GC19038/Machine/ChangShengGeiLiMachine/GLQueduanChuantou.c

#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE==1

unsigned short cTaiMiamMotor;
unsigned long cSlowPusle;

unsigned char  bDecEn,cXiaMo_En,cHemo_OK,cQTltOK,cHTltOk,cQHsltOK,cHHsltOK,cSL_En;
unsigned char  bStartOnceTime,bOnceProcess,cBackLimitCheck_EN;
unsigned short cWorkCnt;

unsigned char QTryCnt = 0, HTryCnt = 0;
unsigned short cZhaCnt = 0;
unsigned char QZhuangLiaoOkFlg = 0,HZhuangLiaoOkFlg = 0;
unsigned char QTuiLaTouOkFlg  = 0,HTuiLaTouOkFlg = 0;
unsigned char ManFlg;
unsigned char cStopFlg = 0, cResetOrigin_Flag= 0,cCheck_Go_In_Flag;
unsigned char cFirstQStartFlg = 0,cFirstHStartFlg = 0;
unsigned char cCountFlg      = 0,cQDCT_TuiLianOKFlag = 0;
short *qdct_length_buff;
 long save_limit_pos, cDinWeiPos;
unsigned char cTuiLianStep,cChuan_LianCheckOK = 0,cChuan_Lian_ErrorNum,cSongLaTouEn = 0,cCheckDinWei;

unsigned char KaDaiFlag = 0;
long KaDaiSaveLen,KaDaiSaveLenY;

void QDCT_ManualAction(void);
void QDCT_JiaLianAction(void);
void QDCT_AutoStepAction(void);
void QDCT_QZhenDongAction(void);
void QDCT_HZhenDongAction(void);
void QDCT_TableAction(void);
void QDCT_Motor(void);
void QDCT_CheckStart(void);
void QDCT_QTuiLT_Step(void);
void QDCT_HTuiLT_Step(void);
void QDCT_XiaQieAction(void);
void QDCT_AlarmProtect(void);
void QDCT_QZLT_Step(void);
void QDCT_HZLT_Step(void);
void QDCT_TuiLian(void);
void QDCT_TuiLianAction(void);

void QDCT_HeMo_Step(void);//装拉头完成合模动作
void QDCT_TestMotor(void);

void QDCT_ExtiActionX31(void)
{


}

void QDCT_SeBiaoAction(void)
{
    if(QDCT_SEBIAO_IN_DW)
    {
        if(cSeBiaoEn && !cSeBiaoOk)
        {
            cSeBiaoEn = 0;
            cSeBiaoOk = 1;
            if(QDCT_XM_OUT)
            {
                AxisChangeSpeedDirect(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED);
            }
             user_datas[126] = dwRealPos;
             cDinWeiPos = dwRealPos;  
        }
    }
}

//故障报警
void QDCT_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QDCT_ALARM_ADDR,alarm_code);
    if(alarm_code != QDCT_KD_ALARM)
    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;
    
    buff_pulse  = QDCT_PARAM_YLCYCLE_PULSE;
    buff_dist   = QDCT_PARAM_YLCYCLE_LENGTH;
    YGearRatio  =  buff_pulse/buff_dist;
    
    QDCT_SZ_OUT = QDCT_MOTOR_DISEN;
    QDCT_QZDPStep= 1;  
    QDCT_HZDPStep= 1;  
    QDCT_TLPStep  = 1;
    cWorkCnt = 0;
    cZhaCnt = 0;
    dwZipCnt = 0;
    cBackLimitCheck_EN = 1;
    if(QDCT_PARAM_MAX_BACK_LENGTH < 13000) QDCT_PARAM_MAX_BACK_LENGTH = 25000;
    SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);
    SetDirReverse(X_AXIS, 0);
    //设置加减速模式
    axis_set_parameter(axis_x, AXIS_ACCDEC_MODE,2);
}

void QDCT_Action(void)
{
    InputPinConfig();
    QDCT_SeBiaoAction();
    QDCT_TuiLian();
    QDCT_AlarmProtect();
    QDCT_QZhenDongAction();
    QDCT_HZhenDongAction();
    QDCT_CheckStart();
    QDCT_QZLT_Step();
    QDCT_HZLT_Step();
    QDCT_TableAction();
    QDCT_QTuiLT_Step();
    QDCT_HTuiLT_Step();
    QDCT_JiaLianAction();
    QDCT_XiaQieAction();	
    QDCT_Motor();
    QDCT_ManualAction();
    QDCT_AutoStepAction();  
    QDCT_HeMo_Step();
    QDCT_TestMotor();
    OutputPinConfig();
}
unsigned char cTestMotorStep;
unsigned long cTesttime;
void QDCT_TestMotor(void)
{
    switch(cTestMotorStep)
    {
        //1到10步为回到原点
        case 1:
            QDCT_SZ_OUT   = QDCT_MOTOR_EN;      //锁轴
            QDCT_TestMotorDelay = dwTickCount + 50;
            cTestMotorStep = 2;
            break;
        case 2:
            if(dwTickCount >= QDCT_TestMotorDelay)//锁轴时间到
            {
                AxisContinueMoveAcc(X_AXIS,5, QDCT_DIR_N,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,10,10);
                cTestMotorStep= 3;
            }  
            break;
        case 3:    //回到原点     
            if(QDCT_GO_LIMIT_IN)        //最前点感应
            {
                AxisEgmStop(X_AXIS);
                QDCT_TestMotorDelay = dwTickCount + 50;
                cTestMotorStep= 4;
                SetPos(X_AXIS, 0);               
            }  
            break;
        case 4:            
            if(!X_DRV)
           {
                QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                cTestMotorStep= 5;            
           }
           break;
        case 5:   
           if(dwTickCount >= QDCT_TestMotorDelay)
           {  
                if(1)//QDCT_bTest)
                 {
                        QDCT_bTest = 0;
                        cTestMotorStep= 6;  
                        
                        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
                      //  AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short acc_pulse,unsigned short dec_pulse)
                    //    AxisMovePoint(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-QDCT_PARAM_SET_ZIPPER_LENGTH);
                        cTesttime = dwTickCount;
                }
            }
            break;
        case 6:    
            if(!X_DRV)
            {
                QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                cTestMotorStep= 7; 
            }
            break;
        case 7:    
            if(dwTickCount >= QDCT_TestMotorDelay)
           { 
               if(1)//QDCT_bTest)
               {
                    QDCT_bTest = 0;
                    cTestMotorStep= 8; 
      //              MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,-(QDCT_PARAM_SET_ZIPPER_LENGTH)),PosToPulse(X_AXIS,-QDCT_PARAM_SET_ZIPPER_LENGTH/2),PosToPulse(X_AXIS,-QDCT_PARAM_SET_ZIPPER_LENGTH/2),5,5,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                 //   AxisMove(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(QDCT_PARAM_SET_ZIPPER_LENGTH-600),QDCT_PARAM_JJGO_SPEED/2,-600,QDCT_DIR
  //                  AxisMovePos(X_AXIS,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH);
                        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-QDCT_PARAM_SET_ZIPPER_LENGTH,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,500);
                  //  AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short acc_pulse,unsigned short dec_pulse)
                   // AxisMovePoint(X_AXIS,QDCT_PARAM_JJGO_SPEED,0);
                   cTesttime = dwTickCount;
                }  
            }
            break;   
        case 8:
           if(!X_DRV)
           {
//                if(dwRealPos <= (QDCT_PARAM_SET_ZIPPER_LENGTH/2))
//                {
//                     MoveChangSpeed(X_AXIS,5);
                     cTestMotorStep= 4;     
//                }  
            }
            break;
    }      
}
//
void QDCT_TuiLian(void)
{
  
    if(cQDCT_TuiLianOKFlag && (QDCT_YD_OUT && QDCT_SL_OUT))
    {  
        QDCT_TuiLianStep = 0;
        return;
    }    
    switch(QDCT_TuiLianStep) 
    {
        case 0:
        break;
        case 1:
            QDCT_TuiLianStep = 2;
            QDCT_YD_OUT = 1;
        break;
        case 2:   
            QDCT_TLDelay     = dwTickCount+QDCT_PARAM_DELAY_SL;
            QDCT_TuiLianStep = 3;
        break;
        case 3:
            if(dwTickCount >= QDCT_TLDelay)
            {   
                  QDCT_SL_OUT    = 1;
                  QDCT_TLDelay     = dwTickCount;
                  QDCT_TuiLianStep = 4;
                  cQDCT_TuiLianOKFlag = 1;
            }
        break;
        case 4:
            if(dwTickCount >= QDCT_TLDelay)
            {
                QDCT_TuiLianStep = 0;
            }
        break;
    }
}

//前振动
void QDCT_QZhenDongAction(void)
{
    switch(QDCT_QZDPStep)
    {  
        case 1:
            if((dwTickCount >= QDCT_QZhenDongDelay))
            {
                if(!QDCT_PARAM_QLT_ON && bRunning)
                {
                    QDCT_QZDP_OUT = 0;
                    QDCT_QZDPStep = 0;
                }
                else
                {
                    if(!QDCT_QZDP_IN)
                    {
                        QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK;
                        QDCT_QZDPStep = 2;
                    }
                    else
                    {
                        QDCT_QZDP_OUT = 0;
                    }
                }
            }
            break;
        case 2:    
           if((dwTickCount >= QDCT_QZhenDongDelay))
            {
                QDCT_QZDP_OUT = 1;
                if(QDCT_QZDP_IN)
                {
                    QDCT_QZDPStep = 3;
                    QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;
                   
                }
            }
           break;
        case 3:    
            if((QDCT_QZDPStep == 3) && (dwTickCount >= QDCT_QZhenDongDelay))
            {
                if(QDCT_QZDP_IN)
                {
                    QDCT_QZDPStep = 1;           
                    QDCT_QZDP_OUT = 0;
                }
                else
                { 
                    QDCT_QZDPStep = 2;           
                }
            }
            break;
    }       
    //打拉片,两个共用一个盘
    if((QDCT_TLPStep == 1)  && (dwTickCount >= QDCT_TLPDelay))
    {
        if((QDCT_QZDP_OUT | QDCT_HZDP_OUT) && QDCT_PARAM_TLP_ENABLE)
        {
            QDCT_TLPStep = 2;
            QDCT_TLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME;
            QDCT_TLP_OUT  = 1;
        }
    }
    else if((QDCT_TLPStep == 2) && (dwTickCount >= QDCT_TLPDelay))
    {
        QDCT_TLPStep = 1;
        QDCT_TLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME;
        QDCT_TLP_OUT  = 0;       
    }
}
//后振动盘
void QDCT_HZhenDongAction(void)
{
    switch(QDCT_HZDPStep)
    {  
        case 1:
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                //后拉头使能
                if(!QDCT_PARAM_HLT_ON && bRunning)
                {
                    QDCT_HZDP_OUT = 0;
                    QDCT_HZDPStep = 0;
                }
                else
                {
                    if(!QDCT_HZDP_IN)
                    {
                        QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK;
                        QDCT_HZDPStep = 2;
                    }
                    else
                    {
                        QDCT_HZDP_OUT = 0;
                    }
                }
            }
            break;
        case 2:    
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                QDCT_HZDP_OUT = 1;
                if(QDCT_HZDP_IN)
                {
                    QDCT_HZDPStep = 3;
                    QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;    
                }
            }
            break;
        case 3:    
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                if(QDCT_HZDP_IN)
                {
                    QDCT_HZDPStep = 1;
                    QDCT_HZDP_OUT = 0;
                }
                else
                {
                    QDCT_HZDPStep = 2;
                }       
            }
            break;
    }
}
void QDCT_AlarmProtect(void)
{ 
    static unsigned short ka_dai_cnt;
    dwRealPos = GetPos(X_AXIS);
    dwYRealPos = GetPos(Y_AXIS);

    if(QDCT_PARAM_BACK_ALARM_MODE)    
    {                              //感应后限模式
        if(!bRunning)
        {
            if(QDCT_BACK_LIMIT_IN_UP)
            {
                if(X_DRV && (QDCT_bMotorBack) || (QDCT_MotorStep != 0))        //到后限不能再后退但可以点前进
                {
                    QDCT_bMotorBack = 0;
                    
                    AxisEgmStop(X_AXIS); 
                    QDCT_JD_OUT   = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                    user_datas[128] = 1;
                }
            }
        }
        else
        {
            if(QDCT_BACK_LIMIT_IN)
            {
                if((dwTickCount >= QDCT_MotorBackLimitDelay) && cBackLimitCheck_EN && X_DRV)
                {
                    AxisEgmStop(X_AXIS); 
       
                    QDCT_JD_OUT = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                }
            }
            else
            {
                QDCT_MotorBackLimitDelay = dwTickCount + 30;
            }  
        }
    }
    else  //软件限位
    {   
     
     }
    
     if(QDCT_KA_DAI_IN)
     {
        if(ka_dai_cnt < 110)ka_dai_cnt++;
     }
     else
     {
        ka_dai_cnt = 0;
   //     if(GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_KD_ALARM)QDCT_SetAlarmCode(QDCT_NO_ALARM); 
     }
     if(ka_dai_cnt > 100)      
     {
          QDCT_YD_OUT = 0;
          if(bRunning)
          {
            QDCT_SetAlarmCode(QDCT_KD_ALARM);
            if(KaDaiFlag==0)
            {
              KaDaiSaveLen = dwRealPos;
              KaDaiSaveLenY = dwYRealPos;
              KaDaiFlag = 1;
            }
          }
     }  

}

void QDCT_JiaLianAction(void)
{
    switch(QDCT_JiaLianStep)
    {  
        case 1:   
            QDCT_JD_Delay = dwTickCount + QDCT_PARAM_JD_DELAY;
            QDCT_JiaLianStep  = 2;
            break;
        case 2:
            if(dwTickCount >= QDCT_JD_Delay)
            {
                QDCT_JD_OUT        = 1;
                QDCT_JD_Delay = dwTickCount + QDCT_PARAM_DELAY_KL;
                QDCT_JiaLianStep  = 3;
            }
            break;
        case 3:    
            if((dwTickCount >= QDCT_JD_Delay))
            {
                if(!QDCT_PARAM_QLT_ON && !QDCT_PARAM_HLT_ON)
                {
                    QDCT_JD_Delay = dwTickCount;
                    QDCT_YD_OUT = 0;
                    QDCT_JiaLianStep  = 4;
                }
                else
                {
                    //单拉头时开链
                    if(QDCT_LATOU)
                    {
                        if(QDCT_PARAM_KL_QC_SELECT==1)
                        {
                          QDCT_KL_OUT = 1;
                        }
                        else
                        {
                            QDCT_CQ_OUT = 1;
                            QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                        }
                    }
                    else   //夹带输出后吹气
                    {
                        QDCT_CQ_OUT = 1;
                        QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                    }
//                    QDCT_YD_OUT = 0;
                    QDCT_JD_Delay = dwTickCount + QDCT_PARAM_KL_TIME;                    
                }
                QDCT_JiaLianStep  = 4;
            }
            break;
        case 4:        
            if(dwTickCount >= QDCT_JD_Delay)
            {
                QDCT_KL_OUT = 0;        
                QDCT_JiaLianStep  = 0;
            }
            break;
    }
}

unsigned char QDCT_CheckLength(void)
{
        //单拉头       无限长度
    if(QDCT_LATOU && QDCT_LONG_LENGTH_USE)
    {
        if(QDCT_PARAM_SET_ZIPPER_LENGTH > QDCT_PARAM_TRANS_LENGTH)
          return 1;
        else 
          return 0;
    }
    else
      return 0;
}


//自动动作
void QDCT_AutoStepAction(void)
{  
    static unsigned char jz_over; 
   
    if(bRunning)
    {     
        switch(QDCT_AutoStep)
        {  
            case 1:
                jz_over = 0;
                QTryCnt = 0;
                cChuan_Lian_ErrorNum = 0;
                QDCT_AutoStep = 2;
                if(QDCT_QZDPStep == 0 && !QZDPAutoDisable)
                  QDCT_QZDPStep = 1;
                if(QDCT_HZDPStep == 0 && !HZDPAutoDisable)
                  QDCT_HZDPStep = 1;
                QDCT_AutoDelay = dwTickCount + 5;
                if(!QZhuangLiaoOkFlg)
                    QDCT_QZhuangLiaoStep = 1;//前装料
                if(!HZhuangLiaoOkFlg)
                    QDCT_HZhuangLiaoStep = 1;//后装料     
                cSL_En = 2;    //第一条可不受限制横送料
                
                break;
            case 2:
                if((QDCT_MotorStep  == 0))
                {       
                    cSL_En = 2;    //第一条可不受限制横送料
                    if(dwTickCount >= QDCT_AutoDelay)
                    {  
                        QDCT_AutoStep = 3;    
                        SetAlarmCode(QDCT_ALARM_ADDR,0);
                    } 
                    user_datas[122]=0;
                }
                break;
            case 3:            
                 if(QDCT_MotorStep  == 0)
                {
                    QDCT_MotorStep = 61;    //前进定位好后自动夹链和开链
                    
                    QDCT_AutoStep = 4;
                    cBackLimitCheck_EN = 0;
                }
                break;
            case 4:
              //考虑第一条电机在前点要退出来，第二条后也不可能在前点,不能合模
                if(!QDCT_GO_LIMIT_IN || QDCT_JD_OUT)   
                    QDCT_AutoStep = 9;
                break;
            case 5:  
                QDCT_AutoStep = 9; 
                break;
            case 6:
                 QDCT_AutoStep = 7;
                 break;
            case 7:
                QDCT_AutoStep = 8;  
                break;
            case 9:   
              if(QDCT_GO_LIMIT_IN || (dwZipCnt))  //第一条要到前限位才能合模
                {
                    if((cCheckDinWei == 0) && (QDCT_PARAM_QLT_ON || QDCT_PARAM_HLT_ON))
                        QDCT_HeMoStep = 1;
                    QTryCnt = 0;
                    QDCT_AutoStep = 10;
                }                
                break;
            case 10:
              if((QDCT_MotorStep  == 0) && (QDCT_HeMoStep == 0))   //前定位完成,QDCT_GO_LIMIT_IN也肯定有信号
                {
                    cXiaMo_En = 0;
                    QDCT_AutoStep = 11;
                    cCheck_Go_In_Flag = 1;                    
                } 
              break;
              
            case 11:      
                if((QDCT_MotorStep  == 0))  //开始后拉穿入
                {              
                   cBackLimitCheck_EN = 1;
                    if(QDCT_SEBIAO_MODE)    //色标模式
                    {
                        QDCT_MotorStep = 1;
                    }
                    else
                    {
                        QDCT_MotorStep = 30;//穿入启动   
                    }
                    cSL_En = 0;    //不受限制横送料
                    cChuan_LianCheckOK = 0;
                    QDCT_AutoStep = 12;
                } 
                break;
                
            case 12:       
                
                if(((QDCT_MotorStep  == 0) || (QDCT_MotorStep  == 40)) && !X_DRV)
                {   
                    QDCT_AutoStep = 13;
                    
                }                
                break;
                
            case 13:
              
                if(QDCT_CheckLength())    //判断长度转换压轮电机拖带
                {
                    QDCT_AutoStep = 50;
                }
                else
                    QDCT_AutoStep = 14;
                break;
            case 14:                
                    if((QDCT_XiaQieStep  == 0))
                    {
                        QDCT_XiaQieStep = 1;
                        cSL_En = 0;    //下切时只横送不能锁紧拉头
                        QDCT_AutoStep = 15;                        
                    }  
                break;               
            case 15://拖带完成
                if(!X_DRV && !Y_DRV)
                {
                    if(((QDCT_XiaQieStep  == 0) || (QDCT_XiaQieStep  == 7)) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
                    {
                         if(QDCT_MotorStep  == 0)
                        {                           
                            if(jz_over)//无限长方式由压轮带出拉链
                            {
                                  jz_over = 0;
                                  QDCT_MotorStepY = 160;
                                  QDCT_MotorDelay = dwTickCount + QDCT_PARAM_YL_SL_DELAY;
                            }
                            else
                                QDCT_MotorStep = 80;
                            QDCT_AutoStep = 16;
                        } 
                    }  
                }
                break;
                  /**/
            case 16:    
                if((QDCT_MotorStep  == 0))
                {     
                    cXiaMo_En= 1;
                    cSL_En = 2;    //横送料打开
                    if(bStartOnceTime)
                    {
                        bStartOnceTime = 0;
                        SingOneFlg = 1;
                    }
                    if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || (!QDCT_PARAM_QLT_ON && !QDCT_PARAM_HLT_ON) || cChuan_LianCheckOK)
                    {  
                        CalProSP(QDCT_SPEED_ADDR);	  //计算生产速度
                        if(cCheckDinWei == 0)
                        {  
                            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++;                            
                            
                            QDCT_PARAM_TB_CNT1++;
                            QDCT_PARAM_TB_CNT2++;
                            cChuan_Lian_ErrorNum = 0;
                            if(GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_CLOK_ALARM)
                                SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM); 
                        }
                        else
                        {
                          SingOneFlg = 1;
                        }
                        cCheckDinWei = 0;
                        if(dwZipCnt < 3)
                         dwZipCnt++;;
                    }
                    else
                    {
                        cChuan_Lian_ErrorNum++;
                    
                        if(cChuan_Lian_ErrorNum >= 1)
                        {
                            SetAlarmCode(QDCT_ALARM_ADDR,QDCT_CLOK_ALARM);
                            if(cChuan_Lian_ErrorNum >= 2)
                                SingOneFlg = 1;
                        }  
                    }    
                    if(QDCT_PARAM_TB_CNT1 >= QDCT_PARAM_TABLE_NUM)
                    {
                        QDCT_TB_OUT = 1;
                        QDCT_PARAM_TB_CNT1      = 0;
                      //QDCT_PARAM_TB_CNT2     = 0;
                        QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME;
                    }            
                    if((GetTotal(QDCT_TOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR)) && (GetTotal(QDCT_SETTOTAL_ADDR) != 0))
                    {            
                        SetAlarmCode(QDCT_ALARM_ADDR,QDCT_TOTAL_ALARM);
                        SingOneFlg = 1;
                        QDCT_AutoStep = 17;	
                    }
                    else
                    {   
                        QDCT_AutoStep = 17;	
                    }                    
                }
                break;              
            case 17:
                 if(GetTotal(QDCT_NOWTOTAL_ADDR) >= QDCT_ZHA_NO) //扎数到
                 {
                   
                    //扎数到了，台面输出
                     QDCT_TB_OUT = 1;
                     QDCT_PARAM_TB_CNT1      = 0;
                     QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME2;                     
                    
                     ClrcToTal(QDCT_NOWTOTAL_ADDR);
                     
                     
                     if(( QDCT_ZHA_STOP_TIME > 0)) //扎数不能为0
                     { 
                         if(QDCT_ZHA_NO > 0)
                         {
                              QDCT_AutoDelay = dwTickCount + QDCT_ZHA_STOP_TIME;
                              dwZipCnt = 0;
                              SetAlarmCode(QDCT_ALARM_ADDR,QDCT_ZHA_ALARM);
                         }      
                     }  
                     else
                     {
                        QDCT_SetAlarmCode(QDCT_ZHA_ALARM);  //扎数到                    
                        SingOneFlg = 1; 
                     } 
                     if(SingOneFlg)
                     {
                         SingOneFlg = 0;
                         QDCT_AutoStep = 0; 
                         bRunning = 0;
                         if(QDCT_LATOU)
                         QDCT_QHSL_OUT   = 0;
                         //QDCT_HHSL_OUT   = 0;
                     }
                     else
                       QDCT_AutoStep = 2;                       
                 }
                 else
                 {                  
                     QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY;
                     //单条停止
                     if(SingOneFlg)
                     {
                         SingOneFlg = 0;
                         QDCT_AutoStep = 0; 
                         bRunning = 0;
                         if(QDCT_LATOU)
                         QDCT_QHSL_OUT   = 0;
                         //QDCT_HHSL_OUT   = 0;
                     }
                     else
                       QDCT_AutoStep = 2;                   
                 }      
                break;  
            case 50:       
                QDCT_YL_OUT = 1;
                QDCT_AutoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_AutoStep = 51;  
                break;
            case 51:
                if(QDCT_YL_LIMIT_IN)
                {
                    QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_DELAY;
                    QDCT_AutoStep = 52;  
                }
                else if(dwTickCount >= QDCT_AutoDelay)
                  QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
                break;
            case 52:   
                if((dwTickCount >= QDCT_AutoDelay) && (QDCT_MotorStep == 0))   
                {
                    //QDCT_YL_DIR = QDCT_YL_DIR_N;
                    jz_over = 1;
                    QDCT_MotorStep = 150;   //走松夹子
                    if(!Y_DRV)//压轮电机动作
                        AxisMovePos(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH-QDCT_PARAM_TRANS_LENGTH+1000));
                    QDCT_AutoStep = 53;  
                }
                break;
            case 53:
                if((dwTickCount >= QDCT_AutoDelay))
                {
                    if(!Y_DRV)
                    {
                        QDCT_AutoStep = 54;  
                        //QDCT_YL_DIR = QDCT_YL_DIR_P;
                        QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_FZ_DELAY;
                    }        
                }
                break;
            case 54:    
                if((dwTickCount >= QDCT_AutoDelay))
                {
                    if(!Y_DRV)AxisMovePos(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_FZ_LENGTH));
                    QDCT_AutoStep = 14;  
                }
                break;
            //检测到拉链没有穿进去
            case 70:
                if((dwTickCount >= QDCT_AutoDelay))  //张开夹子
                {
                    //检测到拉链没有穿入,进到第一个拉头处夹住出不计数
                    QDCT_MotorStep = 200;  
                    QDCT_AutoStep = 71; 
                }
                break;
            case 71:
                if(QDCT_MotorStep == 0)
                {
                    QDCT_XM_OUT = 0;    //下模退
                    QDCT_QJLT_OUT = 0;  //前后夹拉头退
                    QDCT_HJLT_OUT = 0;
                    QDCT_AutoDelay = dwTickCount + 40;
                    QDCT_AutoStep = 72;  
                }  
                break;      
            case 72:
                if((dwTickCount >= QDCT_AutoDelay))  //延时下切
                {
                     if(cChuan_Lian_ErrorNum == 0)
                        QDCT_AutoStep = 14; 
                     else
                        QDCT_SetAlarmCode(QDCT_CLOK_ALARM);
                }
                break; 
 
        } 
    }
}


//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)
{
    static unsigned char long_stop_flg = 0,yd_back_flg,sl_flg;
    static unsigned long long_time_delay,yd_back_delay,sl_delay,sl_delayStart,dw_Stop_In_Delay;
    

    
  
    QDCT_STATE_RUN = bRunning;
    if(GetAlarmCode(QDCT_ALARM_ADDR) == 0)
           QDCT_STATE_ERROR = 0;
    else
           QDCT_STATE_ERROR = 1;
 
       //启动    自动启动 单一自动	 			
    if((QDCT_START_IN_UP || bStart || (QDCT_bOnceStart && !KaDaiFlag) || QDCT_bCheckDinWei))
    {      
        if((dwTickCount >= sl_delayStart) && !bRunning)
        {  
            if(QDCT_bOnceStart)
            {
                QDCT_bOnceStart     = 0;
                bStartOnceTime = 1;
            	dwZipCnt    = 0;
            }
            bStart     = 0;
            
            if(!QDCT_NO_ZIPPER_CHECK_IN)QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
            else if(QDCT_PARAM_SET_ZIPPER_LENGTH <500)QDCT_SetAlarmCode(QDCT_ZIPPER_LENGTH_ALARM);
            else if((QDCT_QLTCZ_IN || QDCT_HLTCZ_IN) && !QDCT_XM_OUT)QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM);
            else if(!QDCT_QHSL_ORIGIN_IN || (!QDCT_HHSL_ORIGIN_IN && !QDCT_LATOU))QDCT_SetAlarmCode(QDCT_START_GL_ORIGIN_ALARM);
            else if((QDCT_HHSL_LIMIT_IN && !QDCT_LATOU) || QDCT_QHSL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_START_SL_LIMIT_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(QDCT_XQ_LIMIT_IN && !QDCT_PARAM_XM_MODE)QDCT_SetAlarmCode(QDCT_XQ_LIMIT_ALARM);
            else if(QDCT_SQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);   
            else if(QDCT_YL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);  
            else if(QDCT_KA_DAI_IN)QDCT_SetAlarmCode(QDCT_KD_ALARM);  
            else if(QDCT_GO_LIMIT_IN && (QDCT_YD_OUT && ((QDCT_SL_OUT && QDCT_PARAM_XM_MODE) || !QDCT_PARAM_XM_MODE) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM)))
            {
                if(((GetAlarmCode(QDCT_ALARM_ADDR) == 0) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM)))
                {
                    cCheckDinWei = QDCT_bCheckDinWei;
                    bRunning   = 1;
                    cTuiLianStep = 0;
                    yd_back_flg = 0;
                    QDCT_AutoStep  = 4;
                    SetAlarmCode(QDCT_ALARM_ADDR,0);
                    sl_flg = 0;
                    QDCT_MotorStep = 66;
                    cWorkCnt   = 0;    
                    QTryCnt     = 0;
                    HTryCnt     = 0;
                    QTuiLaTouOkFlg = 1;
                    HTuiLaTouOkFlg = 1; 
                    if(QDCT_QJLT_OUT)// 前夹拉头关 
                    {
                        QZhuangLiaoOkFlg = 1;
                    }
                    else
                    {
                        QZhuangLiaoOkFlg = 0; 
                        QDCT_QZhuangLiaoStep = 1;
                    
                    }  
                    if(QDCT_HJLT_OUT)      
                    {       
                      HZhuangLiaoOkFlg = 1; 
                    }   
                    else
                    {
                        HZhuangLiaoOkFlg = 0; 
                        QDCT_HZhuangLiaoStep = 1;
                    }
                    HTuiLaTouOkFlg = 1;
                    dwZipCnt    = 0;
                    cFirstQStartFlg  = 1;
                    cFirstHStartFlg  = 1;
                    if(!QZDPAutoDisable)
                      QDCT_QZDPStep = 1;
                    if(!HZDPAutoDisable)
                      QDCT_HZDPStep = 1;
                    QDCT_TLPStep  = 1;
                    
                    SingOneFlg = 0;
                    cCheck_Go_In_Flag = 1;
                    cSL_En = 2;
                    cXiaMo_En = 1;
                    SetPos(X_AXIS, 0); 
                    cBackLimitCheck_EN = 1;
                    if(QDCT_TB_OUT)
                        QDCT_TableDelay = dwTickCount + 300;
					KaDaiFlag = 0;
                	KaDaiSaveLen=0;
                	KaDaiSaveLenY=0;
                }        
            }
            else
            {
                if((GetAlarmCode(QDCT_ALARM_ADDR) == 0))
                {
                    cCheckDinWei = QDCT_bCheckDinWei;
                    cBackLimitCheck_EN = 1;
                    bRunning   = 1;
                    yd_back_flg = 0;
                    QDCT_AutoStep  = 1;
                    cWorkCnt   = 0;    
                    QTryCnt     = 0;
                    HTryCnt     = 0;
                    QTuiLaTouOkFlg = 1;
                    HTuiLaTouOkFlg = 1;
                    dwZipCnt    = 0;
                    cFirstQStartFlg   = 1;
                    cFirstHStartFlg   = 1;
                    if(QDCT_QJLT_OUT)// 前夹拉头关 
                    {
                        QZhuangLiaoOkFlg = 1;
                    }
                    else
                    {
                        QZhuangLiaoOkFlg = 0; 
                        QDCT_QZhuangLiaoStep = 1;
                    
                    }  
                    if(QDCT_HJLT_OUT)      
                    {       
                      HZhuangLiaoOkFlg = 1; 
                    }   
                    else
                    {
                        HZhuangLiaoOkFlg = 0; 
                        QDCT_HZhuangLiaoStep = 1;
                    }
                    if(!QZDPAutoDisable)
                      QDCT_QZDPStep = 1;
                    if(!HZDPAutoDisable)
                      QDCT_HZDPStep = 1;
                    QDCT_TLPStep  = 1;
                    SingOneFlg = 0;
                    cCheck_Go_In_Flag = 1;
                    cSL_En = 2;
                    cXiaMo_En = 1;
                    if(QDCT_TB_OUT)
                        QDCT_TableDelay = dwTickCount + 300;
					KaDaiFlag = 0;
					KaDaiSaveLen=0;
                	KaDaiSaveLenY=0;
                }
            }            
        }
        QDCT_bCheckDinWei= 0;
    }
    
    if(cStopFlg == 1)
    {
         if(!X_DRV)  cStopFlg = 0; 
    }    
    
    if(bStop)
    {
       SingOneFlg = 1;
       bStop = 0;
    }
    //停止
    if(QDCT_STOP_IN_UP && (dwTickCount >= dw_Stop_In_Delay))
    {	
 //               
        SingOneFlg = 0;
       if(bRunning)
       {
          dw_Stop_In_Delay = dwTickCount +50;
          //SetDecTime(X_AXIS,12) ;
          //SetDecTime(Y_AXIS,12) ;
          AxisDecStop(X_AXIS);
          AxisDecStop(Y_AXIS);
          bRunning = 0;
          QDCT_bOnceStart = 0;
          bStartOnceTime = 0;
          bStop = 0; 		           
          QDCT_AutoStep = 0;
          //QDCT_QZhuangLiaoStep = 0;
          //QDCT_HZhuangLiaoStep = 0;
          QDCT_HeMoStep = 0;
          QDCT_MotorStep    = 0;
          QDCT_JiaLianStep  = 0;
          if(!QDCT_PARAM_CS_ENABLE)QDCT_XiaQieStep   = 0;
          QDCT_ZhenDongStep = 0;
          QDCT_QTLTStep = 0;  
          QDCT_HTLTStep = 0;  
          ManFlg = 0;
          cBackLimitCheck_EN = 1;
       }
       else
       {
           if(!X_DRV)
                QDCT_SZ_OUT = QDCT_MOTOR_DISEN;
          //SetDecTime(X_AXIS,12) ;
          //SetDecTime(Y_AXIS,12) ;
          AxisDecStop(X_AXIS);
          AxisDecStop(Y_AXIS);
          bRunning = 0;
          QDCT_bOnceStart = 0;
          bStop = 0; 		
          bStartOnceTime = 0;   
          QDCT_AutoStep = 0;
          QDCT_QZhuangLiaoStep = 0;
          QDCT_HZhuangLiaoStep = 0;
          QDCT_MotorStep    = 0;
          QDCT_JiaLianStep  = 0;
          QDCT_XiaQieStep   = 0;
          QDCT_ZhenDongStep = 0;
          QDCT_HeMoStep = 0;
 
          QDCT_QTLTStep = 0;
          QDCT_HTLTStep = 0;
          QDCT_SQ_OUT = 0;
          if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 0;
          
          QDCT_XM_OUT = 0;
          QDCT_JD_OUT = 0;   
          QDCT_QTLT_OUT = 0;
          QDCT_HTLT_OUT = 0;
          QDCT_QHSL_OUT = 0;
          QDCT_KL_OUT = 0;
          QDCT_YL_OUT   = 0;
          QDCT_CS_OUT   = 0;
		  KaDaiFlag = 0;
		  KaDaiSaveLen=0;
		  KaDaiSaveLenY=0;	
          
          long_stop_flg = 1;
          long_time_delay = dwTickCount+1500;

          QDCT_HHSL_OUT= 0;
             
            SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);   
          ManFlg = 0;
          cSL_En = 2;
          cXiaMo_En = 1;
          cBackLimitCheck_EN = 1;
          if((dwTickCount - QDCT_TableDelay) >= 1000)
                QDCT_TableDelay = dwTickCount + 300;
          QDCT_MotorStepSave=0;
       }
       //测试停止
       cTestMotorStep = 0;
    }
    
    if(sl_flg)
    {
        if(dwTickCount >= sl_delay)
        {
            sl_flg = 0;
            QDCT_SL_OUT   = 0;
            sl_delayStart = dwTickCount+500;
        }
    }
    
    if(long_stop_flg)
    {
        if(dwTickCount >= long_time_delay)
        {
             if(QDCT_STOP_IN)
             {
                 QDCT_QJLT_OUT = 0;
                 QDCT_HJLT_OUT = 0;     
                 QDCT_YD_OUT   = 0;
                 QDCT_SL_OUT   = 0;
                 
             }
        }
        else if(!QDCT_STOP_IN)
        {
             long_stop_flg = 0;
        }
    }
    
    
    if(QDCT_bAlarmStop)
    {   
      
        bRunning         = 0;
        QDCT_bOnceStart = 0;
        QDCT_bAlarmStop = 0;
        bStartOnceTime = 0;  
        AxisDecStop(X_AXIS);
        AxisDecStop(Y_AXIS);
        QDCT_AutoStep = 0;
        QDCT_QZhuangLiaoStep = 0;
        QDCT_HZhuangLiaoStep = 0;
        QDCT_MotorStep    = 0;
        QDCT_JiaLianStep  = 0;
        QDCT_ZhenDongStep = 0;
        if(!QDCT_QTLT_OUT)
            QDCT_QTLTStep = 0;
        if(!QDCT_HTLT_OUT)
            QDCT_HTLTStep = 0;
        ManFlg = 0;        
        KaDaiFlag = 0;
        KaDaiSaveLen=0;
        KaDaiSaveLenY=0;
        if(GetAlarmCode(QDCT_ALARM_ADDR) != QDCT_ZLT_ALARM)
        {
            if(QDCT_SL_OUT)
            {
                QDCT_YD_OUT   = 1;
                sl_flg        = 1;
                sl_delay      = dwTickCount+1000;
            }
        }       
    }
}   

unsigned long GetLength(long dist0,long dist1)
{
    if(dist0 < dist1)
        return (dist1-dist0);
    else
        return (dist0-dist1);
}
//电机控制动作
void QDCT_Motor(void)	 //
{   
  /*
  1~5步追色标
  30步开始后拉
  61  前进定位
  80步开始为切断后后拉松夹子
  200步,进去一定位置夹废料
  */
        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,xm_delay_back,back_delay;
        long speed_buff;
        long len_buff;
        unsigned short start_speed;
        
        user_datas[127] = length_buff;
        
        if(!QDCT_NO_ZIPPER_CHECK_IN && bRunning)
        {
            QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
        }
        switch(QDCT_MotorStepY)
        {
                case 160:
                        if((dwTickCount >= QDCT_MotorYDelay) && !Y_DRV)
                        {
                            //QDCT_YL_DIR = QDCT_YL_DIR_N;
                            if(!Y_DRV)AxisMovePos(Y_AXIS,QDCT_PARAM_YL_SL_SPEED,QDCT_PARAM_YL_SL_LENGTH);
                            QDCT_MotorYDelay =    dwTickCount + QDCT_PARAM_YL_BACK_DELAY;
                            QDCT_MotorStepY   = 161;
                        }break;
                case 161:
                        if(dwTickCount >= QDCT_MotorYDelay)QDCT_YL_OUT = 0;
                        if(!Y_DRV)
                        {
                            QDCT_YL_OUT = 0;
                            QDCT_MotorYDelay =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                            QDCT_MotorStepY   = 162;
                        }
                         break;
                case 162:
                        if(!QDCT_YL_LIMIT_IN)  
                        {
                            QDCT_MotorYDelay =    dwTickCount + 40;
                            QDCT_MotorStepY   = 163;
                        }
                        else if(dwTickCount >= QDCT_MotorYDelay)
                            QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
                         break;
                case 163:    
                      if(dwTickCount >= QDCT_MotorYDelay)
                      {
                          QDCT_MotorStepY   = 0;
                      }
                      break;        
        }
        switch(QDCT_MotorStep)
	{
                case 1:
                        QDCT_MotorDelay  =    dwTickCount + QDCT_PARAM_DELAY_BACK;
                        QDCT_MotorStep   = 2;
                        QDCT_YD_OUT      = 0;
                        user_datas[129]=0;
                        break;
                case 2:
                         cSeBiaoOk = 0;
                         cSeBiaoEn = 0;
                         SetPos(X_AXIS,0); 
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            back_buff     = dwRealPos;
                            back_dec_buff = dwRealPos;
                            cSeBiaoOk = 0;
                            cSeBiaoEn = 0;
                            cChuan_LianCheckOK = 0;  
                            if(dwZipCnt>=1)
                            {  
                                //夹子运动到模具位置时变为穿入速度  
                                 if( QDCT_PARAM_Mold_Distance > 120)
                                      AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,
                                                         QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,100);
                                 else    
                                   AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance+10,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,
                                                         QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
                            }
                            else//第一条测长度
                            {
                                AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P,
                                                       QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                                       QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                            }
                            QDCT_MotorStep = 3; 
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                        }
                        break;
                case 3:   
                         //到拉链空位 
                        if((!KaDaiFlag && QDCT_SEBIAO_IN_UP) || (dwRealPos >=  (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) &&  dwZipCnt>=1))  //空位变慢
                        {
                             AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
                             cSeBiaoOk = 0;
                             cSeBiaoEn = 1;   
                             QDCT_MotorStep   = 7;
                             break;
                        }

                            if(QDCT_CHUAN_LIAN_OK)
                               cChuan_LianCheckOK = 1;
                           //如果穿入长度到
                            if((dwRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                            {
                                QDCT_MotorStep   = 5;
                                if(QDCT_PARAM_MODE)   //反穿停电机
                                {  
                                    AxisEgmStop(X_AXIS);
                                    QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;  
                                }
                                else
                                {
                                    QDCT_MotorDelay = dwTickCount;
                                }
                                QDCT_XM_OUT      = 0;
                                if(cCheckDinWei == 0)
                                   QDCT_QJLT_OUT = 0; 
                                if(QDCT_PARAM_XM_MODE)
                                    QDCT_SL_OUT = 0;//送带退
                                if(QDCT_PARAM_HLT_ON )
                                {
                                     QDCT_HJLT_OUT     = 0;
                                } 
                                break;
                            }  
                            else if((dwRealPos + 100) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                            {
                                if(QDCT_PARAM_HLT_ON )
                                {
                                     QDCT_HJLT_OUT     = 0;
                                }  
                            }  

                           if(dwZipCnt>=1)
                           {
                             //如果慢速长度到，
                             if(dwRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))                       
                             {           
                               //拉链长度大于(模具长度 + 穿入长度）说明穿入部分还有拉链加速      
                                      if(length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH > QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH)
                                            AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH,
                                                        QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0);  
                                      else
                                            AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH-dwRealPos,
                                                        QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0);  
                             }
                             QDCT_MotorStep = 4; 
                           }
                            //卡带处理，停止后可再次启动
                            if(KaDaiFlag==1)
                            {
                              if(X_DRV)
                                AxisDecStop(X_AXIS);
                              else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                              {
                                QDCT_bOnceStart=0;
                                bStartOnceTime = 1;
                                KaDaiFlag=0;
                                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                              }
                              else
                              {
                                KaDaiSaveLen=dwRealPos;
                              }
                            }                            
                           
                            //行程超限
                            if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                            {
                                  QDCT_JD_OUT = 0;
                                  QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                                  user_datas[128] = 4;
                            }                       
                        
                        break;
                case 4: 
                        //到拉链空位 
                        if((!KaDaiFlag && QDCT_SEBIAO_IN_UP) || (dwRealPos >=  (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) &&  dwZipCnt>=1))  //空位变慢
                        {
                             AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
                             cSeBiaoOk = 0;
                             cSeBiaoEn = 1;   
                             QDCT_MotorStep   = 7;
                             break;
                        }

                            if(QDCT_CHUAN_LIAN_OK)
                               cChuan_LianCheckOK = 1;
                           //如果穿入长度到
                            if((dwRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                            {
                                QDCT_MotorStep   = 5;
                                if(QDCT_PARAM_MODE)   //反穿停电机
                                {  
                                    AxisEgmStop(X_AXIS);
                                    QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;  
                                }
                                else
                                {
                                    QDCT_MotorDelay = dwTickCount;
                                }
                                QDCT_XM_OUT      = 0;
                                if(cCheckDinWei == 0)
                                   QDCT_QJLT_OUT = 0; 
                                if(QDCT_PARAM_XM_MODE)
                                    QDCT_SL_OUT = 0;//送带退
                                if(QDCT_PARAM_HLT_ON )
                                {
                                     QDCT_HJLT_OUT     = 0;
                                } 
                                break;
                            }  
                            else if((dwRealPos + 100) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                            {
                                if(QDCT_PARAM_HLT_ON )
                                {
                                     QDCT_HJLT_OUT     = 0;
                                }  
                            }  
                            //卡带处理，停止后可再次启动
                            if(KaDaiFlag==1)
                            {
                              if(X_DRV)
                                AxisDecStop(X_AXIS);
                              else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                              {
                                QDCT_bOnceStart=0;
                                bStartOnceTime = 1;
                                KaDaiFlag=0;
                                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                              }
                              else
                              {
                                KaDaiSaveLen=dwRealPos;
                              }
                            }                            
                           
                            //行程超限
                            if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                            {
                                  QDCT_JD_OUT = 0;
                                  QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                                  user_datas[128] = 4;
                            }                       
                        break;
                case 5:     
                            if((!KaDaiFlag && QDCT_SEBIAO_IN_UP)  || (dwRealPos >=  (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) &&  dwZipCnt>=1) )  //空位变慢
                            {
                               AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
                               cSeBiaoOk = 0;
                               cSeBiaoEn = 1;   
                               QDCT_MotorStep   = 7;
                               break;                            
                            }
//                          //到达穿入长度位置
                            if(dwTickCount>= QDCT_MotorDelay)
                            {                          
                                if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                                {   
                                    if(cCheckDinWei == 0)
                                     {
                                          if(QDCT_PARAM_QLT_ON )//&& !QDCT_GO_LIMIT_IN)
                                          {
                                              QDCT_QJLT_OUT     = 0;                                
                                          }
                                     }                    
                                    if(dwZipCnt>=1)
                                    {
                                        if(dwRealPos+QDCT_SEBIAO_BACK_LSPEED_LENGTH+QDCT_SEBIAO_LENGTH+50 < length_buff)
                                          AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,length_buff-dwRealPos-QDCT_SEBIAO_BACK_LSPEED_LENGTH-QDCT_SEBIAO_LENGTH,
                                                        QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0);
                                        else
                                          AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
                                    }
                                    else
                                    {
                                      if(!X_DRV)//反穿轴停的情况，要重新启动后拉
                                        AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P,
                                                       QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                                       QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                    }
                                    QDCT_MotorStep   = 6;
                                }         
                             }
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        }                                 

                        //行程超限
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                            {
                                  QDCT_JD_OUT = 0;
                                  QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                                  user_datas[128] = 4;
                            }   
                        break;
                case 6:                    
                            if((!KaDaiFlag && QDCT_SEBIAO_IN_UP)  || (dwRealPos >=  (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) &&  dwZipCnt>=1) )  //空位变慢
                            {
                               AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
                               cSeBiaoOk = 0;
                               cSeBiaoEn = 1;   
                               QDCT_MotorStep   = 7;
                               user_datas[129] = dwRealPos;
                               break;                            
                            }

                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        }                                 

                        //行程超限
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                            {
                                  QDCT_JD_OUT = 0;
                                  QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                                  user_datas[128] = 4;
                            }   
                        break;
                case 7:   
                   
                      if((cCheckDinWei == 0))
                      {        
                                if(QDCT_XM_OUT)
                                {    
                                     if(dwRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))                  
                                    {                                  
                                        if(QDCT_PARAM_HLT_ON )
                                                QDCT_HJLT_OUT     = 0;
                                        if(QDCT_PARAM_MODE)   //反穿停电机
                                        {  
                                            AxisEgmStop(X_AXIS);
                                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;  
                                        }
                                        else
                                        {
                                            QDCT_MotorDelay = dwTickCount;
                                        }     
                                        QDCT_XM_OUT = 0;
                                        QDCT_QJLT_OUT     = 0;                            
                                     }
                                     else if((dwRealPos + 100) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                                      {
                                                if(QDCT_PARAM_HLT_ON )
                                                {
                                                  QDCT_HJLT_OUT     = 0;                                      
                                                }                             
                                       }
                                }
                                else 
                                {
                                        if(dwTickCount >= QDCT_MotorDelay)
                                        {  
                                          
                                                if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                                                {                                         
                                                     if(QDCT_PARAM_QLT_ON )
                                                     {
                                                       QDCT_QJLT_OUT     = 0;                                
                                                     } 
                                                      if(!X_DRV && !KaDaiFlag)//反穿轴停的情况，要重新启动后拉
                                                        AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P,
                                                                       QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                                                       QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                               }   
                                        }                                
                                }   
                      }
                     
                      if(cSeBiaoOk)
                      {
                           if(cCheckDinWei == 0)
                           { 
                                if(QDCT_XM_OUT)
                                {    
                                     if((dwRealPos + 300) >= (cDinWeiPos + QDCT_SEBIAO_LENGTH ))                  
                                    {                                  
                                        if(QDCT_PARAM_HLT_ON )
                                                QDCT_HJLT_OUT     = 0;
                                        if(QDCT_PARAM_MODE)   //反穿停电机
                                        {  
                                            AxisEgmStop(X_AXIS);
                                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;  
                                        }
                                        else
                                        {
                                            QDCT_MotorDelay = dwTickCount;
                                        }      
                                        QDCT_XM_OUT = 0;
                                        if(cCheckDinWei == 0)
                                              QDCT_QJLT_OUT = 0;        
                                     }
                                     else if((dwRealPos + 400) >=  (cDinWeiPos + QDCT_SEBIAO_LENGTH ))
                                      {
                                                if(QDCT_PARAM_HLT_ON )
                                                {
                                                  QDCT_HJLT_OUT     = 0;                                      
                                                }                             
                                       }
                                }
                                else 
                                {  
                                  
                                        if(dwTickCount >= QDCT_MotorDelay) 
                                        {                                            
                                               if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                                             {                                         
                                                 if(QDCT_PARAM_QLT_ON )
                                                 {
                                                   QDCT_QJLT_OUT     = 0;                                
                                                 }  
                                                 AxisMovePosAccDec(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,cDinWeiPos + QDCT_SEBIAO_LENGTH-dwRealPos,
                                                        QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
                                                 QDCT_MotorStep = 8; 
                                               }
           
                                        } 
                               
                                     }   
                            
                           }
                      }
                      if(((dwRealPos >= (cDinWeiPos + QDCT_SEBIAO_LENGTH )))&& cSeBiaoOk)
                      {         
                            AxisEgmStop(X_AXIS);
                            if(cCheckDinWei == 0)
                            {
                               if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                                             {                                         
                                                 if(QDCT_PARAM_QLT_ON )
                                                 {
                                                   QDCT_QJLT_OUT     = 0;                                
                                                 }                                          
                                                
                                               }   
                            }     
                            if((dwZipCnt >= 1) && QDCT_SEBIAO_ERROR_LENGHT && (((dwRealPos > (length_buff  + QDCT_SEBIAO_ERROR_LENGHT))
                              || dwRealPos < (length_buff  - QDCT_SEBIAO_ERROR_LENGHT))))
                            {
                                QDCT_SetAlarmCode(QDCT_SE_BIAO_ALARM);
                            }
                            else 
                            {
                                QDCT_MotorStep = 9; 
                                //第一条保存长度
                                if(dwZipCnt==0) length_buff = dwRealPos;
                            }
                        }
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        }                         
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 3;
                        }
                        break;
                case 8:
                      if(((dwRealPos >= (cDinWeiPos + QDCT_SEBIAO_LENGTH )))&& cSeBiaoOk || (!X_DRV && !KaDaiFlag))
                      {         
                            AxisEgmStop(X_AXIS);
                            if(cCheckDinWei == 0)
                            {
                               if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                                             {                                         
                                                 if(QDCT_PARAM_QLT_ON )
                                                 {
                                                   QDCT_QJLT_OUT     = 0;                                
                                                 }                                          
                                                
                                               }   
                            }     
                            if(QDCT_SEBIAO_ERROR_LENGHT && (((dwRealPos > (QDCT_PARAM_SET_ZIPPER_LENGTH  + QDCT_SEBIAO_ERROR_LENGHT))
                              || dwRealPos < (QDCT_PARAM_SET_ZIPPER_LENGTH  - QDCT_SEBIAO_ERROR_LENGHT))))
                            {
                                QDCT_SetAlarmCode(QDCT_SE_BIAO_ALARM);
                            }
                            else 
                            {
                                QDCT_MotorStep = 9; 
                                //第一条保存长度
                                if(dwZipCnt==0) length_buff = dwRealPos;
                            }
                        }
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        }                         
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 3;
                        }
                case 9:
                          QDCT_MotorStep = 0;
                        break;
                
                case 30:
                        QDCT_MotorDelay = dwTickCount;
                        if(QDCT_SZ_OUT == QDCT_MOTOR_DISEN)
                        {
                            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
                            QDCT_MotorDelay = dwTickCount + 50;
                        }      
                        QDCT_MotorDelay  =  dwTickCount + QDCT_PARAM_DELAY_BACK;
                        QDCT_YD_OUT      = 0;   //压带
                        QDCT_MotorStep   = 31;     
                        cCheck_Go_In_Flag = 0;
                        cChuan_LianCheckOK = 0;
                        SetPos(X_AXIS,0); 
                        break;
                case 31:	                                       
                        if(dwTickCount >= QDCT_MotorDelay)
                        {   
                            gou_zhen_buff = dwRealPos;
                            save_buff = dwRealPos;
                            back_buff = dwRealPos;
                            qdct_length_buff = &QDCT_PARAM_OFFSET_LENGTH;
                            if((*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH) < 0)
                              *qdct_length_buff = 0;                                               

                            if(QDCT_PARAM_PUTIN_LOW_SPEED < QDCT_PARAM_START_SPEED)
                                   start_speed = QDCT_PARAM_PUTIN_LOW_SPEED;
                            else 
                                   start_speed = QDCT_PARAM_START_SPEED;

                           if( QDCT_PARAM_Mold_Distance > 120)
                                //夹子运动到模具位置时变为穿入速度
                                AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,
                                                         QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,100);
                            else    
                                AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_Mold_Distance+10,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,
                                                         QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);

                            if(QDCT_LATOU == 0)  //双头跳转
                                QDCT_MotorStep   = 33;
                            else //单头跳转
                                QDCT_MotorStep   = 333; 
                           cChuan_LianCheckOK = 0;
                        }
			break; 

		case 33:  //这一步关夹拉头
                        //下模提前输出
                       if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE && (dwRealPos >= QDCT_PARAM_Mold_Distance))
                             QDCT_XQ_OUT = 1;
                       //如果当前长度到达拉链长，最优先停
                       if(dwRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                       { 
                             AxisEgmStop(X_AXIS);
                             QDCT_MotorStep   = 35;
                             if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                             QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
                             break;
                       }
                       if(QDCT_CHUAN_LIAN_OK)
                           cChuan_LianCheckOK = 1;
                       //如果穿入长度到也停止，开模
                        if((dwRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 35;
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;

                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                            if(QDCT_PARAM_QLT_ON )
                            {
                                  //QDCT_QJLT_OUT     = 0;
                            }
                            if(QDCT_PARAM_HLT_ON )
                            {
                                 QDCT_HJLT_OUT     = 0;
                            }  
                            break;
                        }  
   
                       //如果慢速长度到，
                       if(dwRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))                       
                       {  
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                            //拉链长度大于(模具长度 + 穿入长度）说明穿入部分还有拉链加速
                            if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)> (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH))
                            {
                                if(QDCT_PARAM_PUTIN_LENGTH > QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH)
                                  AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH,
                                                  QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,
                                                  QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0);  
                                QDCT_MotorStep   = 34;
                            }  
                            else
                            {
                                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)- dwRealPos,
                                                  QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED,
                                                  QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0);   
                               QDCT_MotorStep   = 34;
                            }  
                       
                       } 
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        } 
                        //行程超限
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 4;
                        }
			break;
                case 34:
                        if(QDCT_CHUAN_LIAN_OK)
                            cChuan_LianCheckOK = 1;
                        //到达拉链长度要停止
                        if(dwRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 35;
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
                            if(QDCT_PARAM_HLT_ON )
                            {
                                QDCT_HJLT_OUT     = 0;                            
                            }  
                            break;
                        }
                        //如果穿入长度到也停止，开模
                        if((dwRealPos + 8) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
                            QDCT_MotorStep   = 35;
                            if(QDCT_PARAM_HLT_ON)          
                            {
                                QDCT_HJLT_OUT     = 0;                            
                            }                               
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;   
                            break;
                        } 
                        else if((dwRealPos + 80) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            if(QDCT_PARAM_HLT_ON )
                            {
                              QDCT_HJLT_OUT     = 0;    
                            }                             
                        }
                        
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        } 
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 5;
                        }
                        break;
                case 35:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(QDCT_PARAM_HLT_ON )
                            {
                              QDCT_HJLT_OUT     = 0;                           
                            }   
                              QDCT_XM_OUT = 0;
                            
                            QDCT_MotorStep   = 37;
                            QDCT_MotorDelay = dwTickCount; 
                        }
                        break;
                case 36:
                                      
                  if(!X_DRV)
                  {
                      QDCT_MotorStep   = 37;
                  }
                  
                  break;
                case 37:   
                  //两路顶针离开
                 if(!QDCT_XM_OUT && ((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                 {
                    if(QDCT_PARAM_QLT_ON )
                    {
                         QDCT_QJLT_OUT     = 0;   
                     }
                            
                    if(dwTickCount >= QDCT_MotorDelay)
                    {    
                       if(dwRealPos < QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)
                       {   
                           if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwRealPos),
                                                               QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE+10,QDCT_PARAM_LOWSPEED_LENGTH); 
                           else
                                AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwRealPos),
                                                               QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10,0); 
                        }       
                        QDCT_MotorStep   = 38;
                    }
                  }                         
                    if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                    {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 6;
                    }
                    break;
		case 38:            
                        if(((dwRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH + 400)) && (QDCT_PARAM_SET_ZIPPER_LENGTH > (dwRealPos + 4000)))
                        {
                            cSL_En = 2;
                        
                        }  
                         if((!X_DRV && !KaDaiFlag) || (dwRealPos>= QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                         {
                              AxisEgmStop(X_AXIS);
                              QDCT_YD_OUT   = 1;
                              QDCT_MotorStep   = 390;    
                              QDCT_MotorDelay = dwTickCount+10;  
                         }
                        
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                           if(dwRealPos < QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)
                           {   
                               if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwRealPos),
                                                                   QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); 
                               else
                                    AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwRealPos),
                                                                   QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); 
                            } 
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        }                        
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 6;
                        }                      
			break;
                case 390:
                    if(dwTickCount >= QDCT_MotorDelay)
                    {
                        if(QDCT_PARAM_FZ_LENGTH != 0)   //反转长度
                        {
                          AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,-QDCT_PARAM_FZ_LENGTH,
                                QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);                   
                        }
                        QDCT_MotorStep = 39;      
                    }
                      break;  
                case 39:    
                  
                      if(!X_DRV)
                      {
                            QDCT_YD_OUT   = 1;
                            QDCT_MotorStep   = 40;                        
                           if(bRunning)
                           {
                               if(!QDCT_NO_ZIPPER_CHECK_IN)
                                    QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
                           } 
                      }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 7;
                        }
                        break;
                case 40:
                       QDCT_MotorStep = 0;
                       break;
                //这是单头程序
                case 333:  //这一步关夹拉头
                    
                       //如果当前长度到达拉链长，最优先停
                       if(dwRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                       { 
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 335;  //直接跳到拖带结束
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                            //下模和夹拉头打开
                            QDCT_QJLT_OUT = 0;  //夹拉头
                            QDCT_XM_OUT = 0;    //拉头下模
                            QDCT_MotorDelay = dwTickCount;
                            if(QDCT_CHUAN_LIAN_OK)
                                cChuan_LianCheckOK = 1;
                            break;
                       }                       
                       //如果穿入长度到也停止，开模
                        if((dwRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;                           
                            QDCT_MotorStep   = 335;
                            if(QDCT_PARAM_MODE==1)//反穿停电机
                            {
                              AxisEgmStop(X_AXIS);
                            }
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                            QDCT_QJLT_OUT = 0;  //夹拉头  
                            QDCT_XM_OUT = 0;    //拉头下模
                            if(QDCT_CHUAN_LIAN_OK)
                                cChuan_LianCheckOK = 1;
                            //下模提前输出
                            if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE )
                                QDCT_XQ_OUT = 1;
                            break;
                        }                         
                       //如果慢速长度到，
                       if(dwRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))                       
                       {       
                         //下模提前输出
                            if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE )
                                QDCT_XQ_OUT = 1;
                            if(QDCT_PARAM_XM_MODE)
                                QDCT_SL_OUT = 0;//送带退
                         //拉链长度大于(模具长度 + 穿入长度）说明穿入部分还有拉链加速
                            if((QDCT_PARAM_SET_ZIPPER_LENGTH +*qdct_length_buff)> (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH))
                            {                               
                              //到达穿入长度处时要回到穿入速度给开模时间
                                if(QDCT_PARAM_PUTIN_LENGTH > QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH)
                                AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH),
                                                         QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,
                                                         QDCT_PARAM_ACC_PULSE+5,QDCT_PARAM_DEC_PULSE+5,0);  
                            }  
                            else
                            {
                                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff- dwRealPos,
                                                  QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED,
                                                  QDCT_PARAM_ACC_PULSE+5,QDCT_PARAM_DEC_PULSE+10,0);  
                            }  
                            QDCT_MotorStep   = 334;

                       } 
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        } 
                        //行程超限
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 8;
                        }
			break;
                case 334:
                        
                        //到达拉链长度要停止
                        if(dwRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 335;  //直接跳到拖带结束
                             //下模和夹拉头打开
                            QDCT_QJLT_OUT = 0;  //夹拉头
                            QDCT_XM_OUT = 0;    //拉头下模
                            if(QDCT_CHUAN_LIAN_OK)
                                cChuan_LianCheckOK = 1;
                            break;                            
                        }
                        //如果穿入长度到也停止，开模
                        if((dwRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            QDCT_MotorStep = 335;  //说明拉链还有长度  电机没有停止
                            if(QDCT_PARAM_MODE==1) //反穿停电机
                            {
                              AxisEgmStop(X_AXIS);
                            }
                              //下模和夹拉头打开
                            QDCT_QJLT_OUT = 0;  //夹拉头
                            QDCT_XM_OUT = 0;    //拉头下模
                            if(QDCT_CHUAN_LIAN_OK)
                                cChuan_LianCheckOK = 1;
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;                            
                        } 
                        //提前2.5MM
                        else if((dwRealPos + 25) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                        {
                            QDCT_QJLT_OUT = 0;  //夹拉头                   
                        }
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        } 
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 9;
                        }
                        break;
                case 335:
                    if(dwRealPos>= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
                    {
                        AxisEgmStop(X_AXIS);    
                    } 
                    if(QDCT_CHUAN_LIAN_OK)
                        cChuan_LianCheckOK = 1;
                    //两路顶针离开
                    if(!QDCT_XM_OUT && ((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON)) ) && !KaDaiFlag)
                    {       
                            if(X_DRV)  //正穿不停止
                            {      
                                if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > dwRealPos + QDCT_PARAM_LOWSPEED_LENGTH)
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff - dwRealPos),
                                                             QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED,
                                                             QDCT_PARAM_ACC_PULSE+5,QDCT_PARAM_DEC_PULSE+10,QDCT_PARAM_LOWSPEED_LENGTH);  
                                else
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff - dwRealPos),
                                                             QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED,
                                                             QDCT_PARAM_ACC_PULSE+5,QDCT_PARAM_DEC_PULSE+10,0);  
                                QDCT_MotorStep   = 338;
                                //user_datas[122]=0;
                            } 
                            else if(dwTickCount >= QDCT_MotorDelay)
                            {
                                if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)> dwRealPos)
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff - dwRealPos),
                                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                             QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10,0);              
                                QDCT_MotorStep   = 338;
                                //user_datas[122]=0;
                            }                            
                    }
                    //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                            AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        } 
                    if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                    {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 10;
                    }
                    
                        break;
		case 338:            
                    if((dwRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH + 100) && (QDCT_PARAM_SET_ZIPPER_LENGTH > (dwRealPos + 4000)))
                    {
                        cSL_En = 2;
                    }  
                    if((!X_DRV && !KaDaiFlag) || (dwRealPos>= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)))
                    {
                        AxisEgmStop(X_AXIS);
                        cSL_En = 2;
                        QDCT_YD_OUT   = 1;
                        QDCT_MotorStep = 339;   
                        QDCT_MotorDelay = dwTickCount+10;        
                    }
                        //卡带处理，停止后可再次启动
                        if(KaDaiFlag==1)
                        {
                          if(X_DRV)
                            AxisDecStop(X_AXIS);
                          else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                          {
                            QDCT_bOnceStart=0;
                            bStartOnceTime = 1;
                            KaDaiFlag=0;
                           if(dwRealPos < QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)
                           {   
                               if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwRealPos),
                                                                   QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE+30,QDCT_PARAM_LOWSPEED_LENGTH); 
                               else
                                    AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwRealPos),
                                                                   QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE+30,0); 
                            } 
                          }
                          else
                          {
                            KaDaiSaveLen=dwRealPos;
                          }
                        }                    
                    
                    if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                    {
                        QDCT_JD_OUT = 0;
                        QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        user_datas[128] = 11;
                    }                      
                    break;
                    
                case 339:
                    if(dwTickCount >= QDCT_MotorDelay)
                    {
                        if(QDCT_PARAM_FZ_LENGTH != 0)   //反转长度
                        {
                             AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,-QDCT_PARAM_FZ_LENGTH,
                                                 QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                 QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);  
                        }
                        QDCT_MotorStep = 340;      
                    }
                      break;        
                case 340:    
                        if(!X_DRV)
                        {
                              QDCT_YD_OUT = 1;
                              QDCT_MotorStep = 40;                  
                             if(bRunning)
                             {
                                 if(!QDCT_NO_ZIPPER_CHECK_IN)
                                      QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
                             } 
                        }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 12;
                        }
                        break;
                
		case 80:
                          jz_buff = dwRealPos;
                          if(QDCT_PARAM_SJZ_LENGTH == 0)
                          {
                             QDCT_JD_OUT = 0;
                          }
                          QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME;                                
                          QDCT_MotorStep   = 81;
                            break;
                case 81:
                           if(QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay))
                           {
                                if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || cChuan_LianCheckOK)
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),
                                                      QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+5,QDCT_PARAM_DEC_PULSE+5,50);
                               else
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,(1000 + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),
                                                      QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+5,QDCT_PARAM_DEC_PULSE+5,50);
                               QDCT_MotorStep   = 82;
                           }
                           break;
		case 82:	
                            if(QDCT_LONG_LENGTH_USE)// 无限长切断完成后拉电机动作
                            {
                                if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0)|| cChuan_LianCheckOK)
                                {   
                                    if(((QDCT_PARAM_SJZ_LENGTH) <= (jz_buff- dwRealPos)))
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 83;
                                        
                                    }
                                    else if(!X_DRV)
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 83;
                                    }
                                }
                                else
                              {
                              //松夹子长度
                                    if(((QDCT_PARAM_SJZ_LENGTH) <= (dwRealPos - jz_buff)))
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 83;
                                    }
                                    else if(!X_DRV)
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 83;
                                    }
                                }  
                            }
                            else        //普通长度
                            {//松夹子长度
                                if(((QDCT_PARAM_SJZ_LENGTH) <= (dwRealPos - jz_buff)))
                                {
                                    QDCT_JD_OUT = 0;
                                    QDCT_MotorStep   = 83;
                                }
                                else if(!X_DRV)
                                {
                                    QDCT_JD_OUT = 0;
                                    QDCT_MotorStep   = 83;
                                }
                                
                            }
                           if(!QDCT_JD_OUT) 
                           {
                                cSL_En = 2;
                           }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 13;
                        }
                        break;
                case 83:	                           // 切断完成后拉电机动作
                      if(!X_DRV)
                      {
                           QDCT_MotorStep   = 0;   
                                QDCT_MotorDelay  =    dwTickCount;
                      }     
                            
                       if(QDCT_PARAM_MAX_BACK_LENGTH < dwRealPos)    
                        {
                             QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                              user_datas[128] = 14;
                        }
                        break;   
            case 61: // 前点定位数控模式
                        QDCT_MotorDelay = dwTickCount; 
                        if((QDCT_JD_OUT && (!QDCT_GO_LIMIT_IN)) || (QDCT_SZ_OUT == QDCT_MOTOR_DISEN))
                        {
                            if(!QDCT_GO_LIMIT_IN)
                                QDCT_JD_OUT   = 0;  
                            
                            if((QDCT_SZ_OUT == QDCT_MOTOR_DISEN))
                                QDCT_MotorDelay = dwTickCount + 40;  
                            QDCT_SZ_OUT   = QDCT_MOTOR_EN;                           
                            
                        }
                        //下模不动时要推链
                        if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !QDCT_JD_OUT)
                            QDCT_TuiLianStep = 1;
                        QDCT_SZ_OUT   = QDCT_MOTOR_EN;
                        QDCT_MotorStep = 62;
                        break;
                case 62://电机锁轴时间到
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            //已经夹住并且在前点的条件,认为布带已经夹好
                            if(QDCT_JD_OUT && QDCT_GO_LIMIT_IN)
                            {
                                QDCT_MotorStep   = 67;
                            }
                            else{                                      
                              //前点亮的情况下要先后退离开
                                if(QDCT_GO_LIMIT_IN )
                                {
                                    //后退离开长度
                                    AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_START_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                        QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);                                           
                                    QDCT_MotorDelay = dwTickCount + 500;
                                    QDCT_MotorStep = 620; 
                                }
                                else
                                {
                                    QDCT_MotorStep = 63;
                                    QDCT_MotorDelay = dwTickCount;
                                }     
                                QDCT_JD_OUT = 0;  
                            }
                        }
			break;
                case 620:
                    if(QDCT_GO_LIMIT_IN)
                    {
                        SetPos(X_AXIS, 0);
                    }
                    else //后退离开长度    
                    {
                      AxisMovePosAccDec(X_AXIS,QDCT_PARAM_START_SPEED,500,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                        QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); 
                        QDCT_MotorStep = 63;    
                        QDCT_MotorDelay = dwTickCount + 500;
                    }   
                    break;
		case 63:// 前进
                        if(!X_DRV && !QDCT_GO_LIMIT_IN && (dwTickCount >= QDCT_MotorDelay))
                        {
                            go_buff  = dwRealPos;                       

                            //不是第一次
                            if(dwZipCnt > 0)
                            {
                               speed_buff =  QDCT_PARAM_JJGO_SPEED;                                                                         
                                if(dwZipCnt == 5)  //扎数到的启动
                                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED/2,-(dwRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH),
                                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10,0); 
//                                      AxisMoveTwoPosNoStop(X_AXIS,QDCT_PARAM_JJGO_SPEED/2,(dwRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH),
//                                                             QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_GO_LOWSPEED_LENGTH-100,QDCT_DIR_N,
//                                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10);
                               else
                                       AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(dwRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH),
                                                                QDCT_PARAM_START_SPEED,QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE+20,0);
//                                        AxisMoveTwoPosNoStop(X_AXIS,QDCT_PARAM_JJGO_SPEED,(dwRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH),
//                                                             QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_GO_LOWSPEED_LENGTH-100,QDCT_DIR_N,
//                                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10);
                                QDCT_MotorStep  = 65;
                                //QDCT_MotorDelay =  dwTickCount + MOTOR_ALARM_TIME;                                  
                            }//第一次
                            else
                            {
                                   AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED,QDCT_DIR_N,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                                       QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                   //QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                   QDCT_MotorStep  = 65;
                            }
                        }  
			break;
		case 65:
                        //碰到前点限位停止
                        if(QDCT_GO_LIMIT_IN)
                        {
                            SetPos(X_AXIS, QDCT_PARAM_JJDINGWEI_LENGTH);
                            QDCT_MotorStep   = 66;                   
                            dwRealPos = GetPos(X_AXIS);
                            user_datas[125]=GetCurSpeed(X_AXIS);
                            AxisMovePosAccDec(X_AXIS,3000,-QDCT_PARAM_JJDINGWEI_LENGTH,
                                QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,5,5,0); 
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)
                            QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
                        break;
		case 66:
                       if(dwRealPos <= 0 || !X_DRV)   //位置到零点后停止
                       {
                            AxisEgmStop(X_AXIS);
                            SetPos(X_AXIS, 0); 
                            QDCT_MotorStep   = 67;
                       }     
                        break;
                case 67:       
                        if(!X_DRV)  //电机已经
                        {   
                            QDCT_MotorDelay =    dwTickCount;
                            QDCT_MotorStep   = 68;
                        }
			break;   
		case 68:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(QDCT_JiaLianStep == 0)
                            {
                                QDCT_JiaLianStep = 1;
                                QDCT_MotorStep   = 69;
                            }
                        }
			break;
                case 69:
                        if(QDCT_JiaLianStep == 0)
                        {
                            
                            QDCT_MotorStep   = 0;
                        }
                        break;
//                //切断后压轮送出链        
//                case 160:
//                        if((dwTickCount >= QDCT_MotorDelay) && !Y_DRV)
//                        {
//                            //QDCT_YL_DIR = QDCT_YL_DIR_N;
//                            if(!Y_DRV)
//                                    AxisMovePos(Y_AXIS,QDCT_PARAM_YL_SL_SPEED,QDCT_PARAM_YL_SL_LENGTH);
//                            QDCT_MotorDelay =    dwTickCount + QDCT_PARAM_YL_BACK_DELAY;
//                            QDCT_MotorStep   = 161;
//                        }break;
//                case 161:
//                        if(dwTickCount >= QDCT_MotorDelay)QDCT_YL_OUT = 0;
//                        if(!Y_DRV)
//                        {
//                            QDCT_YL_OUT = 0;
//                            QDCT_MotorDelay =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
//                            QDCT_MotorStep   = 162;
//                        }
//                         break;
//                case 162:
//                        if(!QDCT_YL_LIMIT_IN)  
//                        {
//                            QDCT_MotorDelay =    dwTickCount;
//                            QDCT_MotorStep   = 0;
//                        }
//                        else if(dwTickCount >= QDCT_MotorDelay)
//                            QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
//                         break;
		case 150:
                     //     if(dwTickCount >= QDCT_MotorDelay)
                           {
                                jz_buff = dwRealPos;
                                //QDCT_JJ_DIR   = //QDCT_JJ_DIR_N;
                                QDCT_JD_OUT = 0;
                                QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME+150;                                
                                QDCT_MotorStep   = 151;
                           }
                            break;
                case 151:
                           if(QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay))
                           {
                                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED/2,-(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),
                                                  QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
                                QDCT_MotorStep   = 152;
                           }
                           break;
                case 152:
                           if(!X_DRV) QDCT_MotorStep   = 0;
                           break;
                //以下为夹子进去夹废料
                case 200:                        
                       //QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
                       AxisMovePosAccDec(X_AXIS,QDCT_PARAM_GO_LOWSPEED,dwRealPos-350,
                                         QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
                       QDCT_MotorStep  = 201;
                      break;
                case 201:
                       if(!X_DRV)
                       {    
                           QDCT_JD_OUT        = 1;
                           QDCT_MotorStep   = 202;   
                           QDCT_MotorDelay = dwTickCount + 50;
                       }
                       break;
                
		case 202:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            QDCT_MotorStep   = 0;
                        }
			break;                          
	}
}



//切断动作
void QDCT_XiaQieAction(void)	 
{
  dwRealPos = GetPos(X_AXIS);
    user_datas[121] = dwRealPos;// GetPos(Y_AXIS);//QDCT_HZhuangLiaoStep;//QDCT_AutoStep;
    if(user_datas[122]<GetCurSpeed(X_AXIS))
      user_datas[122] = GetCurSpeed(X_AXIS);
    user_datas[123] = QDCT_MotorStep;
    user_datas[124] = QDCT_AutoStep ;
    //user_datas[125] = QZhuangLiaoOkFlg;//QDCT_XiaQieStep;//cChuan_LianCheckOK;
    //user_datas[126] = QDCT_QZhuangLiaoStep;
    //user_datas[127] = QDCT_HZhuangLiaoStep;
    //user_datas[128] = QDCT_MotorStepSave;//HZhuangLiaoOkFlg;//QDCT_HeMoStep;//tXAxisStepper.cPmovPulse;
    
#if 1    
    
    switch(QDCT_XiaQieStep)
    {  
        case 1:
            if(bRunning)
            {
                if(!QDCT_NO_ZIPPER_CHECK_IN)
                {
                    QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
                }
            } 
            
            if(QDCT_GO_LIMIT_IN )
            {
                if(QDCT_GO_LIMIT_IN)
                {
                    QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM);
                    QDCT_XiaQieStep   = 0;
                }
                else
                {
                    QDCT_SetAlarmCode(QDCT_DEC_ALARM);
                    QDCT_XiaQieStep   = 0;
                }
            }
            else
            {
                QDCT_XiaQieStep = 2;       
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUT_DELAY;
            }
            
        break;
        case 2:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_XiaQieStep = 3; 
                QDCT_YD_OUT     = 1;
                QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                if(!QDCT_PARAM_XM_MODE)// && !QDCT_PARAM_CS_ENABLE)
                {
                     QDCT_XQ_OUT = 1; 
                }
            }
            break;
        case 3:        
           if(QDCT_XQ_LIMIT_IN )//|| QDCT_PARAM_XM_MODE )//|| QDCT_PARAM_CS_ENABLE)
           {
               QDCT_XiaQieDelay = dwTickCount;
               QDCT_XiaQieStep = 4;   
           }
           else if(dwTickCount >= QDCT_XiaQieDelay)
           {
               QDCT_SetAlarmCode(QDCT_XQ_ALARM);
               QDCT_XiaQieStep = 0;
           }
           break;
        case 4:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                if(!QDCT_SL_ORIGIN_IN && QDCT_PARAM_XM_MODE)
                    QDCT_SetAlarmCode(QDCT_SL_ORIGIN_ALARM);
                else
                {
                    QDCT_SQ_OUT = 1;   //上切刀输出
                    if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 1;
                    QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                }
                QDCT_XiaQieStep = 5;         	
            }
            break;
        case 5:   
         
          //上下切刀到位
            if(QDCT_SQ_LIMIT_IN && (QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
             {    
                cQDCT_TuiLianOKFlag = 0;
                if(QDCT_PARAM_CS_ENABLE)
                {
                    QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_DELAY;
                    QDCT_XiaQieStep = 50;         //跳到超声处理   
                }
                else
                {
                    QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUTBACK_DELAY;
                    QDCT_XiaQieStep = 6;  
                }
            }
            else if(dwTickCount >= QDCT_XiaQieDelay)
            {
                if(!QDCT_SQ_LIMIT_IN)
                {
                    QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);
                    QDCT_XiaQieStep = 0;
                }
                else if(QDCT_PARAM_XM_MODE== 0)  // 下模动才警告下模
                {
                    QDCT_SetAlarmCode(QDCT_XQ_ALARM);
                    QDCT_XiaQieStep = 0;
                }
            } 
            break;
        case 6:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_SQ_OUT = 0;
                QDCT_XQ_OUT = 0;
                QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_XiaQieStep = 7;             
            }
            break;
        case 7:
            if(!QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
            {
              //下模动
                    if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !bRunning)
                        QDCT_TuiLianStep = 1;
                    QDCT_XiaQieStep = 0;   
            }
            else if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_XiaQieStep  = 0;
                if(QDCT_SQ_LIMIT_IN) QDCT_SetAlarmCode(QDCT_SQ_ORIGIN_ALARM);
                else if(QDCT_XQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XQ_ALARM);
            }
            break;
        case 50:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
 //               if(QDCT_PARAM_CS_CONTROL)
                    QDCT_CS_OUT = 1;
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_TIME;
                QDCT_XiaQieStep = 51;             
            }
            break;
        case 51:   
            if((dwTickCount >= QDCT_XiaQieDelay))
            {
                QDCT_CS_OUT = 0;
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_COLD_TIME;
                QDCT_XiaQieStep = 6;             
            }
            break;
    }       
#endif
}
//装拉头完成合模动作
void QDCT_HeMo_Step(void)
{
    switch(QDCT_HeMoStep)
    {
        case 0:
           break; 
        case 1:
            if(QZhuangLiaoOkFlg && HZhuangLiaoOkFlg && (QDCT_QZhuangLiaoStep == 0) && (QDCT_HZhuangLiaoStep == 0))
            {
           //          前横送输出       前限位           前横送输出      前夹拉头     后横送输出      后夹拉头
                if(!QDCT_QHSL_OUT && (QDCT_GO_LIMIT_IN || cXiaMo_En)&& QDCT_QJLT_IN && !QDCT_HHSL_OUT && (QDCT_HJLT_IN || QDCT_LATOU))
                {
                    QDCT_XM_OUT   = 1;     //下模输出 
                    QDCT_HeMoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                    QDCT_HeMoStep = 2;     
                    QDCT_QZhuangLiaoStep = 0;
                    QDCT_HZhuangLiaoStep = 0;
                }          
            } 
        break;
        case 2:
            if(QDCT_XM_LIMIT_IN)  //下模到位
            {
                QDCT_HeMoStep = 3; 
                QDCT_HeMoDelay = dwTickCount + 100;                          
            }
            else if(dwTickCount >= QDCT_HeMoDelay)
            {
                QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); 
            }
            break;
        case 3:
        //两个顶针信号或调试模式
            if((QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )
            {
                QTryCnt = 0;
                HTryCnt = 0;
                cHemo_OK = 1;
                QDCT_HeMoStep = 0;
            }
            else if(dwTickCount >= QDCT_HeMoDelay)
            {
                if(bRunning)
                {        
                    QTryCnt++;
                    QDCT_HeMoStep = 4;
                    if(QTryCnt >= 4)
                    {
                        QDCT_SetAlarmCode(QDCT_ZLT_ALARM);  
                        cHemo_OK = 0;  
                        if(!QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON)
                        {
                            QZhuangLiaoOkFlg = 0;
                            QDCT_QJLT_OUT = 0;
                        }    
                        if(!QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON)
                        {
                            HZhuangLiaoOkFlg = 0;
                            QDCT_HJLT_OUT = 0;
                        }    
                    }
                    else
                    { 
                        if(!QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON)
                            QZhuangLiaoOkFlg = 0;
                        if(!QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON)
                            HZhuangLiaoOkFlg = 0;
                    }
                }     
            }
            break;
        case 4:  
           if(QDCT_GO_LIMIT_IN || (dwRealPos > 1600) || ((dwRealPos > 1200) && !X_DRV))
           {
                QDCT_XM_OUT  = 0; 
                QDCT_HeMoDelay = dwTickCount + 600; 
                if(QTryCnt >= 4)
                {
                    QDCT_HeMoStep = 0;
                     QDCT_SetAlarmCode(QDCT_ZLT_ALARM);  
                } 
                else 
                    QDCT_HeMoStep = 5;
           }
        break;  
        case 5:
            if(!QDCT_XM_LIMIT_IN)  //下模下到位
            {
                QDCT_HeMoDelay = dwTickCount + 250; 
                QDCT_HeMoStep = 6;                 
            }
            else if(dwTickCount >= QDCT_HeMoDelay)
            {
                QDCT_HeMoStep = 0; 
                QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            } 
         break; 
        case 6:
            if(dwTickCount >= QDCT_HeMoDelay)
            {
                QDCT_HeMoStep = 1; 
                
                if((QZhuangLiaoOkFlg == 0)&& QDCT_PARAM_QLT_ON)
                {  
                    QDCT_QJLT_OUT = 0;
                    QDCT_QZhuangLiaoStep = 1;
                }    
                if((HZhuangLiaoOkFlg== 0 )&& QDCT_PARAM_HLT_ON)
                {
                    QDCT_HJLT_OUT = 0;
                    QDCT_HZhuangLiaoStep = 1;
                }   
                
            } 
        break;
    }
    if(bRunning && (QDCT_HeMoStep == 0) && (QDCT_XM_ORIGIN_IN_UP) && (QTryCnt < 3) && !QDCT_XM_OUT)
    {  
        if((!QDCT_QJLT_OUT) && (QDCT_QZhuangLiaoStep == 0) && QDCT_PARAM_QLT_ON)
        {
            QZhuangLiaoOkFlg = 0;
            QDCT_QZhuangLiaoStep = 1; 
        }
        if(!QDCT_HJLT_OUT &&(QDCT_HZhuangLiaoStep == 0) && QDCT_PARAM_HLT_ON)
        {
            HZhuangLiaoOkFlg = 0;                   
            QDCT_HZhuangLiaoStep = 1;
        }                            
    }
}

 
            
//前装拉头动作(横送拉头)
void QDCT_QZLT_Step(void)
{
    switch(QDCT_QZhuangLiaoStep)
    {
        case 1: 
            if(!QDCT_PARAM_QLT_ON)  //不打开
            {
                 QZhuangLiaoOkFlg = 1;
                 QDCT_QJLT_OUT    = 1;
            }
            if(QZhuangLiaoOkFlg)
            {
                 QDCT_QZhuangLiaoStep = 0;
            }
            else
            {
                 if(cFirstQStartFlg && QDCT_QJLT_IN && QDCT_QJLT_OUT)
                 {
                     QZhuangLiaoOkFlg = 1;
                     QDCT_QZhuangLiaoStep = 0;
                     cFirstQStartFlg = 0;
                 }
                 else
                 {
                     cFirstQStartFlg = 0;
                     if(QDCT_QTLTStep == 0)   
                     {
                         QDCT_QTLTStep = 1;    //推拉头开始  当QTuiLaTouOkFlg = 1 时动作自动清零                           
                     }
                     QDCT_QZhuangLiaoStep = 2; 
                 }
            }
            break;
        case 2: //推拉头完成
            if(QDCT_QTLTStep == 0)
            {
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 3;   
            }
            break;
        case 3:    //横送料原点  下模原点
            if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN )   //
            {
                if((cSL_En >= 1) || (!bRunning))
                {
                  QDCT_QZhuangLiaoStep = 4;
                  QDCT_QZhuangLiaoDelay = dwTickCount + 0;//QDCT_PARAM_HSL_DELAY;
                }  
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                if(!QDCT_XM_ORIGIN_IN)
                    QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            }
            break;
        case 4: //横送输出
            if((dwTickCount >= QDCT_QZhuangLiaoDelay))
            {
                QDCT_QHSL_OUT = 1;      //前横送输出
                QDCT_QJLT_OUT = 0;      // 前夹拉头关 
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 5;      
            }
            break;
        case 5: //横送到位   
            if(QDCT_QHSL_LIMIT_IN)
            {
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT;
                QDCT_QZhuangLiaoStep = 6;   
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                if(QDCT_QHSL_OUT) //在自动程序运行结束时关闭了横送的情况，不报横送故障
                  QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
                QDCT_QHSL_OUT   = 0;
            }
            break;
        case 6://延时夹拉头
            if((dwTickCount >= QDCT_QZhuangLiaoDelay)/* && ((cSL_En >= 2) || (!bRunning))*/)
            {
                QDCT_QJLT_OUT = 1; 
               
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 7;   
            }
            break;
        case 7://夹拉头到位   
            if(QDCT_QJLT_IN)
            { //
                QTuiLaTouOkFlg = 0;
                QDCT_QTLTStep = 1;  //横送料退回时启动推拉头 
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK;
                QDCT_QZhuangLiaoStep = 8;
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_JLT_ALARM);
                QDCT_QHSL_OUT   = 0;
            }
            break;
        case 8:
            if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_QHSL_OUT   = 0;
                QZhuangLiaoOkFlg = 1;
                QDCT_QZhuangLiaoStep = 9;
            }
            break;
        case 9:   
            if(!QDCT_QHSL_LIMIT_IN)
            {
                 QDCT_QZhuangLiaoStep = 10;
                QDCT_QZhuangLiaoDelay = dwTickCount + 85;
            }
            break;
        case 10:
            if((dwTickCount >= QDCT_QZhuangLiaoDelay) || QDCT_QHSL_ORIGIN_IN)
            {
                QDCT_QZhuangLiaoStep = 0;
            }  
            break;
    }
}

//后装拉头动作
void QDCT_HZLT_Step(void)
{
    switch(QDCT_HZhuangLiaoStep)   
    {
        case 1:   
            if(!QDCT_PARAM_HLT_ON)
            {
                HZhuangLiaoOkFlg = 1;
                QDCT_HJLT_OUT    = 1;
            }
            if(HZhuangLiaoOkFlg)
            {
                QDCT_HZhuangLiaoStep = 0;
            }
            else
            {
                if(cFirstHStartFlg && QDCT_HJLT_IN && QDCT_HJLT_OUT)
                {
                    HZhuangLiaoOkFlg = 1;
                    cFirstHStartFlg = 0;
                    QDCT_HZhuangLiaoStep = 0;
                }
                else
                {
                    cFirstHStartFlg = 0;
                    if(QDCT_HTLTStep == 0)
                    {
                        QDCT_HTLTStep = 1;                                
                    }
                    QDCT_HZhuangLiaoStep = 2; 
                }
            }
            break;
        case 2:  
            if(QDCT_HTLTStep == 0)//后推拉头完成
            {
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 3;   
            }
            break;
        case 3:
            if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN )   //
            {
                if((cSL_En >= 1) || (!bRunning))
                {
                    QDCT_HZhuangLiaoDelay = dwTickCount + 0;//QDCT_PARAM_HSL_DELAY;
                    QDCT_HZhuangLiaoStep = 4;  
                }
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                if(!QDCT_XM_ORIGIN_IN)
                    QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            }
            break;
        case 4: 
            if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_HHSL_OUT = 1;  //横送料输出
                QDCT_HJLT_OUT = 0; 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 5;   
            }
            break;
        case 5:     
            if(QDCT_HHSL_LIMIT_IN)  //横送到位
            {
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT;
                QDCT_HZhuangLiaoStep = 6;   
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                if(QDCT_HHSL_OUT) //在自动程序运行结束时关闭了横送的情况，不报横送故障
                  QDCT_SetAlarmCode(QDCT_HHSL_LIMIT_ALARM);
                QDCT_HHSL_OUT   = 0;
            }
            break;
        case 6:        //延时夹拉头
            if((dwTickCount >= QDCT_HZhuangLiaoDelay)/* && ((cSL_En >= 2) || (!bRunning))*/)
            {
                QDCT_HJLT_OUT = 1; 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 7;   
            }
            break;
        case 7://夹拉头到位
            if(QDCT_HJLT_IN)
            {
                HTuiLaTouOkFlg = 0;
                QDCT_HTLTStep = 1;  //横送料退回时启动推拉头 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK;
                QDCT_HZhuangLiaoStep = 8;
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_HJLT_ALARM);
                QDCT_HHSL_OUT   = 0;
            }
            break;
        case 8: //延时退横送料
            if((dwTickCount >= QDCT_HZhuangLiaoDelay))
            {
                QDCT_HHSL_OUT   = 0;
                HZhuangLiaoOkFlg = 1;                
                QDCT_HZhuangLiaoStep = 9;
            }
            break;
        case 9:   
            if(!QDCT_HHSL_LIMIT_IN)
            {
                 QDCT_HZhuangLiaoStep = 10;
                QDCT_HZhuangLiaoDelay = dwTickCount + 55;
            }
            break;
        case 10:
            if((dwTickCount >= QDCT_HZhuangLiaoDelay) || QDCT_HHSL_ORIGIN_IN)
            {
                QDCT_HZhuangLiaoStep = 0;
            }  
            break;
    }
}
//前推拉头动作
void QDCT_QTuiLT_Step(void)
{
    static unsigned long q_dlp_delay;
    
    if(QDCT_QDLP_OUT && (dwTickCount >= q_dlp_delay))
        QDCT_QDLP_OUT = 0;
    switch(QDCT_QTLTStep)
    {  
        case 1:
        //前拉头使能
            if(!QDCT_PARAM_QLT_ON)
            {
               QTuiLaTouOkFlg = 1;
            }
            if(QTuiLaTouOkFlg)
            {
                QDCT_QTLTStep = 0; 
            }
            else
            {
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QTLTStep = 2;
            }
            break;
        case 2:
            if(QDCT_QHSL_ORIGIN_IN && !QDCT_QHSL_LIMIT_IN)
            {
                QDCT_QTLT_OUT = 1;
                if(QTryCnt<= QDCT_PARAM_TRY_TIMES)
                  QDCT_QDLP_OUT       = 1;
                q_dlp_delay = dwTickCount + QDCT_PARAM_DLP_TIME;
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QTLTStep = 3;
            }          
            break;
        case 3:
            if(QDCT_QTLT_LIMIT_IN)
            { 
                QDCT_QTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
                QDCT_QTLTStep = 4;
            }
            else if(dwTickCount >= QDCT_QTLT_Delay) 
            {
                QDCT_SetAlarmCode(QDCT_SL_ALARM);        
                QDCT_QTLT_OUT=0;    
            }
            break;
        case 4:
            if((dwTickCount >= QDCT_QTLT_Delay))
            {
                QDCT_QTLT_OUT       = 0;
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
                QDCT_QTLTStep = 5;
                QTuiLaTouOkFlg    = 1;
            }
            break;
        case 5:    
            if(!QDCT_QTLT_LIMIT_IN)
            {
                QDCT_QTLTStep = 0;
                QDCT_QTLT_Delay = dwTickCount;                
            }
            else if(dwTickCount >= QDCT_QTLT_Delay) 
                QDCT_SetAlarmCode(QDCT_SL_ALARM); 
            break;
    }
}

//后推拉头动作
void QDCT_HTuiLT_Step(void)
{
    static unsigned long h_dlp_delay;
//    static unsigned short dlp_flg = 0;
    if(QDCT_HDLP_OUT && (dwTickCount >= h_dlp_delay))
        QDCT_HDLP_OUT = 0;
    switch(QDCT_HTLTStep)
    {
        case 1:
            if(!QDCT_PARAM_HLT_ON)
            {
               HTuiLaTouOkFlg = 1;
            }
            if(HTuiLaTouOkFlg)
            {
                QDCT_HTLTStep = 0; 
            }
            else
            {
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HTLTStep = 2;
            }
            break;
        case 2:
            if(QDCT_HHSL_ORIGIN_IN && !QDCT_HHSL_LIMIT_IN)
            {
                QDCT_HTLT_OUT       = 1;
                if(QTryCnt<= QDCT_PARAM_TRY_TIMES)
                    QDCT_HDLP_OUT = 1; 
                h_dlp_delay = dwTickCount + QDCT_PARAM_DLP_TIME;
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HTLTStep = 3;
            }
            break;
        case 3:    
            if(QDCT_HTLT_LIMIT_IN)
            { 
                QDCT_HTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
                QDCT_HTLTStep = 4;
            }
            else if(dwTickCount >= QDCT_HTLT_Delay) 
            {
              QDCT_SetAlarmCode(QDCT_SL_ALARM);        
              QDCT_HTLT_OUT=0;
            }
            break;
        case 4:
            if((dwTickCount >= QDCT_HTLT_Delay))
            {
                QDCT_HTLT_OUT       = 0;
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
                QDCT_HTLTStep = 5;
                HTuiLaTouOkFlg    = 1;
            }
            break;
       case 5:  
            if(!QDCT_HTLT_LIMIT_IN)
            {
                QDCT_HTLTStep = 0;
                QDCT_HTLT_Delay = dwTickCount;
                
                
            }
            else if(dwTickCount >= QDCT_HTLT_Delay) 
                QDCT_SetAlarmCode(QDCT_SL_ALARM);    
            break;
    }
}
//手动动作
void QDCT_ManualAction(void)
{ 
    static unsigned char cs_flg;
    static long cs_delay;
    
       //前振动盘
        if(QDCT_bManQZD)
        {
           QDCT_bManQZD = 0;
           if(QDCT_QZDPStep)
           {
               QDCT_QZDP_OUT = 0;
               QDCT_QZDPStep = 0;
               QZDPAutoDisable=1;
           }
           else
           {
               QDCT_QZDP_OUT = 1;
               QDCT_QZDPStep = 2;
               if(QDCT_TLPStep==0)QDCT_TLPStep  = 1;
               QZDPAutoDisable=0;
           }
        }
    //后振动盘
        if(QDCT_bManHZD)
        {
           QDCT_bManHZD = 0;
           if(QDCT_HZDPStep)
           {
               QDCT_HZDP_OUT = 0;
               QDCT_HZDPStep = 0;
               HZDPAutoDisable=1;
           }
           else
           {
               QDCT_HZDP_OUT = 1;
               QDCT_HZDPStep = 2;
               HZDPAutoDisable=0;
           }
        }   
    
    if(bRunning == 0)  
    {   
        if(bClearTotal) //切断计数清零
        {
            bClearTotal       = 0;
            ClrcToTal(QDCT_TOTAL_ADDR);
        }
        
        if(QDCT_bClerNowTotal)
        {
            QDCT_bClerNowTotal = 0;
            QDCT_PARAM_TB_CNT1 = 0;
            QDCT_PARAM_TB_CNT2 = 0;
            ClrcToTal(QDCT_NOWTOTAL_ADDR);
        }		
	//切断	
        if(QDCT_bQieDuan)
        {
            QDCT_bQieDuan = 0;
            if(QDCT_XiaQieStep == 0)
            {
                  if(QDCT_PARAM_XM_MODE)      //下模不动
                  {
                        if(QDCT_SL_ORIGIN_IN )
                          QDCT_XiaQieStep = 1;
                    }
                    else
                    {
                        QDCT_XiaQieStep = 1;
                    }
            }
        }
        //测试行程
        if(QDCT_bReset_Origin)
        {
            QDCT_bReset_Origin = 0;
            cTestMotorStep = 1;
        } 
        //前点定位
        if(QDCT_bQianDianDW)
        {
            QDCT_bQianDianDW = 0;
            if((QDCT_MotorStep == 0) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
            {
                QDCT_MotorStep = 61;
                dwZipCnt      = 0;
            }
            else if(QDCT_SQ_LIMIT_IN)
                QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);  
        }
        //下模
        if(QDCT_bManXM)
        {
            QDCT_bManXM = 0;
            QDCT_XM_OUT = ~QDCT_XM_OUT;
            
            if(QDCT_QHSL_OUT || QDCT_HHSL_OUT)QDCT_XM_OUT = 0;
        }
        //上切刀       
        if(QDCT_bManSQ)
        {
            QDCT_bManSQ = 0;
            
           if(QDCT_SQ_OUT) 
                QDCT_SQ_OUT = 0;
            //         送料原点              下模动                                  //下模不动
           else if((QDCT_SL_ORIGIN_IN && (QDCT_PARAM_XM_MODE != 0))||(QDCT_PARAM_XM_MODE == 0))
           {    
                QDCT_SQ_OUT = 1;
                cQDCT_TuiLianOKFlag = 0;
           }
        }
        //下切刀
        if(QDCT_bManXQ)
        {
            QDCT_bManXQ = 0;
            
            if(!QDCT_PARAM_XM_MODE) //有下刀
            {
              QDCT_XQ_OUT = ~QDCT_XQ_OUT;
              QDCT_SL_OUT = 0;
            }
            else
            {
              QDCT_SL_OUT = ~QDCT_SL_OUT;
              QDCT_XQ_OUT = 0;
            }
            cQDCT_TuiLianOKFlag = 0;
            if(QDCT_GO_LIMIT_IN)
            {
              QDCT_XQ_OUT = 0;
              QDCT_SL_OUT=0;
            }
        }
       //夹带 
        if(QDCT_bManJD)
        {
            QDCT_bManJD = 0;
            QDCT_JD_OUT = ~QDCT_JD_OUT;
        }
        //前推拉头
        if(QDCT_bManQTLT)
        {
           QDCT_bManQTLT = 0;
           if(QDCT_QHSL_ORIGIN_IN)
           {
              if(QDCT_QTLTStep == 0)
              {
                  QDCT_QTLTStep = 1;
                  QTuiLaTouOkFlg    = 0;
                  QTryCnt = 0;
              }
              else
              {
                    QDCT_QTLT_OUT       = 0;
              }  
           }
        }
        //后推拉头
        if(QDCT_bManHTLT)
        {
           QDCT_bManHTLT = 0;
           if(QDCT_HHSL_ORIGIN_IN)
           {
               if(QDCT_HTLTStep == 0)
               {
                   QDCT_HTLTStep  = 1;
                   HTuiLaTouOkFlg = 0;
                   QTryCnt = 0;
               }
               else     //后推拉头
                   QDCT_HTLT_OUT       = 0;
           }
        }
        //前横送料
        if(QDCT_bManQHSL)
        {
           QDCT_bManQHSL = 0;
           QDCT_QHSL_OUT = ~QDCT_QHSL_OUT;
           
           if(QDCT_XM_OUT || QDCT_QTLT_LIMIT_IN)QDCT_QHSL_OUT = 0;
          
        }
        
        if(QDCT_bManHHSL)
        {
           QDCT_bManHHSL = 0;
           QDCT_HHSL_OUT = ~QDCT_HHSL_OUT;
           
           if(QDCT_XM_OUT || QDCT_HTLT_LIMIT_IN)QDCT_HHSL_OUT = 0;
          
        }
/*        
        //前振动盘
        if(QDCT_bManQZD)
        {
           QDCT_bManQZD = 0;
           if(QDCT_QZDPStep)
           {
               QDCT_QZDP_OUT = 0;
               QDCT_QZDPStep = 0;
           }
           else
           {
               QDCT_QZDP_OUT = 1;
               QDCT_QZDPStep = 2;
               if(QDCT_TLPStep==0)QDCT_TLPStep  = 1;
           }
        }
    //后振动盘
        if(QDCT_bManHZD)
        {
           QDCT_bManHZD = 0;
           if(QDCT_HZDPStep)
           {
               QDCT_HZDP_OUT = 0;
               QDCT_HZDPStep = 0;
           }
           else
           {
               QDCT_HZDP_OUT = 1;
               QDCT_HZDPStep = 2;
           }
        }
*/        
        //前夹拉头
        if(QDCT_bManQJLT)
        {
            QDCT_bManQJLT = 0;
            QDCT_QJLT_OUT = ~QDCT_QJLT_OUT;
            if(!QDCT_QJLT_OUT)
                QZhuangLiaoOkFlg = 0;
        }
        //后夹拉头
        if(QDCT_bManHJLT)
        {
            QDCT_bManHJLT = 0;
            QDCT_HJLT_OUT = ~QDCT_HJLT_OUT;
            if(!QDCT_HJLT_OUT)
                HZhuangLiaoOkFlg = 0;
        }
        //台面电机
        if(QDCT_bTable)
        {
            QDCT_bTable = 0;
            
            QDCT_TB_OUT = ~QDCT_TB_OUT;
            if(QDCT_TB_OUT)
                QDCT_TableDelay = dwTickCount+100000;
            else
               QDCT_TableDelay = dwTickCount+100; 
        }
        //前装料
        if(QDCT_bQZuangLT)
        {
            QDCT_bQZuangLT = 0;
            if(QDCT_QZhuangLiaoStep == 0)
            {
                QTryCnt              = 0;
                QTuiLaTouOkFlg      = 1;
                QDCT_QZhuangLiaoStep = 3;
                cFirstQStartFlg      = 0;
            }
        }
        //后装料
        if(QDCT_bHZuangLT)
        {
            QDCT_bHZuangLT = 0;
            if(QDCT_HZhuangLiaoStep == 0)
            {
                QTryCnt              = 0;
                HTuiLaTouOkFlg      = 1;
                QDCT_HZhuangLiaoStep = 3;
                cFirstHStartFlg      = 0;
            }
        }
        //压带
        if(QDCT_bManYD)
        {
            QDCT_bManYD = 0;
            QDCT_YD_OUT = ~QDCT_YD_OUT;
        }
        //吹气
        if(QDCT_bManCQ)
        {
            QDCT_bManCQ = 0;
            QDCT_CQ_OUT = 1;//~QDCT_CQ_OUT;  //吹气
            QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
        }
        //推拉片
        if(QDCT_bManDLP)
        {
            QDCT_bManDLP = 0;
            QDCT_TLP_OUT = ~QDCT_TLP_OUT;
        }
        //穿拉头
        if(QDCT_bChuanLT)
        {
            QDCT_bChuanLT = 0;
            if(!QDCT_BACK_LIMIT_IN)
            {
                if(QDCT_MotorStep == 0)QDCT_MotorStep = 30;
            }
        }
        //电机松轴
        if(QDCT_bManSZ)
        {
            QDCT_bManSZ = 0;
            QDCT_SZ_OUT = ~QDCT_SZ_OUT;
        }
//电机控制        
        if(QDCT_bMotorGo && !QDCT_GO_LIMIT_IN && !QDCT_SQ_LIMIT_IN)
        {           
            QDCT_JD_OUT   = 0;
            //QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
            cBackLimitCheck_EN= 0;
            if(!X_DRV)AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_N,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); 
        }
        else if(QDCT_bMotorGo && QDCT_SQ_LIMIT_IN)
            QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);      
        
        if(QDCT_bMotorBack && !QDCT_BACK_LIMIT_IN)
        {
//            QDCT_JD_OUT   = 0;
            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
            //QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
            cBackLimitCheck_EN = 1;
            if(!X_DRV)AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); 
        }
 
        if(!QDCT_bMotorGo && !QDCT_bMotorBack && (QDCT_MotorStep == 0) && (cStopFlg == 0) && (cTestMotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QDCT_GO_LIMIT_IN && (QDCT_MotorStep == 0) && !QDCT_bMotorBack &&(QDCT_AutoStep == 0) && (cStopFlg == 0) && (cStopFlg == 0) && (cTestMotorStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
        if(QDCT_bYLGO)
        {           
            //QDCT_YL_DIR = QDCT_YL_DIR_P;
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_START_SPEED, QDCT_YL_DIR_P,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); 
        }

        if(QDCT_bYLBACK)
        {           
            //QDCT_YL_DIR = QDCT_YL_DIR_N;
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_START_SPEED, QDCT_YL_DIR_N,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); 
        }
        
        if(!QDCT_bYLGO && !QDCT_bYLBACK && (QDCT_MotorStep == 0) && (QDCT_AutoStep == 0))
        {
            if(Y_DRV)AxisDecStop(Y_AXIS);
        }
        
        if(QDCT_bYL)
        {
             QDCT_bYL = 0;
             QDCT_YL_OUT = ~QDCT_YL_OUT;
        }
        
        if(QDCT_bManKL)
        {
            QDCT_bManKL = 0;
            QDCT_KL_OUT = ~QDCT_KL_OUT;
         //   QDCT_JiaLianStep = 3;
        }
        
        if(QDCT_bManCS)
        {
            QDCT_bManCS = 0;
            cs_delay = dwTickCount + QDCT_PARAM_CS_TIME;
            QDCT_CS_OUT = 1;
            cs_flg  = 1;
        }    
    }
    if(cs_flg)
    {
        if(QDCT_CS_OUT && (dwTickCount >= cs_delay))
        {
             QDCT_CS_OUT = 0;
             cs_flg  = 0;
        }
    } 
    //这里特殊改动
 //   if(QDCT_PARAM_XM_MODE!== 0)
  //  {
    
        if(QDCT_CQ_OUT && (dwTickCount >= QDCT_CQDelay)) QDCT_CQ_OUT = 0;
 //   }
}


#endif