GC23005/Machine/JinHongMachine/JHMXC_NiLong_StepJi.c

#include "global.h"

#if JIN_HONG_MACHINE==1

void MXC_InitAction(void);
void MXC_Action(void);
void MXC_CheckStart(void);
void MXC_ManualAction(void);
void MXC_DC_AutoAction(void);
void MXC_DC_Motor(void);
void MXC_XiaChong(void);
void MXC_ChuiQi(void);
void MXC_FenZhen(void);
void MXC_DC_SongDai(void);
void MXC_DC_ShaChe(void);
void MXC_DC_XC_BuJin_motor(void);
void MXC_ExtiAcitionX20(void);
unsigned long cZipperLength[2];
#define SB_CHECK_IN !PAin(15)
//故障报警
void MXC_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(MXC_ALARM_ADDR,alarm_code);
    MXC_DC_bAlarmStop = 1;
}
//X20中断
void MXC_ExtiAcitionX20(void)
{
    if (cSeBiaoEn && !cSeBiaoOk)
    {
        cSeBiaoOk = 1;
        MXC_SB_SaveLength = GetPos(X_AXIS);
        MXC_SB_ENCODE_MIN=dwEnRealPos;
        //MXC_Clear_Servo_Pos=1;
    }
}
void MXC_SBCHECK_PROC(void)
{
    static unsigned short  flitering=0;    
    if(SB_CHECK_IN)
    {
      flitering++;
      if(flitering>=2)
      {
        if (cSeBiaoEn && !cSeBiaoOk)
        {
            cSeBiaoOk = 1;
            MXC_SB_SaveLength = GetPos(X_AXIS);
            MXC_SB_ENCODE_MIN=dwEnRealPos;        
        }
      }
    }
    else
    {
      flitering=0;
    }
}
unsigned char ComPareLength(void)//前后拉链对比
{
    if ((cZipperLength[0] != 0) && (cZipperLength[1] != 0))
    {
        if (cZipperLength[0] > cZipperLength[1])
        {
            if ((cZipperLength[0] - cZipperLength[1]) > 50)
            {
                return 0;
            }
            else
                return 1;
        }
        else
        {
            if ((cZipperLength[1] - cZipperLength[0]) > 50)
            {
                return 0;
            }
            else
                return 1;
        }
    }
    else
        return 0;
}
void MXC_JiaoDao(void)
{
    if (MXC_cJiaoDaoStep == 1)
    {
        MXC_cJiaoDaoDelay = dwTickCount + 500;
        MXC_SeBiao_JiaoDao = 1;
        MXC_cJiaoDaoStep = 2;
    }
    else if ((MXC_cJiaoDaoStep == 2) && (dwTickCount >= MXC_cJiaoDaoDelay))
    {
        MXC_SeBiao_JiaoDao = 0;
        MXC_cJiaoDaoStep = 0;
    }
}
//步进电机下冲
void MXC_DC_XC_BuJin_motor(void)
{
    switch(MXC_cXiaChongStep)
    {
    case 0:
        break;
    case 1:
        if(GetEn(Z_AXIS) == XC_MOTOR_DISEN)
        {
            SetEn(Z_AXIS,XC_MOTOR_EN);
            MXC_BUJIN_XC_Delay = dwTickCount + 170;
        }
        MXC_cXiaChongStep = 2;
        MXC_cRightFZStep = 1;//启动右分针
        MXC_cLeftFZStep = 0;
        break;
    case 2:
        if((MXC_cRightFZStep == 0) && (MXC_cLeftFZStep == 0) && MXC_RighttFenZhen_IN && MXC_LeftFenZhen_IN )
        {
            SetPos(Z_AXIS, 0);
            if (MXC_DC_bRunning)
            {
                MXC_BUJIN_XC_Delay = dwTickCount + MXC_PARAM_DELAY_XC;
            }
            MXC_cXiaChongStep = 3;
        }
        break;
    case 3:
        if(dwTickCount >= MXC_BUJIN_XC_Delay)
        {
            MXC_cXiaChongStep = 4;
            if(MXC_DC_bRunning) MXC_GouZhen_VAVLE = 1;
            AxisMovePosAccDecNotStop(Z_AXIS,MXC_DC_XC_MOTOR_HIGH_SPEED,2000,
                                     1200,MXC_DC_XC_MOTOR_LOW_SPEED,
                                     100,100,MXC_DC_XC_MOTOR_LOW_LENGTH);
            MXC_BUJIN_XC_Delay = dwTickCount + MXC_XIACHONG_EEROR_TIME;
        }
        break;
    case 4: 
        if(MXC_XiaChong_IN_UP)
        {
            SetEncodePos(ENCODE_X22X23, 0);
            SetPos(X_AXIS, 0);
            AxisMovePosAccDec(Z_AXIS,MXC_DC_XC_MOTOR_LOW_SPEED,MXC_DC_XC_MOTOR_GO_LENGTH,
                              1200,MXC_DC_XC_MOTOR_LOW_SPEED,
                              100,100,MXC_DC_XC_MOTOR_GO_LENGTH/3);
            MXC_LeftFenZhen_VAVLE = 0;
            MXC_RightFenZhen_VAVLE = 0;
            MXC_cXiaChongStep = 5;
            MXC_BUJIN_XC_Delay = dwTickCount;
        }
        else if(dwTickCount >= MXC_BUJIN_XC_Delay)//步进异常
        {
            MXC_SetAlarmCode(MXC_XC_ALARM);
            MXC_LeftFenZhen_VAVLE = 0;
            MXC_RightFenZhen_VAVLE = 0;
            MXC_cXiaChongStep = 0;
        }
        break;
    case 5:	
        if(dwTickCount >= MXC_BUJIN_XC_Delay && !Z_DRV)	
        {
            MXC_MOTOR_DATA_Num++;
            if(MXC_MOTOR_DATA_Num > 99)
                MXC_MOTOR_DATA_Num = 0;
            if(!MXC_DC_bRunning){
                SetEncodePos(ENCODE_X22X23, 0);
                SetPos(X_AXIS, 0);
            }
            MXC_cXiaChongStep = 0;
        }
        break;  
    }
}

void MXC_InitAction(void)
{
    float length_buff,pulse_buff;
    
    length_buff = MXC_MXC_PARAM_DAILUN_LENGTH;
    pulse_buff  = MXC_MXC_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;

    length_buff = MXC_BM_LENGTH;
    pulse_buff  = MXC_BM_CYCLE_PULSE * 4;
    SetEncodeGearRatio(ENCODE_X22X23, pulse_buff/length_buff);
    
    ZGearRatio = 1;//z轴用脉冲数做单位
    SetEn(X_AXIS,DC_Motor_DISEN);
    SetEn(Y_AXIS,XZ_Motor_DISEN);
    
    SetDirReverse(X_AXIS, MXC_DC_Reverse_EN);
    
    MXC_STOP_IN_FLAG = MXC_STOP_IN;
    MXC_STOP_IN_FLAG_OLD = MXC_STOP_IN_FLAG;
    MXC_SaveLength = 0;
    //外部中断配置
    USE_X20_EXTI = 1;
    X20EXTI_DIR = 0;
    //设置X轴的加速模式
    axis_set_parameter(axis_x,AXIS_ACCDEC_MODE,4);
    //只有编码器的情况长度由编码器值确定
    SetEncode_enable(ENCODE_X22X23);
    MXC_DC_KongWei_Length = MXC_PARAM_DAOKOU_LENGTH;
}

void MXC_Action(void)
{ 
    MXC_CheckStart();           //启动
    MXC_ManualAction();
    MXC_DC_AutoAction();
    MXC_DC_Motor();             //定寸电机控制
    if(!MXC_DC_XC_MODE)
        MXC_XiaChong();         //下冲
    else if(MXC_DC_XC_MODE)
        MXC_DC_XC_BuJin_motor();
    MXC_DC_ShaChe();
    MXC_FenZhen();              //分针
    MXC_ChuiQi();               //吹气
    MXC_DC_SongDai();           //送带控制
    MXC_JiaoDao();              //色标教导
    
    //servo_com_run();
}

void MXC_DC_SongDai(void)
{
    if(!MXC_SongDai_MOTOR)
    {
        MXC_SongDai_LongTime = dwTickCount;
    }
    else//送带一直输出无法触发送带到位
    {
        if((dwTickCount - MXC_SongDai_LongTime) >= MXC_PARAM_SD_Pretect_TIME)
        {
            if(!MXC_DC_bRunning)
            {
                MXC_PARAM_SongDai_Switch = 0;
                MXC_SetAlarmCode(MXC_DC_SONGDAI_ALARM);
            }
            else
            {
                MXC_SongDai_MOTOR = 0;
                MXC_cSongDaiDelay = dwTickCount + MXC_PARAM_SongDai_Delay;
            }
        }
    }
}


void MXC_ManualAction(void)
{
    char i;
    short *revise_buff;
    revise_buff =(short *)( &user_datas[17]);
    if(MXC_DATA_Clean)
    {
        i = 0;
        while(i < 100)
        {
            user_datas[200 + i] = 0;
            i++;
        }
        MXC_DATA_Clean = 0;
        MXC_MOTOR_DATA_Num = 0;
    }
    //清总产量
    if(MXC_bClear)
    {
        MXC_bClear = 0;    
        ClrcToTal(MXC_DC_TOTAL_ADDR);
    }
    
    if(MXC_bAddLength)
    {
        MXC_bAddLength=0;
        *revise_buff += 5;
    }    
    if(MXC_bDecLength)
    {
        MXC_bDecLength=0;
        *revise_buff -= 5;
    }   
    //当长度改变时，生产总量自动清零
    if(MXC_bChangeLength)
    {
        MXC_bChangeLength = 0;
        MXC_SaveLength = 0;
        MXC_bClear = 1;
    }
    //工作方式选择(数控定寸和勾针定寸)　
    if (MXC_bSetDCMode)
    {
        MXC_bSetDCMode = 0;
        if (!MXC_DC_bRunning)
        {
            MXC_DC_MODE++;
            if (MXC_DC_MODE > 2)
                MXC_DC_MODE = 0;
            if (MXC_DC_MODE != 0)
            {
                MXC_GouZhen_VAVLE = 1;
            }
        }
    }
    
    //有链感应
    if (MXC_DC_bRunning)//检测拉链，由于拉链有间隙，故需要延迟检测
    {
        if (MXC_Zipper_IN)
        {
            MXC_cBudaiCheckDelay = dwTickCount + MXC_PARAM_BUDAI_ALARM_TIME;
        }
        else if (dwTickCount >= MXC_cBudaiCheckDelay) 
        {
            MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM); //没拉链
        }
    }
    if(MXC_PARAM_SongDai_Switch)
    {
        if(!MXC_SongDai_IN && MXC_Zipper_IN && (dwTickCount >= MXC_cSongDaiDelay))
        {
            MXC_SongDai_MOTOR = 1;
        }
        else if(MXC_SongDai_IN)
        {
            MXC_SongDai_MOTOR = 0;
            MXC_cSongDaiDelay = dwTickCount + MXC_PARAM_SongDai_Delay;
        }
    }
    else
    {
        MXC_SongDai_MOTOR = 0;
        MXC_cSongDaiDelay = dwTickCount + MXC_PARAM_SongDai_Delay;
    }

    if((MXC_DC_bRunning) == 0) ////手动 
    {  
        //送带
        if(MXC_bSongDai)
        {
            MXC_SongDai_MOTOR = 1;
        }
        
        //顶刀保护
        if(MXC_bDingDao_Baohu)
        {
            MXC_bDingDao_Baohu = 0;
            MXC_DingDao_BaoHu_VAVLE = ~MXC_DingDao_BaoHu_VAVLE;
        }
        //吹气
        if (MXC_bChuiQi)
        {
            MXC_bChuiQi = 0;
            
            if (MXC_cChuiQiStep == 0)
                MXC_cChuiQiStep = 1;
        }
        
        //定寸电机拖带
        if(MXC_bDCTD_P)
        {
            if(!X_DRV)
            {
                //                MXC_TuoDaiSongZhou= MXC_SERVER_EN;
                SetEn(X_AXIS, DC_Motor_EN);
                AxisContinueMoveAcc(X_AXIS, MXC_DC_PARAM_MUL_SPEED, MXC_DC_DIR_P, 1200,
                                    1200, 120, 120);
            }
        }
        if(X_DRV && !MXC_bDCTD_P && !MXC_DC_bRunning && (MXC_DC_cMotorStep == 0))
        {
            AxisEgmStop(X_AXIS);  
        }
        //下冲电机正转
        if(MXC_bXCDJ_P)
        {
            if(!Z_DRV)
            {
                SetEn(Z_AXIS, XC_MOTOR_EN);
                AxisContinueMoveAcc(Z_AXIS, 3000, MXC_XC_DIR_P, 1200,
                                    1200, 120, 120);
            }
        }
        if(Z_DRV && !MXC_bXCDJ_P && !MXC_DC_bRunning && (MXC_cXiaChongStep == 0))
        {
            //            SetEn(Z_AXIS, XC_MOTOR_DISEN);
            AxisEgmStop(Z_AXIS);  
        }
        
        //分针+下冲
        if (MXC_ManXiaChong_UP || MXC_bXiaChong)
        {
            MXC_bXiaChong = 0;
                if (MXC_cXiaChongStep == 0)
                    MXC_cXiaChongStep = 1;  
        }
        //下冲单一动作
        if (MXC_cXiaChongStep == 0)
        {
            if (MXC_bLeftFenZhen)
            {
                MXC_bLeftFenZhen = 0;
                MXC_LeftFenZhen_VAVLE = ~MXC_LeftFenZhen_VAVLE;
            }
            
            if (MXC_bRightFenZhen)
            {
                MXC_bRightFenZhen = 0;
                MXC_RightFenZhen_VAVLE = ~MXC_RightFenZhen_VAVLE;
            }
            if(MXC_bDotXiaChong && MXC_RighttFenZhen_IN && MXC_LeftFenZhen_IN)
            {
                MXC_bDotXiaChong = 0;
                if(MXC_cXiaChongStep == 0)
                    MXC_cXiaChongStep = 1;
            }
        }
        
        if(MXC_bSeBiaoJiaoDao)
        {
            MXC_bSeBiaoJiaoDao = 0;
            MXC_cJiaoDaoStep = 1;
        }
        if(MXC_bGouZhen && MXC_DC_MODE == 0)
        {
            MXC_bGouZhen = 0;
            MXC_GouZhen_VAVLE = ~MXC_GouZhen_VAVLE;
        }
        if (MXC_DC_MODE != 0) //非钩针模式
        {
            MXC_GouZhen_VAVLE = 1;
        }
    }
}

void MXC_DC_AutoAction(void)
{
    if(MXC_MOTOR_DATA_Num <= 99)user_datas[420+MXC_MOTOR_DATA_Num] = MXC_ENCODE_FENZHEN_Lenth;
    dwZRealPos = GetPos(Z_AXIS);
    //DISPLAY_DATA0 = cCheckLengthOk;//Cur_DC_length;//MXC_cXiaChongStep;//MXC_DC_cAutoStep;
    //DISPLAY_DATA1 = MXC_bSeBiao_CheckOK;//cZipperLength[0];//Cur_XZ_length;//MXC_XZ_cAutoStep;
    DISPLAY_DATA2 = MXC_bSeBiao_CheckOK;//cZipperLength[1];//
    DISPLAY_DATA3 = MXC_DC_cAutoStep;//MXC_XZ_cMotorStep;
    DISPLAY_DATA4 = MXC_SB_ENCODE_MIN;//MXC_DC_cMotorStep;
    DISPLAY_DATA5 = MXC_SB_SaveLength;//MXC_cXiaChongStep;
    DISPLAY_DATA6 = dwXRealPos;
    DISPLAY_DATA7 = dwEnRealPos;
    if(MXC_DC_bRunning)
    {   
        switch(MXC_DC_cAutoStep)
        {
        case 0:
            break;
        case 1:
            if(dwTickCount >= MXC_DC_cAutoDelay)
            {
                SetEn(X_AXIS, DC_Motor_EN);                
                MXC_DC_cAutoDelay = dwTickCount + 700; //先锁轴;
                MXC_DC_cAutoStep = 2;
            }
            break;
        case 2:
            //左右分针要退到位，过链到位要离开
            if((dwTickCount >= MXC_DC_cAutoDelay) && !MXC_RighttFenZhen_IN && !MXC_LeftFenZhen_IN && MXC_RightFenZhen_Origin_IN 
               && MXC_LeftFenZhen_Origin_IN)
            {
                switch(MXC_DC_MODE)
                {                   
                case MXC_DC_SF_MODE:MXC_DC_cMotorStep = 1; break;               //伺服
                case MXC_DC_GZ_MODE:MXC_DC_cMotorStep = 20;break;               //钩针
                case MXC_DC_SB_MODE:MXC_DC_cMotorStep = 40;break;               //色标
                //case MXC_DC_BMQ_MODE:MXC_DC_cMotorStep = 60; break;             //编码器
                } 
                MXC_DC_cAutoStep = 3;             
            } 
            else if(dwTickCount >= MXC_DC_cAutoDelay + MXC_ERRORTIME)
            {
                if (MXC_RighttFenZhen_IN)MXC_SetAlarmCode(MXC_RFZ_LIMIT_ALARM);
                if (MXC_LeftFenZhen_IN)MXC_SetAlarmCode(MXC_LFZ_LIMIT_ALARM);
                if (!MXC_RightFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_RFZ_ORIGIN_ALARM);
                if (!MXC_LeftFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_LFZ_ORIGIN_ALARM);
            }
            break;
        case 3:
            //拖带已经完成
            if(MXC_DC_cMotorStep == 0)
            {
                MXC_cXiaChongStep = 1;
                MXC_DC_cAutoStep = 4;
            }
            break;	
        case 4://下冲完成
            if((MXC_cXiaChongStep == 0) || (MXC_cXiaChongStep >= 5))
            {
                dwZipCnt++;
                MXC_DC_cAutoStep = 5;
                //除齿判断
                if(MXC_CRUKONGWEILENGTH >= MXC_DC_KongWei_Length || MXC_DC_MODE==0 || MXC_DC_MODE==2)
                {
                    MXC_CRUKONGWEILENGTH = 0;
                    if(!MXC_DC_SingOneFlag)
                    {
                        AddToTal(MXC_DC_TOTAL_ADDR);
                        CalProSP(MXC_DC_PROSPEED_ADDR);
                    }
                    MXC_DC_cAutoStep = 5;
                }
                else
                {
                    MXC_DC_cAutoStep = 2;
                    MXC_DC_cAutoDelay = dwTickCount;
                }
            }
            break;
        case 5:  
            if(GetTotal(MXC_DC_TOTAL_ADDR) >= MXC_SET_TOTAL)
            {
                MXC_SetAlarmCode(MXC_TOTAL_ALARM);
                MXC_DC_cAutoStep = 0;
            }
            else
                MXC_DC_cAutoStep = 6;
            break;		
        case 6:  
            MXC_DC_cAutoStep = 2;
            //MXC_Clear_Servo_Pos=0;
            MXC_DC_cAutoDelay = dwTickCount+1;
            if(MXC_DC_SingOneFlag || MXC_DC_Single_Stop)
            {
                dwZipCnt = 0;
                MXC_DC_bAlarmStop = 1;
                MXC_DC_SingOneFlag = 0;
                MXC_DC_cAutoStep = 0;
                MXC_DC_bRunning = 0;
                MXC_DC_Single_Stop = 0;             
            }
            break;			                     
        }		         
    }
}

// 检测是否踏了脚踏开关
void MXC_CheckStart(void)
{
    //  开始键                              
    if((MXC_START_IN_UP || MXC_DC_bStart || MXC_DC_bStart_Single))
    {
        if(MXC_DC_bStart_Single)
        {
            MXC_DC_bStart = 1;
            MXC_DC_SingOneFlag = 1;   
            MXC_DC_bStart_Single  = 0;
        }
        if(MXC_START_IN_UP || MXC_DC_bStart)
        {
            //定寸启动
            if(!MXC_DC_bRunning)
            {
                if (MXC_KaDai_IN)MXC_SetAlarmCode(MXC_KA_DAI_ALARM);
                else if (!MXC_RightFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_START_RFZ_ORIGIN_ALARM);
                else if (!MXC_Zipper_IN)MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM);
                else
                {
                    dwZipCnt = 0;
                    cZipperLength[0] = 0;
                    cZipperLength[1] = 0;
                    MXC_DC_cAutoStep = 1;
                    MXC_DC_bRunning = 1;
                    MXC_DC_cAutoDelay = dwTickCount;
                    MXC_DC_cMotorDelay = dwTickCount;
                    MXC_cXiaChongDelay = dwTickCount;
                    MXC_cChuiQiDelay = dwTickCount;
                    MXC_CRUKONGWEILENGTH=0;
                    MXC_ENCODE_FENZHEN_Lenth = 0;
                    cSeBiaoOk=0;
                }
            }
            cCheckLengthOk = 0;
            MXC_bSeBiao_Check=0;
            MXC_PARAM_SongDai_Switch = 1;
        }
        MXC_DC_bStart = 0;
        MXC_DC_bStart_Single = 0;
    }
    
    //卡带感应
    if(MXC_KaDai_IN_UP)
    {
        //MXC_SetAlarmCode(MXC_KA_DAI_ALARM);
        SetAlarmCode(MXC_ALARM_ADDR,MXC_KA_DAI_ALARM);
        MXC_bStop=1;
    }
    else
    {
       if((GetAlarmCode(MXC_ALARM_ADDR) == MXC_KA_DAI_ALARM))
         SetAlarmCode(MXC_ALARM_ADDR,0);
    }
    
    if(MXC_KaDai_IN_UP)
    {
        if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
    }		
    //停止
    MXC_STOP_IN_FLAG_OLD = MXC_STOP_IN_FLAG;
    
    if(MXC_STOP_IN)
    {
        if(MXC_STOP_FILTER < 50)
        {
            MXC_STOP_FILTER++;
        }
        else
            MXC_STOP_IN_FLAG = 1;
    }
    else if(MXC_STOP_FILTER > 25)
    {
        MXC_STOP_FILTER--;
    }
    else
        MXC_STOP_IN_FLAG = 0;
    
    //停止键
    if(MXC_STOP_IN_FLAG && !MXC_STOP_IN_FLAG_OLD || MXC_bStop)
    { 
        MXC_bStop = 0;
        MXC_bSeBiao_Check=0;
        if(MXC_DC_bRunning)
        {
            if(MXC_DC_cMotorStep==0 && MXC_cXiaChongStep!=0)
            {
                MXC_DC_Single_Stop = 1; 
            }
            else if(X_DRV&&MXC_DC_MODE==MXC_DC_SF_MODE)
            {
              MXC_DC_cMotorStep=5;
            }
            else
            {
                if(MXC_cXiaChongStep==0)
                {
                    if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
                }                
                MXC_DC_SingOneFlag = 0;
                MXC_DC_bRunning = 0;  
                MXC_DC_cAutoStep = 0;
                MXC_DC_cMotorStep = 0;
                MXC_cXiaChongStep = 0;
                AxisEgmStop(X_AXIS);
                AxisEgmStop(Z_AXIS);
                //MXC_cJiaoDaoStep = 0;
                MXC_Zipper_cnt = 0;
                //输出
                MXC_LeftFenZhen_VAVLE = 0;
                MXC_SongDai_MOTOR = 0;
                MXC_RightFenZhen_VAVLE = 0;
                MXC_DingDao_BaoHu_VAVLE = 0;
                MXC_PARAM_SongDai_Switch = 0;
                cSeBiaoOk=0;
                if(MXC_DC_MODE==0)
                    MXC_GouZhen_VAVLE = 0;
            }
        }
        else
        {
            MXC_DC_SingOneFlag = 0;
            MXC_DC_bRunning = 0;  
            MXC_DC_cAutoStep = 0;
            MXC_DC_cMotorStep = 0;
            MXC_cXiaChongStep = 0;
            MXC_cXiaChongStep = 0;
            MXC_cRightFZStep = 0;
            MXC_cLeftFZStep = 0;
            SetEn(X_AXIS,DC_Motor_DISEN);
            SetEn(Z_AXIS,XC_MOTOR_DISEN);
            if((MXC_cChuiQiStep == 0) &&(MXC_cXiaChongStep==0))MXC_cChuiQiStep = 1;      
            AxisEgmStop(X_AXIS);
            AxisEgmStop(Z_AXIS);
            MXC_SetAlarmCode(MXC_NO_ALARM);
            //输出
            if(MXC_cXiaChongStep == 0)
            {
                MXC_XiaChong_MOTOR = 0;
            }
            MXC_LeftFenZhen_VAVLE = 0;
            MXC_SongDai_MOTOR = 0;
            MXC_RightFenZhen_VAVLE = 0;
            MXC_DingDao_BaoHu_VAVLE = 0;
            MXC_PARAM_SongDai_Switch = 0;
            MXC_MOTOR_DATA_Num = 0;
            cSeBiaoOk=0;
            if(MXC_DC_MODE==0)
                MXC_GouZhen_VAVLE = 0;
        }
    }
    
    if(MXC_DC_bAlarmStop)
    {
        MXC_DC_bAlarmStop = 0;
        MXC_DC_bRunning = 0;
        MXC_DC_cAutoStep = 0;
        MXC_DC_cMotorStep = 0;
        MXC_cXiaChongStep = 0;
        
        MXC_cRightFZStep = 0;
        MXC_cLeftFZStep = 0;
        MXC_DC_SingOneFlag = 0;
        MXC_cXiaChongStep = 0;
        MXC_XiaChong_MOTOR = 0;
        MXC_LeftFenZhen_VAVLE = 0;
        MXC_RightFenZhen_VAVLE = 0;
        MXC_DingDao_BaoHu_VAVLE = 0;
        MXC_cShaCheStep = 1;
        AxisEgmStop(X_AXIS);
    }
} 


void MXC_ChuiQi(void)
{	
    //吹气
    if(MXC_XiaChong_IN_DW && !MXC_DC_XC_MODE)
    {
        if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
        MXC_cDDBH_Step = 1;
    }
    if(MXC_DC_XC_MODE)
    {
        if(PosToPulse(Z_AXIS,GetPos(Z_AXIS)) >=  MXC_DC_XC_CHUIQI_PULSE && PosToPulse(Z_AXIS,GetPos(Z_AXIS)) <= MXC_DC_XC_CHUIQI_PULSE + 30)
            if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
        if(PosToPulse(Z_AXIS,GetPos(Z_AXIS)) >= MXC_DC_XC_DINDAO_PULSE && PosToPulse(Z_AXIS,GetPos(Z_AXIS)) <= MXC_DC_XC_DINDAO_PULSE + 30)
            if(MXC_cDDBH_Step == 0)MXC_cDDBH_Step = 1;
    }
    switch(MXC_cChuiQiStep)
    {
    case 1:
        MXC_cChuiQiStep = 2;
        MXC_cChuiQiDelay = dwTickCount + MXC_PARAM_DELAY_CHUIQI_TIME;            
        break;
    case 2:
        if(dwTickCount >= MXC_cChuiQiDelay)
        {
            MXC_cChuiQiDelay = dwTickCount + MXC_PARAM_CHUIQI_TIME;	
            MXC_ChuiQi_VAVLE = 1;//
            MXC_cChuiQiStep = 3;                
        }
        break;
    case 3:
        if(dwTickCount >= MXC_cChuiQiDelay)
        {
            MXC_ChuiQi_VAVLE = 0;//
            MXC_cChuiQiStep = 0;
        }
        break;
    }
    switch (MXC_cDDBH_Step)
    {
    case 1:
        MXC_cDDBH_Step = 2;
        MXC_cDDBHDelay = dwTickCount + MXC_PARAM_DDBH_delay;
        break;
    case 2:
        if(dwTickCount >= MXC_cDDBHDelay)
        {
            MXC_cDDBH_Step = 3;
            MXC_DingDao_BaoHu_VAVLE = 1;
            MXC_cDDBHDelay = dwTickCount + MXC_DDBH_TIME;
        }
        break;
    case 3:
        if(dwTickCount >= MXC_cDDBHDelay)
        {
            MXC_cDDBH_Step = 0;
            MXC_DingDao_BaoHu_VAVLE = 0;
        }
        break;
    }
}
void  MXC_DC_Motor(void)
{ 
    static long zipper_length;
    short *revise_buff;
    unsigned long cmp=0;
    unsigned long cyclenum=0;
    dwXRealPos = GetPos(X_AXIS);
    dwEnRealPos = GetEncodePos(ENCODE_X22X23);
    revise_buff = (short *)(&user_datas[17]);
    switch(MXC_DC_cMotorStep)
    {
    case 0:
        break;
    //电机定寸模式
    case 1:
        if(dwEnRealPos>(MXC_SET_ZIPPER_LENGTH + MXC_PARAM_DAOKOU_LENGTH) && MXC_CRUKONGWEILENGTH==0)
        {
            MXC_DC_cMotorStep = 0;
            MXC_CRUKONGWEILENGTH = MXC_PARAM_DAOKOU_LENGTH;
            MXC_DC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME; 
            SetEncodePos(ENCODE_X22X23, 0);
        }
        else 
        {
            MXC_DC_cMotorStep = 2;
            MXC_DC_cMotorDelay = dwTickCount;
            //SetPos(X_AXIS, 0);
        }
        break;
    case 2: 
        if(dwTickCount >= MXC_DC_cMotorDelay)   
        {
            if(MXC_CRUKONGWEILENGTH==0)//MXC_CRUKONGWEILENGTH 记录已除齿长度
            {
                if(dwXRealPos>dwEnRealPos)
                  zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH - dwXRealPos; 
                else
                  zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH - dwEnRealPos; 
                MXC_CRUKONGWEILENGTH=MXC_PARAM_DAOKOU_LENGTH;
            }
            else if(MXC_DC_KongWei_Length-MXC_CRUKONGWEILENGTH>=MXC_PARAM_DAOKOU_LENGTH)
            {
                zipper_length=MXC_PARAM_DAOKOU_LENGTH;
                MXC_CRUKONGWEILENGTH+=zipper_length;
            }
            else
            {
                zipper_length=MXC_DC_KongWei_Length-MXC_CRUKONGWEILENGTH;
                MXC_CRUKONGWEILENGTH+=zipper_length;
            }
            if(zipper_length>MXC_MXC_PARAM_DAILUN_LENGTH)
            {
               cmp=MXC_PARAM_LENGTH_CMP;
               cyclenum=zipper_length/MXC_MXC_PARAM_DAILUN_LENGTH;
               zipper_length=zipper_length+(zipper_length*cyclenum*cmp)/((cyclenum+1)*MXC_MXC_PARAM_DAILUN_LENGTH);
               DISPLAY_DATA0=zipper_length;
            }
            AxisMovePosAccDec(X_AXIS, MXC_PARAM_SK_HIGH_SPEED, zipper_length, 1000,
                                  MXC_PARAM_SK_SLOW_SPEED, 150, 150, MXC_PARAM_SK_SLOW_LENGTH);            
            MXC_DC_cMotorStep = 3;
            MXC_DC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME;
        }
        break;
    case 3:
        if(!X_DRV)
        {
            if(MXC_MOTOR_DATA_Num<=99)user_datas[200+MXC_MOTOR_DATA_Num] = dwEnRealPos;
            //SetEncodePos(ENCODE_X22X23, 0);
            MXC_DC_cMotorStep = 4;
            MXC_DC_cMotorDelay = dwTickCount + 20;
        }
        else if(dwTickCount >= MXC_DC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);                
        break;
    case 4:
        if(dwTickCount >= MXC_DC_cMotorDelay)
        {
            MXC_DC_cMotorStep = 0;
        }
        break;
    case 5:	
        if(dwXRealPos<=zipper_length-500)//剩余长度小于5CM
        {
            AxisMovePosAccDec(X_AXIS,1000,300,600,600,20,20,0);
            MXC_DC_cMotorStep = 6;
        }
       else
       {
           MXC_DC_cMotorStep = 3;
       }
       break;
     case 6:	
        if(!X_DRV)
        {
           MXC_DC_cAutoStep=0; 
           MXC_DC_cMotorStep=0;
           MXC_CRUKONGWEILENGTH=0;
           MXC_DC_bRunning=0;           
        }
       break;

    //钩针定寸 step20-24
    case 20:
        if (MXC_DEC_MODE) //减速方式：1数控模式 0感应方式
        {
            SetPos(X_AXIS, 0);
            if (MXC_PARAM_AUTO_CHECK_MODE) //1为自动测长0为手动输入长度
            {
                if (cCheckLengthOk)
                {
                    if (zipper_length > MXC_DC_PARAM_LOWSPEED_LENGTH)
                    {
                        AxisMovePosAccDecNotStop(X_AXIS, MXC_DC_PARAM_SET_SPEED, 
                                                 zipper_length - MXC_DC_PARAM_LOWSPEED_LENGTH,
                                                 2000, MXC_DC_PARAM_LOW_SPEED, 150,
                                                 150, 0);
                    }
                    else
                    {
                        AxisMovePosAccDecNotStop(X_AXIS, MXC_DC_PARAM_LOW_SPEED, zipper_length,
                                                 1000, MXC_DC_PARAM_LOW_SPEED, 30, 30, 0);
                    }
                }
                else
                {
                    if (cCheckLengthOk == 0)
                    {
                        cZipperLength[0] = cZipperLength[1];
                        cZipperLength[1] = zipper_length_buff;
                        if (ComPareLength())//返回1，前后拉链没有明显变化
                        {
                            cCheckLengthOk = 1;
                        }
                    }
                    
                    if (cCheckLengthOk)
                    {
                        zipper_length = cZipperLength[1];
                        if (zipper_length > MXC_PARAM_DAOKOU_LENGTH)
                        {
                            SetData32bits(MXC_XC_ZIPPER_LENGTH_ADDR, zipper_length - MXC_PARAM_DAOKOU_LENGTH);
                        }
                        if (zipper_length > MXC_DC_PARAM_LOWSPEED_LENGTH)
                        {
                            AxisMovePosAccDecNotStop(X_AXIS, MXC_DC_PARAM_SET_SPEED, 
                                                     zipper_length - MXC_DC_PARAM_LOWSPEED_LENGTH,
                                                     2000, MXC_DC_PARAM_LOW_SPEED, 100, 
                                                     100, 100);
                        }
                        else
                        {
                            AxisMovePosAccDecNotStop(X_AXIS, MXC_DC_PARAM_LOW_SPEED, zipper_length,
                                                     1000, MXC_DC_PARAM_LOW_SPEED, 30, 30, 0);
                        }
                    }
                    else
                    {
                        AxisContinueMoveAcc(X_AXIS, MXC_PARAM_FIRST_SPEED, MXC_DC_DIR_P, 1200,
                                            800, 80, 120);
                    }
                }
            }
            else//手动输入长度模式
            {
                if (dwZipCnt == 0)
                    AxisContinueMoveAcc(X_AXIS, MXC_PARAM_FIRST_SPEED, MXC_DC_DIR_P, 1200, 1200,
                                        80, 120);
                else
                {
                    zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH;
                    //输入长度过大
                    if (zipper_length > zipper_length_buff && dwZipCnt > 1)
                        zipper_length = zipper_length_buff;
                    if (zipper_length > MXC_DC_PARAM_LOWSPEED_LENGTH)
                    {
                        AxisMovePosAccDecNotStop(X_AXIS, MXC_DC_PARAM_SET_SPEED, 
                                                 zipper_length - MXC_DC_PARAM_LOWSPEED_LENGTH,
                                                 1000, MXC_DC_PARAM_LOW_SPEED, MXC_DC_PARAM_SET_SPEED / 300,
                                                 MXC_DC_PARAM_SET_SPEED / 300, 0);
                    }
                    else
                    {
                        AxisMovePosAccDecNotStop(X_AXIS, MXC_DC_PARAM_LOW_SPEED, zipper_length,
                                                 800, MXC_DC_PARAM_LOW_SPEED, 30, 30, 0);
                    }
                }
            }
            MXC_DC_cMotorStep = 22;
        }
        else //  感应方式
        {
            AxisContinueMoveAcc(X_AXIS, MXC_DC_PARAM_SET_SPEED, MXC_DC_DIR_P,1000,1000,30,30);
            MXC_DC_cMotorStep = 21;
        }
        MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY;
        MXC_DC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME;
        break;
    case 21:
        //if ((dwTickCount >= MXC_cGouZhenTime))
        //    MXC_GouZhen_VAVLE = 0;
        if (MXC_DEC_MODE == 0) // 感应模式
        {
            if (MXC_JianSu_IN_DW)
            {
                AxisChangeSpeedDirect(X_AXIS, MXC_DC_PARAM_LOW_SPEED);
                //MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY;
                MXC_DC_cMotorStep = 23;
            }
            if (MXC_GouZhen_IN)
            {
                MXC_DC_cMotorStep = 24;
                AxisEgmStop(X_AXIS);
            }
        }
        if (dwTickCount >= MXC_DC_cMotorDelay)
            MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
        break;
    case 22:
       // if ((dwTickCount >= MXC_cGouZhenTime) && (MXC_PARAM_GZ_RESET_MODE == 0))
       //    MXC_GouZhen_VAVLE = 0;
        if (MXC_DEC_MODE) // 数控方式
        {
            if (MXC_PARAM_AUTO_CHECK_MODE)///1为自动测长0为手动输入长度
            {
                if (cCheckLengthOk)
                {
                    if ((dwXRealPos >= (zipper_length - MXC_PARAM_GZ_LENGTH)) && MXC_PARAM_GZ_RESET_MODE)
                        MXC_GouZhen_VAVLE = 0;
                }
                else
                {
                    if (dwTickCount >= MXC_cGouZhenTime)
                        MXC_GouZhen_VAVLE = 0;
                }
            }
            else
            {
                if ((dwXRealPos >= (zipper_length - MXC_PARAM_GZ_LENGTH)) && MXC_PARAM_GZ_RESET_MODE)
                    MXC_GouZhen_VAVLE = 0;
                if ((dwZipCnt == 0) && (dwTickCount >= MXC_cGouZhenTime) && (MXC_PARAM_GZ_RESET_MODE == 1))
                    MXC_GouZhen_VAVLE = 0;
            }
            if (MXC_JianSu_IN_DW)
            {
                if (cCheckLengthOk)
                {
                  ;
                }
                else
                {
                    AxisChangeSpeedDirect(X_AXIS, MXC_DC_PARAM_LOW_SPEED);
                }
            }
            if (MXC_GouZhen_IN_UP)
            {
                MXC_GouZhen_VAVLE = 0;
                MXC_DC_cMotorStep = 23;
                AxisEgmStop(X_AXIS);
            }
        }
        if (dwTickCount >= MXC_DC_cMotorDelay)
            MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
        break;
    case 23:
        if ((dwTickCount >= MXC_cGouZhenTime) && (MXC_PARAM_GZ_RESET_MODE == 0))
            MXC_GouZhen_VAVLE = 0;
        if (MXC_DEC_MODE) // 数控方式
        {
            if (!X_DRV)
            {
                MXC_DC_cMotorStep = 0;
                zipper_length_buff = dwXRealPos;
            }
        }
        else // 感应方式
        {
            if (MXC_GouZhen_IN)
            {
                MXC_DC_cMotorStep = 24;
                AxisEgmStop(X_AXIS);
            }
        }
        if (dwTickCount >= MXC_DC_cMotorDelay)
            MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
        break;
    case 24:
        if (!X_DRV)
        {
            MXC_DC_cMotorStep = 0;
        }
        if (dwTickCount >= MXC_DC_cMotorDelay)
            MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
        break;

    //色标定寸 step 40-42
    case 40:
        SetPos(X_AXIS, 0);
        MCX_SB_ENCODE_END=dwEnRealPos;
        SetEncodePos(ENCODE_X22X23, 0);
        if ((dwZipCnt == 0) || SingOneFlg)
        {
            AxisContinueMoveAcc(X_AXIS, 1000, MXC_DC_DIR_P, 1000,
                               1000, 10, 10);
            MXC_DC_cMotorStep = 41;
        }
        else
        {
            zipper_length=MXC_SET_ZIPPER_LENGTH+ (*revise_buff)-MXC_DC_PARAM_SEBIAO_DW_LENGTH;
            if(zipper_length>MXC_MXC_PARAM_DAILUN_LENGTH)
            {
               cmp=MXC_PARAM_LENGTH_CMP;
               cyclenum=zipper_length/MXC_MXC_PARAM_DAILUN_LENGTH;
               zipper_length=zipper_length+(zipper_length*cyclenum*cmp)/((cyclenum+1)*MXC_MXC_PARAM_DAILUN_LENGTH);
            }
            if(zipper_length>0)
            {
                AxisMovePosAccDecNotStop(X_AXIS,MXC_PARAM_SB_HIGH_SPEED,zipper_length,
                                         1500,MXC_PARAM_SB_LOW_SPEED,100,100,
                                         PosToPulse(X_AXIS,MXC_PARAM_SEBIAO_LOWSPEED_LENGTH));
            }
            else
            {
               MXC_SetAlarmCode(MXC_ZIPPER_SB_LENGTH_ALARM);
            }
            MXC_DC_cMotorStep = 41;            
        }
        cSeBiaoOk = 0;
        cSeBiaoEn = 0;        
        MXC_DC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME;
        break;
    case 41://使能色标位置
        if (dwZipCnt == 0)
        {
            cSeBiaoOk = 0;
            cSeBiaoEn = 1;
            MXC_DC_cMotorStep = 42;
        }
        else
        {
          if (dwXRealPos>=zipper_length-MXC_PARAM_SEBIAO_LOWSPEED_LENGTH)
          {
            if ((dwXRealPos+MXC_PARAM_SEBIAO_TQ_LENGTH) >= zipper_length+MXC_PARAM_First_CMP)
            {
                cSeBiaoOk = 0;//开启色标中断
                cSeBiaoEn = 1;//色标中断使能
                MXC_DC_cMotorStep = 42;                
                MXC_DC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME;
            }
            else if (dwXRealPos > (zipper_length + MXC_PARAM_SEBIAO_ERROR_LENGTH+MXC_PARAM_First_CMP))
            {
                MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
                
            }
          }
        }
        break;
    case 42://色标定位   
        if(cSeBiaoOk && cSeBiaoEn)
        {
            cSeBiaoEn = 0;
            if (dwZipCnt == 0)
            {                
                zipper_length= MXC_DC_PARAM_SEBIAO_DW_LENGTH-(MXC_SB_SaveLength-MXC_SB_ENCODE_MIN);
                AxisMovePosAccDec(X_AXIS, MXC_DC_PARAM_SB_OFFSET_SPEED,
                MXC_DC_PARAM_SEBIAO_DW_LENGTH,
                800, 800,
                120, 100, 50);
                MXC_DC_cMotorStep = 44; 
                MXC_Clear_Servo_Pos=1;
            }
             else
            {                            
                zipper_length= MXC_DC_PARAM_SEBIAO_DW_LENGTH-MXC_PARAM_First_CMP;
                AxisMovePosAccDec(X_AXIS, MXC_DC_PARAM_SB_OFFSET_SPEED,
                          zipper_length,
                          800, 800,
                          120, 100, 50);
                MXC_DC_cMotorStep = 44;
                MCX_XPOS_BUFF=dwXRealPos; 
                DISPLAY_DATA0=dwXRealPos-MXC_SB_SaveLength;               
            }       
        }
      break;
    case 44://色标定位      
            
        if (dwZipCnt == 0&&!X_DRV)
        {
            
            MXC_DC_cMotorStep = 45;
            MXC_bSeBiao_Check=1;//第一条，屏幕弹出小窗口，人工确认色标定位位置
            MXC_bSeBiao_CheckOK=0;
            MXC_bSeBiao_CheckStop=0;
            MXC_Clear_Servo_Pos=0;
        }
        else if(!X_DRV)
        {
            MXC_DC_cMotorStep = 0;            
        }        
        else if (dwTickCount >= MXC_DC_cMotorDelay)
        {
            MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
            
        }
        break;
    case 45:
        if(MXC_bSeBiao_CheckOK)//人工确认位置色标定位位置正确
        {
            MXC_bSeBiao_CheckOK=0;
            MXC_DC_cMotorStep = 0;
            MXC_bSeBiao_Check=0;
        }
        if(MXC_bSeBiao_CheckStop)//位置不正确，停止
        {
            MXC_bSeBiao_CheckStop=0;
            dwZipCnt = 0;
            MXC_DC_bAlarmStop = 1;
            MXC_DC_SingOneFlag = 0;
            MXC_DC_cAutoStep = 0;
            MXC_DC_bRunning = 0;
            MXC_bSeBiao_Check=0;
        }
        break;

#if 0
    //编码器定位
    case 60:
        if(dwEnRealPos>(MXC_SET_ZIPPER_LENGTH+MXC_PARAM_DAOKOU_LENGTH) && MXC_CRUKONGWEILENGTH==0)
        {
            MXC_DC_cMotorStep = 64;
            MXC_CRUKONGWEILENGTH = MXC_PARAM_DAOKOU_LENGTH;
            MXC_DC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME; 
        }
        else 
        {
            MXC_DC_cMotorStep = 61;
            MXC_DC_cMotorDelay = dwTickCount;
            SetPos(X_AXIS, 0);
        }
        break;
    case 61:
        if(dwTickCount >= MXC_DC_cMotorDelay)
        {
            SetPos(X_AXIS, 0);
            if(MXC_CRUKONGWEILENGTH==0)
            {                
                zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH - dwEnRealPos ;//- MXC_ENCODE_FENZHEN_Lenth/3;//-(MXC_ENCODE_FENZHEN_Lenth); //
                MXC_CRUKONGWEILENGTH = MXC_PARAM_DAOKOU_LENGTH;
            }
            else if(MXC_DC_KongWei_Length-MXC_CRUKONGWEILENGTH>=MXC_PARAM_DAOKOU_LENGTH)
            {
                zipper_length=MXC_PARAM_DAOKOU_LENGTH;
                MXC_CRUKONGWEILENGTH+=zipper_length;
            }
            else
            {
                zipper_length=MXC_DC_KongWei_Length-MXC_CRUKONGWEILENGTH;
                MXC_CRUKONGWEILENGTH+=zipper_length;
            }
            if(zipper_length<1400)
            {
                if (zipper_length > MXC_DC_PARAM_LOWSPEED_LENGTH)
                {
                    AxisMovePosAccDec(X_AXIS, MXC_DC_PARAM_SET_SPEED * 3 / 4 + 600, zipper_length, 1200, MXC_DC_PARAM_LOW_SPEED, MXC_DC_PARAM_SET_SPEED/300, MXC_DC_PARAM_SET_SPEED/300, PosToPulse(X_AXIS, MXC_DC_PARAM_LOWSPEED_LENGTH)); //1200 600
                }
                else
                {
                    AxisMovePosAccDec(X_AXIS, MXC_DC_PARAM_LOW_SPEED, zipper_length, 1200,
                     MXC_DC_PARAM_LOW_SPEED, 50, 50, 0); //1200 600
                }
            }
            else if(zipper_length<2400)
            {
                AxisMovePosAccDec(X_AXIS,MXC_DC_PARAM_SET_SPEED*7/8,zipper_length,1200,MXC_DC_PARAM_LOW_SPEED,MXC_DC_PARAM_SET_SPEED/300,MXC_DC_PARAM_SET_SPEED/300,PosToPulse(X_AXIS, MXC_DC_PARAM_LOWSPEED_LENGTH));//1200 600
            }
            else
            {
                AxisMovePosAccDec(X_AXIS,MXC_DC_PARAM_SET_SPEED,zipper_length,1200,MXC_DC_PARAM_LOW_SPEED,MXC_DC_PARAM_SET_SPEED/300,MXC_DC_PARAM_SET_SPEED/300,PosToPulse(X_AXIS, MXC_DC_PARAM_LOWSPEED_LENGTH));//1200 600
            }
            MXC_DC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME;   
            MXC_DC_cMotorStep = 62;
        }	
        break;	
    case 62:     
        if(!X_DRV)//||(dwEnRealPos>=dwXRealPos)&&(dwXRealPos>=MXC_PARAM_DAOKOU_LENGTH))
        {
            //AxisEgmStop(X_AXIS);
            MXC_DC_cMotorStep = 63;    
            MXC_DC_cMotorDelay = dwTickCount+0;            
        }
        else if(dwTickCount >= MXC_DC_cMotorDelay)
            MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
        break;	
    case 63: 
        if(dwTickCount >= MXC_DC_cMotorDelay)
        {
            // if(MXC_MOTOR_DATA_Num<=99)user_datas[420+MXC_MOTOR_DATA_Num] = dwEnRealPos;
            if(dwEnRealPos<dwXRealPos)
            {
                zipper_length=(dwXRealPos-dwEnRealPos);
                AxisMovePosAccDec(X_AXIS,800,zipper_length,800,800,10,10,0);
            }
            
            MXC_DC_cMotorStep = 64;         
        }
        break;
    case 64:	
        if(!X_DRV)
        {
            if(MXC_MOTOR_DATA_Num<=99)user_datas[200+MXC_MOTOR_DATA_Num] = dwEnRealPos;
            MXC_DC_cMotorDelay = dwTickCount; 
            MXC_DC_cMotorStep = 0;
            //SetEncodePos(ENCODE_X22X23, 0);
        }
        // else if(dwTickCount >= MXC_DC_cMotorDelay)
        //     MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM, MXC_ALARM_DC);
        break;
    case 65:	
        if(dwXRealPos<=zipper_length-500)//剩余长度小于5CM
        {
            AxisMovePosAccDec(X_AXIS,1000,300,600,600,20,20,0);
            MXC_DC_cMotorStep = 66;
        }
        else
        {
            MXC_DC_cMotorStep = 62;
        }
        break;
    case 66:	
        if(!X_DRV)
        {
            MXC_DC_cAutoStep=2; 
            MXC_DC_cMotorStep=0;
            MXC_CRUKONGWEILENGTH=0;
        }
        break;	
#endif	
    }
}

//下冲
void  MXC_XiaChong(void)
{       
    switch(MXC_cXiaChongStep)
    { 
    case 0:
        break;
    case 1:
        MXC_cXiaChongStep = 2;
        MXC_cRightFZStep = 1;//启动右分针
        MXC_cLeftFZStep = 0;
        break;
    case 2:
        if((MXC_cRightFZStep == 0) && (MXC_cLeftFZStep == 0) && MXC_RighttFenZhen_IN && MXC_LeftFenZhen_IN)
        {
            
            MXC_XC_ShaChe = 0;//打开刹车
            if (MXC_DC_bRunning)
            {
                MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_DELAY_XC;
            }
            MXC_cXiaChongStep = 3;
        }
        break;
    case 3:
        if(dwTickCount >= MXC_cXiaChongDelay)
        {
            MXC_cXiaChongStep = 4;
            MXC_XiaChong_MOTOR = 1;
            if(MXC_DC_bRunning) MXC_GouZhen_VAVLE = 1;
            MXC_cXiaChongDelay = dwTickCount + MXC_XIACHONG_EEROR_TIME;
        }
        break;
    case 4: 
        if(MXC_XiaChong_IN_UP)
        {
            
            SetEncodePos(ENCODE_X22X23, 0);
            SetPos(X_AXIS, 0);
            //            if(MXC_MOTOR_DATA_Num<=99)user_datas[200+MXC_MOTOR_DATA_Num] = dwEnRealPos;
            MXC_LeftFenZhen_VAVLE = 0;
            MXC_RightFenZhen_VAVLE = 0;
            MXC_cXiaChongStep = 5;
            MXC_cShaCheStep = 1;
            MXC_cXiaChongDelay = dwTickCount + MXC_XC_Stop_Delay;
        }
        else if(dwTickCount >= MXC_cXiaChongDelay)//感应异常
        {
            MXC_SetAlarmCode(MXC_XC_ALARM);
            MXC_LeftFenZhen_VAVLE = 0;
            MXC_RightFenZhen_VAVLE = 0;
            MXC_cXiaChongStep = 0;
            MXC_XiaChong_MOTOR = 0;
            MXC_cShaCheStep = 1;
        }
        break;
    case 5:	
        if(dwTickCount >= MXC_cXiaChongDelay)	
        {
            //            user_datas[200+MXC_MOTOR_DATA_Num] = dwEnRealPos;
            MXC_MOTOR_DATA_Num++;
            if(MXC_MOTOR_DATA_Num > 99)
                MXC_MOTOR_DATA_Num = 0;
            if(!MXC_DC_bRunning){
                SetEncodePos(ENCODE_X22X23, 0);
                SetPos(X_AXIS, 0);
            }
            MXC_XiaChong_MOTOR = 0;
            MXC_cXiaChongStep = 0;
        }
        break;   
    }
}
void MXC_DC_ShaChe(void)
{
    //刹车
    switch(MXC_cShaCheStep)
    {
    case 1:
        MXC_cShaCheStep = 2;
        MXC_cShaCheDelay = dwTickCount + MXC_PARAM_ShaChe_Delay;
        break;
    case 2:
        if(dwTickCount >= MXC_cShaCheDelay)
        {
            MXC_cShaCheStep = 3;
            MXC_cShaCheDelay = dwTickCount + MXC_PARAM_ShaChe_TIME;
            MXC_XC_ShaChe = 1;
        }
        break;
    case 3:
        if(dwTickCount >= MXC_cShaCheDelay)
        {
            MXC_XC_ShaChe = 0;
            MXC_cShaCheStep = 0;
        }
        break;
    }
}


void MXC_FenZhen(void)
{
    switch (MXC_cRightFZStep)
    {
    case 0:
        break;
    case 1:
        MXC_cRightFZ_Delay = MXC_RightFZ_Delay + dwTickCount;
        MXC_cRightFZStep = 2;
        break;
    case 2:
        if (dwTickCount >= MXC_cRightFZ_Delay)
        {
            MXC_cRightFZStep = 3;
            MXC_RightFenZhen_VAVLE = 1; //右分针电磁阀
            MXC_cRightFZ_Delay = dwTickCount + MXC_FENZHEN_EEROR_TIME;
        }
        break;
    case 3:                              
        if (!MXC_RightFenZhen_Origin_IN) //右分针原点离开
        {
            MXC_cRightFZ_Delay = dwTickCount + MXC_DC_RightFZ_AGAIN_TIME;
            MXC_cRightFZStep = 4;
        } //右分针不下去
        else if (dwTickCount >= MXC_cRightFZ_Delay)
        {
            MXC_SetAlarmCode(MXC_RFZ_ORIGIN_ALARM);//警告暂停 分针下冲步骤都清零
            MXC_RightFenZhen_VAVLE = 0;
        }
        break;
    case 4:
        if (MXC_RighttFenZhen_IN) //插针到位
        {
            MXC_ENcode_Cul = dwEnRealPos;
            MXC_cRFengTimer = 0;
            MXC_cRightFZStep = 0;
            MXC_cLeftFZStep = 1; //左分针延时启动
        }
        else if (dwTickCount >= MXC_cRightFZ_Delay)
        {
            MXC_RightFenZhen_VAVLE = 0; //右分针
            MXC_cRFengTimer++;
            //当右分针分不到位时，左分针也要重新分针
            MXC_LeftFenZhen_VAVLE = 0;
            MXC_cRightFZStep = 0;
            if (MXC_cRFengTimer < 4)//times 次数
            {
                MXC_cRightFZStep = 5;
                MXC_cRightFZ_Delay = dwTickCount + MXC_FENZHEN_EEROR_TIME;
            }
            else
            {
                MXC_cRFengTimer = 0;
                MXC_SetAlarmCode(MXC_RFZ_LIMIT_ALARM);
                MXC_cRightFZStep = 0;
                MXC_RightFenZhen_VAVLE = 0;
            }
        }
        break;
        //5-6重新下右分针
    case 5:
        if (MXC_RightFenZhen_Origin_IN) //退到位
        {
            MXC_cRightFZStep = 2;
        }
        else if (dwTickCount >= MXC_cRightFZ_Delay)
        {
            MXC_SetAlarmCode(MXC_RFZ_ORIGIN_ALARM);
            MXC_RightFenZhen_VAVLE = 0;
        }
        break;
    }
    //左分针
    switch (MXC_cLeftFZStep)
    {
    case 0:
        break;
    case 1:
        MXC_cLeftFZ_Delay = MXC_LeftFZ_Delay + dwTickCount;
        MXC_cLeftFZStep = 2;
        break;
    case 2:
        if (dwTickCount >= MXC_cLeftFZ_Delay)
        {
            MXC_cLeftFZStep = 3;
            MXC_LeftFenZhen_VAVLE = 1; //左分针电磁阀
            MXC_cLeftFZ_Delay = dwTickCount + MXC_FENZHEN_EEROR_TIME;
        }
        break;
    case 3:                             //离开左分针原点
        if (!MXC_LeftFenZhen_Origin_IN) //左分针原点离开
        {
            MXC_cLeftFZ_Delay = dwTickCount + MXC_DC_LeftFZ_AGAIN_TIME;
            MXC_cLeftFZStep = 4;
        } //左分针不下去
        else if (dwTickCount >= MXC_cLeftFZ_Delay)
        {
            MXC_SetAlarmCode(MXC_LFZ_ORIGIN_ALARM);
            MXC_LeftFenZhen_VAVLE = 0;
        }
        break;
    case 4:
        if (MXC_LeftFenZhen_IN) //左插针到位
        {
            MXC_ENCODE_FENZHEN_Lenth = dwEnRealPos - MXC_ENcode_Cul;
            MXC_cLFengTimer = 0;
            MXC_cLeftFZStep = 0;
            
        }
        else if (dwTickCount >= MXC_cLeftFZ_Delay)
        {
            MXC_LeftFenZhen_VAVLE = 0; //左分针
            MXC_cLFengTimer++;
            if (MXC_cLFengTimer < 6)
            {
                MXC_cLeftFZStep = 5;
                MXC_cLeftFZ_Delay = dwTickCount + MXC_FENZHEN_EEROR_TIME;
                if ((MXC_cLFengTimer % 2) == 0)
                {
                    MXC_RightFenZhen_VAVLE = 0;
                    MXC_cRightFZStep = 0;
                }
            }
            else
            {
                MXC_cLFengTimer = 0;
                MXC_SetAlarmCode(MXC_LFZ_LIMIT_ALARM);
                MXC_cLeftFZStep = 0;
                MXC_LeftFenZhen_VAVLE = 0;
            }
        }
        break;
        //5-6重新下左分针
    case 5:
        if (MXC_LeftFenZhen_Origin_IN) //退到位
        {
            MXC_cLeftFZStep = 6;
        }
        else if (dwTickCount >= MXC_cLeftFZ_Delay)
        {
            MXC_SetAlarmCode(MXC_LFZ_ORIGIN_ALARM);
            MXC_cLeftFZStep = 0;
            MXC_LeftFenZhen_VAVLE = 0;
        }
        break;
    case 6:
        if ((MXC_cLFengTimer % 2) == 0) //左边插两次都插不到，就退右边再同时插
        {
            if(MXC_RightFenZhen_Origin_IN)
            {
                MXC_cRightFZStep = 1;
                MXC_cRFengTimer = 0;
                MXC_cLeftFZStep = 0;
            }
        }
        else
        {
            MXC_cLeftFZStep = 2;
        }
        break;
    }
}

#endif