GC23005/Machine/FuXiaoWeiMachine/FXWQueDuanJi_Kai.c

#include "global.h"


#if FU_XIAO_WEI_MACHINE==1


void Kai_QueDuan_AlarmProtect(void);
void Kai_QueDuan_ManualAction(void);
void Kai_QueDuan_AutoAction(void);
void Kai_QueDuan_StepCheckStart(void);
void Kai_QueDuan_XiaQue(void);
void Kai_QueDuan_SecondXiaQue(void);
void Kai_QueDuan_Motor(void);
void Kai_QueDuan_YuanDianAction(void);
void Kai_QueDuan_ExtiActionX31(void);
void Kai_QueDuan_BingLian(void);
void Kai_QueDuan_TuiLianAction(void);
void Kai_StopCode(void);
void Kai_Motor_SZ(unsigned char En);
void Kai_QueDuan_CheckLength(void);
void Kai_QueDuan_YMotor(void);
void Kai_QueDuan_ZMotor(void);

//夹子松带返回长链电机处
void Kai_QueDuan_ReBack(void);

short  *KAI_QD_length_buffer;

void KAI_QueDuan_ExtiActionX31(void)
{
    //   cCheckLianFlg = 1;
}
void KAI_QD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(KAI_QD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void Kai_StopCode(void)
{
    
    switch(KAI_QD_StopStep)
    {
    case 1:            
        KAI_QD_StopStep=2;
        if(X_DRV)
        {
            AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
            AxisDecStop(X_AXIS);
        }
        if(Y_DRV)
        {
            AxisChangeSpeedDirect(Y_AXIS,GetCurSpeed(Y_AXIS) * 2/3);                    
            AxisDecStop(Y_AXIS);
        }
        break;
    case 2:    
        if((!X_DRV || (dwXRealPos < 10)) && (!Y_DRV || (GetCurSpeed(Y_AXIS) < 3000)))
        {
            KAI_QD_StopCodeDelay=dwTickCount+350;
            KAI_QD_StopStep = 3;
            AxisEgmStop(X_AXIS);
            AxisEgmStop(Y_AXIS);
        }  
        break;
    case 3:
        if(dwTickCount >= KAI_QD_StopCodeDelay)
        {
            if(!KAI_QD_cSTOPONE)
            {                
                KAI_QD_StopStep=0;                    
            }
            else
            {        
                KAI_QD_SetAlarmCode(KAI_QD_PARAM_ANQUANMEN_ALARM);
                KAI_QD_StopStep=0;
                KAI_QD_cSTOPONE=0;
            }
            AxisEgmStop(X_AXIS);
            AxisEgmStop(Y_AXIS);
            SetEn(X_AXIS, MOTOR_DISEN); //电机松轴
            SetEn(Y_AXIS, MOTOR_DISEN); //电机松轴  
        }
        break;
    }
    
}

//电机松轴
void Kai_Motor_SZ(unsigned char En)
{
#if 0
    if(En) //使能
    {  
        if(KAI_QD_PARAM_MOTOR_SELECT)
            
            KAI_QD_SZ_OUT   = 1;  //伺服电机
        else
            KAI_QD_SZ_OUT   = 0;  //步进电机
    }
    else  //松轴
    {
        if(KAI_QD_PARAM_MOTOR_SELECT)
            KAI_QD_SZ_OUT   = 0;  //伺服电机
        else
            KAI_QD_SZ_OUT   = 1;  //步进电机
    }  
#endif
}

void Kai_QueDuan_InitAction(void)
{
    float KAI_QD_length_buff,pulse_buff;
    //X轴
    KAI_QD_length_buff = KAI_QD_PARAM_CYCLE_LENGTH;
    pulse_buff  = KAI_QD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/KAI_QD_length_buff;  
    //Y轴长链压轮
    KAI_QD_length_buff = KAI_QD_PARAM_YMOTOR_CYCLE_LENGTH;
    pulse_buff  = 2000;   
    YGearRatio  = pulse_buff/KAI_QD_length_buff; 
    //Z轴丝杆
    KAI_QD_length_buff = KAI_QD_PARAM_ECMOTOR_CYCLE_LENGTH;
    pulse_buff  = 2000;
    
    ZGearRatio  = pulse_buff/KAI_QD_length_buff;    
    
    SetEnReverse(X_AXIS, 0);
    SetEnReverse(Y_AXIS, 0);
    SetEnReverse(Z_AXIS, 0);
    
    SetDirReverse(X_AXIS, 0);
    SetDirReverse(Y_AXIS, 1);
    SetDirReverse(Z_AXIS, 1);
    
    SetPos(X_AXIS, 0);  //启动位置设为0点    
    SetPos(Y_AXIS, 0);  //启动位置设为0点 
    SetPos(Z_AXIS, 0);  //启动位置设为0点     
    
    SetEn(X_AXIS, MOTOR_DISEN);
    SetEn(Y_AXIS, MOTOR_DISEN);
    SetEn(Z_AXIS, MOTOR_EN);
    
    KAI_QD_TMSZ_OUT = 1;
    KAI_QD_ORIGIN_Over = 0;
    KAI_QD_ZMotorStep = 1;      //回零点
    SetAlarmCode(KAI_QD_ALARM_ADDR,0);
}

void Kai_QueDuan_Action(void)
{
    // InputPinConfig();    
    Kai_QueDuan_AlarmProtect();
    Kai_QueDuan_Motor();
    Kai_QueDuan_YMotor();
    Kai_QueDuan_ZMotor();
    Kai_StopCode();
    Kai_QueDuan_XiaQue();
    Kai_QueDuan_ManualAction();
    Kai_QueDuan_TuiLianAction();
    Kai_QueDuan_BingLian();
    Kai_QueDuan_SecondXiaQue();
    Kai_QueDuan_AutoAction();
    Kai_QueDuan_CheckLength();
    Kai_QueDuan_ReBack();
    Kai_QueDuan_StepCheckStart();   // 调用脚踏开关检测程序 
    //温度控制
    KAI_QD_KAI_WD_OUT = KAI_QD_CLTD_KAI_WD_IN && (!KAI_QD_PARAM_ECQ_DJ_SELECT || (!KAI_QD_PARAM_YCQ_DJ_SELECT && KAI_QD_PARAM_ECQ_MODE)); 
    KAI_QD_BI_WD_OUT = KAI_QD_CLTD_BI_WD_IN && (KAI_QD_PARAM_ECQ_DJ_SELECT || (KAI_QD_PARAM_YCQ_DJ_SELECT && KAI_QD_PARAM_ECQ_MODE));
    //运行
    // OutputPinConfig();
}

//手动动作
void Kai_QueDuan_ManualAction(void)
{  
#if 1  
    if(KAI_QD_PARAM_TABLE_MODE)
    {
        KAI_QD_TABLE_VAVLE=0;
    }
    if(KAI_QD_PARAM_ECQ_MODE)
    {
        
    }
    if(KAI_QD_LDHXW_IN)
    {
        AxisEgmStop(X_AXIS);
        KAI_QD_SetAlarmCode(KAI_QD_LDHXW_ALARM);
    }
   
    if(bRunning == 0)  
    {   
        if(user_datas[KAI_QD_ALARM_ADDR] != 0)
            KAI_QD_ALR_STATE = 1;
        else
            KAI_QD_ALR_STATE = 0;
        KAI_QD_RUN_STATE = 0;   //运行灯关
            
        KAI_QD_cGoLimitEn = 0;
        if(KAI_QD_bClearTotal) //切断计数清零
        {
            KAI_QD_bClearTotal       = 0;
            ClrcToTal(KAI_QD_TOTAL_ADDR);
        }
        
        if(KAI_QD_bClearNowTotal)
        {
            KAI_QD_bClearNowTotal = 0;
            KAI_QD_PARAM_NOW_CNT = 0;
        }        
        if(KAI_QD_bXiaQie)
        {
            KAI_QD_bXiaQie = 0;
            if((KAI_QD_XiaQieStep == 0) && !KAI_QD_TL_VAVLE)
            {
                KAI_QD_YD_VAVLE=1;
                KAI_QD_XiaQieStep = 1;
            }  
        }        
        if(KAI_QD_bQianDianDW)
        {
            KAI_QD_bQianDianDW = 0;
            if(KAI_QD_MotorStep == 0)
            {
                KAI_QD_MotorStep = 61;
                KAI_QD_cZipCnt      = 0;
                
                SetEn(X_AXIS, MOTOR_EN); //电机锁轴
                KAI_QD_MotorDelay = dwTickCount + 150;
            }
        }        
        if(KAI_QD_bTL)
        {  
            KAI_QD_bTL = 0;
            if(KAI_QD_TL_VAVLE)
            {
                KAI_QD_TL_VAVLE = 0;
            } 
            else if(!KAI_QD_GZ_VAVLE && !KAI_QD_SM_VAVLE)
            {
                KAI_QD_TL_VAVLE = ~KAI_QD_TL_VAVLE;
            }
        }
        if(KAI_QD_XiaQieStep == 0)
        {
            if(KAI_QD_PARAM_ECTMACHINE_MODE)
            {
                if(KAI_QD_ZMotorStep == 0)
                {
                    if(KAI_QD_bFIRST_POS)
                    {    
                        KAI_QD_bFIRST_POS = 0;
                        KAI_QD_ZMotorStep = 10; 
                    }    
                    else if(KAI_QD_bSECOND_POS)   
                    {
                        KAI_QD_bSECOND_POS = 0;
                        KAI_QD_ZMotorStep = 20;
                    }
                }      
            }
            else
            {
                KAI_QD_bFIRST_POS = 0;
                KAI_QD_bSECOND_POS = 0;
            }    
        }
        
        
        if(KAI_QD_bYD)
        {
            KAI_QD_bYD = 0;
            KAI_QD_YD_VAVLE = ~KAI_QD_YD_VAVLE;
        }
        
        if(KAI_QD_bGZ)
        {
            KAI_QD_bGZ = 0;
            KAI_QD_GZ_VAVLE = ~KAI_QD_GZ_VAVLE;
        }
        
        if(KAI_QD_bJD)
        {
            KAI_QD_bJD = 0;
            KAI_QD_JD_VAVLE = ~KAI_QD_JD_VAVLE;
        }
        
        if(KAI_QD_bXM)
        {
            KAI_QD_bXM = 0;
                       
                    if(KAI_QD_XM_VAVLE)
                    {
                        KAI_QD_XM_VAVLE = 0;
                    }
                    else
                    {
                        KAI_QD_XM_VAVLE = 1; 
                        
                    }  

        }
        if(KAI_QD_bKKD)       //开口刀
        {
            KAI_QD_bKKD = 0;
            if(!KAI_QD_SM_VAVLE && !KAI_QD_SHANG_MU_LIMIT_IN)
                KAI_QD_KAI_XM_VAVLE =~KAI_QD_KAI_XM_VAVLE;
        }    
        if(KAI_QD_bHBD)       //花边刀 
        {
            KAI_QD_bHBD = 0;
            if(!KAI_QD_SM_VAVLE && !KAI_QD_SHANG_MU_LIMIT_IN)
                KAI_QD_BI_XM_VAVLE = ~KAI_QD_BI_XM_VAVLE;
        }    
        
        if(KAI_QD_bECT)
        {
            KAI_QD_bECT = 0;
            KAI_QD_ECT_VAVLE = ~KAI_QD_ECT_VAVLE;
        }
        if(KAI_QD_bDL)
        {
            KAI_QD_bDL = 0;
            //          KAI_QD_DL_VAVLE = ~KAI_QD_DL_VAVLE;
        }
        if(KAI_QD_bCHUIQI)
        {
            KAI_QD_bCHUIQI = 0;
            KAI_QD_ECQ_CUIQI_VAVLE = 1;
            KAI_QD_CHUIQIDelay = dwTickCount+KAI_QD_PARAM_CHUIQI_TIME;
        }
        if(KAI_QD_bJL)
        {
            KAI_QD_bJL = 0;
            //           KAI_QD_JIALIAN_VAVLE = ~KAI_QD_JIALIAN_VAVLE;
        }  
        
        if(KAI_QD_bSM)
        {
            KAI_QD_bSM = 0;
            if(KAI_QD_SM_VAVLE)
            { 
                KAI_QD_CS_OUT = 0;
                KAI_QD_SM_VAVLE = 0;
            }    
            else if(!KAI_QD_TL_VAVLE)
                KAI_QD_SM_VAVLE = 1;
        }
        //推方块
        if(KAI_QD_bTFK)
        {
            KAI_QD_bTFK = 0;            
            if(KAI_QD_TFK_VAVLE)
            {
                KAI_QD_YD_VAVLE=0;
                KAI_QD_TFK_VAVLE=0;
            }
            else
            {
                KAI_QD_YD_VAVLE=1;
                KAI_QD_TFK_VAVLE=1;
            }          
        }
        
        if(KAI_QD_bSD)
        {
            KAI_QD_bSD = 0;
            KAI_QD_SD_VAVLE = ~KAI_QD_SD_VAVLE;
        }
        if(KAI_QD_bZY)
        {   
            KAI_QD_bZY = 0;
            if(KAI_QD_SM_VAVLE && !KAI_QD_CS_OUT)
                
                KAI_QD_CS_OUT =1;
            else if(KAI_QD_CS_OUT)
                KAI_QD_CS_OUT=0;
        }
        if(KAI_QD_bDGLG)
        {
            KAI_QD_bDGLG = 0;
            KAI_QD_DGLG_VAVLE = ~KAI_QD_DGLG_VAVLE;
        }
        //台面电机
        if(KAI_QD_bTB)
        {
            KAI_QD_bTB = 0;           
            KAI_QD_TABLE_VAVLE = ~KAI_QD_TABLE_VAVLE;
            KAI_QD_TMFZ_OUT = 0;
            KAI_QD_TMSZ_OUT = ~KAI_QD_TABLE_VAVLE;
        }
        //台面电机反转
        if(KAI_QD_bTBFZ)
        {
            KAI_QD_bTB = 0;           
            KAI_QD_TABLE_VAVLE = 0;
            KAI_QD_TMFZ_OUT = ~KAI_QD_TMFZ_OUT;
            KAI_QD_TMSZ_OUT = ~KAI_QD_TMFZ_OUT;
        }
        if(KAI_QD_bTestCS)
        {
            KAI_QD_bTestCS = 0;
            KAI_QD_CS_OUT  = 1;
            KAI_QD_CSDelay = dwTickCount + KAI_QD_PARAM_CS_TIME;
        }
        
        if(KAI_QD_bBL)//合链
        {
            KAI_QD_bBL = 0;
            KAI_QD_BL_VAVLE = ~KAI_QD_BL_VAVLE;
        }
        
        if(KAI_QD_bHL)  //护链,双开用
        {
            KAI_QD_bHL = 0;
            //            KAI_QD_HL_VAVLE = ~KAI_QD_HL_VAVLE;
        }
        
        if(KAI_QD_bYX)
        {
            KAI_QD_bYX = 0;
            //            KAI_QD_YX_VAVLE = ~KAI_QD_YX_VAVLE;
        }
        /*
        if(KAI_QD_XiaQieStep == 0)
        {
        if(dwTickCount >= KAI_QD_CSDelay) KAI_QD_CS_OUT  = 0;
    }
        */
        if(KAI_QD_bCLTD_JT)       //长链拉带进退电磁阀Y20
        {
            KAI_QD_bCLTD_JT= 0;
            if(KAI_QD_CLTD_JT_VAVLE)
                KAI_QD_CLTD_JT_VAVLE = 0;
            else if(!KAI_QD_QIAN_LIMIT_IN)
                KAI_QD_CLTD_JT_VAVLE = 1;
        }
        if(KAI_QD_bCLTD_YL)   //长链拉带压轮电磁阀Y21
        {
            KAI_QD_bCLTD_YL= 0;
            KAI_QD_CLTD_YL_VAVLE = ~KAI_QD_CLTD_YL_VAVLE;
        }
        //电机控制        
        if(KAI_QD_bGoMotor)
        {           
            if(!KAI_QD_QIAN_LIMIT_IN)
            {    
                SetEn(X_AXIS, MOTOR_EN);//电机锁轴
                if(KAI_QD_PARAM_ECTMACHINE_MODE)
                {       
                    if(!KAI_QD_PARAM_ECTGY_MODE)
                    { 
                        if(!KAI_QD_ZJL_ORIGIN_IN)SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_ZJLYW_ALARM); //  KAI_QD_SetAlarmCode(KAI_QD_ZJLYW_ALARM);
                        else if(!KAI_QD_YJL_ORIGIN_IN)SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_YJLYW_ALARM); //  KAI_QD_SetAlarmCode(KAI_QD_YJLYW_ALARM);  
                        
                        else if(!X_DRV)
                        {
                            
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                            AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_DIR_N,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_PARAM_GO_LOW_SPEED,10,12);
                        }
                    }
                    else if(!X_DRV)
                    {
                        
                        //                  X轴       运行速度                    启动速度        加速度  减速度
                        AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_DIR_N,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_PARAM_GO_LOW_SPEED,10,12);
                    }
                    
                }
                else  if(!X_DRV)
                {
                    
                    //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_DIR_N,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_PARAM_GO_LOW_SPEED,10,12);
                }            
            }
            else if(!X_DRV)
            {
                SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_QIAN_LIMIT_HAND_ALARM); 
            }    
        }
        
        if(KAI_QD_bBackMotor && !KAI_QD_LDHXW_IN)  //后退限位已经取消
        {
            SetEn(X_AXIS, MOTOR_EN); //电机锁轴
            if(!X_DRV)
                //                  X轴       运行速度                    启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_DIR_P,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_PARAM_GO_LOW_SPEED,10,12);
        }
        
        if(!KAI_QD_bGoMotor && !KAI_QD_bBackMotor && (KAI_QD_MotorStep == 0) && (KAI_QD_StopStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS); 
        }
        
        if(KAI_QD_QIAN_LIMIT_IN && (KAI_QD_MotorStep == 0) && !KAI_QD_bBackMotor &&(KAI_QD_AutoStep == 0))
        {
            if(X_DRV)
            {    
                KAI_QD_bGoMotor = 0;
                AxisEgmStop(X_AXIS);
            }    
        }  
        if(KAI_QD_bCLTD_P)
        {
            SetEn(Y_AXIS, MOTOR_EN); //电机锁轴
            if(!Y_DRV)
                AxisContinueMoveAcc(Y_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_DIR_P,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_PARAM_GO_LOW_SPEED,10,12); 
        }  
        if(KAI_QD_bCLTD_N)
        {
            SetEn(Y_AXIS, MOTOR_EN); //电机锁轴
            if(!Y_DRV)
                AxisContinueMoveAcc(Y_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_DIR_N,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_PARAM_GO_LOW_SPEED,10,12);
        }
        if((KAI_QD_YMotorStep == 0) && !KAI_QD_bCLTD_P && !KAI_QD_bCLTD_N && (KAI_QD_StopStep == 0))
        {
            if(Y_DRV)AxisEgmStop(Y_AXIS);
        }
        
    }
#endif    
}




void Kai_QueDuan_AlarmProtect(void)
{ 
#if 1
    dwXRealPos = GetPos(X_AXIS);
    dwYRealPos = GetPos(Y_AXIS);
    dwZRealPos = GetPos(Z_AXIS);
    if(!bRunning)
    {
        ;
        
    }
    else
    {
        if(KAI_QD_PARAM_RUN_LENGTH < 5000)
            KAI_QD_PARAM_RUN_LENGTH= 5000;
        if((dwXRealPos > KAI_QD_PARAM_RUN_LENGTH) && (KAI_QD_cGoLimitEn != 0))  //第一条手动时不保护
        { 
            KAI_QD_JD_VAVLE = 0;
            KAI_QD_StopStep=1;
            KAI_QD_SetAlarmCode(KAI_QD_BACK_ALARM);
        }
    }
#endif   
}


void Kai_QueDuan_AutoAction(void)
{ 
#if 1 
    if(KAI_QD_cTABLETIME)
    {
        if(KAI_QD_cTABLETOTAL)
        {
            KAI_QD_cTABLETOTAL=0;
            if(KAI_QD_PARAM_LIAN_SELECT == 0)
                KAI_QD_TABLE_VAVLE = 1;
            KAI_QD_TableDelay=dwTickCount + 2000;
            
        }
        if(dwTickCount >= KAI_QD_TableDelay)
        {
            KAI_QD_TABLE_VAVLE = 0;
            KAI_QD_cTABLETIME = 0;            
        }
    }
    if(bRunning)
    {//台面电机定时关掉
        if(!KAI_QD_cTABLETIME)
        {
            if(dwTickCount >= KAI_QD_TBDelay)
                KAI_QD_TABLE_VAVLE = 0;
        }
        switch(KAI_QD_AutoStep)
        {
        case 1:
            if((dwTickCount >= KAI_QD_AutoDelay) && ((KAI_QD_PARAM_ECTMACHINE_MODE == 0) || (KAI_QD_ORIGIN_Over && (KAI_QD_ZMotorStep == 0))))
            {	
                if(KAI_QD_XiaQieStep==0)
                    KAI_QD_AutoStep = 2;	    
                if(KAI_QD_MotorStep == 0 )
                {
                    KAI_QD_MotorStep = 61;   //前点定位
                    KAI_QD_MotorDelay  =    dwTickCount;
                }
                KAI_QD_cGoLimitEn = 0;
            }	
            break;	
        case 2:	 
            if((KAI_QD_MotorStep == 0) && (!KAI_bTiaoShiMode || (KAI_QD_START_IN_UP)))
            {   
                if(KAI_QD_PARAM_LIAN_SELECT == 0)
                    KAI_QD_MotorStep = 30;     //后拉拖带定位
                else
                    KAI_QD_YMotorStep = 30;     //长链
                KAI_QD_AutoStep = 3;	
                KAI_QD_cGoLimitEn = 1;
            }
            break;	
        case 3:	//后面两步为延时反转步
            if(((KAI_QD_MotorStep == 0) && (KAI_QD_YMotorStep == 0))  && (!KAI_bTiaoShiMode || (KAI_QD_START_IN_UP)))
            {   
                if(KAI_QD_SAFE_IN)
                {
                    bStop = 1;
                }
                else 
                {                      
                    KAI_QD_XiaQueOver = 0;
                    if(KAI_QD_XiaQieStep == 0)
                        KAI_QD_XiaQieStep = 1;                 
                    KAI_QD_AutoStep = 4;
                    // KAI_QD_MotorStep = 390;  //开口不用反转
                }
            }              
            break;
        case 4:
            //                                  闭口
            if(((KAI_QD_XiaQieStep == 0) || KAI_QD_XiaQueOver))
            {
                KAI_QD_XiaQueOver = 0;
                //拉直要区分长链的短链（0短链，1 长链）
                if((KAI_QD_PARAM_LIAN_SELECT == 0) && (KAI_QD_PARAM_ECQ_MODE == 0))   
                {  
                    if(KAI_QD_MotorStep == 0) 
                    {
                        KAI_QD_MotorStep = 40;     //切完后退             
                    }
                }                
                KAI_QD_AutoStep = 5;
            }
            break;
        case 5:
            if((KAI_QD_MotorStep == 0))   //不管那种模式，说明松夹已经完成
            {
                if(KAI_QD_NQDJGNUNMBER==0)
                    KAI_QD_AutoStep = 6;
                else if(KAI_QD_NQDJGNUNMBER==1)
                    KAI_QD_SetAlarmCode(KAI_QD_LENGTH_LONG_ALARM);
                else if(KAI_QD_NQDJGNUNMBER==2)
                    KAI_QD_SetAlarmCode(KAI_QD_LENGTH_SHORT_ALARM);
            }
            break;
        case 6:	 
            if(((KAI_QD_MotorStep == 0)) && (!KAI_bTiaoShiMode || (KAI_QD_START_IN_UP)))
            {
                KAI_QD_cZipCnt++;
                KAI_QD_PARAM_NOW_CNT++;
                KAI_QD_cTableCnt++;
                AddToTal(KAI_QD_TOTAL_ADDR);
                AddToTal(KAI_QD_WORKTOTAL_ADDR);
                CalProSP(KAI_QD_PROSPEED_ADDR);
                
                if(KAI_QD_cTableCnt >= KAI_QD_PARAM_TABLE_NUM)
                {
                    KAI_QD_cTableCnt = 0;
                    if(KAI_QD_PARAM_LIAN_SELECT == 0)
                        KAI_QD_TABLE_VAVLE = 1;
                    KAI_QD_TBDelay = dwTickCount + KAI_QD_PARAM_TB_TIME;
                }
                
                if(/*(GetTotal(KAI_QD_TOTAL_ADDR) >= KAI_QD_PARAM_SET_TOTAL) ||*/ SingOneFlg)
                {
                    /*
                    if((KAI_QD_PARAM_SET_TOTAL == 0) && !SingOneFlg)
                    {
                    KAI_QD_AutoDelay = dwTickCount + KAI_QD_PARAM_CYCLE_DELAY;
                    KAI_QD_AutoStep = 1; 
                }
                          else
                    */
                    {
                        bRunning = 0;
                        KAI_QD_AutoStep = 0; 
                        SingOneFlg = 0;
                        
                    }
                    
                    //                         if(GetTotal(KAI_QD_TOTAL_ADDR) >= KAI_QD_PARAM_SET_TOTAL) KAI_QD_SetAlarmCode(KAI_QD_TOTAL_ALARM);
                }
                else
                {
                    KAI_QD_AutoStep = 1; 
                    
                    if((KAI_QD_PARAM_NOW_CNT >= KAI_QD_PARAM_ZHA_SHU) && (KAI_QD_PARAM_ZHA_SHU > 0))   
                    {
                        KAI_QD_AutoDelay = dwTickCount + KAI_QD_PARAM_ZS_STOP_TIME;
                        KAI_QD_PARAM_NOW_CNT = 0;
                        KAI_QD_cTABLETIME = 1;
                        KAI_QD_cTABLETOTAL= 1;
                        if(KAI_QD_PARAM_ZS_STOP_TIME == 0)
                        {
                            bRunning = 0;
                            KAI_QD_AutoStep = 0; 
                            SingOneFlg = 0;
                            KAI_QD_cTABLETIME = 1;
                            KAI_QD_cTABLETOTAL= 1;
                            KAI_QD_SetAlarmCode(KAI_QD_TOTAL_ALARM);
                        }
                    }
                    else
                    {  
                        if(!X_DRV)   //电机没有停止
                            KAI_QD_AutoDelay = dwTickCount + KAI_QD_PARAM_CYCLE_DELAY;
                        else
                            KAI_QD_AutoDelay = dwTickCount;
                    }    
                }
            }
            break;
        }	
    }
#endif   
}

void Kai_QueDuan_StepCheckStart(void)
{
#if 1 
    //		启动      			
    if((KAI_QD_START_IN_UP) || bStart || KAI_QD_bSingle) 
    {
        bStart = 0;           
        if(!bRunning && (KAI_QD_AutoStep == 0) && KAI_QD_ORIGIN_Over&& (KAI_QD_XiaQieStep == 0))
        {
            if((KAI_QD_XIA_MU_LIMIT_IN) && !KAI_QD_PARAM_XM_ENABLE)KAI_QD_SetAlarmCode(KAI_QD_XM_DAOWEI);
            else if(KAI_QD_SM_VAVLE)KAI_QD_SetAlarmCode(KAI_QD_SM_ALARM);   
            
            else
            {
                KAI_QD_RUN_STATE = 1;   //运行灯开
                KAI_QD_TMSZ_OUT = 0;   //台面电机锁轴
                KAI_QD_ALR_STATE = 0;  //警告灯
                bRunning    = 1;
                KAI_QD_AutoStep = 1;
                if(KAI_QD_bSingle) 
                    SingOneFlg= 1;
                KAI_QD_cZipCnt      = 0;
                KAI_QD_cTuiFangKuaiCnt = 0;
                KAI_QD_cTABLETIME = 0;
                KAI_QD_cTABLETOTAL= 0;
                KAI_QD_NQDJGNUNMBER = 0;
                
                KAI_QD_CLTD_JT_VAVLE = 0;
                KAI_QD_CLTD_YL_VAVLE = 0;
                KAI_QD_ECT_VAVLE=1;
                KAI_QD_BL_VAVLE = 0;    //并链关
                KAI_QD_DGLG_VAVLE = 0;  //顶过链杆关
                SetAlarmCode(KAI_QD_ALARM_ADDR,0); 
                SetEn(X_AXIS, MOTOR_EN); //电机锁轴
                SetEn(Y_AXIS, MOTOR_EN); //电机锁轴
                KAI_QD_AutoDelay = dwTickCount + 400; 
                if((KAI_QD_PARAM_ECTMACHINE_MODE))
                {
                        //切二次
                        KAI_QD_ZMotorStep = 20;  //移动到第二次切位置 
                }    
/*                
                if(KAI_QD_PARAM_ECTMACHINE_MODE)
                {
                    if(KAI_QD_ECTD_ORIGIN_IN)
                        KAI_QD_SetAlarmCode(KAI_QD_ECTDYW_ALARM);
                    if(!KAI_QD_PARAM_ECTGY_MODE)
                    {
                        if(!KAI_QD_HL_ORIGIN)KAI_QD_SetAlarmCode(KAI_QD_DLYW_ALARM);
                        else if(!KAI_QD_ZJL_ORIGIN_IN)
                            KAI_QD_SetAlarmCode(KAI_QD_ZJLYW_ALARM);
                        else if(!KAI_QD_YJL_ORIGIN_IN)
                            KAI_QD_SetAlarmCode(KAI_QD_YJLYW_ALARM);  
                    }
                } 
*/
            }
        }
        KAI_QD_bSingle = 0;
    }
    //停止
    if(KAI_QD_STOP_IN_UP || bStop)
    {
        bStop = 0;       
        if(bRunning)
        {
            KAI_QD_AutoDelay   = dwTickCount;
            KAI_QD_MotorDelay = dwTickCount;
            KAI_QD_YMotorDelay = dwTickCount;
            KAI_QD_XiaQieDelay  = dwTickCount;
            KAI_QD_KaDaiDelay   = dwTickCount;
            KAI_QD_CSDelay = dwTickCount;
            KAI_QD_TBDelay  = dwTickCount;
            KAI_QD_TFKDelay  = dwTickCount;
            KAI_QD_TLDelay     = dwTickCount;
            dwTickCount = KAI_QD_TBDelay;
            KAI_QD_NQDJGNUNMBER = 0;
            KAI_QD_SecondXiaQueStep=0;
            KAI_QD_cTABLETIME = 0;
            KAI_QD_cTABLETOTAL= 0;
            SingOneFlg  = 0; 
            KAI_QD_JD_VAVLE = 0;
            KAI_QD_SM_VAVLE = 0;
            KAI_QD_XM_VAVLE = 0;
            KAI_QD_YD_VAVLE = 0;
            KAI_QD_TFK_VAVLE= 0;
            KAI_QD_TL_VAVLE      = 0;
            //           KAI_QD_HL_VAVLE  = 0;
            KAI_QD_CS_OUT   = 0;
            
            KAI_QD_XiaQieStep = 0;
            KAI_QD_MotorStep  = 0;
            KAI_QD_YMotorStep  = 0;
            KAI_QD_TuiLianStep = 0;
            KAI_QD_GZ_VAVLE    = 0;
            KAI_QD_TABLE_VAVLE   = 0;
            KAI_QD_TMFZ_OUT = 0;
            KAI_QD_TMSZ_OUT = 1;
            KAI_QD_DGLG_VAVLE = 0;  //顶过链杆关
            if((KAI_QD_StopStep == 0) && (X_DRV || Y_DRV))
                KAI_QD_StopStep = 1;           
            //AxisDecStop(X_AXIS);    
            KAI_QD_BinLianStep  = 0;
            KAI_QD_BL_VAVLE    = 0;
            user_datas[121] = 0;
            user_datas[122] = 0;
            //            KAI_QD_CLTD_JT_VAVLE = 0;
            KAI_QD_CLTD_YL_VAVLE = 0;
            KAI_QD_KAI_XM_VAVLE = 0;    //开口下刀电磁阀
            KAI_QD_BI_XM_VAVLE = 0;     //闭口下刀电磁阀            
            SetAlarmCode(KAI_QD_ALARM_ADDR,0);       
//            AxisEgmStop(Z_AXIS);
        }
        else
        {
            KAI_QD_AutoDelay   = dwTickCount;
            KAI_QD_MotorDelay = dwTickCount;
            KAI_QD_XiaQieDelay  = dwTickCount;
            KAI_QD_KaDaiDelay   = dwTickCount;
            KAI_QD_CSDelay = dwTickCount;
            KAI_QD_TBDelay  = dwTickCount;
            KAI_QD_TFKDelay = dwTickCount;
            KAI_QD_TLDelay  = dwTickCount;
            dwTickCount = KAI_QD_TBDelay;
            KAI_QD_NQDJGNUNMBER = 0;
            SingOneFlg  = 0; 
            KAI_QD_JD_VAVLE = 0;
            KAI_QD_SM_VAVLE = 0;
            KAI_QD_XM_VAVLE = 0;
            KAI_QD_XM_VAVLE = 0;
            KAI_QD_YD_VAVLE = 0;
            KAI_QD_TFK_VAVLE= 0;
            if(!KAI_QD_PARAM_ECQ_MODE)
                KAI_QD_ECT_VAVLE=1;
            else
                KAI_QD_ECT_VAVLE=0;
            
            //          KAI_QD_YX_VAVLE = 0;
            //          KAI_QD_HL_VAVLE  = 0;
            KAI_QD_TL_VAVLE      = 0;
            KAI_QD_DGLG_VAVLE = 0;  //顶过链杆关
            KAI_QD_GZ_VAVLE = 0;
            KAI_QD_SD_VAVLE=0;
            KAI_QD_CS_OUT   = 0;
            KAI_QD_XiaQieStep = 0;
            KAI_QD_MotorStep = 0;
            KAI_QD_TuiLianStep = 0;
            KAI_QD_TABLE_VAVLE = 0;
            KAI_QD_cTABLETIME = 0;
            KAI_QD_TMFZ_OUT = 0;
            KAI_QD_TMSZ_OUT = 1;
            KAI_QD_cTABLETOTAL= 0;
            if((KAI_QD_StopStep == 0))
            {
                KAI_QD_cSTOPONE = 0;
                AxisEgmStop(X_AXIS);   
                SetEn(X_AXIS, MOTOR_DISEN); //电机松轴
                AxisEgmStop(Y_AXIS);   
                SetEn(Y_AXIS, MOTOR_DISEN); //电机松轴
            }   
            KAI_QD_SecondXiaQueStep=0;            
            KAI_QD_BinLianStep  = 0;
            KAI_QD_BL_VAVLE    = 0;
            KAI_QD_CLTD_JT_VAVLE = 0;
            KAI_QD_CLTD_YL_VAVLE = 0;
            SetAlarmCode(KAI_QD_ALARM_ADDR,0);

 //           AxisEgmStop(Z_AXIS);
            
            KAI_QD_KAI_XM_VAVLE = 0;    //开口下刀电磁阀
            KAI_QD_BI_XM_VAVLE = 0;     //闭口下刀电磁阀
            if(KAI_QD_PARAM_ECTMACHINE_MODE)  //二次切选择的话先移动到第一刀
            {    
                if(KAI_QD_PARAM_ECQ_MODE)
                    KAI_QD_ZMotorStep = 10; 
                else
                    KAI_QD_ZMotorStep = 20; 
            }   
        }
        bRunning   = 0;
        KAI_QD_XiaQieStep = 0;
        KAI_QD_AutoStep   = 0;
        KAI_QD_MotorStep  = 0;
        KAI_QD_TuiLianStep = 0;
//        KAI_QD_ZMotorStep  = 0;
    }    
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        KAI_QD_XiaQieStep = 0;
        KAI_QD_AutoStep   = 0;
        KAI_QD_MotorStep  = 0;
        KAI_QD_StopStep=0;
        KAI_QD_TuiLianStep = 0;
        KAI_QD_NQDJGNUNMBER = 0;
        KAI_QD_XiaQieStep = 0;
        KAI_QD_MotorStep  = 0;
        KAI_QD_TuiLianStep = 0;
        KAI_QD_SecondXiaQueStep=0;
        KAI_QD_AutoDelay   = dwTickCount;
        KAI_QD_MotorDelay = dwTickCount;
        KAI_QD_XiaQieDelay  = dwTickCount;
        KAI_QD_KaDaiDelay   = dwTickCount;
        KAI_QD_CSDelay = dwTickCount;
        KAI_QD_TBDelay  = dwTickCount;
        KAI_QD_TFKDelay  = dwTickCount;
        KAI_QD_TLDelay     = dwTickCount;
        SingOneFlg  = 0; 
        bRunning   = 0;   
        KAI_QD_StopStep=1;
        //     AxisEgmStop(X_AXIS);       
        //    AxisEgmStop(X_AXIS); 
        dwTickCount = KAI_QD_TBDelay;
        KAI_QD_TABLE_VAVLE = 0;
        KAI_QD_JD_VAVLE=0;
        KAI_QD_GZ_VAVLE=0;
    }
#endif    
}   
//记忆长度模式误差检测
void Kai_QueDuan_CheckLength(void)
{
    static long start_dist;
#if 1    
    switch(KAI_QD_CheckLengthStep)
    {
        case 0:break;
        case 1:
            start_dist = dwXRealPos;
            KAI_QD_dwWorkLength = 0;
            KAI_QD_CheckLengthStep = 2;
            break;
        case 2:
            if(KAI_QD_GUO_LIAN_IN_DW)
            {  
                KAI_QD_dwWorkLength = dwXRealPos - start_dist;              
            }
            break;         
    }  
#endif   
}

void Kai_QueDuan_BingLian(void)
{
#if 1     
    static long bl_pos_buff;
   
    switch(KAI_QD_BinLianStep)
    {
        case 0:break;
        case 1:
            bl_pos_buff = dwXRealPos;
            KAI_QD_BinLianStep = 2;
            break;       
        case 2:
            if((dwXRealPos - bl_pos_buff) >= KAI_QD_PARAM_DELAY_HL_LENGTH)
            {
                KAI_QD_BL_VAVLE = 1;   
                KAI_QD_BinLianStep = 3;
            }            
            break;
        case 3://有过链检测
            if(KAI_QD_GUO_LIAN_IN_DW || ((dwXRealPos - bl_pos_buff) >= (KAI_QD_PARAM_ZIPPER_LENGTH - KAI_QD_PARAM_HL_DELAY_BACK)))  
            {
                KAI_QD_BL_VAVLE = 0;
                KAI_QD_BinLianStep = 0;   
            }
            break;
        case 10:
            bl_pos_buff = dwXRealPos;
            KAI_QD_BinLianStep = 11;
            break;       
        case 11:
            if((dwXRealPos - bl_pos_buff) >= KAI_QD_PARAM_DELAY_HL_LENGTH)
            {
                KAI_QD_BL_VAVLE = 1;   
                KAI_QD_BinLianStep = 12;
            }            
            break;
        case 12://有过链检测
            if(KAI_QD_GUO_LIAN_IN_DW)  
            {
                KAI_QD_BL_VAVLE = 0;
                KAI_QD_BinLianStep = 0;   
            }
            break;
            //这是长链模式的合链
        case 20:
            bl_pos_buff = dwXRealPos;
            KAI_QD_BinLianStep = 21;
            break;       
        case 21:
            if((dwXRealPos - bl_pos_buff) >= KAI_QD_PARAM_DELAY_HL_LENGTH)
            {
                KAI_QD_BL_VAVLE = 1;   
                KAI_QD_BinLianStep = 22;
            }            
            break;
        case 22://有过链检测
            if((KAI_QD_GUO_LIAN_IN_DW && ((dwYRealPos + KAI_QD_PARAM_CL_JZ_TD_LENGTH) >= (KAI_QD_PARAM_ZIPPER_LENGTH - 1200))) || ((dwYRealPos + KAI_QD_PARAM_CL_JZ_TD_LENGTH + 300) >= (KAI_QD_PARAM_ZIPPER_LENGTH - KAI_QD_PARAM_HL_DELAY_BACK)))  
            {
                KAI_QD_BL_VAVLE = 0;
                KAI_QD_BinLianStep = 0;   
            }
            break;            
        default:
            break;
    }
#endif    
}
//电机动作

//作闭口专用程序,也有四种模式
//不带过链感应长度输入电机长度  闭口有勾针到位 ，夹子电机
void Kai_QueDuan_Motor(void)
{
    
    static long KAI_QD_jz_buff;

    unsigned  short ch,kk;
#if 1               
    user_datas[121] = dwXRealPos;
    user_datas[122] = dwYRealPos;
    user_datas[123] = dwZRealPos;
    user_datas[124] = KAI_QD_MotorStep;
    user_datas[125] = KAI_QD_ReBack_Step;//KAI_QD_YMotorStep;
    user_datas[126] = KAI_QD_XiaQieStep;
    user_datas[127] = KAI_QD_AutoStep;//KAI_QD_gou_zhen_buff;
    user_datas[128] = KAI_QD_SecondXiaQueStep;//;
    
    switch(KAI_QD_MotorStep)
    {
    case 30:
        switch(KAI_QD_PARAM_BACK_MODE)  //开口分四种模式 
        {
        case 0: //单数控模式
            KAI_QD_MotorStep   = 310;  //每种模式留20步
            KAI_QD_DGLG_VAVLE = 1;  //顶过链杆关
            break;
        case 1://单感应模式
            KAI_QD_MotorStep   = 330;  //每种模式留20步
            
            break;
        case 2: //先感应后数控模式+检测
            KAI_QD_MotorStep   = 350;  //每种模式留20步
            break;
        default:  //数控模式+过链检测长度
            KAI_QD_MotorStep   = 370;  //每种模式留20步
            break;
        }  
        SetPos(X_AXIS, 0);   //开始拖带处为0点
        
        KAI_QD_MotorDelay  =    dwTickCount + 0; 
        KAI_QD_YD_VAVLE = 0;
        //已经定位原点后好，定位到第一刀
       if((KAI_QD_PARAM_ECTMACHINE_MODE) && KAI_QD_ORIGIN_Over)
       {
                    //切二次
            if(KAI_QD_PARAM_ECQ_MODE)
                KAI_QD_ZMotorStep = 10;  //移动到第一次切位置
            else
                KAI_QD_ZMotorStep = 20;  //移动到第二次切位置 
        }    
        break;
        //310步到315步为数控模式                    
    case 310:
        KAI_QD_MotorStep   = 311;    
        if(KAI_QD_PARAM_BL_ENABLE)
            KAI_QD_BinLianStep = 1;  //并链起动
        break;
    case 311:   
        if(dwTickCount >= KAI_QD_MotorDelay)
        {   
            KAI_QD_length_buffer = (short *)(&KAI_QD_PARAM_OFFSET_LENGTH);
            if(KAI_QD_PARAM_ECQ_MODE)
                KAI_QD_ECT_VAVLE=0;
            //自动匹配减速时间
            KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC+ KAI_QD_PARAM_BACK_SPEED/500;          
            //两段速度移动距离
            
            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_BACK_SPEED,KAI_QD_PARAM_ZIPPER_LENGTH + (*KAI_QD_length_buffer), KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,KAI_QD_PARAM_BACK_LOW_SPEED_LENGTH);            
            KAI_QD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
            KAI_QD_MotorStep   = 312;
        }
        break;   
    case 312:
        //电机走动后再退送链，减少起动拉链的阻力
        if(dwXRealPos >= 50)
        {
            KAI_QD_TL_VAVLE = 0;
            KAI_QD_TFK_VAVLE = 0;
            KAI_QD_SD_VAVLE = 0;
        }   
        //提前压带
        if(dwXRealPos >((KAI_QD_PARAM_ZIPPER_LENGTH+ (*KAI_QD_length_buffer))-KAI_QD_PARAM_YDCNC_LENGTH))
        {
            KAI_QD_YD_VAVLE=1;  
        }     
        if(dwXRealPos >= (KAI_QD_PARAM_ZIPPER_LENGTH+(*KAI_QD_length_buffer) - KAI_QD_PARAM_SY_LENGTH))
        {
            if(KAI_QD_LTGY_IN_UP)
                KAI_QD_SetAlarmCode(KAI_QD_LTWZYC_ALARM);                       
        }
        
        //勾针提前输出
        if(!KAI_QD_GZ_VAVLE && ((dwXRealPos + KAI_QD_PARAM_GOUZHEN_LENGTH) >= (KAI_QD_PARAM_ZIPPER_LENGTH + (*KAI_QD_length_buffer))))
        {  
            KAI_QD_GZ_VAVLE = 1;
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
        }
        
        if((dwXRealPos) >= (KAI_QD_PARAM_ZIPPER_LENGTH  + (*KAI_QD_length_buffer) - KAI_QD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*KAI_QD_length_buffer) - (KAI_QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(KAI_QD_PARAM_BACK_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_DCC)))))
        {           
            KAI_QD_MotorDelay  = dwTickCount + 1500; //钩针未到位延时警告
            KAI_QD_MotorStep   = 313;                                 
        }               
        break;
    case 313: 
        //数控提前上勾针
        if((dwXRealPos + KAI_QD_PARAM_YDCNC_LENGTH) >= ((KAI_QD_PARAM_ZIPPER_LENGTH+ (*KAI_QD_length_buffer))))
        {
            KAI_QD_YD_VAVLE=1;  
        }
                
        if((dwXRealPos + KAI_QD_PARAM_SY_LENGTH) >= (KAI_QD_PARAM_ZIPPER_LENGTH+(*KAI_QD_length_buffer)))
        {
            if(KAI_QD_LTGY_IN_UP)
                KAI_QD_SetAlarmCode(KAI_QD_LTWZYC_ALARM);
            
        }
        
        //勾针提前输出
        if(!KAI_QD_GZ_VAVLE && ((dwXRealPos + KAI_QD_PARAM_GOUZHEN_LENGTH) >= (KAI_QD_PARAM_ZIPPER_LENGTH + (*KAI_QD_length_buffer))))
        {  
            KAI_QD_GZ_VAVLE = 1;
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
        }
        
        if(KAI_QD_GOUZHEN_IN || !X_DRV)
        {                      
            AxisEgmStop(X_AXIS);
            KAI_QD_MotorDelay  =    dwTickCount + 3;
            KAI_QD_YD_VAVLE = 1;
            KAI_QD_GZ_VAVLE = 1;
            KAI_QD_MotorStep   = 314;
            KAI_QD_BL_VAVLE = 0;  //停止时并链一定要打开
            
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
        }                       
        break;                     
    case 314:
        
        if(!X_DRV && (dwTickCount >= KAI_QD_MotorDelay))
        {    
            KAI_QD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
            KAI_QD_YD_VAVLE = 1;//压带                       
            KAI_QD_SD_VAVLE=1;
            KAI_QD_MotorStep   = 315;
        }   
        break;
    case 315:    
        if(KAI_QD_cZipCnt == 0)  //第一条把误差到正负9MM
        {
            ch = KAI_QD_PARAM_ZIPPER_LENGTH + (*KAI_QD_length_buffer)-90; 
            kk = KAI_QD_PARAM_ZIPPER_LENGTH + (*KAI_QD_length_buffer)+90;
        }   
        else
        {
            if(KAI_QD_PARAM_BACK_MODE == 2)   //纯数控模式
            { 
                ch = KAI_QD_gou_zhen_buff - KAI_QD_PARAM_SKCDWC_LENGTH;                            
                kk = KAI_QD_gou_zhen_buff + KAI_QD_PARAM_SKCDWC_LENGTH;         
            }
            else
            {
                ch = KAI_QD_PARAM_ZIPPER_LENGTH + (*KAI_QD_length_buffer)-KAI_QD_PARAM_SKCDWC_LENGTH;                            
                kk = KAI_QD_PARAM_ZIPPER_LENGTH + (*KAI_QD_length_buffer)+KAI_QD_PARAM_SKCDWC_LENGTH;        
            }
            
        }
        if(KAI_QD_PARAM_BACK_MODE == 2)   //先感应后数控模式+检测  只能检测过链的位置
        {
            if(((KAI_QD_dwWorkLength) < (ch)))  //拉链变短
            { 
                SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_LENGTH_SHORT_ALARM);   
                if(dwTickCount >= KAI_QD_MotorDelay)
                    bAlarmStop = 1;
            }          
            else if((KAI_QD_dwWorkLength > kk))//拉链变长//(KAI_QD_PARAM_ERROR_LENGTH - 200 + (*KAI_QD_length_buffer)+50)))
            {
                SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_LENGTH_LONG_ALARM);   
                if(dwTickCount >= KAI_QD_MotorDelay)
                    bAlarmStop = 1;
            }     
            else
            {                                                              
                KAI_QD_MotorStep   = 0;//390;  //延时反转步
            }                          
        }
        else
        {  
            if(((dwXRealPos) < (ch)))  //拉链变短
            { 
                SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_LENGTH_SHORT_ALARM);   
                if(dwTickCount >= KAI_QD_MotorDelay)
                    bAlarmStop = 1;
            }          
            else if((dwXRealPos > kk))//拉链变长//(KAI_QD_PARAM_ERROR_LENGTH - 200 + (*KAI_QD_length_buffer)+50)))
            {
                SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_LENGTH_LONG_ALARM);   
                if(dwTickCount >= KAI_QD_MotorDelay)
                    bAlarmStop = 1;
            }     
            else
            {                                                              
                KAI_QD_MotorStep   = 0;//390;  //延时反转步
            }   
        }                     
        break;
        //330步到349步单感应模式   
    case  330:                     
        KAI_QD_MotorStep   = 331;                    
        user_datas[127] = 0;
        break;
    case 331:  
        if(dwTickCount >= KAI_QD_MotorDelay)
        {   
            KAI_QD_length_buffer = (short *)(&KAI_QD_PARAM_OFFSET_LENGTH);
            if(KAI_QD_PARAM_ECQ_MODE)
                KAI_QD_ECT_VAVLE=0;
            KAI_QD_MotorStep   = 332; 
            if(KAI_QD_cZipCnt < 2)
            {
                if(KAI_QD_PARAM_BL_ENABLE)
                    KAI_QD_BinLianStep = 10;  //并链起动
                
                //第一条都是过链感应，后拉速度减半//原来KAI_QD_PARAM_CHECK_BACK_HSPEED/2
                //                  X轴       运行速度                    启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_CHECK_BACK_LSPEED*9/5,KAI_QD_DIR_P,KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_LSPEED,15,20);                           
                //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
                // AxisMoveTwoPos(X_AXIS,KAI_QD_PARAM_BACK_SPEED,KAI_QD_PARAM_ZIPPER_LENGTH + (*KAI_QD_length_buffer)-KAI_QD_PARAM_BACK_LOW_SPEED_LENGTH,KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED_LENGTH,KAI_QD_DIR_P); 
                
            }   
            else
            {  
                KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC+ KAI_QD_PARAM_CHECK_BACK_HSPEED/500;   
                if(KAI_QD_PARAM_BL_ENABLE)
                    KAI_QD_BinLianStep = 1;  //并链起动
                //因为每条都是过链感应，所以直接运行检测模式后拉速度
                //                  X轴       运行速度                    启动速度        加速度  减速度
                //                            AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_BACK_SPEED,KAI_QD_DIR_P,KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_LSPEED,KAI_QD_PARAM_ACC,80);       
                AxisMovePosAccDecNotStop(X_AXIS,KAI_QD_PARAM_CHECK_BACK_HSPEED,KAI_QD_PARAM_ZIPPER_LENGTH , KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_LSPEED*9/5,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,KAI_QD_PARAM_BACK_LOW_SPEED_LENGTH + 500); 
            }
        }
        break;
    case 332:
        //电机走动后再退送链，减少起动拉链的阻力
        if(dwXRealPos >= 50)
        {
            KAI_QD_TL_VAVLE = 0;
            KAI_QD_TFK_VAVLE = 0;
            KAI_QD_SD_VAVLE = 0;
            KAI_QD_MotorStep   = 333;  //到检测定位
        }  
        break;
    case 333:    
        if(KAI_QD_cZipCnt > 1)  //第三条开始数控降速
        { 
            if(dwXRealPos >= KAI_QD_PARAM_ZIPPER_LENGTH+(*KAI_QD_length_buffer)-KAI_QD_PARAM_SY_LENGTH)
            {
                if(KAI_QD_LTGY_IN_UP)
                    KAI_QD_SetAlarmCode(KAI_QD_LTWZYC_ALARM);                         
            }
            if(KAI_QD_GUO_LIAN_IN)  //重新到空位上
            {
                KAI_QD_MotorStep   = 334;  //到检测定位    
                if(!KAI_QD_PARAM_LTJC_MODE)  //有拉头模式
                    KAI_QD_MotorDelay  = dwTickCount + KAI_QD_PARAM_FD_TIME;//KAI_QD_PARAM_DELAY_XM;   防抖时间
                else//无拉头模式
                    KAI_QD_MotorDelay  = dwTickCount + 3;//KAI_QD_PARAM_DELAY_XM;
            }
        }  
        else   //第一条工作
        {       
            KAI_QD_GZ_VAVLE = 0;  
            if(KAI_QD_GUO_LIAN_IN_UP)
            {                             
                //第一条，速度比较慢防拦时间可以不要
                //                           if(!KAI_QD_PARAM_LTJC_MODE)
                //                               KAI_QD_MotorDelay  = dwTickCount + KAI_QD_PARAM_FD_TIME;//KAI_QD_PARAM_DELAY_XM;
                //                            else
                KAI_QD_MotorDelay  = dwTickCount + 2;//KAI_QD_PARAM_DELAY_XM;
                KAI_QD_MotorStep   = 334;
            }                        
        }                             
        break;
    case 334:  //此步为前两条运行
        
        if(KAI_QD_cZipCnt>1)
        {
            if(dwXRealPos >= KAI_QD_PARAM_ZIPPER_LENGTH+(*KAI_QD_length_buffer)-KAI_QD_PARAM_SY_LENGTH)
            {
                if(KAI_QD_LTGY_IN_UP)
                    KAI_QD_SetAlarmCode(KAI_QD_LTWZYC_ALARM);
                
            }
        }
        if(KAI_QD_GUO_LIAN_IN_DW)
        {
            KAI_QD_gou_zhen_buff = dwXRealPos; 
            
        }
        if(dwTickCount >= KAI_QD_MotorDelay)
        {
            if(KAI_QD_GUO_LIAN_IN)
            {       
                if(KAI_QD_cZipCnt < 2)  //前面两条速度不高，可以立即降速
                {
                    AxisChangeSpeedDirect(X_AXIS,KAI_QD_PARAM_CHECK_BACK_LSPEED * 6/5);
                }
                else//变速
                {                                
                    
                    if(!KAI_QD_PARAM_LTJC_MODE)  //有拉头模式
                    { 
                        KAI_QD_DCC_TIME_BL = 10+GetCurSpeed(X_AXIS)/500; 
                        AxisContinueMoveChangeSpeed(X_AXIS,KAI_QD_PARAM_CHECK_BACK_LSPEED * 6/5,KAI_QD_PARAM_CHECK_BACK_LSPEED * 6/5,25,KAI_QD_DCC_TIME_BL); 
                    }   
                    else
                    {  
                        AxisChangeSpeedDirect(X_AXIS,KAI_QD_PARAM_CHECK_BACK_LSPEED * 6/5); 
                    }   
                }                               
                KAI_QD_MotorStep   = 335;
            }
        }
        else
        {
            if(!KAI_QD_GUO_LIAN_IN)
            {
                KAI_QD_MotorStep   = 333;  
            }
        }                 
        break;   
    case 335:   
        if(KAI_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {                        
            KAI_QD_gou_zhen_buff = dwXRealPos;
            KAI_QD_MotorStep   = 336;
            
            
            KAI_QD_DCC_TIME_BL = 15;//GetCurSpeed(X_AXIS)/500;  
            //                     AxisContinueMoveChangeSpeed(Y_AXIS,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,1000,25,15); 
            AxisContinueMoveChangeSpeed(X_AXIS,KAI_QD_PARAM_BACK_LOW_SPEED,1000,15,15); 
            //                 AxisMovePosAccDecNotStop(X_AXIS,GetCurSpeed(X_AXIS),KAI_QD_PARAM_MOTOR_DINWEI_LENGTH, GetCurSpeed(X_AXIS),KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,50); 
            
        }  
        
        
        if(KAI_QD_cZipCnt > 1)  //第三条开始要长度误差
        {  
            if(dwXRealPos >= (KAI_QD_length_buff + KAI_QD_PARAM_ERROR_LENGTH))
            {                    
                KAI_QD_SetAlarmCode(KAI_QD_LENGTH_LONG_ALARM);
            } 
            if(dwXRealPos >= KAI_QD_PARAM_ZIPPER_LENGTH+(*KAI_QD_length_buffer)-KAI_QD_PARAM_SY_LENGTH)
            {
                if(KAI_QD_LTGY_IN_UP)
                    KAI_QD_SetAlarmCode(KAI_QD_LTWZYC_ALARM);                         
            } 
        }  
        
        
        break;
    case 336:     
        if(KAI_QD_cZipCnt>1)
        {
            if(dwXRealPos >= KAI_QD_PARAM_ZIPPER_LENGTH+(*KAI_QD_length_buffer)-KAI_QD_PARAM_SY_LENGTH)
            {
                if(KAI_QD_LTGY_IN_UP)
                    KAI_QD_SetAlarmCode(KAI_QD_LTWZYC_ALARM);                        
            }
        }
        
        
        if(KAI_QD_GUO_LIAN_IN_DW)
        {
            KAI_QD_gou_zhen_buff = dwXRealPos; 
            
        }
        //在空们都把延时清零    
        if(KAI_QD_GUO_LIAN_IN)
        {
            //在定位过程中又到空位，重新检测定位
            KAI_QD_gou_zhen_buff = dwXRealPos; 
            KAI_QD_GZ_VAVLE = 0;
            if(!KAI_QD_PARAM_XM_ENABLE)
                KAI_QD_XM_VAVLE=0;
             KAI_QD_KAI_XM_VAVLE = 0; 
            KAI_QD_BI_XM_VAVLE = 0;
            AxisContinueMoveChangeSpeed(X_AXIS,(KAI_QD_PARAM_CHECK_BACK_LSPEED* 6/5),1000,15,15); 
            KAI_QD_MotorStep   = 335;  
            break;
        }    
        
        if((dwXRealPos >= (KAI_QD_gou_zhen_buff +KAI_QD_PARAM_GZ_DELAY)) && !KAI_QD_GUO_LIAN_IN)
        {          
            
            KAI_QD_GZ_VAVLE = 1;
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
            
        }                       
        //定位停止
        if(((dwXRealPos - KAI_QD_gou_zhen_buff) >= KAI_QD_PARAM_MOTOR_DINWEI_LENGTH) && !KAI_QD_GUO_LIAN_IN)
        {                                   
            AxisEgmStop(X_AXIS);   
            KAI_QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
            KAI_QD_MotorStep   = 337;
            KAI_QD_GZ_VAVLE = 1;
            KAI_QD_SD_VAVLE=1;
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
        }   
        break;                    
        
        
    case 337:                                              
        if(KAI_QD_cZipCnt > 1)  //长度检测
        {
            ch = KAI_QD_PARAM_ZIPPER_LENGTH;                                                                         
            user_datas[127] = ch;
            if(((dwXRealPos + KAI_QD_PARAM_ERROR_LENGTH) < (ch)) && KAI_QD_PARAM_ERROR_LENGTH) 
            { 
                KAI_QD_NQDJGNUNMBER =1;
                
                if(dwTickCount >= KAI_QD_MotorDelay)
                    bAlarmStop = 1;
            }          
            else if((dwXRealPos > (ch + KAI_QD_PARAM_ERROR_LENGTH)) && KAI_QD_PARAM_ERROR_LENGTH)//(KAI_QD_PARAM_ERROR_LENGTH - 200 + (*KAI_QD_length_buffer)+50)))
            {
                
                KAI_QD_NQDJGNUNMBER = 2;
                if(dwTickCount >= KAI_QD_MotorDelay)
                    bAlarmStop = 1;
            }  
            else
            {
                KAI_QD_MotorStep   = 338;
            }
        }
        else 
        {  
            if(KAI_QD_cZipCnt == 1)
            {
                KAI_QD_length_buff = dwXRealPos;
                SetData32bits(KAI_QD_PARAM_ZIPPER_LENGTH_ADDR,KAI_QD_length_buff);  //测量记录长度
            }     
            KAI_QD_MotorStep   = 338;
        } 
        break;                    
    case 338:   
        KAI_QD_MotorStep   = 0;//390;
        
        //                    SetDir(X_AXIS, KAI_QD_DIR_N);
        //                    if(dwTickCount >= KAI_QD_MotorDelay) 
        //                    {
        //                        AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_BACK_LOW_SPEED,-KAI_QD_PARAM_FZ_LENGTH,3000,KAI_QD_PARAM_ACC,KAI_QD_PARAM_DCC);                                   
        //                        KAI_QD_MotorStep   = 0;
        //                    }
        break;
        //350步到369步先感应后数控  
    case  350:                          
        KAI_QD_MotorStep   = 351;   
        break;
    case 351:  
        if(dwTickCount >= KAI_QD_MotorDelay)
        {   
            if(KAI_QD_PARAM_ECQ_MODE)
                KAI_QD_ECT_VAVLE=0;
            KAI_QD_MotorStep   = 352; 
            KAI_QD_CheckLengthStep = 0;
            //第一,二条都是过链感应，测量长度
            if(KAI_QD_cZipCnt < 2)
            {
                if(KAI_QD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
                    KAI_QD_BinLianStep = 10;  //并链起动
                KAI_QD_DGLG_VAVLE = 0;  //顶过链杆关
                //                  X轴       运行速度                    启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_CHECK_BACK_LSPEED*9/5,KAI_QD_DIR_P,KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_LSPEED,15,20);                             
            }   
            else
            {  
                if(KAI_QD_PARAM_BL_ENABLE)
                    KAI_QD_BinLianStep = 1;  //并链起动
                //                            KAI_QD_DGLG_VAVLE = 1;  //顶过链杆关
                KAI_QD_CheckLengthStep = 1;    //长度检测,第3条才有对比
                //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
                KAI_QD_MotorStep   = 311; 
            }  
        }
        break;
    case 352:     
        //电机走动后再退送链，减少起动拉链的阻力
        //电机走动后再退送链，减少起动拉链的阻力
        if(dwXRealPos >= 50)
        {
            KAI_QD_TL_VAVLE = 0;
            KAI_QD_TFK_VAVLE = 0;
            KAI_QD_SD_VAVLE = 0;
            KAI_QD_MotorStep   = 353;  //到检测定位
        }  
        break;
    case 353:      
        if(KAI_QD_GUO_LIAN_IN_DW)  //重新到链上
        {
            AxisChangeSpeedDirect(X_AXIS,KAI_QD_PARAM_BACK_LOW_SPEED);
            KAI_QD_gou_zhen_buff = dwXRealPos;
            KAI_QD_MotorStep   = 355;  //到检测定位    
            
        }
        
        //前两条都按最低速度工作
        if(KAI_QD_GUO_LIAN_IN_UP)  //空位上
        {                                 
            
            
            if(!KAI_QD_PARAM_LTJC_MODE)
                KAI_QD_MotorDelay  = dwTickCount + KAI_QD_PARAM_FD_TIME;//KAI_QD_PARAM_DELAY_XM;
            else
                KAI_QD_MotorDelay  = dwTickCount + 3;//KAI_QD_PARAM_DELAY_XM;
            KAI_QD_MotorStep   = 354;     
        }  
        
        break;
    case 354:                 
        if(KAI_QD_GUO_LIAN_IN_DW)
        {
            KAI_QD_gou_zhen_buff = dwXRealPos; 
            
        }
        if(dwTickCount >= KAI_QD_MotorDelay)
        {
            if(KAI_QD_GUO_LIAN_IN)
            {
                
                AxisChangeSpeedDirect(X_AXIS,KAI_QD_PARAM_CHECK_BACK_LSPEED * 6/5);                               
                KAI_QD_MotorStep   = 355;
            }
        }
        else
        {
            if(!KAI_QD_GUO_LIAN_IN)
            {
                KAI_QD_MotorStep   = 353;
                
            }
        }        
        
        break;   
    case 355:
        if(KAI_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {                                       
            KAI_QD_gou_zhen_buff = dwXRealPos;
            KAI_QD_MotorStep   = 356;                    
        }
        break;
    case 356:                   
        if(KAI_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {      
            
            KAI_QD_gou_zhen_buff = dwXRealPos;
            
        }
        //在空们都把延时清零    
        if(KAI_QD_GUO_LIAN_IN)
        {
            //在定位过程中又到空位，重新检测定位
            KAI_QD_gou_zhen_buff = dwXRealPos; 
            KAI_QD_GZ_VAVLE = 0;
            if(!KAI_QD_PARAM_XM_ENABLE)
                KAI_QD_XM_VAVLE=0;
             KAI_QD_KAI_XM_VAVLE = 0; 
            KAI_QD_BI_XM_VAVLE = 0;
            AxisContinueMoveChangeSpeed(X_AXIS,(KAI_QD_PARAM_CHECK_BACK_LSPEED* 6/5),1000,15,15); 
            KAI_QD_MotorStep   = 355;  
            break;
        }    
        
        if((dwXRealPos >= (KAI_QD_gou_zhen_buff +KAI_QD_PARAM_GZ_DELAY)) && !KAI_QD_GUO_LIAN_IN)
        {          
            
            KAI_QD_GZ_VAVLE = 1;
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
            
        }                       
        //定位停止
        if(((dwXRealPos - KAI_QD_gou_zhen_buff) >= KAI_QD_PARAM_MOTOR_DINWEI_LENGTH) && !KAI_QD_GUO_LIAN_IN)
        {                                   
            AxisEgmStop(X_AXIS);   
            KAI_QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
            KAI_QD_MotorStep   = 357;
            KAI_QD_GZ_VAVLE = 1;
            KAI_QD_SD_VAVLE=1;
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
        }                                  
        break;
    case 357:                                              
        if(KAI_QD_cZipCnt == 1)
        {
            KAI_QD_length_buff = dwXRealPos;
            SetData32bits(KAI_QD_PARAM_ZIPPER_LENGTH_ADDR,KAI_QD_length_buff);  //测量记录长度
        }     
        KAI_QD_MotorStep   = 358;
        
        break;                    
    case 358:
        KAI_QD_MotorStep   = 0;   //延时反转步
        //                   SetDir(X_AXIS, KAI_QD_DIR_N);
        //                   AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_BACK_LOW_SPEED,-KAI_QD_PARAM_FZ_LENGTH,3000,KAI_QD_PARAM_ACC,KAI_QD_PARAM_DCC);                                   
        //                   KAI_QD_MotorStep   = 0;
        break;
        
        //370步到389步为先感应后数控 无检测                
        
    case  370:                          
        KAI_QD_MotorStep   = 371;   
        break;
    case 371:  
        if(dwTickCount >= KAI_QD_MotorDelay)
        {   
            if(KAI_QD_PARAM_ECQ_MODE)
                KAI_QD_ECT_VAVLE=0;
            KAI_QD_MotorStep   = 372; 
            //第一,二条都是过链感应，测量长度
            if(KAI_QD_cZipCnt < 2)
            {
                if(KAI_QD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
                    KAI_QD_BinLianStep = 10;  //并链起动
                KAI_QD_DGLG_VAVLE = 0;  //顶过链杆关
                //                  X轴       运行速度       启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,6000,KAI_QD_DIR_P,KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED,15,12);                          
            }   
            else
            {  
                if(KAI_QD_PARAM_BL_ENABLE)
                    KAI_QD_BinLianStep = 1;  //并链起动
                KAI_QD_DGLG_VAVLE = 1;  //顶过链杆关
                //                           KAI_QD_CheckLengthStep = 1;    //长度检测,第3条才有对比
                //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
                KAI_QD_MotorStep   = 311; 
            }  
        }
        break;
    case 372:       
        //电机走动后再退送链，减少起动拉链的阻力
        //电机走动后再退送链，减少起动拉链的阻力
        if(dwXRealPos >= 50)
        {
            KAI_QD_TL_VAVLE = 0;
            KAI_QD_TFK_VAVLE = 0;
            KAI_QD_SD_VAVLE = 0;
            KAI_QD_MotorStep   = 373;  //到检测定位
        }  
        break;
    case 373:      
        if(KAI_QD_GUO_LIAN_IN_DW)  //重新到链上
        {
            AxisChangeSpeedDirect(X_AXIS,KAI_QD_PARAM_BACK_LOW_SPEED);
            KAI_QD_gou_zhen_buff = dwXRealPos;
            KAI_QD_MotorStep   = 376;  //到检测定位    
            
        }
        
        //前两条都按最低速度工作
        if(KAI_QD_GUO_LIAN_IN_UP)  //空位上
        {                                 
            
            
            if(!KAI_QD_PARAM_LTJC_MODE)
                KAI_QD_MotorDelay  = dwTickCount + KAI_QD_PARAM_FD_TIME;//KAI_QD_PARAM_DELAY_XM;
            else
                KAI_QD_MotorDelay  = dwTickCount + 3;//KAI_QD_PARAM_DELAY_XM;
            KAI_QD_MotorStep   = 374;     
        }  
        
        break;
    case 374:                 
        if(KAI_QD_GUO_LIAN_IN_DW)
        {
            KAI_QD_gou_zhen_buff = dwXRealPos; 
            
        }
        if(dwTickCount >= KAI_QD_MotorDelay)
        {
            if(KAI_QD_GUO_LIAN_IN)
            {
                
                AxisChangeSpeedDirect(X_AXIS,KAI_QD_PARAM_CHECK_BACK_LSPEED * 6/5);                               
                KAI_QD_MotorStep   = 375;
            }
        }
        else
        {
            if(!KAI_QD_GUO_LIAN_IN)
            {
                KAI_QD_MotorStep   = 373;               
            }
        }                
        break;   
    case 375:
        if(KAI_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {                                       
            KAI_QD_gou_zhen_buff = dwXRealPos;
            KAI_QD_MotorStep   = 376;                    
        }
        break;
    case 376:                   
        if(KAI_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {      
            
            KAI_QD_gou_zhen_buff = dwXRealPos;
            
        }
        //在空们都把延时清零    
        if(KAI_QD_GUO_LIAN_IN)
        {
            //在定位过程中又到空位，重新检测定位
            KAI_QD_gou_zhen_buff = dwXRealPos; 
            KAI_QD_GZ_VAVLE = 0;
            if(!KAI_QD_PARAM_XM_ENABLE)
                KAI_QD_XM_VAVLE=0;
            KAI_QD_KAI_XM_VAVLE = 0; 
            KAI_QD_BI_XM_VAVLE = 0;
            AxisContinueMoveChangeSpeed(X_AXIS,(KAI_QD_PARAM_CHECK_BACK_LSPEED* 6/5),1000,15,15); 
            KAI_QD_MotorStep   = 375;  
            break;
        }    
        
        if((dwXRealPos >= (KAI_QD_gou_zhen_buff +KAI_QD_PARAM_GZ_DELAY)) && !KAI_QD_GUO_LIAN_IN)
        {          
            
            KAI_QD_GZ_VAVLE = 1;
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
            
        }                       
        //定位停止
        if(((dwXRealPos - KAI_QD_gou_zhen_buff) >= KAI_QD_PARAM_MOTOR_DINWEI_LENGTH) && !KAI_QD_GUO_LIAN_IN)
        {                                   
            AxisEgmStop(X_AXIS);   
            KAI_QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
            KAI_QD_MotorStep   = 377;
            KAI_QD_GZ_VAVLE = 1;
            KAI_QD_SD_VAVLE=1;
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(KAI_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=1;
            }
        }                                  
        break;
    case 377:                                              
        if(KAI_QD_cZipCnt == 1)
        {
            KAI_QD_length_buff = dwXRealPos;
            SetData32bits(KAI_QD_PARAM_ZIPPER_LENGTH_ADDR,KAI_QD_length_buff);  //测量记录长度
        }     
        KAI_QD_MotorStep   = 378;
        
        break;                    
    case 378:
        KAI_QD_MotorStep   = 0;   //延时反转步
        //                   SetDir(X_AXIS, KAI_QD_DIR_N);
        //                   AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_BACK_LOW_SPEED,-KAI_QD_PARAM_FZ_LENGTH,3000,KAI_QD_PARAM_ACC,KAI_QD_PARAM_DCC);                                   
        //                   KAI_QD_MotorStep   = 0;
        break;           //此两步为到位后反转步
    case 390:                    
        KAI_QD_MotorDelay  =    dwTickCount + 37;
        KAI_QD_MotorStep   = 391; 
        break;
    case 391:    
        if(dwTickCount >= KAI_QD_MotorDelay) 
        {
            AxisMovePosAccDec(X_AXIS,2200,-KAI_QD_PARAM_FZ_LENGTH,2200,2200,5,5,00);                                               
            KAI_QD_MotorStep   = 0;
        }
        break;
        
    case 40:
        //切完延时后拉带松夹子
        if(KAI_QD_PARAM_SJZ_LENGTH == 0)
        {
            KAI_QD_MotorDelay  = dwTickCount + KAI_QD_PARAM_TDYS_DELAY;
            KAI_QD_MotorStep   = 43;
            KAI_QD_JD_VAVLE = 0;             
        }
        else
        {
            KAI_QD_jz_buff = dwXRealPos;
            KAI_QD_MotorStep   = 41;            
        }
        break; 
    case 41:
        if((KAI_QD_YMotorStep == 0) && (KAI_QD_ReBack_Step == 0))   //在夹子转换时不能退
            KAI_QD_GZ_VAVLE=0;
        AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_CUT_BACK_SPEED,KAI_QD_PARAM_SJZ_LENGTH + KAI_QD_PARAM_BACK_LENGTH,2000,2000,25,25,40);
        KAI_QD_MotorStep   = 42;
        break;  
        
    case 42:	 
        if(KAI_QD_PARAM_SJZ_LENGTH <= (dwXRealPos - KAI_QD_jz_buff))
            KAI_QD_JD_VAVLE = 0;  
        if(!X_DRV)
        {
            KAI_QD_MotorStep   = 0;
        }
        break;
        
    case 43:
        if(dwTickCount >= KAI_QD_MotorDelay)
        {
            if((KAI_QD_YMotorStep == 0) && (KAI_QD_ReBack_Step == 0))   //在夹子转换时不能退
                KAI_QD_GZ_VAVLE=0; //延时退勾针有助于切断带丝情况
            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_CUT_BACK_SPEED,KAI_QD_PARAM_BACK_LENGTH,2500,2000,15,15,30);
            KAI_QD_MotorStep   = 44;     
        }               
        break;
    case 44:	                           // 切断完成后拉电机动作
        if(!X_DRV)
        {
            KAI_QD_MotorStep   = 0;            
            KAI_QD_MotorDelay  =    dwTickCount;
        }
        break;       
    case 61: // 前点定位数控模式
        KAI_QD_BL_VAVLE = 0;//并链也要打开
        if(dwTickCount >= KAI_QD_MotorDelay)
        {                          
            if(!KAI_QD_TL_VAVLE && KAI_QD_cZipCnt && (KAI_QD_TuiLianStep == 0))  //没送链情况下主动送链
            {
                if(!KAI_QD_SHANG_MU_LIMIT_IN)
                {
                    KAI_QD_TuiLianStep = 1;
                    KAI_QD_MotorStep = 62;
                }                          
            }
            else
                KAI_QD_MotorStep = 62;
            if(KAI_QD_PARAM_LIAN_SELECT)
            {
                KAI_QD_CLTD_JT_VAVLE = 0;
                KAI_QD_CLTD_YL_VAVLE = 0;
            }
            KAI_QD_JD_VAVLE = 0;  
        }
        break;
    case 62:
        if((dwTickCount >= KAI_QD_MotorDelay) &&((KAI_QD_PARAM_LIAN_SELECT == 0) || KAI_QD_CLTD_ORIGIN_IN)) 
        {                            
            if(KAI_QD_QIAN_LIMIT_IN)
            {
                //前点亮的情况下先后退离开信号后再前进定位 ,10公分
                AxisMovePosAccDec(X_AXIS,3000,1000,2000,2000,10,10,30);                        
                KAI_QD_MotorDelay = dwTickCount + 300;
            }
            KAI_QD_MotorStep = 63;                                        
        }
        break;
    case 63:    //说明夹子已经离开原点
        if(dwTickCount >= KAI_QD_MotorDelay)
        {    
            if(!KAI_QD_QIAN_LIMIT_IN)// && !KAI_QD_SHANG_MU_LIMIT_IN)
            {
                KAI_QD_YD_VAVLE = 1;
                //在自动情况下安全门
                if(KAI_QD_ANQUANMEN_LIMIT_IN && bRunning)
                {
                    if(dwTickCount >= KAI_QD_ANQUANMEN_Time)
                    {    
                        KAI_QD_StopStep=1;
                        KAI_QD_cSTOPONE=1;
                    }
                }
                else
                {
                    KAI_QD_ANQUANMEN_Time = dwTickCount + 100;
                }    
                if(KAI_QD_cZipCnt > 0)
                {
                    
                    if(dwXRealPos > (KAI_QD_PARAM_GO_LOW_SPEED_LENGTH))   
                    {   
                        //自动匹配减速时间
                        KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC + KAI_QD_PARAM_GO_HIGH_SPEED/500;
                        AxisMovePosAccDecNotStop(X_AXIS,KAI_QD_PARAM_GO_HIGH_SPEED,-dwXRealPos,
                                                 KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,
                                                 KAI_QD_PARAM_GO_LOW_SPEED_LENGTH + KAI_QD_PARAM_GO_DW_LENGTH);                   
                    } 
                    else
                    {
                        //                  X轴       运行速度                    启动速度        加速度  减速度
                        AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_DIR_N,KAI_QD_PARAM_GO_LOW_SPEED/3,KAI_QD_PARAM_GO_LOW_SPEED,15,15);       
                        //   MoveAction_Const_AccDec(X_AXIS, KAI_QD_DIR_N,KAI_QD_PARAM_GO_LOW_SPEED_LENGTH,KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_ACC,KAI_QD_PARAM_DCC);
                    }
                    
                }
                else
                {
                    //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,KAI_QD_DIR_N,KAI_QD_PARAM_GO_LOW_SPEED/3,KAI_QD_PARAM_GO_LOW_SPEED,15,15);
                    // MoveAction_Const_AccDec(X_AXIS, KAI_QD_DIR_N,KAI_QD_PARAM_FIRST_GO_HIGHSPEED,KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_ACC,KAI_QD_PARAM_DCC);//
                }                            
                KAI_QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                KAI_QD_MotorStep   = 64;
                KAI_QD_ReBack_Step = 0;
            }  
            else  //后走10公分都没有离开前信号的话，说明信号有故障
            {
                KAI_QD_SetAlarmCode(KAI_QD_QIAN_LIMIT_ALARM); 

            }                  
        }
        break;
    case 64:
        //在自动情况下安全门
        if(KAI_QD_ANQUANMEN_LIMIT_IN && bRunning)
        {
            if(dwTickCount >= KAI_QD_ANQUANMEN_Time)
            {    
                KAI_QD_StopStep=1;
                KAI_QD_cSTOPONE=1;
            }
        }
        else
        {
            KAI_QD_ANQUANMEN_Time = dwTickCount + 100;
        }    
        if(KAI_QD_cZipCnt > 0)
        {                         
            
            if(KAI_QD_QIAN_LIMIT_IN)  //前点限位
            {
                if(KAI_QD_PARAM_GO_DW_LENGTH)
                {    
                    SetPos(X_AXIS, KAI_QD_PARAM_GO_DW_LENGTH);
                    AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,-KAI_QD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                }
                else
                    AxisEgmStop(X_AXIS);
                KAI_QD_MotorStep   = 66;                            
            }
            if(dwXRealPos < -800)  //小于8公分前感应异常
                    KAI_QD_SetAlarmCode(KAI_QD_QIAN_LIMIT_ALARM); 
            
        }
        else
        {                            
            if(KAI_QD_QIAN_LIMIT_IN)  //前点限位
            {
                if(KAI_QD_PARAM_GO_DW_LENGTH)
                {    
                    SetPos(X_AXIS, KAI_QD_PARAM_GO_DW_LENGTH);
                    AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_GO_LOW_SPEED,-KAI_QD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                }
                else
                    AxisEgmStop(X_AXIS);
                KAI_QD_MotorStep   = 66;                            
            }
            //第一次不知道当前位置，只能按轨道长度限位
            if(dwXRealPos < -(KAI_QD_PARAM_RUN_LENGTH+800))  
                    KAI_QD_SetAlarmCode(KAI_QD_QIAN_LIMIT_ALARM); 
        }
        
        break;
        
    case 66:
        if(!X_DRV || (dwXRealPos <= 0))
        {   
            SetPos(X_AXIS, 0);
            AxisEgmStop(X_AXIS);
            KAI_QD_MotorDelay =    dwTickCount + 5;
            KAI_QD_MotorStep   = 67;
        }
        break;   
    case 67:  //等推链完成后,
        if((dwTickCount >= KAI_QD_MotorDelay) && (KAI_QD_TuiLianStep == 0))
        {
            if(bRunning)
            {
                KAI_QD_JD_VAVLE = 1;    //夹带
                if(KAI_QD_PARAM_JZGY_MODE)
                {
                    if(KAI_QD_JDQXW_IN)
                        KAI_QD_MotorDelay =    dwTickCount + KAI_QD_PARAM_DELAY_BACK;
                    KAI_QD_MotorStep   = 68;
                }
                else
                {
                    KAI_QD_MotorDelay =    dwTickCount + KAI_QD_PARAM_DELAY_BACK;
                    KAI_QD_MotorStep   = 68;
                }
            }
            else  
                KAI_QD_MotorStep   = 68;
        }
        break;
    case 68:
        if(dwTickCount >= KAI_QD_MotorDelay)
        {
            KAI_QD_YD_VAVLE = 0;
            KAI_QD_MotorStep   = 0;
            KAI_QD_MotorDelay  = dwTickCount;
        }
        break;
        
        
        
    }
#endif        
}
//夹子松带返回长链电机处,只有拉链长度大于一定长度才启用 ，也为切断后拉出拉链用
//辅助Y轴电机动作用
void Kai_QueDuan_ReBack(void)
{
    switch(KAI_QD_ReBack_Step)
    {  
    case 1:
        if(KAI_QD_PARAM_LIAN_SELECT)
        {
            if(dwYRealPos >= 2500)  //到20公分位置启动松带
            {
                KAI_QD_ReBack_Step = 2;
                KAI_QD_MotorStep = 40;  //夹子松开
            }
        }
        else  //短链有二次切情况下才先回到原位
        {
            if(dwXRealPos >= 1000)  //到20公分位置启动松带
            {
                KAI_QD_ReBack_Step = 2;
                KAI_QD_MotorStep = 40;  //夹子松开
            }
        }    
        break;
    case 2:
        if(KAI_QD_MotorStep == 0)
        {  
            KAI_QD_ReBack_Step = 3;
            KAI_QD_ReBackDelay = dwTickCount + 40; 
        }
        break;
    case 3:
        if(dwTickCount >= KAI_QD_ReBackDelay)
        {
            KAI_QD_ReBack_Step = 4;
            //自动匹配减速时间
            KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC+ KAI_QD_PARAM_GO_HIGH_SPEED/500; 
            if(KAI_QD_PARAM_LIAN_SELECT)
            {     
                //因为是长链模式，夹子走回到压轮前位置
                AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_GO_HIGH_SPEED,-(dwXRealPos-KAI_QD_PARAM_JZ_STOP_POS), 
                                  KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_GO_LOW_SPEED/3,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,
                                  100); 
            }
            else
            {
                //因为是短链模式，有二次切夹子走回到前点6公分位置
                AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_GO_HIGH_SPEED,-(dwXRealPos-600), 
                                  KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_GO_LOW_SPEED/3,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,
                                  100); 
            }    
        }
        break;
    case 4:
        if(!X_DRV)
        {
            KAI_QD_ReBack_Step = 0;
        }
        break;
        //切断后长链电机拉带出去
    case 10:
        //长链切断后由长链电机
        AxisMovePosAccDec(Y_AXIS,KAI_QD_PARAM_BACK_SPEED*2/3,2000, 
                          KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_GO_LOW_SPEED/3,30,30, 260); 
        KAI_QD_YPOS_buff = dwYRealPos;
        KAI_QD_ReBack_Step = 11;
        break;
    case 11:
        if(dwYRealPos >= (KAI_QD_YPOS_buff + 1000))
        {
            KAI_QD_ReBack_Step = 12;
            KAI_QD_CLTD_YL_VAVLE = 0;
            if(KAI_QD_JD_VAVLE && (KAI_QD_MotorStep == 0)) //夹子没有张开的话，说明拉链比较短
                KAI_QD_MotorStep = 40;  //夹子松开
        }
        break;   
    case 12:
        if((!Y_DRV || KAI_QD_CLTD_YL_ORIGIN_IN))
        {
            KAI_QD_CLTD_JT_VAVLE = 0;   //长链电机进退电磁
            KAI_QD_ReBack_Step = 2;
        }
        break;
        
        
        
    }
}
//

//Y电机动作

//长链轮子电机
//不带过链感应长度输入电机长度  闭口有勾针到位 ，夹子电机
void Kai_QueDuan_YMotor(void)
{
    unsigned  short ch,kk;       
#if 1        
    switch(KAI_QD_YMotorStep)
    {
    case 30:
        //                    switch(KAI_QD_PARAM_BACK_MODE)  //开口分四种模式 
        //                    {
        //                        case 0: //单数控模式
        KAI_QD_YMotorStep   = 310;  //每种模式留20步

    SetPos(X_AXIS, 0);   //开始拖带处为0点
    SetPos(Y_AXIS, 0);   //开始拖带处为0点
    KAI_QD_YMotorDelay  =    dwTickCount + 0; 
    KAI_QD_YD_VAVLE = 0;
    
    break;
    //310步到315步为数控模式                    
case 310:
    KAI_QD_YMotorStep   = 311;    
    if(KAI_QD_PARAM_BL_ENABLE)
        KAI_QD_BinLianStep = 20;  //并链起动
    break;
case 311:   
    if(dwTickCount >= KAI_QD_YMotorDelay)
    {   
        KAI_QD_length_buffer =(short *)( &KAI_QD_PARAM_OFFSET_LENGTH);
        if(KAI_QD_PARAM_ECQ_MODE)
            KAI_QD_ECT_VAVLE=0;
        //自动匹配减速时间                        
        KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC+ KAI_QD_PARAM_BACK_SPEED/500;          
        //因为是长链模式，夹走到转换位置
        AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_BACK_SPEED,KAI_QD_PARAM_CL_JZ_TD_LENGTH, KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,KAI_QD_PARAM_BACK_LOW_SPEED_LENGTH);            
        KAI_QD_YMotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
        if(!KAI_QD_CLTD_JT_VAVLE)
            KAI_QD_CLTD_YL_VAVLE = 0;
        KAI_QD_YMotorStep   = 312;
    }
    break;   
case 312:
    //电机走动后再退送链，减少起动拉链的阻力
    if(dwXRealPos >= 150)
    {
        KAI_QD_TL_VAVLE = 0;
        KAI_QD_TFK_VAVLE = 0;
    }   
    //电机到达夹子和压轮错开点
    if(dwXRealPos >= KAI_QD_PARAM_JZ_STOP_POS)
    {
        KAI_QD_CLTD_JT_VAVLE = 1;
    }  
    //剩下三公分开始压轮
    if(((dwXRealPos + 300) >= KAI_QD_PARAM_CL_JZ_TD_LENGTH) && KAI_QD_CLTD_JT_VAVLE && KAI_QD_CLTD_LIMIT_IN && !KAI_QD_CLTD_YL_VAVLE)
    {
        KAI_QD_CLTD_YL_VAVLE = 1;
        KAI_QD_YMotorDelay  =    dwTickCount + KAI_QD_PARAM_YL_TIME;
    }  
    //
    if(!KAI_QD_CLTD_YL_VAVLE || KAI_QD_CLTD_YL_ORIGIN_IN)
        KAI_QD_YMotorDelay  =    dwTickCount + KAI_QD_PARAM_YL_TIME;
    //夹子电机已停止，压轮电机进到位,压轮时间到
    if((!X_DRV && KAI_QD_CLTD_LIMIT_IN && !KAI_QD_CLTD_ORIGIN_IN && !KAI_QD_CLTD_YL_ORIGIN_IN && (dwTickCount >= KAI_QD_YMotorDelay) && KAI_QD_CLTD_YL_VAVLE)
       && (!KAI_bTiaoShiMode || (KAI_QD_START_IN_UP)))  
    {    
        
        //要
        if(KAI_QD_PARAM_ZIPPER_LENGTH >= (KAI_QD_PARAM_CL_JZ_TD_LENGTH+ 3000))
        {
            KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC+ KAI_QD_PARAM_CHECK_BACK_CL_HSPEED/500; 
            //因为是长链模式，夹走到转换位置//
            AxisMovePosAccDecNotStop(Y_AXIS,KAI_QD_PARAM_CHECK_BACK_CL_HSPEED,(KAI_QD_PARAM_ZIPPER_LENGTH - KAI_QD_PARAM_CL_JZ_TD_LENGTH - 3000),
                                     KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,60);  
            
        }
        else if(KAI_QD_PARAM_ZIPPER_LENGTH > KAI_QD_PARAM_CL_JZ_TD_LENGTH)
        {
            KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC+ KAI_QD_PARAM_CHECK_BACK_CL_SPEED/500; 
            //因为是长链模式，夹走到转换位置//
            AxisMovePosAccDecNotStop(Y_AXIS,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,KAI_QD_PARAM_ZIPPER_LENGTH - KAI_QD_PARAM_CL_JZ_TD_LENGTH,
                                     KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,60);
            
        } 
        else 
        {       
            
            if(KAI_QD_PARAM_LTJC_MODE == 0)  //有拉头
            {
                AxisContinueMoveAcc(Y_AXIS,KAI_QD_PARAM_CHECK_BACK_CL_SPEED*8/5,KAI_QD_DIR_P,KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_LSPEED,35,30);   
            }
            else  //没有拉头
            {
                //因为是长链模式，夹走到转换位置//
                AxisContinueMoveAcc(Y_AXIS,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,KAI_QD_DIR_P,KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_LSPEED,25,30); 
            }  
        }  
        KAI_QD_YMotorStep   = 313; 
        //拉链长度大于此长度后才提前自动返回
        if(KAI_QD_PARAM_ZIPPER_LENGTH > KAI_QD_PARAM_AUTO_REBACK_LENGTH)
            KAI_QD_ReBack_Step = 1;
    }
    break;
case 313: 
    if(KAI_QD_PARAM_ZIPPER_LENGTH < (KAI_QD_PARAM_CL_JZ_TD_LENGTH))
    {
        //有拉头,没有拉头情况下拉带速度本来就比较慢
        if(KAI_QD_GUO_LIAN_IN_UP && (KAI_QD_PARAM_LTJC_MODE == 0))
        {                            
            AxisContinueMoveChangeSpeed(Y_AXIS,(KAI_QD_PARAM_CHECK_BACK_CL_SPEED),1000,15,15); 
        } 
        if(KAI_QD_GUO_LIAN_IN_DW) 
        {
            KAI_QD_gou_zhen_buff = dwYRealPos;
            KAI_QD_YMotorStep   = 314;                        
            KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC+ GetCurSpeed(X_AXIS)/500;                             
            AxisMovePosAccDec(Y_AXIS,GetCurSpeed(Y_AXIS),KAI_QD_PARAM_MOTOR_DINWEI_LENGTH, GetCurSpeed(Y_AXIS),KAI_QD_PARAM_BACK_LOW_SPEED/3,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,80);
        }    
    }  
    else
    {
        if(KAI_QD_GUO_LIAN_IN_DW && ((dwYRealPos + KAI_QD_PARAM_CL_JZ_TD_LENGTH + 1500) >= KAI_QD_PARAM_ZIPPER_LENGTH ))
        {
            KAI_QD_gou_zhen_buff = dwYRealPos;
            KAI_QD_YMotorStep   = 314;                        
            KAI_QD_DCC_TIME_BL = KAI_QD_PARAM_DCC+ GetCurSpeed(X_AXIS)/500;                             
            AxisMovePosAccDec(Y_AXIS,GetCurSpeed(Y_AXIS),KAI_QD_PARAM_MOTOR_DINWEI_LENGTH, GetCurSpeed(Y_AXIS),KAI_QD_PARAM_BACK_LOW_SPEED/3,KAI_QD_PARAM_ACC,KAI_QD_DCC_TIME_BL,80);
        }            
    }    
    
    break;
case 314:      //             
    if(!KAI_QD_GZ_VAVLE && ((dwYRealPos) >= (KAI_QD_gou_zhen_buff +  KAI_QD_PARAM_GZ_DELAY)))
    {
        KAI_QD_GZ_VAVLE = 1;
    } 
    //实为滤波用,定位到之前又到空位的话重新检测
    if(KAI_QD_GUO_LIAN_IN_UP)
    {
        KAI_QD_YMotorStep   = 313;
        //                           KAI_QD_GZ_VAVLE = 0; 
        if(Y_DRV)
            AxisContinueMoveChangeSpeed(Y_AXIS,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,1000,25,15);      
        else
            AxisMovePosAccDecNotStop(Y_AXIS,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,3000,
                                     KAI_QD_PARAM_START_SPEED,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,KAI_QD_PARAM_ACC,30,60); 
    }  
    else if(!Y_DRV)  //定位完成
    {
        KAI_QD_YMotorStep   = 0;
        if(KAI_QD_cZipCnt == 0)
        {
            KAI_QD_length_buff = dwYRealPos + KAI_QD_PARAM_CL_JZ_TD_LENGTH;
            SetData32bits(KAI_QD_PARAM_ZIPPER_LENGTH_ADDR,KAI_QD_length_buff);  //测量记录长度
        }  
        //比较拉链长度  警告
        
        
    }
    break;
    
    
    
case 315:    
    if(dwTickCount >= KAI_QD_YMotorDelay)
    {
        
        KAI_QD_YMotorStep   = 317;
    }  
    //实为滤波用,定位到之前又到空位的话重新检测
    if(KAI_QD_GUO_LIAN_IN_UP)
    {
        KAI_QD_YMotorStep   = 314;
        KAI_QD_GZ_VAVLE = 0; 
        AxisContinueMoveChangeSpeed(X_AXIS,KAI_QD_PARAM_CHECK_BACK_CL_SPEED,GetCurSpeed(X_AXIS),25,15);                              
    }  
    else if(!Y_DRV)  //定位完成
    {
        KAI_QD_YMotorStep   = 316;
    }
    break;
case 316:        
    
    if(KAI_QD_PARAM_BACK_MODE == 2)   //纯数控模式
    { 
        ch = KAI_QD_gou_zhen_buff + KAI_QD_PARAM_CL_JZ_TD_LENGTH - KAI_QD_PARAM_SKCDWC_LENGTH;                            
        kk = KAI_QD_gou_zhen_buff + KAI_QD_PARAM_CL_JZ_TD_LENGTH+ KAI_QD_PARAM_SKCDWC_LENGTH;         
    }
    
    if(KAI_QD_PARAM_BACK_MODE == 2)   //先感应后数控模式+检测  只能检测过链的位置
    {
        if(((KAI_QD_dwWorkLength) < (ch)))  //拉链变短
        { 
            SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_LENGTH_SHORT_ALARM);   
            if(dwTickCount >= KAI_QD_YMotorDelay)
                bAlarmStop = 1;
        }          
        else if((KAI_QD_dwWorkLength > kk))//拉链变长//(KAI_QD_PARAM_ERROR_LENGTH - 200 + (*KAI_QD_length_buffer)+50)))
        {
            SetAlarmCode(KAI_QD_ALARM_ADDR,KAI_QD_LENGTH_LONG_ALARM);   
            if(dwTickCount >= KAI_QD_YMotorDelay)
                bAlarmStop = 1;
        }     
        else
        {                                                              
            KAI_QD_YMotorStep   = 0;//390;  //延时反转步
        }    
    } 
    break;      
}

#endif        
}

//Z电机动作

//切刀位置电机
//主要是回零，定位刀的位置
//1步开始为回零点
void Kai_QueDuan_ZMotor(void)
{        
    if(KAI_QD_PARAM_ECTMACHINE_MODE)  
    {           
        switch(KAI_QD_ZMotorStep)
        {        
            case 1:
                KAI_QD_ZMotorStep = 4;
                if(KAI_QD_ECTD_ORIGIN_IN)
                {
                    AxisContinueMoveAcc(Z_AXIS,KAI_QD_PARAM_ECQ_MOTOR_SPEED,KAI_QD_DIR_P,2000,2000,25,15);                    
                    KAI_QD_ZMotorStep = 2;
                }
                else
                {
                    AxisContinueMoveAcc(Z_AXIS,KAI_QD_PARAM_ECQ_MOTOR_SPEED,KAI_QD_DIR_N,2000,2000,25,15);
                }    
                break;
            case 2:
                if(!KAI_QD_ECTD_ORIGIN_IN)
                {
                    AxisMovePosAccDec(Z_AXIS,3000,30,2000,2000,10,10,30); 
                    KAI_QD_ZMotorStep = 3;
                }
                else if(dwZRealPos >= 400) // 大于4CM 后都没离开说明信号异常 警告
                {
                     KAI_QD_SetAlarmCode(KAI_QD_Z_ORIGIN_IN_ALARM); 
                     KAI_QD_ZMotorStep = 0;
                }    
                break;
            case 3:
                if(!Z_DRV)
                {
                    KAI_QD_ZMotorStep = 7;   
                    AxisEgmStop(Z_AXIS);
                    KAI_QD_ZMotorDelay = dwTickCount + 5;
                }
                break;
                
            case 4:   
                if(KAI_QD_ECTD_ORIGIN_IN)
                {
                    AxisEgmStop(Z_AXIS);
                    KAI_QD_ZMotorStep = 5; 
                   SetPos(Z_AXIS, 0);   //开始拖带处为0点
                    KAI_QD_ZMotorDelay = dwTickCount + 5;
                }
                else if(dwZRealPos <= -1300) // 大于4CM 后都没离开说明信号异常 警告
                {
                     KAI_QD_SetAlarmCode(KAI_QD_Z_ORIGIN_IN_ALARM);  
                     KAI_QD_ZMotorStep = 0;
                }    
                break;
            case 5:   
                if(dwTickCount >= KAI_QD_ZMotorDelay)
                {
                    if(1)
                    {
                        AxisContinueMoveAcc(Z_AXIS,4000,KAI_QD_DIR_P,2000,2000,25,25);
                        KAI_QD_ZMotorStep = 2; 
                    }
                }
                break;
            case 7:  
                if(dwTickCount >= KAI_QD_ZMotorDelay)
                {
                    if(1)
                    {
                    AxisContinueMoveAcc(Z_AXIS,2000,KAI_QD_DIR_N,2000,2000,25,15);
                    KAI_QD_ZMotorStep = 8; 
                    }
                }
                break;
            case 8:    
                if(KAI_QD_ECTD_ORIGIN_IN)
                {
                    KAI_QD_ORIGIN_Over = 1; 
                    AxisEgmStop(Z_AXIS);

                    KAI_QD_ZMotorStep = 9;     
                    SetPos(Z_AXIS, 0);   //开始拖带处为0点
                    KAI_QD_ZMotorDelay = dwTickCount + 0;
                }
                else if(dwZRealPos <= -300) // 大于4CM 后都没离开说明信号异常 警告
                {
                     KAI_QD_SetAlarmCode(KAI_QD_Z_ORIGIN_IN_ALARM); 
                     KAI_QD_ZMotorStep = 0;
                     AxisEgmStop(Z_AXIS);
                }   
                break;
            case 9:   
                if(dwTickCount >= KAI_QD_ZMotorDelay)
                {
                    if(KAI_QD_PARAM_ECQ_MODE)  //二次切选择的话先移动到第一刀
                        KAI_QD_ZMotorStep = 10; 
                    else
                        KAI_QD_ZMotorStep = 20; 
                }
                break;
                //到达一次切位置
            case 10:
                KAI_QD_ZMotorDelay = dwTickCount + 20;
                KAI_QD_ZMotorStep = 11;
                break;
            case 11:    
                if(dwTickCount >= KAI_QD_ZMotorDelay)
                {
                    if(KAI_QD_PARAM_LLDK_LENGTH < 200)
                        KAI_QD_PARAM_LLDK_LENGTH = 200;  
                    //一次切刀选择
                    if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                     //预留的位置不能超出一字刀位置
                        if((KAI_QD_PARAM_YZD_POS + KAI_QD_PARAM_FIRST_POS) >= KAI_QD_PARAM_LLDK_LENGTH)
                        {
                         
                             AxisMovePosAccDec(Z_AXIS,KAI_QD_PARAM_ECQ_MOTOR_SPEED,((KAI_QD_PARAM_YZD_POS + KAI_QD_PARAM_FIRST_POS) - KAI_QD_PARAM_LLDK_LENGTH) - dwZRealPos,2000,2000,30,30,10);
                             KAI_QD_ZMotorStep = 12; 
                        }
                        else   //超出位置警告
                        {
                            KAI_QD_ZMotorStep = 0; 
                            KAI_QD_SetAlarmCode(KAI_QD_Z_POS_OVER_ALARM); 
                            
                        }
                    }
                    else
                    {    
                        //预留的位置不能超出位置
                        if((KAI_QD_PARAM_HBD_POS + KAI_QD_PARAM_FIRST_POS) >= KAI_QD_PARAM_LLDK_LENGTH)
                        {
                         
                             AxisMovePosAccDec(Z_AXIS,KAI_QD_PARAM_ECQ_MOTOR_SPEED,((KAI_QD_PARAM_HBD_POS + KAI_QD_PARAM_FIRST_POS) - KAI_QD_PARAM_LLDK_LENGTH) - dwZRealPos,2000,2000,30,35,10);
                             KAI_QD_ZMotorStep = 12; 
                        }
                        else   //超出位置警告
                        {
                            KAI_QD_ZMotorStep = 0; 
                            KAI_QD_SetAlarmCode(KAI_QD_Z_POS_OVER_ALARM); 
                            
                        }
                    }
                }
                break; 
            case 12:
                if(!Z_DRV)
                {
                    KAI_QD_ZMotorStep = 0; 
                    KAI_QD_CUR_QDSelect = 0;
                }    
                break;
                //到达二次切位置
            case 20:
                 KAI_QD_ZMotorDelay = dwTickCount + 20;
                KAI_QD_ZMotorStep = 21;
                break;
            case 21: 
                if(dwTickCount >= KAI_QD_ZMotorDelay)
                {                
                    if(KAI_QD_PARAM_LLDK_LENGTH < 200)
                        KAI_QD_PARAM_LLDK_LENGTH = 200;
                     //二次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                        AxisMovePosAccDec(Z_AXIS,KAI_QD_PARAM_ECQ_MOTOR_SPEED,(KAI_QD_PARAM_YZD_POS) - KAI_QD_PARAM_SECOND_POS- dwZRealPos,2000,2000,30,35,10);
                    else
                         AxisMovePosAccDec(Z_AXIS,KAI_QD_PARAM_ECQ_MOTOR_SPEED,(KAI_QD_PARAM_HBD_POS) - KAI_QD_PARAM_SECOND_POS - dwZRealPos,2000,2000,30,35,10);
                    KAI_QD_ZMotorStep = 22;   
                    KAI_QD_CUR_QDSelect = 1;
                }
                break;
             case 22:
                if(!Z_DRV)
                {
                    KAI_QD_ZMotorStep = 0; 
                    
                }    
                break;   
        }
    }
    else
    {
        KAI_QD_ZMotorStep = 0;
        KAI_QD_ORIGIN_Over = 1; 
    }    
}
void Kai_QueDuan_TuiLianAction(void)
{
    
#if 1
    if((KAI_QD_PARAM_XM_ENABLE == 0) && (KAI_QD_PARAM_ECTMACHINE_MODE == 0))
    {
        KAI_QD_TuiLianStep = 0;
    }
    else
    {  
        switch(KAI_QD_TuiLianStep) 
        {
        case 1:
            KAI_QD_TuiLianStep = 2;
            break;
        case 2:
            KAI_QD_TLDelay     = dwTickCount + KAI_QD_PARAM_YD_DELAY;
            KAI_QD_TuiLianStep = 3;
            break;
        case 3:
            if(dwTickCount >= KAI_QD_TLDelay)
            {
                if(!KAI_QD_SM_VAVLE && !KAI_QD_SHANG_MU_LIMIT_IN )
                {   
                    
                    KAI_QD_TL_VAVLE    = 1;
                    //  KAI_QD_TFK_VAVLE  = 1;
                    if(!bRunning)KAI_QD_TFK_VAVLE = 1;
                    KAI_QD_TLDelay     = dwTickCount + KAI_QD_PARAM_TL_DELAY;
                    KAI_QD_TuiLianStep = 4;
                }
            }
            break;
        case 4:
            if(dwTickCount >= KAI_QD_TLDelay)
            {
                KAI_QD_TuiLianStep = 0;
            }
            break;
        case 10:
            
            KAI_QD_TuiLianStep = 11;
            break;
        case 11:
            if(!Y_DRV)
            {
                KAI_QD_TuiLianStep = 0;
            }
            break;
        }
    }
#endif    
}
#if 0
//闭口专用
void Kai_QueDuan_XiaQue(void)
{
    
    switch(KAI_QD_XiaQieStep) 
    {
    case 0:
        break;
    case 1:
        if(!bRunning)
        {
            
            KAI_QD_GZ_VAVLE = 1;  //勾针
            
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_CUT_DELAY;
            //     KAI_QD_XiaQieStep = 100;   
            
            KAI_QD_XiaQieStep = 2;                             
            KAI_QD_XiaQieDelay = dwTickCount + 30;
            
        }
        else
        {
            KAI_QD_YD_VAVLE = 1;
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_CUT_DELAY;
            KAI_QD_XiaQieStep = 2;  
        }
        break;
    case 2:
        if((dwTickCount >= KAI_QD_XiaQieDelay ) && KAI_QD_GOUZHEN_IN)
        {
            KAI_QD_YD_VAVLE = 1;
            KAI_QD_XiaQieStep = 3;  
            KAI_QD_XiaQieDelay = dwTickCount;
        }
        break;
    case 3:
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {      
            if((KAI_QD_PARAM_TIAOSHI_MODE && KAI_QD_bTS) || (KAI_QD_PARAM_TIAOSHI_MODE == 0))
            {
                KAI_QD_SM_VAVLE   = 1;
                if(!KAI_QD_PARAM_XM_ENABLE)
                    KAI_QD_XM_VAVLE  = 1;
                KAI_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;      
                KAI_QD_XiaQieStep = 4;   
            }
        }
        break;
    case 4:   
        if(KAI_QD_SHANG_MU_LIMIT_IN && (KAI_QD_XIA_MU_LIMIT_IN || KAI_QD_PARAM_XM_ENABLE))
        {          
            
            if(!KAI_QD_PARAM_CS_MODE)  //气切
            {
                KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_DELAYBACK_SM;       // 
                KAI_QD_XiaQieStep = 5;      
            }
            else
            {
                KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_DELAY_CS;       // 
                KAI_QD_XiaQieStep = 10;                      
            }      // 
        }
        else if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            if(!KAI_QD_SHANG_MU_LIMIT_IN)
                KAI_QD_SetAlarmCode(KAI_QD_SM_DAOWEI);
            else
                KAI_QD_SetAlarmCode(KAI_QD_XM_DAOWEI);
        }  
        break;
    case 5:
        if(dwTickCount >= KAI_QD_XiaQieDelay)	
        {
            
            //     KAI_QD_DL_VAVLE=0;
            //                  KAI_QD_JIALIAN_VAVLE=0;  
            KAI_QD_GZ_VAVLE   = 0;
            KAI_QD_SM_VAVLE   = 0;
            if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                KAI_QD_XM_VAVLE   = 0;
            if(KAI_QD_PARAM_ECQ_MODE)
            {
                KAI_QD_XiaQieStep = 20;
                KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_YSECT_DELAY;  
            }
            else
            {
                KAI_QD_XiaQieStep = 6;	
                
                KAI_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
            } 
        }
        break;
    case 6:
        if(!KAI_QD_SHANG_MU_LIMIT_IN && (!KAI_QD_XIA_MU_LIMIT_IN || KAI_QD_PARAM_XM_ENABLE))  //下模不动就不用判断	
        {   
            if(!KAI_QD_PARAM_LDHTGZ_MODE || !bRunning)
                KAI_QD_GZ_VAVLE   = 0;
            if(KAI_QD_TuiLianStep == 0)
                KAI_QD_TuiLianStep = 1;
            if(!bRunning)
                KAI_QD_JD_VAVLE = 0;
            KAI_QD_XiaQieStep = 0;                                          
        }
        else if(dwTickCount >= KAI_QD_XiaQieDelay)	
        {
            KAI_QD_SetAlarmCode(KAI_QD_SM_YUANWEI);
        }       
        
        break;
        //10~11步为超声
    case 10:
        if(dwTickCount >= KAI_QD_XiaQieDelay)	
        {
            if(KAI_QD_PARAM_CS_ENABLE)KAI_QD_CS_OUT = 1;
            
            //                     KAI_QD_DL_VAVLE=0;
            //                     KAI_QD_JIALIAN_VAVLE=0;
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_CS_TIME;       // 
            KAI_QD_XiaQieStep = 11;      
        }
        break;
    case 11:
        if(dwTickCount >= KAI_QD_XiaQieDelay)	
        {
            KAI_QD_CS_OUT = 0;
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_CS_COLD_TIME;       // 
            KAI_QD_XiaQieStep = 5;	
        }
        break;
        
    case 20:
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            KAI_QD_ECT_VAVLE=1;
            KAI_QD_XiaQieStep = 21; 
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_ECTL_TIME;
        }
        break;
    case 21:
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            if(!KAI_QD_ECTD_ORIGIN_IN)       
            {
                KAI_QD_SecondXiaQueStep=1;
                KAI_QD_XiaQieStep = 22; 
                KAI_QD_ErrorDelay=dwTickCount + VAVLE_ALARM_TIME;
            }
            else
            {
                KAI_QD_SetAlarmCode(KAI_QD_ECTDYW_ALARM);
            }
        }
        break;
    case 22:
        if(KAI_QD_SecondXiaQueStep==0)
        {
            KAI_QD_SM_VAVLE   = 0;
                      KAI_QD_CHUIQI_VAVLE=1;
            KAI_QD_CHUIQIDelay=dwTickCount+KAI_QD_PARAM_CHUIQI_TIME;
            if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                KAI_QD_XM_VAVLE=0;
            KAI_QD_TFK_VAVLE  = 0;     
            KAI_QD_XiaQieStep = 6; 
            KAI_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       
            
        }
        break;
        
    }	
    if(KAI_QD_CHUIQI_VAVLE)
    {
        if(dwTickCount>=KAI_QD_CHUIQIDelay)
        {
            KAI_QD_CHUIQI_VAVLE=0;
        }
    }
    
}
#endif

//开口用
void Kai_QueDuan_XiaQue(void)
{
    switch(KAI_QD_XiaQieStep) 
    {  
    case 0:
        break;
    case 1:
        KAI_QD_XiaQieStep = 2;   
        
        if(!KAI_QD_TFK_VAVLE && !KAI_QD_TFK_LIMIT_IN && KAI_QD_GZ_VAVLE)
        {
            if(KAI_QD_GOUZHEN_IN)
                KAI_QD_SetAlarmCode(KAI_QD_GZ_ALARM);                
        }
        break;
    case 2:        
        if(!KAI_QD_TFK_VAVLE && !KAI_QD_TFK_LIMIT_IN && KAI_QD_GZ_VAVLE)
        {
            if(KAI_QD_GOUZHEN_IN)
                KAI_QD_SetAlarmCode(KAI_QD_GZ_ALARM);                
        }
        KAI_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
        KAI_QD_XiaQieStep = 3;   
        break;
    case 3:
        if(!KAI_QD_TFK_VAVLE && !KAI_QD_TFK_LIMIT_IN && KAI_QD_GZ_VAVLE)
        {
            if(KAI_QD_GOUZHEN_IN)
                KAI_QD_SetAlarmCode(KAI_QD_GZ_ALARM);            
        }
        if(1)
        {     
            //          if(KAI_QD_START_IN_UP)
            {
                KAI_QD_XiaQieDelay = dwTickCount + 0;//QD_PARAM_GZ_DELAY;
                KAI_QD_XiaQieStep = 4; 
            }
        }
        else if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            KAI_QD_SetAlarmCode(KAI_QD_XM_DAOWEI);
        }
        break;
        
    case 4:   
        if(!KAI_QD_TFK_VAVLE && !KAI_QD_TFK_LIMIT_IN && KAI_QD_GZ_VAVLE)
        {
            if(KAI_QD_GOUZHEN_IN)
                KAI_QD_SetAlarmCode(KAI_QD_GZ_ALARM);
            
        }
        //               if(KAI_QD_GZ_VAVLE)  //勾针已经有输出就不需要延时
        //               {
        //                   KAI_QD_XiaQieDelay = dwTickCount + 0;
        //               }
        //               else
        KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_TFK_DELAY;
        KAI_QD_GZ_VAVLE  = 1;
        KAI_QD_cTuiFangKuaiCnt=0;
        KAI_QD_XiaQieStep = 5;                  
        break; 
    case 5:  
        if(!KAI_QD_TFK_VAVLE && !KAI_QD_TFK_LIMIT_IN && KAI_QD_GZ_VAVLE)
        {
            if(KAI_QD_GOUZHEN_IN)
                KAI_QD_SetAlarmCode(KAI_QD_GZ_ALARM);
            
        }             
        if(((dwTickCount >= KAI_QD_XiaQieDelay)))
        {
            KAI_QD_TFK_VAVLE = 1;
            KAI_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
            KAI_QD_XiaQieStep = 6;  
        }
        break;
    case 6: 
        if(1)
        {                     
            KAI_QD_XiaQieStep = 7;  
            KAI_QD_XiaQieDelay = dwTickCount + 1200;
        }
        else if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            KAI_QD_SetAlarmCode(KAI_QD_XM_DAOWEI);
        }
        break;
    case 7:       
        if(KAI_QD_GOUZHEN_IN && KAI_QD_TFK_LIMIT_IN)
        {        
            KAI_QD_cTuiFangKuaiCnt = 0;
            KAI_QD_TFKDelay  = dwTickCount + 200;
            KAI_QD_YD_VAVLE    = 1;
            //拉直要区分长链的短链（0短链，1 长链）
            if(KAI_QD_PARAM_LIAN_SELECT)   
            {
                //拉直由长链电机拉
                if(KAI_QD_PARAM_ECQ_MODE && KAI_QD_PARAM_ECTMACHINE_MODE)  //有二次切
                {
                     AxisMovePosAccDec(Y_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_LDMS_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);                   
                }
                else //一次切,  当夹子还没有放开时， 等切断完成后才松夹子返回
                {
                    AxisMovePosAccDec(Y_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_DANQIEGY_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);
                } 
            }
            else  //链短链            
            {   //由夹子电机拉直              
                  
                if((KAI_QD_PARAM_BACK_MODE==2) || (KAI_QD_PARAM_BACK_MODE==3)) 
                {
                    if(KAI_QD_PARAM_ECQ_MODE && KAI_QD_PARAM_ECTMACHINE_MODE)
                    {
                        if(KAI_QD_cZipCnt>1)
                            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_MATOR_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);
                        else
                            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_LDMS_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);                       
                    }
                    else
                    {
                        if(KAI_QD_cZipCnt>1)
                            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_DANQIECNC_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);
                        //                     AxisMovePosAccDec(X_AXIS,KAI_QDPARAM_LZ_SPPED,KAI_QDPARAM_DANQIECNC_LENGTH,50,8,50); 
                        else
                            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_DANQIEGY_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);
                        //                    AxisMovePosAccDec(X_AXIS,KAI_QDPARAM_LZ_SPPED,KAI_QD_PARAM_DANQIEGY_LENGTH ,50,8,50);                        
                    }
                }
                else
                {
                    if(KAI_QD_PARAM_ECQ_MODE && KAI_QD_PARAM_ECTMACHINE_MODE)
                    {
                        //数控
                        if(KAI_QD_PARAM_BACK_MODE==0)
                            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_MATOR_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);
                        //                      AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED,KAI_QD_PARAM_MATOR_LENGTH ,50,8,50); 
                        //感应
                        else if(KAI_QD_PARAM_BACK_MODE==1)                          
                            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_LDMS_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);
                        //                       AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED,KAI_QD_PARAM_LDMS_LENGTH ,50,8,50); 
                    }
                    else
                    {
                        //数控模式
                        if(KAI_QD_PARAM_BACK_MODE == 0)
                            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_DANQIECNC_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);
                        //                           AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED,KAI_QD_PARAM_DANQIECNC_LENGTH ,50,8,50); 
                        //感应模式
                        else if(KAI_QD_PARAM_BACK_MODE == 1)
                            AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED, KAI_QD_PARAM_DANQIECNC_LENGTH, KAI_QD_PARAM_BACK_LOW_SPEED,KAI_QD_PARAM_BACK_LOW_SPEED/2,20,20,50);
                        //                           AxisMovePosAccDec(X_AXIS,KAI_QD_PARAM_LZ_SPPED,KAI_QD_PARAM_DANQIEGY_LENGTH ,50,8,50); 
                    }
                }
             
            } 
            if(!KAI_QD_QIAN_LIMIT_IN)
            {                
                //二次切
                if(KAI_QD_PARAM_ECQ_MODE && KAI_QD_PARAM_ECTMACHINE_MODE)
                {
                    if(bRunning)
                    {
                        KAI_QD_XiaQieDelay = dwTickCount+KAI_QD_PARAM_DL_DELAY;
                        KAI_QD_XiaQieStep = 102;                        
                    }
                    else
                    {
                        KAI_QD_XiaQieStep = 8;
                        KAI_QD_XiaQieDelay = dwTickCount + 200;
                    }    
                }
                else   //普通一次切
                { 
                    if(!bRunning)
                        KAI_QD_XiaQieDelay = dwTickCount + 200;
                    else
                        KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_CUT_DELAY;
                    KAI_QD_XiaQieStep = 8;
                   
                }
            }
            else
                KAI_QD_SetAlarmCode(KAI_QD_QIAN_LIMIT_ALARM);            
        }
        
        else if((dwTickCount >= KAI_QD_XiaQieDelay))
        {  
            if( KAI_QD_cTuiFangKuaiCnt < KAI_QD_PARAM_TFK_NUMBER)
            {
                KAI_QD_TFK_VAVLE = 0;
                KAI_QD_YD_VAVLE  = 0;
                KAI_QD_cTuiFangKuaiCnt++;
                KAI_QD_XiaQieDelay = dwTickCount + 30;
                KAI_QD_XiaQieStep = 99;   
            }
            else                         
                KAI_QD_SetAlarmCode(KAI_QD_GZ_ALARM);
        }        
        break;
    case 99:   
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            KAI_QD_TFK_VAVLE = 0;
            
            KAI_QD_XiaQieDelay = dwTickCount + 500;
            KAI_QD_XiaQieStep = 100;   
        }
        break;
        //重推方块    
    case 100:
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            KAI_QD_TFK_VAVLE = 1;
            KAI_QD_XiaQieDelay = dwTickCount + 500;
            KAI_QD_XiaQieStep = 6;   
        }
        break;
   //2次切   
    case 102:
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_JLD_DELAY;
            KAI_QD_XiaQieStep = 103; 
        }
        break;
    case 103:
        if(dwTickCount >= KAI_QD_XiaQieDelay )
        {
 //           AxisEgmStop(X_AXIS);
            KAI_QD_ECQ_JIALIAN_VAVLE=1;
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_TJL_DELAY;
            KAI_QD_XiaQieStep = 104; 
        }
        break;
    case 104:
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
//          AxisMovePosAccDec(X_AXIS,KAI_QDPARAM_BACK_LOW_SPEED,-KAI_QDPARAM_FZ_LENGTH,3000,KAI_QDPARAM_ACC,KAI_QDPARAM_DCC);                                   
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_ECQYSQD_DELAY;
            KAI_QD_XiaQieStep = 8; 
             KAI_QD_TFKDelay  = dwTickCount + 200;
        }
        break;
    case 8://上下模同时输出
        if((dwTickCount >= KAI_QD_XiaQieDelay)  && !KAI_QD_TL_VAVLE && ((!X_DRV && !Y_DRV) || (!KAI_QD_PARAM_ECQ_MODE && (KAI_QD_PARAM_LIAN_SELECT== 0))))
        {
            if(KAI_QD_TFK_LIMIT_IN)
            {              
                if(!KAI_bTiaoShiMode || (KAI_QD_START_IN_UP))
                {    
                    
                    if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
                    {
                        KAI_QD_KAI_XM_VAVLE = 0;
                        KAI_QD_BI_XM_VAVLE = 0;
                        if(!KAI_QD_CUR_QDSelect)//在一次切位置
                        {
                            //一次切刀选择
                            if(KAI_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                            {
                                KAI_QD_KAI_XM_VAVLE = 1;                           
                            }
                            else   //二次切刀
                            {
                                KAI_QD_BI_XM_VAVLE = 1;
                            }                                
                        }
                        else
                        {
                            //二次切刀选择
                            if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0) //切刀选择开口切
                            {
                                KAI_QD_KAI_XM_VAVLE = 1; 
                            } 
                            else
                            {
                                KAI_QD_BI_XM_VAVLE = 1;
                            }    
                        }  
                        if(KAI_QD_XIA_MU_LIMIT_IN || KAI_QD_KK_XM_LIMIT_IN)
                        {
                            KAI_QD_SM_VAVLE = 1;
                            KAI_QD_XiaQieStep = 9;  
                            KAI_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                        //开口只有长链才需要反转一点
                            if(KAI_QD_PARAM_LIAN_SELECT)
                                AxisMovePosAccDec(Y_AXIS,2200,-KAI_QD_PARAM_FZ_LENGTH,2200,2200,5,5,00);  
                        }
                    }    
                    else    
                    {    
                        if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                            KAI_QD_XM_VAVLE=1; 
                        KAI_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                    KAI_QD_XiaQieStep = 9;   
                    //开口只有长链才需要反转一点
                    if(KAI_QD_PARAM_LIAN_SELECT)
                        AxisMovePosAccDec(Y_AXIS,2200,-KAI_QD_PARAM_FZ_LENGTH,2200,2200,5,5,00);  
                    }
                   
                }
            }
            else  if(dwTickCount >=  KAI_QD_TFKDelay)//推方块到位信号异常
            {
                KAI_QD_SetAlarmCode(KAI_QD_TFK_LIMIT_IN_ALARM);
            }    
        }        
        break;               
    case 9://上下模到位，调试模下的话，等按下一步按键     下模不动
        if(KAI_QD_SHANG_MU_LIMIT_IN && (KAI_QD_PARAM_XM_ENABLE || KAI_QD_XIA_MU_LIMIT_IN || KAI_QD_KK_XM_LIMIT_IN))
        {
            if(!KAI_QD_PARAM_CS_MODE)   //无超声配置
            {
                KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_DELAYBACK_SM;  
                KAI_QD_XiaQieStep = 12;                  
            }
            else
            {
                KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_DELAY_CS;       // 
                KAI_QD_XiaQieStep = 10;                   
            }
        }
        else if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            if(!KAI_QD_SHANG_MU_LIMIT_IN)
                KAI_QD_SetAlarmCode(KAI_QD_SM_DAOWEI);
            else 
                KAI_QD_SetAlarmCode(KAI_QD_XM_DAOWEI);
        }
        break;
    case 10://延时超声
        if(dwTickCount >= KAI_QD_XiaQieDelay)	
        {           
            KAI_QD_CS_OUT = 1;
            KAI_QD_ECQ_JIALIAN_VAVLE=0;
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_CS_TIME;       // 
            KAI_QD_XiaQieStep = 11;      
        }
        break;
    case 11:
        //超声时间
        if(dwTickCount >= KAI_QD_XiaQieDelay)	
        {
            KAI_QD_CS_OUT = 0;
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_CS_COLD_TIME;       // 
            KAI_QD_XiaQieStep = 12;	
        }
        break;
        
    case 12:  
        //固化时间
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            //   KAI_QDDL_VAVLE=0;            
            KAI_QD_ECQ_JIALIAN_VAVLE = 0;
            KAI_QD_SM_VAVLE   = 0;
            
            if(KAI_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {    
                
   
            }
            else
            {    
                KAI_QD_XiaQueOver = 1;               
                if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KAI_QD_XM_VAVLE=0;
            }
            if(!KAI_bTiaoShiMode || (KAI_QD_START_IN_UP))
            {
                if(KAI_QD_PARAM_ECQ_MODE && KAI_QD_PARAM_ECTMACHINE_MODE)
                {
                    KAI_QD_XiaQieStep = 20;  //二次切       
                    if(bRunning)
                        KAI_QD_ReBack_Step = 1;
                }
                else
                {
                    KAI_QD_XiaQieStep = 13;
                    KAI_QD_TFK_VAVLE  = 0;  
                    KAI_QD_YD_VAVLE = 0;
                    KAI_QD_XiaQieDelay = dwTickCount + 3;  
                }
            }
            //长链模式下长链电机,由压链电机拖带出来
            if(KAI_QD_PARAM_LIAN_SELECT)
            { 
                KAI_QD_ReBack_Step = 10;
            }
        }// 
        break;
    case 13:
        if((dwTickCount >= KAI_QD_XiaQieDelay))
        {
            if(!KAI_QD_PARAM_LDHTGZ_MODE || !bRunning || KAI_QD_PARAM_ECQ_MODE)
                KAI_QD_GZ_VAVLE = 0;
            // KAI_QDCHUIQI_VAVLE=0;
            KAI_QD_XiaQieStep = 14;
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_TTFK_TIME;              
        }
        break;
    case 14:
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {                  
            KAI_QD_TFK_VAVLE  = 1;   
            KAI_QD_YD_VAVLE = 1;
        }
        if(!KAI_QD_SHANG_MU_LIMIT_IN)
        {
            //启动推链(送链)
            if((KAI_QD_TuiLianStep == 0) && !KAI_QD_TL_VAVLE)
                KAI_QD_TuiLianStep = 1;
        }
        if((!KAI_QD_SHANG_MU_LIMIT_IN && !KAI_QD_XIA_MU_LIMIT_IN && KAI_QD_TFK_VAVLE))
        {   
            KAI_QD_XiaQieStep = 0;   
            // KAI_QDCHUIQI_VAVLE=0;
        }
        else if(dwTickCount >= (KAI_QD_XiaQieDelay+3000))	
        {
            //                    KAI_QD_SetAlarmCode(KAI_QD_SM_YUANWEI);
        }
        break;
//二次切动作   
    case 20:
        
        if((!KAI_QD_SHANG_MU_LIMIT_IN) &&  (!KAI_bTiaoShiMode || (KAI_QD_START_IN_UP)))
        {
            //二次切延时送带
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_YSECT_DELAY;  
            KAI_QD_XiaQieStep = 21; 
            KAI_QD_KAI_XM_VAVLE = 0;                //开口下刀电磁阀
            KAI_QD_BI_XM_VAVLE = 0;                 //闭口下刀电磁阀   
            //二次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0) //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1; 
                    } 
                    else
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    }    
        }  
        break;
    case 21:
        
        if(dwTickCount >= KAI_QD_XiaQieDelay)
        {
            KAI_QD_ZMotorStep = 20;  //电机移动到二次切位置

            KAI_QD_XiaQieStep = 22; 
            KAI_QD_XiaQieDelay = dwTickCount + KAI_QD_PARAM_ECTL_TIME;
        }
        break;
    case 22:
        if(((KAI_QD_ZMotorStep == 0) && (!Z_DRV)  && (!KAI_bTiaoShiMode || (KAI_QD_START_IN_UP))))
        {
            KAI_QD_SecondXiaQueStep = 1;
            KAI_QD_XiaQieStep = 23; 
            KAI_QD_ErrorDelay = dwTickCount + VAVLE_ALARM_TIME;
                 
        }       
        break;
    case 23:
        if(KAI_QD_SecondXiaQueStep == 0)
        {
            KAI_QD_SM_VAVLE   = 0;
           
            if(KAI_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                KAI_QD_XM_VAVLE=0;
            KAI_QD_TFK_VAVLE  = 0;     
            KAI_QD_XiaQieDelay = dwTickCount + 2;  
            KAI_QD_XiaQieStep = 13;   
            KAI_QD_CuiQiStep = 1;
        }
        break;    
    }
    switch(KAI_QD_CuiQiStep)
    {
        case 1:
            if(KAI_QD_XIA_MU_LIMIT_IN && KAI_QD_KK_XM_LIMIT_IN)
            {
                KAI_QD_CHUIQIDelay = dwTickCount + 0; 
                KAI_QD_CuiQiStep = 2;
                KAI_QD_KAI_XM_VAVLE = 0;                //开口下刀电磁阀
                KAI_QD_BI_XM_VAVLE = 0;                 //闭口下刀电磁阀
            }
            break;
        case 2:
            if(!KAI_QD_XIA_MU_LIMIT_IN && !KAI_QD_KK_XM_LIMIT_IN)
            {
                KAI_QD_CHUIQIDelay = dwTickCount + 100; 
                KAI_QD_CuiQiStep = 3;
            }    
            break;
    case 3:
            if(dwTickCount >= KAI_QD_CHUIQIDelay)
            {
                KAI_QD_CuiQiStep = 0;
                KAI_QD_ECQ_CUIQI_VAVLE = 1;
                KAI_QD_CHUIQIDelay= dwTickCount+KAI_QD_PARAM_CHUIQI_TIME;   
            }
            break;
    }        
    if(KAI_QD_ECQ_CUIQI_VAVLE && (dwTickCount >= KAI_QD_CHUIQIDelay))
    {
        KAI_QD_ECQ_CUIQI_VAVLE= 0;
    }   
}

//第二刀下切步骤
void Kai_QueDuan_SecondXiaQue(void)
{
#if 1
    if(KAI_QD_PARAM_ECQ_MODE)
    {
        switch(KAI_QD_SecondXiaQueStep) 
        {
        case 0:
            break;
        case 1://上下模同时输出
            if((dwTickCount >= KAI_QD_SecondXQDelay)  && !KAI_QD_TL_VAVLE && KAI_QD_XIA_MU_LIMIT_IN || KAI_QD_KK_XM_LIMIT_IN)
            {
                KAI_QD_SM_VAVLE = 1;
                KAI_QD_KAI_XM_VAVLE = 0;
                KAI_QD_BI_XM_VAVLE = 0;
                
                        //二次切刀选择
                    if(KAI_QD_PARAM_ECQ_DJ_SELECT == 0) //切刀选择开口切
                    {
                        KAI_QD_KAI_XM_VAVLE = 1; 
                    } 
                    else
                    {
                        KAI_QD_BI_XM_VAVLE = 1;
                    }    
   
                KAI_QD_SecondXQDelay = dwTickCount + VAVLE_ALARM_TIME;
                KAI_QD_SecondXiaQueStep = 2;   
            }
            else if(dwTickCount >= KAI_QD_ErrorDelay)
            {
                KAI_QD_SetAlarmCode(KAI_QD_GZ_ALARM);
            }
            break;
            
        case 2://上下模到位，调试模下的话，等按下一步按键     下模不动
            if(KAI_QD_SHANG_MU_LIMIT_IN && (KAI_QD_PARAM_XM_ENABLE|| KAI_QD_XIA_MU_LIMIT_IN || KAI_QD_KK_XM_LIMIT_IN))
            {
                if(!KAI_QD_PARAM_CS_MODE)   //无超声配置
                {
                    KAI_QD_SecondXQDelay = dwTickCount + KAI_QD_PARAM_DELAYBACK_SM;  
                    KAI_QD_SecondXiaQueStep = 4;  
                    
                }
                else
                {
                    KAI_QD_SecondXQDelay = dwTickCount + KAI_QD_PARAM_DELAY_CS;       // 
                    KAI_QD_SecondXiaQueStep = 3;                        
                }
            }
            else if(dwTickCount >= KAI_QD_SecondXQDelay)
            {
                if(!KAI_QD_SHANG_MU_LIMIT_IN)KAI_QD_SetAlarmCode(KAI_QD_SM_DAOWEI);
                else KAI_QD_SetAlarmCode(KAI_QD_XM_DAOWEI);
            }
            break;
        case 3:
            if(dwTickCount >= KAI_QD_SecondXQDelay)	
            {
                
                KAI_QD_CS_OUT = 1;
                KAI_QD_SecondXQDelay = dwTickCount + KAI_QD_PARAM_CS_TIME;       // 
                KAI_QD_SecondXiaQueStep = 4;      
            }
            break;
        case 4:
            if(dwTickCount >= KAI_QD_SecondXQDelay)	
            {
                KAI_QD_CS_OUT = 0;
                KAI_QD_SM_VAVLE = 0;
                KAI_QD_BI_XM_VAVLE = 1;                 //闭口下刀电磁阀
                if(!KAI_QD_SHANG_MU_LIMIT_IN)
                {
                    
               
                    KAI_QD_SecondXiaQueStep = 0;	
                }
            }
            break;
        }
    }
#endif
}





#endif