GC19038/Machine/JuXingMachine/JXKKQueDuanJi.c

#include "global.h"


#if JU_XING_MACHINE ==1


void KK_QueDuan_AlarmProtect(void);
void KK_QueDuan_ManualAction(void);
void KK_QueDuan_AutoAction(void);
void KK_QueDuan_StepCheckStart(void);
void KK_QueDuan_XiaQue(void);
void KK_QueDuan_Motor(void);
void KK_QueDuan_YuanDianAction(void);
void KK_QueDuan_TuiLianAction(void);
void KK_QueDuan_ExtiActionX31(void);
void KK_QueDuan_BingLian(void);
void KK_StopCode(void);
void KKQD_TuiDaiAction(void);
short *KK_length_buffer;
void KKQD_SetAlarmCode(unsigned alarm_code)
{
  SetAlarmCode(KKQD_ALARM_ADDR,alarm_code);
  bAlarmStop = 1;
}
void KK_QueDuan_ExtiActionX31(void)
{
  KK_cCheckLianFlg = 1;
}
void KK_StopCode(void)
{
  switch(KKQD_StopStep)
  {
  case 1:            
    KKQD_StopStep=2;
    if(X_DRV)
    {
      AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
      AxisDecStop(X_AXIS);
    }
    break;
  case 2:    
    if(!X_DRV || (KK_cRealPos < 10))
    {
      KKQD_StopCodeDelay=dwTickCount+350;
      KKQD_StopStep = 3;
    }  
    break;
  case 3:
    if(dwTickCount >= KKQD_StopCodeDelay)
    {
      if(!cSTOPONE)
      {                
        KKQD_StopStep=0;
        
      }
      else
      {        
        KKQD_SetAlarmCode(KKQD_PARAM_ANQUANMEN_ALARM);
        KKQD_StopStep=0;
        cSTOPONE=0;
      }
      KKQD_SZ_OUT   = 1;  //电机松轴
    }
    break;
  }
}

void KK_QueDuan_InitAction(void)
{
  float length_buff,pulse_buff;
  
  length_buff = KKQD_PARAM_CYCLE_LENGTH;
  pulse_buff  = KKQD_PARAM_CYCLE_PULSE;
  XGearRatio  = pulse_buff/length_buff;  
  //  KKQD_SZ_OUT   = 1;
  KKQD_SetAlarmCode(0);
  SetDirReverse(X_AXIS, 1);
}

void KK_QueDuan_Action(void)
{
  
  KK_QueDuan_AlarmProtect();
  KK_QueDuan_Motor();
  KK_QueDuan_XiaQue();
  KK_QueDuan_ManualAction();
  KK_QueDuan_TuiLianAction();
  KK_QueDuan_BingLian();
  KK_StopCode();
  KK_QueDuan_AutoAction();
  KK_QueDuan_StepCheckStart();   // 调用脚踏开关检测程序 
  
  
}

//手动动作
void KK_QueDuan_ManualAction(void)
{  
  //条数或扎数达到后，台面电机转两秒之后再停机
  if(KK_cTABLETIME)
  {
    if(KK_cTABLETOTAL)
    {
      KK_cTABLETOTAL=0;
      KKQD_TABLE_VAVLE = 1;
      KKQD_TableDelay=dwTickCount + 2000;
      
    }
    if(dwTickCount >= KKQD_TableDelay)
    {
      KKQD_TABLE_VAVLE = 0;
      KK_cTABLETIME=0;
      
    }
  }
  if(bRunning == 0)  
  {   
    
    
    
    KK_cGoLimitEn = 0;
    if(KKQD_bClearTotal) //切断计数清零
    {
      KKQD_bClearTotal       = 0;
      ClrcToTal(KKQD_TOTAL_ADDR);
    }
    
    if(KKQD_bClearNowTotal)
    {
      KKQD_bClearNowTotal = 0;
      KKQD_PARAM_NOW_CNT = 0;
    }
    
    if(KKQD_bXiaQie)
    {
      KKQD_bXiaQie = 0;
      if((KKQD_XiaQieStep == 0) && !KKQD_TL_VAVLE)
      {
        KKQD_XiaQieStep = 1;
      }  
    }
    
    if(KKQD_bQianDianDW)
    {
      KKQD_bQianDianDW = 0;
      if(KKQD_MotorStep == 0)
      {
        KKQD_MotorStep = 61;
        cZipCnt      = 0;
      }
    }
    
    if(KKQD_bTL)
    {  
      KKQD_bTL = 0;
      if(KKQD_TL_VAVLE)
      {
        KKQD_TL_VAVLE = 0;
      } 
      else if(!KKQD_GZ_VAVLE && !KKQD_SM_VAVLE)
      {
        KKQD_TL_VAVLE = ~KKQD_TL_VAVLE;
      }
    }
    if(KKQD_bECQ)
    {
      KKQD_bECQ=0;
      KK_cShuangDao=1;
      KK_cDiErLaChu=1;
      KK_cECQ_STOP=1;
      bRunning    = 1;
      KKQD_AutoStep = 1;
      
    }
    
    
    //        if(!Y_DRV)KKQD_bTL = 0;
    
    if(KKQD_bYD)
    {
      KKQD_bYD = 0;
      KKQD_YD_VAVLE = ~KKQD_YD_VAVLE;
    }
    
    if(KKQD_bGZ)
    {
      KKQD_bGZ = 0;
      KKQD_GZ_VAVLE = ~KKQD_GZ_VAVLE;
    }
    
    if(KKQD_bJD)
    {
      KKQD_bJD = 0;
      KKQD_JD_VAVLE = ~KKQD_JD_VAVLE;
    }
    
    if(KKQD_bXM)
    {
      KKQD_bXM = 0;
      KKQD_XM_VAVLE = ~KKQD_XM_VAVLE;
      if(!KKQD_XM_VAVLE)KKQD_GZ_VAVLE = 0;
    }
    if(KKQD_GOUZHEN_IN_UP)
    {
      KKQD_YD_VAVLE=1;
    }
    
    if(KKQD_bSM)
    {
      KKQD_bSM = 0;
      if(KKQD_SM_VAVLE)
        KKQD_SM_VAVLE = 0;
      else if(!KKQD_TL_VAVLE || !KKQD_PARAM_XM_ENABLE)
        KKQD_SM_VAVLE = 1;
    }
    //推方块
    if(KKQD_bTFK)
    {
      KKQD_bTFK = 0;
      KKQD_TFK_VAVLE = ~KKQD_TFK_VAVLE;
    }
    //台面电机
    if(KKQD_bTB)
    {
      KKQD_bTB = 0;           
      KKQD_TABLE_VAVLE = ~KKQD_TABLE_VAVLE;
    }
    
    //        if(KKQD_bYBD)
    //  /      {
    //            KKQD_bYBD = 0;
    //            KKQD_YBD_VAVLE = ~KKQD_YBD_VAVLE;
    //        }
    
    if(KKQD_bTestCS)
    {
      KKQD_bTestCS = 0;
      KKQD_CS_OUT  = 1;
      KKQD_CSDelay = dwTickCount + KKQD_PARAM_CS_TIME;
    }
    
    if(KKQD_bBL)//吹气
    {
      KKQD_bBL = 0;
      KKQD_CQ_VAVLE = ~KKQD_CQ_VAVLE;
    }
    
    if(KKQD_bHL)  //护链,双开用
    {
      KKQD_bHL = 0;
      KKQD_HL_VAVLE = ~KKQD_HL_VAVLE;
    }
    
    if(KKQD_bYX)
    {
      KKQD_bYX = 0;
      KKQD_YX_VAVLE = ~KKQD_YX_VAVLE;
    }
    if(KKQD_XiaQieStep == 0)
    {
      if(dwTickCount >= KKQD_CSDelay)KKQD_CS_OUT  = 0;
    }        
    //电机控制        
    if(KKQD_bGoMotor && !KKQD_QIAN_LIMIT_IN)
    {           
      KKQD_SZ_OUT   = 0;
      //   KKQD_JZ_DIR   = KKQD_YDIR_N;
      if(!X_DRV)
        //                  X轴       运行速度                    启动速度        加速度  减速度
        AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_GO_LOW_SPEED,10,12);
      
    }
    
    if(KKQD_bBackMotor)  //后退限位已经取消
    {
      KKQD_SZ_OUT   = 0;
      //       KKQD_JZ_DIR   = KKQD_YDIR_P;
      if(!X_DRV)
        //                  X轴       运行速度                    启动速度        加速度  减速度
        AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_P,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_GO_LOW_SPEED,10,12);
    }
    
    if(!KKQD_bGoMotor && !KKQD_bBackMotor && (KKQD_MotorStep == 0))
    {
      if(X_DRV)AxisDecStop(X_AXIS);
    }
    
    if(KKQD_QIAN_LIMIT_IN && (KKQD_MotorStep == 0) && !KKQD_bBackMotor &&(KKQD_AutoStep == 0))
    {
      if(X_DRV)AxisEgmStop(X_AXIS);
    }       
  }
}




void KK_QueDuan_AlarmProtect(void)
{ 
  KK_cRealPos = GetPos(X_AXIS);
  
  if(!bRunning)
  {
    ;
    
  }
  else
  {
    if((KK_cRealPos > KKQD_PARAM_RUN_LENGTH) && (KKQD_PARAM_RUN_LENGTH > 3000)
       && (KK_cGoLimitEn != 0))
    {
      AxisEgmStop(X_AXIS);   
      KKQD_JD_VAVLE = 0;
      KKQD_SetAlarmCode(KKQD_BACK_ALARM);
    }
  }
}


void KK_QueDuan_AutoAction(void)
{  
  //台面电机定时关掉
  
  
  if(KKQD_QIAN_STOP_Auto)
  {
    
    KK_cDLJ_ATUO=1;
    AxisEgmStop(X_AXIS);
    
    
    
  }
  if(KKQD_QIAN_START_Auto)
  {
    if(KK_cDLJ_ATUO)
    {
      KK_cDLJ_ATUO=0;
      KKQD_AutoDelay = dwTickCount + 1000;
      KKQD_MotorDelay = dwTickCount + 2000;
      if((KKQD_MotorStep==63 || KKQD_MotorStep==64 || KKQD_MotorStep==65) && !KKQD_QIAN_LIMIT_IN)
        AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,KKQD_PARAM_GO_LOW_SPEED/3,15,15);
      else if((KK_cRealPos < KKQD_PARAM_ZIPPER_LENGTH) && (KKQD_MotorStep > 311))
        AxisMoveTwoPos(X_AXIS,1000,(KKQD_PARAM_ZIPPER_LENGTH - KK_cRealPos) + (*KK_length_buffer),
                       KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED_LENGTH,KKQD_DIR_P,5000,3000,20,30);
      
    }             
    
    
  }
  if(!KK_cDLJ_ATUO)
  {
    if(bRunning)
    {  
      if(!KK_cTABLETIME)
      {
        if(dwTickCount >= KKQD_TBDelay)
          KKQD_TABLE_VAVLE = 0;
      }
      switch(KKQD_AutoStep)
      {
      case 1:
        if(dwTickCount >= KKQD_AutoDelay)
        {	
          KKQD_AutoStep = 2;	    
          if(KKQD_MotorStep == 0)
          {
            KKQD_MotorStep = 61;   //前点定位
          }
          KK_cGoLimitEn = 0;
        }	
        break;	
      case 2:	 
        if(KKQD_MotorStep == 0)
        {   
          if(!KK_cShuangDao)
            KKQD_MotorStep = 30;  
          else
            KKQD_MotorStep = 801;  
          KKQD_AutoStep = 3;	
          KK_cGoLimitEn = 1;
        }
        break;	
      case 3:	
        if(KKQD_MotorStep == 0)
        {   
          if(KKQD_SAFE_IN)
          {
            bStop = 1;
          }
          else 
          {
            
            if(!KK_cShuangDao)
            {
              if(KKQD_XiaQieStep == 0)
                KKQD_XiaQieStep = 1;   
            }
            else
            {
              if(KKQD_XiaQieStep == 0)
                KKQD_XiaQieStep = 201; 
            }
            KKQD_AutoStep = 4;
          }
        }              
        break;
      case 4:
        
        //                                  闭口
        if((KKQD_XiaQieStep == 0) || ((KKQD_XiaQieStep == 6) && KKQD_KB_MODE)|| ((KKQD_XiaQieStep == 14) && (KKQD_KB_MODE == 0)))// && !KKQD_SHANG_MU_LIMIT_IN)
        {
          if(KKQD_MotorStep == 0) 
          {
            KK_cGoLimitEn=0;
            KKQD_MotorStep = 40;     //切完后退
            
          }
          KKQD_AutoStep = 5;	    
        }
        
        break;
      case 5:	 
        
        if(KKQD_MotorStep == 0)
        {
          if(!KK_cDiErLaChu)
            cZipCnt++;
          KKQD_PARAM_NOW_CNT++;
          cTableCnt++;
          AddToTal(KKQD_TOTAL_ADDR);
          AddToTal(CT_WORKTOTAL_ADDR);
          CalProSP(KKQD_PROSPEED_ADDR);
          
          if(cTableCnt >= KKQD_PARAM_TABLE_NUM)
          {
            cTableCnt = 0;
            KKQD_TABLE_VAVLE = 1;
            KKQD_TBDelay = dwTickCount + KKQD_PARAM_TB_TIME;
          }
          
          if( SingOneFlg || cZhouWanone)
          {
            
            {
              cZhouWanone=0;
              cStopMode=0;
              bRunning = 0;
              KKQD_AutoStep = 0; 
              SingOneFlg = 0;
              KKQD_TABLE_VAVLE = 0;
              
            }
            
            //                         if(GetTotal(KKQD_TOTAL_ADDR) >= KKQD_PARAM_SET_TOTAL) KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
          }
          else
          {
            KKQD_AutoStep = 1; 
            
            if((KKQD_PARAM_NOW_CNT >= KKQD_PARAM_ZHA_SHU) && (KKQD_PARAM_ZHA_SHU > 0))   
            {
              KKQD_AutoDelay = dwTickCount + KKQD_PARAM_ZS_STOP_TIME;
              KKQD_PARAM_NOW_CNT = 0;
              KK_cTABLETIME = 1;
              KK_cTABLETOTAL= 1;
              if(KKQD_PARAM_ZS_STOP_TIME == 0)
              {
                bRunning = 0;
                KKQD_AutoStep = 0; 
                SingOneFlg = 0;
                KK_cTABLETIME = 1;
                KK_cTABLETOTAL= 1;
                KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
              }
            }
            else
              KKQD_AutoDelay = dwTickCount + KKQD_PARAM_CYCLE_DELAY;
          }
        }
        break;
      }	
    }
  }
}

void KK_QueDuan_StepCheckStart(void)
{
  //		启动      			
  if((START_IN_UP) || bStart || KKQD_bSingle)
  {
    bStart = 0;
    
    if(!bRunning && (KKQD_AutoStep == 0))
    {
      if(KKQD_XIA_MU_LIMIT_IN && !KKQD_PARAM_XM_ENABLE)KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
      //            else if(GetAlarmCode(KKQD_ALARM_ADDR) != 0);
      //else if(GetTotal(KKQD_TOTAL_ADDR) >= KKQD_PARAM_SET_TOTAL) KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
      //           else if(KKQD_BL_VAVLE)KKQD_SetAlarmCode(KKQD_BL_ALARM);
      else if(KKQD_SM_VAVLE)KKQD_SetAlarmCode(KKQD_SM_ALARM);
      else
      {
        bRunning    = 1;
        KKQD_AutoStep = 1;
        if(KKQD_PARAM_BL_ENABLE)
          KKQD_PARAM_BL_ENABLE=1 ; //并链起动
        if(KKQD_bSingle) 
        {
          SingOneFlg= 1;
          KKQD_bSingle=0;
          
        }
        else
        {
          SingOneFlg=0;
        }
        cZipCnt      = 0;
        KK_cTABLETIME = 0;
        KK_cTABLETOTAL= 0;
        cSTOPONE=0;
        cTuiFangKuaiCnt = 0;
        KKQD_BL_VAVLE = 0;    //并链关
        KK_cDLJ_ATUO=0;
        KKQD_DGLG_VAVLE = 0;  //顶过链杆关
        SetAlarmCode(KKQD_ALARM_ADDR,0); 
      }
    }
    KKQD_bSingle = 0;
  }
  if(KKQD_STOP_ANNIU_IN_UP) 
  {
    bRunning   = 0;
    KKQD_XiaQieStep = 0;
    KKQD_AutoStep   = 0;
    KKQD_MotorStep  = 0;
    KKQD_TuiLianStep = 0;
    KKQD_AutoDelay   = dwTickCount;
    KKQD_MotorDelay = dwTickCount;
    KKQD_XiaQieDelay  = dwTickCount;
    KKQD_KaDaiDelay   = dwTickCount;
    KKQD_CSDelay = dwTickCount;
    KKQD_TBDelay  = dwTickCount;
    KKQD_TFKDelay = dwTickCount;
    KKQD_TLDelay  = dwTickCount;
    dwTickCount = KKQD_TBDelay;
    KKQD_CHUIQIStep=0;
    SingOneFlg  = 0; 
    KKQD_JD_VAVLE = 0;
    KKQD_SM_VAVLE = 0;
    KKQD_XM_VAVLE = 0;
    KKQD_YD_VAVLE = 0;
    KKQD_TFK_VAVLE= 0;
    KKQD_YX_VAVLE = 0;
    KKQD_HL_VAVLE  = 0;
    KKQD_TL_VAVLE      = 0;
    KKQD_DGLG_VAVLE = 0;  //顶过链杆关
    KKQD_CS_OUT   = 0;
    KKQD_XiaQieStep = 0;
    KKQD_MotorStep  = 0;
    KKQD_TuiLianStep = 0;
    KKQD_SZ_OUT   = 1;
    KKQD_GZ_VAVLE    = 0;
    KKQD_TABLE_VAVLE   = 0;
    KKQD_StopStep=1;
    KK_cTABLETIME = 0;
    KK_cTABLETOTAL= 0;
    KKQD_BinLianStep  = 0;
    KKQD_BL_VAVLE    = 0;
    SetAlarmCode(KKQD_ALARM_ADDR,0);
    
  }
  if((KKQD_ANQUANMEN_LIMIT_IN_UP || KKQD_ANQUANMEN_LIMIT_IN) && bRunning)
  {
    
    KKQD_StopStep=1;
    cSTOPONE=1;
  }
  if(STOP_IN_UP)
  {
    if(bRunning)
    {
      KK_cShuangDao=0;
      KK_cDiErLaChu=0;
      KKQD_AutoDelay   = dwTickCount;
      KKQD_MotorDelay = dwTickCount;
      KKQD_XiaQieDelay  = dwTickCount;
      KKQD_KaDaiDelay   = dwTickCount;
      KKQD_CSDelay = dwTickCount;
      KKQD_TBDelay  = dwTickCount;
      KKQD_TFKDelay = dwTickCount;
      KKQD_TLDelay  = dwTickCount;
      dwTickCount = KKQD_TBDelay;
      KKQD_CHUIQIStep=0;
      SingOneFlg  = 0; 
      KKQD_JD_VAVLE = 0;
      KKQD_SM_VAVLE = 0;
      KKQD_XM_VAVLE = 0;
      KKQD_YD_VAVLE = 0;
      KKQD_TFK_VAVLE= 0;
      KKQD_YX_VAVLE = 0;
      KKQD_HL_VAVLE  = 0;
      cStopMode=0;
      cZhouWanone=0;
      KKQD_TL_VAVLE      = 0;
      KKQD_DGLG_VAVLE = 0;  //顶过链杆关
      KKQD_CS_OUT   = 0;
      KKQD_XiaQieStep = 0;
      KKQD_MotorStep  = 0;
      KKQD_TuiLianStep = 0;
      //  KKQD_SZ_OUT   = 1;
      KKQD_GZ_VAVLE    = 0;
      KKQD_TABLE_VAVLE   = 0;
      if((KKQD_StopStep == 0) && X_DRV)
        KKQD_StopStep = 1;
      KK_cTABLETIME = 0;
      KK_cTABLETOTAL= 0;
      KKQD_BinLianStep  = 0;
      KKQD_BL_VAVLE    = 0;
      SetAlarmCode(KKQD_ALARM_ADDR,0);
      bRunning   = 0;
      KKQD_XiaQieStep = 0;
      KKQD_AutoStep   = 0;
      KKQD_MotorStep  = 0;
      KKQD_TuiLianStep = 0;
    }
    else
    {
      KK_cShuangDao=0;
      KK_cDiErLaChu=0;
      KKQD_AutoDelay   = dwTickCount;
      KKQD_MotorDelay = dwTickCount;
      KKQD_XiaQieDelay  = dwTickCount;
      KKQD_KaDaiDelay   = dwTickCount;
      KKQD_CSDelay = dwTickCount;
      KKQD_TBDelay  = dwTickCount;
      KKQD_TFKDelay = dwTickCount;
      KKQD_TLDelay  = dwTickCount;
      dwTickCount = KKQD_TBDelay;
      KKQD_CHUIQIStep=0;
      SingOneFlg  = 0; 
      KKQD_JD_VAVLE = 0;
      KKQD_SM_VAVLE = 0;
      KKQD_XM_VAVLE = 0;
      KKQD_YD_VAVLE = 0;
      KKQD_TFK_VAVLE= 0;
      KKQD_YX_VAVLE = 0;
      KKQD_HL_VAVLE  = 0;
      cStopMode=0;
      cZhouWanone=0;
      KKQD_TL_VAVLE      = 0;
      KKQD_DGLG_VAVLE = 0;  //顶过链杆关
      KKQD_CS_OUT   = 0;
      KKQD_XiaQieStep = 0;
      KKQD_MotorStep  = 0;
      KKQD_TuiLianStep = 0;
      KKQD_SZ_OUT   = 1;
      KKQD_GZ_VAVLE    = 0;
      KKQD_TABLE_VAVLE   = 0;
      if((KKQD_StopStep == 0))
      {
        KK_cSTOPONE = 0;
        AxisEgmStop(X_AXIS);   
        KKQD_SZ_OUT   = 1;
      }   
      KK_cTABLETIME = 0;
      KK_cTABLETOTAL= 0;
      KKQD_BinLianStep  = 0;
      KKQD_BL_VAVLE    = 0;
      SetAlarmCode(KKQD_ALARM_ADDR,0);
      bRunning   = 0;
      KKQD_XiaQieStep = 0;
      KKQD_AutoStep   = 0;
      KKQD_MotorStep  = 0;
      KKQD_TuiLianStep = 0;
      
    }
  }
  //停止
  if( bStop)
  {
    bStop = 0;
    if(cStopMode < 2)
      cStopMode++;
    if(cStopMode==1 && bRunning)
      cZhouWanone=1;
    if(bRunning && cStopMode==2)
    {
      
      KK_cShuangDao=0;
      KK_cDiErLaChu=0;
      KKQD_AutoDelay   = dwTickCount;
      KKQD_MotorDelay = dwTickCount;
      KKQD_XiaQieDelay  = dwTickCount;
      KKQD_KaDaiDelay   = dwTickCount;
      KKQD_CSDelay = dwTickCount;
      KKQD_TBDelay  = dwTickCount;
      KKQD_TFKDelay  = dwTickCount;
      KKQD_TLDelay     = dwTickCount;
      dwTickCount = KKQD_TBDelay;
      SingOneFlg  = 0; 
      bRunning   = 0;
      KKQD_XiaQieStep = 0;
      KKQD_AutoStep   = 0;
      KKQD_MotorStep  = 0;
      KKQD_TuiLianStep = 0;
      KKQD_JD_VAVLE = 0;
      KKQD_SM_VAVLE = 0;
      KKQD_XM_VAVLE = 0;
      KKQD_YD_VAVLE = 0;
      KKQD_TFK_VAVLE= 0;
      KKQD_TL_VAVLE      = 0;
      KKQD_HL_VAVLE  = 0;
      KKQD_CS_OUT   = 0;
      KKQD_XiaQieStep = 0;
      KKQD_MotorStep  = 0;
      KKQD_TuiLianStep = 0;
      //KKQD_SZ_OUT   = 1;
      KKQD_GZ_VAVLE    = 0;
      KKQD_TABLE_VAVLE   = 0;
      KKQD_DGLG_VAVLE = 0;  //顶过链杆关
      if((KKQD_StopStep == 0) && X_DRV)
        KKQD_StopStep = 1;
      KKQD_BinLianStep  = 0;
      KKQD_BL_VAVLE    = 0;
      KK_cTABLETIME = 0;
      KK_cTABLETOTAL= 0;
      user_datas[121] = 0;
      user_datas[122] = 0;
      
      SetAlarmCode(KKQD_ALARM_ADDR,0);        
    }
    else if(!bRunning)
    {
      KK_cShuangDao=0;
      KK_cDiErLaChu=0;
      KKQD_AutoDelay   = dwTickCount;
      KKQD_MotorDelay = dwTickCount;
      KKQD_XiaQieDelay  = dwTickCount;
      KKQD_KaDaiDelay   = dwTickCount;
      KKQD_CSDelay = dwTickCount;
      KKQD_TBDelay  = dwTickCount;
      KKQD_TFKDelay = dwTickCount;
      KKQD_TLDelay  = dwTickCount;
      dwTickCount = KKQD_TBDelay;
      KKQD_CHUIQIStep=0;
      SingOneFlg  = 0; 
      KKQD_JD_VAVLE = 0;
      KKQD_SM_VAVLE = 0;
      KKQD_XM_VAVLE = 0;
      KKQD_YD_VAVLE = 0;
      KKQD_TFK_VAVLE= 0;
      KKQD_YX_VAVLE = 0;
      KKQD_HL_VAVLE  = 0;
      cStopMode=0;
      cZhouWanone=0;
      KKQD_TL_VAVLE      = 0;
      KKQD_DGLG_VAVLE = 0;  //顶过链杆关
      KKQD_CS_OUT   = 0;
      KKQD_XiaQieStep = 0;
      KKQD_MotorStep  = 0;
      KKQD_TuiLianStep = 0;
      KKQD_SZ_OUT   = 1;
      KKQD_GZ_VAVLE    = 0;
      KKQD_TABLE_VAVLE   = 0;
      if((KKQD_StopStep == 0))
      {
        KK_cSTOPONE = 0;
        AxisEgmStop(X_AXIS);   
        KKQD_SZ_OUT   = 1;
      }   
      KK_cTABLETIME = 0;
      KK_cTABLETOTAL= 0;
      KKQD_BinLianStep  = 0;
      KKQD_BL_VAVLE    = 0;
      SetAlarmCode(KKQD_ALARM_ADDR,0);
      bRunning   = 0;
      KKQD_XiaQieStep = 0;
      KKQD_AutoStep   = 0;
      KKQD_MotorStep  = 0;
      KKQD_TuiLianStep = 0;
    }
    
  }
  
  if(bAlarmStop)
  {
    bAlarmStop = 0;
    KKQD_XiaQieStep = 0;
    KKQD_AutoStep   = 0;
    KKQD_MotorStep  = 0;
    KKQD_TuiLianStep = 0;
    
    KKQD_XiaQieStep = 0;
    KKQD_MotorStep  = 0;
    KKQD_TuiLianStep = 0;
    KKQD_AutoDelay   = dwTickCount;
    KKQD_MotorDelay = dwTickCount;
    KKQD_XiaQieDelay  = dwTickCount;
    KKQD_KaDaiDelay   = dwTickCount;
    KKQD_CSDelay = dwTickCount;
    KKQD_TBDelay  = dwTickCount;
    KKQD_TFKDelay  = dwTickCount;
    KKQD_TLDelay     = dwTickCount;
    SingOneFlg  = 0; 
    bRunning   = 0;
    //  KKQD_StopStep=1;
    cStopMode=0;
    cZhouWanone=0;
    dwTickCount = KKQD_TBDelay;
    KKQD_TABLE_VAVLE = 0;
    KKQD_TFK_VAVLE =0;
    KKQD_JD_VAVLE=0;
    KKQD_GZ_VAVLE=0;
  }
  
}   
//记忆长度模式误差检测
void KK_QueDuan_CheckLength(long zip_length)
{
  static long start_dist;
  switch(KKQD_CheckLengthStep)
  {
  case 0:break;
  case 1:
    start_dist = KK_cRealPos;
    dwSaveLength = 0;
    KKQD_CheckLengthStep = 2;
    break;
  case 2:
    if(KKQD_GUO_LIAN_IN_DW)
    {  
      dwSaveLength = KK_cRealPos - start_dist;   
      //           user_datas[127] = KK_cRealPos;
      
    }
    break;         
  }          
}



void KK_QueDuan_Motor(void)
{
  static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
  unsigned  short ch;
  user_datas[121]= KKQD_MotorStep;
  user_datas[122]= length_buff; 
  user_datas[123] = KK_cRealPos;
  user_datas[124] = dwSaveLength;//QD_BinLianStep;
  user_datas[125] = KKQD_CheckLengthStep;//QD_AutoStep;
  
  user_datas[126] = KKQD_XiaQieStep;
  //    user_datas[127] = KKQD_XiaQieStep;
  KK_QueDuan_CheckLength(length_buff);
  if(!KK_cDLJ_ATUO)
  { 
    switch(KKQD_MotorStep)
    {
    case 30:
      switch(KKQD_PARAM_BACK_MODE)  //开口分四种模式 
      {
      case 0: //单数控模式
        KKQD_MotorStep   = 310;  //每种模式留20步
        
        break;
      case 1://单感应模式
        KKQD_MotorStep   = 330;  //每种模式留20步
        
        break;
      case 2: //先感应后数控模式+检测
        KKQD_MotorStep   = 350;  //每种模式留20步
        break;
      default:  //数控模式+过链检测长度
        KKQD_MotorStep   = 370;  //每种模式留20步
        break;
      }  
      KKQD_MotorDelay  =    dwTickCount + KKQD_PARAM_DELAY_BACK;    
      break;
      //310步到315步为数控模式                    
    case 310:
      SetDir(X_AXIS, KKQD_DIR_P);
      if(KKQD_PARAM_BL_ENABLE)
        KKQD_BinLianStep = 1;  //并链起动
      KKQD_MotorStep   = 311;
      break;
    case 311:   
      if(dwTickCount >= KKQD_MotorDelay)
      {   
        KK_length_buffer = &KKQD_PARAM_OFFSET_LENGTH;
        SetPos(X_AXIS, 0);
        
        //李永庆代码                                                   
        
        //两段速度移动距离  拉链长度+慢速长度停止
        //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
        KK_DCC_TIME_BL=KKQD_PARAM_BACK_SPEED/400;                                         
        AxisMovePosAccDecNotStop(X_AXIS,KKQD_PARAM_BACK_SPEED,KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer), KKQD_PARAM_START_SPEED,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_ACC,KK_DCC_TIME_BL,KKQD_PARAM_BACK_LOW_SPEED_LENGTH);          
        gou_zhen_buff = KK_cRealPos;
        save_buff = KK_cRealPos;     
        KKQD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
        KKQD_MotorStep   = 312;
      }
      break;   
    case 312:
      
      //勾针提前输出 ，争取时间推方块
      if(KK_cRealPos>300)
        KKQD_DGLG_VAVLE = 1;  //顶过链杆关
      if (!KKQD_GZ_VAVLE && (KK_cRealPos >= (KKQD_PARAM_ZIPPER_LENGTH- 230)))
        KKQD_GZ_VAVLE = 1;
      
      if((KK_cRealPos) > (KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer)-KKQD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*KK_length_buffer) - (KKQD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(KKQD_PARAM_BACK_SPEED,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_DCC)))))
      {                            
        KKQD_MotorStep   = 313;
        
      }
      else if(KK_cRealPos >= (KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer) + KKQD_PARAM_ERROR_LENGTH))
      {
        KKQD_SetAlarmCode(KKQD_GZ_ALARM);
      }
      
      break;
    case 313:
      
      if (!KKQD_GZ_VAVLE && (KK_cRealPos >= (KKQD_PARAM_ZIPPER_LENGTH- 230)))
        KKQD_GZ_VAVLE = 1;
      if(!X_DRV || KK_cRealPos>=(KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer)))
      {                         
        AxisEgmStop(X_AXIS);
        KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
        KKQD_MotorStep   = 314;
        KKQD_BL_VAVLE = 0;  //停止时并链一定要打开
        
        if(KKQD_PARAM_BACK_MODE == 2) //模式2,先检测长度后数控
        {//对比长度 ,发须要有过链信号,模式2,3.  模式0,1不用在这里经           
          if(cZipCnt > 1)  //长度检测
          {
            if(KKQD_PARAM_ERROR_LENGTH != 0)  //长度误差值不能为0
            {     
              if(((dwSaveLength + KKQD_PARAM_MOTOR_DELAY_LENGTH) > (length_buff + KKQD_PARAM_ERROR_LENGTH)) || (dwSaveLength == 0))
              {
                KKQD_SetAlarmCode(KKQD_LENGTH_LONG_ALARM);//拉链变长,对比警告                                   
              }
              else if((dwSaveLength + KKQD_PARAM_MOTOR_DELAY_LENGTH+ KKQD_PARAM_ERROR_LENGTH) < length_buff) 
              {
                KKQD_SetAlarmCode(KKQD_LENGTH_SHORT_ALARM);  ////拉链变短     
              }
              
              KKQD_CheckLengthStep = 0;
            }    
          }
        }
        
      }             
      break;
    case 314:
      if(!X_DRV && (dwTickCount >= KKQD_MotorDelay))  //数控到停止
      {      
        KKQD_MotorStep   = 0;
        KKQD_TFK_VAVLE   = 1;    //推方块输出                       
      }
      break;
      //330步到349步单感应模式   
    case 330:  
      
      back_buff = KK_cRealPos;
      gou_zhen_buff = KK_cRealPos;
      SetDir(X_AXIS, KKQD_DIR_P);
      KKQD_MotorStep   = 331;          
      user_datas[127] = 0;
      break;
    case 331:  
      
      if(dwTickCount >= KKQD_MotorDelay)
      {   
        
        if(cZipCnt < 2)
        {
          if(KKQD_PARAM_BL_ENABLE)
            KKQD_BinLianStep = 10;  //并链起动
          //第一条都是过链感应，后拉速度减半//原来KKQD_PARAM_CHECK_BACK_HSPEED/2
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,9000,KKQD_DIR_P,KKQD_PARAM_START_SPEED,2000,8,13);
          
          //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
          // AxisMoveTwoPos(X_AXIS,KKQD_PARAM_BACK_SPEED,KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer)-KKQD_PARAM_BACK_LOW_SPEED_LENGTH,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED_LENGTH,KKQD_DIR_P); 
          
        }   
        else
        {  
          if(KKQD_PARAM_BL_ENABLE)
            KKQD_BinLianStep = 1;  //并链起动
          //因为每条都是过链感应，所以直接运行检测模式后拉速度
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_CHECK_BACK_HSPEED,KKQD_DIR_P,KKQD_PARAM_START_SPEED,2000,KKQD_PARAM_ACC,KKQD_PARAM_DCC);
          
        }
        KKQD_MotorStep   = 332;
      }
      break;
    case 332:
      
      if(KK_cRealPos>300)
      {
        if(cZipCnt > 1)  //第二条开始数控降速
        {
          if((KK_cRealPos +  KKQD_PARAM_BACK_LOW_SPEED_LENGTH + 600)>= length_buff)
          { 
            AxisContinueMoveChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
            
            user_datas[127] = KK_cRealPos;
            KKQD_MotorStep   = 334;  //到检测定位
          }   
          if(KKQD_GUO_LIAN_IN_DW)  //重新到链上
          {
            AxisContinueMoveChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
            
            gou_zhen_buff = KK_cRealPos;
            KKQD_MotorStep   = 335;  //到检测定位
          }
          //
          //       if((KK_cRealPos >=  (KKQD_PARAM_BACK_LOW_SPEED_LENGTH + 60)) &&  KKQD_GUO_LIAN_IN)
          //       {
          
          //       }
        }  
        else   //第一条工作
        {  
          if(KKQD_GUO_LIAN_IN_UP)
          {                                 
            checkdelay_buff = KK_cRealPos;
            AxisContinueMoveChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
            
            KKQD_MotorDelay  = dwTickCount + 0;//KKQD_PARAM_DELAY_XM;
            KKQD_MotorStep   = 333;
          }  
          else if((KK_cRealPos >= KKQD_PARAM_RUN_LENGTH) && (KKQD_PARAM_RUN_LENGTH >= 5000))  //模组最长限制
          {
            //                           KKQD_SetAlarmCode(KKQD_PARAM_RUN_LENGTH_ALARM);  //超出轨道运行长度
          }
        }
      }
      break;
    case 333: 
      if(dwTickCount >= KKQD_MotorDelay)
      {
        KKQD_MotorStep   = 334;
      }                        
      break;   
    case 334:
      
      
      if(KKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
      {      
        //滤波有待调试
        //                        if((((KK_cRealPos - checkdelay_buff) >= KKQD_PARAM_DELAY_CHECK) && (KKQD_PARAM_LT_ENABLE)) || (((KK_cRealPos - checkdelay_buff) >= KKQD_PARAM_NO_LT_DELAY_CHECK) && (KKQD_PARAM_LT_ENABLE == 0)))
        //                        {
        if(KKQD_GUO_LIAN_IN_DW)
        {                  
          gou_zhen_buff = KK_cRealPos;
          KKQD_MotorStep   = 335;
        }
        //                        }                       
      }
      break;
    case 335:
      
      if(KKQD_GUO_LIAN_IN_DW)
      {
        gou_zhen_buff = KK_cRealPos; 
        
      }
      //在空们都把延时清零    
      if(KKQD_GUO_LIAN_IN)
      {
        gou_zhen_buff = KK_cRealPos; 
      }                        
      //定位停止
      if(((KK_cRealPos - gou_zhen_buff) >= KKQD_PARAM_MOTOR_DELAY_LENGTH) && !KKQD_GUO_LIAN_IN)
      {                         
        AxisEgmStop(X_AXIS);   
        KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
        KKQD_MotorStep   = 336;
        KKQD_GZ_VAVLE = 1;
      }   
      break;
    case 336:   
      
      
      if(!X_DRV)
      {      
        KKQD_GZ_VAVLE = 1;
        
        KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
        // KKQD_XM_VAVLE    = 1;
        KKQD_MotorStep   = 337;
      }
      break;
    case 337:
      if(1)
      {
        
        KKQD_MotorStep   = 338;
        KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
      } 
      //             else if(dwTickCount >= KKQD_MotorDelay) KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
      break;
    case 338:  
      if((dwTickCount >= KKQD_MotorDelay))
      { 
        KKQD_TFK_VAVLE   = 1;    //推方块输出                       
        KKQD_MotorStep   = 339;
        KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
      }
      break;                    
    case 339:
      if(cZipCnt == 1)
      {
        length_buff = KK_cRealPos - save_buff;
        SetData32bits(KKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);
      }     
      else if(cZipCnt > 1)  //长度检测
      {
        if(KKQD_PARAM_ERROR_LENGTH != 0)  //长度误差值不能为0
        {       
          if(KK_cRealPos >= length_buff)  //拉链变长,对比警告
          {
            if((KK_cRealPos - save_buff) > (length_buff+KKQD_PARAM_ERROR_LENGTH))                  
              KKQD_SetAlarmCode(KKQD_LENGTH_LONG_ALARM);
          }
          else   //拉链变短
          {
            if((KK_cRealPos - save_buff + KKQD_PARAM_ERROR_LENGTH) < (length_buff))
              KKQD_SetAlarmCode(KKQD_LENGTH_SHORT_ALARM);
          } 
        }
      }
      KKQD_MotorStep   = 0;
      break;
      //350步到369步单感应模式   
    case  350:  
      back_buff = KK_cRealPos;
      gou_zhen_buff = KK_cRealPos;
      SetDir(X_AXIS, KKQD_DIR_P);
      
      KKQD_MotorStep   = 351;   
      
      
      
      break;
    case 351:  
      if(dwTickCount >= KKQD_MotorDelay)
      {   
        
        //第一,二条都是过链感应，测量长度
        if(cZipCnt < 2)
        {
          if(KKQD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
            KKQD_BinLianStep = 10;  //并链起动
          KKQD_DGLG_VAVLE = 0;  //顶过链杆关
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,9000,KKQD_DIR_P,KKQD_PARAM_START_SPEED,2000,8,12);
          KKQD_MotorStep   = 352; 
        }   
        else
        {  
          if(KKQD_PARAM_BL_ENABLE)
            KKQD_BinLianStep = 1;  //并链起动
          KKQD_DGLG_VAVLE = 1;  //顶过链杆关
          KKQD_CheckLengthStep = 1;    //长度检测,第3条才有对比
          //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
          KKQD_MotorStep   = 311; 
        }  
        
        
      }
      break;
    case 352:
      
      if(KK_cRealPos>300)
      {
        //前两条都按最低速度工作
        if(KKQD_GUO_LIAN_IN_UP)
        {                                 
          checkdelay_buff = KK_cRealPos;
          AxisContinueMoveChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          
          KKQD_MotorDelay  = dwTickCount + 2;//因慢速，加8MS滤波
          KKQD_MotorStep   = 353;
        }  
        else if((KK_cRealPos >= KKQD_PARAM_RUN_LENGTH) && (KKQD_PARAM_RUN_LENGTH >= 5000))  //模组最长限制
        {
          //                       KKQD_SetAlarmCode(KKQD_PARAM_RUN_LENGTH_ALARM);  //超出轨道运行长度
        }
      }
      
      break;
    case 353:
      
      if(dwTickCount >= KKQD_MotorDelay)
      {
        KKQD_MotorStep   = 354;
      }                        
      break;   
    case 354:
      
      if(KKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
      {      
        
        if(KKQD_GUO_LIAN_IN_DW)
        {                  
          gou_zhen_buff = KK_cRealPos;
          KKQD_MotorStep   = 355;
        }
        
      }
      break;
    case 355:
      
      if(KKQD_GUO_LIAN_IN_DW)
      {
        gou_zhen_buff = KK_cRealPos; 
        
      }
      //在空们都把延时清零    
      if(KKQD_GUO_LIAN_IN)
      {
        gou_zhen_buff = KK_cRealPos; 
      }                        
      //定位停止
      if(((KK_cRealPos - gou_zhen_buff) >= KKQD_PARAM_MOTOR_DELAY_LENGTH) && !KKQD_GUO_LIAN_IN)
      {                         
        AxisEgmStop(X_AXIS);   
        KKQD_MotorStep   = 356;
        KKQD_GZ_VAVLE = 1;
      }   
      break;
    case 356:  
      
      if(!X_DRV)
      {      
        KKQD_GZ_VAVLE = 1;
        
        KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
        // KKQD_XM_VAVLE    = 1;
        KKQD_MotorStep   = 357;
      }
      break;
    case 357:
      if(1)
      {
        
        KKQD_MotorStep   = 358;
        KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
      } 
      break;
    case 358:  
      if((dwTickCount >= KKQD_MotorDelay))
      { 
        KKQD_TFK_VAVLE   = 1;    //推方块输出                       
        KKQD_MotorStep   = 359;
        KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
      }
      break;                    
    case 359:
      if(cZipCnt == 1)
      {
        length_buff = KK_cRealPos - save_buff;
        //测量出来长度
        SetData32bits(KKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);
      }     
      KKQD_MotorStep   = 0;
      break;                    
      
      
      
    case 40:
      //切完延时后拉带松夹子
      if(KKQD_PARAM_SJZ_LENGTH == 0 )
      {
        KKQD_JD_VAVLE = 0; 
        SetDir(X_AXIS, KKQD_DIR_P);
        jz_buff = KK_cRealPos;
        AxisMovePosAccDec(X_AXIS,KKQD_PARAM_CUT_BACK_SPEED,KKQD_PARAM_BACK_LENGTH,1000,1000,100,50,0);
        //   AxisMovePosAccDec(X_AXIS,KKQD_PARAM_CUT_BACK_SPEED,KKQD_PARAM_SJZ_LENGTH + KKQD_PARAM_BACK_LENGTH,2000,2000,25,25,40);
        KKQD_MotorStep   = 44;
        
      }
      else
      {
        jz_buff = KK_cRealPos;
        SetDir(X_AXIS, KKQD_DIR_P);
        KKQD_MotorStep   = 41;
      }
      break; 
    case 41:
      AxisMovePosAccDec(X_AXIS,KKQD_PARAM_CUT_BACK_SPEED,(KKQD_PARAM_SJZ_LENGTH+KKQD_PARAM_BACK_LENGTH),1000,1000,100,50,0);
      KKQD_MotorStep   = 42;
      break;  
      
    case 42:	 
      if((KKQD_PARAM_SJZ_LENGTH <= (KK_cRealPos - jz_buff)))
      {
        KKQD_JD_VAVLE = 0;
        KKQD_GZ_VAVLE=0; 
        KKQD_MotorStep   = 44;
      }
      break;
    case 44:	                           // 切断完成后拉电机动作
      if((KKQD_PARAM_SJZ_LENGTH+KKQD_PARAM_BACK_LENGTH) <= (KK_cRealPos - jz_buff) || !X_DRV)
      {
        AxisEgmStop(X_AXIS);
        KKQD_MotorStep   = 0;
        KKQD_GZ_VAVLE=0;
        KKQD_MotorDelay  =    dwTickCount;
      }
      break; 
    case 61: // 前点定位数控模式
      if(KKQD_SZ_OUT)
      {
        KKQD_SZ_OUT   = 0;                       
        KKQD_MotorDelay = dwTickCount + 150;
        SetDir(X_AXIS, KKQD_DIR_N);
        SetPos(X_AXIS, 0);
      }
      else
        KKQD_MotorDelay = dwTickCount;
      
      KKQD_BL_VAVLE = 0;//并链也要打开
      //     KKQD_JZ_DIR   = KKQD_YDIR_N; 
      if(KKQD_TuiLianStep==0)
      {
        if(!KKQD_TL_VAVLE && cZipCnt)  //没送链情况下主动送链
        {
          if(!KKQD_SHANG_MU_LIMIT_IN && (KKQD_TuiLianStep == 0))
          {
            KKQD_TuiLianStep = 1;
            KKQD_MotorStep = 62;
          }                          
        }
        else
          KKQD_MotorStep = 62;
        
      }
      else
        KKQD_MotorStep = 62;
      break;
    case 62:
      
      if(dwTickCount >= KKQD_MotorDelay)
      {                            
        if(KKQD_QIAN_LIMIT_IN)
        {
          SetPos(X_AXIS, 0);//在前点，直接置零点
          //        KKQD_JZ_DIR   = KKQD_YDIR_P;
          //前点亮的情况下先退出
          AxisMovePos(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,1000);                           
          KKQD_MotorDelay = dwTickCount + 300;
        }
        KKQD_MotorStep = 63;            
        KKQD_JD_VAVLE = 0;  
      }
      break;
    case 63:
      
      if(!X_DRV && !KKQD_QIAN_LIMIT_IN && (dwTickCount >= KKQD_MotorDelay))// && !KKQD_SHANG_MU_LIMIT_IN)
      {
        
        //    KKQD_JZ_DIR   = KKQD_YDIR_N;
        SetDir(X_AXIS, KKQD_DIR_N);
        go_buff  = KK_cRealPos;
        KKQD_YD_VAVLE = 1;
        KKQD_HL_VAVLE = 1;      
        KKQD_YX_VAVLE = 1;
        //李永庆代码,当位置在慢速之外,走数控到慢速点
        if(cZipCnt > 0)
        {
          
          if(KK_cRealPos>(KKQD_PARAM_GO_LOW_SPEED_LENGTH))   
          {   
            KK_DCC_TIME_BL=KKQD_PARAM_GO_HIGH_SPEED/400;
            AxisMovePosAccDecNotStop(X_AXIS,KKQD_PARAM_GO_HIGH_SPEED,-KK_cRealPos,
                                     KKQD_PARAM_START_SPEED,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_ACC,KK_DCC_TIME_BL,
                                     KKQD_PARAM_GO_LOW_SPEED_LENGTH);    
          } 
          else
          {
            //                  X轴       运行速度                    启动速度        加速度  减速度
            AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,1000,15,15);
            
          }
          
        }
        else
        {
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,1000,15,15);
        }
        
        KKQD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
        KKQD_MotorStep   =64;
      }  
      
      break;
    case 64:
      
      if(cZipCnt > 1)
      {                         
        //李永庆代码
        if(((KK_cRealPos) < (KKQD_PARAM_GO_LOW_SPEED_LENGTH+1200)))// || (KKQD_QIAN_DEC_IN))
        {
          user_datas[126]= GetCurSpeed(X_AXIS);
          //     MoveChangSpeedDec(X_AXIS,KKQD_PARAM_GO_HIGH_SPEED*2/3,6,8);
          //    AxisChangeSpeed(X_AXIS,40);
          KKQD_MotorStep   =65;
        }
        if(KKQD_QIAN_LIMIT_IN)  //前点限位
        {
          
          AxisEgmStop(X_AXIS);
          KKQD_MotorStep   = 66;                            
        }
      }
      else
      {                            
        if(KKQD_QIAN_LIMIT_IN)  //前点限位
        {
          AxisEgmStop(X_AXIS);
          KKQD_MotorStep   = 66;                            
        }
      }
      
      break;
    case 65:
      
      if(KKQD_QIAN_LIMIT_IN)
      {       
        KKQD_TFK_VAVLE  = 0;
        AxisEgmStop(X_AXIS);
        KKQD_MotorStep   = 66;                                  
      }
      else if(dwTickCount >= KKQD_MotorDelay)
        KKQD_SetAlarmCode(KKQD_NO_ZIPPER_ALARM);
      
      break;
    case 66:
      
      if(!X_DRV)
      {   
        KKQD_TFK_VAVLE=0;
        SetPos(X_AXIS, 0);
        KKQD_MotorDelay =    dwTickCount;
        KKQD_MotorStep   = 67;
      }
      break;   
    case 67:  //等推链完成后,
      if((dwTickCount >= KKQD_MotorDelay) && (KKQD_TuiLianStep == 0) && ((KKQD_PARAM_TIAOSHI_MODE && KKQD_bTS) || (KKQD_PARAM_TIAOSHI_MODE == 0)) )
      {
        if(bRunning)
        {
          KKQD_JD_VAVLE = 1;
          KKQD_MotorDelay =    dwTickCount + KKQD_PARAM_DELAY_BACK;
        }
        KKQD_MotorStep   = 68;
      }
      break;
    case 68:
      if(dwTickCount >= KKQD_MotorDelay)
      {
        KKQD_YD_VAVLE = 0;
        KKQD_HL_VAVLE = 0;      
        KKQD_YX_VAVLE = 0;
        
        KKQD_TL_VAVLE    = 0;
        KKQD_MotorStep   = 0;
        KKQD_MotorDelay  = dwTickCount;
      }
      break;
      
    }
  }
}


void KK_QueDuan_BingLian(void)
{
  static long bl_pos_buff,HL_delay;
  
  switch(KKQD_BinLianStep)
  {
  case 1:
    bl_pos_buff = KK_cRealPos;
    
    KKQD_BinLianStep = 2;
    break;       
  case 2:
    if((KK_cRealPos - bl_pos_buff) >= KKQD_PARAM_DELAY_HL_LENGTH)
    {
      KKQD_BL_VAVLE = 1;   
      KKQD_BinLianStep = 3;
    }            
    break;
  case 3://有过链检测
    if((KK_cRealPos - bl_pos_buff) >= (KKQD_PARAM_ZIPPER_LENGTH - KKQD_PARAM_HL_DELAY_BACK))  
    {
      KKQD_BL_VAVLE = 0;
      KKQD_BinLianStep = 0;   
    }
    if(KKQD_GUO_LIAN_IN_DW && KKQD_PARAM_BACK_MODE ==1) //|| (KKQD_PARAM_BACK_MODE==2 && cZipCnt < 2)))
    {
      KKQD_BL_VAVLE = 0;
      KKQD_BinLianStep = 0;  
    }
    break;
  case 10:
    bl_pos_buff = KK_cRealPos;
    KKQD_BinLianStep = 11;
    break;       
  case 11:
    if((KK_cRealPos - bl_pos_buff) >= KKQD_PARAM_DELAY_HL_LENGTH)
    {
      KKQD_BL_VAVLE = 1;   
      KKQD_BinLianStep = 12;
    }            
    break;
  case 12://有过链检测
    if(KKQD_GUO_LIAN_IN_DW)  
    {
      KKQD_BL_VAVLE = 0;
      KKQD_BinLianStep = 0;   
    }
    break;
  default:;    
  }
  
}

//超声方式下切,开口专用
void KK_QueDuan_XiaQue_KK(void)	
{
  switch(KKQD_XiaQieStep) 
  {
  case 0:
    break;
  case 1:
    
    KKQD_XiaQieStep = 2;                     
    break;
  case 2:             
    KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
    KKQD_XiaQieStep = 3;   
    break;
  case 3:
    if(1)
    {
      KKQD_XiaQieDelay = dwTickCount + 0;//KKQD_PARAM_GZ_DELAY;
      KKQD_XiaQieStep = 4; 
    }
    else if(dwTickCount >= KKQD_XiaQieDelay)
    {
      KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
    }
    break;
  case 4:   
    if(KKQD_GZ_VAVLE)  //勾针已经有输出就不需要延时
    {
      KKQD_XiaQieDelay = dwTickCount + 0;
    }
    else
      KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
    KKQD_GZ_VAVLE  = 1;
    cTuiFangKuaiCnt=0;
    KKQD_XiaQieStep = 5;  
    
    break;
  case 5:  
    if(dwTickCount >= KKQD_XiaQieDelay)
    {
      KKQD_TFK_VAVLE = 1;
      KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
      KKQD_XiaQieStep = 6;  
    }
    break;
  case 6: 
    if(1)
    {                         
      KKQD_XiaQieStep = 7;  
      KKQD_XiaQieDelay = dwTickCount + 1000;
    }
    else if(dwTickCount >= KKQD_XiaQieDelay)
    {
      KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
    }
    break;
  case 7:
    
    if(KKQD_GOUZHEN_IN)
    {      
      
      cTuiFangKuaiCnt = 0;
      KKQD_YD_VAVLE    = 1;
      if(!bRunning)
        KKQD_XiaQieDelay = dwTickCount + 200;
      else
        KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CUT_DELAY;
      
      if(!KKQD_QIAN_LIMIT_IN)
        KKQD_XiaQieStep = 8;   
      else
        KKQD_SetAlarmCode(KKQD_QIAN_LIMIT_ALARM);
    }
    else if((dwTickCount >= KKQD_XiaQieDelay))
    {  
      if(cTuiFangKuaiCnt < KKQD_PARAM_TFK_NUMBER)
      {
        KKQD_TFK_VAVLE = 0;
        cTuiFangKuaiCnt++;
        KKQD_XiaQieDelay = dwTickCount + 500;
        KKQD_XiaQieStep = 100;   
      }
      else   
        
        KKQD_SetAlarmCode(KKQD_GZ_ALARM);
    }
    break;
  case 100:
    if((dwTickCount >= KKQD_XiaQieDelay))
    {
      KKQD_XiaQieStep = 5;   
    }
    break;
  case 8://上下模同时输出
    if(KKQD_GOUZHEN_IN)
    {
      if(KKQD_SHANG_MU_ORIGIN_IN)
      {
        if(dwTickCount >= KKQD_XiaQieDelay)
        {
          KKQD_SM_VAVLE = 1;
          if(KKQD_PARAM_XM_ENABLE == 0)   //配置下模动
            KKQD_XM_VAVLE   = 1;
          KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
          KKQD_XiaQieStep = 9;   
        }
      }
      else if(dwTickCount >= (KKQD_XiaQieDelay+3000))
      {
        KKQD_SetAlarmCode(KKQD_SM_YUANWEI);
      }
    }
    else
    {
      KKQD_SetAlarmCode(KKQD_GZ_ALARM);
    }
    break;
  case 9://上下模到位，调试模下的话，等按下一步按键     下模不动
    if(KKQD_SHANG_MU_LIMIT_IN && (KKQD_XIA_MU_LIMIT_IN || KKQD_PARAM_XM_ENABLE) && ((KKQD_PARAM_TIAOSHI_MODE && KKQD_bTS) || (KKQD_PARAM_TIAOSHI_MODE == 0)) )
    {
      if(!KKQD_PARAM_CS_MODE)   //无超声配置
      {
        KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_DELAYBACK_SM;       // 
        KKQD_XiaQieStep = 12;        
      }
      else
      {
        KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_DELAY_CS;       // 
        KKQD_XiaQieStep = 10;                      
      }
    }
    else if(dwTickCount >= KKQD_XiaQieDelay)
    {
      if(!KKQD_SHANG_MU_LIMIT_IN)KKQD_SetAlarmCode(KKQD_SM_DAOWEI);
      else KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
    }
    break;
  case 10:
    if(dwTickCount >= KKQD_XiaQieDelay)	
    {
      
      KKQD_CS_OUT = 1;
      KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CS_TIME;       // 
      KKQD_XiaQieStep = 11;      
    }
    break;
  case 11:
    if(dwTickCount >= KKQD_XiaQieDelay)	
    {
      KKQD_CS_OUT = 0;
      KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CS_COLD_TIME;       // 
      KKQD_XiaQieStep = 12;	
    }
    break;
  case 12:  
    if(dwTickCount >= KKQD_XiaQieDelay)
    {
      KKQD_SM_VAVLE   = 0;
      if(KKQD_PARAM_XM_ENABLE == 0)   //配置下模动
        KKQD_XM_VAVLE   = 0;
      
      KKQD_DGLG_VAVLE = 0;  //顶过链杆关
      KKQD_TFK_VAVLE  = 0;
      //          KKQD_GZ_VAVLE = 0  
      KKQD_XiaQieStep = 13;	
    }// 
    break;
  case 13:
    KKQD_GZ_VAVLE = 0;
    KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_TTFK_TIME;
    KKQD_XiaQieStep = 14;   
    break;
  case 14:
    if(dwTickCount >= KKQD_XiaQieDelay)
    {
      
      KKQD_TFK_VAVLE  = 1;
      
      
    }
    if(!KKQD_SHANG_MU_LIMIT_IN)
    {
      //启动推链(送链)
      if((KKQD_TuiLianStep == 0) && !KKQD_TL_VAVLE)
        KKQD_TuiLianStep = 1;
    }
    if(!KKQD_SHANG_MU_LIMIT_IN && (!KKQD_XIA_MU_LIMIT_IN || KKQD_PARAM_XM_ENABLE) && KKQD_TFK_VAVLE)	
    {   
      KKQD_XiaQieStep = 0;                      
    }
    else if(dwTickCount >= (KKQD_XiaQieDelay+3000))	
    {
      KKQD_SetAlarmCode(KKQD_SM_YUANWEI);
    }
    break;
  }	
}


void KK_QueDuan_TuiLianAction(void)
{
  if(KKQD_PARAM_XM_ENABLE == 0)
  {
    KKQD_TuiLianStep = 0;
  }
  else
  {  
    switch(KKQD_TuiLianStep) 
    {
    case 1:
      KKQD_TuiLianStep = 2;
      break;
    case 2:
      KKQD_TLDelay     = dwTickCount + KKQD_PARAM_YD_DELAY;
      KKQD_TuiLianStep = 3;
      break;
    case 3:
      if(!KKQD_SM_VAVLE && !KKQD_SHANG_MU_LIMIT_IN)//dwTickCount >= KKQD_TLDelay)
      {   
        KKQD_TL_VAVLE    = 1;
        // KKQD_TFK_VAVLE  = 0;
        //  if(!bRunning)KKQD_TFK_VAVLE = 1;
        
        KKQD_TLDelay     = dwTickCount + KKQD_PARAM_TL_DELAY;
        KKQD_TuiLianStep = 4;
      }
      break;
    case 4:
      if(dwTickCount >= KKQD_TLDelay)
      {
        KKQD_TuiLianStep = 0;
        
      }
      break;
    case 10:
      
      KKQD_TuiLianStep = 11;
      break;
    case 11:
      if(!Y_DRV)
      {
        {
          KKQD_TuiLianStep = 0;
        }
      }
      break;
    }
  }
}

//切断动作 
void KK_QueDuan_XiaQue(void)	 
{
  
  KK_QueDuan_XiaQue_KK(); 
  
}






#endif