ_PARAM_DJ_AUTO_STOP_TIME; //电机容错时间
        if(TBJ_PARAM_DEC_MODE)//数控模式
        {
          if (TEST1 > 1  )
          {
              //第三条，开始走数控长度
              AxisMovePosAccDecNotStop(X_AXIS, TBJ_PARAM_HIGH_SPEED, TBJ_SAVE_POS - TNJ_PARAM_TD_LENGTH - 200,
                                       TBJ_PARAM_MOTOR_START_SPEED, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_MOTOR_ADD, TBJ_PARAM_MOTOR_ADD, 0); 
          }
          else
          {
              AxisContinueMoveAcc(X_AXIS, TBJ_PARAM_HIGH_SPEED*2/3, TBJ_DIR_P, TBJ_PARAM_MOTOR_START_SPEED,
                                  TBJ_PARAM_NULL_SPEED, TBJ_PARAM_MOTOR_ADD, TBJ_PARAM_MOTOR_ADD);
          }
        }
        else//感应模式
        {
          AxisContinueMoveAcc(X_AXIS, TBJ_PARAM_HIGH_SPEED, TBJ_DIR_P, TBJ_PARAM_MOTOR_START_SPEED,
                                  TBJ_PARAM_NULL_SPEED, TBJ_PARAM_MOTOR_ADD, TBJ_PARAM_MOTOR_ADD);
        }
        break;

    case 2:
        if (TEST1 > 1  && TBJ_PARAM_DEC_MODE)//数控模式
        {
            if (!TBJ_GUO_LIAN_IN)
            {
                TBJ_Motor_Step = 3;
                TBJ_Motor_Delay = dwTickCount + 10; //防震时间
                TBJ_DJ_ErrorTime = dwTickCount + ERRORTIME;                
                if(dwXRealPos<(TBJ_SAVE_POS - TNJ_PARAM_TD_LENGTH - 600))
                    AxisContinueMoveChangeSpeed(X_AXIS,TBJ_PARAM_NULL_SPEED,1000,20,20); 
            }
            if ((TBJ_PARAM_LL_PRETECT_LENGTH > 0) && (GetPos(X_AXIS) >= TBJ_SAVE_POS + TBJ_PARAM_LL_PRETECT_LENGTH))
            {
                TBJ_SetAlarmCode(8); //E8 拉链长度异常，超过拉链保护长度
            }
        }
        else//感应模式
        {
            if (!TBJ_GUO_LIAN_IN )
            {
                TBJ_Motor_Step = 3;
                TBJ_Motor_Delay = dwTickCount + 10; //防震时间
                TBJ_DJ_ErrorTime = dwTickCount + ERRORTIME;
                AxisContinueMoveChangeSpeed(X_AXIS,TBJ_PARAM_NULL_SPEED,1000,20,20);                
            }
        }
        if ((dwTickCount > TBJ_DJ_ErrorTime) && (TBJ_PARAM_DJ_AUTO_STOP_TIME ))
        {
            TBJ_SetAlarmCode(24); //E24 拉拉链时间过长，可能由以下原因：①超出保护时间，请检查保护时间是否设置过短②电机是否启动，速度是否过慢③拉链过紧，电机没拉动
        }
        break;
    case 3: //防震
        if (TBJ_GUO_LIAN_IN)
        {
            TBJ_Motor_Step = 2;
        }
        if (dwTickCount >= TBJ_Motor_Delay)
        {
            TBJ_Motor_Step = 4;
        }
        break;
    case 4:
        if (TBJ_GUO_LIAN_IN || (TBJ_TEST_MODE && (dwTickCount > TBJ_TEST_TIME))) //过链上升沿
        {
            if (TBJ_PARAM_TWOTD_SELECT == 0)//平口带
            {
                TBJ_Motor_Step = 5;
                TBJ_DJ_ErrorTime = dwTickCount + 5000; //电机容错时间
                AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TNJ_PARAM_TD_LENGTH, TBJ_PARAM_NULL_SPEED,
                                  1000, 50, 50, 20); //普通拖带，根据脉冲走一定距离
                TBJ_GZ_Delay = dwTickCount + TBJ_PARAM_GZ_DELAY;  //钩针延时输出
            }
            else//凹口带//二次拖带是，双钩针带缺口，防止撞送带增加的，要等送胶到位后，才能下钩针
            {
                AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_TWOTD_LENGTH, TBJ_PARAM_NULL_SPEED,
                                  1000,50, 50, 0); //二次拖带，根据脉冲走不同距离
                TBJ_Motor_Step = 40;
            }
        }
        else if (dwTickCount > TBJ_DJ_ErrorTime) //一直处于空位，没拉链警告
        {
            TBJ_SetAlarmCode(1); //E01 没拉链警告  请检查 X15 过链接近开关
        }
        break;
   case 40:
        if (!X_DRV) //轴停
        {  
          TBJ_GZ_VAVLE = 1;        //输出钩针
          if (!TBJ_SJ_VAVLE&&TBJ_SJ_LIMIT_IN) //分胶送胶已完成
          {
              TBJ_Motor_Delay = dwTickCount + 10; //二次拖带电机延时输出
              TBJ_Motor_Step = 41;
          }
        }
        break;
    case 41:
        if (dwTickCount > TBJ_Motor_Delay) //二次拖带电机延时已过
        {
            TBJ_Motor_Step = 5;
            TBJ_DJ_ErrorTime = dwTickCount + 500; //电机容错时间
            AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TNJ_PARAM_TD_LENGTH, 1000,
                              1000, 20, 20, 0); //根据脉冲走一定距离
        }
        break;
    case 5:
        if (dwTickCount > TBJ_GZ_Delay)
        {
            TBJ_GZ_VAVLE = 1; //上钩针
        }
        if(TBJ_PARAM_SGZSelect==0)//双钩针模式
        {
           if(TBJ_GZ_LIMIT_IN)
           {
              TBJ_LLPL_flag=0;
              AxisEgmStop(X_AXIS);  //急停电机
              TBJ_Motor_Step = 6;
              TBJ_DZ_VAVLE=1;
              TBJ_Motor_Delay = dwTickCount + 10; //延时压带
              if(GetAlarmCode(TBJ_ALARM_ADDR)==TBJ_LLPL_ALARM)
                SetAlarmCode(TBJ_ALARM_ADDR, 0);
           }
           else if (dwTickCount >= TBJ_DJ_ErrorTime)
           {
             if(TEST1<2||TBJ_LLPL_flag)
             {
                TBJ_SetAlarmCode(25); //E25 钩针未到位或 TBJ_TD_LIMIT_IN 钩针到位感应异常警告，电机停止
             }
             else
             {
                TBJ_LLPL_flag++;
                SetAlarmCode(TBJ_ALARM_ADDR, TBJ_LLPL_ALARM);
             }
           }
        }
        else //单钩针模式
        {
          if(!X_DRV)
          {
            TBJ_GZ_VAVLE = 1; //上钩针
            TBJ_Motor_Step = 0; //单钩针方式便完成电机动作
          }
          else if (dwTickCount >= TBJ_DJ_ErrorTime)
          {
             TBJ_SetAlarmCode(25); //E25 钩针未到位或 TBJ_TD_LIMIT_IN 钩针到位感应异常警告，电机停止
          }
        }
        break;
        /*以下为双钩针模式进行*/
    case 6:
        if (dwTickCount > TBJ_Motor_Delay)
        {
            TBJ_Motor_Step = 7;
            TBJ_YD_VAVLE = 1;                                     //压带输出
            TBJ_Motor_Delay = dwTickCount + TBJ_PARAM_YD_TIME; //压带输出延时退勾针
        }
        break;
    case 7:
        if (dwTickCount > TBJ_Motor_Delay) //过了钩针延时
        {
            //TBJ_GZ_VAVLE = 0; //钩针退出
            TBJ_Motor_Step = 0;         
            TBJ_DJ_ErrorTime = dwTickCount + ERRORTIME; //钩针退回容错时间
        }
        break;
    case 8:
        if (!TBJ_GZ_LIMIT_IN) //钩针返回原位感应
        {
            TBJ_Motor_Step = 0; //完成双钩针模式
        }
        else if (dwTickCount > TBJ_DJ_ErrorTime) //钩针长时间不退回
        {
            TBJ_SetAlarmCode(2); //E02 退勾针不到位或 TBJ_GZ_ORIGIN_IN 钩针复位感应异常，当前程序处于电机第七步
        }
        break;
        //电机退链
    case 20:
        //SetEn(X_AXIS, TBJ_MOTOR_EN); //锁轴
        //SetPos(X_AXIS, 0);       //设当前位置pos为0
        TBJ_Motor_Step = 21;
        TBJ_Motor_Delay = dwTickCount + 5; //电机延时启动，等待锁轴
        if (TBJ_PARAM_DJ_FANZHUAN == 0)     //电机如果没有选择反转退链，则关闭该步骤
            TBJ_Motor_Step = 0;
        break;
    case 21:
        if (dwTickCount > TBJ_Motor_Delay) //锁轴完成
        {
            TBJ_Motor_Step = 22;
            AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, -TBJ_TUILIAN_LENGTH, TBJ_PARAM_NULL_SPEED,
                              TBJ_PARAM_NULL_SPEED, 20, 20, 0); //根据脉冲走一定距离
        }
        break;
    case 22:
        //if (!X_DRV) //电机移动到退链长度
        {
            TBJ_Motor_Step = 0;
            if (TBJ_FJBACKMode)
                TBJ_FJ_VAVLE = 0; //二次拖带退分胶
        }
        break;
    }
#endif    
}
int TBJ_QieJiao_Check(void)
{
  switch(TBJ_PARAM_QJCheck_MODE)
  {
  case 0://不检测
    return 1;
    break;
  case 1://信号检测
    if(TBJ_XQJGY_IN)
    {
      TBJ_SetAlarmCode(TBJ_NoJiao_W);
      return 0;
    }
    else
    {
      return 1;
    }
    break;
  case 2://码盘检测
    if((TEST1>5)&&((TBJ_PARAM_SQJCOUNT<TBJ_PARAM_SET_SQJCOUNT)&&TBJ_PARAM_SET_SQJCOUNT
       ||(TBJ_PARAM_XQJCOUNT<TBJ_PARAM_SET_XQJCOUNT)&&(TBJ_PARAM_SET_XQJCOUNT)))
    {
      if(TBJ_PARAM_SQJCOUNT<TBJ_PARAM_SET_SQJCOUNT)
        TBJ_SetAlarmCode(TBJ_NoSJiao_W); //E63 上胶已用完，请补充胶  或检查X01上胶感应信号
      else
        TBJ_SetAlarmCode(TBJ_NoXJiao_W); //E64 下胶已用完，请补充胶，或检查X00下胶感应信号
      return 0;
    }
    else
    {
      TBJ_PARAM_SQJCOUNT=0;
      TBJ_PARAM_XQJCOUNT=0;
      return 1;
    }
    break;
  } 
  return 0;
}
//自动运行动作
void TBJ_AutoRunStep(void)
{
#if 1
    if (TBJ_bRunning)
    {
        switch (TBJ_Auto_Step)
        {
        case 0:
            break;
        case 1:
          if(TBJ_Y_ORIGIN_IN&&TBJ_XC_Reset_flag==0&&(dwTickCount > TBJ_Auto_Delay))
          {
            TBJ_Auto_Step = 2;
            TBJ_Auto_Delay = dwTickCount + 1;
            TEST1 = 0;        //当前为第一条拉链
            TBJ_SAVE_POS = 0; //用来保存第二条长度，置零
          }
            break;
        case 2: //第一条时
          if (dwTickCount > TBJ_Auto_Delay)
          {
              if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN;//布胶
              else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN;//透明胶
              set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW);
              //Set_Ctrlmode_trans(Y_AXIS,POS_MODE); 
              TBJ_SERVO_CLR=0;
              if(TBJ_QieJiao_Check())//缺胶检测
              {
                
                TBJ_Auto_Step = 3;
                TBJ_SJ_FJ_Step = 1; //开始分胶送胶，送胶分胶需电机动作完成后才能完成
                SetPos(X_AXIS, 0);
                if(!TBJ_HandWorking)
                {
                  if(TBJ_PARAM_SGZSelect)//单钩针
                  {
                    if (!TBJ_GZ_VAVLE)TBJ_Motor_Step = 1; //开始电机动作
                    else TBJ_SetAlarmCode(QD_GZOut_W); //E18 钩针阀未退回，无法启动
                  }
                  else//双钩针
                  {
                    if(!TBJ_GZ_LIMIT_IN)TBJ_Motor_Step = 1; //开始电机动作
                    else TBJ_SetAlarmCode(QD_GZOut_W); //E18 钩针阀未退回，无法启动
                  }
                }                    
              }
            }
            break;
        case 3:
            if ((TBJ_SJ_FJ_Step == 0) && (TBJ_Motor_Step == 0))
            {
                TBJ_Auto_Step = 4;
                if (TEST1 == 1)                    //第二条拉链
                    TBJ_SAVE_POS = GetPos(X_AXIS); //保存第二条拉链的长度数据
                if (TBJ_PARAM_DJ_FANZHUAN == 1&&!TBJ_HandWorking)
                    TBJ_Motor_Step = 20;
                if(TBJ_HandWorking)
                {
                   TBJ_GZ_VAVLE=1;
                }
                TBJ_Auto_Delay = dwTickCount + 1000; //延迟执行超声合模动作
            }
            break;
        case 4:
            if ((!TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN)        //分胶没输出  到位没感应  原位有感应   没有分胶阀则不考虑前面条件
                && ((!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN) || TBJ_PARAM_SongJiaoMode)      //送胶没输出  到位没感应  原位有感应   滚轮送胶则不考虑前面条件
                && (TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&TBJ_GZ_LIMIT_IN))) //双钩针模式需要考虑钩针退回原位 拖带到位感应不亮  单钩针模式不考虑
            {
                if (TBJ_Motor_Step == 0) //反转完成
                {
                    TBJ_Auto_Step = 5;
                    TBJ_HMCS_Step = 1; //执行合模超声动作
                }
            }
            else if (dwTickCount >= TBJ_Auto_Delay&&!TBJ_HandWorking)
            {
                if (TBJ_FJ_LIMIT_IN)
                    TBJ_SetAlarmCode(29); //E29 自动停止，分胶未退位或分胶前感应异常
                else if (!TBJ_FJ_ORIGIN_IN )
                    TBJ_SetAlarmCode(30); //E30 自动停止，分胶未退位或分胶后感应异常
                else if (TBJ_SJ_LIMIT_IN && !TBJ_PARAM_SongJiaoMode)
                    TBJ_SetAlarmCode(32); //E32 自动停止，送胶未退位或送胶前感应异常
                else if (!TBJ_SJ_ORIGIN_IN && !TBJ_PARAM_SongJiaoMode)
                    TBJ_SetAlarmCode(33); //E33 自动停止，送胶未退位或送胶后感应异常
                else if(!(TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&TBJ_GZ_LIMIT_IN)))
                {
                    TBJ_SetAlarmCode(QD_GZDaoWei_W); //E03 钩针未退位或 X20 钩针到位感应异常警告，无法启动
                }
            }
            break;
        case 5:
            if (TBJ_HMCS_Step == 0)
            {
                TBJ_Auto_Step = 6;
                TBJ_GZ_VAVLE = 0;      //退钩针 
                CalProSP(TBJ_SPEED_ADDR); //计算生产速度                
                AddToTal(TBJ_TOTAL_ADDR); //产量增加
            }
            break;
        case 6:
            if (TBJ_Y_ORIGIN_IN &&                                                  //上模已离开
                ((TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)) //双钩针模式，钩针已回到原位，拖带到位感应不亮（该感应需要上钩针配合，不亮代表无钩针配合）
                 || ((TBJ_PARAM_XiaMo_Mode == 0) && !TBJ_GZ_LIMIT_IN)                //下模不动模式，钩针与上下模位置错开，不相互影响，不需要回到原位
                 || ((TBJ_PARAM_XiaMo_Mode == 1) && TBJ_PARAM_SGZSelect)))            //下模活动模式，单钩针模式，钩针与上下模位置错开
            {
                TBJ_Auto_Step = 7; 
                TBJ_CQ_VAVLE = 1;
                TBJ_CQ_Delay = dwTickCount + 100;
                TBJ_Auto_Delay = dwTickCount + TBJ_PARAM_KAIMO_TD_DELAY + 20; //开模后延时拖带，45为下限时间
                
                
            }
            break;
        case 7:
            if (dwTickCount > TBJ_Auto_Delay)
            {
                if (GetTotal(TBJ_TOTAL_ADDR) >= TBJ_SET_TOTAL)
                {
                    TBJ_SetAlarmCode(TBJ_TOTAL_ALARM);
                    TBJ_Auto_Step = 0;
                    TBJ_bRunning = 0;
                    TBJ_bSingleOne=0;
                    TBJ_HandWorking=0;
                }
                else if(TBJ_bSingleOne||TBJ_HandWorking)
                {
                  TBJ_bSingleOne=0;
                  TBJ_HandWorking=0;
                  TBJ_Auto_Step = 0;
                  TBJ_bRunning = 0;
                }
                else
                {
                    TBJ_Auto_Step = 2;
                    if(TBJ_WAIT_LOCAL>0)
                    {
                        TBJ_LENTH=TBJ_WAIT_LOCAL-dwYRealPos;
                        AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, TBJ_LENTH, 1000,
                                  1000, 20, 20, 10);
                    }
                }
                TEST1++;
                if (TEST1 > 10)
                    TEST1 = 10;
            }
            break;
        }
    }
#endif    
}
#endif