GC19038/Machine/FuJianMachine/FJQueDuanJi.c

#include "global.h"


#if FU_JIAN_MACHINE

void QueDuan_AlarmProtect(void);
void QueDuan_ManualAction(void);
void QueDuan_AutoAction(void);
void QueDuan_StepCheckStart(void);
void QueDuan_XiaQue(void);
void QueDuan_Motor(void);
void QueDuan_YuanDianAction(void);
void QueDuan_TuiLianAction(void);
void QueDuan_TuiFangKuai(void);
void QueDuan_ExtiActionX31(void);
void QueDuan_BingLian(void);
static unsigned long cZipCnt = 0,cTableCnt = 0;
static long save_limit_pos,cRealPos;

unsigned char cCheckLianFlg = 0;
unsigned char cCheckLianFlgEN = 0;
unsigned char cGoLimitEn    = 0;




void QueDuan_ExtiActionX31(void)
{
    cCheckLianFlg = 1;
    
 //  user_datas[123]++;
}
void QD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void QueDuan_InitAction(void)
{
    float length_buff,pulse_buff;
    save_limit_pos = QD_SAVE_POS;
    axis_x->speed_unit = 500;
    SetAccTime(X_AXIS,10);
    SetDecTime(X_AXIS,10);
    
    length_buff = QD_PARAM_CYCLE_LENGTH;
    pulse_buff  = QD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;
    

    axis_y->speed_unit = 300;
    SetAccTime(Y_AXIS,3);
    SetDecTime(Y_AXIS,3);
    
    length_buff = QD_PARAM_TL_CYCLE_LENGTH;
    pulse_buff  = QD_PARAM_TL_CYCLE_PULSE;
    YGearRatio  = pulse_buff/length_buff;
    
    QD_SZ_OUT   = 1;
}

void QueDuan_Action(void)
{
    QueDuan_AlarmProtect();
    QueDuan_TuiFangKuai();
    QueDuan_Motor();
    QueDuan_XiaQue();
    QueDuan_ManualAction();
    QueDuan_YuanDianAction();
    QueDuan_TuiLianAction();
    QueDuan_BingLian();
    QueDuan_AutoAction();
    QueDuan_StepCheckStart();   // 调用脚踏开关检测程序
}



//手动动作
void QueDuan_ManualAction(void)
{  
    if(bRunning == 0)  
    {   
        if(QD_bClearTotal) //切断计数清零
        {
            QD_bClearTotal       = 0;
            ClrcToTal(QD_TOTAL_ADDR);
        }
        
        if(QD_bClearNowTotal)
        {
            QD_bClearNowTotal = 0;
            QD_PARAM_NOW_CNT = 0;
        }
        
        if(QD_bXiaQie)
        {
            QD_bXiaQie = 0;
            if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;
        }
        
        if(QD_bQianDianDW)
        {
            QD_bQianDianDW = 0;
            if(QD_MotorStep == 0)
            {
                QD_MotorStep = 61;
                cZipCnt      = 0;
            }
        }
        
        if(QD_bTL)
        {  
            if(QD_PARAM_TL_MODE)
            {
                if(!Y_DRV)AxisMovePos(Y_AXIS,QD_PARAM_TL_SPEED,QD_PARAM_TL_LENGTH);
            }
            else
            {
                QD_bTL = 0;
                QD_TL_VAVLE = ~QD_TL_VAVLE;
            }
        }
        
        if(!Y_DRV)QD_bTL = 0;
        
        if(QD_bYD)
        {
            QD_bYD = 0;
            QD_YD_VAVLE = ~QD_YD_VAVLE;
        }
        
        if(QD_bGZ)
        {
            QD_bGZ = 0;
            QD_GZ_VAVLE = ~QD_GZ_VAVLE;
        }
        
        if(QD_bJD)
        {
           QD_bJD = 0;
           QD_JD_VAVEL = ~QD_JD_VAVEL;
        }
        
        if(QD_bXM)
        {
           QD_bXM = 0;
           QD_XM_VAVLE = ~QD_XM_VAVLE;
        }
        
        if(QD_bSM)
        {
           QD_bSM = 0;
           QD_SM_VAVLE = ~QD_SM_VAVLE;
        }
        
        if(QD_bTFK)
        {
            QD_bTFK = 0;
            QD_TFK_VAVEL = ~QD_TFK_VAVEL;
        }
        
        if(QD_bTB)
        {
            QD_bTB = 0;           
            QD_TABLE_VAVLE = ~QD_TABLE_VAVLE;
        }
        
        if(QD_bYBD)
        {
            QD_bYBD = 0;
            QD_YBD_VAVLE = ~QD_YBD_VAVLE;
        }
        
        if(QD_bTestCS)
        {
           QD_bTestCS = 0;
           QD_CS_OUT  = 1;
           QD_CSDelay = dwTickCount + QD_PARAM_CS_TIME;
        }
        
        if(QD_bBL)
        {
            QD_bBL = 0;
            QD_BL_VAVLE = ~QD_BL_VAVLE;
        }
        
        if(QD_XiaQieStep == 0)
        {
            if(dwTickCount >= QD_CSDelay)QD_CS_OUT  = 0;
        }
        
        if(QD_bYuanDianDW)
        {
            QD_bYuanDianDW = 0;
            if(QD_YuanDianStep == 0)QD_YuanDianStep = 1;
        }
        
//电机控制        
        if(QD_bGoMotor && !QD_QIAN_LIMIT_IN)
        {           
            QD_SZ_OUT   = 0;
            if(QD_PARAM_TL_MODE)QD_JZ_DIR   = QD_YDIR_N;
            if(!X_DRV)AxisContinueMove(X_AXIS,20,QD_DIR_N);  

        }
        
        if(QD_bBackMotor && !QD_BACK_LIMIT_IN)
        {
            QD_SZ_OUT   = 0;
            
            if(QD_PARAM_TL_MODE)QD_JZ_DIR   = QD_YDIR_P;
            if(!X_DRV)AxisContinueMove(X_AXIS,20,QD_DIR_P);   
        }
        
        if(!QD_bGoMotor && !QD_bBackMotor && (QD_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QD_QIAN_LIMIT_IN && (QD_MotorStep == 0) && !QD_bBackMotor &&(QD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
    }
}

void QueDuan_YuanDianAction(void)
{
    switch(QD_YuanDianStep)
    {
        case 0:break;
        case 1:
            if(QD_MotorStep == 0)QD_MotorStep = 1;
            QD_YuanDianStep = 2;
        break;
        case 2:
            if(QD_MotorStep == 0)
            {
               QD_MotorStep = 30;
               QD_YuanDianStep = 3;
               QD_JD_VAVEL = 1;
            }
        break;
        case 3:
           if(QD_MotorStep == 0)
           {
               QD_MotorStep = 0;
               QD_YuanDianStep = 0;
           }
        break;
    }
}


void QueDuan_AlarmProtect(void)
{ 
    cRealPos = GetPos(X_AXIS);

    if(QD_PARAM_BACK_ALARM_MODE)    
    {                              //感应后限模式
        if(!bRunning)
        {
            if(QD_BACK_LIMIT_IN_UP)
            {
                if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor)        //到后限不能再后退但可以点前进
                {
                    QD_bBackMotor = 0;
                    
                    AxisDecStop(X_AXIS);   
                    QD_JD_VAVEL   = 0;
                    QD_SetAlarmCode(QD_BACK_ALARM);
                    
                }
            }
        }
        else
        {
            if(QD_BACK_LIMIT_IN_UP)
            {
                AxisDecStop(X_AXIS);   
   
                QD_JD_VAVEL = 0;
                QD_SetAlarmCode(QD_BACK_ALARM);
            }
        }
    }
    else
    {   
        
        if(QD_QIAN_LIMIT_IN_UP)      //数控后限模式
        {
            save_limit_pos = cRealPos;
            SetData32bits(200,save_limit_pos);
        }
        
        if(QD_PARAM_MAX_BACK_LENGTH < (cRealPos - save_limit_pos)) 
        {
            if(!bRunning)
            {
                if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor)        //到后限不能再后退但可以点前进
                {
                    QD_bBackMotor = 0;
                    AxisDecStop(X_AXIS);   
                    QD_JD_VAVEL   = 0;
                    QD_SetAlarmCode(QD_BACK_ALARM);
                    
                }
            }
            else
            {
                AxisDecStop(X_AXIS);   
                QD_JD_VAVEL = 0;
                QD_SetAlarmCode(QD_BACK_ALARM);
            }
        } 
        
     }
    

//    if(!QD_KADAI_IN)QD_KaDaiDelay = dwTickCount + 3000;
    
/*    if(bRunning)
    {
        if(dwTickCount >= QD_KaDaiDelay)QD_SetAlarmCode(QD_KA_DAI_ALARM);
    }*/
}

void QueDuan_AutoAction(void)
{
    if(bRunning)
    {
        if(dwTickCount >= QD_TBDelay)QD_TABLE_VAVLE = 0;
        switch(QD_AutoStep)
        {
            case 1:
                  if(dwTickCount >= QD_AutoDelay)
                  {	
                      QD_AutoStep = 2;	    
                      if(QD_MotorStep == 0)
                      {
                          QD_MotorStep = 61;   //前点定位
                        //  else QD_MotorStep = 1;
                      }
                  }	
                  break;	
            case 2:	 
                  if(QD_MotorStep == 0)
                  {   
                      if(QD_PARAM_DC_MODE == 0)
                         QD_MotorStep = 20;                       //后退到位
                      else
                         QD_MotorStep = 30;  

                      QD_AutoStep = 3;	    
                  }
                  break;	
            case 3:	
                  if(QD_MotorStep == 0)
                  {   
                      if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;                 
                      QD_AutoStep = 4;	    
                  }              
                  break;
            case 4:
                  if(QD_MACHINE_TYPE == QD_QQ_TUIFANGKUAI)
                  {
                      if(((QD_XiaQieStep == 0) || (QD_XiaQieStep >= 4)) && !QD_SHANG_MU_LIMIT_IN)
                      {
                          if(QD_MotorStep == 0) 
                          {
                              QD_MotorStep = 40;     //切完后退
                              QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                          }
                          QD_AutoStep = 5;	    
                      }
                  }
                  else
                  {
                      if((QD_XiaQieStep == 0) && !QD_SHANG_MU_LIMIT_IN)
                      {
                          if(QD_MotorStep == 0) 
                          {
                              QD_MotorStep = 40;     //切完后退
                              QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                          }
                          QD_AutoStep = 5;	    
                      }                  
                  }
                  break;
            case 5:	 
                  if(QD_MotorStep == 0)
                  {
                      cZipCnt++;
                      QD_PARAM_NOW_CNT++;
                      cTableCnt++;
                      AddToTal(QD_TOTAL_ADDR);
                      CalProSP(QD_PROSPEED_ADDR);
                      
                      if(cTableCnt >= QD_PARAM_TABLE_NUM)
                      {
                          cTableCnt = 0;
                          QD_TABLE_VAVLE = 1;
                          QD_TBDelay = dwTickCount + QD_PARAM_TB_TIME;
                      }
                      
                      if((GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) || SingOneFlg)
                      {
                          bRunning = 0;
                          QD_AutoStep = 0; 
                          SingOneFlg = 0;
                          
                          if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
                      }
                      else
                      {
                          QD_AutoStep = 1; 
                          
                          if(QD_PARAM_NOW_CNT >= QD_PARAM_ZHA_SHU)    
                          {
                              QD_AutoDelay = dwTickCount + QD_PARAM_ZS_STOP_TIME + 50;
                              QD_PARAM_NOW_CNT = 0;
                          }
                          else
                              QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
                      }
                  }
                  break;
        }	
    }
}

void QueDuan_StepCheckStart(void)
{
//		启动      			
    if((START_IN_UP) || bStart || QD_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (QD_AutoStep == 0))
        {
            if(!QD_SHANG_MU_ORIGIN_IN)QD_SetAlarmCode(QD_SM_YUANWEI);
            else if(GetAlarmCode(QD_ALARM_ADDR) != 0);
            else if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
            else if(QD_BL_VAVLE)QD_SetAlarmCode(QD_BL_ALARM);
            else if(QD_SM_VAVLE)QD_SetAlarmCode(QD_SM_ALARM);
            else
            {
                bRunning    = 1;
                QD_AutoStep = 1;
                if(QD_bSingle) SingOneFlg= 1;
                cZipCnt      = 0;
                if(QD_PARAM_TL_MODE)
                {
                   if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
                }
            }
        }
        QD_bSingle = 0;
    }


    //停止
   if(STOP_IN_UP || bStop)
   {
        bStop = 0;
 /*       if(bRunning)
        {
            if(SingOneFlg)
            {
                bRunning      = 0;
                QD_XiaQieStep = 0;
                QD_AutoStep   = 0;
                QD_MotorStep  = 0;
                QD_TuiLianStep = 0;
                QD_TuiFangKuaiStep = 0;
                QD_YuanDianStep = 0;
                QD_BinLianStep  = 0;
                SingOneFlg  = 0; 
                QD_JD_VAVEL = 0;
                QD_SM_VAVLE = 0;
                QD_XM_VAVLE = 0;
                QD_YD_VAVLE = 0;
                QD_XHG_VAVLE = 0;
           //     QD_CS_OUT   = 0;
                QD_TL_VAVLE = 0;
                QD_SZ_OUT   = 1;
                QD_GZ_VAVLE    = 0;
                QD_YBD_VAVLE = 0;
                QD_TFK_VAVEL   = 0; 
                QD_TABLE_VAVLE   = 0;
                QD_BL_VAVLE    = 0;
                QD_AutoDelay   = dwTickCount;
                QD_MotorDelay = dwTickCount;
                QD_XiaQieDelay  = dwTickCount;
                QD_KaDaiDelay   = dwTickCount;
                QD_CSDelay = dwTickCount;
                QD_TBDelay  = dwTickCount;
                QD_TFKDelay  = dwTickCount;
                QD_TLDelay     = dwTickCount;
                QD_CheckDelay  = dwTickCount;
           
                AxisDecStop(X_AXIS);   

                if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
            }
            else
            {
                SingOneFlg = 1;
            }
        }
        else 
        {
            bRunning   = 0;
            QD_XiaQieStep = 0;
            QD_AutoStep   = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            QD_YuanDianStep = 0;
            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay  = dwTickCount;
            QD_TLDelay     = dwTickCount;
            QD_CheckDelay  = dwTickCount;
            SingOneFlg  = 0; 
            QD_JD_VAVEL = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVEL= 0;
            QD_TL_VAVLE      = 0;
            QD_YBD_VAVLE = 0;
            //QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            QD_SZ_OUT   = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            QD_XHG_VAVLE = 0;
            AxisDecStop(X_AXIS);  
            QD_YuanDianStep = 0;
            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
        }*/
        
        if(bRunning)
        {
            bRunning   = 0;
            QD_XiaQieStep = 0;
            QD_AutoStep   = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            QD_YuanDianStep = 0;
            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay  = dwTickCount;
            QD_TLDelay     = dwTickCount;
            QD_CheckDelay  = dwTickCount;
            dwTickCount = QD_TBDelay;
            SingOneFlg  = 0; 
            QD_JD_VAVEL = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVEL= 0;
            QD_TL_VAVLE      = 0;
            QD_YBD_VAVLE = 0;
            QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            //QD_SZ_OUT   = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            QD_XHG_VAVLE = 0;
            AxisDecStop(X_AXIS);  
            QD_YuanDianStep = 0;
            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);        
        }
        else
        {
            bRunning   = 0;
            QD_XiaQieStep = 0;
            QD_AutoStep   = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            QD_YuanDianStep = 0;
            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay  = dwTickCount;
            QD_TLDelay     = dwTickCount;
            QD_CheckDelay  = dwTickCount;
            dwTickCount = QD_TBDelay;
            SingOneFlg  = 0; 
            QD_JD_VAVEL = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVEL= 0;
            QD_TL_VAVLE      = 0;
            QD_YBD_VAVLE = 0;
            QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_TuiFangKuaiStep = 0;
            QD_SZ_OUT   = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            QD_XHG_VAVLE = 0;
            AxisDecStop(X_AXIS);  
            QD_YuanDianStep = 0;
            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
        }
    }
    
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        QD_XiaQieStep = 0;
        QD_AutoStep   = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 0;
        QD_TuiFangKuaiStep = 0;
        QD_YuanDianStep = 0;
        QD_XiaQieStep = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 0;
        QD_TuiFangKuaiStep = 0;
        QD_AutoDelay   = dwTickCount;
        QD_MotorDelay = dwTickCount;
        QD_XiaQieDelay  = dwTickCount;
        QD_KaDaiDelay   = dwTickCount;
        QD_CSDelay = dwTickCount;
        QD_TBDelay  = dwTickCount;
        QD_TFKDelay  = dwTickCount;
        QD_TLDelay     = dwTickCount;
        QD_CheckDelay  = dwTickCount;
        SingOneFlg  = 0; 
        bRunning   = 0;
        AxisDecStop(X_AXIS); 
        dwTickCount = QD_TBDelay;
        QD_TABLE_VAVLE = 0;
    }
    
}   

void QueDuan_Motor_CS(void)
{
        static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff;
        user_datas[124]= QD_MotorStep;
        user_datas[125]= go_length_buff;
        user_datas[123] = length_buff;
        user_datas[127] = cRealPos;
        user_datas[126] = go_buff - cRealPos;
        user_datas[121] = QD_BinLianStep;
	switch(QD_MotorStep)
	{
		case 0:
			break;
                case 1: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                        if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                        if((QD_TuiLianStep == 0) && !QD_TL_VAVLE  && !QD_PARAM_TL_MODE)QD_TuiLianStep = 1;
                        QD_MotorStep = 2;
                        break;
                case 2:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN)
                            {
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
                                AxisMovePos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_ON_BACK_LENGTH);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 3;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 3:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))
                        {
                            if(cZipCnt == 0)
                            {
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                                AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);         //第一条走低速
                            }
                            else 
                            {  
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;                              
                                AxisMoveTwoPos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,(length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH +QD_PARAM_SJZ_LENGTH),QD_PARAM_GO_LOW_SPEED,0xFFFFFF,QD_DIR_P);//第二条开始走两段速
                            }
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   = 4;
                        }  
			break;
		case 4:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 5;
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                     
			break;
		case 5:
                        if(!X_DRV)
                        {   
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 6;
                        }
			break;   
		case 6:
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0))
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVEL = 1;
                            }
                            QD_MotorStep   = 7;
                            QD_MotorDelay  =    dwTickCount + 100;
                        }
			break;
                case 7:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YBD_VAVLE   = 0;
                            QD_TL_VAVLE    = 0;
                            QD_MotorStep   = 0;
                        }
                        break;
		case 20:// 后退使用电机定长
                        QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        QD_MotorStep   = 21;
                        break;
                case 21:                 
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                            AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-QD_PARAM_ZIPPER_LENGTH);
                            QD_MotorStep   = 22;
                        }
			break;
		case 22:	
                        if(!X_DRV)
                        {
                            QD_MotorDelay =    dwTickCount +  QD_PARAM_DELAY_FZ;
                            QD_MotorStep   = 23;
                        }
			break;
		case 23:	
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
                            AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
                            QD_MotorStep   = 24;
                        }
			break;
                case 24:	
                        if(!X_DRV)
                        {
                            QD_MotorStep   = 0;
                            QD_MotorDelay  =    dwTickCount;
                        }
                        break;
                case 30:
                        QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        QD_MotorStep   = 31;
                        
                        if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                        break;
                case 31:	                                       // 后退使用钩针定长
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            save_buff = cRealPos;
                            back_buff = cRealPos;
                                        
                            if(QD_PARAM_DEC_MODE == 0)
                            {   
                                AxisContinueMove(X_AXIS,QD_PARAM_BACK_SPEED,QD_DIR_P);                
                                QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                QD_MotorStep   = 32;                            
                            }
                            else
                            { 
                                if(cZipCnt < 2)
                                {
                                    AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);  
                                    QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    QD_MotorStep   = 32;
                                }
                                else
                                {
                                    gouzhen_buff = cRealPos;                                   
                                    AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-length_buff);
                                    MoveChangSpeedPos(X_AXIS, QD_PARAM_GO_LOW_SPEED,PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH));  
                                    QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    QD_MotorStep   = 33;
                                }
                            }
                        }
			break; 
		case 32:
                        if(QD_PARAM_BACK_MODE)
                        {
                            if(cZipCnt < 2)
                            {
                                if(QD_GUO_LIAN_IN_UP)
                                {                                 
                                    cCheckLianFlg   = 0;
                                    checkdelay_buff = cRealPos;
                                      
                                    if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                    QD_MotorStep   = 33;
                                    dwTickCount = QD_MotorDelay;
                                }  
                                else if(dwTickCount >= QD_MotorDelay)
                                {
                                    QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                                }                          
                            }
                            else
                            {
                                 QD_MotorStep   = 36;
                            }
                        }
                        else
                        {
                             if(QD_GUO_LIAN_IN_UP)
                            {                                 
                                cCheckLianFlg   = 0;
                                checkdelay_buff = cRealPos;
                                if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                QD_MotorStep   = 33;
                            }  
                            else if(dwTickCount >= QD_MotorDelay)
                            {
                                QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                            }                        
                        }
			break;
                case 33:
                         if((cZipCnt < 2) || (QD_PARAM_DEC_MODE == 0))
                         {
                             if(dwTickCount >= QD_MotorDelay)
                             {
                                 QD_MotorStep   = 34;
                             }                        
                         }
                         else
                         {
                             if((cRealPos - back_buff) > (length_buff - QD_PARAM_Back_LOW_SPEED_LENGTH))
                             {          
                                 if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);    
                                 QD_MotorStep   = 34;
                             }
                         }
                        break;
                case 34:
                        if((cZipCnt < 2) || (QD_PARAM_DEC_MODE == 0))
                        {
                             if((cRealPos - checkdelay_buff) >= QD_PARAM_DELAY_CHECK)
                            {
                                cCheckLianFlgEN = 1;
                                if(cCheckLianFlg)
                                {
                                    cCheckLianFlg = 0;                     
                                    gou_zhen_buff = cRealPos;
                                    QD_MotorStep   = 35;
                                }
                            }                       
                        }
                        else
                        {
                            if((cRealPos - gouzhen_buff) >= (length_buff - QD_PARAM_GOUZHEN_LENGTH))
                            {
                                QD_MotorStep   = 36;
                            }                  
                        }
                        break;
		case 35:	
                        if(cCheckLianFlg)
                        {
                            cCheckLianFlg = 0;  
                            gou_zhen_buff = cRealPos;      
                        }
                        
                        if(QD_GUO_LIAN_IN_DW)
                        {
                            gou_zhen_buff = cRealPos; 
                        }
                        
                        if(QD_GUO_LIAN_IN_UP)
                        {
                            gou_zhen_buff = cRealPos; 
                        }
                        if((cRealPos - gou_zhen_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                        {                         
                            AxisEgmStop(X_AXIS);   
                            QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                            QD_MotorStep   = 36;
                        }   
			break;
                case 36:                                                   
                        if(!X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
                        {         
                            cCheckLianFlgEN = 0;
                            if(QD_PARAM_DEC_MODE == 0)QD_GZ_VAVLE = 1;
                            QD_YD_VAVLE = 1;
                            QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                            QD_MotorStep   = 37;
                        }
                        break;
                case 37:  
                        if(dwTickCount >= QD_MotorDelay)
                        {
                           QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                           QD_MotorStep   = 38;
                        }
                        break;
                case 38:
                        if(!X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
                        {                                  
                            if(cZipCnt == 1)
                            {
                                length_buff = cRealPos - save_buff - QD_PARAM_OFFSET_LENGTH;
                            }
                            if(cZipCnt == 0)
                            {
                               go_length_buff = cRealPos - save_buff;
                            }
                            QD_MotorStep   = 0;
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_SetAlarmCode(QD_GZ_ALARM);
                        }
                        break;
		case 40:
                           if(dwTickCount >= QD_MotorDelay)
                           {
                               // 切断完成后拉电机动作
                                if(QD_PARAM_SJZ_LENGTH == 0)
                                {
                                    QD_MotorDelay =    dwTickCount +  50;
                                    QD_JD_VAVEL = 0;
                                    
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 100)
                                {
                                     QD_MotorDelay =    dwTickCount +  40;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 200)
                                {
                                     QD_MotorDelay =    dwTickCount +  30;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 300)
                                {
                                     QD_MotorDelay =    dwTickCount +  20;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 400)
                                {
                                     QD_MotorDelay =    dwTickCount +  10;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 500)
                                {
                                     QD_MotorDelay =    dwTickCount +  5;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else 
                                {
                                    QD_MotorDelay =    dwTickCount;
                                }
                                QD_MotorStep   = 41;
                           }
                            break;
                case 41:
                            if(dwTickCount >= QD_MotorDelay)
                            {
                               save_buff = cRealPos;
                                                         
                              if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
                              AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH));
                              QD_MotorStep   = 42;
                            }
          
                        break;
                        
		case 42:	                           // 切断完成后拉电机动作
                            if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - save_buff)))
                            {
                                QD_JD_VAVEL = 0;
                                QD_MotorStep   = 43;
                            }
                            else if(!X_DRV)
                            {
                                QD_JD_VAVEL = 0;
                                QD_MotorStep   = 43;
                            }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QD_MotorStep   = 0;
                                QD_MotorDelay  =    dwTickCount;
                            }
                        
                        break;   
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                        
                        if(QD_PARAM_TL_MODE)
                        {
                        }
                        else
                        {
                             if((QD_TuiLianStep == 0) && !QD_TL_VAVLE)QD_TuiLianStep = 1;
                        }

                        QD_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN)
                            {
                                AxisMovePos(X_AXIS,QD_PARAM_FIRST_SPEED,-QD_PARAM_ON_BACK_LENGTH);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 63;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))
                        {
                            go_buff  = cRealPos;
                            if(cZipCnt > 0)
                            {
                                 MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED);//
                            }
                            else
                            {
                                 MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED);
                            }

                            QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep  = 64;
                        }  
			break;
                case 64:
                        if(QD_PARAM_GO_MODE)
                        {
                             if(cZipCnt > 0)
                             {
                                  if((go_buff - cRealPos) > (go_length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH))
                                  {
                                      
                                      MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                      QD_MotorStep   =65;
                                  }
                             }
                             else
                             {
                                 QD_MotorStep   =65;                     
                             }
                        }
                        else 
                        {
                             QD_MotorStep   =65;                      
                        }
                        break;
		case 65:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            if(QD_PARAM_DAO_MODE)
                            {
                                 dandao_buff = cRealPos;
                                 QD_MotorStep   = 70; 
                            }
                            else
                            {
                                AxisEgmStop(X_AXIS);
                                QD_MotorStep   = 66;                            
                            }
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                        break;
                case 70:   
                       if((dandao_buff - cRealPos) >= QD_PARAM_DANDAO_MODE_LENGTH)    
                       {
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 66;                            
                       }
			break;
		case 66:
                        if(!X_DRV)
                        {   
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 67;
                        }
			break;   
		case 67:
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVEL = 1;
                            }
                            QD_MotorStep   = 68;
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        }
			break;
                case 68:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YD_VAVLE    = 0;
                            QD_MotorStep   = 0;
                        }
                        break;
               
	}
}

//推方块动作
void QueDuan_TuiFangKuai(void)
{

    
}
void QueDuan_BingLian(void)
{
    static long bl_pos_buff;
    
    switch(QD_BinLianStep)
    {
        case 0:break;
        case 1:
              bl_pos_buff = cRealPos;
              QD_BinLianStep = 2;
        break;       
        case 2:
              if((cRealPos - bl_pos_buff) >= QD_PARAM_DELAY_HL_LENGTH)
              {
                   QD_BL_VAVLE = 1;   
                   QD_BinLianStep = 3;
              }
             
        break;
        case 3:
              if(QD_SM_VAVLE)QD_BL_VAVLE = 0;
        break;
    default:;    
    }
    
}
void QueDuan_Motor_QD(void)
{
        static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff;
        user_datas[124]= QD_MotorStep;
        user_datas[125]= go_length_buff;
        user_datas[123] = length_buff;
        user_datas[127] = cRealPos;
        user_datas[126] = go_buff - cRealPos;
        user_datas[121] = QD_BinLianStep;
	switch(QD_MotorStep)
	{
		case 0:
			break;
                case 1: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                        if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                        if((QD_TuiLianStep == 0) && !QD_TL_VAVLE  && !QD_PARAM_TL_MODE)QD_TuiLianStep = 1;
                        QD_MotorStep = 2;
                        break;
                case 2:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN)
                            {
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
                                AxisMovePos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_ON_BACK_LENGTH);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 3;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 3:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))
                        {
                            if(cZipCnt == 0)
                            {
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                                AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);         //第一条走低速
                            }
                            else 
                            {  
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;                              
                                AxisMoveTwoPos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,(length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH +QD_PARAM_SJZ_LENGTH),QD_PARAM_GO_LOW_SPEED,0xFFFFFF,QD_DIR_P);//第二条开始走两段速
                            }
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   = 4;
                        }  
			break;
		case 4:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 5;
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                     
			break;
		case 5:
                        if(!X_DRV)
                        {   
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 6;
                        }
			break;   
		case 6:
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0))
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVEL = 1;
                            }
                            QD_MotorStep   = 7;
                            QD_MotorDelay  =    dwTickCount + 100;
                        }
			break;
                case 7:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YBD_VAVLE   = 0;
                            QD_TL_VAVLE    = 0;
                            QD_MotorStep   = 0;
                        }
                        break;
		case 20:// 后退使用电机定长
                        QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        QD_MotorStep   = 21;
                        break;
                case 21:                 
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
                            AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-QD_PARAM_ZIPPER_LENGTH);
                            QD_MotorStep   = 22;
                        }
			break;
		case 22:	
                        if(!X_DRV)
                        {
                            QD_MotorDelay =    dwTickCount +  QD_PARAM_DELAY_FZ;
                            QD_MotorStep   = 23;
                        }
			break;
		case 23:	
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
                            AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
                            QD_MotorStep   = 24;
                        }
			break;
                case 24:	
                        if(!X_DRV)
                        {
                            QD_MotorStep   = 0;
                            QD_MotorDelay  =    dwTickCount;
                        }
                        break;
                case 30:
                        QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        QD_MotorStep   = 31;
                        
                        if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                        break;
                case 31:	                                       // 后退使用钩针定长
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            save_buff = cRealPos;
                            back_buff = cRealPos;
                            SetAccTime(X_AXIS,5);
                            SetDecTime(X_AXIS,5);
                            
                      
                            if(QD_PARAM_DEC_MODE == 0)
                            {
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;    
                                AxisContinueMove(X_AXIS,QD_PARAM_BACK_SPEED,QD_DIR_P);                
                                QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                QD_MotorStep   = 32;                            
                            }
                            else
                            {
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;  
                                if(cZipCnt < 2)
                                {
                                    QD_XHG_VAVLE = 0;
                                    AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);  
                                    QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    QD_MotorStep   = 32;
                                }
                                else
                                {
                                    gouzhen_buff = cRealPos;
                                     QD_XHG_VAVLE = 1;
                                    //AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,(length_buff - QD_PARAM_Back_LOW_SPEED_LENGTH),QD_PARAM_GO_LOW_SPEED,QD_PARAM_Back_LOW_SPEED_LENGTH,QD_DIR_N);
                                    AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-length_buff);
                                    MoveChangSpeedPos(X_AXIS, QD_PARAM_GO_LOW_SPEED,PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH));  
                                    QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    QD_MotorStep   = 33;
                                }
  
                               // AxisContinueMove(X_AXIS,QD_PARAM_BACK_SPEED,QD_DIR_N);         

                            }
                        }
			break; 
		case 32:
                        if(QD_PARAM_BACK_MODE)
                        {
                            if(cZipCnt < 2)
                            {
                                if(QD_GUO_LIAN_IN_UP)
                                {                                 
                                    cCheckLianFlg   = 0;
                                    checkdelay_buff = cRealPos;
                                      
                                    if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                  //  AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                 //   AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                    QD_MotorDelay  = dwTickCount +  QD_PARAM_GZ_DELAY;
                                   // QD_CheckDelay = dwTickCount +  QD_PARAM_DELAY_CHECK;
                                    QD_MotorStep   = 33;
                                }  
                                else if(dwTickCount >= QD_MotorDelay)
                                {
                                    QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                                }                          
                            }
                            else
                            {
                           /*   if((cRealPos - back_buff) > (length_buff - QD_PARAM_Back_LOW_SPEED_LENGTH))
                              {
                                // if(X_DRV)MoveChangSpeedPos(X_AXIS, QD_PARAM_GO_LOW_SPEED,PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH));                      
                              }*/
                              QD_MotorStep   = 36;
                            }
                        }
                        else
                        {
                             if(QD_GUO_LIAN_IN_UP)
                            {                                 
                                cCheckLianFlg   = 0;
                                checkdelay_buff = cRealPos;
                                if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                              //  AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                             //   AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                QD_MotorDelay  = dwTickCount +  QD_PARAM_GZ_DELAY;
                               // QD_CheckDelay = dwTickCount +  QD_PARAM_DELAY_CHECK;
                                QD_MotorStep   = 33;
                            }  
                            else if(dwTickCount >= QD_MotorDelay)
                            {
                                QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                            }                        
                        }
			break;
                case 33:
                         if((cZipCnt < 2) || (QD_PARAM_DEC_MODE == 0))
                         {
                             if(dwTickCount >= QD_MotorDelay)
                             {
                                 QD_GZ_VAVLE = 1;
                                 QD_MotorStep   = 34;
                             }                        
                         }
                         else
                         {
                             if((cRealPos - back_buff) > (length_buff - QD_PARAM_Back_LOW_SPEED_LENGTH))
                             {
                                 
                                 if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);    
                                 QD_MotorStep   = 34;
                             }
                         }
                        break;
                case 34:
                        if((cZipCnt < 2) || (QD_PARAM_DEC_MODE == 0))
                        {
                             if((cRealPos - checkdelay_buff) >= QD_PARAM_DELAY_CHECK)
                            {
                                //user_datas[125]= cRealPos - checkdelay_buff;
                                cCheckLianFlgEN = 1;
                                if(cCheckLianFlg)//(!QD_GUO_LIAN_IN)
                                {
                   //                 AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                    cCheckLianFlg = 0;                     
                                    gou_zhen_buff = cRealPos;
                                    QD_MotorStep   = 35;
                                }
                            }                       
                        }
                        else
                        {
                            if((cRealPos - gouzhen_buff) >= (length_buff - QD_PARAM_GOUZHEN_LENGTH))
                            {
                                QD_GZ_VAVLE = 1;
                                QD_MotorStep   = 36;
                            }                  
                        }
                        break;
		case 35:	
                        if(cCheckLianFlg)
                        {
                            cCheckLianFlg = 0;  
                            gou_zhen_buff = cRealPos;      
                        }
                        
                        if(QD_GUO_LIAN_IN_DW)
                        {
                            gou_zhen_buff = cRealPos; 
                        }
                        
                        if(QD_GUO_LIAN_IN_UP)
                        {
                            gou_zhen_buff = cRealPos; 
                        }
                        if((cRealPos - gou_zhen_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                        {                         
                            AxisEgmStop(X_AXIS);   
                            QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                            QD_MotorStep   = 36;
                        }   
			break;
                case 36:                                                   
                        if(!X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
                        {         
                            cCheckLianFlgEN = 0;
                            if(QD_PARAM_DEC_MODE == 0)QD_GZ_VAVLE = 1;
                            if(!QD_PARAM_TL_MODE)QD_YBD_VAVLE = 1;
                            QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                            QD_MotorStep   = 37;
                        }
                        break;
                case 37:  
                        if(dwTickCount >= QD_MotorDelay)
                        {
                           QD_TFK_VAVEL = 1;
                           QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                           QD_MotorStep   = 38;
                        }
                        break;
                case 38:
                        if(QD_GOUZHEN_IN && !X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
                        {
                            if(QD_PARAM_TL_MODE)QD_YBD_VAVLE = 1;
                            
                            
                            if(cZipCnt == 1)
                            {
                                length_buff = cRealPos - save_buff - QD_PARAM_OFFSET_LENGTH;
                            }
                            if(cZipCnt == 0)
                            {
                               go_length_buff = cRealPos - save_buff;
                            }
                            QD_MotorStep   = 0;
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_SetAlarmCode(QD_GZ_ALARM);
                        }
                        break;
		case 40:
                           if(dwTickCount >= QD_MotorDelay)
                           {
                               // 切断完成后拉电机动作
                                if(QD_PARAM_SJZ_LENGTH == 0)
                                {
                                    QD_MotorDelay =    dwTickCount +  50;
                                    QD_JD_VAVEL = 0;
                                    
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 100)
                                {
                                     QD_MotorDelay =    dwTickCount +  40;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 200)
                                {
                                     QD_MotorDelay =    dwTickCount +  30;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 300)
                                {
                                     QD_MotorDelay =    dwTickCount +  20;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 400)
                                {
                                     QD_MotorDelay =    dwTickCount +  10;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else if(QD_PARAM_SJZ_LENGTH <= 500)
                                {
                                     QD_MotorDelay =    dwTickCount +  5;
                                     QD_JD_VAVEL = 0;                           
                                }
                                else 
                                {
                                    QD_MotorDelay =    dwTickCount;
                                }
                                QD_MotorStep   = 41;
                           }
                            break;
                case 41:
                            if(dwTickCount >= QD_MotorDelay)
                            {
                               save_buff = cRealPos;
                                                         
                              if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
                              AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH));
                              QD_MotorStep   = 42;
                            }
          
                        break;
                        
		case 42:	                           // 切断完成后拉电机动作
                            if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - save_buff)))
                            {
                                QD_JD_VAVEL = 0;
                                QD_MotorStep   = 43;
                            }
                            else if(!X_DRV)
                            {
                                QD_JD_VAVEL = 0;
                                QD_MotorStep   = 43;
                            }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QD_MotorStep   = 0;
                                QD_MotorDelay  =    dwTickCount;
                            }
                        
                        break;   
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                        
                        
                        if(QD_PARAM_TL_MODE)
                        {
                //           if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
                        }
                        else
                        {
                             if((QD_TuiLianStep == 0) && !QD_TL_VAVLE)QD_TuiLianStep = 1;
                        }
                     //   cGoLimitEn     = 1;
                        SetAccTime(X_AXIS,10);
                        SetDecTime(X_AXIS,10);
                        QD_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN)
                            {
                                if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
                                AxisMovePos(X_AXIS,QD_PARAM_FIRST_SPEED,-QD_PARAM_ON_BACK_LENGTH);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 63;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))
                        {
                            if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_N;
                            go_buff  = cRealPos;
                            if(cZipCnt > 0)
                            {
                                 MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED);//
                            }
                            else
                            {
                                 MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED);
                            }
                       //     MoveAction_Const_Stop(X_AXIS, QD_DIR_P,QD_PARAM_GO_HIGH_SPEED);//
                        //      AxisContinueMove(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_DIR_P);         //第一条走低速

                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   =64;
                        }  
			break;
                case 64:
                        if(QD_PARAM_GO_MODE)
                        {
                             if(cZipCnt > 0)
                             {
                                  if((go_buff - cRealPos) > (go_length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH))
                                  {
                                      
                                      MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                      QD_MotorStep   =65;
                                  }
                             }
                             else
                             {
                              //     if(QD_QIAN_DEC_IN)
                                  {
                                 //     if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);//AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                      QD_MotorStep   =65;
                                  }                               
                             }
                        }
                        else 
                        {
                          //   if(QD_QIAN_DEC_IN)
                            {
                             //   if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);//AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                QD_MotorStep   =65;
                            }                       
                        }

                        break;
		case 65:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            if(QD_PARAM_DAO_MODE)
                            {
                                 dandao_buff = cRealPos;
                                 QD_MotorStep   = 70; 
                            }
                            else
                            {
                                AxisEgmStop(X_AXIS);
                                QD_MotorStep   = 66;                            
                            }
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                        break;
                case 70:   
                       if((dandao_buff - cRealPos) >= QD_PARAM_DANDAO_MODE_LENGTH)    
                       {
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 66;                            
                       }
			break;
		case 66:
                        if(!X_DRV)
                        {   
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 67;
                        }
			break;   
		case 67:
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVEL = 1;
                            }
                            QD_MotorStep   = 68;
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        }
			break;
                case 68:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YBD_VAVLE   = 0;
                            QD_TL_VAVLE    = 0;
                            QD_MotorStep   = 0;
                        }
                        break;
               
	}
}
//电机动作
void QueDuan_Motor(void)	 //
{
     switch(QD_MACHINE_TYPE)
     {
         case QD_CS_TUIFANGKUAI: QueDuan_Motor_CS();break;
         case QD_QQ_TUIFANGKUAI: QueDuan_Motor_QD();break;
         default:;
     }
}

//超声方式下切
void QueDuan_XiaQue_CS(void)	
{
   switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
                QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                QD_XiaQieStep = 2;                     
                break;
        case 2:
                if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                    QD_XM_VAVLE   = 1;
                    QD_XiaQieStep = 3;                 
                }
               break;
        case 3:
                if(QD_XIA_MU_LIMIT_IN)
                {
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                    QD_XiaQieStep = 4;  
                }
                else if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_SetAlarmCode(QD_XM_DAOWEI);
                }
                break;
        case 4:
                if(dwTickCount >= QD_XiaQieDelay)
                {        
                    QD_GZ_VAVLE   = 1;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY;       // 
                    QD_XiaQieStep = 5;             
                }
                break;
        case 5: 
               if(dwTickCount >= QD_XiaQieDelay)
               {
                   QD_TFK_VAVEL = 1;
                   QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                   QD_XiaQieStep = 6;   
               }
                break;
        case 6:
               if(QD_GOUZHEN_IN)
               {
                   QD_SM_VAVLE = 1;
                   QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                   QD_XiaQieStep = 7;   
               }
               else if(dwTickCount >= QD_XiaQieDelay)
               {
                   QD_SetAlarmCode(QD_GZ_ALARM);
               }
               break;
        case 7:
                if(QD_SHANG_MU_LIMIT_IN && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                {
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       // 
                    QD_XiaQieStep = 8;                                             
                }
                else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
                break;
        case 8:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                    QD_XiaQieStep = 9;      
                }
                break;
        case 9:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_CS_OUT = 0;
                    QD_SM_VAVLE   = 0;
                    QD_XM_VAVLE   = 0;
                    QD_TFK_VAVEL  = 0;
                    QD_GZ_VAVLE = 0;
                    
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                    QD_XiaQieStep = 10;	
                }
                break;
        case 10:
                if(QD_SHANG_MU_ORIGIN_IN && !QD_XIA_MU_LIMIT_IN)	
                {   
                    QD_XiaQieStep = 0;                      
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_YUANWEI);
                }
                break;
    }	
}


void QueDuan_TuiLianAction(void)
{
    switch(QD_TuiLianStep) 
    {
        case 0:
        break;
        case 1:
            QD_TuiLianStep = 2;
        break;
        case 2:
              QD_YBD_VAVLE   = 1;
              QD_TLDelay     = dwTickCount + QD_PARAM_YD_DELAY;
              QD_TuiLianStep = 3;
        break;
        case 3:
            if(dwTickCount >= QD_TLDelay)
            {   
                if(QD_PARAM_TL_MODE)
                {
                    QD_TuiLianStep = 10;
                }
                else
                {
                    QD_TL_VAVLE    = 1;
                    QD_TLDelay     = dwTickCount + QD_PARAM_TL_DELAY;
                    QD_TuiLianStep = 4;
                }
            }
        break;
        case 4:
            if(dwTickCount >= QD_TLDelay)
            {
            //    QD_TL_VAVLE    = 0;
                QD_TuiLianStep = 0;
            }
        break;
        case 10:
            if(bRunning && QD_PARAM_TL_MODE)AxisMovePos(Y_AXIS,QD_PARAM_TL_SPEED,QD_PARAM_TL_LENGTH);
            QD_TuiLianStep = 11;
        break;
        case 11:
            if(!Y_DRV)
            {
               {
                  QD_TuiLianStep = 0;
               }
            }
        break;
    }
}

//气动推方块方式下切
void QueDuan_XiaQue_QD(void)	
{
    switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
                if(!bRunning)
                {
                    QD_XiaQieDelay = dwTickCount + 50;
                    QD_GZ_VAVLE   = 1;
                    QD_XiaQieStep = 20;  
                }
                else
                {
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                    QD_XiaQieStep = 2;                     
                }
                break;
        case 20:
                if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                    QD_TFK_VAVEL = 1;
                    QD_XiaQieStep = 2;          
                }
                break;
        case 2:
                if(dwTickCount >= QD_XiaQieDelay)
                {        
                    QD_SM_VAVLE   = 1;
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                    QD_XiaQieStep = 3;             
                }
        break;
        case 3:
                if(QD_SHANG_MU_LIMIT_IN && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                {
                    QD_XiaQieStep = 4;
                    QD_XiaQieDelay = dwTickCount + 100;                                                 
                }
                else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
        break;
        case 4:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SM_VAVLE   = 0;
                    QD_TFK_VAVEL  = 0;
                    QD_GZ_VAVLE = 0;
                    
                    if(!QD_PARAM_TL_MODE)
                    {
                        if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
                    }
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                    QD_XiaQieStep = 5;	
                }
        break;
        case 5:
                if(QD_SHANG_MU_ORIGIN_IN && (QD_TuiLianStep == 0))	
                {   
                    if(QD_PARAM_TL_MODE)
                    {
                        if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
                    }
                    QD_XiaQieStep = 0;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_TL_DELAY;                        
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_YUANWEI);
                }
        break;
    }	
}
//切断动作
void QueDuan_XiaQue(void)	 
{
    switch(QD_MACHINE_TYPE)
    {
        case QD_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break;	
        case QD_QQ_TUIFANGKUAI:QueDuan_XiaQue_QD();break;	
        default:;
    }
}




#endif