GC19038/Machine/ChangShengGeiLiMachine/GLQueDuanJi.c

#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE

void QueDuan_AlarmProtect(void);
void QueDuan_ManualAction(void);
void QueDuan_AutoAction(void);
void QueDuan_StepCheckStart(void);
void QueDuan_XiaQue(void);
void QueDuan_Motor(void);
void QueDuan_YuanDianAction(void);
void QueDuan_TuiLianAction(void);
void QueDuan_ExtiActionX31(void);
void QueDuan_BingLian(void);
void QueDuan_ShenJiangAction(void);
static unsigned long cZipCnt = 0,cTableCnt = 0,cTuiFangKuaiCnt = 0;
static long save_limit_pos,cRealPos,cRealPosY;
unsigned char cCheckLianFlg = 0;
unsigned char cCheckLianFlgEN = 0;
unsigned char cGoLimitEn    = 0;
unsigned char cLengthErrorFlg = 0;

void QueDuan_ExtiActionX31(void)
{
    cCheckLianFlg = 1;
}

void QD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void QueDuan_InitAction(void)
{
    float length_buff,pulse_buff;
    save_limit_pos = QD_SAVE_POS;
    
    CalFreqTab_X_Free(20);
    length_buff = QD_PARAM_CYCLE_LENGTH;
    pulse_buff  = QD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;
    
    axis_y->speed_unit = 300;  
    length_buff = QD_PARAM_YL_CYCLE_LENGTH;
    pulse_buff  = QD_PARAM_YL_CYCLE_PULSE;
    YGearRatio  = pulse_buff/length_buff;
    
    QD_SZ_OUT   = 1;
    MACHINE_BOOT_WIFI = 1;
}

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

long testFlg = 0;
//手动动作
void QueDuan_ManualAction(void)
{  
    static unsigned short button_cnt;
    if(bRunning == 0)  
    {   
        if(QD_bSetGZMode)
        {
            QD_bSetGZMode = 0;
            if(QD_PARAM_DC_MODE == 0)QD_GZ_VAVLE = 0;
        }
        
        if(dwTickCount >= QD_BUTTONDelay)
        {
            if(QD_bClearTotal) //计数清零
            {                
                QD_BUTTONDelay = dwTickCount+1000;
                button_cnt++;
                if(button_cnt >= 3)
                {
                    ClrcToTal(QD_TOTAL_ADDR);
                    QD_bClearTotal       = 0;
                }
            }
            
            if(QD_bClearNowTotal)
            {
                QD_BUTTONDelay = dwTickCount+1000;
                button_cnt++;
                if(button_cnt >= 3)
                {
                    QD_bClearNowTotal = 0;
                    QD_PARAM_NOW_CNT  = 0;
                }

            }
            
            if(!QD_bClearNowTotal && !QD_bClearTotal)button_cnt = 0;
        }
        

        if(QD_bXiaQie)
        {
            QD_bXiaQie = 0;
            if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;
        }
        
        if(QD_bQianDianDW)
        {
            QD_bQianDianDW = 0;
            if(QD_MotorStep == 0)
            {
                QD_MotorStep = 61;
                cZipCnt      = 0;
            }
        }     
        
        if(QD_bYD)
        {
            QD_bYD = 0;
            QD_YD_VAVLE = ~QD_YD_VAVLE;
        }
        
        if(QD_bGZ)
        {
            QD_bGZ = 0;
            QD_GZ_VAVLE = ~QD_GZ_VAVLE;
        }
        
        if(QD_bJD)
        {
           QD_bJD = 0;
           QD_JD_VAVEL = ~QD_JD_VAVEL;
        }
        
        if(QD_bR_UP)
        {
            QD_bR_UP = 0;
            QD_R_UP_VAVLE = ~QD_R_UP_VAVLE;
        }
        
        if(QD_bR_JD)
        {
            QD_bR_JD = 0;
            QD_R_JD = ~QD_R_JD;
        }
        
        if(QD_bXM)
        {
           QD_bXM = 0;
           QD_XM_VAVLE = ~QD_XM_VAVLE;
        }
        
        if(QD_bSM)
        {
           QD_bSM = 0;
           QD_SM_VAVLE = ~QD_SM_VAVLE;
        }
        
        if(QD_bTFK)
        {
            QD_bTFK = 0;
            QD_TFK_VAVEL = ~QD_TFK_VAVEL;
        }
        
        if(QD_bTB)
        {
            QD_bTB = 0;           
            QD_TABLE_VAVLE = ~QD_TABLE_VAVLE;
        }
        
        if(QD_bYBD)
        {
            QD_bYBD = 0;
            QD_YBD_VAVLE = ~QD_YBD_VAVLE;
        }
        
        if(QD_bTL)
        {
            QD_bTL = 0;
            QD_TL_VAVLE = ~QD_TL_VAVLE;
        }
        
        if(QD_bTestCS)
        {
           QD_bTestCS = 0;
           QD_CS_OUT  = 1;
           QD_CSDelay = dwTickCount + QD_PARAM_CS_TIME;
        }
        
        if(QD_bBL)
        {
            QD_bBL = 0;
            QD_BL_VAVLE = ~QD_BL_VAVLE;
        }
        
        if((QD_XiaQieStep == 0))
        {
            if(dwTickCount >= QD_CSDelay)QD_CS_OUT  = 0;
        }
        
        if(QD_bYuanDianDW)
        {
            QD_bYuanDianDW = 0;
            if(QD_YuanDianStep == 0)QD_YuanDianStep = 1;
        }
        
//电机控制        
        if(QD_bYLBACK_MOTOR)
        {           
            QD_YL_DIR = QD_YL_DIR_P;
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,5, QD_YL_DIR_P,5,10,10);
        }

        if(QD_bYLGO_MOTOR)
        {           
            QD_YL_DIR = QD_YL_DIR_N;
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,5, QD_YL_DIR_N,5,10,10);
        }
        
        if(!QD_bYLBACK_MOTOR && !QD_bYLGO_MOTOR && (QD_MotorStep == 0))
        {
            if(Y_DRV)AxisDecStop(Y_AXIS);
        }
        
        if(QD_bYL)
        {
            QD_YL_VAVLE = ~QD_YL_VAVLE;
        }
        
        if(QD_bBackMotor && !QD_BACK_LIMIT_IN)
        {
            QD_SZ_OUT   = 0;
            
            QD_JZ_DIR   = QD_YDIR_P;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, 5,5,10,10);
        }
        
        if(!QD_bGoMotor && !QD_bBackMotor && (QD_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QD_QIAN_LIMIT_IN && (QD_MotorStep == 0) && !QD_bBackMotor &&(QD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
        if(QD_bGoMotor && !QD_QIAN_LIMIT_IN)
        {           
            QD_SZ_OUT   = 0;
            QD_JZ_DIR   = QD_YDIR_N;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QD_DIR_N, 5,5,10,10);
        }
        
        if(QD_bCQ)
        {
            QD_bCQ = 0;
            QD_CQ_VAVLE = 1;
            QD_CQDelay = dwTickCount + QD_PARAM_CQ_TIME;
        }
    }

    if(QD_CQ_VAVLE && (dwTickCount >= QD_CQDelay) && (QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI))QD_CQ_VAVLE = 0;
}

void QueDuan_ShenJiangAction(void)
{
    
    switch(QD_ShenJiangStep)
    {
        case 0:break;
        case 1:
            QD_R_UP_VAVLE = 1;
            QD_R_JD = 0;
            QD_ShenJiangDelay = dwTickCount + QD_PARAM_SJ_TIME;
            QD_ShenJiangStep = 2;
        break;
        case 2:
            if(dwTickCount >= QD_ShenJiangDelay)
            {
               QD_R_JD = 1;
               QD_ShenJiangDelay = dwTickCount + QD_PARAM_SJ_JZ_TIME;
               QD_ShenJiangStep = 3;
            }
        break;
        case 3:
            if(dwTickCount >= QD_ShenJiangDelay)
            {
               QD_JD_VAVEL      = 0;
               QD_R_UP_VAVLE    = 0;
               QD_ShenJiangStep = 4;
               QD_ShenJiangDelay = dwTickCount + QD_PARAM_DELAY_GO;
            }
        break;    
        case 4:
            if(dwTickCount >= QD_ShenJiangDelay)
            {
               QD_JZ_DIR   = QD_YDIR_N;
               if(QD_YL_ORIGIN_IN && (QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI))
                   if(!X_DRV)MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);//
               else
                   AxisMovePos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LENGTH);     
               QD_ShenJiangStep = 5;
            }
        break;  
        case 5:
            if(!X_DRV)
            { 
               QD_R_JD = 0;
               QD_ShenJiangStep = 0;
            }
        break;  
       case 6:
            { 
               QD_R_JD = 0;
               QD_ShenJiangStep = 0;
            }
        break;  
    }
}


void QueDuan_YuanDianAction(void)
{
    switch(QD_YuanDianStep)
    {
        case 0:break;
        case 1:
            if(QD_MotorStep == 0)QD_MotorStep = 61;
            QD_YuanDianStep = 2;
        break;
        case 2:
            if(QD_MotorStep == 0)
            {
               QD_MotorStep = 30;
               QD_YuanDianStep = 3;
               QD_JD_VAVEL = 1;
            }
        break;
        case 3:
           if(QD_MotorStep == 0)
           {
               QD_MotorStep = 0;
               QD_YuanDianStep = 0;
           }
        break;
    }
}


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

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

void QueDuan_AutoAction(void)
{  
    if(bRunning)
    {
        if(dwTickCount >= QD_TBDelay)QD_TABLE_VAVLE = 0;
        switch(QD_AutoStep)
        {
            case 1:
                  if(dwTickCount >= QD_AutoDelay)
                  {	
                      QD_AutoStep = 2;	    
                      if(QD_MotorStep == 0)
                      {
                          QD_MotorStep = 61;   //前点定位
                      }
                  }	
                  break;	
            case 2:	 
                  if(QD_MotorStep == 0)
                  {   
                      QD_MotorStep = 30;  
                      QD_AutoStep = 3;	    
                  }
                  break;	
            case 3:	
                  if(QD_MotorStep == 0)
                  {   
                      {
                          if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;                 
                          QD_AutoStep = 4;	   
                      }
                  }              
                  break;
            case 4:
                  if(QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI)
                  {
                      if(QD_PARAM_LONG_MODE)
                      {
                          if((QD_XiaQieStep == 0) && !QD_SHANG_MU_LIMIT_IN)
                          {
                             if(QD_MotorStep == 0) 
                             {
                                 QD_MotorStep = 50; 
                                  QD_AutoStep = 5;	   
                             }
                          }
                          
                      }
                      else
                      {
                          if(((QD_XiaQieStep == 0) || (QD_XiaQieStep == 5)) && !QD_SHANG_MU_LIMIT_IN)
                          {
                              if(QD_MotorStep == 0) 
                              {
                                  QD_MotorStep = 40;     //切完后退
                                  QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                              }
                              QD_AutoStep = 5;	    
                          }                      
                      }
                  }
                  else
                  {
                      if(QD_PARAM_LONG_MODE)
                      {
                          if((QD_XiaQieStep == 0) && !QD_SHANG_MU_LIMIT_IN)
                          {
                             if(QD_MotorStep == 0) 
                             {
                                 QD_MotorStep = 50; 
                                  QD_AutoStep = 5;	   
                             }
                          }
                          
                      }
                      else
                      {
                          if(((QD_XiaQieStep == 0) || (QD_XiaQieStep == 7)) && !QD_SHANG_MU_LIMIT_IN)
                          {
                              if(QD_MotorStep == 0) 
                              {
                                  QD_MotorStep = 40;     //切完后退
                                  QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                              }
                              QD_AutoStep = 5;	    
                          }                      
                      }                 
                  }
                  break;
            case 5:	 
                  if(QD_MotorStep == 0)
                  {
                      cZipCnt++;
                      cTableCnt++;
                      AddToTal(QD_TOTAL_ADDR);
                      CalProSP(QD_PROSPEED_ADDR);
                      QD_PARAM_NOW_CNT++;
                      if(cTableCnt >= QD_PARAM_TABLE_NUM)
                      {
                          cTableCnt = 0;
                          QD_TABLE_VAVLE = 1;
                          QD_TBDelay = dwTickCount + QD_PARAM_TB_TIME;
                      }
                                            
                      QD_AutoStep = 1; 
                      
                      if(QD_PARAM_ZHA_SHU == 0)
                      {
                          if(QD_PARAM_LONG_MODE)
                              QD_AutoDelay = dwTickCount + QD_PARAM_DELAY_LONG_GO;
                          else
                              QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
                      }
                      else
                      {
                          if(QD_PARAM_NOW_CNT >= QD_PARAM_ZHA_SHU)    
                          {
                              QD_PARAM_NOW_CNT = 0;
                              QD_AutoDelay = dwTickCount + QD_PARAM_ZS_STOP_TIME + QD_PARAM_CYCLE_DELAY;
                          }                      
                      }                        
                  }
                  break;
        }	
    }
}

void QueDuan_StepCheckStart(void)
{
  
     if(bRunning)
         QD_PARAM_RUN_STATE = 1;
     else
         QD_PARAM_RUN_STATE = 0;
         
//		启动      			
    if((QD_START_IN_UP) || bStart || QD_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (QD_AutoStep == 0))
        {
            if((QD_XIA_MU_LIMIT_IN && (QD_PARAM_CS_MODE == 1)))QD_SetAlarmCode(QD_XM_DAOWEI);
            else if(GetAlarmCode(QD_ALARM_ADDR) != 0);
            else if(QD_BL_VAVLE)QD_SetAlarmCode(QD_BL_ALARM);
            else if(QD_SM_VAVLE)QD_SetAlarmCode(QD_SM_ALARM);
            else if(!QD_YL_ORIGIN_IN)QD_SetAlarmCode(QD_YL_LIMIT_ALARM);
            else if(QD_STOP_IN)QD_SetAlarmCode(QD_STOP_IN_ALARM);
            else if(QD_SHANG_MU_LIMIT_IN)QD_SetAlarmCode(QD_SM_DAOWEI);
            else if(!QD_SHANG_MU_ORIGIN_IN)QD_SetAlarmCode(QD_SM_YUANWEI);
            else
            {
                bRunning    = 1;
                QD_AutoStep = 1;
                if(QD_bSingle) SingOneFlg= 1;
                else SingOneFlg= 0;
                cZipCnt      = 0;
                cTuiFangKuaiCnt = 0;
                cLengthErrorFlg = 0;
                if(GetAlarmCode(QD_ALARM_ADDR) != QD_NO_ALARM)SetAlarmCode(QD_ALARM_ADDR,QD_NO_ALARM);
            }
        }
        QD_bSingle = 0;
    }


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

void QueDuan_Motor_CS(void)
{
        static long save_buff,gou_zhen_buff,go_buff,jz_buff,go_length_buff,guo_lian_buff,xhg_buff,fz_buff,length_buff;        
	
        user_datas[121]= QD_MotorStep;
        user_datas[122] = QD_AutoStep;
        user_datas[123]= go_length_buff;


         user_datas[124] = QD_BinLianStep;
         user_datas[126]  = cRealPosY;
         user_datas[127]  = cRealPos;
        switch(QD_MotorStep)
	{
                case 30:
                        QD_MotorStep   = 31;
                        if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                        break;
                case 31:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPos;
                            QD_JZ_DIR   = QD_YDIR_P;
                            if(QD_PARAM_DEC_MODE == 1) // 记忆长度模式
                            {
                                if(cZipCnt < 2)
                                {
                                    MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_FIRST_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
                                }
                                else
                                {
                                    AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-length_buff);
                                    MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,5)));  
                                }
                            }
                            else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
                            {
                                    if(QD_PARAM_LONG_MODE)
                                        AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-(QD_PARAM_YL_TRANS_LENGTH));
                                    else
                                        MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
                            }
                            else                  //长度输入
                            {
                                AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-(QD_PARAM_ZIPPER_LENGTH - QD_PARAM_OFFSET_LENGTH));
                                MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,5)));  
                            }
                                      
                            if(QD_PARAM_LONG_MODE)
                                QD_MotorStep   = 128;
                            else
                                QD_MotorStep   = 32;
                        }
			break; 
		case 32:
                         if(QD_PARAM_DEC_MODE == 1) // 记忆长度模式
                         {
                              if(cZipCnt < 2)
                              {
                                 if(QD_GUO_LIAN_IN_UP)
                                 {
                                     QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                     QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                     fz_buff    = cRealPos;
                                     QD_MotorStep   = 33;
                                 }
                              }
                              else
                              {
                                 if((cRealPos - gou_zhen_buff) >= (length_buff - QD_PARAM_DELAY_XM_LENGTH))QD_XM_VAVLE    = 1;                              
                                 
                                 if(QD_PARAM_GOUZHEN_LENGTH != 0)
                                 {
                                     if((cRealPos - gou_zhen_buff) >= (length_buff - QD_PARAM_GOUZHEN_LENGTH))QD_GZ_VAVLE    = 1;  
                                 }
                                 if(!X_DRV)
                                 {
                                     QD_GZ_VAVLE    = 1;
                                     QD_XM_VAVLE    = 1;     
                                     QD_MotorStep   = 0;
                                 }                            
                              }

                         }
                         else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
                         {
                               if(QD_PARAM_SPEED_MODE)
                               {
                                     if(QD_GUO_LIAN_IN_UP)
                                     {
                                          QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                          QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                          MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                          fz_buff = cRealPos;
                                          QD_MotorStep   = 33;
                                     }     
                                     else if((cRealPos - save_buff) >= (length_buff - PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_ACC_SPEED))))
                                          MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                               }
                               else
                               {
                                     if(QD_GUO_LIAN_IN_UP)
                                     {
                                          QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                          QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                          fz_buff = cRealPos;
                                          MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                          QD_MotorStep   = 33;
                                     }                                         
                               }
                         }
                         else
                         {
                               if((cRealPos - gou_zhen_buff) >= ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_OFFSET_LENGTH) - QD_PARAM_DELAY_XM_LENGTH))QD_XM_VAVLE    = 1;                              
                               if(QD_PARAM_GOUZHEN_LENGTH != 0)
                               {
                                   if((cRealPos - gou_zhen_buff) >= (QD_PARAM_ZIPPER_LENGTH - QD_PARAM_GOUZHEN_LENGTH))QD_GZ_VAVLE    = 1;  
                               }                           
                               if(!X_DRV)
                               {
                                   QD_GZ_VAVLE    = 1;
                                   QD_XM_VAVLE    = 1;     
                                   QD_MotorStep   = 0;
                               }  
                         }                       
			break;
                case 33:
                         if(QD_PARAM_DEC_MODE==1) 
                         {     
                               if(cZipCnt < 2)
                               {
                                   if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPos;
                                   if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                                   if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                                   if((cRealPos - fz_buff) >= QD_PARAM_DELAY_CHECK)
                                   {
                                       if(QD_GUO_LIAN_IN_DW)
                                       {
                                            guo_lian_buff = cRealPos;
                                            QD_MotorStep   = 34;
                                       }     
                                   } 
                               }
                               else
                               {
                               
                               }
                         }
                         else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
                         {
                               if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPos;
                               if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                               if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                               if((fz_buff - cRealPos) >= QD_PARAM_DELAY_CHECK)
                               {
                                   if(QD_GUO_LIAN_IN_DW)
                                   {
                                        guo_lian_buff = cRealPos;
                                        QD_MotorStep   = 34;
                                   }     
                               } 
                         }
                         else
                         {

                         }
                        break;
                case 34:
                     if(QD_PARAM_DEC_MODE==1) 
                     {    
                          if(cZipCnt < 2)
                          {
                              if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                              if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                              if((cRealPos - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                              {
                                  AxisEgmStop(X_AXIS);  
                                  QD_MotorStep   = 35;       
                              }
                          }
                          else
                          {
                              if((cRealPos - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                              {
                                  AxisEgmStop(X_AXIS);  
                                  QD_MotorStep   = 35;       
                              }
                          }
                     }
                     else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
                     {
                          if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                          if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                          if((guo_lian_buff - cRealPos) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                          {
                              AxisEgmStop(X_AXIS);  
                              QD_MotorStep   = 35;       
                          }                     
                     }
                     else
                     {     
                     }                          
                     break;
		case 35:	
                     if(!X_DRV)
                     {                    
                          if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
                          {                            
                               if(!X_DRV)
                               {
                                    if(cZipCnt == 0);
                                    else if(cZipCnt == 1)
                                    {
                                        length_buff = save_buff - cRealPos;
                                         SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH);
                                    }
                                    else
                                    {
                                       if((save_buff - cRealPos) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
                                           QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                       else if((save_buff - cRealPos)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
                                           QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
                                       else;
                                    }
                                    QD_MotorStep   = 0;                          
                               }   
                              
                          }
                          else
                          {
                               if(cZipCnt == 1)
                              {
                                  length_buff = cRealPos - save_buff;
                                   SetData32bits(1,length_buff + QD_PARAM_OFFSET_LENGTH);
                              }
                              if(cZipCnt == 0)
                              {
                                 go_length_buff = cRealPos - save_buff;
                              }  
                          }
                          
                           QD_XM_VAVLE = 1;
                           QD_GZ_VAVLE = 1;
                           QD_MotorStep   = 0;                          
                     }
			break;
		case 40:
                           if(dwTickCount >= QD_MotorDelay)
                           {
                                jz_buff = cRealPos;
                                
                                if(QD_PARAM_SJZ_LENGTH == 0)
                                {
                                    QD_JD_VAVEL = 0; 
                                } 
                                QD_MotorDelay  = dwTickCount + QD_PARAM_DELAY_SJ_TIME;
                                QD_MotorStep   = 41;
 
                           }
                            break;
 
                case 41:   if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
                           { 
                               AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                               QD_MotorStep   = 42;   
                           }
                           break;
		case 42:	 
                          // 切断完成后拉电机动作
                           if(dwTickCount >= QD_MotorDelay)
                           {
                                if(((QD_PARAM_SJZ_LENGTH) <= (jz_buff-cRealPos)))
                                {
                                    QD_JD_VAVEL = 0;
                                    QD_MotorStep   = 43;
                                }
                                else if(!X_DRV)
                                {
                                    QD_JD_VAVEL = 0;
                                    QD_MotorStep   = 43;
                                }
                           }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QD_MotorStep   = 0;
                                QD_MotorDelay  =    dwTickCount;
                            }
                        
                        break;   
		case 50:
                           if(!Y_DRV)
                           {
                                QD_MotorStep   = 51;
                                QD_YL_DIR = QD_YL_DIR_P;
                                if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS, QD_PARAM_BACK_SPEED,QD_YL_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
                                QD_MotorDelay = dwTickCount + QD_PARAM_YL_SL_TIME;
                                QD_YLBackDelay = dwTickCount + QD_PARAM_DELAY_YL_BACK;
                           }
                            break;
                case 51:   if(dwTickCount >= QD_MotorDelay)
                           { 
                               AxisEgmStop(Y_AXIS);
                               QD_MotorStep   = 52;   
                           }
                           if(dwTickCount >= QD_YLBackDelay) QD_YL_VAVLE    = 0;
                           break; 
                case 52:   if(!Y_DRV)
                           { 
                                QD_YL_VAVLE    = 0;
                                QD_MotorStep   = 0;   
                           }
                           break;
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                        
                        if(!QD_TL_VAVLE)
                        {
                            if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0))
                            {
                                 QD_TuiLianStep = 1;
                            }                          
                        }        
                        QD_MotorStep = 62;
                        break;
                case 62:
                         if((QD_ShenJiangStep == 0) && QD_YL_ORIGIN_IN)
                         {
                             QD_MotorStep = 63;
                         }
                case 63:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
                            {
                                QD_JZ_DIR   = QD_YDIR_P;
                                AxisMovePos(X_AXIS,20,-2000);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 64;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 64:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN && !QD_JD_IN)
                        {
                            go_buff  = cRealPos;
                            QD_JZ_DIR   = QD_YDIR_N;
             
                            if((cZipCnt > 0) || (QD_PARAM_DEC_MODE == 2))
                            {
                                 MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);//
                            }
                            else
                            {
                                 MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
                            }
                      
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   =65;
                        }  
			break;
                case 65:           
                        if(cZipCnt > 0)
                        {
                            if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
                            {
                              if(((go_buff - cRealPos) > ((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
                              {                   
                                  MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                  QD_MotorStep   =66;
                              }
                            }
                            else if(QD_PARAM_DEC_MODE == 2) //纯感应方式
                            {
                                if(QD_PARAM_LONG_MODE)
                                {
                                    if(QD_QIAN_DEC_IN_UP)
                                    {                   
                                        MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                        QD_MotorStep   =66;
                                    }    
                                }
                                else
                                {
                                    if((QD_QIAN_DEC_IN_UP && !QD_PARAM_SPEED_MODE) 
                                    || ((QD_QIAN_DEC_IN_UP  || ((go_buff - cRealPos) > (go_length_buff - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) ) && QD_PARAM_SPEED_MODE))
                                    {                   
                                        MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                        QD_MotorStep   =66;
                                    }                                
                                 }
                            }
                            else
                            {
                               if(((go_buff - cRealPos) > ((go_length_buff - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
                              {                   
                                  MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                  QD_MotorStep   =66;
                              }                           
                            }
                               
                        }
                        else
                        {
                            if(QD_PARAM_DEC_MODE == 2) //纯感应方式
                            {
                               if(QD_QIAN_DEC_IN_UP)
                              {                   
                                  MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                  QD_MotorStep   =66;
                              }                                
                            }
                            else  
                              QD_MotorStep   =66;
                        }   
                        
                        break;
		case 66:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_JD_DELAY;
                            QD_MotorStep   = 67;                            
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                        break;
		case 67:
                        if(!X_DRV && (dwTickCount >= QD_MotorDelay))
                        {   
                            QD_JD_VAVEL = 1;
                            QD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
                            QD_MotorStep   = 68;
                            
                        }
			break;   
		case 68:
                        if(1)
                        {
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                            QD_MotorStep   = 69;
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_SetAlarmCode(QD_JD_IN_ALARM); 
                        }
			break;
                case 69:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_TFK_VAVEL   = 0;
                            QD_TL_VAVLE    = 0;
                            QD_MotorStep   = 0;
                        }
                        break;
                case 128:
                          
                        if(!X_DRV)
                        {
                            if(QD_QIAN_DEC_IN || QD_QIAN_LIMIT_IN)
                            {
                                  QD_SetAlarmCode(QD_DEC_ALARM);
                            }
                            else
                            {
                                QD_MotorStep   = 129;
                                QD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
                                QD_YL_VAVLE    = 1;
                                
                                if(!QD_PARAM_SJ_ENABLE)
                                {
                                    QD_ShenJiangStep = 0;
                                    QD_R_UP_VAVLE = 0;
                                    QD_R_JD = 0;
                                }
                                else
                                {
                                    if(QD_ShenJiangStep == 0)QD_ShenJiangStep = 1;                            
                                }

                                QD_YL_DIR = QD_YL_DIR_P;
                            }
                        }
                        else
                        {
                               if(QD_GUO_LIAN_IN_UP)
                               {
                                    QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                    MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                    fz_buff = cRealPosY;
                                    QD_MotorStep   = 150;
                               }  
                               else
                               {
                                    if(QD_GOUZHEN_IN)
                                    {
                                        QD_SetAlarmCode(QD_GZ_ALARM);
                                    }
                               }
                        }
                        break;
                case 150:
                         if(dwTickCount >= QD_GZDelay)
                         {
                             QD_GZ_VAVLE = 1;
                             QD_MotorStep   = 151;
                         }
                        break;
                case 151:
                         if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPos;
                         if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                         if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                         if((cRealPosY - fz_buff) >= QD_PARAM_DELAY_CHECK)
                         {
                             if(QD_GUO_LIAN_IN_DW)
                             {
                                  guo_lian_buff = cRealPos;
                                  QD_MotorStep   = 152;
                             }     
                         } 
                break;
                case 152:
                {
                    if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                    if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                    if((cRealPosY - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                    {
                        AxisEgmStop(Y_AXIS);  
                        QD_MotorStep   = 153;
                    }
                }
                break;
                case 153:
                {
                     if(!Y_DRV)
                    {
                         QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                    }
                }
                break;
                case 129:
                        if(!QD_YL_ORIGIN_IN)
                        {
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_YL;
                            QD_MotorStep   = 131;
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                            QD_SetAlarmCode(QD_YL_LIMIT_ALARM); 
                        break;
                case 131:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPosY;
                                              
                            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS, QD_PARAM_YL_HIGH_SPEED,QD_YL_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);

                            QD_MotorStep   = 132;
                        }
			break; 
		case 132:
                         if(QD_GUO_LIAN_IN_UP)
                         {
                              QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                              QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                              AxisChangeSpeed(Y_AXIS,QD_PARAM_YL_LOW_SPEED);
                              fz_buff = cRealPosY;
                              QD_MotorStep   = 133;
                         }                                                                    
			break;
                case 133:
                         if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPosY;
                         if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                         if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                         if((fz_buff-cRealPosY) >= QD_PARAM_DELAY_CHECK)
                         {
                             if(QD_GUO_LIAN_IN_DW)
                             {
                                  guo_lian_buff = cRealPos;
                                  QD_MotorStep   = 134;
                             }     
                         } 
                        break;
                case 134:
                        if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                        if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                        
                        if((guo_lian_buff-cRealPosY) >= QD_PARAM_MOTOR_DELAY_LENGTH)                 
                        {
                            AxisEgmStop(Y_AXIS);  
                            QD_XM_VAVLE    = 1;
                            QD_MotorStep   = 135;
                        }                                                
                        break;
                case 135:
                       if(!Y_DRV)
                       {
                           QD_YL_DIR = QD_YL_DIR_N;
                           AxisMovePos(Y_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);     
                           QD_MotorStep   = 136;
                       }                                                   
                        break;
		case 136:	
                        if(cZipCnt == 0);
                        else if(cZipCnt == 1)
                        {
                            length_buff = save_buff - cRealPosY;
                        }
                        else
                        {

                        }
                        QD_MotorStep   = 0;                                                       
			break;                              
	}
}


void QueDuan_BingLian(void)
{
    static long bl_pos_buff;
    user_datas[125]=  bl_pos_buff - cRealPos;
    switch(QD_BinLianStep)
    {
        case 0:break;
        case 1:
              bl_pos_buff = cRealPos;
              QD_BinLianStep = 2;
        break;       
        case 2:
              if((bl_pos_buff - cRealPos) >= QD_PARAM_DELAY_HL_LENGTH)
              {
                   QD_BL_VAVLE = 1;   
                   QD_BinLianStep = 3;
              }
             
        break;
        case 3:
              if(QD_GUO_LIAN_IN_DW)
              {
                  QD_BLDelay = dwTickCount + QD_PARAM_DELAY_BL_BACK;
                  QD_BinLianStep = 4;
              }
        break;
        case 4:
              if(dwTickCount >= QD_BLDelay)
              {
                   QD_BL_VAVLE = 0;   
                   QD_BinLianStep = 0;
              }
        break;
    default:;    
    }
    
}


//不带过链感应长度输入电机长度
void QueDuan_Motor_NoGL(void)
{
    static long save_buff,gou_zhen_buff,go_buff,jz_buff,go_length_buff,guo_lian_buff,fz_buff,length_buff;
    static long save_pos_y;
    user_datas[121]= QD_MotorStep;
    user_datas[122] = QD_AutoStep;
    user_datas[123]= go_length_buff;


     user_datas[124] = QD_BinLianStep;
     user_datas[126]  = cRealPosY;
     user_datas[127]  = cRealPos;
        
 
	switch(QD_MotorStep)
	{
                case 30:
                        QD_MotorStep   = 31;
                        if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                        break;
                case 31:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPos;
                            QD_JZ_DIR   = QD_YDIR_P;
                            if(QD_PARAM_DC_MODE)   // 带钩针模式
                            {
                                if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
                                    MoveAction_Const_Back(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH) - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
                                 else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
                                {
                                    if(QD_PARAM_LONG_MODE)
                                        AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-(QD_PARAM_YL_TRANS_LENGTH));
                                    else
                                        MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
                                }
                                else                  //感应方式
                                {
                                    if(cZipCnt < 2)
                                    {
                                        MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_FIRST_SPEED,QD_PARAM_MIN_SPEED,10,30);
                                    }
                                    else
                                    {
                                        MoveAction_Const_Back(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,(length_buff - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
                                    }
                                }
                            }
                            else   // 不带钩针
                            {
                                if(QD_PARAM_DEC_MODE==1) // 长度输入模式
                                {
                                    AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-(QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH));   
                                    MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,5)));  
                                } 
                                else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
                                {
                                    MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_BACK_SPEED,1,10,30);
                                }
                                else                 // 感应方式
                                {
                                    if(cZipCnt < 2)
                                    {
                                        MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_FIRST_SPEED,1,10,30);
                                    }
                                    else
                                    {
                                        MoveAction_Const_Back(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,(length_buff - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
                                    }
                                }
                            }
                            if(QD_PARAM_LONG_MODE)
                                QD_MotorStep   = 128;
                            else
                                QD_MotorStep   = 32;
                        }
			break; 
		case 32:
                       if(QD_PARAM_DC_MODE)   // 带钩针模式
                       {
                           if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
                           {
                               if(((cRealPos - gou_zhen_buff) > ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)))QD_GZ_VAVLE = 1;
                               if((cRealPos - gou_zhen_buff) >= ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH) - (QD_PARAM_DELAY_XM_LENGTH)))QD_XM_VAVLE    = 1;                              
                           
                               if(!X_DRV)
                               {
                                   QD_YD_VAVLE = 1;
                                   QD_XM_VAVLE    = 1;  
                                   AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);     
                                   QD_MotorStep   = 33;
                               }
                               else if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH)) && QD_GZ_VAVLE)
                               {
                                   QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                               }
                           }
                           else if(QD_PARAM_DEC_MODE == 2)
                           {
                               if(QD_PARAM_SPEED_MODE)
                               {
                                     if(QD_GUO_LIAN_IN_UP)
                                     {
                                          QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                          QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                          MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                          QD_MotorStep   = 33;
                                     }     
                                     else if((cRealPos - save_buff) >= (length_buff - PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_ACC_SPEED))))
                                          MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                               }
                               else
                               {
                                     if(QD_GUO_LIAN_IN_UP)
                                     {
                                          QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                          QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                          MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                          QD_MotorStep   = 33;
                                     }                                         
                               }
                                        
                           }
                           else
                           {
                               if(cZipCnt < 2)
                               {
                                   if(QD_GUO_LIAN_IN_UP)
                                   {
                                        QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                        MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                        QD_MotorStep   = 33;
                                   }
                               }
                               else
                               {
                                   if(((cRealPos - gou_zhen_buff) > ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)))QD_GZ_VAVLE = 1;
                                   if((cRealPos - gou_zhen_buff) >= ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH) - (QD_PARAM_DELAY_XM_LENGTH)))QD_XM_VAVLE    = 1;                              
                               
                                   if(!X_DRV)
                                   {
                                       QD_YD_VAVLE = 1;
                                       QD_XM_VAVLE    = 1;  
                                       AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);     
                                       QD_MotorStep   = 33;
                                   }
                                   else if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH)) && QD_GZ_VAVLE)
                                   {
                                       QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                   }                               
                               }
                           }
                           
                       }
                       else
                       {
                           if(QD_PARAM_DEC_MODE==1) // 长度输入模式
                           {
                               if((cRealPos - gou_zhen_buff) >= ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH) - (QD_PARAM_DELAY_XM_LENGTH)))QD_XM_VAVLE    = 1;                              
                           
                               if(!X_DRV)
                               {
                                   QD_YD_VAVLE = 1;
                                   QD_XM_VAVLE    = 1;       
                                   QD_MotorStep   = 0;
                               }
                           }
                           else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
                           {
                               if(QD_GUO_LIAN_IN_UP)
                               {
                                    QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                    MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                    fz_buff    = cRealPos;
                                    QD_MotorStep   = 33;
                               }                               
                           }
                           else                 //感应方式
                           {
                               
                               if(QD_GUO_LIAN_IN_UP)
                               {
                                    QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                    MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                    fz_buff    = cRealPos;
                                    QD_MotorStep   = 33;
                               }                           
                           }
                       }
                       
			break;
                case 33:
                       if(QD_PARAM_DC_MODE)   // 带钩针模式
                       {
                           if(QD_PARAM_DEC_MODE==1) // 长度输入模式
                           {
                                if(!X_DRV)
                               {   
                                   QD_MotorStep   = 0;
                               }                               
                           }
                           else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
                           {
                              if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                              if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                              
                              if(QD_GOUZHEN_IN)
                              {
                                  AxisEgmStop(X_AXIS);  
                                  QD_XM_VAVLE    = 1;
                                  QD_YD_VAVLE = 1;
                                  QD_MotorStep   = 34;
                              }                         
                           }
                           else
                           {
                               if(cZipCnt < 2)
                               {                         
                                    if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                                    if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                                    
                                    if(QD_GOUZHEN_IN)
                                    {
                                        AxisEgmStop(X_AXIS);  
                                        QD_XM_VAVLE    = 1;
                                        QD_MotorStep   = 34;
                                    }
                               }
                               else
                               {
                                    if(!X_DRV)
                                   {   
                                       QD_MotorStep   = 0;
                                   }                                   
                               }
                           }
                           
                       }
                       else
                       {
                           if(QD_PARAM_DEC_MODE==1) // 长度输入模式
                           {

                           }
                           else if(QD_PARAM_DEC_MODE==2) //纯感应模式
                           {
                              if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                               if((cRealPos - fz_buff) >= QD_PARAM_DELAY_CHECK)
                               {
                                   if(QD_GUO_LIAN_IN_DW)
                                   {
                                        guo_lian_buff = cRealPos;
                                        QD_MotorStep   = 34;
                                   }     
                               }                           
                           }
                           else                 //感应方式
                           {
                              if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                               if((cRealPos - fz_buff) >= QD_PARAM_DELAY_CHECK)
                               {
                                   if(QD_GUO_LIAN_IN_DW)
                                   {
                                        guo_lian_buff = cRealPos;
                                        QD_MotorStep   = 34;
                                   }     
                               }
                           }
                       }
                        break;
                case 34:
                       if(QD_PARAM_DC_MODE)   // 带钩针模式
                       {
                           if(QD_PARAM_DEC_MODE==1) // 长度输入模式
                           {

                           }
                           else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
                           {
                             //  if(!X_DRV)
                               {
                                   {
                                       QD_YD_VAVLE = 1; 
                                       QD_JZ_DIR   = QD_YDIR_N;
                                       AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);     
                                       QD_MotorStep   = 35;
                                   }
                               }                           
                           }
                           else
                           {                            
                               if(!X_DRV)
                               {
                                   QD_YD_VAVLE = 1; 
                                   
                                   if(cZipCnt == 1)
                                  {
                                      length_buff = cRealPos - save_buff;
                                       SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH + QD_PARAM_TC_LENGTH);
                                  }
                                 else if(cZipCnt == 0)
                                  {
                                     go_length_buff = cRealPos - save_buff;
                                  }
                                  else
                                  {
                                      if((cRealPos - save_buff) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
                                      {
                                         QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                         cLengthErrorFlg = 1;
                                      }
                                      else if((cRealPos - save_buff)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
                                      {
                                         QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
                                         cLengthErrorFlg = 1;
                                      }
                                      else;
                                  }
                                  
                                   AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);     
                                   QD_MotorStep   = 35;
                               }
                           }
                           
                       }
                       else
                       {
                           if(QD_PARAM_DEC_MODE==1) // 长度输入模式
                           {

                           }
                           else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
                           {
                                if((cRealPos - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                                {
                                    AxisEgmStop(X_AXIS);  
                                    QD_MotorStep   = 35;       
                                }                          
                           }
                           else                 //感应方式
                           {
                                if((cRealPos - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                                {
                                    AxisEgmStop(X_AXIS);  
                                    QD_MotorStep   = 35;       
                                }
                           }
                       }
                        break;
		case 35:	
                        if(QD_PARAM_DC_MODE)   // 带钩针模式
                       {
                           if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
                           {

                           }
                           else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
                           {
                               if(!X_DRV)
                               {
                                    if(cZipCnt == 0);
                                    else if(cZipCnt == 1)
                                    {
                                        length_buff = cRealPos - save_buff;
                                         SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH);
                                    }
                                    else
                                    {
                                       if((cRealPos - save_buff) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
                                           QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                       else if((cRealPos - save_buff)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
                                           QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
                                       else;
                                    }
                                    QD_MotorStep   = 0;                          
                               }                               
                           }
                           else
                           {
                               if(!X_DRV)
                               {
                                    QD_MotorStep   = 0;                          
                               }                                                      
                           }
                       }
                       else
                       {
                           if(QD_PARAM_DEC_MODE==1) // 长度输入模式
                           {

                           }
                           else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
                           {
                               if(!X_DRV)
                               {
                                    if(cZipCnt == 0);                                  
                                    else if(cZipCnt == 1)
                                    {
                                        length_buff = cRealPos - save_buff;
                                         SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH);
                                    }
                                    else
                                    {
                                       if((cRealPos - save_buff) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
                                           QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                       else if((cRealPos - save_buff)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
                                           QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
                                       else;
                                    }                      
                                    QD_MotorStep   = 0;                          
                               }                             
                           }
                           else
                           {
                               if(!X_DRV)
                               {
                                     if(cZipCnt == 1)
                                    {
                                        length_buff = cRealPos - save_buff;
                                         SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH);
                                    }
                                    else if(cZipCnt == 0)
                                    {
                                       go_length_buff = cRealPos - save_buff;
                                    }   
                                    else
                                    {                                    
                                       if((cRealPos - save_buff) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
                                           QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                       else if((cRealPos - save_buff)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
                                           QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
                                       else;
                                    }
                                    QD_MotorStep   = 0;                          
                               }                                                      
                           }                         
                       }

			break;
		case 40:
                           if(dwTickCount >= QD_MotorDelay)
                           {
                                jz_buff = cRealPos;
                                QD_JZ_DIR   = QD_YDIR_P;
                                if(QD_PARAM_SJZ_LENGTH == 0)
                                {
                                    QD_JD_VAVEL = 0; 
                                } 
                                QD_MotorDelay  = dwTickCount;
                                QD_MotorStep   = 41;
 
                           }
                            break;
 
                case 41:   if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
                           { 
                               AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                               QD_MotorStep   = 42;   
                           }
                           break;
		case 42:	 
                          // 切断完成后拉电机动作
                           if(dwTickCount >= QD_MotorDelay)
                           {
                                if(QD_PARAM_GZ_BACK_DELAY_LENGTH<= (jz_buff - cRealPos))QD_GZ_VAVLE = 0;
                                if(((QD_PARAM_SJZ_LENGTH) <= (jz_buff - cRealPos)))
                                {
                                    QD_JD_VAVEL = 0;
                                    QD_GZ_VAVLE = 0;
                                    QD_MotorStep   = 43;
                                }
                                else if(!X_DRV)
                                {
                                    QD_JD_VAVEL = 0;
                                    QD_MotorStep   = 43;
                                }
                           }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QD_MotorStep   = 0;
                                QD_MotorDelay  =    dwTickCount;
                            }                      
                        break;  
		case 50:
                           if(!Y_DRV)
                           {
                                QD_MotorStep   = 51;
                                QD_YL_DIR = QD_YL_DIR_P;
                             //   AxisMovePos(Y_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_YL_SL_LENGTH); 
                                if(QD_PARAM_YL_SL_TIME != 0)
                                {
                                    if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS, QD_PARAM_BACK_SPEED,QD_YL_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
                                    QD_MotorDelay = dwTickCount + QD_PARAM_YL_SL_TIME;
                                }
                                else
                                     QD_MotorDelay = dwTickCount;
                                QD_YLBackDelay = dwTickCount + QD_PARAM_DELAY_YL_BACK;
                           }
                            break;
                case 51:   if(dwTickCount >= QD_MotorDelay)
                           { 
                               AxisEgmStop(Y_AXIS);
                               QD_MotorStep   = 52;   
                           }
                           if(dwTickCount >= QD_YLBackDelay) QD_YL_VAVLE    = 0;
                           break; 
                case 52:   if(dwTickCount >= QD_YLBackDelay)
                           { 
                                QD_YL_VAVLE    = 0;
                                QD_MotorStep   = 0;   
                           }
                           break;
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                        
                        if(!QD_TL_VAVLE)
                        {
                            if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0))
                            {
                                 QD_TuiLianStep = 1;
                            }                          
                        }        
                        QD_CQ_VAVLE = 1;
                        QD_CQDelay = dwTickCount + QD_PARAM_CQ_TIME;
                        QD_MotorStep = 62;
                        break;
                case 62:
                         if((QD_ShenJiangStep == 0) && QD_YL_ORIGIN_IN)
                         {
                             QD_MotorStep = 63;
                         }
                case 63:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
                            {
                                QD_JZ_DIR   = QD_YDIR_P;
                                AxisMovePos(X_AXIS,20,-2000);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 64;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 64:
                        if(!QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN && !QD_JD_IN)
                        {
                            go_buff  = cRealPos;
                            QD_JZ_DIR   = QD_YDIR_N;
             
                            if((cZipCnt > 0) || (QD_PARAM_DEC_MODE == 2))
                            {
                                 if(!X_DRV)MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);//
                            }
                            else
                            {
                                 if(!X_DRV)MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
                            }
                      
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   =65;
                        }  
			break;
                case 65:           
                        if(cZipCnt > 0)
                        {
                            if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
                            {
                              if(((go_buff - cRealPos) > ((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
                              {                   
                                  MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                  QD_MotorStep   =66;
                              }
                            }
                            else if(QD_PARAM_DEC_MODE == 2) //纯感应方式
                            {
                                if(QD_PARAM_LONG_MODE)
                                {
                                    if(QD_QIAN_DEC_IN_UP)
                                    {                   
                                        MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                        QD_MotorStep   =66;
                                    }    
                                }
                                else
                                {
                                    if((QD_QIAN_DEC_IN_UP && !QD_PARAM_SPEED_MODE) 
                                    || ((QD_QIAN_DEC_IN_UP  || ((go_buff - cRealPos) > (go_length_buff - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) ) && QD_PARAM_SPEED_MODE))
                                    {                   
                                        MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                        QD_MotorStep   =66;
                                    }                                
                                 }
                            }
                            else
                            {
                               if(((go_buff - cRealPos) > ((go_length_buff - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
                              {                   
                                  MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                  QD_MotorStep   =66;
                              }                           
                            }
                               
                        }
                        else
                        {
                            if(QD_PARAM_DEC_MODE == 2) //纯感应方式
                            {
                               if(QD_QIAN_DEC_IN_UP)
                              {                   
                                  MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                  QD_MotorStep   =66;
                              }                                
                            }
                            else  
                              QD_MotorStep   =66;
                        }   
                        
                        break;
		case 66:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_JD_DELAY;
                            QD_MotorStep   = 67;                            
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                        break;
		case 67:
                        if(!X_DRV && (dwTickCount >= QD_MotorDelay))
                        {   
                            QD_JD_VAVEL = 1;
                            QD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
                            QD_MotorStep   = 68;
                            
                        }
			break;   
		case 68:
                        if(1)
                        {
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                            QD_MotorStep   = 69;
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_SetAlarmCode(QD_JD_IN_ALARM); 
                        }
			break;
                case 69:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YD_VAVLE   = 0;
                            QD_TL_VAVLE    = 0;
                            QD_MotorStep   = 0;
                        }
                        break;
                case 128:
                  
                        
                        if(!X_DRV)
                        {
                            if(QD_QIAN_DEC_IN || QD_QIAN_LIMIT_IN)
                            {
                                  QD_SetAlarmCode(QD_DEC_ALARM);
                            }
                            else
                            {
                                  QD_MotorStep   = 129;
                                  QD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
                                  QD_YL_VAVLE    = 1;
                                  
                                  if(!QD_PARAM_SJ_ENABLE)
                                  {
                                      QD_ShenJiangStep = 0;
                                      QD_R_UP_VAVLE = 0;
                                      QD_R_JD = 0;
                                  }
                                  else
                                  {
                                      if(QD_ShenJiangStep == 0)QD_ShenJiangStep = 1;                            
                                  }

                                  QD_YL_DIR = QD_YL_DIR_P;
                            }
                        }
                        else
                        {
                               if(QD_GUO_LIAN_IN_UP)
                               {
                                    QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                    MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                    QD_MotorStep   = 150;
                               }  
                               else
                               {
                                    if(QD_GOUZHEN_IN)
                                    {
                                        QD_SetAlarmCode(QD_GZ_ALARM);
                                    }
                               }
                        }
                        break;
                case 150:
                         if(dwTickCount >= QD_GZDelay)
                         {
                             QD_GZ_VAVLE = 1;
                             QD_MotorStep   = 151;
                         }
                        break;
                case 151:
                 {

                     QD_MotorDelay = dwTickCount + 3000;
                     QD_MotorStep   = 152;
                 }

                break;
                case 152:
                {
                     if(QD_GOUZHEN_IN)
                    {
                        AxisEgmStop(X_AXIS);  
                        QD_YD_VAVLE = 1;
                        QD_MotorStep   = 153;
                    }
                    else if(dwTickCount >= QD_MotorDelay)
                        QD_SetAlarmCode(QD_GZ_ALARM);
                }
                break;
                case 153:
                {
                     if(!X_DRV)
                    {
                         QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                    }
                }
                break;
                case 129:
                        if(!QD_YL_ORIGIN_IN)
                        {
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_YL;
                            QD_MotorStep   = 131;
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                            QD_SetAlarmCode(QD_YL_LIMIT_ALARM); 
                        break;
                case 131:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPosY;                                               
                            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS, QD_PARAM_YL_HIGH_SPEED,QD_YL_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);                             
                            QD_MotorStep   = 132;
                        }
			break; 
		case 132:
                           if(QD_GUO_LIAN_IN_UP)
                           {
                                QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
                                QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                                AxisChangeSpeed(Y_AXIS,QD_PARAM_YL_LOW_SPEED);
                                QD_MotorStep   = 133;
                           }                           

			break;
                case 133:
                          if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
                          if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
                          
                          if(QD_GOUZHEN_IN)
                          {
                              AxisEgmStop(Y_AXIS);  
                              QD_XM_VAVLE    = 1;
                              QD_YD_VAVLE = 1;
                              QD_MotorStep   = 134;
                          }                         
                        break;
                case 134:
                         if(!Y_DRV)
                         {
                             {
                                 QD_YD_VAVLE = 1; 
                                 QD_YL_DIR = QD_YL_DIR_N;
                                 AxisMovePos(Y_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);     
                                 QD_MotorStep   = 135;
                             }
                         }                           
                        break;
		case 135:	
                        if(cZipCnt == 0);
                        else if(cZipCnt == 1)
                        {
                            length_buff = save_buff - cRealPosY;
                        }
                       else
                        {
                        }
                        QD_MotorStep   = 0;                                                      
			break;               
	}
}
//电机动作
void QueDuan_Motor(void)	 //
{
     switch(QD_MACHINE_TYPE)
     {
         case QD_NO_CS_TUIFANGKUAI: QueDuan_Motor_CS();break;
         case QD_NO_GL_TUIFANGKUAI:QueDuan_Motor_NoGL();break;
         default:;
     }
}

//超声方式下切
void QueDuan_XiaQue_CS(void)	
{
   switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
                QD_XiaQieStep = 2;  
                QD_GZ_VAVLE   = 1;
                QD_XiaQieDelay = dwTickCount + 1000;                    
                break;
        case 2:                
                if(((QD_XIA_MU_LIMIT_IN || !bRunning)&& (QD_PARAM_CS_MODE == 1)) || (QD_PARAM_CS_MODE == 0))
                {     
                    QD_XiaQieStep = 3;  
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                }
                else if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_SetAlarmCode(QD_XM_DAOWEI);
                }
                break;             
        case 3:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                     QD_TFK_VAVEL = 1;
                     QD_XiaQieDelay = dwTickCount + 1000;
                     QD_XiaQieStep = 4;  
               }
               break;
        case 4:
               if(QD_GOUZHEN_IN)
               {
                   cTuiFangKuaiCnt = 0;
                   QD_XM_VAVLE     = 1;
                   if(bRunning)QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                   else 
                     QD_XiaQieDelay = dwTickCount;
                   QD_XiaQieStep = 5;   
               }
               else if((dwTickCount >= QD_XiaQieDelay))
               {  
                   
                   if((cTuiFangKuaiCnt == 0) && bRunning)
                   {
                       QD_TFK_VAVEL = 0;
                       cTuiFangKuaiCnt++;
                       QD_XiaQieDelay = dwTickCount + 1000;
                       QD_XiaQieStep = 20;   
                   }
                   else                   
                       QD_SetAlarmCode(QD_GZ_ALARM);
               }
               break;
        case 5:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                  QD_SM_VAVLE = 1;
                  QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                  QD_XiaQieStep = 6;   
               }
               break;
        case 6:
                if(QD_SHANG_MU_LIMIT_IN && (QD_XIA_MU_LIMIT_IN || (QD_PARAM_CS_MODE == 0)))
                {
                    if(QD_PARAM_CS_MODE)
                    {                        
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       // 
                        QD_XiaQieStep = 100;  
                    }
                    else
                    {
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;       // 
                        QD_XiaQieStep = 7;                            
                    }
                }
                else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
                break;
        case 20:
               if((dwTickCount >= QD_XiaQieDelay))
               {
                   QD_XiaQieStep = 2;   
               }
               break;
        case 7:  
               if(dwTickCount >= QD_XiaQieDelay)
               {
                    QD_SM_VAVLE   = 0;
                    QD_XM_VAVLE   = 0;
                   // QD_TFK_VAVEL  = 0;
                    QD_BL_VAVLE = 0;   
                    QD_YL_VAVLE = 0;
                    QD_GZ_VAVLE = 0;
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;   
                    QD_XiaQieStep = 8;	
               }// 
                break;
        case 8:
                if(!QD_XIA_MU_LIMIT_IN && !QD_SHANG_MU_LIMIT_IN)	
                {   
                    QD_XiaQieStep = 0;   
                    if(QD_TuiLianStep == 0) QD_TuiLianStep = 1;
                    if(cLengthErrorFlg == 1)
                    {
                        cLengthErrorFlg = 0;
                        if(QD_MotorStep==0)QD_MotorStep = 40;
                    }
                    AddToTal(QD_QIE_DUAN_TOTAL_ADDR);
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_YUANWEI);
                }
                break;
        case 100:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                    QD_XiaQieStep = 101;      
                }
                break;
        case 101:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_CS_OUT = 0;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;       // 
                    QD_XiaQieStep = 7;	
                }
                break;
    }	
}

void QueDuan_TuiLianNormal(void)
{
    switch(QD_TuiLianStep) 
    {
        case 0:
        break;
        case 1:
            QD_TuiLianStep = 2;
            QD_TFK_VAVEL = 1;
        break;
        case 2:   
            QD_TLDelay     = dwTickCount+QD_PARAM_TL_DELAY;
            QD_TuiLianStep = 3;
        break;
        case 3:
            if(dwTickCount >= QD_TLDelay)
            {   
                  QD_TL_VAVLE    = 1;
                  QD_TLDelay     = dwTickCount;
                  QD_TuiLianStep = 4;
            }
        break;
        case 4:
            if(dwTickCount >= QD_TLDelay)
            {
                QD_TuiLianStep = 0;
            }
        break;
    }
}

void QueDuan_TuiLianNoGL(void)
{
    switch(QD_TuiLianStep) 
    {
        case 0:
        break;
        case 1:
            QD_TuiLianStep = 2;
        break;
        case 2:                              
            if(!QD_YD_VAVLE)QD_TLDelay     = dwTickCount + QD_PARAM_TL_DELAY;
            else
                QD_TLDelay     = dwTickCount;
            QD_YD_VAVLE    = 1;
            QD_TuiLianStep = 3;
        break;
        case 3:
            if(dwTickCount >= QD_TLDelay)
            {   
                  QD_TL_VAVLE    = 1;
                  QD_TLDelay     = dwTickCount;
                  QD_TuiLianStep = 4;
            }
        break;
        case 4:
            if(dwTickCount >= QD_TLDelay)
            {
                QD_TuiLianStep = 0;
            }
        break;
    }
}

void QueDuan_TuiLianAction(void)
{

    switch(QD_MACHINE_TYPE)
    {
        case QD_NO_CS_TUIFANGKUAI:QueDuan_TuiLianNormal();break;		
        case QD_NO_GL_TUIFANGKUAI:QueDuan_TuiLianNoGL();break;
        default:;
    }
}


void QueDuan_XiaQue_NO_GL(void)
{
    switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
                    QD_YD_VAVLE = 1;
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                    QD_XiaQieStep = 2;  
                break;
        case 2:
               if(!QD_TL_VAVLE)
               {
                   QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                   QD_XiaQieStep = 3;  
               }
               else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_TL_ALARM);
               break;
        case 3:
                if(dwTickCount >= QD_XiaQieDelay)
                {      
//                    if((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0))
                    {
                        QD_SM_VAVLE   = 1;
                        QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                        QD_XiaQieStep = 4;   
                    }
                }
        break;
        case 4:
                if(QD_SHANG_MU_LIMIT_IN)
                {
                    if(QD_PARAM_CS_MODE)
                    {
                        QD_XiaQieStep = 20;     
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       //                     
                    }
                    else
                    {
                        QD_XiaQieStep = 5;     
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM;       // 
                    }
                }
                else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
        break;
        case 5:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_XM_VAVLE   = 0;  
                    if(!QD_PARAM_GZ_BACK_DELAY_LENGTH)QD_GZ_VAVLE   = 0;
                    QD_SM_VAVLE   = 0;  
                    QD_YL_VAVLE   = 0;
                    QD_BL_VAVLE   = 0;
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                    QD_XiaQieStep = 6;	
                }
        break;
        case 6:
                if(!QD_SHANG_MU_LIMIT_IN)	
                {   
                   if(bRunning)
                   {
                       if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
                   }
                    if(!bRunning)QD_JD_VAVEL = 0;
                    QD_XiaQieStep = 0;
                    if(cLengthErrorFlg)
                    {
                        cLengthErrorFlg = 0;
                        if(QD_MotorStep==0)QD_MotorStep = 40;
                    }
                    AddToTal(QD_QIE_DUAN_TOTAL_ADDR);
                                          
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_DAOWEI);
                }                
        break;
        case 20:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                   if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
                   QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                   QD_XiaQieStep = 21;	
               }
        break;
        case 21:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                   QD_CS_OUT = 0;
                   QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;       // 
                   QD_XiaQieStep = 5;	
               }
        break;
    }	
}
//切断动作
void QueDuan_XiaQue(void)	 
{
    switch(QD_MACHINE_TYPE)
    {
        case QD_NO_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break;		
        case QD_NO_GL_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break;
        default:;
    }
}






#endif