#include "global.h"

#if YOU_GUAN_MACHINE

unsigned short cTaiMiamMotor;
unsigned long cSlowPusle;



unsigned char  bDecEn;
unsigned char  bStartOnceTime;

unsigned short cWorkCnt;
unsigned char TryCnt = 0;
unsigned short cZhaCnt = 0;

unsigned char ZhuangLiaoOkFlg = 0;
unsigned char SongLaTouOkFlg  = 0;


static long save_limit_pos;
static unsigned long cZipCnt = 0;

void QDCT_ManualAction(void);
void QDCT_JiaLianAction(void);
void QDCT_AutoStepAction(void);
void QDCT_ZhenDongAction(void);
void QDCT_TableAction(void);
void QDCT_GL_Step(void);
void QDCT_Motor(void);
void QDCT_CheckStart(void);
void QDCT_SL_Step(void);
void QDCT_XiaQieAction(void);

void QDCT_ExtiActionX31(void)
{
    if(cSeBiaoEn && !cSeBiaoOk)
    {
        cSeBiaoEn = 0;
        cSeBiaoOk = 1;
        SetRemainLength(X_AXIS,QDCT_SEBIAO_LENGTH,10);
    }
}


//故障报警
void QDCT_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QDCT_ALARM_ADDR,alarm_code);
    QDCT_bAlarmStop = 1;
}

//初始化动作
void QDCT_InitAction(void)
{
    float buff_pulse,buff_dist;
       
    buff_pulse  = QDCT_PARAM_CYCLE_PULSE;
    buff_dist   = QDCT_PARAM_CYCLE_LENGTH;
    XGearRatio  =  buff_pulse/buff_dist;
}

void QDCT_Action(void)
{ 
    QDCT_CheckStart();
    QDCT_ZhenDongAction();
    QDCT_TableAction();
    QDCT_SL_Step();
    QDCT_JiaLianAction();
    QDCT_XiaQieAction();	
    QDCT_Motor();
    QDCT_ManualAction();
    QDCT_AutoStepAction();  
}

void QDCT_AlarmProtect(void)
{ 
    dwRealPos = GetPos(X_AXIS);

    if(QDCT_PARAM_BACK_ALARM_MODE)    
    {                              //感应后限模式
        if(!bRunning)
        {
            if(QDCT_BACK_LIMIT_IN_UP)
            {
                if((QDCT_MotorStep == 0) && X_DRV && QDCT_bMotorBack)        //到后限不能再后退但可以点前进
                {
                    QDCT_bMotorBack = 0;
                    
                    AxisDecStop(X_AXIS);   
                    QDCT_JD_OUT   = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                    
                }
            }
        }
        else
        {
            if(QDCT_BACK_LIMIT_IN_UP)
            {
                AxisDecStop(X_AXIS);   
   
                QDCT_JD_OUT = 0;
                QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            }
        }
    }
    else
    {   
        
        if(QDCT_GO_LIMIT_IN_UP)      //数控后限模式
        {
            save_limit_pos = dwRealPos;
            SetData32bits(200,save_limit_pos);
        }
        
        if(QDCT_PARAM_MAX_BACK_LENGTH < (dwRealPos - save_limit_pos)) 
        {
            if(!bRunning)
            {
                if((QDCT_MotorStep == 0) && X_DRV && QDCT_bMotorBack)        //到后限不能再后退但可以点前进
                {
                    QDCT_bMotorBack = 0;
                    AxisDecStop(X_AXIS);   
                    QDCT_JD_OUT   = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                    
                }
            }
            else
            {
                AxisDecStop(X_AXIS);   
                QDCT_JD_OUT = 0;
                QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            }
        } 
        
     }
}

void QDCT_JiaLianAction(void)
{
    if(QDCT_JiaLianStep == 1)
    {
//        QDCT_JD_Delay = dwTickCount + QDCT_PARAM_JD_DELAY;
        QDCT_JiaLianStep  = 2;
    }
    else if((QDCT_JiaLianStep == 2) && (dwTickCount >= QDCT_JD_Delay))
    {
        QDCT_JD_OUT        = 1;
        QDCT_JD_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        QDCT_JiaLianStep  = 3;
    }
    else if(QDCT_JiaLianStep == 3)
    {
        if(QDCT_JZ_LEFT_IN && QDCT_JZ_RIGHT_IN)
        {
            QDCT_JiaLianStep = 4;
        }
        else if(dwTickCount >= QDCT_JD_Delay)
        {
            if(!QDCT_JZ_LEFT_IN)QDCT_SetAlarmCode(QDCT_JD_LEFT_ALARM);
            else if(!QDCT_JZ_RIGHT_IN)QDCT_SetAlarmCode(QDCT_JD_RIGHT_ALARM);
        }  
    }
    else if(QDCT_JiaLianStep == 4)
    {      
        if(QDCT_PARAM_KL_TIME)
        {
      //      QDCT_JD_Delay = dwTickCount + QDCT_PARAM_KL_DELAY;
            QDCT_JiaLianStep = 5;
        }
        else
        {
            QDCT_JiaLianStep = 7;
        }
    }
    else if((QDCT_JiaLianStep == 5) && (dwTickCount >= QDCT_JD_Delay))
    {   
        QDCT_KL_OUT       = 1;
        QDCT_JiaLianStep = 6;
        QDCT_JD_Delay = dwTickCount + QDCT_PARAM_KL_TIME;        
    }
    else if((QDCT_JiaLianStep == 6) && (dwTickCount >= QDCT_JD_Delay))
    {
        QDCT_KL_OUT       = 0;
        QDCT_JiaLianStep = 7;
    }
    else if((QDCT_JiaLianStep == 7))
    {
        QDCT_JiaLianStep = 0;
    }
}


//自动动作
void QDCT_AutoStepAction(void)
{  
    if(bRunning)
    {
        if(QDCT_AutoStep == 1)
        {
            QDCT_AutoStep = 2;
            QDCT_ZhenDongStep = 1;
        }
        else if((QDCT_AutoStep == 2) && (dwTickCount >= QDCT_AutoDelay))
        {
            QDCT_AutoStep = 3;
        }
        else if(QDCT_AutoStep == 3)
        {
             if(QDCT_MotorStep  == 0)
            {
                QDCT_MotorStep = 1;
                ZhuangLiaoOkFlg = 0;
                QDCT_AutoStep = 4;
            } 
        }
        else if(QDCT_AutoStep == 4)
        {
            QDCT_AutoStep = 5;
        }
        else if(QDCT_AutoStep == 5)
        {
            if(QDCT_ZhuangLiaoStep  == 0)
            {
                QDCT_ZhuangLiaoStep = 1;
                QDCT_AutoStep = 6;
            }        
        }
        else if(QDCT_AutoStep == 6)
        {
            if(QDCT_ZhuangLiaoStep == 0)
            {
                QDCT_AutoStep = 7;
            }   
        }
        else if(QDCT_AutoStep == 7)
        {
            QDCT_AutoStep = 8;       				  
        }
        else if(QDCT_AutoStep == 8)
        {   
            QDCT_AutoStep = 9;   
        }
        else if(QDCT_AutoStep == 9)
        {
            if(QDCT_MotorStep  == 0)
            {
                QDCT_AutoStep = 10;
            }        				  
        }
        else if(QDCT_AutoStep == 10)
        {
            QDCT_AutoStep = 11;       				  
        }
        else if(QDCT_AutoStep == 11)
        {
            if(QDCT_MotorStep  == 0)  //
            {
                if(QDCT_SEBIAO_MODE)
                    QDCT_MotorStep = 1;
                else
                    QDCT_MotorStep = 30;
                QDCT_AutoStep = 12;
            }       				  
        }
        else if(QDCT_AutoStep == 12)
        {
             if(QDCT_MotorStep  == 0)
            {
                QDCT_AutoStep = 13;
            }              
        }
        else if(QDCT_AutoStep == 13)
        {
            QDCT_AutoStep = 14;
        }
        else if(QDCT_AutoStep == 14)
        {
            if(QDCT_XiaQieStep  == 0)
            {
                QDCT_XiaQieStep = 1;
                QDCT_AutoStep = 15;
            }  
        }
        else if(QDCT_AutoStep == 15)
        {
            if(QDCT_XiaQieStep  == 0)
            {
                QDCT_AutoStep = 16;
            }  
        }
        else if(QDCT_AutoStep == 16)
        {                
            CalProSP(QDCT_SPEED_ADDR);	  //计算生产速度
            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
            cWorkCnt++;
            cZhaCnt++;
            cZipCnt++;
                        
            if(GetTotal(QDCT_NOWTOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR))
            {
               ClrcToTal(QDCT_NOWTOTAL_ADDR);
               bStartOnceTime = 0;
               QDCT_SetAlarmCode(QDCT_TOTAL_ALARM);
            }
            else
            {
                if(bStartOnceTime)
                {
                    bStartOnceTime = 0;
                    QDCT_AutoStep = 0;
                    bRunning  = 0;
                }
                else
                    QDCT_AutoStep = 17;	
            }
        }
        else if(QDCT_AutoStep == 17)   
        {
             if(cZhaCnt >= QDCT_ZHA_NO)
             {
                 cZhaCnt = 0;
                 QDCT_AutoDelay = dwTickCount + QDCT_ZHA_STOP_TIME;
                 QDCT_AutoStep = 2;      
             }
             else
             {
                 QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY;
                 QDCT_AutoStep = 2;              
             }
             
/*            if(!QDCT_LTCZ_IN)
            {
                 QDCT_AutoStep = 2;           
            }
            else
            {
                QDCT_SetAlarmCode(QDCT_LTCZ_ALARM);
            }*/
        }    
    }
}


//振动盘控制
void QDCT_ZhenDongAction(void)
{
    if(QDCT_ZhenDongStep == 1)
    {
        QDCT_ZhenDongStep = 2;          
    }
    else if(QDCT_ZhenDongStep == 2)
    {
        if(QDCT_LT_IN)
        {
        
        }
        else
        {
            QDCT_ZDP_OUT       = 1;
            QDCT_ZhenDongStep = 3;        
        }   
    }
    else if(QDCT_ZhenDongStep == 3)
    {
        if(QDCT_PARAM_ZD_MODE)
        {
            QDCT_ZhenDongStep = 0;         
        }
        else
        {
            QDCT_ZhenDongStep = 4; 
            QDCT_ZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME ;
        }
    }
    else if((QDCT_ZhenDongStep == 4) && (dwTickCount >= QDCT_ZhenDongDelay))
    {
        QDCT_ZDP_OUT       = 0;
        QDCT_ZhenDongStep = 2;    
    }
    else if(QDCT_ZhenDongStep == 6)
    {
        QDCT_ZhenDongStep = 0;    
    }
}
//台面电机动作

void QDCT_TableAction(void)
{
    if(QDCT_TB_OUT && (dwTickCount >= QDCT_TableDelay))QDCT_TB_OUT = 0;
}




void QDCT_CheckStart(void)
{
       //启动    自动启动 单一自动	 			
    if(START_IN_UP || bStart || QDCT_bOnceStart)
    {
        if(QDCT_bOnceStart)
        {
            QDCT_bOnceStart     = 0;
            bStartOnceTime = 1;
        }
        bStart     = 0;
        
        if(!QDCT_NO_ZIPPER_CHECK_IN)QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
        else if(QDCT_JLT_IN)QDCT_SetAlarmCode(QDCT_START_JLT_ALARM);
        else if(QDCT_LTCZ_IN)QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM);
        else if(!QDCT_HSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_GL_ORIGIN_ALARM);
        else if(QDCT_HSL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_START_SL_LIMIT_ALARM);
        else if(!QDCT_SQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_START_SQ_ORIGIN_ALARM);
        else if(!QDCT_XQ_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_XQ_ORIGIN_ALARM);
        else if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_SM_ORIGIN_ALARM);
        else       
        {
            if(!bRunning && (QDCT_AutoStep == 0) && (GetAlarmCode(QDCT_ALARM_ADDR) == 0))
            {
                bRunning   = 1;
                QDCT_AutoStep  = 1;
                cWorkCnt   = 0;    
                TryCnt     = 0;
                SongLaTouOkFlg = 1;
                cZipCnt    = 0;
            }

        }
    }
    
    //停止
    if(STOP_IN_UP|| bStop)
    {	

        AxisDecStop(X_AXIS);
        bRunning = 0;
        QDCT_bOnceStart = 0;
        bStop = 0; 		
        bStartOnceTime = 0;  
        
        QDCT_SQ_OUT = 0;
        QDCT_XQ_OUT = 0;
        QDCT_XM_OUT = 0;
        QDCT_JD_OUT = 0;   
        QDCT_SL_OUT = 0;
        QDCT_JLT_OUT= 0;
        QDCT_HSL_OUT = 0;
        QDCT_KL_OUT = 0;
        QDCT_ZDP_OUT= 0;
        QDCT_SLT_OUT= 0;
        if(GetAlarmCode(QDCT_ALARM_ADDR) != 0)QDCT_SetAlarmCode(QDCT_NO_ALARM);
    }
    
    if(bAlarmStop)
    {
        QDCT_bOnceStart = 0;
        bAlarmStop = 0;
        bStartOnceTime = 0;  
        QDCT_ZDP_OUT    = 0;
        AxisDecStop(X_AXIS);
    }
}   

//电机控制动作
void QDCT_Motor(void)	 //
{   
        static long save_buff,length_buff,gou_zhen_buff,back_dec_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
        
        user_datas[123] = QD_PARAM_ON_BACK_LENGTH;
        user_datas[124] = QD_AutoStep;
        user_datas[127] = QDCT_MotorStep;
	switch(QDCT_MotorStep)
	{
                case 1:
                        QDCT_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        QDCT_MotorStep   = 2;
                        break;
                case 2:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            back_dec_buff = dwRealPos;
                            if(cZipCnt == 0)
                            {
                                 cSeBiaoOk = 0;
                                 cSeBiaoEn = 1;
                                 AxisContinueMove(X_AXIS,QDCT_BACK_LOWSPEED,QDCT_DIR_P);  
                            }
                            else 
                            {
                                 AxisContinueMove(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_DIR_P);  
                            }     
                            QDCT_MotorStep   = 3;
                        }
                        break;
                case 3:
                        if(cZipCnt != 0)
                        {
                            if(QDCT_PARAM_SET_ZIPPER_LENGTH >= (QDCT_SEBIAO_LENGTH + QDCT_REMAIN_CHECK_LENGTH))
                            {
                                cSeBiaoOk = 0;
                                cSeBiaoEn = 1;                            
                            }
                            else
                            {                      
                               if((dwRealPos - back_dec_buff) >= (QDCT_PARAM_SET_ZIPPER_LENGTH - QDCT_SEBIAO_LENGTH - QDCT_REMAIN_CHECK_LENGTH))
                               {
                                   cSeBiaoOk = 0;
                                   cSeBiaoEn = 1;                                 
                               }
                            }
                        }
                        if((dwRealPos - back_dec_buff) > (QDCT_PARAM_SET_ZIPPER_LENGTH - (QDCT_BACK_LOWSPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QDCT_PARAM_JJBACK_SPEED,QDCT_BACK_LOWSPEED,30)))))
                        {                 
                            if(X_DRV)MoveChangSpeed(X_AXIS,QDCT_BACK_LOWSPEED);                       
                        }
                        
                        if(cSeBiaoOk)
                        { 
                            cSeBiaoOk = 0;
                            cSeBiaoEn = 0;
                            QDCT_MotorStep   = 4;
                        }
                          
                        break;
                case 4:
                        if(!X_DRV)
                        {
                            QDCT_MotorStep   = 0;    
                        }
                        break;
                case 30:
                        QDCT_MotorDelay  =    dwTickCount + QDCT_PARAM_DELAY_BACK;
                        QDCT_MotorStep   = 31;
                        
                        break;
                case 31:	                                       
                        if(dwTickCount >= QDCT_MotorDelay)
                        {   
                            back_buff = dwRealPos;
                            gou_zhen_buff = dwRealPos;
                            save_buff = dwRealPos;
                            MoveAction_Pulse2(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_SET_ZIPPER_LENGTH),PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_SPEED_LENGTH),PosToPulse(X_AXIS,QDCT_BACK_LOWSPEED_LENGTH),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_SPEED);                          
                            QDCT_MotorStep   = 33;
                        }
			break; 
		case 32:
                        if((dwRealPos - back_buff) >= (QDCT_PARAM_PUTIN_LENGTH + QDCT_PARAM_PUTIN_START_LENGTH))
                        {
                           QDCT_JLT_OUT     = 0;
                           QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                           QDCT_MotorStep   = 33;
                        }
                        else if(!X_DRV)
                        {
                           QDCT_JLT_OUT     = 0;
                           QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                           QDCT_MotorStep   = 33;                           
                        }

			break;
                case 33:
                        if(!QDCT_JLT_IN)
                        {
                            QDCT_XM_OUT      = 0;
                            QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                            QDCT_MotorStep   = 34;
                        }
                        else if(!X_DRV)
                        {
                            QDCT_XM_OUT      = 0;
                            QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                            QDCT_MotorStep   = 34;                        
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_JLT_ALARM);
                        break;
                case 34:
                       if(!X_DRV && QDCT_XM_ORIGIN_IN && !QDCT_XM_LIMIT_IN)
                       {
  //                          AxisMovePos(X_AXIS,QDCT_BACK_LOWSPEED,QDCT_PARAM_JJFZ_LENGTH); 
                            QDCT_MotorStep   = 35;
                       }
                       else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
                        break;
		case 35:	
                       if(!X_DRV)
                       {
                            QDCT_MotorStep   = 36;                          
                       }
			break;
                case 36:                                                   
                            QDCT_MotorStep   = 0;
                        break;
		case 40:
                           if(dwTickCount >= QDCT_MotorDelay)
                           {
                                jz_buff = dwRealPos;
                                
                                if(QDCT_PARAM_SJZ_LENGTH == 0)
                                {
                                    QDCT_JD_OUT = 0;
                                }
                                QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME;                                
                                QDCT_MotorStep   = 41;
                           }
                            break;
                case 41:
                           if(QDCT_JD_OUT && (dwTickCount >= QDCT_MotorDelay))
                           {
                                AxisMovePos(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,-(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH));
                                QDCT_MotorStep   = 42;
                           }
                           break;
		case 42:	                           // 切断完成后拉电机动作
                            if(((QDCT_PARAM_SJZ_LENGTH) <= (dwRealPos - jz_buff)))
                            {
                                QDCT_JD_OUT = 0;
                                QDCT_MotorStep   = 43;
                            }
                            else if(!X_DRV)
                            {
                                QDCT_JD_OUT = 0;
                                QDCT_MotorStep   = 43;
                            }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QDCT_MotorStep   = 0;
                                QDCT_MotorDelay  =    dwTickCount;
                            }
                        
                        break;   
                case 61: // 前点定位数控模式
                        if(QDCT_JD_OUT)
                        {
                            QDCT_JD_OUT   = 0;                       
                            QDCT_MotorDelay = dwTickCount + 50;
                        }
                        
                        if(!QDCT_TL_OUT)
                        {
                            //if(QD_TuiLianStep == 0)
                            {
                                 QDCT_MotorStep = 62;
                            }                          
                        }
                        else
                            QDCT_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(QDCT_GO_LIMIT_IN || QDCT_GO_DEC_IN)
                            {
                                AxisMovePos(X_AXIS,QDCT_BACK_LOWSPEED,-QDCT_PARAM_ON_BACK_LENGTH);                           
                                QDCT_MotorDelay = dwTickCount + 1000;
                            }
                            QDCT_MotorStep = 63;            
                            QDCT_JD_OUT = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !QDCT_GO_LIMIT_IN && (dwTickCount >= QDCT_MotorDelay) && QDCT_XM_ORIGIN_IN)
                        {
                            go_buff  = dwRealPos;
                            if(dwZipCnt > 0)
                            {
                                 MoveAction_Const_Stop(X_AXIS, QDCT_DIR_N,QDCT_PARAM_JJGO_SPEED);//
                            }
                            else
                            {
                                 MoveAction_Const_Stop(X_AXIS, QDCT_DIR_N,QDCT_PARAM_GO_LOWSPEED);
                            }
                      
                            QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QDCT_MotorStep  = 64;
                        }  
			break;
                case 64:

                        if(((go_buff - dwRealPos) > ((QDCT_PARAM_SET_ZIPPER_LENGTH - QDCT_PARAM_OFFSET_LENGTH) - (QDCT_PARAM_GO_LOWSPEED + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QDCT_PARAM_JJBACK_SPEED,QDCT_BACK_LOWSPEED,30))) + QDCT_BACK_LOWSPEED_LENGTH + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH)) || QDCT_GO_DEC_IN_UP)
                        {                   
                            MoveChangSpeed(X_AXIS,QDCT_PARAM_GO_LOWSPEED);
                            QDCT_MotorStep   =65;
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);

                        break;
		case 65:
                        if(QDCT_GO_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 66;                            
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
                        else if(QDCT_JD_ALARM)QDCT_SetAlarmCode(QDCT_JD_ALARM);
                        break;
		case 66:
                        if(!X_DRV)
                        {   
                            QDCT_MotorDelay =    dwTickCount;
                            QDCT_MotorStep   = 67;
                        }
			break;   
		case 67:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(bRunning)
                            {
                                QDCT_JD_OUT = 1;
                                QDCT_MotorDelay =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                                QDCT_MotorStep   = 68;
                            }
                            else 
                            {
                                QDCT_MotorStep   = 0;                            
                            }
                        }
			break;
                case 68:
                        if(QDCT_JZ_LEFT_IN && QDCT_JZ_RIGHT_IN) 
                        {
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_JD_DELAY;
                            QDCT_MotorStep   = 69;
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_JD_ALARM);

                        break;
                case 69:
                        if(dwTickCount >= QDCT_MotorDelay)QDCT_MotorStep   = 0;
                break;
               
	}
}


//切断动作
void QDCT_XiaQieAction(void)	 
{
    if(QDCT_XiaQieStep == 1) 
    {
        QDCT_XiaQieStep = 2;         
        QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        QDCT_XQ_OUT = 1;    
    }
    else if(QDCT_XiaQieStep == 2) 
    {
       if(QDCT_XQ_LIMIT_IN)
       {
           QDCT_XiaQieStep = 3;   
       }
       else if(dwTickCount >= QDCT_XiaQieDelay)
       {
           QDCT_SetAlarmCode(14);
       }
    }
    else if(QDCT_XiaQieStep == 3) 
    {
        QDCT_SQ_OUT = 1;
        QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUTBACK_DELAY;
        QDCT_XiaQieStep = 4;         	
    }	
    else if((QDCT_XiaQieStep == 4) && (dwTickCount >= QDCT_XiaQieDelay))
    {
        QDCT_SQ_OUT = 0;
        QDCT_XQ_OUT = 0;
        QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        QDCT_XiaQieStep = 5;             
    }	
    else if(QDCT_XiaQieStep == 5) 
    {
        if(!QDCT_SQ_LIMIT_IN && QDCT_XQ_ORIGIN_IN)
        {
                QDCT_XiaQieStep = 0;   
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            if(!QDCT_SQ_LIMIT_IN) QDCT_SetAlarmCode(QDCT_SQ_ORIGIN_ALARM);
            else if(!QDCT_XQ_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XQ_ORIGIN_ALARM);
        }
    }
}


//装拉头动作
void QDCT_ZLT_Step(void)
{
    if(QDCT_ZhuangLiaoStep == 1)
    {
         if(QDCT_SongLiaoStep == 0)QDCT_SongLiaoStep = 1;        
         QDCT_ZhuangLiaoStep = 2; 
    }
    else if(QDCT_ZhuangLiaoStep == 2)
    {
        if(QDCT_SongLiaoStep == 0)
        {
            QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_ZhuangLiaoStep = 3;   
        }
    }
    else if(QDCT_ZhuangLiaoStep == 3)
    {
        if(QDCT_HSL_ORIGIN_IN)
        {
            QDCT_HSL_OUT = 1;
            QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_ZhuangLiaoStep = 4;   
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);
        }
    }
    else if(QDCT_ZhuangLiaoStep == 4)
    {
        if(QDCT_HSL_LIMIT_IN)
        {
            QDCT_JLT_OUT = 1; 
            QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_ZhuangLiaoStep = 5;   
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
        }
    }
    else if(QDCT_ZhuangLiaoStep == 5)
    {
        if(QDCT_JLT_IN)
        {
            QDCT_ZhuangLiaoStep = 6;
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_SetAlarmCode(QDCT_JLT_ALARM);
        }
    }
    else if(QDCT_ZhuangLiaoStep == 6)
    {
        QDCT_HSL_OUT   = 0;
        QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        QDCT_ZhuangLiaoStep = 7;
    }
    else if(QDCT_ZhuangLiaoStep == 7) 
    {
        if(!QDCT_HSL_LIMIT_IN)
        {
            QDCT_XM_OUT   = 1;
            if(QDCT_SongLiaoStep == 0)QDCT_SongLiaoStep = 1;    
            QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_ZhuangLiaoStep = 8;        
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
        }          
    }
    else if(QDCT_ZhuangLiaoStep == 8) 
    {
        if(QDCT_XM_LIMIT_IN)
        {
            QDCT_ZhuangLiaoStep = 9; 
            QDCT_ZhuangLiaoDelay = dwTickCount + 1000;
                      
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); 
        }
    }
    else if(QDCT_ZhuangLiaoStep == 9) 
    {
        if(QDCT_LTCZ_IN)
        {
            if(QDCT_PARAM_LOCK_TIME)
            {
                QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_PARAM_LOCK_TIME;
                QDCT_SLT_OUT          = 1;
                QDCT_ZhuangLiaoStep  = 20;              
            }
            else
            {
                QDCT_ZhuangLiaoStep  = 0; 
                ZhuangLiaoOkFlg = 1;
            }

            TryCnt           = 0;
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            TryCnt++;
            if(TryCnt > 4)
            {
                QDCT_SetAlarmCode(QDCT_ZLT_ALARM);   
            }
            else
            {
                QDCT_ZhuangLiaoStep = 10; 
            } 
        }
        SongLaTouOkFlg = 0;
    }
    else if(QDCT_ZhuangLiaoStep == 10)     //装拉头失败重复装几次拉头
    {
        QDCT_XM_OUT          = 0;
        QDCT_JLT_OUT         = 0;
        QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        QDCT_ZhuangLiaoStep = 11; 
    }
    else if(QDCT_ZhuangLiaoStep == 11) 
    {
        if(QDCT_XM_ORIGIN_IN)
        {
            QDCT_ZhuangLiaoStep = 12; 
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
        }     
    }
    else if(QDCT_ZhuangLiaoStep == 12)
    {
        QDCT_ZhuangLiaoStep = 1;
    }
    else if(QDCT_ZhuangLiaoStep == 20) 
    {
        QDCT_ZhuangLiaoStep = 0;
        QDCT_ZhuangLiaoDelay = dwTickCount;
        ZhuangLiaoOkFlg = 1;
    }
}

void QDCT_SL_Step(void)
{
    if(QDCT_SongLiaoStep == 1)
    {
        if(SongLaTouOkFlg)
        {
            QDCT_SongLiaoStep = 0; 
        }
        else
        {
            QDCT_SL_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_SongLiaoStep = 2;
        }
    }
    else if(QDCT_SongLiaoStep == 2)
    {
        if(QDCT_HSL_ORIGIN_IN)
        {
            QDCT_SL_OUT       = 1;
            QDCT_SL_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_SongLiaoStep = 3;
        }
        else if(dwTickCount >= QDCT_SL_Delay) 
          QDCT_SetAlarmCode(QDCT_SL_ALARM);          
    }
    else if(QDCT_SongLiaoStep == 3)
    {
        if(QDCT_HSL_LIMIT_IN)
        {
            QDCT_SL_OUT       = 0;
            QDCT_SL_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_SongLiaoStep = 4;
        }
        else if(dwTickCount >= QDCT_SL_Delay) 
          QDCT_SetAlarmCode(QDCT_SL_ALARM);        
       
    }
    else if(QDCT_SongLiaoStep == 4)
    {
        if(!QDCT_HSL_LIMIT_IN)
        {
            QDCT_SongLiaoStep = 0;
        }
        else if(dwTickCount >= QDCT_SL_Delay) 
          QDCT_SetAlarmCode(QDCT_SL_ALARM);         
    }
}


//手动动作
void QDCT_ManualAction(void)
{ 
    if(bRunning == 0)  
    {   
        if(bClearTotal) //切断计数清零
        {
            bClearTotal       = 0;
            ClrcToTal(QDCT_TOTAL_ADDR);
        }
        
        if(QDCT_bClerNowTotal)
        {
            QDCT_bClerNowTotal = 0;
            ClrcToTal(QDCT_NOWTOTAL_ADDR);
        }
		
		
        if(QDCT_bManXQ)
        {
            QDCT_bManXQ = 0;
            if(QDCT_XiaQieStep == 0)QDCT_XiaQieStep = 1;
        }
        
        if(QDCT_bQianDianDW)
        {
            QDCT_bQianDianDW = 0;
            if(QDCT_MotorStep == 0)
            {
                QDCT_MotorStep = 61;
                dwZipCnt      = 0;
            }
        }
        
        if(QDCT_bManXM)
        {
            QDCT_bManXM = 0;
            QDCT_XM_OUT = ~QDCT_XM_OUT;
        }
        
        if(QDCT_bManSQ)
        {
            QDCT_bManSQ = 0;
            QDCT_SQ_OUT = ~QDCT_SQ_OUT;
        }
        
        if(QDCT_bManJD)
        {
            QDCT_bManJD = 0;
            QDCT_JD_OUT = ~QDCT_JD_OUT;
        }
        
        if(QDCT_bManSL)
        {
           QDCT_bManSL = 0;
           QDCT_SL_OUT = ~QDCT_SL_OUT;
        }
        
        if(QDCT_bManHSL)
        {
           QDCT_bManHSL = 0;
           QDCT_HSL_OUT = ~QDCT_HSL_OUT;
        }
        
        if(QDCT_bManZD)
        {
           QDCT_bManZD = 0;
           if(QDCT_ZDP_OUT == 0)
           {
               QDCT_ZDP_OUT = 1;
               QDCT_ZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;
           } 
        }
        
        if(QDCT_bManKL)
        {
           QDCT_bManKL = 0;
           if(QDCT_KL_OUT == 0)
           {
               QDCT_KL_OUT = 1; 
               QDCT_KL_Delay = dwTickCount + QDCT_PARAM_KL_DELAY;
           }
        }
        
        if(QDCT_bManSLT)
        {
            QDCT_bManSLT = 0;
            QDCT_SLT_OUT = ~QDCT_SLT_OUT;
        }
        
        if(QDCT_bManJLT)
        {
            QDCT_bManJLT = 0;
            QDCT_JLT_OUT = ~QDCT_JLT_OUT;
        }
        
        if(QDCT_bZhuangLiao)
        {
            QDCT_bZhuangLiao = 0;
            if(QDCT_ZhuangLiaoStep == 0)QDCT_ZhuangLiaoStep = 1;
        }
        
        if(QDCT_bSongLT)
        {
            QDCT_bSongLT = 0;
            if(QDCT_SongLiaoStep == 0)
            {
                QDCT_SongLiaoStep = 1;
                SongLaTouOkFlg    = 0;
            }
        }
        
        if(QDCT_bChuanLT)
        {
            QDCT_bChuanLT = 0;
            if(QDCT_MotorStep == 0)QDCT_MotorStep = 30;
        }
//电机控制        
        if(QDCT_bMotorGo && !QDCT_GO_LIMIT_IN)
        {           
            QDCT_JD_OUT   = 0;
            if(!X_DRV)AxisContinueMove(X_AXIS,QDCT_PARAM_JJGO_SPEED,QDCT_DIR_P);   
        }
        
        if(QDCT_bMotorBack && !QDCT_BACK_LIMIT_IN)
        {
            QDCT_JD_OUT   = 0;
            if(!X_DRV)AxisContinueMove(X_AXIS,QDCT_PARAM_JJGO_SPEED,QDCT_DIR_N);   
        }
        
        if(!QDCT_bMotorGo && !QDCT_bMotorBack && (QDCT_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QDCT_GO_LIMIT_IN && (QDCT_MotorStep == 0) && !QDCT_bMotorBack &&(QDCT_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
    }
}

#endif