GC19038/Machine/ChangShengGeiLiMachine/GLMXC_NiLong_StepJi.c

#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE==1

void MXC_NiLongXiuCiJiCheckStart(void);
void MXC_ShaChe_Output(void);
void MXC_NiLongXiuCiJi_Motor(void);
void MXC_NiLongXiuCiJi_XiaC(void);
void MXC_Start_FenZ(void);
void MXC_NiLongXiuCiJi_FenZhengProc(void);
void MXC_ChuiQiProc(void);
void MXC_JiaoDao(void);
void MXC_ManualAction(void);
void MXC_AutoAction(void);
void  MXC_NiLongXiuCiJi_GouZhenProc(void);
void DianDanLenghtCheck(void);
long MultLengthOffset(unsigned long zip_length);
unsigned short DingDanCheckOk(void);

unsigned char cLFengTimer,cRFengTimer,cGuZhangStop = 0;
unsigned long cShaCheTime,cLaLianLine,cGouZhenTime;
unsigned char cChuiQiStep = 0,cGouZhenResetOK;
unsigned short cBudaiCheckDelay = 0;
unsigned char bHandWork,bPulseTatol_EN,bFirst,cInt1_OK,cStopFlag,cOneTimes,cKey_Time;
long cSetEncode,cTotal,cDinWeiTime,cAddSetPulseNum,cEncodePulse,cWorkPulseNum;
unsigned long cZipperLength[2];
unsigned char cCheckLengthOk=0,cDaoJu_Flag=0;
unsigned char STOP_IN_FLAG,STOP_IN_FLAG_OLD,STOP_FILTER;
unsigned char MXC_SingOneFlag = 0;
unsigned char MXC_KD_Flag = 0,KD_GO_ON_FLAG = 0;
long MXC_KD_pos = 0,save_pos_buff = 0;
long zipper_length_buff;
short *len_buf;
short *offset_len;
//故障报警
void MXC_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(MXC_ALARM_ADDR,alarm_code);
    MXC_bAlarmStop = 1;
}

//高速输入X31/X17外部色标信号中断
void MXC_ExtiActionX31(void)
{
     if(cSeBiaoEn && !cSeBiaoOk)
    {
        cSeBiaoOk = 1;
        cSeBiaoEn  = 0;
        if(X_DRV)
          //SetRemainLength(X_AXIS, MXC_PARAM_SEBIAO_DW_LENGTH,MXC_PARAM_SB_OFFSET_SPEED);
          AxisMovePosAccDec(X_AXIS, MXC_PARAM_SB_OFFSET_SPEED,MXC_PARAM_SEBIAO_DW_LENGTH,
                            MXC_PARAM_START_SPEED,MXC_PARAM_START_SPEED,
                            10,10,80);
    }
    DISPLAY_DATA2++;
}
//检测订单数据内是否还有可以加工的数据,返回订单序号
unsigned short DingDanCheckOk(void) 
{
    unsigned short ch,i;

     for(ch=0;ch < (MXC_DingDanNum);ch++)
     {  
       i = MXC_DingDan_NowNum;
		//  订单完成数量                              //订单量                                    // 拉链长度
	if((GetData32bits(MXC_DingDanAddr + i*6+2) < GetData32bits(MXC_DingDanAddr + i*6+4)) && (GetData32bits(MXC_DingDanAddr + i*6) != 0))
        {         
              //设置拉链长度
            SetData32bits(15,    GetData32bits(MXC_DingDanAddr + i*6));
            //累计条数
            SetData32bits(76, GetData32bits(MXC_DingDanAddr + i*6+2));   //当前一般为0
            //设置加工条数
            SetData32bits(22,   GetData32bits(MXC_DingDanAddr + i*6+4));
            
            MXC_SET_REVISE_ZIPPER_LENGTH = user_datas[i+MXC_DingDanOffsetAddr];
            return ch;
        }  
         MXC_DingDan_NowNum++;
        if(MXC_DingDan_NowNum >= MXC_DingDanNum)
            MXC_DingDan_NowNum = 0;
        
     }      
    return ch;//如ch = MXC_DingDanNum)无订单加工
}
//num订单序号设置订单数据植物入生产表  
void SetDingDanData(void)
{
  unsigned short ch,i;
      i = MXC_DingDan_NowNum;    //当前
      for(ch=0;ch < MXC_DingDanNum;ch++)
      {  
        
          //  订单完成数量                              //订单量 
          if((GetData32bits(MXC_DingDanAddr + i*6+2) >= GetData32bits(MXC_DingDanAddr + i*6+4)) || (GetData32bits(MXC_DingDanAddr + i*6) == 0))
          {  //勾针并且长度小于勾针最小长度
            if((MXC_DC_MODE != 0) || (MXC_ScanMa_LENGTH >= MXC_GouzhenMin_Length))     //伺服或色标可以直接输入
            {
                //设置拉链长度
                SetData32bits((MXC_DingDanAddr + i*6),MXC_ScanMa_LENGTH);
                //设置累计条数
                SetData32bits(MXC_DingDanAddr + i*6+2,0);
                //设置加工条数
                SetData32bits(MXC_DingDanAddr + i*6+4,   MXC_ScanMa_Production);
            }
            break;
          }
          else
          {
             i++;
             if(i >= MXC_DingDanNum)
                i = 0;
          }  
      }
}

long MultLengthOffset(unsigned long zip_length)
{
    if(zip_length <= user_datas[MXC_MultLengthOffsetAddr]) 
       len_buf = &user_datas[MXC_MultOffsetAddr];
    else if(zip_length <= user_datas[MXC_MultLengthOffsetAddr+1]) 
       len_buf = &user_datas[MXC_MultOffsetAddr+1];
    else if(zip_length <= user_datas[MXC_MultLengthOffsetAddr+2]) 
       len_buf = &user_datas[MXC_MultOffsetAddr+2];
    else if(zip_length <= user_datas[MXC_MultLengthOffsetAddr+3]) 
       len_buf = &user_datas[MXC_MultOffsetAddr+3];
    else
       len_buf = &user_datas[MXC_MultOffsetAddr+4];
    return (*len_buf);
}

//订单完成条数增加
void DingDanTotalAdd(void)
{
  //把当前产量赋值到当前订单组
    SetData32bits(MXC_DingDanAddr + MXC_DingDan_NowNum*6+2,GetData32bits(76));
}
void DianDanLenghtCheck(void)
{
  
  unsigned int i=0,ch = 0;
        //长度不能小于勾针长度
      ch = 0;
      if(MXC_DingDanSet130)
      {
          MXC_DingDanSet130 = 0;
          i = 0;
          ch = 1;
      }   
      //长度不能小于勾针长度
      if(MXC_DingDanSet136)
      {
          MXC_DingDanSet136 = 0;
          i = 1;
          ch = 1;
      } 
      //长度不能小于勾针长度
      if(MXC_DingDanSet142)
      {
          MXC_DingDanSet142 = 0;
          i = 2;
          ch = 1;
      } 
      //长度不能小于勾针长度
      if(MXC_DingDanSet148)
      {
          MXC_DingDanSet148 = 0;
          i = 3;
          ch = 1;
      }    
      if(MXC_DingDanSet154)
      {
          MXC_DingDanSet154 = 0;
          i = 4;
          ch = 1;
      }    
  
    if((MXC_DC_MODE == 0) && ch)  //在勾针定寸模式下不能勾针最小尺寸
    {

      if( GetData32bits(MXC_DingDanAddr + i*6) < MXC_GouzhenMin_Length)   
      {
   
         SetData32bits(MXC_DingDanAddr + i*6, MXC_GouzhenMin_Length);
      } 
   }   
}
//上电订单检测
void IntitDingDan(void)
{
    if(MXC_DingDan_NowNum >= MXC_DingDanNum) 
        MXC_DingDan_NowNum = 0;
}
void MXC_ExtiActionX20(void)
{

}
void MXC_InitAction(void)
{
    float length_buff,pulse_buff;
    
    //CalFreqTab_X_Free(25);
    length_buff = MXC_PARAM_DAILUN_LENGTH;
    pulse_buff  = 2000;
    XGearRatio  = pulse_buff/length_buff;
    
    
    if(MXC_USE_GZ_SERVO)
        MXC_StartFirst = 1;                     //上电第一次要重新定位
    MXC_Gouzhencurrent_L = 0;                   //上电当前位置要清零
    length_buff = MXC_PARAM_GouZhenLun_LENGTH;  // 勾针电机一圈周长;
    pulse_buff  = 2000;                         // 勾针电机细分
    YGearRatio  = pulse_buff/length_buff;
    
    MXC_ProSpeed = 0;           //生产速度
    
    MXC_XC_SongZhou = MXC_XC_SERVER_DISEN;				  
    MXC_TuoDaiSongZhou = MXC_SERVER_DISEN;
    //
    MXC_XIA_ZHI_ENABLE = 0;//0不带下止，带下止时强关掉
    if(MXC_XIA_ZHI_ENABLE)
       MXC_XiaZhi_MOTOR = 1;
    else	
       MXC_XiaZhi_MOTOR = 0;  
    
     SetAlarmCode(MXC_ALARM_ADDR,0);    //警告清零
     
     //Y轴方向实际输出电平设置
     SetDirReverse(Y_AXIS,1);//方向输出的实际电平取反
    //订单初始华
    //IntitDingDan();
    
    STOP_IN_FLAG = MXC_STOP_IN;
    STOP_IN_FLAG_OLD = STOP_IN_FLAG;
    
}

void MXC_NiLongXiuCiJiAction(void)
{
    InputPinConfig();
    MXC_NiLongXiuCiJiCheckStart();  //启动
    MXC_NiLongXiuCiJi_FenZhengProc();	//左右分针
    MXC_NiLongXiuCiJi_XiaC();   //下冲
    MXC_ChuiQiProc();
    MXC_NiLongXiuCiJi_Motor();			//拖带控制
    MXC_JiaoDao();
    MXC_ManualAction();
    MXC_AutoAction();	
    MXC_NiLongXiuCiJi_GouZhenProc();            //勾针数控动作
    //订单植入
/*    if(MXC_Scan_Ma)
    {  
        MXC_Scan_Ma = 0;
       SetDingDanData();
    }  
*/
    OutputPinConfig();
}


void MXC_ManualAction(void)
{
      long i;
      static unsigned char save_flg = 0;     
      //清总产量
      if(MXC_bClear)         //清总产量
      {
          MXC_bClear = 0;
          ClrcToTal(MXC_TOTAL_ADDR);
        //  MXC_bSaveWorkData = 1;
          save_flg = 1;
      }
      
       if(save_flg)
      {
          if(!MXC_bSaveWorkData)
          {
              ClrcToTal(MXC_TOTAL_ADDR);
             if(MXC_DingDanWorkMode)
              {
                  DingDanTotalAdd();
              }
              save_flg = 0;
          }
      }
      
      //当长度改变时，生产总量自动清零
      if(MXC_bChangeLength)
      {
          MXC_bChangeLength = 0;
          MXC_bClear = 1;
      }

   
      
      //加10
      if(MXC_bAddLength)
      {
          MXC_bAddLength = 0;
          i = MXC_SET_REVISE_ZIPPER_LENGTH;
          i += 10;
          SetData32bits(MXC_ZIPPER_LENGTH_ADDR,i);
      }
      //减10
      if(MXC_bDecLength)
      {
          MXC_bDecLength = 0;
          i = MXC_SET_REVISE_ZIPPER_LENGTH;
          i -= 10;
          SetData32bits(MXC_ZIPPER_LENGTH_ADDR,i);		
      }
      //工作方式选择(数控定寸和勾针定寸)　
      if(MXC_bSetDCMode)
      {
          MXC_bSetDCMode = 0;
          if(!MXC_bRunning)
          {
                  MXC_DC_MODE++;
                  if(MXC_DC_MODE > 2)MXC_DC_MODE = 0;
          
                  if(MXC_DC_MODE != 0)	
                  {
                      MXC_GouZhen_VAVLE = 1;	
                      MXC_XIA_ZHI_ENABLE = 0;	
                      MXC_XiaZhi_MOTOR = 0;  
                  }
          }
      }
      //勾针方式选择(活动勾针和固定勾针)　
      if(MXC_bChangeGouZhenMode)
      {
          MXC_bChangeGouZhenMode = 0;
          if(!MXC_bRunning)
          {
            //      MXC_GOU_ZHEN_MODE++;
              //    if(MXC_GOU_ZHEN_MODE > 1)MXC_GOU_ZHEN_MODE = 0;	
          }
      }
      //下止工作选择)　
      if(MXC_bChangeXiaZhiMode)
      {
          MXC_bChangeXiaZhiMode = 0; 
          if(!MXC_bRunning)
          {
                  MXC_XIA_ZHI_ENABLE++;
                  if(MXC_XIA_ZHI_ENABLE > 2) MXC_XIA_ZHI_ENABLE = 0;
                  
                  if(MXC_XIA_ZHI_ENABLE)
                     MXC_XiaZhi_MOTOR = 1;
                  else	
                     MXC_XiaZhi_MOTOR = 0;   	
          }
      }
      
      if(MXC_bJiaoDao)
      {
          MXC_cJiaoDaoStep = 1;
          MXC_bJiaoDao = 0;
      }
      
      if(MXC_bChuiQi)
      {
          MXC_bChuiQi = 0;
          
          if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
      }
      
    if((MXC_bRunning) == 0) ////手动 
    {        
        if(MXC_ManXiaChong_UP || MXC_bXiaChong)   
        {
            MXC_bXiaChong = 0;
            if(MXC_cXiaChongStep == 0)
            {
                MXC_cXiaChongStep = 1;
                MXC_DingDanJianGe_State = 0;
            }    
        }
        
        if(MXC_cXiaChongStep == 0)
        {
            if(MXC_bLeftFenZhen)
            {
                MXC_bLeftFenZhen      = 0;
                MXC_LeftFenZhen_VAVLE = ~MXC_LeftFenZhen_VAVLE;
            }

            
            if(MXC_bRightFenZhen)
            {
                MXC_bRightFenZhen     = 0;
                MXC_RightFenZhen_VAVLE= ~MXC_RightFenZhen_VAVLE;
            }
            
                            //点动下冲
            if((MXC_bDotXiaChong))
            {
                MXC_bDotXiaChong = 0;
                if(MXC_LeftFenZhen_IN && MXC_RighttFenZhen_IN)
                {
                    if(MXC_XiaChongMotorMode == 0)
                    {
                        if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 20;
                    }
                    else
                    {
                        if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 40;
                    }	
                }
                else
                {
                  MXC_SetAlarmCode(MXC_XIA_CHONG_ALARM);		//下冲条件不满足
                }
            }
            
              if(MXC_bGouZhen)
              {
                  MXC_bGouZhen = 0;
                  if((MXC_GOU_ZHEN_MODE == 0))//普通勾针（活动）过链
                  {
                      MXC_cGouZhenTime  = dwTickCount + 300;
                      MXC_GouZhen_VAVLE = ~MXC_GouZhen_VAVLE;	
                  }
                 	
              }
        }
        
        if(MXC_bXiaZhi)
        {
            MXC_bXiaZhi = 0;
            if(MXC_XiaZhi_VAVLE)
            {
                MXC_XiaZhi_VAVLE = 0;
                MXC_ChaoSheng = 0;
            }	
            else
            {
                if(MXC_XIA_ZHI_ENABLE)  //下止选择
                {	
                    //下止输出
                     MXC_cXiaZhiDelay = dwTickCount + MXC_PARAM_XIAZHI_TIME;
                     MXC_XiaZhi_VAVLE = 1;
                }
            }
        }
          
        if(MXC_DC_MODE != 0)   //伺服定寸
        {      
            MXC_GuDingGouZhen = 1;
            MXC_GouZhen_VAVLE = 1;
        }
        else if((MXC_GOU_ZHEN_MODE == 0) && !Y_DRV && (MXC_cGouZhenDWStep == 0))//普通勾针（活动）过链在勾针定电机动作情况下不能关
        {
            if(dwTickCount >= MXC_cGouZhenTime) MXC_GouZhen_VAVLE = 0;
        }

 
        if(MXC_bChuDai)
        {
            MXC_ChuDai_VAVLE = 1;		
        }
        else
        {
            MXC_ChuDai_VAVLE = 0;
        }
        
        if(MXC_bTestMotor)
        {
              MXC_GouZhen_VAVLE = 1;
              MXC_cGouZhenTime  = dwTickCount + 300;
             if(!X_DRV)
             {
                 MXC_TuoDaiSongZhou = MXC_SERVER_EN;
                 //AxisContinueMoveAcc(X_AXIS,10,MXC_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);                            
             }
             
        }
        else if(MXC_cMotorStep == 0)
        {
            //if(X_DRV)AxisDecStop(X_AXIS);
        }
       	                                       
    }

    //下止下冲电磁铁
    if((MXC_XiaZhi_VAVLE != 0) && (dwTickCount >= MXC_cXiaZhiDelay)) 
    {       
            MXC_XiaZhi_VAVLE = 0;

    }	
}

void MXC_AutoAction(void)
{
  unsigned short ch;
    DISPLAY_DATA0 = MXC_cAutoStep;
    DISPLAY_DATA1 = MXC_cMotorStep;
    //DISPLAY_DATA2 = MXC_cLeftFenZhenStep;
    DISPLAY_DATA3 = dwRealPos;
    DISPLAY_DATA4 = cZipperLength[0];//MXC_cXiaChongStep;
    DISPLAY_DATA5 = cZipperLength[1];

    if(MXC_bRunning)
    {   
        if((!MXC_Zipper_IN))
            MXC_ChuDai_VAVLE = 0;	  	
        else
            MXC_ChuDai_VAVLE = 1;
        
        if((MXC_DC_MODE == 0) && (MXC_GOU_ZHEN_MODE == 0))
        { 	
            if(MXC_GouZhen_IN_UP)MXC_cGouZhenTime = 1;
        }
        else
            MXC_cGouZhenTime = 1;	
        
        switch(MXC_cAutoStep)
        {
            case 0:
                    break;
            case 1:
                    if(dwTickCount >= MXC_cAutoDelay)
                    {
                        
                        if(MXC_TuoDaiSongZhou == MXC_SERVER_DISEN)
                        {
                            MXC_TuoDaiSongZhou = MXC_SERVER_EN;
                            MXC_cAutoDelay = dwTickCount + 200;   //先锁轴 
                        }
                        else
                            MXC_cAutoDelay = dwTickCount;
                        //要判断勾针是否已定位好
                        if(MXC_cGouZhenDWStep == 0)
                        {                 
                            MXC_cAutoStep = 2;
                        }
                    }
                    break;
            case 2:
                    //左右分针要退到位，过链到位要离开
                    if(!MXC_GouZhen_IN && MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN && (dwTickCount >= MXC_cAutoDelay))
                    {
                      //要判断勾针是否已定位好
                        if(MXC_cGouZhenDWStep == 0)
                        {
                          MXC_cAutoStep = 3;
                          MXC_cMotorStep = 1;   //启动拖带 
                        }
                    }     			
                    break;
            case 3:
                    //拖带已经完成
                    if(MXC_cMotorStep == 0)
                    {
                         if(SingOneFlg)
                        {
                            dwZipCnt   = 0;
                            SingOneFlg = 0;
                            MXC_cAutoStep = 0;
                            MXC_bRunning = 0;
                        }
                        else
                        {
                            MXC_cAutoStep = 4;
                        }
                    }
                    break;	
            case 4:
                        MXC_cAutoStep = 5;
                    break;
            case 5:
                    //左右分针都已完成
                    if((MXC_cLeftFenZhenStep == 0) && (MXC_cRightFenZhenStep == 0) && (MXC_cXiaChongStep == 0))
                    {
                        if(MXC_SET_XIACHONG_DISEN==0)
                        {
                          MXC_cXiaChongStep = 1;   //下冲电机启动
                           MXC_cAutoStep = 6;
                        }
                        else
                        {
                          MXC_cAutoDelay = dwTickCount + MXC_PARAM_DELAY_XC;
                          MXC_cAutoStep = 106;
                        }	
                    }
                    break;
            case 106:
                  if(dwTickCount>=MXC_cAutoDelay)
                  {
                    MXC_GouZhen_VAVLE=1;
                    MXC_cAutoStep = 6;
                  }
                  break;
            case 6:  //下冲已完成
                    if(((MXC_cXiaChongStep == 0) || (MXC_cXiaChongStep >= 5)) && !MXC_XiaZhi_VAVLE)
                    {
                        dwZipCnt++;
                       
                        AddToTal(MXC_TOTAL_ADDR);	 //计数增加和保存
                        //条件满足的情况下对应产量也加1
              //              DingDanTotalAdd();
              //          MXC_DingDanJianGe = 0;   //回到原来工作模式
                        
                        
                        CalProSP(MXC_PROSPEED_ADDR);
			
                        
                        MXC_cAutoStep = 7;                        
                    }
                    break;		
            case 7:
                    if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN)
                    {
                        if(GetTotal(MXC_TOTAL_ADDR) >= MXC_SET_TOTAL)
                        {               
                             if(MXC_DingDanWorkMode && MXC_USE_GZ_SERVO)
                             {
                                 MXC_bSaveWorkData = 1;
                                 MXC_cAutoStep = 20;
                             }
                             else
                                 MXC_cAutoStep = 0;
                                 MXC_bRunning = 0;
                                 MXC_SingOneFlag = 1;
                                 MXC_SetAlarmCode(MXC_TOTAL_ALARM);
                        }
                        else
                          MXC_cAutoStep = 8;
                    }
                    break;	
            case 8:
                        MXC_cAutoDelay = dwTickCount + MXC_PARAM_MOTOR_DELAY;
                        
                        if(MXC_SingOneFlag)
                        {
                            dwZipCnt   = 0;
                            MXC_SingOneFlag = 0;
                            MXC_cAutoStep = 0;
                            MXC_bRunning = 0;
                        }
                        else
                           MXC_cAutoStep = 1;	
                    break;
            case 20:
                         if(!MXC_bSaveWorkData)
                         {
                                        //订单组自动赋值                            在连续订单模式下才走下一组  0 是单一订单
                            if(DingDanCheckOk() != (MXC_DingDanNum))
			    {
				MXC_cAutoStep = 21;
                                
                                MXC_cAutoDelay = dwTickCount + 20;   
                                if(MXC_DC_MODE == 0)    //勾针定寸情况下才要重新的定位勾针
                                {
                                  //长度不一样先定位勾针 
                                  if(MXC_SET_ZIPPER_LENGTH > MXC_Gouzhencurrent_L)
                                      ch = MXC_SET_ZIPPER_LENGTH - MXC_Gouzhencurrent_L;
                                   else
                                      ch = MXC_Gouzhencurrent_L - MXC_SET_ZIPPER_LENGTH;
                                  if(ch>2)
                                      MXC_cGouZhenDWStep = 1;
                                }
			    }
			    else
			        MXC_SetAlarmCode(MXC_TOTAL_ALARM);
                         }
                    break;
            case 21:
                    if(dwTickCount >= MXC_cAutoDelay)
                    {
                      if(MXC_DingDanJianGe_Length)    //间隔距离为0时直接返回
                      { 
                          MXC_DingDanJianGe_State = 1;   
			MXC_cMotorStep = 100;	
			MXC_cAutoStep = 22;	
                      }
                      else
                         MXC_cAutoStep = 8;
                    }  
            break;
            case 22:
		  if(MXC_cMotorStep == 0)
		 {
                    MXC_cXiaChongStep = 1;
		    MXC_cAutoStep = 23;	
		}
            break;	
            case 23:
                if(MXC_cXiaChongStep == 0)
		{
                    if(MXC_DC_MODE != 0) 
                      MXC_cAutoStep = 1;
                    else
                      MXC_cAutoStep = 30;
		}
            break;
            case 30:
              if(MXC_PARAM_GZ_RESET_MODE==0)
                  MXC_cMotorStep = 200;	
              MXC_cAutoStep = 31;	           
              break;
            case 31:
                if(MXC_cMotorStep == 0)
                {
                    MXC_cAutoStep = 1;
                }
                break;   
        }		         
    }
}

// 检测是否踏了脚踏开关
void MXC_NiLongXiuCiJiCheckStart(void)
{ 
    unsigned short ch;
    //  停止键        不能在工作,手动,停止过程中                                
    if((MXC_bRunning == 0) && (MXC_START_IN_UP || MXC_bStart || MXC_bNext))
    {
        MXC_bStart = 0;
        if(!MXC_LeftFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_START_LFZ_ORIGIN_ALARM);	//没拉链       
        else if(!MXC_RightFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_START_RFZ_ORIGIN_ALARM);
        else if(!MXC_Zipper_IN)MXC_SetAlarmCode(MXC_START_NO_ZIPPER_ALARM);
        else if((MXC_PARAM_SEBIAO_DW_LENGTH > MXC_SET_ZIPPER_LENGTH) && (MXC_DC_MODE==2))MXC_SetAlarmCode(MXC_SEBIAO_ZIPPER_LENGTH_ALARM);
        else if(MXC_KaDai_IN)MXC_SetAlarmCode(MXC_KA_DAI_ALARM);
        else
    	{
/*           if(GetTotal(MXC_TOTAL_ADDR) >= MXC_SET_TOTAL)
            {  
             //调入下一组数据，全部都没有的话警告停止
                if(DingDanCheckOk() >= (MXC_DingDanNum))
                {
                    MXC_SetAlarmCode(MXC_TOTAL_ALARM);
                    return;
                }      
           }*/
            
            if(MXC_bNext)
            {
               SingOneFlg = 1;   
               MXC_bNext  = 0;
            }
            MXC_bRunning = 1;
            	              
            cGouZhenTime = 1;   
            cCheckLengthOk = 0;
            cZipperLength[0] = 0;			
            cZipperLength[1] = 0;
            zipper_length_buff=0;
            dwZipCnt = 0;
            //DISPLAY_DATA4=0;
 /*           
            if((MXC_DingDanJianGe_State == 1) && MXC_DingDanWorkMode && MXC_USE_GZ_SERVO)   //间隔链还没有打完情况下先打间隔链
              MXC_cAutoStep = 20;
            else  
 */           
              MXC_cAutoStep = 1;
            //第一次上电或长度不一样时启动必须先定位勾针 
            //长度不一样先定位勾针 
            //MXC_StartFirst = 1;
             offset_len = &MXC_SET_REVISE_ZIPPER_LENGTH;
             if((MXC_SET_ZIPPER_LENGTH + (*offset_len))> MXC_Gouzhencurrent_L)
                ch = MXC_SET_ZIPPER_LENGTH + MXC_SET_REVISE_ZIPPER_LENGTH - MXC_Gouzhencurrent_L;
             else
                ch = MXC_Gouzhencurrent_L - (MXC_SET_ZIPPER_LENGTH + (*offset_len));
             // 数控模式下不用走动勾针
            if((MXC_StartFirst ||(ch>1)) && (MXC_DC_MODE == 0)&& MXC_USE_GZ_SERVO) 
            {
                MXC_cGouZhenDWStep = 1;  
                //MXC_StartFirst = 1;
            }
    	}
    	
    }

	//卡带感应
    if(MXC_KaDai_IN && (dwTickCount >= MXC_cKaDaiDelay))
    {
        if(MXC_DC_MODE == 1)
        {
            if(X_DRV && MXC_bRunning && (MXC_cMotorStep == 20))
            {
                MXC_KD_Flag = 1;
                KD_GO_ON_FLAG = 1;
            }
        }
        MXC_SetAlarmCode(MXC_KA_DAI_ALARM);
        
        
	MXC_cKaDaiDelay = dwTickCount + 2200;
    }
    
    if(MXC_KD_Flag)
    {      
        if(!X_DRV)
        {
            MXC_KD_pos  = dwRealPos;
            MXC_KD_Flag = 0;
        }
    }
    
    if(MXC_KaDai_IN_UP)
    {
        if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
    }		
 //停止
   STOP_IN_FLAG_OLD = STOP_IN_FLAG;
    
   if(MXC_STOP_IN)
   {
       if(STOP_FILTER < 50)
       {
           STOP_FILTER++;
       }
       else
           STOP_IN_FLAG = 1;
   }
   else if(STOP_FILTER > 25)
   {
       STOP_FILTER--;
   }
   else
       STOP_IN_FLAG = 0;
   
    if(MXC_bStop)
    {
        MXC_bStop = 0;
        if(MXC_bRunning)MXC_SingOneFlag = 1;
    }
      
    if(((STOP_IN_FLAG && !STOP_IN_FLAG_OLD)))
    { 
        MXC_bStop = 0;
        if(MXC_cGouZhenDWStep && STOP_IN_FLAG && (MXC_cXiaChongStep == 0))
        {
            AxisDecStop(Y_AXIS);
            MXC_cGouZhenDWStep = 0;
        }  
        if(MXC_bRunning)
        {
           if(MXC_cXiaChongStep==0)
           {
              if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
              
              if(!MXC_XiaChong_MOTOR)MXC_XC_SongZhou = MXC_XC_SERVER_EN;           
           }
           
            MXC_bRunning = 0;  
            cStopFlag = 0;
            MXC_cAutoStep = 0;
            MXC_cMotorStep = 0;
            MXC_cDCPStep   = 0;
            AxisDecStop(X_AXIS);
            //DISPLAY_DATA4++;
            MXC_cJiaoDaoStep = 0;
            SingOneFlg    = 0;
            MXC_SingOneFlag = 0;
            MXC_KD_Flag     = 0;
            KD_GO_ON_FLAG   = 0;
        }
        else
        {
            MXC_bRunning = 0;
                    
            cStopFlag = 0;
            MXC_cAutoStep = 0;
            MXC_cMotorStep = 0;
            MXC_cXiaChongStep = 0;
            MXC_cLeftFenZhenStep = 0;
            MXC_cRightFenZhenStep = 0;
            MXC_cJiaoDaoStep = 0;
            MXC_cDCPStep  = 0;
            MXC_XiaZhi_VAVLE     = 0;
            MXC_LeftFenZhen_VAVLE = 0;
            MXC_RightFenZhen_VAVLE = 0;
            MXC_XiaChong_MOTOR   = 0;
            MXC_ChaoSheng        = 0;
            MXC_JiaoDao_OUT      = 0;
            MXC_ChuDai_VAVLE     = 0;
            MXC_GuDingGouZhen    = 0;  
            SingOneFlg    = 0;
            MXC_SingOneFlag = 0;
            MXC_KD_Flag     = 0;
            KD_GO_ON_FLAG   = 0;
            if(MXC_XiaChongMotorMode)
                MXC_XC_SongZhou = MXC_XC_SERVER_EN;  
            else
                MXC_XC_ShaChe   = MXC_SC_DISEN;
           
           if((MXC_cChuiQiStep == 0) &&(MXC_cXiaChongStep==0) )MXC_cChuiQiStep = 1;      
           AxisDecStop(X_AXIS);
           //DISPLAY_DATA7++;
           SetAlarmCode(MXC_ALARM_ADDR,MXC_NO_ALARM);
        }
        
    }
    
    if(!MXC_bRunning && (MXC_cMotorStep==0) && (MXC_cXiaChongStep == 0))
    { 
      if(!X_DRV)MXC_TuoDaiSongZhou = MXC_SERVER_DISEN;	 
    }
    if(MXC_bAlarmStop)
    {
        MXC_bAlarmStop = 0;
        MXC_bRunning = 0;
        MXC_cAutoStep = 0;
        MXC_cMotorStep = 0;
        MXC_cDCPStep          = 0;
        MXC_SingOneFlag        = 0;
        AxisDecStop(X_AXIS);     
        if((GetAlarmCode(MXC_ALARM_ADDR) == MXC_XIA_CHONG_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_XC_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_FEN_ZHEN_ALARM))
        {
            MXC_cXiaChongStep = 0;
            MXC_XiaChong_MOTOR = 0;
        }
    }
}   

void MXC_JiaoDao(void)
{
   if(MXC_cJiaoDaoStep == 1)
    {
        MXC_cChuiQiDelay = dwTickCount + 500;
        MXC_JiaoDao_OUT = 1;
        MXC_cJiaoDaoStep = 2;
    }
    else if((MXC_cJiaoDaoStep == 2) && (dwTickCount >= MXC_cChuiQiDelay)) 
    {
        MXC_JiaoDao_OUT = 0;	
        MXC_cJiaoDaoStep = 0;
    }  	
}



void MXC_ChuiQiProc(void)
{	
      //吹气
    if(MXC_XiaChong_IN_UP)
    {
        if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
    }
    
    
    switch (MXC_cDCPStep)
    {
        case 0:
        break;
        case 1:
             MXC_cDCPStep = 2;
             MXC_cDaoJuCheckDelay = dwTickCount + 3500;
        break;
        case 2:
             if(MXC_DingChuPian_IN_DW)
             {
                  MXC_cDCPStep = 0;
             }
             else if((dwTickCount >= MXC_cDaoJuCheckDelay) && (MXC_DAO_JU_ALARM_EN == 0))
                 MXC_SetAlarmCode(MXC_DAO_JU_ALARM);         
        break;
    }
    
    switch(MXC_cChuiQiStep)
    {
        case 1:
            MXC_cChuiQiStep = 2;
            if(MXC_bRunning)MXC_cChuiQiDelay = dwTickCount+MXC_PARAM_DELAY_CHUIQI_TIME;            
        break;
        case 2:
            if(dwTickCount >= MXC_cChuiQiDelay)
            {
                MXC_cChuiQiDelay = dwTickCount + MXC_PARAM_CHUIQI_TIME;	
                MXC_ChuiQi_VAVLE = 1;//
                MXC_cChuiQiStep = 3;                
            }
        break;
        case 3:
            if(dwTickCount >= MXC_cChuiQiDelay)
            {
                MXC_ChuiQi_VAVLE = 0;//
                MXC_cChuiQiStep = 0;
            }
        break;
    }
}
void MXC_ShaChe_Output(void)
{
    //启动吹气
    cShaCheTime = dwTickCount + (unsigned long)120;
    if(MXC_XiaChongMotorMode == 0)MXC_XC_SongZhou = MXC_XC_SERVER_DISEN;
}

void MXC_Output_XiaCi(void)//下止输出
{
	if(MXC_XIA_ZHI_ENABLE)  //下止选择
	{	
            //下止输出
             MXC_cXiaZhiDelay = dwTickCount +  MXC_PARAM_XIAZHI_TIME;
             MXC_XiaZhi_VAVLE = 1;
	}	
}





unsigned char ComPareLength(void)
{
	if((cZipperLength[0] != 0) && (cZipperLength[1] != 0))
    {
		if(cZipperLength[0] > cZipperLength[1])
		{
		    if((cZipperLength[0] - cZipperLength[1]) > 50)
			{
			    return 0;
			}
			else 
			    return 1;
		}
		else
	    {
		    if((cZipperLength[1] - cZipperLength[0]) > 50)
			{
			    return 0;	
			}
			else
			    return 1;
		}
	}
	else 
	    return 0;
}

void  MXC_NiLongXiuCiJi_Motor(void)
{
        static long save_buff,gou_zhen_buff;
	static unsigned long zipper_length;
        short *revise_buff;

        if(MXC_bRunning)
        {
            if(MXC_Zipper_IN)
            {
                MXC_cBudaiCheckDelay = dwTickCount + MXC_PARAM_MOTOR_ALARM_TIME;		
            }
            else if(dwTickCount >= MXC_cBudaiCheckDelay)	//没布带了
            {
                MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM);	//没拉链
            }              
        }
        
        dwRealPos = GetPos(X_AXIS);
        //当前位置脉冲
        dwYRealPos = GetPos(Y_AXIS);
        DISPLAY_DATA6 = zipper_length;
        DISPLAY_DATA7 = zipper_length_buff;
	switch(MXC_cMotorStep)
	{
		case 0:
                break;
	   //         过链         左分针退位  左到位
		case 1: if(MXC_LeftFenZhen_Origin_IN && (!MXC_LeftFenZhen_IN) && MXC_RightFenZhen_Origin_IN && (!MXC_RighttFenZhen_IN)) 
                {
                         SetPos(X_AXIS,0);
                         //save_buff  = dwRealPos;  
                         //DISPLAY_DATA2= save_buff;
                         revise_buff = &user_datas[17];
                         //save_pos_buff = dwRealPos;

                        if(MXC_DC_MODE == 0)                 //钩针定寸
                        {
                            if(MXC_DEC_MODE) //减速方式：1数控模式 0感应方式
                            {	
                               if(MXC_PARAM_AUTO_CHECK_MODE)//1为自动测长0为手动输入长度
                               {
                                   if(cCheckLengthOk)
                                   {
                                       AxisMovePosAccDecNotStop(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length-MXC_PARAM_LOWSPEED_LENGTH,
                                                              MXC_PARAM_START_SPEED,MXC_PARAM_LOW_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0);                         
                                   }
                                   else
                                   {
                                        if(cCheckLengthOk == 0)
                                        {
                                            cZipperLength[0] = cZipperLength[1];			
                                            cZipperLength[1] = zipper_length_buff;
                                            if(ComPareLength())
                                            {
                                                cCheckLengthOk = 1;
                                            }
                                        }

                                       if(cCheckLengthOk)
                                       {
                                         zipper_length =  cZipperLength[1];
                                         AxisMovePosAccDecNotStop(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length-MXC_PARAM_LOWSPEED_LENGTH,
                                                              MXC_PARAM_START_SPEED,MXC_PARAM_LOW_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0);
                                       }
                                       else
                                       {
                                          AxisContinueMoveAcc(X_AXIS,MXC_PARAM_FIRST_SPEED,MXC_DIR_P,MXC_PARAM_START_SPEED,
                                                              MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);           
                                       }
                                   }
                               }
                               else
                               {
                                   if(dwZipCnt==0) 
                                     AxisContinueMoveAcc(X_AXIS,MXC_PARAM_FIRST_SPEED,MXC_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_START_SPEED,
                                                         MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED); 
                                   else
                                   {
                                        zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH;
                                        //输入长度过大
                                        if(zipper_length>zipper_length_buff && dwZipCnt>1)
                                          zipper_length=zipper_length_buff;       
                                        AxisMovePosAccDecNotStop(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length-MXC_PARAM_LOWSPEED_LENGTH,
                                                              MXC_PARAM_START_SPEED,MXC_PARAM_LOW_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0);
                                   }   
                               }
                               MXC_cMotorStep = 3;
                            }	
                            else //  感应方式
                            {
                                AxisContinueMove(X_AXIS,MXC_PARAM_SET_SPEED,MXC_DIR_P);         
                                MXC_cMotorStep = 2;
                            }
                        }
                        else if(MXC_DC_MODE == 1)   //电机定寸
                        {        
                            if(KD_GO_ON_FLAG)
                            {
                                if(MXC_KD_pos > (MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH))                                 
                                    zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH;
                                else
                                    zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH - MXC_KD_pos;
                                KD_GO_ON_FLAG = 0;
                            }
                            else
                               zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH;
                            
                            MXC_cMotorStep = 20;
                            MXC_GouZhen_VAVLE = 1;			 //定位(活动勾针)电磁阀
                            MXC_GuDingGouZhen = 1;			 //定位(活动勾针)电磁阀
                            
                            AxisMovePosAccDec(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length,MXC_PARAM_START_SPEED,
                                              MXC_PARAM_SHIFU_LOW_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,MXC_PARAM_SHIFU_LOWSPEED_LENGTH);
                        }
                        else                    //色标定寸
                        {
                             zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff);
                             
                             if((dwZipCnt==0)||SingOneFlg)AxisContinueMoveAcc(X_AXIS,MXC_PARAM_SB_LOW_SPEED,MXC_DIR_P,MXC_PARAM_START_SPEED,
                                                                              MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);   
                             else AxisContinueMoveAcc(X_AXIS,MXC_PARAM_SB_HIGH_SPEED,MXC_DIR_P,MXC_PARAM_START_SPEED,
                                                      MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);   
                             
                             cSeBiaoOk = 0;
                             cSeBiaoEn = 0;  
                             MXC_cMotorStep = 50;                           
                        }     
                        MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY;
                        MXC_cMotorDelay = dwTickCount +  MXC_MOTOR_ALALRM_TIME;
                }
                break;
		// step2-5  活动勾针定寸		
		case 2:
                        if((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0))MXC_GouZhen_VAVLE = 0;
                        if(MXC_DEC_MODE==0)   // 感应模式
                        {
                            if(MXC_Dec_IN_DW)
                            {
                                AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                                MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY;
                                MXC_cMotorStep = 3;              
                            }  
                        }
                        if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;	
		case 3:    
                        if((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0))MXC_GouZhen_VAVLE = 0;
                        if(MXC_DEC_MODE)   // 数控方式
                        {
                            if(MXC_PARAM_AUTO_CHECK_MODE)
                            {
                                if(cCheckLengthOk)
                                {
                                  if((dwRealPos >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE)MXC_GouZhen_VAVLE = 0;
                                }
                                else
                                {
                                  if(dwTickCount >= MXC_cGouZhenTime)MXC_GouZhen_VAVLE = 0;
                                }
                            }
                            else
                            {
                                if((dwRealPos >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE)MXC_GouZhen_VAVLE = 0;
                                if((dwZipCnt==0)&& (dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==1))MXC_GouZhen_VAVLE = 0;
                            }
                            
                            if(MXC_GouZhen_IN)
                            {
                                MXC_GouZhen_VAVLE = 0;
                                MXC_cMotorStep = 4;
                                //AxisEgmStop(X_AXIS); 
                                //再走一点拉紧
                                AxisMovePosAccDec(X_AXIS,MXC_PARAM_LOW_SPEED,6,MXC_PARAM_LOW_SPEED,MXC_PARAM_LOW_SPEED,
                                                  MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0);
                            }   
                        }
                        else               // 感应方式
                        {
                            MXC_cMotorStep = 4;                                        
                        }
                        
                        if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;
		case 4:	
                        if((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0))MXC_GouZhen_VAVLE = 0;
                        if(MXC_DEC_MODE)   // 数控方式
                        {
                            if(!X_DRV)
                            {
                                MXC_cMotorStep = 0;  
                                zipper_length_buff=dwRealPos;
                            }                             
                        }
                        else               // 感应方式
                        {
                            if(MXC_GouZhen_IN)
                            {
                                MXC_cMotorStep = 5;
                                AxisEgmStop(X_AXIS);     
                            }
                        }  
                        if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;		
		case 5:	
                        if(MXC_DEC_MODE)   // 数控方式
                        {
                          
                        }
                        else               // 感应方式
                        {
                            if(!X_DRV)
                            {
                                MXC_cMotorStep = 0;  
                            } 
                        }   
                        if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;	
                        
 /*                       
		case 11://以下为固定勾针方式
                        if(MXC_XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针
                        {	
                            if(dwTickCount >= MXC_cAutoDelay)MXC_GuDingGouZhen = 0;
                            if(!MXC_GuoLian_IN)
                            {
                                AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                                MXC_cMotorStep = 12;
                                MXC_cAutoDelay = dwTickCount + (unsigned long)1500;   //延时检测	
                            }								
                        }
                        else
                        {	
                            if(MXC_GuoLianCheckMode)
                            {
                                if(!MXC_GuoLian_IN)
                                {
                                    AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                                    MXC_cMotorStep = 12;
                                    MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[12];   //延时检测                                 
                                }
                            }
                            else
                            {
                                if(MXC_GuoLian_IN)
                                {
                                    AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                                    MXC_cMotorStep = 12;
                                    MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[12];   //延时检测                                 
                                }                            
                            }
                        }		
                        break;
		case 12:
                        if(dwTickCount >= MXC_cAutoDelay)
                        {
                            if(MXC_GuDingGouZhen)
                            {	
                                MXC_GuDingGouZhen = 0;
                                MXC_cAutoDelay = dwTickCount + (unsigned long)1500;   //延时检测
                            }	
                            else if(!MXC_GuDingGouZhen)
                            {
                             //   MXC_SetAlarmCode(MXC_GU_DING_GOUZHEN_ALARM);
                            }			
                        }
                        
                        if(MXC_XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针	
                        {
                            if(MXC_GuoLian_IN)
                            {
                                MXC_GuDingGouZhen = 0;
                                MXC_cMotorStep = 13;
                                MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10];   //延时停电机	
                            }	                             
                        }
                        else
                        {
                            if(MXC_GuoLianCheckMode)
                            {
                                if(MXC_GuoLian_IN_UP)
                                {
                                    MXC_GuDingGouZhen = 0;
                                    MXC_cMotorStep = 13;
                                    MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10];   //延时停电机	
                                }
                            }
                            else 
                            {
                                if(MXC_GuoLian_IN_DW)
                                {
                                    MXC_GuDingGouZhen = 0;
                                    MXC_cMotorStep = 13;
                                    MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10];   //延时停电机	
                                }                           
                            }	
                        }
                        break;	
		case 13:
                        if((dwTickCount >= MXC_cAutoDelay))	
                        {
                            if(MXC_XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针	
                            {
                                AxisEgmStop(X_AXIS);
                                if(MXC_GuoLian_IN)
                                {
                                    MXC_cMotorStep = 0;
                                    MXC_LIHE_VAVLE = 0;
                                }
                            }
                            else
                            {
                                if(MXC_GuoLianCheckMode)
                                {
                                    if(MXC_GuoLian_IN)
                                    {
                                        MXC_cMotorStep = 0;
                                        AxisEgmStop(X_AXIS);
                                        MXC_LIHE_VAVLE = 0;
                                    }
                                }
                                else
                                {
                                    if(!MXC_GuoLian_IN)
                                    {
                                        MXC_cMotorStep = 0;
                                        AxisEgmStop(X_AXIS);
                                        MXC_LIHE_VAVLE = 0;
                                    }                                
                                }	
                            }	
                        }						
                        break;
*/		
		//伺服定寸	
		case 20:
                        if(!X_DRV)MXC_cMotorStep = 0;
                        else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);                
                        break;
		case 50:
                        if(dwZipCnt==0)
                        {
                            cSeBiaoOk = 0;
                            cSeBiaoEn = 1;  
                            MXC_cMotorStep   = 51;
                        }
                        else
                        {
                            if((dwRealPos + MXC_PARAM_SEBIAO_LOWSPEED_LENGTH) >= (zipper_length  -MXC_PARAM_SEBIAO_DW_LENGTH)) 
                              AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                            if((dwRealPos + MXC_PARAM_SEBIAO_TQ_LENGTH) >= (zipper_length - MXC_PARAM_SEBIAO_DW_LENGTH))
                            {
                                cSeBiaoOk = 0;
                                cSeBiaoEn = 1; 
                                MXC_cMotorStep   = 51;
                            }
                            else if(dwRealPos > (zipper_length + MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
                            
                        }                        
                        break;	
		case 51:
                        if(dwZipCnt!=0)
                        {
                            if(dwRealPos >= (zipper_length - MXC_PARAM_SEBIAO_LOWSPEED_LENGTH)) AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                            if(dwRealPos > (zipper_length + MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
                        }
                        
                        if(!X_DRV)
                        {
                            if(dwZipCnt!=0)
                            {
                                if(dwRealPos < (zipper_length - MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
                            }
                            MXC_cMotorStep = 0;
                        }
                        else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
                        break;	
/*	    case 100:
              //算出间隔脉冲    
                  zipper_length = MXC_DingDanJianGe_Length +  MXC_PARAM_DAOKOU_LENGTH;               
                  AxisMovePosAccDec(X_AXIS,MXC_PARAM_SET_SPEED/2,zipper_length,MXC_PARAM_START_SPEED/2,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);  
                  
                  MXC_cMotorStep = 101;
		break;
		case 101:
		    if(!X_DRV)
			{
			   MXC_cMotorStep = 0;	
			
			}
		break;
	    case 200:
              //先把拉链   
                  zipper_length = MXC_SET_ZIPPER_LENGTH;
                   //把速度降下来            
                  AxisMovePosAccDec(X_AXIS,MXC_PARAM_SET_SPEED/2,zipper_length,MXC_PARAM_START_SPEED/2,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);  
                  
                  MXC_cMotorStep = 201;
		break;
            case 201:
		if(!X_DRV)
		{
		   MXC_cMotorStep = 0;	
			
		}
		break;    */            
	}
}
//下冲
void  MXC_NiLongXiuCiJi_XiaC(void)
{       
    static unsigned char xia_zhi_flg = 0;
    static unsigned long delay_gz_back;
    static unsigned char gz_back_flg = 0;
    
    if((MXC_XIA_ZHI_ENABLE == 2) && MXC_bRunning)
    {
        if((dwTickCount >= delay_gz_back) &&gz_back_flg)
        {
                  MXC_GouZhen_VAVLE = 1;
                  gz_back_flg       = 0;
                  MXC_cGouZhenTime  = dwTickCount + 300;
        }
    }
             
    
    
    switch(MXC_cXiaChongStep)
    { 
    case 0:
            return;
            break;
    case 1:
            {
                MXC_DingDanJianGe_State = 0;
                
                if((MXC_XIA_ZHI_ENABLE == 2) && MXC_bRunning)
                {
                    MXC_cXiaChongStep = 7;
                    delay_gz_back     = dwTickCount + MXC_PARAM_DELAY_GOUZHEN_BACK;
                    gz_back_flg     = 1;
                    xia_zhi_flg       = 0;
                    MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_DELAY_XC;  
                }
                else
                {
                    gz_back_flg = 0; 
                    MXC_cRightFenZhenStep = 1;
                    if(MXC_cDCPStep == 0)
                        MXC_cDCPStep = 1;
                    MXC_cLeftFenZhenStep  = 0;
                    cRFengTimer = 0;
                    cLFengTimer = 0;   
                    MXC_cXiaChongStep = 2;
                }
            }        
            break;
    case 2:
            if((MXC_cRightFenZhenStep==0) && (MXC_cLeftFenZhenStep==0))
            {
                  if(MXC_XiaChongMotorMode)
                      MXC_XC_SongZhou = MXC_XC_SERVER_EN;  
                  else
                      MXC_XC_ShaChe   = MXC_SC_DISEN;
                      MXC_XC_SongZhou = MXC_XC_SERVER_DISEN; //刹车打开

                  if(MXC_bRunning)
                  {
                      MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_DELAY_XC;
                  }
                  MXC_cXiaChongStep = 3;
            }
            break;
    case 3:
            if(dwTickCount >= MXC_cXiaChongDelay)
            {
                  MXC_cXiaChongStep = 4;	
                  MXC_XiaChong_MOTOR = 1;  //下冲电机  
                  if(MXC_bRunning)
                  {
                       MXC_Output_XiaCi();//下止输出
                       xia_zhi_flg     = 1;
                  }
                  MXC_cXiaChongDelay = dwTickCount + (unsigned long)ERRORTIME;   //下冲最长时间   	

 //                 if(MXC_XiaChongMotorMode == 1)
 //                 {
 //                         AxisMoveTwoPos(Y_AXIS,MXC_XiaChongSpeed,2000,MXC_XiaChongLowSpeed,9999999,0);
 //                 }	
            }
    break;
    case 4:  //碰到右大微动,延时停
            if(MXC_XiaChong_IN_UP)
            {
                  MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_XC_DELAY;
                  MXC_cXiaChongStep = 5;
                  MXC_LeftFenZhen_VAVLE = 0;  	//退左分针
                  MXC_RightFenZhen_VAVLE = 0;	//退右分针	
                  MXC_GouZhen_VAVLE = 1;
                  MXC_cGouZhenTime  = dwTickCount + 300;
            }
            else if(dwTickCount >= MXC_cXiaChongDelay) //自动停机
            {	
                  MXC_cXiaChongStep = 0;
//                  MXC_ShaChe_Output();////刹车
                  MXC_XiaChong_MOTOR = 0;// 	//下冲电机
                  MXC_SetAlarmCode(MXC_XC_ALARM);
                  MXC_LeftFenZhen_VAVLE = 0;   	//退左分针
                  MXC_RightFenZhen_VAVLE = 0;	//退右分针
 //                 AxisEgmStop(Y_AXIS);
            }
            
            break;
    case 5:	
            if(dwTickCount >= MXC_cXiaChongDelay)	
            {
                    
//                    AxisEgmStop(Y_AXIS);
                    MXC_XiaChong_MOTOR = 0;      //延时刹车
                    if(MXC_PARAM_SC_MODE)
                    {
                        MXC_cXiaChongStep = 0;
                    }
                    else
                    {
                        MXC_cXiaChongStep = 6;
                    }
                    
 //                   MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_SC_DELAY;			
            }
            break;
    case 6:	
           // if((dwTickCount >= MXC_cXiaChongDelay))
            {
                    MXC_cXiaChongStep = 7;
                    MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_SC_DELAY;	
                   // MXC_ShaChe_Output();	
            }
            break;
    case 7:
            if((dwTickCount >= MXC_cXiaChongDelay)&& !MXC_XiaZhi_VAVLE)
            {
                    MXC_cXiaChongStep = 0;
                    if(MXC_bRunning && !xia_zhi_flg)
                    {
                         MXC_Output_XiaCi();//下止输出  
                      
                    }
                    MXC_cXiaChongDelay = dwTickCount;
                    MXC_XC_SongZhou = MXC_XC_SERVER_EN;  
            }	
            break;
    case 20:                      // 点动普通下冲动作
                MXC_XC_SongZhou = MXC_XC_SERVER_DISEN;
                MXC_cXiaChongDelay = dwTickCount + 50;	
                MXC_cXiaChongStep = 21;
            break;
    case 21:   
               if((dwTickCount >= MXC_cXiaChongDelay))
               {
                    MXC_XiaChong_MOTOR = 1;
                    MXC_cXiaChongDelay = dwTickCount + 50;	
                    MXC_cXiaChongStep = 22;
               } 
            break;
    case 22:   
               if((dwTickCount >= MXC_cXiaChongDelay))
               {
                    MXC_XiaChong_MOTOR = 0;
                    MXC_XC_SongZhou    = MXC_XC_SERVER_DISEN;
                    
                    if(MXC_XiaChongMotorMode)
                        MXC_cXiaChongStep = 0;
                    else
                    {
                        MXC_cXiaChongDelay = dwTickCount + 150;	
                        MXC_cXiaChongStep = 23;
                    }
               }
            break;
    case 23:   
               if((dwTickCount >= MXC_cXiaChongDelay))
               {
                    MXC_XC_SongZhou    = MXC_XC_SERVER_EN;                                                               
                    MXC_cXiaChongStep  = 0;
               }
            break;
    case 40:                      // 点动电机下冲动作
                MXC_XC_SongZhou = MXC_XC_SERVER_DISEN;
                MXC_cXiaChongDelay = dwTickCount + 50;	
                MXC_cXiaChongStep = 41;
            break;
    case 41:   
                if(!Y_DRV)AxisMovePos(Y_AXIS,20,10);
                MXC_cXiaChongStep = 42;
            break;
    case 42:   
           if(!Y_DRV)
           { 
                MXC_cXiaChongStep = 0;
           }
            break;
    }
}

 //分针
void  MXC_NiLongXiuCiJi_FenZhengProc(void)
{
	if(MXC_FenZSelect==0)
	{
            MXC_cLeftFenZhenStep = 0;
            MXC_cRightFenZhenStep = 0;	
	}	
	//右分针
	switch(MXC_cRightFenZhenStep)
	{ 
            case 0:
                    break;
            case 1:
                        MXC_cFenZhenRightDelay = MXC_PARAM_R_FZ_DELAY+dwTickCount;
                        MXC_cRightFenZhenStep  = 2;
                    break;
            case 2:
                    if(dwTickCount >= MXC_cFenZhenRightDelay)
                    {
                        MXC_cRightFenZhenStep = 3;
                        MXC_RightFenZhen_VAVLE = 1;//右分针电磁阀
                        MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime;      	
                    }	
            break;
            case 3:  //碰到右大微动,延时停
                    if(!MXC_RightFenZhen_Origin_IN)   //右分针原点离开
                    {
                        MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime;
                        MXC_cRightFenZhenStep = 4;
                    }//右分针不下去
                    else if(dwTickCount >= MXC_cFenZhenRightDelay)
                    {
                         MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
                         MXC_cRightFenZhenStep = 0;
                         MXC_RightFenZhen_VAVLE = 0;
                    }
                    break;
            case 4:	
                    if(MXC_RighttFenZhen_IN)  //插针到位
                    {
                        MXC_cRightFenZhenStep = 0;
                        MXC_cLeftFenZhenStep = 1;   //左分针延时启动
                    }
                    else if(dwTickCount >= MXC_cFenZhenRightDelay)
                    {
                            MXC_RightFenZhen_VAVLE = 0;//右分针
                            cRFengTimer++; 
                            //当右分针分不到位时，左分针也要重新分针
                            MXC_LeftFenZhen_VAVLE = 0;
                            MXC_cRightFenZhenStep = 0;
                            if(cRFengTimer < 4)
                            {
                                MXC_cRightFenZhenStep = 5;
                                MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime;
                            }
                            else
                            {
                                MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
                                MXC_cRightFenZhenStep = 0;
                                MXC_RightFenZhen_VAVLE = 0;
                            }
                    }
                    break;
            case 5:	
                    if(MXC_RightFenZhen_Origin_IN)  //退到位
                    {
                        MXC_cRightFenZhenStep = 6;
                    }
                    else if(dwTickCount >= MXC_cFenZhenRightDelay)
                    {
                         MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
                         MXC_RightFenZhen_VAVLE = 0;                        
                          MXC_cRightFenZhenStep = 0;
                    }
                    break;
            case 6:
                    {
                         MXC_cRightFenZhenStep = 1;
                    }	
                    break;
	}
	//左分针
	switch(MXC_cLeftFenZhenStep)
	{ 
		case 0:
			break;
                case 1:
                        MXC_cFenZhenLeftDelay = MXC_PARAM_L_FZ_DELAY+dwTickCount;
                        MXC_cLeftFenZhenStep = 2;
                        break;
		case 2:
			if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
                            MXC_cLeftFenZhenStep = 3;
                            MXC_LeftFenZhen_VAVLE = 1; //左分针电磁阀
                            MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime;      	
 			}	
        	break;
		case 3:  //离开左分针原点
			if(!MXC_LeftFenZhen_Origin_IN)   //左分针原点离开
			{
                            MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime;
                            MXC_cLeftFenZhenStep = 4;
			}//左分针不下去
			else if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
			    MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);
                            MXC_cLeftFenZhenStep = 0; 
                            MXC_LeftFenZhen_VAVLE = 0;
			}
			break;
		case 4:	
			if(MXC_LeftFenZhen_IN)  //插针到位
				MXC_cLeftFenZhenStep = 0;
			else if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
                            MXC_LeftFenZhen_VAVLE = 0;//左分针
                            cLFengTimer++; 
                            if(cLFengTimer < 6)
                            {
                                  MXC_cLeftFenZhenStep = 5;
                                  MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime;
                                  if((cLFengTimer%2) == 0)
                                  {
                                      MXC_RightFenZhen_VAVLE = 0;
                                      MXC_cRightFenZhenStep = 0;
                                  }
                            }
                            else
                            {					
                                  MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
                                  MXC_cLeftFenZhenStep = 0; 
                                  MXC_LeftFenZhen_VAVLE = 0;
                            }
			}
			break;
		case 5:	
			if(MXC_LeftFenZhen_Origin_IN)  //退到位
			{
                            MXC_cLeftFenZhenStep = 6;
			}
			else if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
                            MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
                            MXC_cLeftFenZhenStep = 0; 
                            MXC_LeftFenZhen_VAVLE = 0;
			}
			break;
		case 6:
                        if((cLFengTimer%2) == 0)  //左边插两次都插不到，就退右边再同时插
                        {
                              MXC_cRightFenZhenStep = 1;
                              cRFengTimer = 0;
                              MXC_cLeftFenZhenStep = 0;
                        }
                        else
                        {
                             MXC_cLeftFenZhenStep = 1;
                        }	
			break;
	}
}

 //勾针复位定位动作
void  MXC_NiLongXiuCiJi_GouZhenProc(void)
{
  static unsigned char kk;
  static unsigned long last_set_length;
  long ch;

      //当前勾针位置为脉冲位置加偏移量
      MXC_Gouzhencurrent_L = dwYRealPos;
      //DISPLAY_DATA7     =  dwYRealPos;
      
      if(!MXC_bRunning)  //在手动状态下才点动勾针
      {
          if((MXC_cXiaChongStep == 0) && (MXC_cGouZhenDWStep == 0))
          {
            
              //输入变化自动定位
              if(last_set_length != MXC_SET_ZIPPER_LENGTH)
              {
                last_set_length=MXC_SET_ZIPPER_LENGTH;
                if(MXC_USE_GZ_SERVO)
                MXC_cGouZhenDWStep  = 1; 
                //MXC_StartFirst=1;
                kk=0;
              }
            
              //勾针定位
              if(MXC_GouZhenlocation)
              {
                  MXC_GouZhenlocation = 0;             
                  MXC_cGouZhenDWStep  = 1; 
                  MXC_StartFirst=1;
                  kk = 0;
              }
              if(MXC_ShaChe)
              {
                  MXC_ShaChe = 0;
                  if(!Y_DRV)
                  {
                      MXC_GouzhenShaChe = !MXC_GouzhenShaChe;     //刹车取反 
                  }
              }  
              if(MXC_GouZhenforward && !MXC_GouZhenforward_IN  && !Y_DRV)    //勾针前移    限位开关不能输入
              {
                   if(!MXC_GouzhenShaChe || !MXC_GouZhen_VAVLE) 
                      MXC_cGouZhenMotorDelay = dwTickCount +  150;
                   MXC_GouzhenShaChe = 1;     //刹车松开   
                   //MXC_GouzhenMotor_DR = MXC_GZ_DIR_P;
                   MXC_GouZhen_VAVLE = 1;
                   MXC_cGouZhenTime  = dwTickCount + 400;
                   kk = 0;
                   //先松开刹车延时动电机
                  if(dwTickCount >= MXC_cGouZhenMotorDelay)
                  {
                      if(!Y_DRV)
                      {
                           AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Hand_SPEED,MXC_GZ_DIR_N,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0);
                      }
                  }
              } 
              
              if(MXC_GouZhenforward_IN)
              {
                  MXC_GouZhenforward = 0;
              }
              
              if(MXC_GouZhenback && !MXC_GouZhenback_IN && !Y_DRV)    //勾针后移    限位开关不能输入
              {
                   if(!MXC_GouzhenShaChe || !MXC_GouZhen_VAVLE) 
                      MXC_cGouZhenMotorDelay = dwTickCount +  150;
                   MXC_GouzhenShaChe = 1;     //刹车松开   
                   //MXC_GouzhenMotor_DR = MXC_GZ_DIR_N;
                   MXC_GouZhen_VAVLE = 1;
                   MXC_cGouZhenTime  = dwTickCount + 400;
                   kk = 0;
                   //先松开刹车延时动电机
                  if(dwTickCount >= MXC_cGouZhenMotorDelay)
                  {
                      if(!Y_DRV)
                      {
                        AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Hand_SPEED,MXC_GZ_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0);
                      }  
                  }
              }              
              if(MXC_GouZhenback_IN || ((dwYRealPos >= GetData32bits(MXC_N_LIMIT_LENGTH_ADDR)) &&  !MXC_StartFirst))
              {
                  MXC_GouZhenback = 0;
                  
              }             
              if((!MXC_GouZhenforward && !MXC_GouZhenback) && (kk == 0))
              {
                  if(Y_DRV)
                  {
                    if(MXC_GouzhenShaChe)
                    {  
                      kk = 1;
                      MXC_cGouZhenMotorDelay = dwTickCount +  450;
                    }
                  } 
                  AxisEgmStop(Y_AXIS);          //立即停
                  MXC_GouZhenback = 0;
                  MXC_GouZhenforward = 0;
                  
              }  
              //电机停止后延时刹车
              if(kk && (dwTickCount >= MXC_cGouZhenMotorDelay))
              {
                  kk = 0;
                  MXC_GouzhenShaChe = 0;     //刹车 
              }
          }
      }
    switch(MXC_cGouZhenDWStep)
    {
        case 1:
              MXC_cGouZhenMotorDelay = dwTickCount +  160;
              MXC_GouZhen_VAVLE = 1;
              MXC_GouzhenShaChe = 1;     //刹车松开  
              MXC_cGouZhenDWStep = 2;  
        break;
        case 2: //先回前点
              if(dwTickCount >= MXC_cGouZhenMotorDelay)
              {
                   if(!MXC_GouZhenforward_IN)
                   {                            
                      if((!MXC_StartFirst))    
                      {   
                          offset_len = &MXC_SET_REVISE_ZIPPER_LENGTH;
                          ch = (MXC_SET_ZIPPER_LENGTH + MultLengthOffset(MXC_SET_ZIPPER_LENGTH)+(*offset_len) - MXC_GouzhenMin_Length);          //算出脉冲   
                          
                          if(ch < 0)
                          {
                               MXC_SetAlarmCode(MXC_GOUZHEN_MIN_LENGTH_ALARM);
                               MXC_cGouZhenDWStep = 0;
                          }
                          else
                          {
                              ch = ch - MXC_Gouzhencurrent_L;
                              //DISPLAY_DATA1=ch;
                              //DISPLAY_DATA2=MXC_Gouzhencurrent_L;
//                              if(ch < 0)
//                                MXC_GouzhenMotor_DR = MXC_GZ_DIR_P;
//                              else
//                                MXC_GouzhenMotor_DR = MXC_GZ_DIR_N;
//                           
//                             SetDir(Y_AXIS,MXC_GouzhenMotor_DR);
                              AxisMovePos(Y_AXIS,MXC_GouzhenSpeed_Auto_SPEED,ch);
                              MXC_cGouZhenDWStep = 7;
                          }
                      }
                      else    //等于0时就是第一次,  走手动速度
                      {
                          //MXC_GouzhenMotor_DR = MXC_GZ_DIR_P;
                          if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Hand_SPEED,MXC_GZ_DIR_N,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0);
                          MXC_cGouZhenDWStep = 3;
                      }                       
                   } 
                   else //已在原点直接后移
                   {
                      MXC_cGouZhenDWStep = 4;
                      MXC_GouzhenMotor_DR = MXC_GZ_DIR_N;   //变为后移方向
                   }
                 
              }
        break;
        case 3:
             if(MXC_GouZhenforward_IN)          //感应前点 延时后移
             {
                  MXC_cGouZhenDWStep = 4;
                  AxisEgmStop(Y_AXIS);                  
                  MXC_cGouZhenMotorDelay = dwTickCount +  50;
             }
        break;
        case 4:
             if(dwTickCount >= MXC_cGouZhenMotorDelay)
             {
                //MXC_GouzhenMotor_DR = MXC_GZ_DIR_N;  //变为后移方向
                ch = 5;
                AxisContinueMoveAcc(Y_AXIS,ch,MXC_GZ_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED,0);  //匀速离开零点位置
                MXC_cGouZhenDWStep = 5;
             }            
        break;
        case 5:
             if(!MXC_GouZhenforward_IN)
             {
                  MXC_cGouZhenDWStep = 6;
                  AxisDecStop(Y_AXIS);
             }
        break;
        case 6:  
             if(!Y_DRV)
             {
                 SetPos(Y_AXIS, 0);   //回到原点位置清零
                 //MXC_GouzhenMotor_DR = MXC_GZ_DIR_N;  //变为后移方向
                 offset_len = &MXC_SET_REVISE_ZIPPER_LENGTH;
                 
                 if((MXC_SET_ZIPPER_LENGTH+(*offset_len)+ MultLengthOffset(MXC_SET_ZIPPER_LENGTH)) >= MXC_GouzhenMin_Length)
                 {                   
                    ch = (MXC_SET_ZIPPER_LENGTH + (*offset_len) + MultLengthOffset(MXC_SET_ZIPPER_LENGTH) - MXC_GouzhenMin_Length);          //算出脉冲  
                    //SetDir(Y_AXIS,MXC_GouzhenMotor_DR);
                    AxisMovePos(Y_AXIS,MXC_GouzhenSpeed_Auto_SPEED,ch);
                    MXC_cGouZhenDWStep = 7;
                 }
                 else
                 {
                     MXC_SetAlarmCode(MXC_GOUZHEN_MIN_LENGTH_ALARM);
                     MXC_cGouZhenDWStep = 0;
                 }
             }
  
        break;
        case 7:
          
              if(!Y_DRV)
              {
                  MXC_cGouZhenDWStep = 8;
                  MXC_cGouZhenMotorDelay = dwTickCount +  420;
              }    
              else if((MXC_GouzhenMotor_DR == MXC_GZ_DIR_N) && (MXC_GouZhenback_IN || ((dwYRealPos >= GetData32bits(MXC_N_LIMIT_LENGTH_ADDR)) &&  !MXC_StartFirst)))
              {
                  AxisEgmStop(Y_AXIS);          //立即停
                  MXC_cGouZhenDWStep = 8;
                  MXC_SetAlarmCode(MXC_GOUZHEN_MORE_ALARM);
                  MXC_cGouZhenMotorDelay = dwTickCount +  420;
              }            
        break;
    case 8:
        if(dwTickCount>= MXC_cGouZhenMotorDelay)
        {
            MXC_GouzhenShaChe = 0;     //刹车 
            MXC_cGouZhenDWStep = 0;
            MXC_StartFirst = 0;
        }
        break;
    }
}
#endif