#include "global.h"


#if FU_JIAN_MACHINE
//免修齿
//输入说明
//X000      启动  
//X001      停止
//X002      手动下冲
//X003      勾针到位接近开关
//X004      减速信号
//X005      卡带、数量到
//X006      左分针退到位
//X007      左分针到位信号
//STOP_IN0      下冲原位
//STOP_IN1 		右分针退到位
//STOP_IN2 	    右分针到位信号
//	
//STOP_IN3      左大微动（吹气信号） 
//STOP_IN4      有链检测(数控定寸时的光电开关，不用是请接电源的GND)
//STOP_IN5 		色标信号
//STOP_IN6 		下止选择(有触摸屏时不用接) 
//STOP_IN7 		发超声信号
//X020 		分带信号
//X021      过链(固定勾针)接近开关
//X022      0普通勾针方式,1勾针固定方式		  
//输出说明
//输出说明
//Y000	    离合器（离合器方式时才接线）
//Y001      刹车    
//Y002      吹气电磁阀    
//Y003      下止电磁阀	      
//Y004      左分针电磁阀
//Y005      勾针/储带
//Y006      右分针电磁阀
//Y007      下冲电机/
//Y010      超声输出/
//Y011　　　计数(不用触摸屏用)
//Y012　　　拖带电机(步进型不用接)
//Y013		分带电磁阀
//Y014　　　储带
//Y015		固定勾针
//Y017      拖带步进松轴/伺服电机使能

//步进驱动   板  
//PU+       PU+
//PU-     	PU-
//MF+     	24V
//MF-     	Y17
/*
	D[0]	下止电磁阀输出时间 
	D[1]	吹气时间
	D[2]	超声时间
	D[3]	延时刹车
	D[4]	刹车时间
	D[5]	延时停下冲电机　　
	D[6]	起动速度
	D[7]	加速度
	D[8]	最高速度
	D[9]	空位最低速度
	D[10]	定位时间(慢速长度)
	D[11]   动作配置　｛D11－＞0　0普通下止，1超声下止；D11－＞1　0刹车不释放，1释放，
						｝ 
	D[12]   延时上勾针
	D[13]   模具长度(刀口长度)
	D[14]   拖带轮长度
	D[15]   拉链长度低位
	D[16] 	拉链长度高位
	D[17] 	修正长度低位
	D[18] 	修正长度高位
	D[19] 	勾针伺服选择
	D[20]   下止选择{0 选择，1　不下止}	
	D[21]   勾针定寸时的减速方式（0勾针减速信号，1长度自动减速同用）
	D[22]	产量设定低位
	D[23]	产量设定高位	
	D[24]	勾针方式选择  D24　0普通勾针方式,1勾针固定方式
	D[25]	固定勾针方式时感应信号(0, 空位时亮，空位时灭)	
	D[26]   延时发超声	
	D[27]	下冲电机配置(0，普通电机，1 步进电机) 
	D[28]   下冲电机的起动速度
	D[29]   下冲电机的最高速度
	D[30]	拖带电机配置（0  步进  1 伺服）	
	D[31]	延时吹气
	D[32]   勾针定寸方式第一条的最高速度		
*/



void MXC_NiLongXiuCiJiCheckStart(void);
void CuiQi_Start(void);
void ShaChe_Output(void);
void Output_XiaCi(void);
void Close_XiaCi(void);
void NiLongXiuCiJi_Motor(void);
void NiLongXiuCiJi_XiaC(void);
void Start_FenZ(void);
void NiLongXiuCiJi_FenZhengProc(void);
void ChuiQiProc(void);
void JiaoDao(void);
void MXC_ManualAction(void);
void MXC_AutoAction(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,cHMI_Test;
long cSetEncode,cTotal,cDinWeiTime,cAddSetPulseNum,cEncodePulse,cWorkPulseNum;


void MXC_InitAction(void)
{
    MXC_XC_SongZhou = 1;				 
    XIA_ZHI_ENABLE = 0; 
    
    if(MOTOR_MODE == 0)
       MXC_TuoDaiSongZhou = 1;
    else	
       MXC_TuoDaiSongZhou = 0;
    if(XIA_ZHI_ENABLE)
       MXC_XiaZhi_MOTOR = 1;
    else	
       MXC_XiaZhi_MOTOR = 0;   
}

void MXC_NiLongXiuCiJiAction(void)
{
    MXC_NiLongXiuCiJiCheckStart();  //启动
    NiLongXiuCiJi_FenZhengProc();	//左右分针
    NiLongXiuCiJi_XiaC();     		//下冲
    NiLongXiuCiJi_Motor();			//拖带控制
    JiaoDao();
    MXC_ManualAction();
    MXC_AutoAction();



/*		if(cHMI_Test == 0)
		{
			if(user_datas[100] < 32)
			{
				if(user_datas[75] == 6)  	//输入
				{
					user_datas[100] += 48;
				}	
				else if(user_datas[75] == 7)	//输出
					user_datas[100] += 32;
			}	
		}	*/		
}


void MXC_ManualAction(void)
{
      long i;
      //清总产量
      if(MXC_bClear)         //清总产量
      {
          MXC_bClear = 0;
          ClrcToTal(76);		    		
      }

      //当长度改变时，生产总量自动清零
      if(MXC_bChangeLength)
      {
          MXC_bChangeLength = 0;
          i = SET_ZIPPER_LENGTH;
          if(cLaLianLine != i)
          {
              cLaLianLine = i;
              SetZipperLength(17,0);
              ClrcToTal(76);
          }
      }
      //加10
      if(MXC_bAddLength)
      {
              MXC_bAddLength = 0;
              i = SET_REVISE_ZIPPER_LENGTH;
              i += 10;
              SetZipperLength(17,i);
      }
      //减10
      if(MXC_bDecLength)
      {
              MXC_bDecLength = 0;
              i = SET_REVISE_ZIPPER_LENGTH;
              i -= 10;
              SetZipperLength(17,i);		
      }
      //工作方式选择(数控定寸和勾针定寸)　
      if(MXC_bSetDCMode)
      {
              MXC_bSetDCMode = 0;
              if(!bRunning)
              {
                      DC_MODE++;
                      if(DC_MODE > 2)DC_MODE = 0;
              
                      if(DC_MODE != 0)	
                      {
                          MXC_GouZhen_VAVLE = 1;	
                          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(!bRunning)
              {
                      GOU_ZHEN_MODE++;
                      if(GOU_ZHEN_MODE > 1)GOU_ZHEN_MODE = 0;	
              }
      }
      //下止工作选择)　
      if(MXC_bChangeXiaZhiMode)
      {
              MXC_bChangeXiaZhiMode = 0; 
              if(!bRunning)
              {
                      XIA_ZHI_ENABLE++;
                      if(XIA_ZHI_ENABLE > 1)XIA_ZHI_ENABLE = 0;
                      
                      if(XIA_ZHI_ENABLE)
                         MXC_XiaZhi_MOTOR = 1;
                      else	
                         MXC_XiaZhi_MOTOR = 0;   	
              }
      }
      if(MXC_bJiaoDao)
      {
              cJiaoDaoStep = 1;
              MXC_bJiaoDao = 0;
      }
      //吹气
      if((MXC_ChuiQi_VAVLE == 0))
      {
              if(MXC_DingChuPian_IN_DW)
              {
                    MXC_bChuiQi = 0;
                    cChuiQiDelay = dwTickCount + 10*PARAM_DELAY_CHUIQI_TIME;	
                    cChuiQiStep = 1;
              }
              else if(MXC_bChuiQi == 1)
              {
                    MXC_bChuiQi = 0;
                    cChuiQiDelay = 0;		
                    cChuiQiStep = 1;	
              }
      }

      ChuiQiProc();

      if(MXC_ChuiQi_VAVLE && (dwTickCount >= cChuiQiDelay))
      {
              MXC_ChuiQi_VAVLE = 1;//
              MXC_XiChiChuiQi = 1;
              cChuiQiDelay = dwTickCount + 10 * PARAM_CHUIQI_TIME;
      }


      if(MXC_XiChiChuiQi && (dwTickCount >= cChuiQiDelay))
      {
            MXC_XiChiChuiQi = 0;	
      }
      //刹车方式
      if(ShaCheMode)
      {
           if(MXC_XC_SongZhou && (dwTickCount >= cShaCheTime) && (XiaCongMotorMode == 0)) MXC_XC_SongZhou = 0;	
      }
      
        if((bRunning) == 0) ////手动 
        {        
                                                    
              if(DC_MODE != 0)   //伺服定寸
              {
              
                      MXC_GuDingGouZhen = 1;
                      MXC_GouZhen_VAVLE = 1;
              }
              else if((GouZMode == 0) )//普通勾针（活动）过链
              {
                      if(dwTickCount >= cGouZhenTime)
                              MXC_GouZhen_VAVLE = 0;
              }
              else
              {
                      if(XiaMode)     //0普通下止，1超声下止
                      {
                              if(MXC_GuoLian_IN_UP)
                              {
                                      MXC_GuDingGouZhen = 0;	
                              }
                      }
                      else	//刘铁方式(下拉一下就可以复位)
                      {
                              if(MXC_GuDingGouZhen && (dwTickCount >= cGouZhenTime))
                                      MXC_GuDingGouZhen = 0;	
                      }
              }		
            //下止动作
            if(MXC_XiaZhi_IN_UP || MXC_bXiaZhi)
            {
                    MXC_bXiaZhi = 0;
                    if(MXC_XiaZhi_VAVLE)
                    {
                            MXC_XiaZhi_VAVLE = 0;
                            MXC_ChaoSheng = 0;
                            MXC_FenDai_VAVLE = 0;		//分带输出
                    }	
                    else
                            Output_XiaCi();
            }	
            else if(MXC_XiaZhi_IN_DW)
            {
                    MXC_XiaZhi_VAVLE = 0;		//下止电磁阀
                    MXC_ChaoSheng    = 0;		//超声输出	
                    MXC_FenDai_VAVLE = 0;		//分带输出
            }		
            Close_XiaCi();			
     
            if(MXC_bChuDai)
            {
                    MXC_ChuDai_VAVLE = 1;		
            }
            else
            {
                    MXC_ChuDai_VAVLE = 0;
            }
                       
            if((!STOP_IN) && (MXC_ManXiaChong_UP || (MXC_bXiaChong)) && (bHandWork == 0))//加模到位　2006.7.31
            {
                    MXC_bXiaChong = 0;//cMidleCoil[0] &= ~((1<<3));
                    cAutoStep = 1;
                    MXC_XiaChong_MOTOR = 0; 
                    bHandWork = 1;
            } 
    
            switch(cAutoStep)
            {
                case 1:  //先启动分针
                Start_FenZ();
                cAutoStep = 2;
                        break;
                case 2://左右分针都已完成
                        if((cLeftFenZhenStep == 0) && (cRightFenZhenStep == 0))
                        {
                                cXiaChongStep = 1;   //下冲电机启动
                                cAutoStep     = 3;
                        }
                        break;
                case 3:  //下冲已完成
                        if(cXiaChongStep == 0)
                        {
                                MXC_LeftFenZhen_VAVLE  = 0;
                                MXC_RightFenZhen_VAVLE = 0;
                                cAutoStep              = 4;
                                cAutoDelay = dwTickCount + 50;	
                        }
                        break;
                case 4:
                        if(dwTickCount >= cAutoDelay)
                        {		
                                cAutoStep = 5;

                        }
                        break;	
                case 5:
                        if((dwTickCount >= cGouZhenTime))
                        {		
                                bHandWork = 0;
                                cAutoStep = 0;
                                if(DC_MODE == 0)
                                {
                                    MXC_GouZhen_VAVLE = 0; 
                                }
                        }
                        break;	
                                            
            }                        
            if(bHandWork == 0)  //在未手动下冲的情况下
            {       				
                if(MXC_bLeftFenZhen)
                {
                        MXC_LeftFenZhen_VAVLE = 1; 
                }
                else
                        MXC_LeftFenZhen_VAVLE = 0; 
                if(MXC_bRightFenZhen)
                {
                        MXC_RightFenZhen_VAVLE = 1; 
                }
                else
                        MXC_RightFenZhen_VAVLE = 0; 
                if(MXC_bGouZhen)
                {
                        MXC_bGouZhen = 0;//cMidleCoil[0] &= ~((1<<9));
                        cGouZhenTime  = dwTickCount + (unsigned long)300;   //勾针延时退
                        if((GouZMode == 0))//普通勾针（活动）过链
                        {
                                if(MXC_GouZhen_VAVLE)
                                        MXC_GouZhen_VAVLE = 0;
                                else
                                {	
                                        MXC_GouZhen_VAVLE = 1;						
                                }	
                        }
                        else	//固定勾针
                        {
                                if(MXC_GuDingGouZhen)
                                        MXC_GuDingGouZhen = 0;
                                else
                                {	
                                        MXC_GuDingGouZhen = 1;
                                }
                        }			
                }		
                //点动下冲
                if((MXC_bDotXiaChong))
                {
                        MXC_bDotXiaChong = 0;
                        if(MXC_LeftFenZhen_IN && MXC_RighttFenZhen_IN)
                        {
                                MXC_bDotXiaChongDisplay = 1;
                                MXC_XiaChong_MOTOR = 1;//下冲电机
                                bPulseTatol_EN = 1;
                                if(XiaCongMotorMode == 0)
                                        cAutoDelay = dwTickCount + 50;	
                                else
                                {
                                        MXC_XC_SongZhou = 0;
                                        cAutoDelay = dwTickCount + 65;
                                        AxisContinueMove(X_AXIS,PARAM_LOW_SPEED,0);
                        
                                }	
                        }
                        else
                        {
                                SetAlarmCode(100,MXC_XIA_CHONG_ALARM);		//下冲条件不满足
        //		        user_datas[75] = 5;		//页面跳转
                                MXC_bSaveWorkData = 1;
                        }
                }
                if((!MXC_XiaChong_MOTOR) && (dwTickCount >= cAutoDelay) && (MXC_bDotXiaChongDisplay))
                {
                        MXC_XiaChong_MOTOR = 1;	//下冲电机
                }
                if((MXC_XiaChong_MOTOR) && (dwTickCount >= cAutoDelay) && (MXC_bDotXiaChongDisplay))
                {
                        bPulseTatol_EN = 0;
                        AxisDecStop(X_AXIS);
                        MXC_XiaChong_MOTOR = 0;	//下冲电机
                        MXC_bDotXiaChongDisplay = 0;
                        ShaChe_Output();//
                }		
            }
            else
            {
                    MXC_bLeftFenZhen = 0;MXC_bRightFenZhen = 0;MXC_bDotXiaChong = 0;MXC_bDotXiaChongDisplay = 0;MXC_bGouZhen = 0;
            }		
	}
}

void MXC_AutoAction(void)
{
    unsigned long i;
     
    if(!bRunning)
    {   
        if(MXC_XiaZhi_IN || (!MXC_Zipper_IN))
            MXC_ChuDai_VAVLE = 0;	  	
        else
            MXC_ChuDai_VAVLE = 1;
        
        if((DC_MODE == 0) && (GouZMode == 0))
        { 	
            if(MXC_GouZhen_IN_UP)cGouZhenTime = 1;
        }
        else
            cGouZhenTime = 1;	
        
        switch(cAutoStep)
        {
            case 0:
                    break;
            case 1:
                    //左右分针要退到位，过链到位要离开
                    if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN && (dwTickCount >= cAutoDelay))
                    {
                        cAutoStep = 2;
                        cMotorStep = 1;   //启动拖带 
                    }     			
                    break;
            case 2:
                    //拖带已经完成
                    if(cMotorStep == 0)
                    {
                        bFirst = 1;
                        //调试功能  
                        if(DC_MODE != 2)cAutoStep = 3;
                        
                        // 调试功能        下一条  下冲    	
                        else if((!MXC_bDingWei)  || MXC_bNext || MXC_ManXiaChong_UP || MXC_bXiaChong)
                        {
                            if(MXC_bNext)
                            {
                                cAutoStep = 1;
                                MXC_bNext = 0;
                                cInt1_OK = 0;
                                    
                            }
                            else
                            {	
                                cAutoStep = 3;
                                MXC_bDingWei = 0;
                            }
                        }	
                        cAutoDelay = dwTickCount + 5;   //延时分针
                    }
                    break;	
            case 3:
                    if((dwTickCount >= cAutoDelay) && cGouZhenTime)
                    {
                        cGouZhenTime = 0;
                        cAutoStep = 4;	
                        Start_FenZ();
                        if(XiaCongMotorMode == 1)
                        { 
                            MXC_XiaChong_MOTOR = 1;  //下冲电机 
                        }	
                    }
                    break;
            case 4:
                    //左右分针都已完成
                    if((cLeftFenZhenStep == 0) && (cRightFenZhenStep == 0))
                    {
                        cXiaChongStep = 1;   //下冲电机启动
                        cAutoStep = 5;	
                        AddToTal(76);	 //计数增加和保存
                        CalProSP(78);
                    }
                    break;
            case 5:  //下冲已完成
                    if(cXiaChongStep == 0)
                    {
                        cAutoStep = 6;
                        cAutoDelay = dwTickCount + (unsigned long)15;   //延时检测退到位
                    }
                    break;		
            case 6:
                    if(dwTickCount >= cAutoDelay)
                    {
                        if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN)
                        {
                            cAutoDelay = dwTickCount + (unsigned long)15;   //延时检测退到位
                            cAutoStep = 7;
                            i = SET_TOTAL;
                            if(cTotal >= i)
                            {
                                cStopFlag = 1;
                                SetAlarmCode(100,MXC_FEN_ZHEN_ALARM);//分针不成功
//			    				user_datas[75] = 5;		//页面跳转
                                MXC_bSaveWorkData = 1;
                            }
                        }
                    }
                    break;	
            case 7:
                    if((dwTickCount >= cAutoDelay) && (MXC_Dec_IN || user_datas[21] || DC_MODE))
                    {
                        if(cOneTimes == 0)
                        {
                              cAutoStep = 1;	
                        }
                        else
                        {
                              cStopFlag = 1;	
                        }
                    }	
                    break;	
            case 8:
                    if((dwTickCount >= cAutoDelay))
                    {
                        if(DC_MODE == 0)
                        {
                             cAutoStep = 9;							
                        }
                        else
                        {
                            if(cOneTimes == 0)
                            {
                                    cAutoStep = 1;	
                            }
                            else
                            {
                                    cStopFlag = 1;	
                            }						
                        }
                    }	
                    break;	
            case 9:
                if((dwTickCount >= cGouZhenTime) && (MXC_Dec_IN == 1))
                {		
                    MXC_GouZhen_VAVLE = 0;
            
                    if(cOneTimes == 0)
                    {
                            cAutoStep = 1;	
                    }
                    else
                    {
                            cStopFlag = 1;	
                    }
                } 	
                break;		
                        
        }		         
    }
}

// 检测是否踏了脚踏开关
void MXC_NiLongXiuCiJiCheckStart(void)
{
    //  停止键        不能在工作,手动,停止过程中                                
    if((!STOP_IN) && (bHandWork == 0) && (bRunning == 0) && (cStopFlag==0)
    //         启动
     && (START_IN_UP || (MXC_bStart)) && (cKey_Time == 0) && (!MXC_GuoLian_IN))
    {
    	if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_KaDai_IN)
    	{
	    	bRunning = 1;
	    	MXC_bClearAlarm = 1;
	    	cKey_Time = 10;
	    	cAutoStep = 1;
	    	cMotorStep = 0;
	    	cXiaChongStep = 0;
	    	cLeftFenZhenStep = 0;
	    	cRightFenZhenStep = 0;
                SetAlarmCode(100,MXC_NO_ALARM);	
                cAutoDelay = dwTickCount + (unsigned long)200;   //先锁轴
                

                cOneTimes = 0;
                cGouZhenTime = 1;
                MXC_XiaChong_MOTOR = 0;		//
                if(XiaCongMotorMode == 1)
                {
                      MXC_XC_SongZhou = 0;
                }	

            
                if(MOTOR_MODE == 0)
                        MXC_TuoDaiSongZhou = 0;
                else		
                        MXC_TuoDaiSongZhou = 1;	
                
                if(MXC_bDingWei)cSetEncode = 0;	
                bFirst = 0;	
    	}
    	else
    	{
		//	user_datas[75] = 5;		//页面跳转
		if(MXC_KaDai_IN)
                    SetAlarmCode(100,MXC_KA_DAI_ALARM);		//卡带	
	    	else	
    		    SetAlarmCode(100,MXC_START_ALARM);			//起动条件不满足
    	}
    	MXC_bStart = 0;
    }

	//卡带感应
    if(MXC_KaDai_IN && (dwTickCount >= cKaDaiDelay))
    {
    	SetAlarmCode(100,MXC_KA_DAI_ALARM);	//警告清
//    	user_datas[75] = 5;		        //页面跳转
	cKaDaiDelay = dwTickCount + 2200;
    }
	if(MXC_KaDai_IN_UP)
	{
            MXC_bSaveWorkData = 1;	
	}		
 //停止
    if((STOP_IN_UP || (MXC_bStop)))
    { 
            //   不是下冲状态
        if((cXiaChongStep == 0) && (bRunning == 0)) 
        {
            CuiQi_Start();
            if(!MXC_XiaChong_MOTOR)MXC_XC_SongZhou = 1;
        }
       
        if((cStopFlag == 0) && (cKey_Time == 0))
        {
                cKey_Time = 4;

                if(((DC_MODE == 0) || STOP_IN_UP) && ((XiaCongMotorMode == 0) || (cXiaChongStep == 0)))
                {
                     AxisDecStop(X_AXIS);
                }	
                MXC_GuDingGouZhen = 0;

                
                                
                
                CuiQi_Start();
                if(X_DRV && !MXC_XiaChong_MOTOR && (DC_MODE == 1))
                {
                     cGuZhangStop = 1;
                }		
                if((++cOneTimes >= 2) || !bRunning || !X_DRV)
                {
                        
                    cStopFlag = 1;
                    SetAlarmCode(100,MXC_NO_ALARM);	
                    
//                            user_datas[75] = 50;
                    if(!X_DRV)
                    {
                            
                        if(MOTOR_MODE == 0)
                            MXC_TuoDaiSongZhou = 1;	   
                        else	
                            MXC_TuoDaiSongZhou = 0;

                    }
                                
                }
                cKaDaiDelay = dwTickCount + 1200;
                cGouZhenTime  = dwTickCount + (unsigned long)300;   //勾针延时退
        }
        MXC_bStop = 0;
        MXC_bSaveWorkData = 1;
    }

    if((cXiaChongStep == 0) && (((cStopFlag) != 0) || (MXC_KaDai_IN)))
    {
    	bRunning = 0;
    	bHandWork = 0;
		
    	cStopFlag = 0;
      	cAutoStep = 0;
       	cMotorStep = 0;
       	cXiaChongStep = 0;
       	cLeftFenZhenStep = 0;
       	cRightFenZhenStep = 0;

        MXC_XC_SongZhou      = 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_FenDai_VAVLE     = 0;
        MXC_ChuDai_VAVLE     = 0;
        MXC_GuDingGouZhen    = 0;
        
                
        if(!X_DRV)
        {
            if(MOTOR_MODE == 0)
               MXC_TuoDaiSongZhou = 1;
            else	
               MXC_TuoDaiSongZhou = 0;
        }		
       	if(MXC_KaDai_IN_UP)CuiQi_Start();
        
        MXC_XC_SongZhou = 1;				// 刹车
        
        if(GouZMode != 0)   //超声(固定)勾针
                MXC_GuDingGouZhen = 1;
        if(DC_MODE != 0)
        {
            if(X_DRV)cGuZhangStop = 1;
        }	
        else
            AxisDecStop(X_AXIS);	
        
        cGouZhenTime  = dwTickCount + (unsigned long)300;   //勾针延时退		
    }
 }   

void JiaoDao(void)
{
   if(cJiaoDaoStep == 1)
	{
            cChuiQiDelay = dwTickCount + 500;
            MXC_JiaoDao_OUT = 1;
            cJiaoDaoStep = 2;
	}
	else if((cJiaoDaoStep == 2) && (dwTickCount >= cChuiQiDelay)) 
	{
	    MXC_JiaoDao_OUT = 0;	
            cJiaoDaoStep = 0;
	}  	
}

void CuiQi_Start(void)
{
	//启动吹气
	cChuiQiDelay = dwTickCount + (unsigned long)50 * PARAM_CHUIQI_TIME;
	MXC_ChuiQi_VAVLE = 1;
	MXC_XiChiChuiQi = 0;
}

void ChuiQiProc(void)
{	
    if(cChuiQiStep == 0)
	{	
	}
	else if((cChuiQiStep == 1) && (dwTickCount >= cChuiQiDelay))
	{
           CuiQi_Start();
           cChuiQiStep = 0;
	}	
}
void ShaChe_Output(void)
{
    //启动吹气
    cShaCheTime = dwTickCount + (unsigned long)120;
    if(XiaCongMotorMode == 0)MXC_XC_SongZhou = 1;
}

void Output_XiaCi(void)//下止输出
{
	if(MXC_XiaZhi_IN || (XIA_ZHI_ENABLE && cHMI_Test))  //下止选择
	{	
            //下止输出
             cXiaZhiDelay = dwTickCount + 10 * PARAM_XIAZHI_TIME;
             MXC_XiaZhi_VAVLE = 1;
	}	
}
//关下止动作
void Close_XiaCi(void)
{
	if((XiaMode != 0))//普通下止
	{
		if(MXC_GuoLian_IN_UP|| MXC_FenDai_IN_UP)
			MXC_FenDai_VAVLE = 1; 
		if(bRunning)
		{	
                    if(MXC_GuoLian_IN_UP && MXC_XiaZhi_VAVLE)
                    {
                        cXiaZhiDelay = dwTickCount + 10 * PARAM_XIAZHI_DELAY_TIME;	
                    }
                    if(MXC_GuoLian_IN && MXC_XiaZhi_VAVLE)
                    {
                        if(!MXC_ChaoSheng && (dwTickCount >= cXiaZhiDelay))
                        {
                                MXC_ChaoSheng = 1;
                                cXiaZhiDelay = dwTickCount + (unsigned long)10 * PARAM_CHAOSHENG_TIME;	
                        }
                        if(MXC_ChaoSheng && (dwTickCount >= cXiaZhiDelay))
                        {
                                MXC_FenDai_VAVLE = 0;		//分带输出
                                MXC_ChaoSheng    = 0;		//超声输出
                                MXC_XiaZhi_VAVLE = 0;		//下止阀
                        }
                    }
		}		
	}
	else 
	{ 
                //下止下冲电磁铁
            if((MXC_XiaZhi_VAVLE != 0) && (dwTickCount >= cXiaZhiDelay)) 
            {       
                MXC_XiaZhi_VAVLE = 0;
            }	
	}		
}

unsigned long LengthCallPulse(unsigned long length)
{
    return (length * 2000 / PARAM_DAILUN_LENGTH);
}
void  NiLongXiuCiJi_Motor(void)
{
	unsigned long ch;
	switch(cMotorStep)
	{
		case 0:
                            return;
                            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)) 
                {
                        cAutoDelay = dwTickCount + (unsigned long)35;   //延时检测
                        MXC_LIHE_VAVLE = 1;                               //离合器
                                                                                                     
                        //计算长度脉冲
                        //                             拉链长度                                                  
                        ch = SET_ZIPPER_LENGTH;
                        if(DC_MODE != 2)
                        {
                                ch += SET_REVISE_ZIPPER_LENGTH;			  
                                ch += PARAM_DAOKOU_LENGTH;//模具长度（刀口长度）
                        }
                                        
                        cSetEncode = LengthCallPulse(ch);
                        
                        //慢速长度
                        ch =  LengthCallPulse(PARAM_LOWSPEED_LENGTH);
                        
                        //色标的定位长度
                        cDinWeiTime =   LengthCallPulse(PARAM_SEBIAO_DW_LENGTH);	
                        //色标提前检测距离
                        cAddSetPulseNum = LengthCallPulse(PARAM_SEBIAO_TQ_LENGTH);			
                        cEncodePulse = 0;
                        cInt1_OK = 0;
                        
                        if(DC_MODE == 0)
                        {
                            if((GouZMode == 0))//普通勾针（活动）过链
                            {	
                                cMotorStep = 2;
                                
                                if(bFirst == 0)                                 
                                    AxisMoveTwoPos(X_AXIS,PARAM_FIRST_SPEED,cSetEncode - ch,PARAM_LOW_SPEED,9999999,0);
                                else
                                    AxisMoveTwoPos(X_AXIS,PARAM_SET_SPEED,cSetEncode - ch,PARAM_LOW_SPEED,9999999,0);
                            }	
                            else   //带下止型勾针
                            {
                                cMotorStep = 11;
                                if(bFirst == 0)                                 
                                    AxisMoveTwoPos(X_AXIS,PARAM_FIRST_SPEED,cSetEncode - ch,PARAM_LOW_SPEED,9999999,0);
                                else
                                    AxisMoveTwoPos(X_AXIS,PARAM_SET_SPEED,cSetEncode - ch,PARAM_LOW_SPEED,9999999,0);	
                                cAutoDelay = dwTickCount + (unsigned long)70;   //延时检测
                            }        
                            
                            cGuZhangStop = 0;
                            cWorkPulseNum = 0;
		
                            if(!MXC_GouZhen_VAVLE)
                            {
                                cMotorStep = 3;
                            }	
                        }
                        else if(DC_MODE == 1)
                        {
                            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
                            cAutoDelay = dwTickCount + 130;	//要检测对射 
                            
                            if(cWorkPulseNum >= cSetEncode)cMotorStep = 0;
                            else
                            {
                                AxisMovePos(X_AXIS,PARAM_SET_SPEED,cSetEncode);
                            }
                        }
                        else 
                        {
                            if(cWorkPulseNum >= cSetEncode)cMotorStep = 0;
                            else
                            {
                                AxisMoveTwoPos(X_AXIS,PARAM_SET_SPEED,cSetEncode - ch,PARAM_LOW_SPEED,9999999,0);
                            }                        
                        }                                                       
                }
                break;
		// step2-5  活动勾针定寸		
		case 2:if((dwTickCount >= cAutoDelay))
                        {	
                            MXC_GouZhen_VAVLE = 0;//定位电磁阀
                        }
                        if(!MXC_GouZhen_VAVLE && !MXC_GouZhen_IN)
                        {
                            if(!PWM_RUN_STATE)
                                    TuoDaiStartPWM(cStepNum);
                            cStepMode = 1;   //加速模式		
                            cMotorStep = 3;
                            cAutoDelay = dwTickCount +  (unsigned long)10000;
                        }
                        break;	
		case 3:
                        if(cStepNum > (cLowSpeadLimit + 1))
                        {
                                cAutoDelay = dwTickCount +  (unsigned long)10000;	
                        }
                        //减速信号方式     数控减速方式
                        if(((IN04 != 0)  && (user_datas[21] == 0)) || ((cPulseStepDEC >= cPulseCount)  && (user_datas[21] == 1)))
                        {
                                user_datas[126] = cPulseCount;
                                cSPDec = 3;
                                cStepNum =  cLowSpeadLimit+1;
                                cPulseCount	= cPulseStepDEC;
                                cStepMode = 2;   //减速模式
                                cMotorStep = 4;
                                cAutoDelay = dwTickCount +  (unsigned long)10000;
                        }
                        if((MXC_GouZhen_IN)) //X003  到位信号也要停
                        {
                                cStepMode = 2;   //减速模式
                                cMotorStep = 4;
                                CLRQ00;          //离合器断开
                                StopPWM();			//PWMTCR = 0x02;			//在设置之前，先将定时器复位
                        }
                        else if((dwTickCount >= cAutoDelay) && (cStepNum <= cLowSpeadLimit))
                        {
                                cStopFlag = 1;
                                user_datas[100] = 7;		//分针不成功
                        user_datas[75] = 5;		//页面跳转	
                                MXC_bSaveWorkData = 1;	
                        }	
                        break;
		case 4:		
                        if(MXC_GouZhen_IN)
                        {
                                cMotorStep = 0;
                                StopPWM();//PWMTCR = 0x02;			//在设置之前，先将定时器复位
                                
                        }
                        else if((dwTickCount >= cAutoDelay))
                        {
                                cStopFlag = 1;
                                user_datas[100] = 7;		//分针不成功
                        user_datas[75] = 5;		//页面跳转	
                                MXC_bSaveWorkData = 1;	
                        }
                        
/*			
                        //布带对射检测
                        if(X14)
                        {
                                cBudaiCheckDelay = dwTickCount + 30000;		
                        }
                        else if(dwTickCount >= cBudaiCheckDelay)	//没布带了
                        {
                                cStopFlag = 1;
                                user_datas[100] = 7;		//分针不成功
                            user_datas[75] = 5;		//页面跳转	
                                MXC_GouZhen_VAVLE = 0;	
                                MXC_bSaveWorkData = 1;
                        }
*/						
                        break;			
		//以下为固定勾针方式
	
		case 11:
                        if(XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针
                        {	
                                if(dwTickCount >= cAutoDelay)MXC_GuDingGouZhen = 0;
                                if(!X21)
                                {
                                        cSPDec =1;				 //减速度
                                        cStepMode = 2;   //减速模式	
                                        cMotorStep = 12;
                                        cAutoDelay = dwTickCount + (unsigned long)1500;   //延时检测	
                                }								
                        }
                        else
                        {	bFlag = X21;
                                if(GuoLianCheckMode)
                                        bFlag = ~bFlag;	
                                if(bFlag)
                                {
                                        cStepMode = 2;   //减速模式	
                                        cMotorStep = 12;
                                        cAutoDelay = dwTickCount + (unsigned long)user_datas[12];   //延时检测	
                                }	
                        }		
                        break;
		case 12:
                        if(dwTickCount >= cAutoDelay)
                        {
                                if(Y15)
                                {	
                                        MXC_GuDingGouZhen = 0;
                                        cAutoDelay = dwTickCount + (unsigned long)1500;   //延时检测
                                }	
                                else if(!Y15)
                                {
                                        cStopFlag = 1;
                                        user_datas[100] = 7;		//没链停机
                                user_datas[75] = 5;		//页面跳转	
                                        MXC_bSaveWorkData = 1;
                                }			
                        }
                        if(XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针	
                        {
                                if(!IN21)
                                {
                                        MXC_GuDingGouZhen = 0;
                                        cMotorStep = 13;
                                        cAutoDelay = dwTickCount + (unsigned long)user_datas[10];   //延时停电机	
                                }	
                                
                        }
                        else
                        {
                                if(GuoLianCheckMode)
                                        bFlag = X21_UP;
                                else 
                                        bFlag = X21_DW;		
                                if(bFlag)
                                {
                                        MXC_GuDingGouZhen = 0;
                                        cMotorStep = 13;
                                        cAutoDelay = dwTickCount + (unsigned long)user_datas[10];   //延时停电机	
                                }
                        }
                        break;	
		case 13:
                        if((dwTickCount >= cAutoDelay))	
                        {
                                if(XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针	
                                {
                                        StopPWM();
                                        if(X21)
                                        {
                                                cMotorStep = 0;
                                                CLRQ00;
                                        }
                                }
                                else
                                {
                                        if(GuoLianCheckMode)
                                                bFlag = !X21;
                                        else 
                                                bFlag = X21;		
                                        if(!bFlag)
                                        {
                                                cMotorStep = 0;
                                                StopPWM();
                                                CLRQ00;
                                        }	
                                }	
                        }
                        if(MXC_Zipper_IN)
                        {
                                cBudaiCheckDelay = dwTickCount + 30000;		
                        }
                        else if(dwTickCount >= cBudaiCheckDelay)	//没布带了
                        {
                                cStopFlag = 1;
                                 SetAlarmCode(100,MXC_NO_ZIPPER_ALARM);	//没拉链
 //                           user_datas[75] = 5;		//页面跳转
                                MXC_GouZhen_VAVLE = 0;	
                                MXC_bSaveWorkData = 1;		
                        }						
                        break;
		
		//伺服定寸	
		case 20:
                        if(!X_DRV)cMotorStep = 0;
                       
                        //布带对射检测
                        if(MXC_Zipper_IN)
                        {
                                cAutoDelay = dwTickCount + 140;		
                        }
                        else if(dwTickCount >= cAutoDelay)	//没布带了
                        {
                                cStopFlag = 1;
                                SetAlarmCode(100,MXC_NO_ZIPPER_ALARM);	//没拉链
//                            user_datas[75] = 5;		//页面跳转	
                                MXC_GouZhen_VAVLE = 0;	
                                MXC_bSaveWorkData = 1;	
                        }
                                        
                        break;
		case 50:
                        cStopFlag = 1;
                        SetAlarmCode(100,MXC_NO_SEBIAO_ALARM);		//
//                        user_datas[75] = 5;		//页面跳转		
                        MXC_bSaveWorkData = 1;			
	}
}
//下冲
void  NiLongXiuCiJi_XiaC(void)
{
	if(bRunning)
		Close_XiaCi();
	switch(cXiaChongStep)
	{ 
		case 0:
			return;
			break;
		case 1:
			cXiaChongStep = 2;
			MXC_XC_SongZhou = 0;//cMidleCoil[2] &= ~Q01;//CLRY001;  //刹车打开
			cDelayTime4 = dwTickCount + (unsigned long)7;   //刹车放开时间

			//下止输出
			if(bRunning)
        		Output_XiaCi();	
			break;
		case 2:
			if(dwTickCount >= cDelayTime4)
			{
				bPulseTatol_EN = 1;
				cXiaChongStep = 3;	
	 			MXC_XiaChong_MOTOR = 1;//cMidleCoil[2] |= Q00;//SETY000;  //下冲电机  
	 			cDelayTime4 = dwTickCount + (unsigned long)ERRORTIME;   //下冲最长时间   	

				cPulseCount = 0;
				cGuZhangStop = 0;
				if(XiaCongMotorMode == 1)
				{
					cStepMode = 4;   //计脉冲模式	
					cPulseCount = 2020;
					
					cSPDec = 3;
					cPulseStepCount = 0;
					
					cStepSet = user_datas[29]; 
					cPulseStepDEC = cStepSet * cSPDec + 250;
					cSPAdd = 12;//user_datas[30];
					cStepNum = user_datas[28];
					cLowSpeadLimit = cStepNum + 3;
					StartPWM(cStepNum);
					MXC_ChuiQi_VAVLE = 1;
				}	
        	}
        	break;
		case 3:  //碰到右大微动,延时停
			if((X10_UP))
			{
				cDelayTime4 = dwTickCount + (unsigned long)user_datas[5];//cSetPara[5]; 
				cXiaChongStep = 4;
				MXC_LeftFenZhen_VAVLE = 0;//cMidleCoil[2] &= ~Q04;//CLRY004;   	//退左分针
				MXC_RightFenZhen_VAVLE = 0;//cMidleCoil[2] &= ~Q06;//CLRY006;	//退右分针
				cStepMode = 2;   //减速模式	
				cGouZhenTime  = dwTickCount + (unsigned long)150;   //勾针延时退	
				MXC_GouZhen_VAVLE = 1;
				MXC_GuDingGouZhen = 1;
	 
			}
			else if(dwTickCount >= cDelayTime4) //自动停机
			{
				bPulseTatol_EN = 0;
				StopPWM();	
				cXiaChongStep = 0;
				cStopFlag = 1;
				ShaChe_Output();//MXC_XC_SongZhou = 1;//cMidleCoil[2] |= Q01;//SETY001;	//刹车
				MXC_XiaChong_MOTOR = 0;//cMidleCoil[2] &= ~Q00;//CLRY000; 	//下冲电机
				user_datas[100] = 5;		//下冲异常
    			user_datas[75] = 5;		//页面跳转
				MXC_LeftFenZhen_VAVLE = 0;//cMidleCoil[2] &= ~Q04;//CLRY004;   	//退左分针
				MXC_RightFenZhen_VAVLE = 0;//cMidleCoil[2] &= ~Q06;//CLRY006;	//退右分针
				MXC_bSaveWorkData = 1;
			}
			
//			if(X14_DW)
//			{
			   
//			}
			break;
		case 4:	
//			if(cStepNum <= cLowSpeadLimit)
//				StopPWM();
			if(dwTickCount >= cDelayTime4)	
			{
				cXiaChongStep = 5;
				bPulseTatol_EN = 0;
				cWorkPulseNum = 0;
				StopPWM();
				MXC_XiaChong_MOTOR = 0;      //延时刹车
				cDelayTime4 = dwTickCount + (unsigned long)user_datas[3];//cSetPara[3]; 				
			}
			break;
		case 5:	
			if((dwTickCount >= cDelayTime4))
			{
				cXiaChongStep = 6;
				ShaChe_Output();//MXC_XC_SongZhou = 1;//cMidleCoil[2] |= Q01;//SETY001;
				cDelayTime4 = dwTickCount + (unsigned long)30;		
			}
			break;
		case 6:
			if(!X17 && !MXC_XiaZhi_VAVLE && !MXC_ChaoSheng && (dwTickCount >= cDelayTime4))
			{
				cXiaChongStep = 0;

			}	
			break;
	}
}
//启动分针
void Start_FenZ(void)
{
	cDelayTime5 = dwTickCount + 30;
	cLeftFenZhenStep = 1;
	cRightFenZhenStep = 0;
	cRFengTimer = 0;
	cLFengTimer = 0;
}


#define  FenZhengErrorTime    5000
 //分针
void  NiLongXiuCiJi_FenZhengProc(void)
{
	if(FenZSelect != 0)
	{
		cLeftFenZhenStep = 0;
		cRightFenZhenStep = 0;	
	}	
	//右分针
	switch(cLeftFenZhenStep)
	{ 
		case 0:
			break;
		case 1:
			if(dwTickCount >= cDelayTime5)
			{
				cLeftFenZhenStep = 2;
	 			MXC_RightFenZhen_VAVLE = 1;//cMidleCoil[2] |= Q06;//SETY006;  //右分针电磁阀
	 			cDelayTime5 = dwTickCount + (unsigned long)FenZhengErrorTime;      	
 			}	
        	break;
		case 2:  //碰到右大微动,延时停
			if(!MXC_RightFenZhen_Origin_IN)   //右分针原点离开
			{
				cDelayTime5 = dwTickCount + 500;
				cLeftFenZhenStep = 3;
//				cRightFenZhenStep = 1;   //左分针延时启动
				cDelayTime6 = dwTickCount + (unsigned long)20;
			}//右分针不下去
			else if(dwTickCount >= cDelayTime5)
			{
				cStopFlag = 1;
				user_datas[100] = 4;		//分针不成功
    			user_datas[75] = 5;		//页面跳转
				MXC_bSaveWorkData = 1;
				if(XiaCongMotorMode == 1)
				{ 
					MXC_XiaChong_MOTOR = 0;//cMidleCoil[2] |= Q00;//SETY000;  //下冲电机 
				}	
			}
			break;
		case 3:	
			if(MXC_RighttFenZhen_IN)  //插针到位
			{
				cLeftFenZhenStep = 0;
				cRightFenZhenStep = 1;   //左分针延时启动
			}
			else if(dwTickCount >= cDelayTime5)
			{
				MXC_RightFenZhen_VAVLE = 0;//cMidleCoil[2] &= ~Q06;//CLRY006; //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;//cMidleCoil[2] &= ~Q04;//CLRY004;
				cRightFenZhenStep = 0;
				if(cRFengTimer < 4)
				{
					cLeftFenZhenStep = 4;
					cDelayTime5 = dwTickCount + FenZhengErrorTime;
				}
				else
				{
					cStopFlag = 1;
					user_datas[100] = 4;		//分针不成功
    				user_datas[75] = 5;		//页面跳转
					MXC_bSaveWorkData = 1;
					if(XiaCongMotorMode == 1)
					{ 
						MXC_XiaChong_MOTOR = 0;//cMidleCoil[2] |= Q00;//SETY000;  //下冲电机 
					}	
				}
			}
			break;
		case 4:	
			if(MXC_RightFenZhen_Origin_IN)  //退到位
			{
				cLeftFenZhenStep = 5;
				cDelayTime5 = dwTickCount + 150;
			}
			else if(dwTickCount >= cDelayTime5)
			{
				cStopFlag = 1;
				user_datas[100] = 4;		//分针不成功
    			user_datas[75] = 5;		//页面跳转
				MXC_bSaveWorkData = 1;
				if(XiaCongMotorMode == 1)
				{ 
					MXC_XiaChong_MOTOR = 0;//cMidleCoil[2] |= Q00;//SETY000;  //下冲电机 
				}	
			}
			break;
		case 5:
			if(dwTickCount >= cDelayTime5)
			{
				cDelayTime5 = dwTickCount + 30;  
				cLeftFenZhenStep = 1;
			}	
			break;
	}
	//左分针
	switch(cRightFenZhenStep)
	{ 
		case 0:
			break;
		case 1:
			if(dwTickCount >= cDelayTime6)
			{
				cRightFenZhenStep = 2;
	 			MXC_LeftFenZhen_VAVLE = 1;//cMidleCoil[2] |= Q04;//SETY004;  //左分针电磁阀
	 			cDelayTime6 = dwTickCount + (unsigned long)FenZhengErrorTime;      	
 			}	
        	break;
		case 2:  //碰到右大微动,延时停
			if(!MXC_LeftFenZhen_Origin_IN)   //右分针原点离开
			{
				cDelayTime6 = dwTickCount + 500;
				cRightFenZhenStep = 3;
			}//左分针不下去
			else if(dwTickCount >= cDelayTime6)
			{
				cStopFlag = 1;
				user_datas[100] = 4;		//分针不成功
    			user_datas[75] = 5;		//页面跳转
				MXC_bSaveWorkData = 1;
				if(XiaCongMotorMode == 1)
				{ 
					MXC_XiaChong_MOTOR = 0;//cMidleCoil[2] |= Q00;//SETY000;  //下冲电机 
				}					
			}
			break;
		case 3:	
			if(MXC_LeftFenZhen_IN)  //插针到位
				cRightFenZhenStep = 0;
			else if(dwTickCount >= cDelayTime6)
			{
				MXC_LeftFenZhen_VAVLE = 0;//cMidleCoil[2] &= ~Q04;//CLRY004; //左分针
				cLFengTimer++; 
				if(cLFengTimer < 6)
				{
					cRightFenZhenStep = 4;
					cDelayTime6 = dwTickCount + FenZhengErrorTime;
					if((cLFengTimer%2) == 0)
					{
						MXC_RightFenZhen_VAVLE = 0;//cMidleCoil[2] &= ~Q06;//CLRY006;
						cLeftFenZhenStep = 0;
					}
				}
				else
				{
					if(XiaCongMotorMode == 1)
					{ 
						MXC_XiaChong_MOTOR = 0;//cMidleCoil[2] |= Q00;//SETY000;  //下冲电机 
					}						
					cStopFlag = 1;
					user_datas[100] = 4;		//分针不成功
    				user_datas[75] = 5;		//页面跳转
					MXC_bSaveWorkData = 1;
				}
			}
			break;
		case 4:	
			if(MXC_LeftFenZhen_Origin_IN)  //退到位
			{
				cRightFenZhenStep = 5;
				cDelayTime6 = dwTickCount + 150;
			}
			else if(dwTickCount >= cDelayTime6)
			{
				cStopFlag = 1;
				user_datas[100] = 4;		//分针不成功
    			user_datas[75] = 5;		//页面跳转
				MXC_bSaveWorkData = 1;
				if(XiaCongMotorMode == 1)
				{ 
					MXC_XiaChong_MOTOR = 0;//cMidleCoil[2] |= Q00;//SETY000;  //下冲电机 
				}					
			}
			break;
		case 5:
			if(dwTickCount >= 36)
			{
				cDelayTime6 = dwTickCount + 30;  
				if((cLFengTimer%2) == 0)  //左边插两次都插不到，就退右边再同时插
				{
					cDelayTime5 = dwTickCount + 30;
					cLeftFenZhenStep = 1;
					cRFengTimer = 0;
					cRightFenZhenStep = 0;
				}
				else
				{
					cRightFenZhenStep = 1;
				}
			}	
			break;
	}
}


#endif