GC23005/Machine/XinYeMachine/XYQueduanChuantou_QGCT.c

#include "global.h"

#if XIN_YE_MACHINE == 1
unsigned long PRE_CLT_Runtime,CLT_Runtime,CLT_PD_Runtime;
unsigned char FeiDai_Num;

//故障报警
void QDCT_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QDCT_ALARM_ADDR,alarm_code);
    QDCT_AlARM_LED_FLAG=1;
}
//一周切断
void QDCT_FirstQDAction(void)
{ 

  switch(QDCT_cFristQDStep)
  {
  case 1://装拉头
      QDCT_cMOTORStep=1;
      QDCT_cFristQDStep=2;    
    break;
  case 2://装完拉头--穿链
      if(!QDCT_SQD_LIMIT_IN&&!QDCT_SQD_VAVLE&&QDCT_XQD_ORIGIN_IN&&!QDCT_XQD_VAVLE)//上刀、下刀在原位
      {
         if(QDCT_CLT_ORIGIN_IN&&!QDCT_CLT_VAVLE||QDCT_CLT_LIMIT_IN&&QDCT_CLT_VAVLE  )//穿头模在原位
         {
            QDCT_cFristQDStep=3;
            QDCT_CLT_VAVLE=1;
            QDCT_cFristQDStep_DELAY=dwTickCount+QDCT_VAVLE_ERROR_TIME;            
         }
      }
    
    break;  
  case 3://穿头模到位，机械手夹带   
     if(QDCT_CLT_LIMIT_IN&&QDCT_CLT_VAVLE&&QDCT_cMOTORStep==0)
     {        
          QDCT_cFristQDStep=4;          
          QDCT_JIALIAN_VAVLE=1;          
          QDCT_cFristQDStep_DELAY=dwTickCount+QDCT_PARAM_HJL_OVERTIME*10;
        
     }
     else if(dwTickCount>=QDCT_cFristQDStep_DELAY)
     {
         QDCT_SetAlarmCode(QDCT_CLTM_LIMIT_ALARM);//穿拉头模到位故障
         QDCT_bAlarmStop=1;                
     }    
    break;
  case 4://松夹布带
    if(dwTickCount>=QDCT_cFristQDStep_DELAY)
    {
         QDCT_cFristQDStep=5;
         QDCT_JBD_VAVLE=1;
         QDCT_cFristQDStep_DELAY=dwTickCount+QDCT_PARAM_SJBD_OVERTIME*10;      
    }
    break;
  case 5://机械手拉带,穿头模回退
    if(dwTickCount>=QDCT_cFristQDStep_DELAY)
    { 
        QDCT_CLT_VAVLE=0;
        QDCT_cFristQDStep_DELAY=dwTickCount+QDCT_VAVLE_ERROR_TIME;
        if(QDCT_cMOTORStep==0)
        {
          QDCT_cMOTORStep=40;
          QDCT_cFristQDStep=6;
        }      
    }
    break; 
  case 6://机械手拉带完成，切断
    if(QDCT_cMOTORStep==0&&QDCT_CLT_ORIGIN_IN&&!QDCT_CLT_VAVLE)
    {
       if(QDCT_QDLLStep==0)
       {
         QDCT_QDLLStep=1;
         QDCT_cFristQDStep=7;
       }      
    }
    else if(dwTickCount>=QDCT_cFristQDStep_DELAY)
    {
      if(QDCT_CLT_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_CLTM_ORIGIN_ALARM);
    }
    break;
   case 7://切断完成，拉带
    if(QDCT_QDLLStep==0)
    {      
        QDCT_cFristQDStep=8;
    }
    break;  
   case 8://拉带完成，计算产量、扎数等
      if(QDCT_cMOTORStep==0)
      {
        QDCT_cFristQDStep=0;
        QDCT_bFristQDing=0;
      }
    break; 
  }
}
//一键清料
void QDCT_CLEARHDLT_Proc(void)
{

  switch(QDCT_cClearHDLTStep)
  {
  case 1:
    if(!QDCT_TLGQ_CHECK_IN&&!QDCT_HDGQ_CHECK_IN)//滑道无拉头
    {
      QDCT_HDDL_VAVLE=0;
      QDCT_cClearHDLTStep=0;
      QDCT_bClearHDLTing=0;
      QDCT_LTCC_COUNT=0;
    }
    else
    {
      QDCT_HDDL_VAVLE=1;
      QDCT_cClearHDLTStep=2;
      QDCT_cClearHDLTStep_DELAY=dwTickCount+200;  
    }
    break;
  case 2:
    if(dwTickCount>=QDCT_cClearHDLTStep_DELAY)
    {       
        QDCT_TL_VAVLE=1;
        QDCT_cClearHDLTStep_DELAY=dwTickCount+QDCT_VAVLE_ERROR_TIME;
        QDCT_cClearHDLTStep=3;
    }
    break;
  case 3:
    if(QDCT_TL_LIMIT_IN&&QDCT_TL_VAVLE)
    {       
       QDCT_cClearHDLTStep=4; 
       QDCT_cClearHDLTStep_DELAY=dwTickCount+100;  
    }
    else if(dwTickCount>=QDCT_cClearHDLTStep_DELAY)
    {
        QDCT_SetAlarmCode(QDCT_TuiL_LIMIT_ALARM);
    }
    break;
  case 4:
     if(dwTickCount>=QDCT_cClearHDLTStep_DELAY)//离开原点计数破链时间
     {       
       QDCT_TL_VAVLE=0;
       QDCT_cClearHDLTStep=5;
       QDCT_cClearHDLTStep_DELAY=dwTickCount+100;  
     }
    break;  
    case 5:
     if(!QDCT_TL_LIMIT_IN&&dwTickCount>=QDCT_cClearHDLTStep_DELAY)//离开原点计数破链时间
     {       
       QDCT_cClearHDLTStep=1;
     }
    break;
  }
}
void QDCT_STOPACTION_Proc(void)
{
  static long tmp_local;
  switch(QDCT_cSTOPStep)
  {
  case 1:
    if(QDCT_bRunning)
    {
      
      QDCT_JIALIAN_VAVLE=0;
      if(QDCT_cMOTORStep!=0&&X_DRV)
      {         
         AxisContinueMoveChangeSpeed(X_AXIS,2000,1000,10,10);
      }
      if(QDCT_PARAM_ZPSL_MODE==0)
      {
        if(QDCT_ZSZLStep!=0&&Y_DRV)
        {
           AxisContinueMoveChangeSpeed(Y_AXIS,2000,1000,10,10);
        }
      }
      QDCT_cSTOPStep=2;
      QDCT_STOPStepDelay=dwTickCount+1000;
    }
    else
    {
      QDCT_cSTOPStep=3;
      QDCT_STOPStepDelay=dwTickCount+10;

    }
    break;
  case 2:
    if(GetCurSpeed(X_AXIS)<=2500)AxisEgmStop(X_AXIS);
    if(QDCT_PARAM_ZPSL_MODE==0)
    {
      if(GetCurSpeed(Y_AXIS)<=2500)AxisEgmStop(Y_AXIS);
    }
    if(dwTickCount>=QDCT_STOPStepDelay)
    {
      AxisEgmStop(X_AXIS);
      AxisEgmStop(Y_AXIS);
    }
    if(!X_DRV&&!Y_DRV)
    {
      QDCT_cSTOPStep=3;
      QDCT_STOPStepDelay=dwTickCount+50;
    }
    break;
  case 3:
    if(dwTickCount>=QDCT_STOPStepDelay)
    {
      QDCT_cSTOPStep=4;
      if(QDCT_PARAM_ZPSL_MODE==0)
      {
        tmp_local=QDCT_PARAM_WLTBJ_WAIT;
        tmp_local=tmp_local-dwYRealPos;       
        AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YREST_SPEED,tmp_local,1000,1000,50,50,30);
      }
      tmp_local=QDCT_PARAM_HAND_STOP_LOCAL;
      tmp_local=tmp_local-dwXRealPos;       
      AxisMovePosAccDec(X_AXIS,QDCT_PARAM_XREST_SPEED,tmp_local,1000,1000,50,50,30);
    }
    break;
   case 4:
    if(!X_DRV&&!Y_DRV)
    {
      QDCT_bRunning=0;
      QDCT_cSTOPStep=0;
    }
    break;
  }  
}
//振盘动作
void QDCT_ZHENPAN_Proc(void)
{
  switch(QDCT_cZHENPANStep)
  {
  case 1:
    if(QDCT_ZPYL_CHECK_IN)
    {
      QDCT_ZPKZ_VAVLE=0;
      QDCT_cZHENPANStep=2;
      QDCT_ZHENPANDelay=dwTickCount+QDCT_PARAM_ZPSTOP_TIME*10; 
      if(QDCT_AlARM_STOP_FLAG)QDCT_cZHENPANStep=0;
    }
    else
    {
      QDCT_ZPKZ_VAVLE=1;
      QDCT_cZHENPANStep=2;
      QDCT_ZHENPANDelay=dwTickCount+QDCT_PARAM_ZPSTART_TIME*10; 
    } 
    break;
  case 2:  
    QDCT_cZHENPANStep=3;         
    break;
  case 3:
    if(dwTickCount>=QDCT_ZHENPANDelay)
    {      
       QDCT_cZHENPANStep=1;                
    }    
    break;  
  }
}
//振盘动作
void QDCT_ZHENPAN_COM_Proc(void)
{
  switch(QDCT_cZHENPANStep)
  {
  case 1:
    if(!QDCT_ZPYL_COM_CHECK_IN)
    {
      QDCT_ZPKZ_VAVLE=1;
      QDCT_cZHENPANStep=2; 
    }
    break;
  case 2:
    if(QDCT_ZPYL_COM_CHECK_IN)
    {
        QDCT_cZHENPANStep=3; 
        QDCT_ZHENPANDelay=dwTickCount+QDCT_PARAM_ZPSTOP_TIME*10;
    }            
    break;
  case 3:
    if(dwTickCount>=QDCT_ZHENPANDelay)
    { 
       if(QDCT_ZPYL_COM_CHECK_IN)
       {          
          QDCT_cZHENPANStep=4; 
          QDCT_ZHENPANDelay=dwTickCount+QDCT_PARAM_ZPSTART_TIME*10; 
       }
       else
       {
          QDCT_cZHENPANStep=2;
       }
    }    
    break; 
  case 4:
    if(dwTickCount>=QDCT_ZHENPANDelay)
    { 
       QDCT_ZPKZ_VAVLE=0;
       QDCT_cZHENPANStep=5;                
    }    
    break;    
  case 5:
   if(QDCT_AlARM_STOP_FLAG)QDCT_cZHENPANStep=0;
    if(!QDCT_ZPYL_COM_CHECK_IN)
    { 
       QDCT_cZHENPANStep=6;
       QDCT_ZHENPANDelay=dwTickCount+500;
    }    
    break; 
  case 6:
    if(dwTickCount>=QDCT_ZHENPANDelay)
    { 
       if(!QDCT_ZPYL_COM_CHECK_IN)
       {
         QDCT_cZHENPANStep=1;
       }
       else
       {
         QDCT_cZHENPANStep=4;
       }              
    }    
    break;      
  }
}
void QDCT_AlarmProtect(void)
{ 

}

//穿拉头模处理
void QDCT_CLTM_Proc(void)
{
  //1~3穿入
  switch(QDCT_CLTMStep)
  {
  case 1:
    if(!QDCT_SQD_LIMIT_IN&&!QDCT_SQD_VAVLE&&QDCT_XQD_ORIGIN_IN&&!QDCT_XQD_VAVLE)
    {
       QDCT_JBD_VAVLE=0;
       QDCT_CLTMStep=2;
       QDCT_CLTMDelay=dwTickCount+30;
    }
    else
    {
      if(QDCT_SQD_LIMIT_IN)QDCT_SetAlarmCode(QDCT_SDQD_LIMIT_ALARM);
      else if(!QDCT_XQD_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XDQD_ORIGIN_ALARM);
    }
    break;
  case 2:
    if(dwTickCount>=QDCT_CLTMDelay)
    {       
       QDCT_FDAI_VAVLE=1;
       QDCT_CLTMStep=3;
       QDCT_CLTMDelay=dwTickCount+50;  
    }
    break;
  case 3:
    if(dwTickCount>=QDCT_CLTMDelay)
    {
       QDCT_CLT_VAVLE=1;
       QDCT_CLTMStep=4; 
       QDCT_KKPOLIANDelay=dwTickCount+QDCT_PARAM_KKPL_TIME*10;
       QDCT_CLTMDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
    }
    break;
  case 4:
     if(!QDCT_CLT_ORIGIN_IN&&dwTickCount>=QDCT_KKPOLIANDelay)//离开原点计数破链时间
     {       
       QDCT_FDAI_VAVLE=0;
     }
    if(QDCT_CLT_LIMIT_IN&&QDCT_CLT_VAVLE)
    {
       QDCT_CLTMStep=0; 
    }
    else if(dwTickCount>=QDCT_CLTMDelay)
    {
      QDCT_CLTMStep=0; 
      QDCT_SetAlarmCode(QDCT_CLTM_LIMIT_ALARM);
    }
    break;  
    //穿头模退出10~13
   case 10:

     QDCT_JBD_VAVLE=1;
     QDCT_CLTMStep=11;
     QDCT_CLTMDelay=dwTickCount+30;    
     break;
   case 11:
     if(dwTickCount>=QDCT_CLTMDelay)
     {
       QDCT_CLT_VAVLE=0;
       QDCT_CLTMStep=12; 
       QDCT_CLTMDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
     }
    break;
   case 12:
    if(QDCT_CLT_ORIGIN_IN&&!QDCT_CLT_VAVLE)
    {
       QDCT_CLTMStep=13; 
       QDCT_CLTMDelay=dwTickCount+QDCT_PARAM_TJHJBD_DELAY*10+20; 
    }
    else if(dwTickCount>=QDCT_CLTMDelay)
    {
      QDCT_CLTMStep=0;
      QDCT_SetAlarmCode(QDCT_CLTM_ORIGIN_ALARM);
    }
    break; 
   case 13:
     if(dwTickCount>=QDCT_CLTMDelay)
     {
       QDCT_JBD_VAVLE=0;
       QDCT_XM_VAVLE=0; 
       QDCT_CLTMStep=0;
     }
    break;
  }
}
//切断处理
void QDCT_QDLL_Action()
{
  switch(QDCT_QDLLStep)
  {
  case 1:
    if(QDCT_CLT_ORIGIN_IN&&!QDCT_CLT_VAVLE&&!QDCT_SQD_LIMIT_IN&&!QDCT_SQD_VAVLE)
    {
        QDCT_XQD_VAVLE=1;
        QDCT_QDLLStep=2;
        QDCT_JBD_VAVLE=0;
        QDCT_QDLLDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
        QDCT_QD_HM_TIME_TOTAL=dwTickCount;
    }
    else
    {
      if(!QDCT_CLT_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_CLTM_ORIGIN_ALARM);//穿头模不在原位
      else if(QDCT_SQD_LIMIT_IN)QDCT_SetAlarmCode(QDCT_SDQD_LIMIT_ALARM);//上刀不在原位
      QDCT_bAlarmStop=1;
    }
    break;
  case 2:
    if(QDCT_XQD_LIMIT_IN&&QDCT_XQD_VAVLE)
    {
       if(QDCT_bRunning&&QDCT_PARAM_ZPSL_MODE==1)AxisMovePosAccDec(X_AXIS,5000,-30,1000,1000,20,20,0);
       QDCT_SQD_VAVLE=1;
       QDCT_QDLLStep=3;
       QDCT_QDLLDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
    }
    else if(dwTickCount>=QDCT_QDLLDelay)
    {
      QDCT_SetAlarmCode(QDCT_XDQD_LIMIT_ALARM);
      QDCT_bAlarmStop=1;
    }
    break;
  case 3:
    if(QDCT_SQD_LIMIT_IN&&QDCT_SQD_VAVLE)
    {       
       QDCT_QDLLStep=4;
       QDCT_QDLLDelay=dwTickCount+QDCT_PARAM_HEMO_TIME;
       QDCT_QD_HM_TIME_TOTAL=dwTickCount-QDCT_QD_HM_TIME_TOTAL;
    }
    else if(dwTickCount>=QDCT_QDLLDelay)
    {
      QDCT_SetAlarmCode(QDCT_SDQD_LIMIT_ALARM);
      QDCT_bAlarmStop=1;
    }
    break; 
  case 4:
    if(dwTickCount>=QDCT_QDLLDelay)
    {
       QDCT_ZYCS_VAVLE=1;
       QDCT_QDLLStep=5;
       QDCT_QDLLDelay=dwTickCount+QDCT_PARAM_CAOSHENG_TIME;
    }
    break;
  case 5:
    if(dwTickCount>=QDCT_QDLLDelay)
    {
       QDCT_ZYCS_VAVLE=0;
       QDCT_QDLLStep=6;
       QDCT_SQD_VAVLE=0; 
       QDCT_cMOTORStep=60;
       QDCT_QDLLDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
    }
    break; 
  case 6:
    if(!QDCT_SQD_LIMIT_IN&&!QDCT_SQD_VAVLE)
    {  
       QDCT_QD_KM_TIME_TOTAL=dwTickCount;
       QDCT_XQD_VAVLE=0;
       QDCT_QDLLStep=0;
       if(QDCT_PARAM_WORK_MODE==0&&!QDCT_bFristQDing)
       {
          QDCT_FDAI_VAVLE=1;
          QDCT_FDAI_FLAG=1;
       }
       QDCT_PKLLDelay=dwTickCount+QDCT_PARAM_PKLL_TIME*10;
       QDCT_QDLLDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
       if(GetAlarmCode(QDCT_ALARM_ADDR)==QDCT_SDQD_LIMIT_ALARM)QDCT_SetAlarmCode(0);
         
    }
    else if(dwTickCount>=QDCT_QDLLDelay)
    {
       QDCT_SetAlarmCode(QDCT_SDQD_LIMIT_ALARM);
    }
    break;   
  }
  if(dwTickCount>=QDCT_PKLLDelay&&QDCT_FDAI_VAVLE&&QDCT_FDAI_FLAG&&(QDCT_PARAM_WEIBA_TYPE==0))
  {
    QDCT_FDAI_VAVLE=0;//破链脉冲动作
    QDCT_FDAI_FLAG=0;
  }
}
//抓手装料动作
void QDCT_ZhuaShouZL_Proc(void)
{
  static long zhuashou_local;
  dwXRealPos = GetPos(X_AXIS);
  dwYRealPos = GetPos(Y_AXIS);
  switch(QDCT_ZSZLStep)
  {
  case 1://判断是否复位
    if(GetEn(X_AXIS)!=1||Y_Reset_Flag!=0)
    {
      QDCT_bZS_Rsting=1;
      SetEn(Y_AXIS, QDCT_MOTOR_EN); 
      YRunResetOStep=1;
      ReSetYDelay = dwTickCount + 100;
      QDCT_ZSZLStep=2;
      QDCT_ZHL_VAVLE=0;
    }
    else
    {
      QDCT_ZSZLStep=2;
    }
    QDCT_ZSZL_TIME=0;
    break;
  case 2://判断抓料是否夹料
    if(YRunResetOStep==0&&Y_Reset_Flag==0)
    {
      if(QDCT_ZHL_VAVLE)//有料就去放料，若是视觉是否检测
      {
        QDCT_ZSZLStep=7;
      }
      else//无料这回到上料位置
      {
          if(!QDCT_bRunning)
            QDCT_ZLSZLCHECKDelay=dwTickCount+3500;
          else
            QDCT_ZLSZLCHECKDelay=dwTickCount+QDCT_PARAM_ZSWL_CHECK_MODE*10;
          //zhuashou_local=*QDCT_PARAM_YORIGN_WAIT;
          zhuashou_local=0-dwYRealPos;
          AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_ZSBACK_SPEED/2,zhuashou_local,1000,1000,50,50,30); 
        QDCT_ZSZLStep=3;
      }
    }
    break;
   case 3://判断是否有料
    if(!Y_DRV)
    { 
      if(QDCT_TLGQ_CHECK_IN)QDCT_CONT_ZLT_TIMES=0;
      if(QDCT_TLGQ_CHECK_IN&&QDCT_HDGQ_CHECK_IN&&(QDCT_LTCC_COUNT>=QDCT_PARAM_ZLSCL_NUM))//两个位置有料等待
      {
         QDCT_ZPCQ_VAVLE=0;//等待; 
         QDCT_CONT_ZLT_TIMES=0;
         //QDCT_ZLSZLCHECKDelay=dwTickCount+3500;
         if(dwTickCount>=QDCT_ZLSZLCHECKDelay&&!QDCT_bRunning||QDCT_AlARM_STOP_FLAG)
         {
            zhuashou_local=QDCT_PARAM_WLTBJ_WAIT;
            zhuashou_local=zhuashou_local-dwYRealPos;       
            AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_ZSBACK_SPEED/2,zhuashou_local,1000,1000,50,50,30);
            QDCT_ZSZLStep=13;
         }
      }
      else if(QDCT_HDGQ_CHECK_IN)//滑倒有料
      { 
         if(dwTickCount>=QDCT_ZLSZLCHECKDelay)
         {
            QDCT_ZSZLStep=12;
         }
         QDCT_ZPCQ_VAVLE=1;
         if(!QDCT_TL_LIMIT_IN)
         {
            QDCT_HDDL_VAVLE=1;            
         }
         if(QDCT_ZPYL_CHECK_IN)
         {
            QDCT_ZPKZ_VAVLE=0;
            QDCT_ZHENPANDelay=dwTickCount+QDCT_PARAM_ZPSTART_TIME*10; 
            QDCT_ZSZLStep=60; 
            QDCT_HUDAO_CHECK_FLAG=1;
            QDCT_QD_HUADAO_CHECK_DELAY=dwTickCount+5000;
         }
      }
      else//推料有料，滑倒物料或都无料
      {
         if(dwTickCount>=QDCT_ZLSZLCHECKDelay)
         {
            QDCT_ZSZLStep=12;
         }
         QDCT_HDDL_VAVLE=0;
         QDCT_ZPCQ_VAVLE=1;
         if(QDCT_ZPYL_CHECK_IN)
         {
            QDCT_ZPKZ_VAVLE=0;
            QDCT_ZHENPANDelay=dwTickCount+QDCT_PARAM_ZPSTART_TIME*10; 
            QDCT_ZSZLStep=4; 
            QDCT_ZSZLDelay=dwTickCount+10;            
         }
      }
    }
    break;
   case 60:
    if(!QDCT_TL_LIMIT_IN&&!QDCT_TL_VAVLE)
    {
      QDCT_HDDL_VAVLE=1;
      QDCT_ZSZLStep=4;
      QDCT_ZSZLDelay=dwTickCount+50;
    }
    break;  
  case 4://到上料位置取料
    if(dwTickCount>=QDCT_ZSZLDelay&&QDCT_ZPYL_CHECK_IN)
    {
      QDCT_ZSZLStep=5;
      zhuashou_local=*QDCT_PARAM_ZSSL_LOCAL;
      zhuashou_local=zhuashou_local-dwYRealPos;
      AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_ZSSL_SPEED,zhuashou_local,1000,1000,50,50,50);
    }
    break;
  case 5://到位停顿
    if(!Y_DRV)
    {
      QDCT_HDDL_VAVLE=0;
      QDCT_ZSZLStep=6;
      QDCT_ZSZLDelay=dwTickCount+30;
    }
    break; 
   case 6://夹料
    if(dwTickCount>=QDCT_ZSZLDelay)
    {
      QDCT_ZSZLStep=7;
      QDCT_ZHL_VAVLE=1;
      QDCT_ZSZLDelay=dwTickCount+QDCT_PARAM_ZSJL_TIME*10;
    }
    break;
  case 7://移动到上料位置
    if(dwTickCount>=QDCT_ZSZLDelay)
    {
      QDCT_ZPKZ_VAVLE=1;
      QDCT_ZHENPANDelay=dwTickCount+QDCT_PARAM_ZPSTART_TIME*5; 
      if(QDCT_PARAM_SJCHECK_USE)
      {
        QDCT_ZSZLStep=20;
      }
      else
      {
        QDCT_ZSZLStep=8;
        zhuashou_local=QDCT_PARAM_ZSFL_LOCAL;
        
        zhuashou_local=zhuashou_local-dwYRealPos;
        AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_ZSFOR_SPEED,zhuashou_local,1000,QDCT_PARAM_ZSXL_SPEED,50,50,QDCT_PARAM_LOWSP_LENGTH);  
      }
    }
    break;
   case 8:
    //if(QDCT_bZPSTARTing)
    {
      //QDCT_ZPKZ_VAVLE=1;
      //QDCT_ZHENPANDelay=dwTickCount; 
    }
    if(!Y_DRV)
    {
      QDCT_ZSZLStep=9;
      QDCT_ZSZLDelay=dwTickCount+30;
    }
    break;
   case 9:
    if(dwTickCount>=QDCT_ZSZLDelay)
    {
      QDCT_ZSZLStep=10;
      QDCT_ZHL_VAVLE=0;
      QDCT_ZSZLDelay=dwTickCount+QDCT_PARAM_ZSFL_TIME*10;
    }
    break;    
   case 10://回到待机位置
     if(dwTickCount>=QDCT_ZSZLDelay)
     { 
       // zhuashou_local=*QDCT_PARAM_YORIGN_WAIT;
        zhuashou_local=0-dwYRealPos;       
        AxisMovePosAccDecNotStop(Y_AXIS,QDCT_PARAM_ZSBACK_SPEED,zhuashou_local,1000,1000,50,50,
                          PosToPulse(Y_AXIS,QDCT_PARAM_RORIGIN_LENGTH)); 
        QDCT_ZSZLStep=11; 
        QDCT_YORIGIN_FLAG=1;
     }
    break;
   case 11:
    if(QDCT_HZLT_ORIGIN_IN&&QDCT_YORIGIN_FLAG)
    {
       SetPos(Y_AXIS,0);
       QDCT_YORIGIN_FLAG=0;
       AxisEgmStop(Y_AXIS);       
    }
    if(!Y_DRV)
    {
      if(!QDCT_bRunning)
        QDCT_ZLSZLCHECKDelay=dwTickCount+3500;
      else
        QDCT_ZLSZLCHECKDelay=dwTickCount+QDCT_PARAM_ZSWL_CHECK_MODE*10;
      if(QDCT_HDGQ_CHECK_IN)
      {
        QDCT_ZSZL_TIME=0;
        QDCT_ZSZLStep=3;        
        QDCT_ZSZLDelay=dwTickCount+10;
        QDCT_CONT_ZLT_TIMES++;
        QDCT_LTCC_COUNT++;
        if(QDCT_CONT_ZLT_TIMES>=10)//未检测道推料光纤信号，连续装10次，超过次数报警
        {
            QDCT_ZPCQ_VAVLE=0;
            QDCT_SetAlarmCode(QDCT_TLGQ_CHECK_ALARM);
            zhuashou_local=QDCT_PARAM_WLTBJ_WAIT;
            zhuashou_local=zhuashou_local-dwYRealPos;       
            AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_ZSBACK_SPEED,zhuashou_local,1000,1000,50,50,30);
            QDCT_ZSZLStep=13;
        }
      }
      else
      {
        QDCT_ZSZL_TIME++;
        if(QDCT_ZSZL_TIME>=QDCT_PARAM_ZSLTFALUE_NUM)
        {
          QDCT_ZSZL_TIME=0;
          QDCT_ZSZLStep=12;   
        }
        else
        {
          QDCT_ZSZLStep=3;
          QDCT_ZSZLDelay=dwTickCount+10;
        }
      }     
    }
    break;
    case 12:
        QDCT_ZPCQ_VAVLE=0;
        QDCT_SetAlarmCode(QDCT_ZLSWL_ZDPWL_ALARM);
        zhuashou_local=QDCT_PARAM_WLTBJ_WAIT;
        zhuashou_local=zhuashou_local-dwYRealPos;       
        AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_ZSBACK_SPEED,zhuashou_local,1000,1000,50,50,30);
        QDCT_ZSZLStep=13;
      break;
    case 13:
      if(!Y_DRV)
      {  
         if(QDCT_bRunning)
        {
          if(QDCT_START_IN_UP)
          {
            QDCT_ZSZL_TIME=0;
            QDCT_ZSZLStep=3;            
            QDCT_ZSZLDelay=dwTickCount+10;
          }
        }
        else
        {
          QDCT_ZSZLStep=0;
          QDCT_bManu_ZSZLing=0;          
        }
      }
      break;
    case 20://移动到机械手检测位置
      QDCT_ZSZLStep=21;
      zhuashou_local=QDCT_PARAM_SJCHECK_LOCAL;
      zhuashou_local=zhuashou_local-dwYRealPos;
      AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_ZSFOR_SPEED,zhuashou_local,1000,QDCT_PARAM_ZSXL_SPEED,50,50,QDCT_PARAM_LOWSP_LENGTH);  
      break;   
    case 21:
      if(!Y_DRV)
      {
         QDCT_ZSZLDelay=dwTickCount+QDCT_PARAM_SJCHECK_DELAY*10;
         QDCT_ZSZLStep=220;         
      }
      break;
    case 220:
      if(dwTickCount>=QDCT_ZSZLDelay)
      {
         QDCT_ZSZLDelay=dwTickCount+QDCT_PARAM_SJCHECK_TIME*10;
         QDCT_SJ_CHECK_OUT=1;
         QDCT_ZSZLStep=22;
      }
      break;
    case 22:
      if(dwTickCount>=QDCT_ZSZLDelay)
      {
          if(QDCT_SHIJ_CHECK_IN)//坏的，仍掉
          {
             QDCT_ZSZLStep=23;
             QDCT_SJ_CHECK_OUT=0;
             QDCT_ZHL_VAVLE=0;
             QDCT_ZSZLDelay=dwTickCount+QDCT_PARAM_ZSFL_TIME*10;
          }
          else 
          {
            QDCT_SJCHECK_TIME=0;
            QDCT_SJ_CHECK_OUT=0;
            QDCT_ZSZLStep=8;
            zhuashou_local=QDCT_PARAM_ZSFL_LOCAL;
            zhuashou_local=zhuashou_local-dwYRealPos;
            AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_ZSFOR_SPEED,zhuashou_local,1000,QDCT_PARAM_ZSXL_SPEED,50,50,QDCT_PARAM_LOWSP_LENGTH);  
          }
      }
      break;
    case 23:
      if(dwTickCount>=QDCT_ZSZLDelay)
      {
         QDCT_SJCHECK_TIME++;
         if(QDCT_SJCHECK_TIME>=QDCT_PARAM_ZSLTFALUE_NUM)
         {
            QDCT_ZSZL_TIME=0;
            QDCT_ZSZLStep=12;   
         }
         else
         {
           QDCT_ZSZLStep=24;
         } 
      }
      break;
    case 24:
      if(dwTickCount>=QDCT_ZSZLDelay)
      {
        QDCT_ZSZLStep=25;
        //zhuashou_local=*QDCT_PARAM_YORIGN_WAIT;
        zhuashou_local=0-dwYRealPos;       
        AxisMovePosAccDecNotStop(Y_AXIS,QDCT_PARAM_ZSBACK_SPEED,zhuashou_local,1000,1000,50,50,PosToPulse(Y_AXIS,QDCT_PARAM_RORIGIN_LENGTH)); 
        QDCT_YORIGIN_FLAG=1;
      }
      break;
    case 25:
      if(QDCT_HZLT_ORIGIN_IN&&QDCT_YORIGIN_FLAG)
      {
         SetPos(Y_AXIS,0);
         QDCT_YORIGIN_FLAG=0;
         AxisEgmStop(Y_AXIS);       
      }
      if(!Y_DRV)
      {
         QDCT_ZSZLStep=3; 
         QDCT_ZSZLDelay=dwTickCount+20;
      }
      break;
  }
  //if(QDCT_HUDAO_CHECK_FLAG&&dwTickCount>=QDCT_QD_HUADAO_CHECK_DELAY)
  //{
    
  //}
}
//推送料旋转处理
void QDCT_TSXZLT_Proc(void)
{
  switch(QDCT_TSXZLTStep)
  {
    case 1://侧原位
      if(QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)
      {
         QDCT_TSXZLTStep=2;
         QDCT_CJL_VAVLE=0;
         QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      break;
    case 2://旋转到位
      if(QDCT_CSL_ORIGIN_IN&&!QDCT_CJL_VAVLE)
      {
         QDCT_XZ_VAVLE=1;
         QDCT_TSXZLTStep=3;
         QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      else if(dwTickCount>=QDCT_TSXZLTDelay)
      {
         QDCT_SetAlarmCode(QDCT_CSL_ORIGIN_ALARM);//侧送料到位告警
      }
      break;
    case 3://旋转到位，
      if(QDCT_XZ_LIMIT_IN&&QDCT_XZ_VAVLE)
      {
         QDCT_TSXZLTStep=0;
      }
      else if(dwTickCount>=QDCT_TSXZLTDelay)
      {
         QDCT_SetAlarmCode(QDCT_XZLT_LIMIT_ALARM);//旋转原位告警
      }
      break;
    case 10://旋转复位
        QDCT_XZ_VAVLE=0;
        QDCT_TSXZLTStep=11;
        QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      break;
    case 11://旋转复位
      if(QDCT_XZ_ORIGIN_IN&&!QDCT_XZ_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)
      {
          QDCT_CJL_VAVLE=1;
          QDCT_TSXZLTStep=12;
          QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      else if(dwTickCount>=QDCT_TSXZLTDelay)
      {        
         if(!QDCT_XZ_ORIGIN_IN) QDCT_SetAlarmCode(QDCT_XZLT_ORIGIN_ALARM);//旋转拉头到位告警 
         else if(!QDCT_HSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);
      }
      break;
    case 12://到位延时
      if(QDCT_CSL_LIMIT_IN&&QDCT_CJL_VAVLE)
      {
          QDCT_TSXZLTStep=13;
          QDCT_TSXZLTDelay=dwTickCount+10;
      }
      else if(dwTickCount>=QDCT_TSXZLTDelay)
      {
         QDCT_SetAlarmCode(QDCT_CSL_LIMIT_ALARM);//侧送拉头原位告警
      }
      break;
    case 13://检测有料推料
      if(dwTickCount>=QDCT_TSXZLTDelay)
      {
        if(QDCT_TLGQ_CHECK_IN)
        {
          QDCT_CONT_ZLT_TIMES=0;
          if(QDCT_LTCC_COUNT>0)QDCT_LTCC_COUNT--;
          QDCT_TSXZLTStep=14;
          QDCT_TL_VAVLE=1;
          QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
        }
      }
      break;   
    case 14://推拉头到位-延时
      if(QDCT_TL_LIMIT_IN&&QDCT_TL_VAVLE)
      {
         QDCT_TSXZLTStep=15;
         QDCT_TSXZLTDelay=dwTickCount+QDCT_PARAM_TUILTBACK_DELAY*10;
      }
      else if(dwTickCount>=QDCT_TSXZLTDelay)
      {
         QDCT_SetAlarmCode(QDCT_TuiL_LIMIT_ALARM);//侧送拉头原位告警
      }
      break; 
    case 15://到位延时-退推料
      if(dwTickCount>=QDCT_TSXZLTDelay)
      {
          QDCT_TSXZLTStep=16;
          QDCT_TL_VAVLE=0;  
          QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      break;   
    case 16://推拉头到位离开后，延时
       if(!QDCT_TL_LIMIT_IN)
       {
         QDCT_TSXZLTStep=17;
         QDCT_TSXZLTDelay=dwTickCount+10;
       }
       else if(dwTickCount>=QDCT_TSXZLTDelay)
       {          
          QDCT_SetAlarmCode(QDCT_TuiL_LIMIT_ALARM);
       }      
      break; 
    case 17://侧送回原位
       if(dwTickCount>=QDCT_TSXZLTDelay)
       {
         QDCT_TSXZLTStep=18;
         QDCT_CJL_VAVLE=0;         
       }    
      break; 
    case 18://侧送离开限位后延时
      if(!QDCT_CSL_LIMIT_IN&&!QDCT_CJL_VAVLE)
      {
         QDCT_TSXZLTStep=19;
         QDCT_TSXZLTDelay=dwTickCount+QDCT_PARAM_TQXZ_TIME*10+10;//
      }
      break;
    case 19://提前旋转
       if(dwTickCount>=QDCT_TSXZLTDelay)
       {
         QDCT_TSXZLTStep=20;
         QDCT_XZ_VAVLE=1;
         QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
       }    
      break;
    case 20://旋转到位，侧送到位完成
      if(QDCT_CSL_ORIGIN_IN&&!QDCT_CJL_VAVLE&&QDCT_XZ_LIMIT_IN&&QDCT_XZ_VAVLE)
      {         
         QDCT_TSXZLTStep=0;         
      }
      else if(dwTickCount>=QDCT_TSXZLTDelay)
      {
         if(!QDCT_CSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_CSL_ORIGIN_ALARM);//侧送拉头到位告警
         else if(!QDCT_XZ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XZLT_LIMIT_ALARM);//旋转拉头原位告警
      }
      break;
  }
}
//推送料处理
void QDCT_TSXZLT_COM_Proc(void)
{
  switch(QDCT_TSXZLTStep)
  {
    case 1://横送原位
      if(QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)
      {
          QDCT_TSXZLTStep=2;
          QDCT_TSXZLTDelay=dwTickCount+10;
          //QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      else if(dwTickCount>=QDCT_TSXZLTDelay)
      {        
         if(!QDCT_HSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);
      }
      break;
    case 2://到位延时
      if(dwTickCount>=QDCT_TSXZLTDelay)
      {
         QDCT_TL_VAVLE=1;
         QDCT_TSXZLTStep=3;
         QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      break;   
    case 3://推拉头到位-延时
      if(QDCT_TL_LIMIT_IN&&QDCT_TL_VAVLE)
      {
         QDCT_TSXZLTStep=4;
         QDCT_TSXZLTDelay=dwTickCount+QDCT_PARAM_TUILTBACK_DELAY*10;
      }
      else if(dwTickCount>=QDCT_TSXZLTDelay)
      {
         QDCT_SetAlarmCode(QDCT_TuiL_LIMIT_ALARM);//推料到位告警
      }
      break; 
    case 4://到位延时-退推料
      if(dwTickCount>=QDCT_TSXZLTDelay)
      {
          QDCT_TSXZLTStep=5;
          QDCT_TL_VAVLE=0;  
          QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      break;   
    case 5://推拉头到位离开后，延时
       if(!QDCT_TL_LIMIT_IN&&QDCT_TL_COM_ORIGIN_IN)
       {
         QDCT_TSXZLTStep=0;
       }
       else if(dwTickCount>=QDCT_TSXZLTDelay)
       {          
          QDCT_SetAlarmCode(QDCT_TuiL_ORIGIN_ALARM);
       }      
      break;
  }
}
//装拉头动作
void QDCT_ZLT_Proc(void)
{
  switch(QDCT_ZLTStep)
  {
  case 1://判断拉头是否打开
    if(QDCT_TSXZLTStep==0)QDCT_TSXZLTStep=1;//推送旋转物料
    if(QDCT_JLT_VAVLE)//夹拉头打开，无拉头
    {
      if(QDCT_XM_ORIGIN_IN&&!QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)//下模在原位
      {
         QDCT_ZLTStep=4;
      }
      else if(QDCT_XM_LIMIT_IN&&QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)//下模在上位
      {
         QDCT_ZLTStep=4;
         QDCT_XM_VAVLE=0;
         QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
       else
      {
         if(dwTickCount>=QDCT_ZLTDelay)
         {
           if(!QDCT_HSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);//横送拉头原位告警
           if(QDCT_XM_VAVLE)
           {
              if(!QDCT_XM_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM);
           }
           else if(!QDCT_XM_VAVLE)
           {
             if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
           }            
         }         
      }
    }
    else //夹拉头关闭，
    {
      if(QDCT_XM_ORIGIN_IN&&!QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)//下模在原位
      {        
        if(QDCT_XM_UP_FLAG)
        {
          QDCT_ZLTStep=2;
          QDCT_XM_VAVLE=1;
          QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
        }
      }
      else if(QDCT_XM_LIMIT_IN&&QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)//下模在上位
      {
          QDCT_ZLTStep=3; 
          QDCT_ZLTDelay=dwTickCount+10;
      }
      else
      {
         if(dwTickCount>=QDCT_ZLTDelay)
         {
           if(!QDCT_HSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);//横送拉头原位告警
           if(QDCT_XM_VAVLE)
           {
              if(!QDCT_XM_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM);
           }
           else if(!QDCT_XM_VAVLE)
           {
             if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
           }            
         }   
      }
    }
    break;
  case 2://下模上升
    if(QDCT_XM_LIMIT_IN&&QDCT_XM_VAVLE)
    {
        QDCT_ZLTStep=3;
        QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_XMDW_DELAY*10+10;
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM);//下模上升到位告警
    }
    break;
  case 3://判断拉头
     if(QDCT_LTQL_CHECK_IN)//有拉头
     {
       QDCT_ZLTStep=10;
       QDCT_ZLTDelay=dwTickCount+10;
     }
     else if(dwTickCount>=QDCT_ZLTDelay)//无拉头
     {
       
       QDCT_JLT_VAVLE=1;
       QDCT_ZLTStep=4;
       QDCT_XM_VAVLE=0;
       QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
     }    
    break;
  case 4://横送
    if(QDCT_XM_ORIGIN_IN&&!QDCT_XM_VAVLE)
    {
      if(QDCT_TSXZLTStep==0)
      {
        QDCT_HSL_VAVLE=1;
        QDCT_ZLTStep=5;
        QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);//下模原位告警
    }   
    break;
   case 5://到位延时
    if(QDCT_HSL_LIMIT_IN&&QDCT_HSL_VAVLE)
    {        
        QDCT_ZLTStep=6;
        QDCT_ZLTDelay=dwTickCount+10;      
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);//横送拉头到位告警
    }   
    break;
   case 6://夹拉头
    if(dwTickCount>=QDCT_ZLTDelay)
    {
        QDCT_ZLTStep=7;
        QDCT_JLT_VAVLE=0;
        QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_JLT_OVERTIME*10; 
    }
    break; 
   case 7://夹拉头到位--横送退
    if(dwTickCount>=QDCT_ZLTDelay)
    {        
        QDCT_ZLTStep=80;        
        QDCT_HSL_VAVLE=0;
        QDCT_TQSMDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME; 
    }
    break; 
   case 80://退出限位 提前上下模
     if(!QDCT_HSL_LIMIT_IN)
     {       
         QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_TQSM_TIME*10+10;
         QDCT_ZLTStep=8;
     }
     break;   
  case 8://退出限位 提前上下模
   if((dwTickCount>=QDCT_ZLTDelay||QDCT_HSL_ORIGIN_IN)&&(QDCT_XM_UP_FLAG==1))
   {
      QDCT_ZLTStep=9;
      QDCT_XM_VAVLE=1;
      if(QDCT_TSXZLTStep==0)QDCT_TSXZLTStep=10;
      QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME; 
     
   }
    break; 
   case 9://下模上升
    if(QDCT_XM_LIMIT_IN&&QDCT_XM_VAVLE)
    {
        QDCT_ZLTStep=10;
        QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_XMDW_DELAY*10+10;
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM);//下模上升到位告警
      QDCT_bAlarmStop=1;
    }
    break;
   case 10://判断拉头
     if(QDCT_LTQL_CHECK_IN)//有拉头
     {
        QDCT_ZLTStep=0;
        QDCT_ZLT_TIME=0;
        QDCT_ZLT_OK_FLAG=1;
        QDCT_bManu_ZLTing=0;
     }
     else if(dwTickCount>=QDCT_ZLTDelay)//无拉头,重装拉头
     {
       QDCT_ZLT_TIME++;
       if(QDCT_ZLT_TIME>=3)
       {
          QDCT_ZLT_TIME=0;
          QDCT_ZLTStep=0;
          QDCT_ZLT_OK_FLAG=0;
          QDCT_JLT_VAVLE=1;             
          QDCT_XM_VAVLE=0;            
          QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);//无拉头告警
       }
       else
       {
           QDCT_JLT_VAVLE=1;             
           QDCT_XM_VAVLE=0;
           QDCT_ZLTStep=11;
          
       }
     }    
    break;
    case 11://下模下降
       if(QDCT_TSXZLTStep==0)
       {
          QDCT_TSXZLTStep=1;
          QDCT_ZLTStep=4;
          QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
       } 
      break;
  }
}
//通用装拉头动作
void QDCT_ZLT_COM_Proc(void)
{
  switch(QDCT_ZLTStep)
  {
  case 1://判断拉头是否打开
    if(QDCT_JLT_VAVLE)//夹拉头打开，无拉头
    {
      if(QDCT_XM_ORIGIN_IN&&!QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)//下模在原位
      {
         QDCT_ZLTStep=4;
      }
      else if(QDCT_XM_LIMIT_IN&&QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)//下模在上位
      {
         QDCT_ZLTStep=4;
         QDCT_XM_VAVLE=0;
         QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      else if(!QDCT_XM_LIMIT_IN&&!QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)
      {
         //QDCT_HSL_VAVLE=1;
         QDCT_ZLTStep=40;
         QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_TQHS_TIME*10+5;
      }
      else
      {
         if(dwTickCount>=QDCT_ZLTDelay)
         {
           if(!QDCT_HSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);//横送拉头原位告警
           if(QDCT_XM_VAVLE)
           {
              if(!QDCT_XM_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM);
           }
           else if(!QDCT_XM_VAVLE)
           {
             if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
           }            
         }     

      }
    }
    else //夹拉头关闭，
    {
      if(QDCT_XM_ORIGIN_IN&&!QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)//下模在原位
      {        
        if(QDCT_XM_UP_FLAG)
        {
          QDCT_ZLTStep=2;
          QDCT_XM_VAVLE=1;
          QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
        }
      }
      else if(QDCT_XM_LIMIT_IN&&QDCT_XM_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)//下模在上位
      {
        QDCT_ZLTStep=3;        
      }
      else
      {
         if(dwTickCount>=QDCT_ZLTDelay)
         {
           if(!QDCT_HSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);//横送拉头原位告警
           if(QDCT_XM_VAVLE)
           {
              if(!QDCT_XM_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM);
           }
           else if(!QDCT_XM_VAVLE)
           {
             if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
           }            
         }    
      }
    }
    break;
  case 2://下模上升
    if(QDCT_XM_LIMIT_IN&&QDCT_XM_VAVLE)
    {
        QDCT_ZLTStep=3;
        QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_XMDW_DELAY*10+10;
        if(GetAlarmCode(QDCT_ALARM_ADDR)==QDCT_XM_LIMIT_ALARM)QDCT_SetAlarmCode(0);
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM);//下模上升到位告警
    }
    break;
  case 3://判断拉头
     if(QDCT_LTQL_CHECK_IN)//有拉头
     {
       QDCT_ZLTStep=10;
       QDCT_ZLTDelay=dwTickCount+10;
     }
     else if(dwTickCount>=QDCT_ZLTDelay)//无拉头
     {
       
       QDCT_JLT_VAVLE=1;
       QDCT_ZLTStep=4;
       QDCT_XM_VAVLE=0;
       QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
     }    
    break;
  case 40:
    if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_HSL_VAVLE=1;
      QDCT_ZLTStep=41;
      
    }
    break; 
  case 41:
    if(!QDCT_HSL_ORIGIN_IN&&QDCT_HSL_VAVLE)
    {
      QDCT_ZLTStep=42;
      QDCT_ZLTDelay=dwTickCount+20; 
    }    
    break;   
  case 42:
    if(QDCT_XM_ORIGIN_IN&&!QDCT_XM_VAVLE)
    {
      QDCT_ZLTStep=4;
      QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME; 
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_HSL_VAVLE=0;
      QDCT_ZLTStep=4;
      QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME; 
    }      
    break;
  case 4://横送
    if(QDCT_XM_ORIGIN_IN&&!QDCT_XM_VAVLE&&QDCT_TL_COM_ORIGIN_IN)
    {
        QDCT_HSL_VAVLE=1;
        QDCT_ZLTStep=5;
        QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME; 
        if(GetAlarmCode(QDCT_ALARM_ADDR)==QDCT_XM_ORIGIN_ALARM)QDCT_SetAlarmCode(0);
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);//下模原位告警
      else if(!QDCT_TL_COM_ORIGIN_IN&&QDCT_TSXZLTStep==0)QDCT_SetAlarmCode(QDCT_TuiL_ORIGIN_ALARM);
    }   
    break;
   case 5://到位延时
    if(QDCT_HSL_LIMIT_IN&&QDCT_HSL_VAVLE)
    {        
        QDCT_ZLTStep=6;
        QDCT_ZLTDelay=dwTickCount+1; 
        if(GetAlarmCode(QDCT_ALARM_ADDR)==QDCT_HSL_LIMIT_ALARM)QDCT_SetAlarmCode(0);
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);//横送拉头到位告警
    }   
    break;
   case 6://夹拉头
    if(dwTickCount>=QDCT_ZLTDelay)
    {
        QDCT_ZLTStep=7;
        QDCT_JLT_VAVLE=0;
        QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_JLT_OVERTIME*10; 
    }
    break; 
   case 7://夹拉头到位--横送退
    if(dwTickCount>=QDCT_ZLTDelay)
    {        
        QDCT_ZLTStep=80;        
        QDCT_HSL_VAVLE=0;
        QDCT_TSXZLTStep=1;
        QDCT_TSXZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;        
        QDCT_TQSMDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME; 
    }
    break; 
   case 80://退出限位 提前上下模
     if(!QDCT_HSL_LIMIT_IN)
     {       
         QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_TQSM_TIME*10+10;
         QDCT_ZLTStep=8;
     }
     break;   
  case 8://退出限位 提前上下模
   if((dwTickCount>=QDCT_ZLTDelay||QDCT_HSL_ORIGIN_IN)&&(QDCT_XM_UP_FLAG==1))
   {
      QDCT_ZLTStep=9;
      QDCT_XM_VAVLE=1;
      QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
   }
    break; 
   case 9://下模上升
    if(QDCT_XM_LIMIT_IN&&QDCT_XM_VAVLE)
    {
        QDCT_ZLTStep=10;
        QDCT_ZLTDelay=dwTickCount+QDCT_PARAM_XMDW_DELAY*10+10;
    }
    else if(dwTickCount>=QDCT_ZLTDelay)
    {
      QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM);//下模上升到位告警
      QDCT_bAlarmStop=1;
    }
    break;
   case 10://判断拉头
     if(QDCT_LTQL_CHECK_IN)//有拉头
     {
        QDCT_ZLTStep=0;
        QDCT_ZLT_TIME=0;
        QDCT_ZLT_OK_FLAG=1;
        QDCT_bManu_ZLTing=0;
     }
     else if(dwTickCount>=QDCT_ZLTDelay)//无拉头,重装拉头
     {
       QDCT_ZLT_TIME++;
       if(QDCT_ZLT_TIME>=3)
       {
          QDCT_ZLT_TIME=0;
          if(QDCT_bRunning)QDCT_ZLTStep=11;
          else QDCT_ZLTStep=0;
          QDCT_ZLT_OK_FLAG=0;
          QDCT_JLT_VAVLE=1;             
          QDCT_XM_VAVLE=0;  
          QDCT_bManu_ZLTing=0;
          QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);//无拉头告警
       }
       else
       {
           QDCT_JLT_VAVLE=1;             
           QDCT_XM_VAVLE=0;
           QDCT_ZLTStep=4;
          
       }
     }
    break;
   case 11://按下启动后
    if(QDCT_bRunning)
    {
      if(QDCT_START_IN_UP)
      {
         QDCT_JLT_VAVLE=1;             
         QDCT_XM_VAVLE=0;
         QDCT_ZLTStep=4;
         QDCT_SetAlarmCode(QDCT_NO_ALARM);
      }
    }
    break;
  }
}

//X轴回零
int QDCT_X_ReSetOrigin(void)
{
    switch(XRunResetOStep)
    {
    case 1:
      AxisDisableSoftwarelmt(X_AXIS);
      if(dwTickCount >= ReSetXDelay)
      {
        if(X_Reset_Flag)
         {
            AxisDisableSoftwarelmt(X_AXIS);
            ReSetXOUT_TIME = dwTickCount + 5000;
            if(!QDCT_HAND_ORIGIN_IN)
            {
                XRunResetOStep = 2;               
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_XREST_SPEED,DIR_N,
                                  2000,2000,20,20);
            }
            else
            {
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_XREST_SPEED/2,DIR_P,2000,2000,20,20);
                XRunResetOStep = 4;                
            }
         }
         else
         {
            if(0-dwXRealPos)
                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_XREST_SPEED,0-dwXRealPos,1000,1000,50,50,0); 
            XRunResetOStep = 10; 
            ReSetXOUT_TIME = dwTickCount + 10000;
         }
      }
        break;
    case 2:
        if(QDCT_HAND_ORIGIN_IN)
        {
            AxisDecStop(X_AXIS);                
            XRunResetOStep = 3;
            ReSetXDelay = dwTickCount + 10;
        }
        break;
    case 3:
        if(!X_DRV&&dwTickCount >= ReSetXDelay)
        {
            AxisContinueMoveAcc(X_AXIS,2000,DIR_P,2000,2000,20,20);               
            XRunResetOStep = 4;                
        }
        break;
    case 4:
        if(!QDCT_HAND_ORIGIN_IN)
        {                               
            XRunResetOStep = 5;
            ReSetXDelay = dwTickCount + 50;
        }
        break;
    case 5:
        if(!QDCT_HAND_ORIGIN_IN&&dwTickCount >= ReSetXDelay)
        {                               
            AxisEgmStop(X_AXIS); 
            XRunResetOStep = 6;
            ReSetXDelay = dwTickCount + 10;
        }
        break;
    case 6:
        if(!X_DRV&&dwTickCount >= ReSetXDelay)
        {                               
            XRunResetOStep = 7;
            AxisContinueMoveAcc(X_AXIS,800,DIR_N,800,800,20,20);                 
        }
        break;
    case 7:
        if(QDCT_HAND_ORIGIN_IN)
        {                               
            AxisEgmStop(X_AXIS); 
            XRunResetOStep = 9;
            ReSetXDelay = dwTickCount + 20;
        }
        break;
    case 9:
        if(!X_DRV&&dwTickCount >= ReSetXDelay)
        {                               
            XRunResetOStep = 10;
            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_XREST_SPEED,-10,2000,2000,20,20,0);                 
        }
        break;
    case 10:
        if(!X_DRV)
        {                
            SetPos(X_AXIS,0);
            AxisEnableSoftwarelmt(X_AXIS,QDCT_PARAM_XMAX_LENGTH,*QDCT_PARAM_HAND_WORK_LOCAL);
            XRunResetOStep = 11; 
            ReSetXDelay = dwTickCount + 50;
        }
        else if(dwTickCount >= ReSetXOUT_TIME)   //多长时间没回到位警告
        {            
            XRunResetOStep = 0;
            QDCT_bHAND_Rsting=0;
            QDCT_SetAlarmCode(QDCT_HAND_ORIGIN_ALARM);//机械手回零故障
            return 0;
        }
        break;
     case 11:
      if(dwTickCount>=ReSetXDelay)
      {
        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_XREST_SPEED,QDCT_PARAM_HAND_STOP_LOCAL,1000,1000,20,20,0); 
        XRunResetOStep = 12; 
      }
      break;  
    case 12:
      if(!X_DRV)
      {
        X_Reset_Flag=0; 
        XRunResetOStep = 0; 
        QDCT_bHAND_Rsting=0;
      }
      break;  
    }
  return 0;
}
//
int QDCT_Y_ReSetOrigin(void)
{
    switch(YRunResetOStep)
    {
    case 1:
       AxisDisableSoftwarelmt(Y_AXIS);
       if(dwTickCount >= ReSetYDelay)
       {
           if(Y_Reset_Flag)
           {
              
              ReSetYOUT_TIME = dwTickCount + 15000;
              if(!QDCT_HZLT_ORIGIN_IN)
              {
                  YRunResetOStep = 2;              
                  AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_YREST_SPEED,DIR_N,
                                    1000,1000,20,20);
              }
              else
              {
                  AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_YREST_SPEED/2,DIR_P,1000,1000,20,20);
                  YRunResetOStep = 4;                
              }
           }
           else
           {
              if(0-dwYRealPos)
                  AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YREST_SPEED,0-dwYRealPos,1000,1000,50,50,0);
              YRunResetOStep = 10; 
              ReSetYOUT_TIME = dwTickCount + 10000;
           }
       }
       break;
    case 2:
        if(QDCT_HZLT_ORIGIN_IN)
        {
            AxisDecStop(Y_AXIS);                
            YRunResetOStep = 3;
            ReSetYDelay = dwTickCount + 100;
        }
        break;
    case 3:
        if(!Y_DRV&&dwTickCount >= ReSetYDelay)
        {          
            AxisContinueMoveAcc(Y_AXIS,1000,DIR_P,1000,1000,20,20); 
            //AxisMovePosAccDec(Y_AXIS,1000,QDCT_PARAM_RORIGIN_LENGTH,1000,1000,20,20,0);  
            YRunResetOStep = 4;
            //ReSetYDelay = dwTickCount + 100;
        }
        break;
    case 4:
        if(!QDCT_HZLT_ORIGIN_IN)
        {   
            AxisEgmStop(Y_AXIS);
            YRunResetOStep = 5;
            ReSetYDelay = dwTickCount + 100;
        }
        break;
    case 5:
        if(dwTickCount >= ReSetYDelay&&!Y_DRV)
        {                               
            AxisMovePosAccDec(Y_AXIS,1000,QDCT_PARAM_RORIGIN_LENGTH,1000,1000,20,20,0); 
            YRunResetOStep = 6;
            ReSetYDelay = dwTickCount + 10;
        }
        break;
    case 6:
        if(!Y_DRV&&dwTickCount >= ReSetYDelay)
        {                               
            YRunResetOStep = 7;
            AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,20,20);                 
        }
        break;
    case 7:
        if(QDCT_HZLT_ORIGIN_IN)
        { 
            SetPos(Y_AXIS,0); 
            AxisEgmStop(Y_AXIS); 
            YRunResetOStep = 9;
            ReSetYDelay = dwTickCount + 20;
        }
        break;
    case 9:
        if(!Y_DRV&&dwTickCount >= ReSetYDelay)
        {                               
            YRunResetOStep = 10;                           
        }
        break;
    case 10:
        if(!Y_DRV)
        {                         
            AxisEnableSoftwarelmt(Y_AXIS,QDCT_PARAM_ZSFL_LOCAL,(*QDCT_PARAM_ZSSL_LOCAL-2));
            YRunResetOStep = 11;  
            ReSetYDelay = dwTickCount + 50;
        }
        else if(dwTickCount >= ReSetYOUT_TIME)   //多长时间没回到位警告
        {
            QDCT_SetAlarmCode(QDCT_ZLS_ORIGIN_ALARM);//机械手回零故障
            YRunResetOStep = 0;  
            QDCT_bZS_Rsting=0;            
        }
        break; 
    case 11:
      if(dwTickCount>=ReSetYDelay)
      {
        AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YREST_SPEED,QDCT_PARAM_WLTBJ_WAIT,1000,1000,20,20,0); 
        YRunResetOStep = 12; 
      }
      break;  
    case 12:
      if(!Y_DRV)
      {
        Y_Reset_Flag=0; 
        YRunResetOStep = 0; 
        QDCT_bZS_Rsting=0;
      }
      break;  
    }
    return 0;
}
//手动动作
void QDCT_ManualAction(void)
{ 
    //清除订单产量
    if(QDCT_bClearTotal)
    {
      QDCT_bClearTotal=0;
      ClrcToTal(QDCT_TOTAL_ADDR);
    }
    //清除当前匝数
    if(QDCT_bClerNowTotal)
    {
      QDCT_bClerNowTotal=0;
      ClrcToTal(QDCT_NOWTOTAL_ADDR);
    }
    //清除总产量
    if(QDCT_bClearAllTOTAL)
    {
      QDCT_bClearAllTOTAL=0;
      ClrcToTal(QDCT_ALL_TOTAL_ADDR);
    }
    //清除当班产量
    if(QDCT_bClearDateTOTAL)
    {
      QDCT_bClearDateTOTAL=0;
      ClrcToTal(QDCT_DATE_TOTAL_ADDR);
    }
    if(QDCT_bRunning == 0)  
    {
      //
      if(QDCT_bJiaLian)
      {
        QDCT_bJiaLian=0;
        QDCT_JIALIAN_VAVLE=~QDCT_JIALIAN_VAVLE;
      }
      //
      if(QDCT_bZHLT)
      {
        QDCT_bZHLT=0;
        QDCT_ZHL_VAVLE=~QDCT_ZHL_VAVLE;
      }
      //下模
      if(QDCT_bXM)
      {
        QDCT_bXM=0;
        if(QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)
        {
          QDCT_XM_VAVLE=~QDCT_XM_VAVLE;
        }
        else//后面是否考虑，告警提示
        {
          QDCT_HSL_VAVLE=0;          
        }
      }
      //横送
      if(QDCT_bHSL)
      {
        QDCT_bHSL=0;
        if(QDCT_HSL_VAVLE)QDCT_HSL_VAVLE=0;
        else
        {
          if(QDCT_PARAM_ZPSL_MODE==0)//机械手型
          {
            if(QDCT_CSL_ORIGIN_IN&&!QDCT_CJL_VAVLE&&QDCT_XM_ORIGIN_IN&&!QDCT_HSL_VAVLE&&QDCT_JLT_VAVLE
               &&QDCT_XZ_LIMIT_IN&&QDCT_XZ_VAVLE)
            {
                QDCT_HSL_VAVLE=1;
            }
            else
            {             
               QDCT_XM_VAVLE=0;
               QDCT_JLT_VAVLE=1;
               if(QDCT_CSL_ORIGIN_IN&&!QDCT_CJL_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)
                {
                  QDCT_XZ_VAVLE=1;
                }
            }
          }
          else//通用型
          {
             if(QDCT_XM_ORIGIN_IN&&!QDCT_HSL_VAVLE&&QDCT_JLT_VAVLE)               
            {
                QDCT_HSL_VAVLE=1;
            }
            else
            {             
               QDCT_XM_VAVLE=0;
               QDCT_JLT_VAVLE=1;
            }
          }
        }
       }
      //推料
      if(QDCT_bTLiao)
      {
        QDCT_bTLiao=0;
        if(QDCT_TL_VAVLE)QDCT_TL_VAVLE=0;
        else
        {
           if(QDCT_PARAM_ZPSL_MODE==0)//机械手型
           {
             if(QDCT_CSL_LIMIT_IN&&QDCT_CJL_VAVLE||QDCT_CSL_ORIGIN_IN&&!QDCT_CJL_VAVLE)
             {
                QDCT_TL_VAVLE=1;
             }
           }
           else//通用型
           {
             if(QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)
             {
                QDCT_TL_VAVLE=1;
             }
           }
        }
      }
      //滑道档料气缸
      if(QDCT_bHDDL)
      {
        QDCT_bHDDL=0;
        QDCT_HDDL_VAVLE=~QDCT_HDDL_VAVLE;
      }
      //旋转气缸
      if(QDCT_bXZQG)
      {
        QDCT_bXZQG=0;
        if(QDCT_CSL_ORIGIN_IN&&!QDCT_CJL_VAVLE&&QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE)
        {
          QDCT_XZ_VAVLE=~QDCT_XZ_VAVLE;
        }
        else//告警
        {
          QDCT_HSL_VAVLE=0;
        }
      }
      //夹拉头气缸
      if(QDCT_bJLT)
      {
        QDCT_bJLT=0;
        QDCT_JLT_VAVLE=~QDCT_JLT_VAVLE;
      }
      //分带气缸
      if(QDCT_bFDai)
      {
        QDCT_bFDai=0;
        QDCT_FDAI_VAVLE=~QDCT_FDAI_VAVLE;
      }
      //穿头气缸
      if(QDCT_bCLT)
      {
        QDCT_bCLT=0;
        QDCT_CLT_VAVLE=~QDCT_CLT_VAVLE;
      }
      //夹布带气缸
      if(QDCT_bJBD)
      {
        QDCT_bJBD=0;
        QDCT_JBD_VAVLE=~QDCT_JBD_VAVLE;
      }
      //下切刀
      if(QDCT_bXQD)
      {
        QDCT_bXQD=0;
        if(QDCT_XQD_VAVLE)QDCT_XQD_VAVLE=0;
        else
        {
          if(QDCT_CLT_ORIGIN_IN&&!QDCT_CLT_VAVLE)
          {
            QDCT_XQD_VAVLE=1;
          }
          else//告警
          {
            QDCT_CLT_VAVLE=0;
          }
        }
      }
       //增压/超声
       if(QDCT_bZYXS&&!QDCT_ZYCS_VAVLE)
       {
         QDCT_bZYXS=0;
         QDCT_ZYCS_VAVLE=1;
         QDCT_Manu_CS_FLAG=1;
         QDCT_ManuCSDelay=dwTickCount+QDCT_PARAM_CAOSHENG_TIME;
       }
       else if(dwTickCount>=QDCT_ManuCSDelay&&QDCT_ZYCS_VAVLE&&QDCT_Manu_CS_FLAG)
       {
         QDCT_Manu_CS_FLAG=0;
         QDCT_ZYCS_VAVLE=0;
       }
      //上切道
      if(QDCT_bSQD)
      {
        QDCT_bSQD=0;
        if(QDCT_SQD_VAVLE)QDCT_SQD_VAVLE=0;
        else
        {
          if(QDCT_CLT_ORIGIN_IN&&!QDCT_CLT_VAVLE)
          {
            QDCT_SQD_VAVLE=1;
          }
          else//告警
          {
            QDCT_CLT_VAVLE=0;;
          }
        }
      }
      //输送带
      if(QDCT_bSSD&&!QDCT_SSD_OUT)
      {
        QDCT_bSSD=0;
        QDCT_ManuSSDelay=dwTickCount +QDCT_PARAM_TMSS_TIME*10;
        QDCT_SSD_OUT=1;        
      }
      else if(dwTickCount>=QDCT_ManuSSDelay&&QDCT_SSD_OUT)
      {
        QDCT_SSD_OUT=0;
      }
      //振盘开关
      if(QDCT_bZPKG)
      {
        QDCT_bZPKG=0;
        QDCT_ZPKZ_VAVLE=~QDCT_ZPKZ_VAVLE;
      }
      //振盘吹气
      if(QDCT_bZPCQ)
      {
        QDCT_bZPCQ=0;
        QDCT_ZPCQ_VAVLE=~QDCT_ZPCQ_VAVLE;
      }
      //侧进料气缸
      if(QDCT_bCJL)
      {
        QDCT_bCJL=0;
        if(QDCT_CJL_VAVLE)
        {
          if(!QDCT_TL_LIMIT_IN&&!QDCT_TL_VAVLE)QDCT_CJL_VAVLE=0; 
          else QDCT_TL_VAVLE=0;
        }
        else
        {
           if(QDCT_HSL_ORIGIN_IN&&!QDCT_HSL_VAVLE&&QDCT_XZ_ORIGIN_IN&&!QDCT_XZ_VAVLE&&
              !QDCT_TL_LIMIT_IN&&!QDCT_TL_VAVLE)
           {
             QDCT_CJL_VAVLE=1;
           }
           else//告警
           {
             QDCT_HSL_VAVLE=0;
             QDCT_XZ_VAVLE=0;
             QDCT_TL_VAVLE=0;
           }
        }
      }
      if(QDCT_bXMotor_N)
      {           
        SetEn(X_AXIS, QDCT_MOTOR_EN); 
        if(!X_DRV&&!X_SOFT_NLIMIT)
            AxisContinueMoveAcc(X_AXIS,2000,DIR_N,1000,1000,15,15);         
      }
      if(QDCT_bXMotor_P)
      {
        SetEn(X_AXIS, QDCT_MOTOR_EN); 
        if(!X_DRV&&!X_SOFT_PLIMIT)
            AxisContinueMoveAcc(X_AXIS,2000,DIR_P,1000,1000,15,15);  
      }
      if(!QDCT_bXMotor_N&&!QDCT_bXMotor_P&&!QDCT_bHAND_Rsting&&QDCT_cSTOPStep==0&&QDCT_cFristQDStep==0)
      {
         AxisEgmStop(X_AXIS);
      }
      //
      if(QDCT_bYMotor_N)
      {           
        SetEn(Y_AXIS, QDCT_MOTOR_EN); 
        if(!Y_DRV&&!Y_SOFT_NLIMIT)
        {
          if(!QDCT_PARAM_SF_BJ_MODE)
          {
            if(QDCT_HZLT_ORIGIN_IN)
                AxisContinueMoveAcc(Y_AXIS,800,DIR_N,800,800,15,15);
            else
                AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,1000,15,15);
          }
          else
          {
            if(QDCT_HZLT_ORIGIN_IN)
                AxisContinueMoveAcc(Y_AXIS,800/5,DIR_N,800/5,800/5,15,15);
            else
                AxisContinueMoveAcc(Y_AXIS,2000/5,DIR_N,1000/5,1000/5,15,15);
          }
        }
      }
      if(QDCT_bYMotor_P)
      {
        SetEn(Y_AXIS, QDCT_MOTOR_EN); 
        if(!QDCT_PARAM_SF_BJ_MODE)
        {
          if(!Y_DRV&&!Y_SOFT_PLIMIT)
              AxisContinueMoveAcc(Y_AXIS,2000,DIR_P,1000,1000,15,15);  
        }
        else
        {
           if(!Y_DRV&&!Y_SOFT_PLIMIT)
              AxisContinueMoveAcc(Y_AXIS,2000/5,DIR_P,1000/5,1000/5,15,15); 
        }
      }
      if(!QDCT_bYMotor_N&&!QDCT_bYMotor_P&&!QDCT_bZS_Rsting
         &&QDCT_ZSZLStep==0&&QDCT_cSTOPStep==0)
      {
         AxisEgmStop(Y_AXIS);
      }
      //机械手
      if(QDCT_bHAND_REST&&!QDCT_bHAND_Rsting)
      {
        QDCT_bHAND_REST=0;
        QDCT_bHAND_Rsting=1;
        SetEn(X_AXIS, QDCT_MOTOR_EN); 
        XRunResetOStep=1;
        ReSetXDelay = dwTickCount + 500;
      }
      //抓手
      if(QDCT_bZS_REST&&!QDCT_bZS_Rsting)
      {
        QDCT_bZS_REST=0;
        QDCT_bZS_Rsting=1;
        Y_Reset_Flag=1;
        SetEn(Y_AXIS, QDCT_MOTOR_EN); 
        YRunResetOStep=1;
        ReSetYDelay = dwTickCount + 500;
      }
      //抓拉头
      if(QDCT_bManu_ZSZL&&QDCT_ZSZLStep==0&&!Y_Reset_Flag)
      {
        QDCT_bManu_ZSZL=0;
        QDCT_CONT_ZLT_TIMES=0;
        QDCT_bManu_ZSZLing=1;
        QDCT_ZSZLStep=1;
      }
      //装拉头
      if(QDCT_bManu_ZLT&&QDCT_ZLTStep==0)
      {
        QDCT_bManu_ZLT=0;
        QDCT_ZLTStep=1;
        QDCT_ZLT_TIME=0;
        QDCT_bManu_ZLTing=1;
        QDCT_XM_UP_FLAG=1;
        QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
      //穿头mo
      if(QDCT_bManu_CTM&&(QDCT_CLTMStep==0))
      {
        QDCT_bManu_CTM=0;
        if(QDCT_bManu_CTMing)
        {
          QDCT_bManu_CTMing=0;
          QDCT_CLTMStep=10;
        }
        else
        {
          QDCT_bManu_CTMing=1;
          QDCT_CLTMStep=1;
          
        }
      }
      //切断
      if(QDCT_bQieDuan&&QDCT_QDLLStep==0)
      {
        QDCT_bQieDuan=0;
        QDCT_QDLLStep=1;
      }
      //振盘启动
      if(QDCT_bZPSTART)
      {
        QDCT_bZPSTART=0;
        if(QDCT_bZPSTARTing)
        {
          QDCT_ZPKZ_VAVLE=0;
          QDCT_cZHENPANStep=0;
          QDCT_bZPSTARTing=0;
        }
        else
        {
           QDCT_bZPSTARTing=1;
           QDCT_cZHENPANStep=1;
        }
      }
      //一周切断
      if(QDCT_bFristQD&&QDCT_cFristQDStep==0)
      {
        QDCT_bFristQD=0;
        QDCT_bFristQDing=1;
        QDCT_cFristQDStep=1;
      }
      //一键清料
      if(QDCT_bClearHDLT&&QDCT_cClearHDLTStep==0)
      {
        QDCT_bClearHDLT=0;
        QDCT_cClearHDLTStep=1;
        QDCT_bClearHDLTing=1;
      }
    }
}
//电机控制动作
void QDCT_cMotor_Action(void)	 //
{ 
    static long hand_local,move_length;
    static unsigned short run_once_flag;
    unsigned short run_speed;
    dwXRealPos = GetPos(X_AXIS);
    dwYRealPos = GetPos(Y_AXIS);
    if(dwTickCount>=QDCT_PD_CHECK_DELAY
       &&QDCT_ZPYL_FEIDAI_IN_UP&&QDCT_PARAM_FEILIAO_MODE&&!QDCT_CLT_PD_FLAG)
    {       
       QDCT_PD_NUM++;
       if(QDCT_PD_NUM==1)
       {
         FeiDai_Num=0;
         QDCT_PD_FZ_FLAG=1;
         QDCT_PD_XSAVEPOS=dwXRealPos-QDCT_XSAVEPOS;
         QDCT_CHECK_LD_PD_LENGTH=QDCT_PD_XSAVEPOS+QDCT_PARAM_FEIDAI_LENGTH+QDCT_PARAM_CTM_QD_LENGTH;         
       }
       if(QDCT_PD_NUM>2)QDCT_PD_NUM=2;
       QDCT_LD_PD_FLAG=1; 
       QDCT_PD_CHECK_DELAY=dwTickCount+80;
       
    }
    switch(QDCT_cMOTORStep)
    {
    case 1://判断是否松轴
      if(GetEn(X_AXIS)!=1||X_Reset_Flag!=0)
      {
        SetEn(X_AXIS, QDCT_MOTOR_EN); 
        XRunResetOStep=1;
        QDCT_cMOTORStep=2;
        ReSetXDelay = dwTickCount + 500;
      } 
      else
      {
        QDCT_cMOTORStep=2;
      }
      break;
    case 2:
      if(XRunResetOStep==0&&X_Reset_Flag==0)
      {
          QDCT_cMOTORStep=3;
          hand_local=*QDCT_PARAM_HAND_WORK_LOCAL;
          hand_local=hand_local-dwXRealPos;         
          AxisMovePosAccDec(X_AXIS,QDCT_PARAM_HAND_IDLE_SPEED/2,hand_local,1000,1000,120,120,10);   
      }
      break;
    case 3:
      if(!X_DRV)
      {
        QDCT_cMOTORStep=0;
      }
      break;          
    case 20://穿链
      QDCT_XSAVEPOS=dwXRealPos;     
      QDCT_cMOTORStep=21;
      //
      run_speed=QDCT_PARAM_HAND_CLT_SPEED; 
      //
      //
      if(QDCT_PARAM_HAND_LT_LENGTH<=QDCT_PARAM_CTM_XMLT_LENGTH)
          QDCT_PARAM_HAND_LT_LENGTH=QDCT_PARAM_CTM_XMLT_LENGTH;
      hand_local=QDCT_PARAM_HAND_LT_LENGTH-QDCT_PARAM_CTM_XMLT_LENGTH;
      if(hand_local<=0)//立即脱模
      { 
        //脱模速度
        hand_local=100;
        QDCT_JLT_VAVLE=1;        
        QDCT_XM_VAVLE=0;
        AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_XMTM_SPEED,hand_local,2000,QDCT_PARAM_XMTM_SPEED,120,120,0);
      }
      else
      {
         hand_local=QDCT_PARAM_HAND_LT_LENGTH-QDCT_PARAM_CTM_XMLT_LENGTH-QDCT_PARAM_XMTM_CMP_LENGTH;
         if(hand_local<=0)
         {
           hand_local=QDCT_PARAM_HAND_LT_LENGTH-QDCT_PARAM_CTM_XMLT_LENGTH;
           AxisMovePosAccDecNotStop(X_AXIS,run_speed,hand_local,2000,QDCT_PARAM_XMTM_SPEED,120,120,0);
         }
         else
         {
           AxisMovePosAccDecNotStop(X_AXIS,run_speed,hand_local,2000,QDCT_PARAM_XMTM_SPEED,120,120,0);
         }
      }
      break;
    case 21://下模离开，加速
      if((dwXRealPos>=QDCT_XSAVEPOS+hand_local)&&(GetCurSpeed(X_AXIS)<=QDCT_PARAM_XMTM_SPEED))QDCT_JLT_VAVLE=1;//打开夹拉链
      if((dwXRealPos>=QDCT_XSAVEPOS+hand_local)&&(GetCurSpeed(X_AXIS)<=QDCT_PARAM_XMTM_SPEED))QDCT_XM_VAVLE=0;
      if(!QDCT_XM_LIMIT_IN&&!QDCT_XM_VAVLE)//下模离开限位后加速
      {
           //下模后开始装拉头
          //if(QDCT_ZLTStep==0)
          {
            QDCT_ZLTStep=1;
            QDCT_ZLT_OK_FLAG=0;
            QDCT_XM_UP_FLAG=0;
            QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
          }
          QDCT_cMOTORStep=22;
         if(*QDCT_PARAM_HAND_LD_LENGTH<=QDCT_PARAM_CTM_QD_LENGTH+200)
             *QDCT_PARAM_HAND_LD_LENGTH=QDCT_PARAM_CTM_QD_LENGTH+200;
         hand_local=*QDCT_PARAM_HAND_LD_LENGTH+*QDCT_PARAM_HAND_LD_CMP-QDCT_PARAM_CTM_QD_LENGTH-(dwXRealPos-QDCT_XSAVEPOS);
         AxisMovePosAccDec(X_AXIS,QDCT_PARAM_HAND_TLD_SPEED,hand_local,1000,1000,120,120,20); 
      }
      break;
    case 22:
      if(!X_DRV)
      {
        QDCT_cMOTORStep=0;
      }
      break;
    case 40://
      QDCT_XSAVEPOS=dwXRealPos;     
      QDCT_cMOTORStep=41;
      //
      if(QDCT_WorkCnt<=1)run_speed=QDCT_PARAM_KK_First_SPEED;          
      else run_speed=QDCT_PARAM_KK_Work_SPEED; 
      //
      //
      if(QDCT_PARAM_HAND_LT_LENGTH<=QDCT_PARAM_CTM_XMLT_LENGTH)
          QDCT_PARAM_HAND_LT_LENGTH=QDCT_PARAM_CTM_XMLT_LENGTH;
      hand_local=QDCT_PARAM_HAND_LT_LENGTH-QDCT_PARAM_CTM_XMLT_LENGTH;
      if(hand_local<=0)//立即脱模
      { 
        //脱模速度
        hand_local=0;
        QDCT_JLT_VAVLE=1;        
        QDCT_XM_VAVLE=0;
        AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_XMTM_SPEED,hand_local,2000,QDCT_PARAM_XMTM_SPEED,120,120,0);
      }
      else
      {
         hand_local=QDCT_PARAM_HAND_LT_LENGTH-QDCT_PARAM_CTM_XMLT_LENGTH-QDCT_PARAM_XMTM_CMP_LENGTH;
         if(hand_local<=0)
         {
           hand_local=QDCT_PARAM_HAND_LT_LENGTH-QDCT_PARAM_CTM_XMLT_LENGTH;
           AxisMovePosAccDecNotStop(X_AXIS,run_speed,hand_local,2000,QDCT_PARAM_XMTM_SPEED,120,120,0);
         }
         else
         {
           AxisMovePosAccDecNotStop(X_AXIS,run_speed,hand_local,2000,QDCT_PARAM_XMTM_SPEED,120,120,0);
         }
      }      
      break;
    case 41:      
      if((dwXRealPos>=QDCT_XSAVEPOS+hand_local)&&(GetCurSpeed(X_AXIS)<=QDCT_PARAM_XMTM_SPEED))QDCT_JLT_VAVLE=1;//打开夹拉链
      if((dwXRealPos>=QDCT_XSAVEPOS+hand_local)&&(GetCurSpeed(X_AXIS)<=QDCT_PARAM_XMTM_SPEED))QDCT_XM_VAVLE=0;
      if(!QDCT_XM_LIMIT_IN&&!QDCT_XM_VAVLE)//下模离开限位后加速
      {
         //下模后开始装拉头
          if(!QDCT_bFristQDing)
          {
            QDCT_ZLTStep=1;
            QDCT_ZLT_OK_FLAG=0;
            QDCT_XM_UP_FLAG=0;
            QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
          }
         QDCT_cMOTORStep=42;         
         hand_local=QDCT_CHECK_GY_LENGTH-QDCT_PARAM_CTM_QD_LENGTH-(dwXRealPos-QDCT_XSAVEPOS);
         if(hand_local<0)hand_local=0;
         if(QDCT_WorkCnt<=1)
         {
           ;
         }
         else
         {
            AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_KK_TD_SPEED,hand_local,2000,QDCT_PARAM_KK_First_SPEED,
                                    120,120,PosToPulse(X_AXIS,QDCT_PARAM_KKKW_LOW_LENGTH)); 
         }
      }
      else if(QDCT_KW_CHECK_IN)
      {
          QDCT_JLT_VAVLE=1;
          QDCT_XM_VAVLE=0;
          //QDCT_FDAI_VAVLE=0;
          if(!QDCT_bFristQDing)
          {
            QDCT_ZLTStep=1;
            QDCT_ZLT_OK_FLAG=0;
            QDCT_XM_UP_FLAG=0;
            QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
          }
          QDCT_cMOTORStep=43;                   
          AxisContinueMoveChangeSpeed(X_AXIS,QDCT_PARAM_KK_KW_SPEED,1000,10,10);
        
      }
      break;
    case 42:
      move_length=dwXRealPos-QDCT_XSAVEPOS;
      move_length=move_length+QDCT_PARAM_CTM_XMLT_LENGTH;
      if((QDCT_WorkCnt<=1)&&(move_length>=QDCT_PARAM_KKFIRST_ALARM_LENGTH)||
         (QDCT_WorkCnt>1)&&(move_length>=(QDCT_PARAM_KK_ALARM_LENGTH+QDCT_CHECK_LD_LENGTH)))
      {
           QDCT_SetAlarmCode(QDCT_LD_LENGTH_ALARM);
           QDCT_cMOTORStep=100;
           AxisContinueMoveChangeSpeed(X_AXIS,1000,1000,20,20);
      }
      else if(QDCT_KW_CHECK_IN)
      {  
          //QDCT_FDAI_VAVLE=0;
          QDCT_cMOTORStep=43;
          AxisContinueMoveChangeSpeed(X_AXIS,QDCT_PARAM_KK_KW_SPEED,1000,10,10);
      }
      break;
    case 43:
      move_length=dwXRealPos-QDCT_XSAVEPOS;
      move_length=move_length+QDCT_PARAM_CTM_XMLT_LENGTH;
      if((QDCT_WorkCnt<=1)&&(move_length>=QDCT_PARAM_KKFIRST_ALARM_LENGTH)||
         (QDCT_WorkCnt>1)&&(move_length>=(QDCT_PARAM_KK_ALARM_LENGTH+QDCT_CHECK_LD_LENGTH)))
      {
           QDCT_SetAlarmCode(QDCT_LD_LENGTH_ALARM);
           QDCT_cMOTORStep=100;
           AxisContinueMoveChangeSpeed(X_AXIS,1000,1000,20,20);
      }
      else if(!QDCT_KW_CHECK_IN)
      { 
          QDCT_FDAI_VAVLE=0;
          QDCT_CHECK_GY_LENGTH=dwXRealPos-QDCT_XSAVEPOS+QDCT_PARAM_CTM_QD_LENGTH;
          if(QDCT_WorkCnt>1)
          {
            if(QDCT_CHECK_GY_OLDLENGTH>=QDCT_CHECK_GY_LENGTH+QDCT_PARAM_KK_CDL_ALARM_LENGTH)
            {
              QDCT_DUANLIAN_ALARM_FLAG=1;
              SingOneFlg=1;
              QDCT_SetAlarmCode(QDCT_LD_LENGTH_DL_ALARM);              
            }
            else if((QDCT_CHECK_GY_OLDLENGTH+QDCT_PARAM_KK_CDL_ALARM_LENGTH)<=QDCT_CHECK_GY_LENGTH)
            {
              QDCT_CHUANGLIAN_ALARM_FLAG=1;
              SingOneFlg=1;
              QDCT_SetAlarmCode(QDCT_LD_LENGTH_CL_ALARM);  
            }
              
          }
          else if(QDCT_WorkCnt<=1)
          {
            QDCT_CHECK_GY_OLDLENGTH=QDCT_CHECK_GY_LENGTH;
 
          }
          QDCT_cMOTORStep=44;
          AxisMovePosAccDec(X_AXIS,QDCT_PARAM_KK_KW_SPEED,QDCT_PARAM_KK_QDDW_LENGTH,800,800,120,120,0); 
      }
      break;
     case 44:
      if(QDCT_KW_CHECK_IN)
      {
        QDCT_cMOTORStep=43;
      }
      else if(!X_DRV)
      {        
        QDCT_CHECK_LD_LENGTH=dwXRealPos-QDCT_XSAVEPOS+QDCT_PARAM_CTM_QD_LENGTH;
        if(QDCT_WorkCnt<=1)
        {
          QDCT_CHECK_LD_OLDLENGTH=QDCT_CHECK_LD_LENGTH;
        } 
        QDCT_cMOTORStep=0;              
      }
      break;
      //退链
    case 60://
      QDCT_XSAVEPOS=dwXRealPos;
      QDCT_cMOTORStep=61;
      if(QDCT_CLT_PD_FLAG)
      { 
        FeiDai_Num++;
        if((QDCT_CHECK_LD_LENGTH)>=QDCT_CHECK_CLT_PD_LENGTH+QDCT_PARAM_CTM_QD_LENGTH)
        {
           QDCT_PD_NUM=2;
           FeiDai_Num=0;
           QDCT_CLT_PD_FLAG=0;
           QDCT_FAIDAI_FLAG=1;
        }
        else
        {
           QDCT_PD_NUM=2;
           FeiDai_Num=0;
           QDCT_CLT_PD_FLAG=0;
           QDCT_FAIDAI_FLAG=1; 
        }
        
      }
      else if(QDCT_LD_PD_FLAG)
      {
        FeiDai_Num++;
        if((QDCT_CHECK_LD_LENGTH*FeiDai_Num)>=QDCT_CHECK_LD_PD_LENGTH)
        {
           //FeiDai_Num=0;
           QDCT_LD_PD_FLAG=0;
           QDCT_FAIDAI_FLAG=1;
        }
       /* else
        {
           FeiDai_Num++;
           QDCT_CHECK_LD_PD_LENGTH=QDCT_CHECK_LD_PD_LENGTH+FeiDai_Num*QDCT_CHECK_LD_LENGTH;
        }*/
      }      
      if(QDCT_FAIDAI_FLAG&&QDCT_PARAM_FEILIAO_MODE)
      {
        if(QDCT_PD_NUM)
        { 
          QDCT_PD_NUM--;
          
        }
        hand_local=QDCT_PARAM_HAND_FL_SD_LENGTH;         
      }
      else
        hand_local=QDCT_PARAM_HAND_SD_LOCAL;   
      if(QDCT_PD_NUM==0){QDCT_FAIDAI_FLAG=0;FeiDai_Num=0;QDCT_LD_PD_FLAG=0;}
      AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_HAND_FD_SPEED,hand_local,1000,QDCT_PARAM_HAND_FD_SPEED,120,120,0); 
      run_once_flag=1;
      break;
    case 61:
      if((run_once_flag)&&(dwXRealPos>=QDCT_XSAVEPOS+hand_local))
      {
        QDCT_JIALIAN_VAVLE=0;
        QDCT_XM_UP_FLAG=1;
        QDCT_cMOTORDelay=dwTickCount+60;
        run_once_flag=0;
      }
      else if(!QDCT_JIALIAN_VAVLE&&(dwTickCount>=QDCT_cMOTORDelay))
      {
        //加速  
        QDCT_cMOTORStep=62;
        hand_local=QDCT_PARAM_HAND_TJ_LOCAL;//hand_local-(dwXRealPos-QDCT_XSAVEPOS);
        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_HAND_IDLE_SPEED,hand_local,2000,1000,30,180,100); 
      }
      break;
    case 62:
      if(!X_DRV)
      {
        QDCT_cMOTORStep=63;
        QDCT_cMOTORDelay=dwTickCount+30;
      }
      break; 
    case 63://
        QDCT_cMOTORStep=64;
        hand_local=*QDCT_PARAM_HAND_WORK_LOCAL;
        hand_local=hand_local-dwXRealPos;
        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_HAND_IDLE_SPEED,hand_local,2000,1000,150,150,10); 
      break; 
    case 64:
      if(!X_DRV)
      {
        QDCT_cMOTORStep=0;
      }
      break; 
    case 80:
       QDCT_cMOTORStep=81;
       if(*QDCT_PARAM_HAND_LD_LENGTH<=QDCT_PARAM_CTM_QD_LENGTH)
           *QDCT_PARAM_HAND_LD_LENGTH=QDCT_PARAM_CTM_QD_LENGTH;
       hand_local=*QDCT_PARAM_HAND_LD_LENGTH+*QDCT_PARAM_HAND_LD_CMP-QDCT_PARAM_CTM_QD_LENGTH;      
       AxisMovePosAccDec(X_AXIS,QDCT_PARAM_HAND_TLD_SPEED,hand_local,1000,1000,120,120,20);
      break;
    case 81:
      if(!X_DRV)
      {
        QDCT_cMOTORStep=0;
      }
      break; 
      //切断模式，开口
    case 120://
      QDCT_XSAVEPOS=dwXRealPos;     
      QDCT_cMOTORStep=121;      
       if(QDCT_WorkCnt<=1)
       {
         AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_KK_First_SPEED,2000,2000,QDCT_PARAM_KK_First_SPEED,
                                  120,120,PosToPulse(X_AXIS,QDCT_PARAM_KKKW_LOW_LENGTH)); ;
       }
       else
       {
         hand_local=QDCT_CHECK_GY_LENGTH-QDCT_PARAM_CTM_QD_LENGTH;
         if(hand_local<0)hand_local=0;
          AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_KK_TD_SPEED,hand_local,2000,QDCT_PARAM_KK_First_SPEED,
                                  120,120,PosToPulse(X_AXIS,QDCT_PARAM_KKKW_LOW_LENGTH)); 
       }     
       
      break;
    case 121:
      move_length=dwXRealPos-QDCT_XSAVEPOS;
      move_length=move_length+QDCT_PARAM_CTM_XMLT_LENGTH;
      if((QDCT_WorkCnt<=1)&&(move_length>=QDCT_PARAM_KKFIRST_ALARM_LENGTH)||
         (QDCT_WorkCnt>1)&&(move_length>=(QDCT_PARAM_KK_ALARM_LENGTH+QDCT_CHECK_LD_LENGTH)))
      {
           QDCT_SetAlarmCode(QDCT_LD_LENGTH_ALARM);
           QDCT_cMOTORStep=100;
           AxisContinueMoveChangeSpeed(X_AXIS,1000,1000,20,20);
      }
      else if(QDCT_KW_CHECK_IN)
      {           
          QDCT_cMOTORStep=122;
          AxisContinueMoveChangeSpeed(X_AXIS,QDCT_PARAM_KK_KW_SPEED,1000,10,10);
      }
      break;
    case 122:
      move_length=dwXRealPos-QDCT_XSAVEPOS;
      move_length=move_length+QDCT_PARAM_CTM_XMLT_LENGTH;
      if((QDCT_WorkCnt<=1)&&(move_length>=QDCT_PARAM_KKFIRST_ALARM_LENGTH)||
         (QDCT_WorkCnt>1)&&(move_length>=(QDCT_PARAM_KK_ALARM_LENGTH+QDCT_CHECK_LD_LENGTH)))
      {
           QDCT_SetAlarmCode(QDCT_LD_LENGTH_ALARM);
           QDCT_cMOTORStep=100;
           AxisContinueMoveChangeSpeed(X_AXIS,1000,1000,20,20);
      }
      else if(!QDCT_KW_CHECK_IN)
      { 
          QDCT_FDAI_VAVLE=0;
          QDCT_CHECK_GY_LENGTH=dwXRealPos-QDCT_XSAVEPOS+QDCT_PARAM_CTM_QD_LENGTH;
          if(QDCT_WorkCnt>1)
          {
            if(QDCT_CHECK_GY_OLDLENGTH>=QDCT_CHECK_GY_LENGTH+QDCT_PARAM_KK_CDL_ALARM_LENGTH)
            {
              QDCT_DUANLIAN_ALARM_FLAG=1;
              SingOneFlg=1;
              QDCT_SetAlarmCode(QDCT_LD_LENGTH_DL_ALARM);              
            }
            else if((QDCT_CHECK_GY_OLDLENGTH+QDCT_PARAM_KK_CDL_ALARM_LENGTH)<=QDCT_CHECK_GY_LENGTH)
            {
              QDCT_CHUANGLIAN_ALARM_FLAG=1;
              SingOneFlg=1;
              QDCT_SetAlarmCode(QDCT_LD_LENGTH_CL_ALARM);  
            }
              
          }
          else if(QDCT_WorkCnt<=1)
          {
            QDCT_CHECK_GY_OLDLENGTH=QDCT_CHECK_GY_LENGTH;
 
          }
          QDCT_cMOTORStep=123;
          AxisMovePosAccDec(X_AXIS,QDCT_PARAM_KK_KW_SPEED,QDCT_PARAM_KK_QDDW_LENGTH,800,800,120,120,0); 
      }
      break;
     case 123:
      if(QDCT_KW_CHECK_IN)
      {
        QDCT_cMOTORStep=122;
      }
      else if(!X_DRV)
      {        
        QDCT_CHECK_LD_LENGTH=dwXRealPos-QDCT_XSAVEPOS+QDCT_PARAM_CTM_QD_LENGTH;
        if(QDCT_WorkCnt<=1)
        {
          QDCT_CHECK_LD_OLDLENGTH=QDCT_CHECK_LD_LENGTH;
        } 
        QDCT_cMOTORStep=0;              
      }
      break;    
    case 100:
      if(GetCurSpeed(X_AXIS) <= 2000)
      {
         AxisEgmStop(X_AXIS);
         QDCT_bAlarmStop=1;
      }
      break;
    }
}

//自动动作
void QDCT_AutoStepAction(void)
{ 
  dwXRealPos = GetPos(X_AXIS);
  dwYRealPos = GetPos(Y_AXIS);
  X_SOFT_PLIMIT=GetSoftPLimit(X_AXIS);
  X_SOFT_NLIMIT=GetSoftNLimit(X_AXIS);
  Y_SOFT_PLIMIT=GetSoftPLimit(Y_AXIS);
  Y_SOFT_NLIMIT=GetSoftNLimit(Y_AXIS);
    
  user_datas[121] = QDCT_AutoStep;
  user_datas[122] = QDCT_QDLLStep;//YRunResetOStep;
  
  user_datas[123] = QDCT_PD_NUM;//QDCT_ZSZLStep;//QDCT_cZHENPANStep;//XRunResetOStep;
  user_datas[124] = QDCT_CHECK_LD_LENGTH;//QDCT_cMOTORStep;//YRunResetOStep;
  user_datas[125] = QDCT_CLT_PD_FLAG;//QDCT_ZLTStep;//
  
  user_datas[126] = QDCT_LD_PD_FLAG;//QDCT_TSXZLTStep;//QDCT_cZHENPANStep;//QDCT_TSXZLTStep;
  user_datas[127] = QDCT_CHECK_CLT_PD_LENGTH;//QDCT_cFristQDStep;//QDCT_CHECK_LD_LENGTH;//QDCT_ZLTStep;
  user_datas[128] = QDCT_CHECK_LD_PD_LENGTH;//QDCT_cClearHDLTStep;//QDCT_CHECK_GY_LENGTH;//QDCT_QDLLStep; 
  
  *QDCT_PARAM_X_LOCAL=dwXRealPos;
  *QDCT_PARAM_Y_LOCAL=dwYRealPos;
  //破链延时退出

  switch(QDCT_AutoStep)
  {
  case 1://装拉头
    if(dwTickCount>=QDCT_AutoDelay)
    {
      if(QDCT_PARAM_WORK_MODE==0)//穿头切断模式
        QDCT_FDAI_VAVLE=1;
      if(QDCT_bTestMode&&QDCT_START_IN||!QDCT_bTestMode)
      {
        QDCT_AutoStep=2;
        QDCT_AutoDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
      }
    }
    break;
  case 2://装完拉头--穿链
    if(QDCT_ZLTStep==0&&QDCT_ZLT_OK_FLAG==1&&(QDCT_LTQL_CHECK_IN||QDCT_PARAM_WORK_MODE==1))
    {
      if(!QDCT_SQD_LIMIT_IN&&!QDCT_SQD_VAVLE&&QDCT_XQD_ORIGIN_IN&&!QDCT_XQD_VAVLE)//上刀、下刀在原位
      {
         if(QDCT_CLT_ORIGIN_IN&&!QDCT_CLT_VAVLE||QDCT_CLT_LIMIT_IN&&QDCT_CLT_VAVLE  )//穿头模在原位
         {
             QDCT_QD_KM_TIME_TOTAL=QDCT_QD_KM_TIME_TOTAL-dwTickCount;
             if(QDCT_bTestMode&&QDCT_START_IN||!QDCT_bTestMode)
             {
               QDCT_AutoStep=3;
               QDCT_CLT_VAVLE=1;
               PRE_CLT_Runtime=dwTickCount;               
               QDCT_AutoDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
               //
               if(QDCT_PARAM_LLMZ_TYPE==0)//闭口马壮
                  QDCT_KKPOLIANDelay=dwTickCount+QDCT_PARAM_BKPL_TIME*10;
               else//开口马庄
                 QDCT_KKPOLIANDelay=dwTickCount+QDCT_PARAM_KKPL_TIME*10;
             }
         }
         else if(dwTickCount>=QDCT_AutoDelay)
         {
           if(!QDCT_CLT_VAVLE&&!QDCT_CLT_ORIGIN_IN)
           {
              QDCT_SetAlarmCode(QDCT_CLTM_ORIGIN_ALARM);
           }
           else if(!QDCT_CLT_LIMIT_IN&&QDCT_CLT_VAVLE)
           {
              QDCT_SetAlarmCode(QDCT_CLTM_LIMIT_ALARM);
           }
         }
      }
      else if(dwTickCount>=QDCT_AutoDelay)
      {
          if(QDCT_SQD_LIMIT_IN)QDCT_SetAlarmCode(QDCT_SDQD_LIMIT_ALARM);
          else if(!QDCT_XQD_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XDQD_ORIGIN_ALARM);
      }
    }
    break;  
  case 3://穿头模到位，机械手夹带   
     if(QDCT_ZPYL_FEIDAI_IN_UP&&QDCT_PARAM_FEILIAO_MODE&&!QDCT_CLT_PD_FLAG)
     {
       CLT_PD_Runtime=dwTickCount-PRE_CLT_Runtime;
       QDCT_CLT_PD_FLAG=1;
       QDCT_PD_FZ_FLAG=1;
       FeiDai_Num=0;
     }
     if(!QDCT_CLT_ORIGIN_IN&&dwTickCount>=QDCT_KKPOLIANDelay&&(QDCT_PARAM_WEIBA_TYPE==0))//&&QDCT_PARAM_LLMZ_TYPE)//离开原点计数破链时间
     {       
        QDCT_FDAI_VAVLE=0;
     }
     if(QDCT_CLT_LIMIT_IN&&QDCT_CLT_VAVLE&&(QDCT_LLCR_CHECK_IN||QDCT_PARAM_WORK_MODE==1)&&QDCT_cMOTORStep==0)
     {        
        if(QDCT_bTestMode&&QDCT_START_IN||!QDCT_bTestMode)
        {
          QDCT_AutoStep=4;
          PRE_CLT_Runtime=dwTickCount-PRE_CLT_Runtime;
          if(QDCT_PD_FZ_FLAG)
          {
            QDCT_CHECK_CLT_PD_LENGTH=QDCT_PARAM_FEIDAI_LENGTH;
          }
          //
          if(QDCT_PARAM_WEIBA_TYPE==0)QDCT_FDAI_VAVLE=0;
          else QDCT_FDAI_VAVLE=1;
          //
          QDCT_JIALIAN_VAVLE=1;          
          QDCT_AutoDelay=dwTickCount+QDCT_PARAM_HJL_OVERTIME*10;
        }
     }
     else if(dwTickCount>=QDCT_AutoDelay)
     {
         if(!QDCT_LLCR_CHECK_IN&&(QDCT_PARAM_WORK_MODE==0))
         {
           QDCT_SetAlarmCode(QDCT_CRGY_CHECK_ALARM);//穿入未完成，或穿入感应故障
           //QDCT_AutoStep=200;
           QDCT_bAlarmStop=1;
         }
         else if(!QDCT_CLT_LIMIT_IN)
         {
           QDCT_SetAlarmCode(QDCT_CLTM_LIMIT_ALARM);//穿拉头模到位故障
           //QDCT_AutoStep=200;
           QDCT_bAlarmStop=1;
         }       
     }    
    break;
  case 4://松夹布带
    if(dwTickCount>=QDCT_AutoDelay)
    {
      if(QDCT_bTestMode&&QDCT_START_IN||!QDCT_bTestMode)
      {
         QDCT_AutoStep=5;
         QDCT_JBD_VAVLE=1;
         QDCT_AutoDelay=dwTickCount+QDCT_PARAM_SJBD_OVERTIME*10;
      }
    }
    break;
  case 5://机械手拉带,穿头模回退
    if(dwTickCount>=QDCT_AutoDelay)
    { 
       if(QDCT_bTestMode&&QDCT_START_IN||!QDCT_bTestMode)
       {
          QDCT_CLT_VAVLE=0;
          QDCT_AutoDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;          
          if(QDCT_PARAM_WORK_MODE==0)
          {
            switch(QDCT_PARAM_LLMZ_TYPE)
            {
            case 0://闭口
              if(QDCT_cMOTORStep==0)
              {
                QDCT_cMOTORStep=20;
                QDCT_AutoStep=6;
              }
              break;
            case 1://冲齿开口
              if(QDCT_cMOTORStep==0)
              {
                //if(FeiDai_Num&&QDCT_PARAM_FEILIAO_MODE)
                //{
                //  QDCT_cMOTORStep=120;
                //}
                //else
                {
                  QDCT_cMOTORStep=40;
                }                
                QDCT_AutoStep=6;
              }
              break;
            }
          }
          else//切断模式
          {            
            switch(QDCT_PARAM_LLMZ_TYPE)
            {
            case 0://闭口
              if(QDCT_cMOTORStep==0)
              {
                QDCT_cMOTORStep=80;
                QDCT_AutoStep=6;
              }
              break;
            case 1://冲齿开口
              if(QDCT_cMOTORStep==0)
              {
                QDCT_cMOTORStep=120;
                QDCT_AutoStep=6;
              }
              break;
            }
          }
       }
    }
    break; 
  case 6://机械手拉带完成，切断
    if(QDCT_cMOTORStep==0&&QDCT_CLT_ORIGIN_IN&&!QDCT_CLT_VAVLE)
    {
      if(QDCT_bTestMode&&QDCT_START_IN||!QDCT_bTestMode)
      {
         if(QDCT_QDLLStep==0)
         {
           QDCT_QDLLStep=1;
           QDCT_AutoStep=7;
         }
      }
    }
    else if(dwTickCount>=QDCT_AutoDelay)
    {
      if(QDCT_CLT_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_CLTM_ORIGIN_ALARM);
    }
    break;
   case 7://切断完成，拉带
    if(QDCT_QDLLStep==0)
    {
       if(QDCT_bTestMode&&QDCT_START_IN||!QDCT_bTestMode)
       {         
         //if(QDCT_cMOTORStep==0)
         {
           CalProSP(QDCT_SPEED_ADDR);//计算生产速度
           if(!QDCT_DUANLIAN_ALARM_FLAG&&!QDCT_CHUANGLIAN_ALARM_FLAG)
           {          
             AddToTal(QDCT_TOTAL_ADDR);//生产总量加1并保存
             AddToTal(QDCT_NOWTOTAL_ADDR);//生产总量加1并保存
             AddToTal(QDCT_ALL_TOTAL_ADDR);//累计生产总量
             AddToTal(QDCT_DATE_TOTAL_ADDR);//当班生产总量
           }
           QDCT_DUANLIAN_ALARM_FLAG=0;
           QDCT_CHUANGLIAN_ALARM_FLAG=0;
           if(QDCT_WorkCnt<10)QDCT_WorkCnt++;           
           QDCT_AutoStep=8;
         }
       }
    }
    break;  
   case 8://拉带完成，计算产量、扎数等
    //if(QDCT_cMOTORStep==0)
    {
        if(GetTotal(QDCT_NOWTOTAL_ADDR) >= user_datas[QDCT_ZHANUMBER_ADDR]&&user_datas[QDCT_ZHANUMBER_ADDR]!=0) //扎数到
        {  
            QDCT_SSD_OUT=1;
            QDCT_TRAN_FLAG=1;
            QDCT_cTMSSDelay=dwTickCount+QDCT_PARAM_TMSS_TIME*10+10;
        }
        if((GetTotal(QDCT_TOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR)) && (GetTotal(QDCT_SETTOTAL_ADDR) != 0))
        {            
            SetAlarmCode(QDCT_ALARM_ADDR,QDCT_TOTAL_ALARM); 
            if(QDCT_cMOTORStep==0)
            {
              QDCT_AutoStep=0;
              QDCT_bRunning=0;
            }
        }
        else if(SingOneFlg)
        {
          if(QDCT_cMOTORStep==0)
          {
            SingOneFlg=0;
            QDCT_AutoStep=0;
            QDCT_bRunning=0;            
          }
        }
        else
        {            
            
            if(QDCT_bTestMode&&QDCT_START_IN||!QDCT_bTestMode)
            {
              QDCT_AutoStep=1;
              QDCT_AutoDelay=dwTickCount+QDCT_PARAM_CYCLE_TIME*10;
           }
        }
    }
    break; 
    //故障处理
  case 200:
    QDCT_AutoStep=0;    
    break;
  }
  if((dwTickCount>=QDCT_cTMSSDelay)&&QDCT_SSD_OUT&&QDCT_TRAN_FLAG)
  {
      QDCT_TRAN_FLAG=0;
      QDCT_SSD_OUT=0;
      ClrcToTal(QDCT_NOWTOTAL_ADDR);
  }
}
void QDCT_CheckStart(void)
{
    //卡带
    if((QDCT_LDQL_CHECK_IN_UP&&(QDCT_PARAM_ZPSL_MODE==0)||QDCT_LDQL_COM_CHECK_IN_UP&&(QDCT_PARAM_ZPSL_MODE==1))&&QDCT_bRunning)
    {
      if(QDCT_AutoStep>=7)SingOneFlg=1;
      else QDCT_bStop=1;
      QDCT_AlARM_LED_FLAG=1;
      SetAlarmCode(QDCT_ALARM_ADDR,QDCT_KADA_ALARM);
    }
    //指示灯
    if(GetAlarmCode(QDCT_ALARM_ADDR)==0)QDCT_AlARM_LED_FLAG=0;
    
    if(QDCT_AlARM_LED_FLAG)
    {
      QDCT_ALARM_OUT=1;
      QDCT_RUNNING_OUT=0;
    }
    else if(QDCT_bRunning&&QDCT_AlARM_LED_FLAG==0)
    {
      QDCT_RUNNING_OUT=1;
       QDCT_ALARM_OUT=0;
    }
    else if(!QDCT_bRunning)
    {
      QDCT_RUNNING_OUT=0;
    }
    //启动  
    if((QDCT_START_IN_UP||QDCT_bStart||QDCT_bOnceStart)&&!QDCT_bRunning&&!QDCT_LDQL_CHECK_IN&&!QDCT_bSafedoor)
    {
      if((GetTotal(QDCT_TOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR)) && (GetTotal(QDCT_SETTOTAL_ADDR) != 0))
      {            
          SetAlarmCode(QDCT_ALARM_ADDR,QDCT_TOTAL_ALARM);           
      }
      else if(GetAlarmCode(QDCT_ALARM_ADDR)==0)
      {
         //
         QDCT_AlARM_LED_FLAG=0;
         QDCT_bRunning=1;
         QDCT_AutoStep=1;
         QDCT_cMOTORStep=1;
         QDCT_AutoDelay=dwTickCount+200;
         if(QDCT_bOnceStart)SingOneFlg=1;
         
         if(QDCT_PARAM_WORK_MODE==0)//穿头切断模式
         {
            //抓手抓料
            if(QDCT_PARAM_ZPSL_MODE==0)QDCT_ZSZLStep=1;            
            //振盘启动
            QDCT_bZPSTARTing=1;
            QDCT_cZHENPANStep=1; 
            //装拉头
            QDCT_ZLTStep=1;
            QDCT_ZLT_OK_FLAG=0;
            QDCT_XM_UP_FLAG=1;//下模允许上升标志
            //QDCT_ZLTDelay=dwTickCount+QDCT_VAVLE_ERROR_TIME;
            QDCT_CLT_PD_FLAG=0;
            QDCT_LD_PD_FLAG=0;
            QDCT_PD_FZ_FLAG=0;
            QDCT_PD_NUM=0;
         }
         else
         {
           //装拉头
            QDCT_ZLTStep=0;
            QDCT_ZLT_OK_FLAG=1;
            QDCT_XM_UP_FLAG=1;//下模允许上升标志
         }
         QDCT_JBD_VAVLE=0;         
         QDCT_bOnceStart=0;
         QDCT_WorkCnt=0;
         QDCT_CONT_ZLT_TIMES=0;
         QDCT_AlARM_STOP_FLAG=0;
         QDCT_SERVO_ALAEM_FLAG=0;
         
         QDCT_cFristQDStep=0;
        QDCT_bFristQDing=0;
        
        QDCT_cClearHDLTStep=0;
        QDCT_bClearHDLTing=0;
        
        //长度报警标志清零
        QDCT_DUANLIAN_ALARM_FLAG=0;
        QDCT_CHUANGLIAN_ALARM_FLAG=0;
        
        if(GetTotal(QDCT_NOWTOTAL_ADDR) >= user_datas[QDCT_ZHANUMBER_ADDR]&&user_datas[QDCT_ZHANUMBER_ADDR]!=0) //扎数到
        {  
            QDCT_SSD_OUT=1;
            QDCT_TRAN_FLAG=1;
            QDCT_cTMSSDelay=dwTickCount+QDCT_PARAM_TMSS_TIME*10+10;
        }
      }
    }
    //停止
    if(QDCT_STOP_IN_UP||QDCT_bStop||QDCT_EMG_STOP_IN_UP&&QDCT_PARAM_ZPSL_MODE==1)
    {
        QDCT_STOP_NUM++;
        if(QDCT_STOP_NUM>2)QDCT_STOP_NUM=0;
        if((QDCT_bStop||QDCT_STOP_IN_UP&&QDCT_PARAM_ZPSL_MODE==1)&&QDCT_bRunning)
        {
          SingOneFlg=1;
          QDCT_bStop=0;
        }
        else
        {          
          //轴停止步
          QDCT_bStop=0;
          if(QDCT_cSTOPStep==0)QDCT_cSTOPStep=1;
          else
          {
              AxisEgmStop(X_AXIS);
              AxisEgmStop(Y_AXIS);
          } 
          //自动
          QDCT_AutoStep=0;
          QDCT_cMOTORStep=0;
          //振盘
          QDCT_cZHENPANStep=0;
          QDCT_bZPSTARTing=0;
          QDCT_ZPKZ_VAVLE=0; 
          //抓手
          QDCT_ZSZLStep=0;
          QDCT_bManu_ZSZLing=0;
          //推料横送
          QDCT_TSXZLTStep=0;        
          //装拉头
          QDCT_ZLTStep=0;
          QDCT_bManu_ZLTing=0;
          QDCT_XM_UP_FLAG=0;
          
          //穿拉头
          QDCT_bManu_CTMing=0;
          if(QDCT_HSL_VAVLE==0)QDCT_CJL_VAVLE =0;
          if(QDCT_CLT_VAVLE&&QDCT_CLT_LIMIT_IN)
          {
            QDCT_CLTMStep=10;
          }
          else
          {
            QDCT_CLTMStep=0;   
            QDCT_XM_VAVLE=0; 
            
            QDCT_CLT_VAVLE=0;
          }
          //切断
          QDCT_QDLLStep=0;
          //复位
          XRunResetOStep=0;
          YRunResetOStep = 0;
          QDCT_bZS_Rsting=0;
          QDCT_bHAND_Rsting=0;
          //单次        
          SingOneFlg=0;      
          //IO  
          QDCT_JIALIAN_VAVLE=0;          

          QDCT_HSL_VAVLE =0;    
          QDCT_TL_VAVLE=0;      
          QDCT_HDDL_VAVLE=0;    
          QDCT_XZ_VAVLE=0;
          
          QDCT_ZPCQ_VAVLE=0;
     
          QDCT_FDAI_VAVLE=0;
          QDCT_XQD_VAVLE=0;     
          QDCT_ZYCS_VAVLE=0;    
          QDCT_SQD_VAVLE=0;     
          QDCT_SSD_OUT=0;  
          QDCT_AlARM_STOP_FLAG=0;
        }
        if((GetAlarm(Y_AXIS)==1)||(GetAlarm(X_AXIS)==1))
        {
          SetClr(X_AXIS, 1);
          SetClr(Y_AXIS, 1);
          QDCT_CLR_SERVOALAEM_FLAG=1;
          QDCT_CLR_ALARM_Pulse=dwTickCount+1000;
        }
        QDCT_cFristQDStep=0;
        QDCT_bFristQDing=0;
        
        QDCT_cClearHDLTStep=0;
        QDCT_bClearHDLTing=0;
        
        QDCT_SERVO_ALAEM_FLAG=0;
        QDCT_CONT_ZLT_TIMES=0;
        QDCT_STOP_PRESS_Delay=dwTickCount+800;
        QDCT_QD_SZ_STOPPRESS_DELAY=dwTickCount+3000;
        
        //长度报警标志清零
        QDCT_DUANLIAN_ALARM_FLAG=0;
        QDCT_CHUANGLIAN_ALARM_FLAG=0;
         QDCT_SJ_CHECK_OUT=0;
    }
    
    //松夹
    if(QDCT_STOP_IN&&dwTickCount>=QDCT_STOP_PRESS_Delay&&QDCT_CLTMStep==0)
    {
      QDCT_JBD_VAVLE=1;
      QDCT_STOPPRESS_FLAG=1;
    }
    else if(QDCT_CLTMStep==0)
    {
      if(QDCT_STOPPRESS_FLAG)
      {
        QDCT_STOPPRESS_FLAG=0;
        QDCT_JBD_VAVLE=0;
      }      
    }
    //松轴
    if(QDCT_STOP_IN&&dwTickCount>=QDCT_QD_SZ_STOPPRESS_DELAY)
    {
      SetEn(X_AXIS, QDCT_MOTOR_DISEN);
      SetEn(Y_AXIS, QDCT_MOTOR_DISEN);
      X_Reset_Flag=1;
      Y_Reset_Flag=1;
    }
    //安全护罩
    if(QDCT_bRunning&&(QDCT_PARAM_SAFE_DOOR_SW==0)&&
       (QDCT_DOOR_CHECK_IN_DOWN&&(QDCT_PARAM_ZPSL_MODE==0)||QDCT_DOOR_COM_CHECK_IN_DOWN&&(QDCT_PARAM_ZPSL_MODE==1)))//常开
    {
      QDCT_AlARM_LED_FLAG=1;
      SetAlarmCode(QDCT_ALARM_ADDR,QDCT_SAFE_ALARM);
      QDCT_bStop=1;
    }
    else if(QDCT_bRunning&&QDCT_PARAM_SAFE_DOOR_SW==1&&
            (QDCT_DOOR_CHECK_IN_UP&&(QDCT_PARAM_ZPSL_MODE==0)||QDCT_DOOR_COM_CHECK_IN_UP&&(QDCT_PARAM_ZPSL_MODE==1)))//常闭
    {
       QDCT_AlARM_LED_FLAG=1;
       SetAlarmCode(QDCT_ALARM_ADDR,QDCT_SAFE_ALARM);
       QDCT_bStop=1;
    }
    if(QDCT_PARAM_SAFE_DOOR_SW==0&&(!QDCT_DOOR_CHECK_IN&&(QDCT_PARAM_ZPSL_MODE==0)))
    {
      QDCT_bSafedoor=1;
    }
    else if(QDCT_PARAM_SAFE_DOOR_SW==1&&(QDCT_DOOR_CHECK_IN&&(QDCT_PARAM_ZPSL_MODE==0)))
    {
      QDCT_bSafedoor=1;
    }
    else
    {
      QDCT_bSafedoor=0;
    }
    if(QDCT_PARAM_ZPSL_MODE==1)QDCT_bSafedoor=QDCT_EMG_STOP_IN;
    /*
    if(QDCT_PARAM_SAFE_DOOR_SW==0&&(!QDCT_DOOR_CHECK_IN&&(QDCT_PARAM_ZPSL_MODE==0)||!QDCT_DOOR_COM_CHECK_IN&&(QDCT_PARAM_ZPSL_MODE==1)))
    {
      QDCT_bSafedoor=1;
    }
    else if(QDCT_PARAM_SAFE_DOOR_SW==1&&(QDCT_DOOR_CHECK_IN&&(QDCT_PARAM_ZPSL_MODE==0)||QDCT_DOOR_COM_CHECK_IN&&(QDCT_PARAM_ZPSL_MODE==1)))
    {
      QDCT_bSafedoor=1;
    }
    else
    {
      QDCT_bSafedoor=0;
    }
    */
    //故障处理
    if(QDCT_bAlarmStop)
    {
        QDCT_bAlarmStop=0;
        
        AxisEgmStop(X_AXIS);
        AxisEgmStop(Y_AXIS);
        //自动
        QDCT_bRunning=0;
        QDCT_AutoStep=0;
        //拖带
        QDCT_cMOTORStep=0;
        //切断
        QDCT_QDLLStep=0;
        //装拉头
        //QDCT_ZLTStep=0;
        //QDCT_bManu_ZLTing=0;
        //接料
        //QDCT_TSXZLTStep=0;
        //抓手抓料
        //QDCT_ZSZLStep=0;
        //QDCT_bManu_ZSZLing=0;   
        QDCT_AlARM_STOP_FLAG=1;
    }
    //伺服报警标志
    if(((GetAlarm(Y_AXIS)==1)&&(QDCT_PARAM_ZPSL_MODE==0) && (QDCT_PARAM_SF_BJ_MODE==0) || GetAlarm(X_AXIS)==1)&&!QDCT_SERVO_ALAEM_FLAG)
    {
    
      QDCT_bAlarmStop=1;
      QDCT_SERVO_ALAEM_FLAG=1;
      QDCT_SetAlarmCode(QDCT_HAND_SERVO_ALARM);
    }
    //清除伺服告警
    if(dwTickCount>=QDCT_CLR_ALARM_Pulse&&QDCT_CLR_SERVOALAEM_FLAG)
    {
       QDCT_CLR_SERVOALAEM_FLAG=0;
       SetClr(X_AXIS, 0);
       SetClr(Y_AXIS, 0);
    }
}
//初始化动作
void QDCT_InitAction(void)
{
    float buff_pulse,buff_dist;    
    buff_pulse  = QDCT_PARAM_XCYCLE_PULSE;
    buff_dist   = QDCT_PARAM_XCYCLE_LENGTH;
    XGearRatio  = buff_pulse/buff_dist;
    
    buff_pulse  = QDCT_PARAM_YCYCLE_PULSE;
    buff_dist   = QDCT_PARAM_YCYCLE_LENGTH;
    YGearRatio  = buff_pulse/buff_dist;
    
    buff_pulse  = QDCT_PARAM_ZCYCLE_PULSE;
    buff_dist   = QDCT_PARAM_ZCYCLE_LENGTH;
    ZGearRatio  = 1;// buff_pulse/buff_dist;
    
    SetEnReverse(X_AXIS, 0);
    if(!QDCT_PARAM_SF_BJ_MODE)//伺服步进切换
      SetEnReverse(Y_AXIS, 0);
    else
      SetEnReverse(Y_AXIS, 1);
    SetEn(X_AXIS, QDCT_MOTOR_DISEN);
    SetEn(Y_AXIS, QDCT_MOTOR_DISEN);

    SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);
    SetDirReverse(X_AXIS, 1);
    SetDirReverse(Y_AXIS, 0);
    //伺服报警常闭输入、0为正常，1为告警，
    SetAlarmReverse(X_AXIS,1);
    SetAlarmReverse(Y_AXIS,1);
    
    X_Reset_Flag=1;
    Y_Reset_Flag=1;
    //X轴上电复位
    if(QDCT_PARAM_XPOWERON_RST)QDCT_bHAND_REST=1;
    if(QDCT_PARAM_YPOWERON_RST)QDCT_bZS_REST=1;
    QDCT_LTCC_COUNT=0;
}

void QDCT_Action(void)
{
    QDCT_AlarmProtect();
    QDCT_CheckStart();
    QDCT_ManualAction();
    QDCT_CLTM_Proc();
    //停止处理
    QDCT_STOPACTION_Proc();
    ///   
    if(QDCT_PARAM_ZPSL_MODE==0)
    {
      //振动盘
      QDCT_ZHENPAN_Proc();
      //回原点处理
      QDCT_Y_ReSetOrigin();
      QDCT_X_ReSetOrigin();
      //抓料装料
      QDCT_ZhuaShouZL_Proc();
      //推送旋转
      QDCT_TSXZLT_Proc();
      //装拉头处理 
      QDCT_ZLT_Proc();
    }
    else
    {
      //振动盘
      QDCT_ZHENPAN_COM_Proc();
      //回原点处理
      QDCT_X_ReSetOrigin();
      //推送旋转
      QDCT_TSXZLT_COM_Proc();
      //装拉头处理 
      QDCT_ZLT_COM_Proc();
    }
    //拉带、穿链、切断
    QDCT_QDLL_Action();
    QDCT_cMotor_Action();
    QDCT_AutoStepAction(); 
    //一周切断
    QDCT_FirstQDAction();
    //一键清料
    QDCT_CLEARHDLT_Proc();
}
#endif