#include "global.h" #if CHANG_SHENG_GEI_LI_MACHINE==1 void MXC_NiLongXiuCiJiCheckStart(void); void MXC_ShaChe_Output(void); void MXC_NiLongXiuCiJi_Motor(void); void MXC_NiLongXiuCiJi_XiaC(void); void MXC_Start_FenZ(void); void MXC_NiLongXiuCiJi_FenZhengProc(void); void MXC_ChuiQiProc(void); void MXC_JiaoDao(void); void MXC_ManualAction(void); void MXC_AutoAction(void); void MXC_NiLongXiuCiJi_GouZhenProc(void); void DianDanLenghtCheck(void); long MultLengthOffset(unsigned long zip_length); unsigned short DingDanCheckOk(void); unsigned char cLFengTimer,cRFengTimer,cGuZhangStop = 0; unsigned long cShaCheTime,cLaLianLine,cGouZhenTime; unsigned char cChuiQiStep = 0,cGouZhenResetOK; unsigned short cBudaiCheckDelay = 0; unsigned char bHandWork,bPulseTatol_EN,bFirst,cInt1_OK,cStopFlag,cOneTimes,cKey_Time; long cSetEncode,cTotal,cDinWeiTime,cAddSetPulseNum,cEncodePulse,cWorkPulseNum; unsigned long cZipperLength[2]; unsigned char cCheckLengthOk=0,cDaoJu_Flag=0; unsigned char STOP_IN_FLAG,STOP_IN_FLAG_OLD,STOP_FILTER; unsigned char MXC_SingOneFlag = 0; unsigned char MXC_KD_Flag = 0,KD_GO_ON_FLAG = 0; long MXC_KD_pos = 0,save_pos_buff = 0; long zipper_length_buff; short *len_buf; short *offset_len; //故障报警 void MXC_SetAlarmCode(unsigned alarm_code) { SetAlarmCode(MXC_ALARM_ADDR,alarm_code); MXC_bAlarmStop = 1; } //高速输入X31/X17外部色标信号中断 void MXC_ExtiActionX31(void) { if(cSeBiaoEn && !cSeBiaoOk) { cSeBiaoOk = 1; cSeBiaoEn = 0; if(X_DRV) //SetRemainLength(X_AXIS, MXC_PARAM_SEBIAO_DW_LENGTH,MXC_PARAM_SB_OFFSET_SPEED); AxisMovePosAccDec(X_AXIS, MXC_PARAM_SB_OFFSET_SPEED,MXC_PARAM_SEBIAO_DW_LENGTH, MXC_PARAM_START_SPEED,MXC_PARAM_START_SPEED, 10,10,80); } DISPLAY_DATA2++; } //检测订单数据内是否还有可以加工的数据,返回订单序号 unsigned short DingDanCheckOk(void) { unsigned short ch,i; for(ch=0;ch < (MXC_DingDanNum);ch++) { i = MXC_DingDan_NowNum; // 订单完成数量 //订单量 // 拉链长度 if((GetData32bits(MXC_DingDanAddr + i*6+2) < GetData32bits(MXC_DingDanAddr + i*6+4)) && (GetData32bits(MXC_DingDanAddr + i*6) != 0)) { //设置拉链长度 SetData32bits(15, GetData32bits(MXC_DingDanAddr + i*6)); //累计条数 SetData32bits(76, GetData32bits(MXC_DingDanAddr + i*6+2)); //当前一般为0 //设置加工条数 SetData32bits(22, GetData32bits(MXC_DingDanAddr + i*6+4)); MXC_SET_REVISE_ZIPPER_LENGTH = user_datas[i+MXC_DingDanOffsetAddr]; return ch; } MXC_DingDan_NowNum++; if(MXC_DingDan_NowNum >= MXC_DingDanNum) MXC_DingDan_NowNum = 0; } return ch;//如ch = MXC_DingDanNum)无订单加工 } //num订单序号设置订单数据植物入生产表 void SetDingDanData(void) { unsigned short ch,i; i = MXC_DingDan_NowNum; //当前 for(ch=0;ch < MXC_DingDanNum;ch++) { // 订单完成数量 //订单量 if((GetData32bits(MXC_DingDanAddr + i*6+2) >= GetData32bits(MXC_DingDanAddr + i*6+4)) || (GetData32bits(MXC_DingDanAddr + i*6) == 0)) { //勾针并且长度小于勾针最小长度 if((MXC_DC_MODE != 0) || (MXC_ScanMa_LENGTH >= MXC_GouzhenMin_Length)) //伺服或色标可以直接输入 { //设置拉链长度 SetData32bits((MXC_DingDanAddr + i*6),MXC_ScanMa_LENGTH); //设置累计条数 SetData32bits(MXC_DingDanAddr + i*6+2,0); //设置加工条数 SetData32bits(MXC_DingDanAddr + i*6+4, MXC_ScanMa_Production); } break; } else { i++; if(i >= MXC_DingDanNum) i = 0; } } } long MultLengthOffset(unsigned long zip_length) { if(zip_length <= user_datas[MXC_MultLengthOffsetAddr]) len_buf = &user_datas[MXC_MultOffsetAddr]; else if(zip_length <= user_datas[MXC_MultLengthOffsetAddr+1]) len_buf = &user_datas[MXC_MultOffsetAddr+1]; else if(zip_length <= user_datas[MXC_MultLengthOffsetAddr+2]) len_buf = &user_datas[MXC_MultOffsetAddr+2]; else if(zip_length <= user_datas[MXC_MultLengthOffsetAddr+3]) len_buf = &user_datas[MXC_MultOffsetAddr+3]; else len_buf = &user_datas[MXC_MultOffsetAddr+4]; return (*len_buf); } //订单完成条数增加 void DingDanTotalAdd(void) { //把当前产量赋值到当前订单组 SetData32bits(MXC_DingDanAddr + MXC_DingDan_NowNum*6+2,GetData32bits(76)); } void DianDanLenghtCheck(void) { unsigned int i=0,ch = 0; //长度不能小于勾针长度 ch = 0; if(MXC_DingDanSet130) { MXC_DingDanSet130 = 0; i = 0; ch = 1; } //长度不能小于勾针长度 if(MXC_DingDanSet136) { MXC_DingDanSet136 = 0; i = 1; ch = 1; } //长度不能小于勾针长度 if(MXC_DingDanSet142) { MXC_DingDanSet142 = 0; i = 2; ch = 1; } //长度不能小于勾针长度 if(MXC_DingDanSet148) { MXC_DingDanSet148 = 0; i = 3; ch = 1; } if(MXC_DingDanSet154) { MXC_DingDanSet154 = 0; i = 4; ch = 1; } if((MXC_DC_MODE == 0) && ch) //在勾针定寸模式下不能勾针最小尺寸 { if( GetData32bits(MXC_DingDanAddr + i*6) < MXC_GouzhenMin_Length) { SetData32bits(MXC_DingDanAddr + i*6, MXC_GouzhenMin_Length); } } } //上电订单检测 void IntitDingDan(void) { if(MXC_DingDan_NowNum >= MXC_DingDanNum) MXC_DingDan_NowNum = 0; } void MXC_ExtiActionX20(void) { } void MXC_InitAction(void) { float length_buff,pulse_buff; //CalFreqTab_X_Free(25); length_buff = MXC_PARAM_DAILUN_LENGTH; pulse_buff = 2000; XGearRatio = pulse_buff/length_buff; if(MXC_USE_GZ_SERVO) MXC_StartFirst = 1; //上电第一次要重新定位 MXC_Gouzhencurrent_L = 0; //上电当前位置要清零 length_buff = MXC_PARAM_GouZhenLun_LENGTH; // 勾针电机一圈周长; pulse_buff = 2000; // 勾针电机细分 YGearRatio = pulse_buff/length_buff; MXC_ProSpeed = 0; //生产速度 MXC_XC_SongZhou = MXC_XC_SERVER_DISEN; MXC_TuoDaiSongZhou = MXC_SERVER_DISEN; // MXC_XIA_ZHI_ENABLE = 0;//0不带下止，带下止时强关掉 if(MXC_XIA_ZHI_ENABLE) MXC_XiaZhi_MOTOR = 1; else MXC_XiaZhi_MOTOR = 0; SetAlarmCode(MXC_ALARM_ADDR,0); //警告清零 //Y轴方向实际输出电平设置 SetDirReverse(Y_AXIS,1);//方向输出的实际电平取反 //订单初始华 //IntitDingDan(); STOP_IN_FLAG = MXC_STOP_IN; STOP_IN_FLAG_OLD = STOP_IN_FLAG; } void MXC_NiLongXiuCiJiAction(void) { InputPinConfig(); MXC_NiLongXiuCiJiCheckStart(); //启动 MXC_NiLongXiuCiJi_FenZhengProc(); //左右分针 MXC_NiLongXiuCiJi_XiaC(); //下冲 MXC_ChuiQiProc(); MXC_NiLongXiuCiJi_Motor(); //拖带控制 MXC_JiaoDao(); MXC_ManualAction(); MXC_AutoAction(); MXC_NiLongXiuCiJi_GouZhenProc(); //勾针数控动作 //订单植入 /* if(MXC_Scan_Ma) { MXC_Scan_Ma = 0; SetDingDanData(); } */ OutputPinConfig(); } void MXC_ManualAction(void) { long i; static unsigned char save_flg = 0; //清总产量 if(MXC_bClear) //清总产量 { MXC_bClear = 0; ClrcToTal(MXC_TOTAL_ADDR); // MXC_bSaveWorkData = 1; save_flg = 1; } if(save_flg) { if(!MXC_bSaveWorkData) { ClrcToTal(MXC_TOTAL_ADDR); if(MXC_DingDanWorkMode) { DingDanTotalAdd(); } save_flg = 0; } } //当长度改变时，生产总量自动清零 if(MXC_bChangeLength) { MXC_bChangeLength = 0; MXC_bClear = 1; } //加10 if(MXC_bAddLength) { MXC_bAddLength = 0; i = MXC_SET_REVISE_ZIPPER_LENGTH; i += 10; SetData32bits(MXC_ZIPPER_LENGTH_ADDR,i); } //减10 if(MXC_bDecLength) { MXC_bDecLength = 0; i = MXC_SET_REVISE_ZIPPER_LENGTH; i -= 10; SetData32bits(MXC_ZIPPER_LENGTH_ADDR,i); } //工作方式选择(数控定寸和勾针定寸)　 if(MXC_bSetDCMode) { MXC_bSetDCMode = 0; if(!MXC_bRunning) { MXC_DC_MODE++; if(MXC_DC_MODE > 2)MXC_DC_MODE = 0; if(MXC_DC_MODE != 0) { MXC_GouZhen_VAVLE = 1; MXC_XIA_ZHI_ENABLE = 0; MXC_XiaZhi_MOTOR = 0; } } } //勾针方式选择(活动勾针和固定勾针)　 if(MXC_bChangeGouZhenMode) { MXC_bChangeGouZhenMode = 0; if(!MXC_bRunning) { // MXC_GOU_ZHEN_MODE++; // if(MXC_GOU_ZHEN_MODE > 1)MXC_GOU_ZHEN_MODE = 0; } } //下止工作选择)　 if(MXC_bChangeXiaZhiMode) { MXC_bChangeXiaZhiMode = 0; if(!MXC_bRunning) { MXC_XIA_ZHI_ENABLE++; if(MXC_XIA_ZHI_ENABLE > 2) MXC_XIA_ZHI_ENABLE = 0; if(MXC_XIA_ZHI_ENABLE) MXC_XiaZhi_MOTOR = 1; else MXC_XiaZhi_MOTOR = 0; } } if(MXC_bJiaoDao) { MXC_cJiaoDaoStep = 1; MXC_bJiaoDao = 0; } if(MXC_bChuiQi) { MXC_bChuiQi = 0; if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1; } if((MXC_bRunning) == 0) ////手动 { if(MXC_ManXiaChong_UP || MXC_bXiaChong) { MXC_bXiaChong = 0; if(MXC_cXiaChongStep == 0) { MXC_cXiaChongStep = 1; MXC_DingDanJianGe_State = 0; } } 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; } //点动下冲 if((MXC_bDotXiaChong)) { MXC_bDotXiaChong = 0; if(MXC_LeftFenZhen_IN && MXC_RighttFenZhen_IN) { if(MXC_XiaChongMotorMode == 0) { if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 20; } else { if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 40; } } else { MXC_SetAlarmCode(MXC_XIA_CHONG_ALARM); //下冲条件不满足 } } if(MXC_bGouZhen) { MXC_bGouZhen = 0; if((MXC_GOU_ZHEN_MODE == 0))//普通勾针（活动）过链 { MXC_cGouZhenTime = dwTickCount + 300; MXC_GouZhen_VAVLE = ~MXC_GouZhen_VAVLE; } } } if(MXC_bXiaZhi) { MXC_bXiaZhi = 0; if(MXC_XiaZhi_VAVLE) { MXC_XiaZhi_VAVLE = 0; MXC_ChaoSheng = 0; } else { if(MXC_XIA_ZHI_ENABLE) //下止选择 { //下止输出 MXC_cXiaZhiDelay = dwTickCount + MXC_PARAM_XIAZHI_TIME; MXC_XiaZhi_VAVLE = 1; } } } if(MXC_DC_MODE != 0) //伺服定寸 { MXC_GuDingGouZhen = 1; MXC_GouZhen_VAVLE = 1; } else if((MXC_GOU_ZHEN_MODE == 0) && !Y_DRV && (MXC_cGouZhenDWStep == 0))//普通勾针（活动）过链在勾针定电机动作情况下不能关 { if(dwTickCount >= MXC_cGouZhenTime) MXC_GouZhen_VAVLE = 0; } if(MXC_bChuDai) { MXC_ChuDai_VAVLE = 1; } else { MXC_ChuDai_VAVLE = 0; } if(MXC_bTestMotor) { MXC_GouZhen_VAVLE = 1; MXC_cGouZhenTime = dwTickCount + 300; if(!X_DRV) { MXC_TuoDaiSongZhou = MXC_SERVER_EN; //AxisContinueMoveAcc(X_AXIS,10,MXC_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED); } } else if(MXC_cMotorStep == 0) { //if(X_DRV)AxisDecStop(X_AXIS); } } //下止下冲电磁铁 if((MXC_XiaZhi_VAVLE != 0) && (dwTickCount >= MXC_cXiaZhiDelay)) { MXC_XiaZhi_VAVLE = 0; } } void MXC_AutoAction(void) { unsigned short ch; DISPLAY_DATA0 = MXC_cAutoStep; DISPLAY_DATA1 = MXC_cMotorStep; //DISPLAY_DATA2 = MXC_cLeftFenZhenStep; DISPLAY_DATA3 = dwRealPos; DISPLAY_DATA4 = cZipperLength[0];//MXC_cXiaChongStep; DISPLAY_DATA5 = cZipperLength[1]; if(MXC_bRunning) { if((!MXC_Zipper_IN)) MXC_ChuDai_VAVLE = 0; else MXC_ChuDai_VAVLE = 1; if((MXC_DC_MODE == 0) && (MXC_GOU_ZHEN_MODE == 0)) { if(MXC_GouZhen_IN_UP)MXC_cGouZhenTime = 1; } else MXC_cGouZhenTime = 1; switch(MXC_cAutoStep) { case 0: break; case 1: if(dwTickCount >= MXC_cAutoDelay) { if(MXC_TuoDaiSongZhou == MXC_SERVER_DISEN) { MXC_TuoDaiSongZhou = MXC_SERVER_EN; MXC_cAutoDelay = dwTickCount + 200; //先锁轴 } else MXC_cAutoDelay = dwTickCount; //要判断勾针是否已定位好 if(MXC_cGouZhenDWStep == 0) { MXC_cAutoStep = 2; } } break; case 2: //左右分针要退到位，过链到位要离开 if(!MXC_GouZhen_IN && MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN && (dwTickCount >= MXC_cAutoDelay)) { //要判断勾针是否已定位好 if(MXC_cGouZhenDWStep == 0) { MXC_cAutoStep = 3; MXC_cMotorStep = 1; //启动拖带 } } break; case 3: //拖带已经完成 if(MXC_cMotorStep == 0) { if(SingOneFlg) { dwZipCnt = 0; SingOneFlg = 0; MXC_cAutoStep = 0; MXC_bRunning = 0; } else { MXC_cAutoStep = 4; } } break; case 4: MXC_cAutoStep = 5; break; case 5: //左右分针都已完成 if((MXC_cLeftFenZhenStep == 0) && (MXC_cRightFenZhenStep == 0) && (MXC_cXiaChongStep == 0)) { if(MXC_SET_XIACHONG_DISEN==0) { MXC_cXiaChongStep = 1; //下冲电机启动 MXC_cAutoStep = 6; } else { MXC_cAutoDelay = dwTickCount + MXC_PARAM_DELAY_XC; MXC_cAutoStep = 106; } } break; case 106: if(dwTickCount>=MXC_cAutoDelay) { MXC_GouZhen_VAVLE=1; MXC_cAutoStep = 6; } break; case 6: //下冲已完成 if(((MXC_cXiaChongStep == 0) || (MXC_cXiaChongStep >= 5)) && !MXC_XiaZhi_VAVLE) { dwZipCnt++; AddToTal(MXC_TOTAL_ADDR); //计数增加和保存 //条件满足的情况下对应产量也加1 // DingDanTotalAdd(); // MXC_DingDanJianGe = 0; //回到原来工作模式 CalProSP(MXC_PROSPEED_ADDR); MXC_cAutoStep = 7; } break; case 7: if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN) { if(GetTotal(MXC_TOTAL_ADDR) >= MXC_SET_TOTAL) { if(MXC_DingDanWorkMode && MXC_USE_GZ_SERVO) { MXC_bSaveWorkData = 1; MXC_cAutoStep = 20; } else MXC_cAutoStep = 0; MXC_bRunning = 0; MXC_SingOneFlag = 1; MXC_SetAlarmCode(MXC_TOTAL_ALARM); } else MXC_cAutoStep = 8; } break; case 8: MXC_cAutoDelay = dwTickCount + MXC_PARAM_MOTOR_DELAY; if(MXC_SingOneFlag) { dwZipCnt = 0; MXC_SingOneFlag = 0; MXC_cAutoStep = 0; MXC_bRunning = 0; } else MXC_cAutoStep = 1; break; case 20: if(!MXC_bSaveWorkData) { //订单组自动赋值 在连续订单模式下才走下一组 0 是单一订单 if(DingDanCheckOk() != (MXC_DingDanNum)) { MXC_cAutoStep = 21; MXC_cAutoDelay = dwTickCount + 20; if(MXC_DC_MODE == 0) //勾针定寸情况下才要重新的定位勾针 { //长度不一样先定位勾针 if(MXC_SET_ZIPPER_LENGTH > MXC_Gouzhencurrent_L) ch = MXC_SET_ZIPPER_LENGTH - MXC_Gouzhencurrent_L; else ch = MXC_Gouzhencurrent_L - MXC_SET_ZIPPER_LENGTH; if(ch>2) MXC_cGouZhenDWStep = 1; } } else MXC_SetAlarmCode(MXC_TOTAL_ALARM); } break; case 21: if(dwTickCount >= MXC_cAutoDelay) { if(MXC_DingDanJianGe_Length) //间隔距离为0时直接返回 { MXC_DingDanJianGe_State = 1; MXC_cMotorStep = 100; MXC_cAutoStep = 22; } else MXC_cAutoStep = 8; } break; case 22: if(MXC_cMotorStep == 0) { MXC_cXiaChongStep = 1; MXC_cAutoStep = 23; } break; case 23: if(MXC_cXiaChongStep == 0) { if(MXC_DC_MODE != 0) MXC_cAutoStep = 1; else MXC_cAutoStep = 30; } break; case 30: if(MXC_PARAM_GZ_RESET_MODE==0) MXC_cMotorStep = 200; MXC_cAutoStep = 31; break; case 31: if(MXC_cMotorStep == 0) { MXC_cAutoStep = 1; } break; } } } // 检测是否踏了脚踏开关 void MXC_NiLongXiuCiJiCheckStart(void) { unsigned short ch; // 停止键 不能在工作,手动,停止过程中 if((MXC_bRunning == 0) && (MXC_START_IN_UP || MXC_bStart || MXC_bNext)) { MXC_bStart = 0; if(!MXC_LeftFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_START_LFZ_ORIGIN_ALARM); //没拉链 else if(!MXC_RightFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_START_RFZ_ORIGIN_ALARM); else if(!MXC_Zipper_IN)MXC_SetAlarmCode(MXC_START_NO_ZIPPER_ALARM); else if((MXC_PARAM_SEBIAO_DW_LENGTH > MXC_SET_ZIPPER_LENGTH) && (MXC_DC_MODE==2))MXC_SetAlarmCode(MXC_SEBIAO_ZIPPER_LENGTH_ALARM); else if(MXC_KaDai_IN)MXC_SetAlarmCode(MXC_KA_DAI_ALARM); else { /* if(GetTotal(MXC_TOTAL_ADDR) >= MXC_SET_TOTAL) { //调入下一组数据，全部都没有的话警告停止 if(DingDanCheckOk() >= (MXC_DingDanNum)) { MXC_SetAlarmCode(MXC_TOTAL_ALARM); return; } }*/ if(MXC_bNext) { SingOneFlg = 1; MXC_bNext = 0; } MXC_bRunning = 1; cGouZhenTime = 1; cCheckLengthOk = 0; cZipperLength[0] = 0; cZipperLength[1] = 0; zipper_length_buff=0; dwZipCnt = 0; //DISPLAY_DATA4=0; /* if((MXC_DingDanJianGe_State == 1) && MXC_DingDanWorkMode && MXC_USE_GZ_SERVO) //间隔链还没有打完情况下先打间隔链 MXC_cAutoStep = 20; else */ MXC_cAutoStep = 1; //第一次上电或长度不一样时启动必须先定位勾针 //长度不一样先定位勾针 //MXC_StartFirst = 1; offset_len = &MXC_SET_REVISE_ZIPPER_LENGTH; if((MXC_SET_ZIPPER_LENGTH + (*offset_len))> MXC_Gouzhencurrent_L) ch = MXC_SET_ZIPPER_LENGTH + MXC_SET_REVISE_ZIPPER_LENGTH - MXC_Gouzhencurrent_L; else ch = MXC_Gouzhencurrent_L - (MXC_SET_ZIPPER_LENGTH + (*offset_len)); // 数控模式下不用走动勾针 if((MXC_StartFirst ||(ch>1)) && (MXC_DC_MODE == 0)&& MXC_USE_GZ_SERVO) { MXC_cGouZhenDWStep = 1; //MXC_StartFirst = 1; } } } //卡带感应 if(MXC_KaDai_IN && (dwTickCount >= MXC_cKaDaiDelay)) { if(MXC_DC_MODE == 1) { if(X_DRV && MXC_bRunning && (MXC_cMotorStep == 20)) { MXC_KD_Flag = 1; KD_GO_ON_FLAG = 1; } } MXC_SetAlarmCode(MXC_KA_DAI_ALARM); MXC_cKaDaiDelay = dwTickCount + 2200; } if(MXC_KD_Flag) { if(!X_DRV) { MXC_KD_pos = dwRealPos; MXC_KD_Flag = 0; } } if(MXC_KaDai_IN_UP) { if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1; } //停止 STOP_IN_FLAG_OLD = STOP_IN_FLAG; if(MXC_STOP_IN) { if(STOP_FILTER < 50) { STOP_FILTER++; } else STOP_IN_FLAG = 1; } else if(STOP_FILTER > 25) { STOP_FILTER--; } else STOP_IN_FLAG = 0; if(MXC_bStop) { MXC_bStop = 0; if(MXC_bRunning)MXC_SingOneFlag = 1; } if(((STOP_IN_FLAG && !STOP_IN_FLAG_OLD))) { MXC_bStop = 0; if(MXC_cGouZhenDWStep && STOP_IN_FLAG && (MXC_cXiaChongStep == 0)) { AxisDecStop(Y_AXIS); MXC_cGouZhenDWStep = 0; } if(MXC_bRunning) { if(MXC_cXiaChongStep==0) { if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1; if(!MXC_XiaChong_MOTOR)MXC_XC_SongZhou = MXC_XC_SERVER_EN; } MXC_bRunning = 0; cStopFlag = 0; MXC_cAutoStep = 0; MXC_cMotorStep = 0; MXC_cDCPStep = 0; AxisDecStop(X_AXIS); //DISPLAY_DATA4++; MXC_cJiaoDaoStep = 0; SingOneFlg = 0; MXC_SingOneFlag = 0; MXC_KD_Flag = 0; KD_GO_ON_FLAG = 0; } else { MXC_bRunning = 0; cStopFlag = 0; MXC_cAutoStep = 0; MXC_cMotorStep = 0; MXC_cXiaChongStep = 0; MXC_cLeftFenZhenStep = 0; MXC_cRightFenZhenStep = 0; MXC_cJiaoDaoStep = 0; MXC_cDCPStep = 0; MXC_XiaZhi_VAVLE = 0; MXC_LeftFenZhen_VAVLE = 0; MXC_RightFenZhen_VAVLE = 0; MXC_XiaChong_MOTOR = 0; MXC_ChaoSheng = 0; MXC_JiaoDao_OUT = 0; MXC_ChuDai_VAVLE = 0; MXC_GuDingGouZhen = 0; SingOneFlg = 0; MXC_SingOneFlag = 0; MXC_KD_Flag = 0; KD_GO_ON_FLAG = 0; if(MXC_XiaChongMotorMode) MXC_XC_SongZhou = MXC_XC_SERVER_EN; else MXC_XC_ShaChe = MXC_SC_DISEN; if((MXC_cChuiQiStep == 0) &&(MXC_cXiaChongStep==0) )MXC_cChuiQiStep = 1; AxisDecStop(X_AXIS); //DISPLAY_DATA7++; SetAlarmCode(MXC_ALARM_ADDR,MXC_NO_ALARM); } } if(!MXC_bRunning && (MXC_cMotorStep==0) && (MXC_cXiaChongStep == 0)) { if(!X_DRV)MXC_TuoDaiSongZhou = MXC_SERVER_DISEN; } if(MXC_bAlarmStop) { MXC_bAlarmStop = 0; MXC_bRunning = 0; MXC_cAutoStep = 0; MXC_cMotorStep = 0; MXC_cDCPStep = 0; MXC_SingOneFlag = 0; AxisDecStop(X_AXIS); if((GetAlarmCode(MXC_ALARM_ADDR) == MXC_XIA_CHONG_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_XC_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_FEN_ZHEN_ALARM)) { MXC_cXiaChongStep = 0; MXC_XiaChong_MOTOR = 0; } } } void MXC_JiaoDao(void) { if(MXC_cJiaoDaoStep == 1) { MXC_cChuiQiDelay = dwTickCount + 500; MXC_JiaoDao_OUT = 1; MXC_cJiaoDaoStep = 2; } else if((MXC_cJiaoDaoStep == 2) && (dwTickCount >= MXC_cChuiQiDelay)) { MXC_JiaoDao_OUT = 0; MXC_cJiaoDaoStep = 0; } } void MXC_ChuiQiProc(void) { //吹气 if(MXC_XiaChong_IN_UP) { if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1; } switch (MXC_cDCPStep) { case 0: break; case 1: MXC_cDCPStep = 2; MXC_cDaoJuCheckDelay = dwTickCount + 3500; break; case 2: if(MXC_DingChuPian_IN_DW) { MXC_cDCPStep = 0; } else if((dwTickCount >= MXC_cDaoJuCheckDelay) && (MXC_DAO_JU_ALARM_EN == 0)) MXC_SetAlarmCode(MXC_DAO_JU_ALARM); break; } switch(MXC_cChuiQiStep) { case 1: MXC_cChuiQiStep = 2; if(MXC_bRunning)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; } } void MXC_ShaChe_Output(void) { //启动吹气 cShaCheTime = dwTickCount + (unsigned long)120; if(MXC_XiaChongMotorMode == 0)MXC_XC_SongZhou = MXC_XC_SERVER_DISEN; } void MXC_Output_XiaCi(void)//下止输出 { if(MXC_XIA_ZHI_ENABLE) //下止选择 { //下止输出 MXC_cXiaZhiDelay = dwTickCount + MXC_PARAM_XIAZHI_TIME; MXC_XiaZhi_VAVLE = 1; } } unsigned char ComPareLength(void) { 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_NiLongXiuCiJi_Motor(void) { static long save_buff,gou_zhen_buff; static unsigned long zipper_length; short *revise_buff; if(MXC_bRunning) { if(MXC_Zipper_IN) { MXC_cBudaiCheckDelay = dwTickCount + MXC_PARAM_MOTOR_ALARM_TIME; } else if(dwTickCount >= MXC_cBudaiCheckDelay) //没布带了 { MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM); //没拉链 } } dwRealPos = GetPos(X_AXIS); //当前位置脉冲 dwYRealPos = GetPos(Y_AXIS); DISPLAY_DATA6 = zipper_length; DISPLAY_DATA7 = zipper_length_buff; switch(MXC_cMotorStep) { case 0: break; // 过链 左分针退位 左到位 case 1: if(MXC_LeftFenZhen_Origin_IN && (!MXC_LeftFenZhen_IN) && MXC_RightFenZhen_Origin_IN && (!MXC_RighttFenZhen_IN)) { SetPos(X_AXIS,0); //save_buff = dwRealPos; //DISPLAY_DATA2= save_buff; revise_buff = &user_datas[17]; //save_pos_buff = dwRealPos; if(MXC_DC_MODE == 0) //钩针定寸 { if(MXC_DEC_MODE) //减速方式：1数控模式 0感应方式 { if(MXC_PARAM_AUTO_CHECK_MODE)//1为自动测长0为手动输入长度 { if(cCheckLengthOk) { AxisMovePosAccDecNotStop(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length-MXC_PARAM_LOWSPEED_LENGTH, MXC_PARAM_START_SPEED,MXC_PARAM_LOW_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0); } else { if(cCheckLengthOk == 0) { cZipperLength[0] = cZipperLength[1]; cZipperLength[1] = zipper_length_buff; if(ComPareLength()) { cCheckLengthOk = 1; } } if(cCheckLengthOk) { zipper_length = cZipperLength[1]; AxisMovePosAccDecNotStop(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length-MXC_PARAM_LOWSPEED_LENGTH, MXC_PARAM_START_SPEED,MXC_PARAM_LOW_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0); } else { AxisContinueMoveAcc(X_AXIS,MXC_PARAM_FIRST_SPEED,MXC_DIR_P,MXC_PARAM_START_SPEED, MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED); } } } else { if(dwZipCnt==0) AxisContinueMoveAcc(X_AXIS,MXC_PARAM_FIRST_SPEED,MXC_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_START_SPEED, MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED); 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; AxisMovePosAccDecNotStop(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length-MXC_PARAM_LOWSPEED_LENGTH, MXC_PARAM_START_SPEED,MXC_PARAM_LOW_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0); } } MXC_cMotorStep = 3; } else // 感应方式 { AxisContinueMove(X_AXIS,MXC_PARAM_SET_SPEED,MXC_DIR_P); MXC_cMotorStep = 2; } } else if(MXC_DC_MODE == 1) //电机定寸 { if(KD_GO_ON_FLAG) { if(MXC_KD_pos > (MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH)) zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH; else zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH - MXC_KD_pos; KD_GO_ON_FLAG = 0; } else zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH; MXC_cMotorStep = 20; MXC_GouZhen_VAVLE = 1; //定位(活动勾针)电磁阀 MXC_GuDingGouZhen = 1; //定位(活动勾针)电磁阀 AxisMovePosAccDec(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length,MXC_PARAM_START_SPEED, MXC_PARAM_SHIFU_LOW_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,MXC_PARAM_SHIFU_LOWSPEED_LENGTH); } else //色标定寸 { zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff); if((dwZipCnt==0)||SingOneFlg)AxisContinueMoveAcc(X_AXIS,MXC_PARAM_SB_LOW_SPEED,MXC_DIR_P,MXC_PARAM_START_SPEED, MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED); else AxisContinueMoveAcc(X_AXIS,MXC_PARAM_SB_HIGH_SPEED,MXC_DIR_P,MXC_PARAM_START_SPEED, MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED); cSeBiaoOk = 0; cSeBiaoEn = 0; MXC_cMotorStep = 50; } MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY; MXC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME; } break; // step2-5 活动勾针定寸 case 2: if((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0))MXC_GouZhen_VAVLE = 0; if(MXC_DEC_MODE==0) // 感应模式 { if(MXC_Dec_IN_DW) { AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY; MXC_cMotorStep = 3; } } if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 3: 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) { if(cCheckLengthOk) { if((dwRealPos >= (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((dwRealPos >= (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_GouZhen_IN) { MXC_GouZhen_VAVLE = 0; MXC_cMotorStep = 4; //AxisEgmStop(X_AXIS); //再走一点拉紧 AxisMovePosAccDec(X_AXIS,MXC_PARAM_LOW_SPEED,6,MXC_PARAM_LOW_SPEED,MXC_PARAM_LOW_SPEED, MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0); } } else // 感应方式 { MXC_cMotorStep = 4; } if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 4: 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_cMotorStep = 0; zipper_length_buff=dwRealPos; } } else // 感应方式 { if(MXC_GouZhen_IN) { MXC_cMotorStep = 5; AxisEgmStop(X_AXIS); } } if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 5: if(MXC_DEC_MODE) // 数控方式 { } else // 感应方式 { if(!X_DRV) { MXC_cMotorStep = 0; } } if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; /* case 11://以下为固定勾针方式 if(MXC_XiaMode == 0) //0　普通下止　1　超声下止 当超声下时勾针 { if(dwTickCount >= MXC_cAutoDelay)MXC_GuDingGouZhen = 0; if(!MXC_GuoLian_IN) { AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); MXC_cMotorStep = 12; MXC_cAutoDelay = dwTickCount + (unsigned long)1500; //延时检测 } } else { if(MXC_GuoLianCheckMode) { if(!MXC_GuoLian_IN) { AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); MXC_cMotorStep = 12; MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[12]; //延时检测 } } else { if(MXC_GuoLian_IN) { AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); MXC_cMotorStep = 12; MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[12]; //延时检测 } } } break; case 12: if(dwTickCount >= MXC_cAutoDelay) { if(MXC_GuDingGouZhen) { MXC_GuDingGouZhen = 0; MXC_cAutoDelay = dwTickCount + (unsigned long)1500; //延时检测 } else if(!MXC_GuDingGouZhen) { // MXC_SetAlarmCode(MXC_GU_DING_GOUZHEN_ALARM); } } if(MXC_XiaMode == 0) //0　普通下止　1　超声下止 当超声下时勾针 { if(MXC_GuoLian_IN) { MXC_GuDingGouZhen = 0; MXC_cMotorStep = 13; MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10]; //延时停电机 } } else { if(MXC_GuoLianCheckMode) { if(MXC_GuoLian_IN_UP) { MXC_GuDingGouZhen = 0; MXC_cMotorStep = 13; MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10]; //延时停电机 } } else { if(MXC_GuoLian_IN_DW) { MXC_GuDingGouZhen = 0; MXC_cMotorStep = 13; MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10]; //延时停电机 } } } break; case 13: if((dwTickCount >= MXC_cAutoDelay)) { if(MXC_XiaMode == 0) //0　普通下止　1　超声下止 当超声下时勾针 { AxisEgmStop(X_AXIS); if(MXC_GuoLian_IN) { MXC_cMotorStep = 0; MXC_LIHE_VAVLE = 0; } } else { if(MXC_GuoLianCheckMode) { if(MXC_GuoLian_IN) { MXC_cMotorStep = 0; AxisEgmStop(X_AXIS); MXC_LIHE_VAVLE = 0; } } else { if(!MXC_GuoLian_IN) { MXC_cMotorStep = 0; AxisEgmStop(X_AXIS); MXC_LIHE_VAVLE = 0; } } } } break; */ //伺服定寸 case 20: if(!X_DRV)MXC_cMotorStep = 0; else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 50: if(dwZipCnt==0) { cSeBiaoOk = 0; cSeBiaoEn = 1; MXC_cMotorStep = 51; } else { if((dwRealPos + MXC_PARAM_SEBIAO_LOWSPEED_LENGTH) >= (zipper_length -MXC_PARAM_SEBIAO_DW_LENGTH)) AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); if((dwRealPos + MXC_PARAM_SEBIAO_TQ_LENGTH) >= (zipper_length - MXC_PARAM_SEBIAO_DW_LENGTH)) { cSeBiaoOk = 0; cSeBiaoEn = 1; MXC_cMotorStep = 51; } else if(dwRealPos > (zipper_length + MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM); } break; case 51: if(dwZipCnt!=0) { if(dwRealPos >= (zipper_length - MXC_PARAM_SEBIAO_LOWSPEED_LENGTH)) AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); if(dwRealPos > (zipper_length + MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM); } if(!X_DRV) { if(dwZipCnt!=0) { if(dwRealPos < (zipper_length - MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM); } MXC_cMotorStep = 0; } else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM); break; /* case 100: //算出间隔脉冲 zipper_length = MXC_DingDanJianGe_Length + MXC_PARAM_DAOKOU_LENGTH; AxisMovePosAccDec(X_AXIS,MXC_PARAM_SET_SPEED/2,zipper_length,MXC_PARAM_START_SPEED/2,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED); MXC_cMotorStep = 101; break; case 101: if(!X_DRV) { MXC_cMotorStep = 0; } break; case 200: //先把拉链 zipper_length = MXC_SET_ZIPPER_LENGTH; //把速度降下来 AxisMovePosAccDec(X_AXIS,MXC_PARAM_SET_SPEED/2,zipper_length,MXC_PARAM_START_SPEED/2,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED); MXC_cMotorStep = 201; break; case 201: if(!X_DRV) { MXC_cMotorStep = 0; } break; */ } } //下冲 void MXC_NiLongXiuCiJi_XiaC(void) { static unsigned char xia_zhi_flg = 0; static unsigned long delay_gz_back; static unsigned char gz_back_flg = 0; if((MXC_XIA_ZHI_ENABLE == 2) && MXC_bRunning) { if((dwTickCount >= delay_gz_back) &&gz_back_flg) { MXC_GouZhen_VAVLE = 1; gz_back_flg = 0; MXC_cGouZhenTime = dwTickCount + 300; } } switch(MXC_cXiaChongStep) { case 0: return; break; case 1: { MXC_DingDanJianGe_State = 0; if((MXC_XIA_ZHI_ENABLE == 2) && MXC_bRunning) { MXC_cXiaChongStep = 7; delay_gz_back = dwTickCount + MXC_PARAM_DELAY_GOUZHEN_BACK; gz_back_flg = 1; xia_zhi_flg = 0; MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_DELAY_XC; } else { gz_back_flg = 0; MXC_cRightFenZhenStep = 1; if(MXC_cDCPStep == 0) MXC_cDCPStep = 1; MXC_cLeftFenZhenStep = 0; cRFengTimer = 0; cLFengTimer = 0; MXC_cXiaChongStep = 2; } } break; case 2: if((MXC_cRightFenZhenStep==0) && (MXC_cLeftFenZhenStep==0)) { if(MXC_XiaChongMotorMode) MXC_XC_SongZhou = MXC_XC_SERVER_EN; else MXC_XC_ShaChe = MXC_SC_DISEN; MXC_XC_SongZhou = MXC_XC_SERVER_DISEN; //刹车打开 if(MXC_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; //下冲电机 if(MXC_bRunning) { MXC_Output_XiaCi();//下止输出 xia_zhi_flg = 1; } MXC_cXiaChongDelay = dwTickCount + (unsigned long)ERRORTIME; //下冲最长时间 // if(MXC_XiaChongMotorMode == 1) // { // AxisMoveTwoPos(Y_AXIS,MXC_XiaChongSpeed,2000,MXC_XiaChongLowSpeed,9999999,0); // } } break; case 4: //碰到右大微动,延时停 if(MXC_XiaChong_IN_UP) { MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_XC_DELAY; MXC_cXiaChongStep = 5; MXC_LeftFenZhen_VAVLE = 0; //退左分针 MXC_RightFenZhen_VAVLE = 0; //退右分针 MXC_GouZhen_VAVLE = 1; MXC_cGouZhenTime = dwTickCount + 300; } else if(dwTickCount >= MXC_cXiaChongDelay) //自动停机 { MXC_cXiaChongStep = 0; // MXC_ShaChe_Output();////刹车 MXC_XiaChong_MOTOR = 0;// //下冲电机 MXC_SetAlarmCode(MXC_XC_ALARM); MXC_LeftFenZhen_VAVLE = 0; //退左分针 MXC_RightFenZhen_VAVLE = 0; //退右分针 // AxisEgmStop(Y_AXIS); } break; case 5: if(dwTickCount >= MXC_cXiaChongDelay) { // AxisEgmStop(Y_AXIS); MXC_XiaChong_MOTOR = 0; //延时刹车 if(MXC_PARAM_SC_MODE) { MXC_cXiaChongStep = 0; } else { MXC_cXiaChongStep = 6; } // MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_SC_DELAY; } break; case 6: // if((dwTickCount >= MXC_cXiaChongDelay)) { MXC_cXiaChongStep = 7; MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_SC_DELAY; // MXC_ShaChe_Output(); } break; case 7: if((dwTickCount >= MXC_cXiaChongDelay)&& !MXC_XiaZhi_VAVLE) { MXC_cXiaChongStep = 0; if(MXC_bRunning && !xia_zhi_flg) { MXC_Output_XiaCi();//下止输出 } MXC_cXiaChongDelay = dwTickCount; MXC_XC_SongZhou = MXC_XC_SERVER_EN; } break; case 20: // 点动普通下冲动作 MXC_XC_SongZhou = MXC_XC_SERVER_DISEN; MXC_cXiaChongDelay = dwTickCount + 50; MXC_cXiaChongStep = 21; break; case 21: if((dwTickCount >= MXC_cXiaChongDelay)) { MXC_XiaChong_MOTOR = 1; MXC_cXiaChongDelay = dwTickCount + 50; MXC_cXiaChongStep = 22; } break; case 22: if((dwTickCount >= MXC_cXiaChongDelay)) { MXC_XiaChong_MOTOR = 0; MXC_XC_SongZhou = MXC_XC_SERVER_DISEN; if(MXC_XiaChongMotorMode) MXC_cXiaChongStep = 0; else { MXC_cXiaChongDelay = dwTickCount + 150; MXC_cXiaChongStep = 23; } } break; case 23: if((dwTickCount >= MXC_cXiaChongDelay)) { MXC_XC_SongZhou = MXC_XC_SERVER_EN; MXC_cXiaChongStep = 0; } break; case 40: // 点动电机下冲动作 MXC_XC_SongZhou = MXC_XC_SERVER_DISEN; MXC_cXiaChongDelay = dwTickCount + 50; MXC_cXiaChongStep = 41; break; case 41: if(!Y_DRV)AxisMovePos(Y_AXIS,20,10); MXC_cXiaChongStep = 42; break; case 42: if(!Y_DRV) { MXC_cXiaChongStep = 0; } break; } } //分针 void MXC_NiLongXiuCiJi_FenZhengProc(void) { if(MXC_FenZSelect==0) { MXC_cLeftFenZhenStep = 0; MXC_cRightFenZhenStep = 0; } //右分针 switch(MXC_cRightFenZhenStep) { case 0: break; case 1: MXC_cFenZhenRightDelay = MXC_PARAM_R_FZ_DELAY+dwTickCount; MXC_cRightFenZhenStep = 2; break; case 2: if(dwTickCount >= MXC_cFenZhenRightDelay) { MXC_cRightFenZhenStep = 3; MXC_RightFenZhen_VAVLE = 1;//右分针电磁阀 MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime; } break; case 3: //碰到右大微动,延时停 if(!MXC_RightFenZhen_Origin_IN) //右分针原点离开 { MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime; MXC_cRightFenZhenStep = 4; }//右分针不下去 else if(dwTickCount >= MXC_cFenZhenRightDelay) { MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM); MXC_cRightFenZhenStep = 0; MXC_RightFenZhen_VAVLE = 0; } break; case 4: if(MXC_RighttFenZhen_IN) //插针到位 { MXC_cRightFenZhenStep = 0; MXC_cLeftFenZhenStep = 1; //左分针延时启动 } else if(dwTickCount >= MXC_cFenZhenRightDelay) { MXC_RightFenZhen_VAVLE = 0;//右分针 cRFengTimer++; //当右分针分不到位时，左分针也要重新分针 MXC_LeftFenZhen_VAVLE = 0; MXC_cRightFenZhenStep = 0; if(cRFengTimer < 4) { MXC_cRightFenZhenStep = 5; MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime; } else { MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM); MXC_cRightFenZhenStep = 0; MXC_RightFenZhen_VAVLE = 0; } } break; case 5: if(MXC_RightFenZhen_Origin_IN) //退到位 { MXC_cRightFenZhenStep = 6; } else if(dwTickCount >= MXC_cFenZhenRightDelay) { MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM); MXC_RightFenZhen_VAVLE = 0; MXC_cRightFenZhenStep = 0; } break; case 6: { MXC_cRightFenZhenStep = 1; } break; } //左分针 switch(MXC_cLeftFenZhenStep) { case 0: break; case 1: MXC_cFenZhenLeftDelay = MXC_PARAM_L_FZ_DELAY+dwTickCount; MXC_cLeftFenZhenStep = 2; break; case 2: if(dwTickCount >= MXC_cFenZhenLeftDelay) { MXC_cLeftFenZhenStep = 3; MXC_LeftFenZhen_VAVLE = 1; //左分针电磁阀 MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime; } break; case 3: //离开左分针原点 if(!MXC_LeftFenZhen_Origin_IN) //左分针原点离开 { MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime; MXC_cLeftFenZhenStep = 4; }//左分针不下去 else if(dwTickCount >= MXC_cFenZhenLeftDelay) { MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM); MXC_cLeftFenZhenStep = 0; MXC_LeftFenZhen_VAVLE = 0; } break; case 4: if(MXC_LeftFenZhen_IN) //插针到位 MXC_cLeftFenZhenStep = 0; else if(dwTickCount >= MXC_cFenZhenLeftDelay) { MXC_LeftFenZhen_VAVLE = 0;//左分针 cLFengTimer++; if(cLFengTimer < 6) { MXC_cLeftFenZhenStep = 5; MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime; if((cLFengTimer%2) == 0) { MXC_RightFenZhen_VAVLE = 0; MXC_cRightFenZhenStep = 0; } } else { MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM); MXC_cLeftFenZhenStep = 0; MXC_LeftFenZhen_VAVLE = 0; } } break; case 5: if(MXC_LeftFenZhen_Origin_IN) //退到位 { MXC_cLeftFenZhenStep = 6; } else if(dwTickCount >= MXC_cFenZhenLeftDelay) { MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM); MXC_cLeftFenZhenStep = 0; MXC_LeftFenZhen_VAVLE = 0; } break; case 6: if((cLFengTimer%2) == 0) //左边插两次都插不到，就退右边再同时插 { MXC_cRightFenZhenStep = 1; cRFengTimer = 0; MXC_cLeftFenZhenStep = 0; } else { MXC_cLeftFenZhenStep = 1; } break; } } //勾针复位定位动作 void MXC_NiLongXiuCiJi_GouZhenProc(void) { static unsigned char kk; static unsigned long last_set_length; long ch; //当前勾针位置为脉冲位置加偏移量 MXC_Gouzhencurrent_L = dwYRealPos; //DISPLAY_DATA7 = dwYRealPos; if(!MXC_bRunning) //在手动状态下才点动勾针 { if((MXC_cXiaChongStep == 0) && (MXC_cGouZhenDWStep == 0)) { //输入变化自动定位 if(last_set_length != MXC_SET_ZIPPER_LENGTH) { last_set_length=MXC_SET_ZIPPER_LENGTH; if(MXC_USE_GZ_SERVO) MXC_cGouZhenDWStep = 1; //MXC_StartFirst=1; kk=0; } //勾针定位 if(MXC_GouZhenlocation) { MXC_GouZhenlocation = 0; MXC_cGouZhenDWStep = 1; MXC_StartFirst=1; kk = 0; } if(MXC_ShaChe) { MXC_ShaChe = 0; if(!Y_DRV) { MXC_GouzhenShaChe = !MXC_GouzhenShaChe; //刹车取反 } } if(MXC_GouZhenforward && !MXC_GouZhenforward_IN && !Y_DRV) //勾针前移 限位开关不能输入 { if(!MXC_GouzhenShaChe || !MXC_GouZhen_VAVLE) MXC_cGouZhenMotorDelay = dwTickCount + 150; MXC_GouzhenShaChe = 1; //刹车松开 //MXC_GouzhenMotor_DR = MXC_GZ_DIR_P; MXC_GouZhen_VAVLE = 1; MXC_cGouZhenTime = dwTickCount + 400; kk = 0; //先松开刹车延时动电机 if(dwTickCount >= MXC_cGouZhenMotorDelay) { if(!Y_DRV) { AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Hand_SPEED,MXC_GZ_DIR_N,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0); } } } if(MXC_GouZhenforward_IN) { MXC_GouZhenforward = 0; } if(MXC_GouZhenback && !MXC_GouZhenback_IN && !Y_DRV) //勾针后移 限位开关不能输入 { if(!MXC_GouzhenShaChe || !MXC_GouZhen_VAVLE) MXC_cGouZhenMotorDelay = dwTickCount + 150; MXC_GouzhenShaChe = 1; //刹车松开 //MXC_GouzhenMotor_DR = MXC_GZ_DIR_N; MXC_GouZhen_VAVLE = 1; MXC_cGouZhenTime = dwTickCount + 400; kk = 0; //先松开刹车延时动电机 if(dwTickCount >= MXC_cGouZhenMotorDelay) { if(!Y_DRV) { AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Hand_SPEED,MXC_GZ_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0); } } } if(MXC_GouZhenback_IN || ((dwYRealPos >= GetData32bits(MXC_N_LIMIT_LENGTH_ADDR)) && !MXC_StartFirst)) { MXC_GouZhenback = 0; } if((!MXC_GouZhenforward && !MXC_GouZhenback) && (kk == 0)) { if(Y_DRV) { if(MXC_GouzhenShaChe) { kk = 1; MXC_cGouZhenMotorDelay = dwTickCount + 450; } } AxisEgmStop(Y_AXIS); //立即停 MXC_GouZhenback = 0; MXC_GouZhenforward = 0; } //电机停止后延时刹车 if(kk && (dwTickCount >= MXC_cGouZhenMotorDelay)) { kk = 0; MXC_GouzhenShaChe = 0; //刹车 } } } switch(MXC_cGouZhenDWStep) { case 1: MXC_cGouZhenMotorDelay = dwTickCount + 160; MXC_GouZhen_VAVLE = 1; MXC_GouzhenShaChe = 1; //刹车松开 MXC_cGouZhenDWStep = 2; break; case 2: //先回前点 if(dwTickCount >= MXC_cGouZhenMotorDelay) { if(!MXC_GouZhenforward_IN) { if((!MXC_StartFirst)) { offset_len = &MXC_SET_REVISE_ZIPPER_LENGTH; ch = (MXC_SET_ZIPPER_LENGTH + MultLengthOffset(MXC_SET_ZIPPER_LENGTH)+(*offset_len) - MXC_GouzhenMin_Length); //算出脉冲 if(ch < 0) { MXC_SetAlarmCode(MXC_GOUZHEN_MIN_LENGTH_ALARM); MXC_cGouZhenDWStep = 0; } else { ch = ch - MXC_Gouzhencurrent_L; //DISPLAY_DATA1=ch; //DISPLAY_DATA2=MXC_Gouzhencurrent_L; // if(ch < 0) // MXC_GouzhenMotor_DR = MXC_GZ_DIR_P; // else // MXC_GouzhenMotor_DR = MXC_GZ_DIR_N; // // SetDir(Y_AXIS,MXC_GouzhenMotor_DR); AxisMovePos(Y_AXIS,MXC_GouzhenSpeed_Auto_SPEED,ch); MXC_cGouZhenDWStep = 7; } } else //等于0时就是第一次, 走手动速度 { //MXC_GouzhenMotor_DR = MXC_GZ_DIR_P; if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Hand_SPEED,MXC_GZ_DIR_N,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0); MXC_cGouZhenDWStep = 3; } } else //已在原点直接后移 { MXC_cGouZhenDWStep = 4; MXC_GouzhenMotor_DR = MXC_GZ_DIR_N; //变为后移方向 } } break; case 3: if(MXC_GouZhenforward_IN) //感应前点 延时后移 { MXC_cGouZhenDWStep = 4; AxisEgmStop(Y_AXIS); MXC_cGouZhenMotorDelay = dwTickCount + 50; } break; case 4: if(dwTickCount >= MXC_cGouZhenMotorDelay) { //MXC_GouzhenMotor_DR = MXC_GZ_DIR_N; //变为后移方向 ch = 5; AxisContinueMoveAcc(Y_AXIS,ch,MXC_GZ_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0); //匀速离开零点位置 MXC_cGouZhenDWStep = 5; } break; case 5: if(!MXC_GouZhenforward_IN) { MXC_cGouZhenDWStep = 6; AxisDecStop(Y_AXIS); } break; case 6: if(!Y_DRV) { SetPos(Y_AXIS, 0); //回到原点位置清零 //MXC_GouzhenMotor_DR = MXC_GZ_DIR_N; //变为后移方向 offset_len = &MXC_SET_REVISE_ZIPPER_LENGTH; if((MXC_SET_ZIPPER_LENGTH+(*offset_len)+ MultLengthOffset(MXC_SET_ZIPPER_LENGTH)) >= MXC_GouzhenMin_Length) { ch = (MXC_SET_ZIPPER_LENGTH + (*offset_len) + MultLengthOffset(MXC_SET_ZIPPER_LENGTH) - MXC_GouzhenMin_Length); //算出脉冲 //SetDir(Y_AXIS,MXC_GouzhenMotor_DR); AxisMovePos(Y_AXIS,MXC_GouzhenSpeed_Auto_SPEED,ch); MXC_cGouZhenDWStep = 7; } else { MXC_SetAlarmCode(MXC_GOUZHEN_MIN_LENGTH_ALARM); MXC_cGouZhenDWStep = 0; } } break; case 7: if(!Y_DRV) { MXC_cGouZhenDWStep = 8; MXC_cGouZhenMotorDelay = dwTickCount + 420; } else if((MXC_GouzhenMotor_DR == MXC_GZ_DIR_N) && (MXC_GouZhenback_IN || ((dwYRealPos >= GetData32bits(MXC_N_LIMIT_LENGTH_ADDR)) && !MXC_StartFirst))) { AxisEgmStop(Y_AXIS); //立即停 MXC_cGouZhenDWStep = 8; MXC_SetAlarmCode(MXC_GOUZHEN_MORE_ALARM); MXC_cGouZhenMotorDelay = dwTickCount + 420; } break; case 8: if(dwTickCount>= MXC_cGouZhenMotorDelay) { MXC_GouzhenShaChe = 0; //刹车 MXC_cGouZhenDWStep = 0; MXC_StartFirst = 0; } break; } } #endif