GC19038/Machine/HaiHuaMachine/HHQueDuanJi.c

#include "global.h"


#if HAI_HUA_MACHINE ==1


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 QD_TuiDaiAction(void);
static unsigned long cZipCnt = 0,cTableCnt = 0,cTuiFangKuaiCnt = 0;
static long save_limit_pos,cRealPos;
static long dwSaveLength;
        
unsigned char cCheckLianFlg = 0;
unsigned char cCheckLianFlgEN = 0;
unsigned char cGoLimitEn    = 0;

short *length_buffer;



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;
    
    length_buff = QD_PARAM_CYCLE_LENGTH;
    pulse_buff  = QD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;  
    QD_SZ_OUT   = 1;
}

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

//手动动作
void QueDuan_ManualAction(void)
{  
    if(bRunning == 0)  
    {   
        cGoLimitEn = 0;
        if(QD_bClearTotal) //切断计数清零
        {
            QD_bClearTotal       = 0;
            ClrcToTal(QD_TOTAL_ADDR);
        }
        
        if(QD_bClearNowTotal)
        {
            QD_bClearNowTotal = 0;
            QD_PARAM_NOW_CNT = 0;
        }
        
        if(QD_bXiaQie)
        {
            QD_bXiaQie = 0;
            if((QD_XiaQieStep == 0) && !QD_TL_VAVLE)
            {
                QD_XiaQieStep = 1;
            }  
        }
        
        if(QD_bQianDianDW)
        {
            QD_bQianDianDW = 0;
            if(QD_MotorStep == 0)
            {
                QD_MotorStep = 61;
                cZipCnt      = 0;
            }
        }
        
        if(QD_bTL)
        {  
            QD_bTL = 0;
            if(QD_TL_VAVLE)
            {
                QD_TL_VAVLE = 0;
            } 
            else if(!QD_GZ_VAVLE && !QD_SM_VAVLE)
            {
                QD_TL_VAVLE = ~QD_TL_VAVLE;
            }
        }
        
//        if(!Y_DRV)QD_bTL = 0;
        
        if(QD_bYD)
        {
            QD_bYD = 0;
            QD_YD_VAVLE = ~QD_YD_VAVLE;
        }
        
        if(QD_bGZ)
        {
            QD_bGZ = 0;
            QD_GZ_VAVLE = ~QD_GZ_VAVLE;
        }
        
        if(QD_bJD)
        {
           QD_bJD = 0;
           QD_JD_VAVLE = ~QD_JD_VAVLE;
        }
        
        if(QD_bXM)
        {
           QD_bXM = 0;
           QD_XM_VAVLE = ~QD_XM_VAVLE;
           if(!QD_XM_VAVLE)QD_GZ_VAVLE = 0;
        }
        
        if(QD_bSM)
        {
           QD_bSM = 0;
           if(QD_SM_VAVLE)
                QD_SM_VAVLE = 0;
           else if(!QD_TL_VAVLE)
                QD_SM_VAVLE = 1;
        }
        //推方块
        if(QD_bTFK)
        {
            QD_bTFK = 0;
            QD_TFK_VAVLE = ~QD_TFK_VAVLE;
        }
        //台面电机
        if(QD_bTB)
        {
            QD_bTB = 0;           
            QD_TABLE_VAVLE = ~QD_TABLE_VAVLE;
        }
        
//        if(QD_bYBD)
//  /      {
//            QD_bYBD = 0;
//            QD_YBD_VAVLE = ~QD_YBD_VAVLE;
//        }
        
        if(QD_bTestCS)
        {
           QD_bTestCS = 0;
           QD_CS_OUT  = 1;
           QD_CSDelay = dwTickCount + QD_PARAM_CS_TIME;
        }
        
        if(QD_bBL)//合链
        {
            QD_bBL = 0;
            QD_BL_VAVLE = ~QD_BL_VAVLE;
        }
        
        if(QD_bHL)  //护链,双开用
        {
            QD_bHL = 0;
            QD_HL_VAVLE = ~QD_HL_VAVLE;
        }
        
        if(QD_bYX)
        {
            QD_bYX = 0;
            QD_YX_VAVLE = ~QD_YX_VAVLE;
        }
        if(QD_XiaQieStep == 0)
        {
            if(dwTickCount >= QD_CSDelay)QD_CS_OUT  = 0;
        }        
//电机控制        
        if(QD_bGoMotor && !QD_QIAN_LIMIT_IN)
        {           
            QD_SZ_OUT   = 0;
            QD_JZ_DIR   = QD_YDIR_N;
            if(!X_DRV)
              //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED/3,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15);

        }
        
        if(QD_bBackMotor)  //后退限位已经取消
        {
            QD_SZ_OUT   = 0;
            QD_JZ_DIR   = QD_YDIR_P;
            if(!X_DRV)
                //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED/3,QD_DIR_P,QD_PARAM_GO_LOW_SPEED/3,15,15);
        }
        
        if(!QD_bGoMotor && !QD_bBackMotor && (QD_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QD_QIAN_LIMIT_IN && (QD_MotorStep == 0) && !QD_bBackMotor &&(QD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }       
    }
}




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

    if(!bRunning)
    {
      ;
      //
#if 0     
        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_VAVLE   = 0;
                QD_SetAlarmCode(QD_BACK_ALARM);
                
            }
        }
#endif      
    }
    else
    {
        if((cRealPos > QD_PARAM_RUN_LENGTH) && (QD_PARAM_RUN_LENGTH > 3000)
            && (cGoLimitEn != 0))
        {
            AxisEgmStop(X_AXIS);   
            QD_JD_VAVLE = 0;
            QD_SetAlarmCode(QD_BACK_ALARM);
        }
    }
}


void QueDuan_AutoAction(void)
{  
  //台面电机定时关掉
     
    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
                      }
                      cGoLimitEn = 0;
                  }	
                  break;	
            case 2:	 
                  if(QD_MotorStep == 0)
                  {   
                      QD_MotorStep = 30;  
                      QD_AutoStep = 3;	
                      cGoLimitEn = 1;
                  }
                  break;	
            case 3:	
                  if(QD_MotorStep == 0)
                  {   
                      if(QD_SAFE_IN)
                      {
                          bStop = 1;
                      }
                      else 
                      {
                           
                          if(QD_XiaQieStep == 0)
                             QD_XiaQieStep = 1;                 
                         QD_AutoStep = 4;
                      }
                  }              
                  break;
            case 4:
                
    //              if((QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI) || (QD_MACHINE_TYPE == QD_CS_TUIFANGKUAI))
    //              {
                      //                                  闭口
                      if((QD_XiaQieStep == 0) || ((QD_XiaQieStep == 6) && QD_KB_MODE)|| ((QD_XiaQieStep == 13) && (QD_KB_MODE == 0)))// && !QD_SHANG_MU_LIMIT_IN)
                      {
                          if(QD_MotorStep == 0) 
                          {
                            cGoLimitEn=0;
                              QD_MotorStep = 40;     //切完后退
                              
                          }
                          QD_AutoStep = 5;	    
                      }
/*                      
//                  }
//                  else
//                  {
                      if(((QD_XiaQieStep == 0) || (QD_XiaQieStep == 13)) && !QD_SHANG_MU_LIMIT_IN && !QD_XIA_MU_LIMIT_IN)
                      {
                          if(QD_MotorStep == 0) 
                          {
                              QD_MotorStep = 40;     //切完后退
                              QD_AutoStep = 5;
                          }	    
                      }                  
                  }
*/
                 break;
            case 5:	 
                
                  if(QD_MotorStep == 0)
                  {
                      cZipCnt++;
                      QD_PARAM_NOW_CNT++;
                      cTableCnt++;
                      AddToTal(QD_TOTAL_ADDR);
                      AddToTal(CT_WORKTOTAL_ADDR);
                      CalProSP(QD_PROSPEED_ADDR);
                      
                      if(cTableCnt >= QD_PARAM_TABLE_NUM)
                      {
                          cTableCnt = 0;
                          QD_TABLE_VAVLE = 1;
                          QD_TBDelay = dwTickCount + QD_PARAM_TB_TIME;
                      }
                      
                      if(/*(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) ||*/ SingOneFlg)
                      {
                        /*
                          if((QD_PARAM_SET_TOTAL == 0) && !SingOneFlg)
                          {
                                QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
                                QD_AutoStep = 1; 
                          }
                          else
                        */
                          {
                              bRunning = 0;
                              QD_AutoStep = 0; 
                              SingOneFlg = 0;
                               
                          }
                          
 //                         if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
                      }
                      else
                      {
                          QD_AutoStep = 1; 
                          
                          if((QD_PARAM_NOW_CNT >= QD_PARAM_ZHA_SHU) && (QD_PARAM_ZHA_SHU > 0))   
                          {
                              QD_AutoDelay = dwTickCount + QD_PARAM_ZS_STOP_TIME;
                              QD_PARAM_NOW_CNT = 0;
                              if(QD_PARAM_ZS_STOP_TIME == 0)
                              {
                                  bRunning = 0;
                                  QD_AutoStep = 0; 
                                  SingOneFlg = 0;
                                  QD_SetAlarmCode(QD_TOTAL_ALARM);
                              }
                          }
                          else
                              QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
                      }
                  }
                  break;
        }	
    }
}

void QueDuan_StepCheckStart(void)
{
//		启动      			
    if((START_IN_UP) || bStart || QD_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (QD_AutoStep == 0))
        {
            if(QD_XIA_MU_LIMIT_IN && !QD_PARAM_XM_ENABLE)QD_SetAlarmCode(QD_XM_DAOWEI);
//            else if(GetAlarmCode(QD_ALARM_ADDR) != 0);
            //else if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
 //           else if(QD_BL_VAVLE)QD_SetAlarmCode(QD_BL_ALARM);
            else if(QD_SM_VAVLE)QD_SetAlarmCode(QD_SM_ALARM);
             else
            {
                bRunning    = 1;
                QD_AutoStep = 1;
                if(QD_bSingle) 
                    SingOneFlg= 1;
                cZipCnt      = 0;
                cTuiFangKuaiCnt = 0;
                QD_BL_VAVLE = 0;    //并链关
                QD_DGLG_VAVLE = 0;  //顶过链杆关
                SetAlarmCode(QD_ALARM_ADDR,0); 
            }
        }
        QD_bSingle = 0;
    }
    //停止
   if(STOP_IN_UP || bStop)
   {
        bStop = 0;       
        if(bRunning)
        {
            

            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay  = dwTickCount;
            QD_TLDelay     = dwTickCount;
            dwTickCount = QD_TBDelay;
            SingOneFlg  = 0; 
            QD_JD_VAVLE = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVLE= 0;
            QD_TL_VAVLE      = 0;
            QD_HL_VAVLE  = 0;
            QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            //QD_SZ_OUT   = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            QD_DGLG_VAVLE = 0;  //顶过链杆关
            AxisDecStop(X_AXIS);  
            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            user_datas[121] = 0;
            user_datas[122] = 0;

            SetAlarmCode(QD_ALARM_ADDR,0);        
        }
        else
        {
            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay = dwTickCount;
            QD_TLDelay  = dwTickCount;
            dwTickCount = QD_TBDelay;
            SingOneFlg  = 0; 
            QD_JD_VAVLE = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVLE= 0;
            QD_YX_VAVLE = 0;
            QD_HL_VAVLE  = 0;
            QD_TL_VAVLE      = 0;
            QD_DGLG_VAVLE = 0;  //顶过链杆关
            QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_SZ_OUT   = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            AxisDecStop(X_AXIS);  

            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            SetAlarmCode(QD_ALARM_ADDR,0);
        }
        bRunning   = 0;
        QD_XiaQieStep = 0;
        QD_AutoStep   = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 0;
    }
    
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        QD_XiaQieStep = 0;
        QD_AutoStep   = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 0;
        
        QD_XiaQieStep = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 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;
        SingOneFlg  = 0; 
        bRunning   = 0;
        AxisDecStop(X_AXIS); 
        dwTickCount = QD_TBDelay;
        QD_TABLE_VAVLE = 0;
        QD_JD_VAVLE=0;
        QD_GZ_VAVLE=0;
    }
    
}   
//记忆长度模式误差检测
void QueDuan_CheckLength(long zip_length)
{
    static long start_dist;
    switch(QD_CheckLengthStep)
    {
        case 0:break;
        case 1:
               start_dist = cRealPos;
               dwSaveLength = 0;
               QD_CheckLengthStep = 2;
               break;
        case 2:
          if(QD_GUO_LIAN_IN_DW){  
            dwSaveLength = cRealPos - start_dist;   
 //           user_datas[127] = cRealPos;

          }
               break;         
    }          
}

#if !QD_KB_MODE  //开口
//开口切专用
//30步开始后拉开始，分解4种工作模式
//40步开始用切断后拉动作
//60步开始为前方向，开闭口一样

void QueDuan_Motor_KK(void)
{
        static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
       unsigned  short ch;
        user_datas[121]= QD_MotorStep;
        user_datas[122]= length_buff; 
        user_datas[123] = cRealPos;
        user_datas[124] = GetCurSpeed(X_AXIS);
        user_datas[125] = QD_AutoStep;
        user_datas[126] = QD_XiaQieStep;
    //    user_datas[127] = QD_XiaQieStep;
        QueDuan_CheckLength(length_buff);
        
	switch(QD_MotorStep)
	{
                case 30:
                    switch(QD_PARAM_BACK_MODE)  //开口分四种模式 
                    {
                        case 0: //单数控模式
                              QD_MotorStep   = 310;  //每种模式留20步
                              QD_DGLG_VAVLE = 1;  //顶过链杆关
                              break;
                        case 1://单感应模式
                            QD_MotorStep   = 330;  //每种模式留20步
                            
                            break;
                        case 2: //先感应后数控模式+检测
                            QD_MotorStep   = 350;  //每种模式留20步
                            break;
                        default:  //数控模式+过链检测长度
                            QD_MotorStep   = 370;  //每种模式留20步
                            break;
                    }  
                    QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;    
                    break;
         //310步到315步为数控模式                    
                case 310:
                    QD_MotorStep   = 311;   
                    QD_JZ_DIR   = QD_YDIR_P; 
                    if(QD_PARAM_BL_ENABLE)
                        QD_BinLianStep = 1;  //并链起动
                    break;
                case 311:   
                   if(dwTickCount >= QD_MotorDelay)
                    {   
                      length_buffer = &QD_PARAM_OFFSET_LENGTH;
                              
                     
                     
                       

                            //李永庆代码                                                   
                      SetDir(X_AXIS, QD_DIR_N);
                      //两段速度移动距离  拉链长度+慢速长度停止
                     //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
                     AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH + (*length_buffer)-QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_DIR_P);
                      back_buff = cRealPos;
                     gou_zhen_buff = cRealPos;
                     save_buff = cRealPos;     
                            
                            SetDir(X_AXIS,QD_DIR_P);
                            QD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   = 312;
                   }
                    break;   
		case 312:
                        //勾针提前输出 ，争取时间推方块
                       if (!QD_GZ_VAVLE && (cRealPos >= (QD_PARAM_ZIPPER_LENGTH- 230)))
                            QD_GZ_VAVLE = 1;
                        
                       if((cRealPos) > (QD_PARAM_ZIPPER_LENGTH + (*length_buffer)-QD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*length_buffer) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)))))
                       {                            
                           QD_MotorStep   = 313;
                           
                       }
                       else if(cRealPos >= (QD_PARAM_ZIPPER_LENGTH + (*length_buffer) + QD_PARAM_ERROR_LENGTH))
                       {
                           QD_SetAlarmCode(QD_GZ_ALARM);
                       }

			break;
                case 313:
                       if(!QD_GZ_VAVLE && ((cRealPos) > (QD_PARAM_ZIPPER_LENGTH - 230)))
                            QD_GZ_VAVLE = 1;
                       
                       if(!X_DRV)
                       {                         
                           AxisEgmStop(X_AXIS);
                           QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                           QD_MotorStep   = 314;
                           QD_BL_VAVLE = 0;  //停止时并链一定要打开
                           
                           if((QD_PARAM_BACK_MODE == 2) && !QD_DGLG_VAVLE) //模式2,先检测长度后数控
                           {//对比长度 ,发须要有过链信号,模式2,3.  模式0,1不用在这里经           
                               if(cZipCnt > 1)  //长度检测
                                {
                                   if(QD_PARAM_ERROR_LENGTH != 0)  //长度误差值不能为0
                                    {     
                                        if(((dwSaveLength + QD_PARAM_MOTOR_DELAY_LENGTH) > (length_buff + QD_PARAM_ERROR_LENGTH)) || (dwSaveLength == 0))
                                        {
                                           QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);//拉链变长,对比警告                                   
                                        }
                                        else if((dwSaveLength + QD_PARAM_MOTOR_DELAY_LENGTH+ QD_PARAM_ERROR_LENGTH) < length_buff) 
                                        {
                                           QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);  ////拉链变短     
                                       }
                                      
                                        QD_CheckLengthStep = 0;
                                    }    
                                }
                            }
                       }             
                        break;
                case 314:
                       if(!X_DRV && (dwTickCount >= QD_MotorDelay))  //数控到停止
                       {      
                            QD_MotorStep   = 0;
                            QD_TFK_VAVLE   = 1;    //推方块输出                       
                       }
                       break;
              //330步到349步单感应模式   
                case  330:  
                    back_buff = cRealPos;
                     gou_zhen_buff = cRealPos;
                    QD_MotorStep   = 331;   
                    QD_JZ_DIR   = QD_YDIR_P; 
                    
                    
                    user_datas[127] = 0;
                    break;
                case 331:  
                    if(dwTickCount >= QD_MotorDelay)
                    {   
                        QD_MotorStep   = 332; 
                        if(cZipCnt < 2)
                        {
                            if(QD_PARAM_BL_ENABLE)
                                QD_BinLianStep = 10;  //并链起动
                           //第一条都是过链感应，后拉速度减半//原来QD_PARAM_CHECK_BACK_HSPEED/2
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                          AxisContinueMoveAcc(X_AXIS,9000,QD_DIR_P,QD_PARAM_START_SPEED,8,13);
                          
                             //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
                          // AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH + (*length_buffer)-QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_DIR_P); 
                          
                        }   
                        else
                        {  
                            if(QD_PARAM_BL_ENABLE)
                                QD_BinLianStep = 1;  //并链起动
                          //因为每条都是过链感应，所以直接运行检测模式后拉速度
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                          AxisContinueMoveAcc(X_AXIS,QD_PARAM_CHECK_BACK_HSPEED,QD_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
                          
                         }
                    }
                    break;
                case 332:
                    if(cZipCnt > 1)  //第二条开始数控降速
                    {
                        if((cRealPos +  QD_PARAM_BACK_LOW_SPEED_LENGTH + 600)>= length_buff)
                        { 
                            CancelPmoveState(X_AXIS);  //长度模式去掉
                            AxisChangeSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);   
                            user_datas[127] = cRealPos;
                            QD_MotorStep   = 334;  //到检测定位
                        }   
                        if(QD_GUO_LIAN_IN_DW)  //重新到链上
                        {
                             CancelPmoveState(X_AXIS);
                             AxisChangeSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                             gou_zhen_buff = cRealPos;
                             QD_MotorStep   = 335;  //到检测定位
                        }
                 //
                 //       if((cRealPos >=  (QD_PARAM_BACK_LOW_SPEED_LENGTH + 60)) &&  QD_GUO_LIAN_IN)
                 //       {
                            
                 //       }
                    }  
                    else   //第一条工作
                    {  
                        if(QD_GUO_LIAN_IN_UP)
                        {                                 
                            checkdelay_buff = cRealPos;
                             MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                             QD_MotorDelay  = dwTickCount + 0;//QD_PARAM_DELAY_XM;
                              QD_MotorStep   = 333;
                         }  
                         else if((cRealPos >= QD_PARAM_RUN_LENGTH) && (QD_PARAM_RUN_LENGTH >= 5000))  //模组最长限制
                        {
 //                           QD_SetAlarmCode(QD_PARAM_RUN_LENGTH_ALARM);  //超出轨道运行长度
                        }
                    }
                    break;
                 case 333:
                       if(dwTickCount >= QD_MotorDelay)
                       {
                           QD_MotorStep   = 334;
                       }                        
                        break;   
                case 334:
                   if(QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
                   {      
                     //滤波有待调试
//                        if((((cRealPos - checkdelay_buff) >= QD_PARAM_DELAY_CHECK) && (QD_PARAM_LT_ENABLE)) || (((cRealPos - checkdelay_buff) >= QD_PARAM_NO_LT_DELAY_CHECK) && (QD_PARAM_LT_ENABLE == 0)))
//                        {
                            if(QD_GUO_LIAN_IN_DW)
                            {                  
                                 gou_zhen_buff = cRealPos;
                                 QD_MotorStep   = 335;
                            }
//                        }                       
                   }
                   break;
                case 335:	                        
                    if(QD_GUO_LIAN_IN_DW)
                    {
                        gou_zhen_buff = cRealPos; 
                         
                    }
                    //在空们都把延时清零    
                    if(QD_GUO_LIAN_IN)
                    {
                        gou_zhen_buff = cRealPos; 
                    }                        
                        //定位停止
                    if(((cRealPos - gou_zhen_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH) && !QD_GUO_LIAN_IN)
                    {                         
                        AxisEgmStop(X_AXIS);   
                        QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                        QD_MotorStep   = 336;
                        QD_GZ_VAVLE = 1;
                    }   
                    break;
                case 336:                                              
                    if(!X_DRV)
                    {      
                       QD_GZ_VAVLE = 1;
           
                        QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                           // QD_XM_VAVLE    = 1;
                        QD_MotorStep   = 337;
                    }
                    break;
                case 337:
                    if(1)
                    {
                        QD_MotorStep   = 338;
                        QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                    } 
           //             else if(dwTickCount >= QD_MotorDelay) QD_SetAlarmCode(QD_XM_DAOWEI);
                        break;
                case 338:  
                    if((dwTickCount >= QD_MotorDelay))
                    { 
                      QD_TFK_VAVLE   = 1;    //推方块输出                       
                      QD_MotorStep   = 339;
                      QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                    }
                    break;                    
                case 339:
                    if(cZipCnt == 1)
                    {
                         length_buff = cRealPos - save_buff;
                         SetData32bits(QD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);
                    }     
                    else if(cZipCnt > 1)  //长度检测
                    {
                        if(QD_PARAM_ERROR_LENGTH != 0)  //长度误差值不能为0
                        {       
                            if(cRealPos >= length_buff)  //拉链变长,对比警告
                            {
                                if((cRealPos - save_buff) > (length_buff+QD_PARAM_ERROR_LENGTH))                  
                                    QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                            }
                            else   //拉链变短
                            {
                                if((cRealPos - save_buff + QD_PARAM_ERROR_LENGTH) < (length_buff))
                                     QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
                             } 
                         }
                    }
                    QD_MotorStep   = 0;
                    break;
              //350步到369步单感应模式   
                case  350:  
                    back_buff = cRealPos;
                     gou_zhen_buff = cRealPos;
                     
                    QD_MotorStep   = 351;   
                    QD_JZ_DIR   = QD_YDIR_P; 
                    
                    
                    break;
                case 351:  
                    if(dwTickCount >= QD_MotorDelay)
                    {   
                        QD_MotorStep   = 352; 
                        //第一,二条都是过链感应，测量长度
                        if(cZipCnt < 2)
                        {
                            if(QD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
                                QD_BinLianStep = 10;  //并链起动
                            QD_DGLG_VAVLE = 0;  //顶过链杆关
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                            AxisContinueMoveAcc(X_AXIS,9000,QD_DIR_P,QD_PARAM_START_SPEED,8,12);
                          
                        }   
                        else
                        {  
                            if(QD_PARAM_BL_ENABLE)
                                QD_BinLianStep = 1;  //并链起动
                            QD_DGLG_VAVLE = 1;  //顶过链杆关
                            QD_CheckLengthStep = 1;    //长度检测,第3条才有对比
                            //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
                            QD_MotorStep   = 311; 
                        }  
                    }
                    break;
                case 352:
                  //前两条都按最低速度工作
                    if(QD_GUO_LIAN_IN_UP)
                    {                                 
                         checkdelay_buff = cRealPos;
                         MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                         QD_MotorDelay  = dwTickCount + 2;//因慢速，加8MS滤波
                         QD_MotorStep   = 353;
                     }  
                     else if((cRealPos >= QD_PARAM_RUN_LENGTH) && (QD_PARAM_RUN_LENGTH >= 5000))  //模组最长限制
                     {
 //                       QD_SetAlarmCode(QD_PARAM_RUN_LENGTH_ALARM);  //超出轨道运行长度
                     }

                    break;
                 case 353:
                     if(dwTickCount >= QD_MotorDelay)
                     {
                         QD_MotorStep   = 354;
                     }                        
                     break;   
                case 354:
                   if(QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
                   {      
                     //滤波有待调试
//                        if((((cRealPos - checkdelay_buff) >= QD_PARAM_DELAY_CHECK) && (QD_PARAM_LT_ENABLE)) || (((cRealPos - checkdelay_buff) >= QD_PARAM_NO_LT_DELAY_CHECK) && (QD_PARAM_LT_ENABLE == 0)))
//                        {
                            if(QD_GUO_LIAN_IN_DW)
                            {                  
                                 gou_zhen_buff = cRealPos;
                                 QD_MotorStep   = 355;
                            }
//                        }                       
                   }
                   break;
                case 355:	                        
                    if(QD_GUO_LIAN_IN_DW)
                    {
                        gou_zhen_buff = cRealPos; 
                         
                    }
                    //在空们都把延时清零    
                    if(QD_GUO_LIAN_IN)
                    {
                        gou_zhen_buff = cRealPos; 
                    }                        
                        //定位停止
                    if(((cRealPos - gou_zhen_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH) && !QD_GUO_LIAN_IN)
                    {                         
                        AxisEgmStop(X_AXIS);   
                        QD_MotorStep   = 356;
                        QD_GZ_VAVLE = 1;
                    }   
                    break;
                case 356:                                              
                    if(!X_DRV)
                    {      
                       QD_GZ_VAVLE = 1;
           
                        QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                           // QD_XM_VAVLE    = 1;
                        QD_MotorStep   = 357;
                    }
                    break;
                case 357:
                    if(1)
                    {
                        QD_MotorStep   = 358;
                        QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                    } 
                    break;
                case 358:  
                    if((dwTickCount >= QD_MotorDelay))
                    { 
                      QD_TFK_VAVLE   = 1;    //推方块输出                       
                      QD_MotorStep   = 359;
                      QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                    }
                    break;                    
                case 359:
                    if(cZipCnt == 1)
                    {
                         length_buff = cRealPos - save_buff;
                         //测量出来长度
                         SetData32bits(QD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);
                    }     
                    QD_MotorStep   = 0;
                    break;                    
        //370步到389步为数控模式                    
                case 370:
                    QD_MotorStep   = 371;   
                    QD_JZ_DIR   = QD_YDIR_P; 
                    if(QD_PARAM_BL_ENABLE)
                        QD_BinLianStep = 1;  //并链起动
                    
                    QD_CheckLengthStep = 1;  //长度检测开始
                    
                    break;
                case 371:   
                   if(dwTickCount >= QD_MotorDelay)
                   {   
                     back_buff = cRealPos;
                     gou_zhen_buff = cRealPos;
                     save_buff = cRealPos;

                            //李永庆代码                                                   
                      SetDir(X_AXIS, QD_DIR_N);
                      //两段速度移动距离  拉链长度+慢速长度停止
                     //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
                     AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_DIR_P);
                           
                            
                     SetDir(X_AXIS,QD_DIR_P);
                     QD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                     QD_MotorStep   = 372;
                   }
                    break;   
		case 372:
                        //勾针提前输出 ，争取时间推方块
                       if (!QD_GZ_VAVLE && (cRealPos >= (QD_PARAM_ZIPPER_LENGTH - 230)))
                            QD_GZ_VAVLE = 1;

                       if((cRealPos) > (QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*length_buffer) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)))))
                       {                            
                           QD_MotorStep   = 373;
                           
                       }
			break;
                case 373:
                       if(!QD_GZ_VAVLE && ((cRealPos) > (QD_PARAM_ZIPPER_LENGTH - 230)))
                            QD_GZ_VAVLE = 1;
                       
                       if(!X_DRV)
                       {                         
                           AxisEgmStop(X_AXIS);
                           QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                           QD_MotorStep   = 374;
                           QD_BL_VAVLE = 0;  //停止时并链一定要打开
                            //对比长度 ,发须要有过链信号,模式2,3.  模式0,1不用在这里经           
                           if(cZipCnt > 1)  //长度检测
                           {
                             if((QD_PARAM_ERROR_LENGTH != 0) && length_buff)  //长度误差值不能为0
                             {     
                                if((dwSaveLength > (length_buff + QD_PARAM_ERROR_LENGTH)) || (dwSaveLength == 0))
                                {
                                    QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);//拉链变长,对比警告                                   
                                }
                                //上升沿的长度
                                  else if((dwSaveLength + QD_PARAM_ERROR_LENGTH) < length_buff)
                                  {
                                    QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM); ////拉链变短     
                                  }
                                 
                                   QD_CheckLengthStep = 0;
                              }        
                            }
                           else if(cZipCnt == 1)  //长度检测
                           {
                                if(dwSaveLength)
                                    length_buff = dwSaveLength;
                           }
                       }             
                        break;
                case 374:
                       if(!X_DRV && (dwTickCount >= QD_MotorDelay))  //数控到停止
                       {      
                            QD_MotorStep   = 0;
                            QD_TFK_VAVLE   = 1;    //推方块输出                       
                       } 
                       break;

                        //切完延时后拉带松夹子
		case 40:    
                        if(QD_PARAM_SJZ_LENGTH == 0)
                        {
                            QD_JD_VAVLE = 0; 
                        }
                        QD_MotorDelay     = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                        SetDir(X_AXIS, QD_DIR_P);
                        QD_JZ_DIR   = QD_YDIR_P;
                        SetDir(X_AXIS, QD_DIR_N);

                        QD_MotorStep   = 41;
                        break; 
                case 41:   
                        
                        if((dwTickCount >= QD_MotorDelay))
                        { 
                          jz_buff = cRealPos;
                          if(QD_JD_VAVLE)
                            //两段速度移动距离
                                    //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
                                 AxisMoveTwoPos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,QD_PARAM_SJZ_LENGTH,5000,QD_PARAM_BACK_LENGTH,QD_DIR_P);  
                          else                           
                             //夹子已经张开
                             AxisMovePosAccDec(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH),QD_PARAM_START_SPEED,10,10);
                            //  AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                          QD_MotorStep   = 42;   
                        }
                           break;
		case 42:	 
                  
                          if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff)))
                          {
                              QD_JD_VAVLE = 0;
                              QD_MotorStep   = 43;
                          }
                          if(!X_DRV)
                          {
                             QD_JD_VAVLE = 0;
                              QD_MotorStep   = 43;
                          }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                        if(!X_DRV)
                        {
                            QD_MotorStep   = 0;
                            QD_MotorDelay  =    dwTickCount;
                        }
                        break;   
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 150;   
                             SetPos(X_AXIS, 0);
                        }
                        else
                            QD_MotorDelay = dwTickCount;
                        
                        QD_BL_VAVLE = 0;//并链也要打开
                        QD_JZ_DIR   = QD_YDIR_N; 
                        if(!QD_TL_VAVLE && cZipCnt)  //没送链情况下主动送链
                        {
                            if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0))
                            {
                                 QD_TuiLianStep = 1;
                                 QD_MotorStep = 62;
                            }                          
                        }
                        else
                            QD_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QD_MotorDelay)
                        {                            
                            if(QD_QIAN_LIMIT_IN)
                            {
                                SetPos(X_AXIS, 0);//在前点，直接置零点
                                QD_JZ_DIR   = QD_YDIR_P;
                                //前点亮的情况下先退出
                                AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,1000);                           
                                QD_MotorDelay = dwTickCount + 300;
                            }
                            QD_MotorStep = 63;            
                            QD_JD_VAVLE = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))// && !QD_SHANG_MU_LIMIT_IN)
                        {
                            SetDir(X_AXIS, QD_DIR_N);
                            QD_JZ_DIR   = QD_YDIR_N;
                            SetDir(X_AXIS, QD_DIR_P);
                            go_buff  = cRealPos;
                            QD_YD_VAVLE = 1;
                            QD_HL_VAVLE = 1;      
                            QD_YX_VAVLE = 1;
                            //李永庆代码,当位置在慢速之外,走数控到慢速点
                            if(cZipCnt > 0)
                            {
                             
                                if(cRealPos>(QD_PARAM_GO_LOW_SPEED_LENGTH))   
                                {   
                                  
                //                        AxisMovePosAccDecNotStop(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos-QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
               //                SetStartSpeed(X_AXIS,QD_PARAM_START_SPEED);
                //              SetAccTime(X_AXIS,QD_PARAM_ACC); 
                //              SetDecTime(X_AXIS,QD_PARAM_DCC);
                              //两段速度移动距离
                                    //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
               //                  AxisMoveTwoPos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos-QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED_LENGTH+ 100,QD_DIR_N);  
                                  //跑三段速度   
                                 AxisMoveThreePosNoStop(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos -QD_PARAM_GO_LOW_SPEED_LENGTH-300,
                                                QD_PARAM_GO_HIGH_SPEED*2/3,350,
                                                QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED_LENGTH,QD_DIR_N) ; 
                                } 
                                else
                                 {
                                    //                  X轴       运行速度                    启动速度        加速度  减速度
                                    AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15);
       
                                   //   MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
                                  }
                              
                            }
                            else
                            {
                               //                  X轴       运行速度                    启动速度        加速度  减速度
                                    AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15);
                              // MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
                            }
                            
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   =64;
                        }  
                       
			break;
                case 64:
                        if(cZipCnt > 1)
                        {                         
                              //李永庆代码
                              if(((cRealPos) < (QD_PARAM_GO_LOW_SPEED_LENGTH+1200)))// || (QD_QIAN_DEC_IN))
                              {
                                   user_datas[126]= GetCurSpeed(X_AXIS);
                               //     MoveChangSpeedDec(X_AXIS,QD_PARAM_GO_HIGH_SPEED*2/3,6,8);
                             //    AxisChangeSpeed(X_AXIS,40);
                                   QD_MotorStep   =65;
                              }
                                if(QD_QIAN_LIMIT_IN)  //前点限位
                                {
                                    AxisEgmStop(X_AXIS);
                                    QD_MotorStep   = 66;                            
                                }
                        }
                        else
                        {                            
                            if(QD_QIAN_LIMIT_IN)  //前点限位
                            {
                                AxisEgmStop(X_AXIS);
                                QD_MotorStep   = 66;                            
                            }
                        }

                        break;
		case 65:
                        if(QD_QIAN_LIMIT_IN)
                        {                            
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 66;                                  
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                            QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        
                        break;
		case 66:
                        if(!X_DRV)
                        {   
                            SetPos(X_AXIS, 0);
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 67;
                        }
			break;   
		case 67:  //等推链完成后,
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVLE = 1;
                                QD_MotorDelay =    dwTickCount + QD_PARAM_DELAY_BACK;
                            }
                            QD_MotorStep   = 68;
                        }
			break;
                case 68:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YD_VAVLE = 0;
                            QD_HL_VAVLE = 0;      
                            QD_YX_VAVLE = 0;
                            QD_TL_VAVLE    = 0;
                            QD_MotorStep   = 0;
                            QD_MotorDelay  = dwTickCount;
                        }
                        break;
               
	}
}
#endif

void QueDuan_BingLian(void)
{
    static long bl_pos_buff,HL_delay;
    
    switch(QD_BinLianStep)
    {
        case 0:break;
        case 1:
              bl_pos_buff = cRealPos;
              QD_BinLianStep = 2;
        break;       
        case 2:
              if((cRealPos - bl_pos_buff) >= QD_PARAM_DELAY_HL_LENGTH)
              {
                   QD_BL_VAVLE = 1;   
                   QD_BinLianStep = 3;
              }            
        break;
        case 3://有过链检测
              if(QD_GUO_LIAN_IN_DW || ((cRealPos - bl_pos_buff) >= (QD_PARAM_ZIPPER_LENGTH - QD_PARAM_HL_DELAY_BACK)))  
              {
                    QD_BL_VAVLE = 0;
                   QD_BinLianStep = 0;   
              }
        break;
        case 10:
           bl_pos_buff = cRealPos;
              QD_BinLianStep = 11;
        break;       
        case 11:
              if((cRealPos - bl_pos_buff) >= QD_PARAM_DELAY_HL_LENGTH)
              {
                   QD_BL_VAVLE = 1;   
                   QD_BinLianStep = 12;
              }            
        break;
        case 12://有过链检测
              if(QD_GUO_LIAN_IN_DW)  
              {
                    QD_BL_VAVLE = 0;
                   QD_BinLianStep = 0;   
              }
        break;
        default:;    
    }
    
}
#if QD_KB_MODE==1  //闭口

//作闭口专用程序
//不带过链感应长度输入电机长度  闭口有勾针到位
void QueDuan_Motor_NoGL(void)
{
        static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
        long pulse_buff;
        unsigned  short ch,kk;
        user_datas[124]= cRealPos;
       user_datas[125]= bRunning;
//       user_datas[123] = length_buff - (*length_buffer);
//       user_datas[127] = cRealPos;
//        user_datas[126] = go_buff - cRealPos;
        user_datas[122]  = QD_AutoStep;
        user_datas[121]  = QD_MotorStep;
        
        if((QD_MotorStep >= 101) && (QD_MotorStep <= 103))
        {
            if(QD_QIAN_LIMIT_IN_DW)QD_HL_VAVLE   = 0; 
        }
	switch(QD_MotorStep)
	{
                case 30:
                        QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;                        
                        length_buffer = &QD_PARAM_OFFSET_LENGTH;
                        if(QD_PARAM_BL_ENABLE)   //
                            QD_BinLianStep = 1;
                        QD_JZ_DIR   = QD_YDIR_P;   //电机方向
                        if(QD_MACHINE_TYPE == QD_CS_TUIFANGKUAI)   //双开带过链感应
                        {
                             if(QD_PARAM_DEC_MODE == QD_BACK_NOMAL_DEC_MODE)//测长数控
                                 QD_MotorStep   = 101;
                             else 
                                 QD_MotorStep   = 31;
                        }
                        else  //闭口走长度
                             QD_MotorStep   = 31;
                        break;
                case 31:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            back_buff = cRealPos;
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPos;
                            length_buffer = &QD_PARAM_OFFSET_LENGTH;
                            //李永庆代码                                                   
                            SetDir(X_AXIS, QD_DIR_N);
                            //两段速度移动距离
                            //               轴     第一段速度  第一段长度要减去送链长度  第二段速度 第二段长度  方向
                            AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH-200,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_BACK_LOW_SPEED_LENGTH + (*length_buffer),QD_DIR_P);
                           
                            //AxisMovePosAccDecNotStop(X_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH,QD_PARAM_START_SPEED,QD_PARAM_BACK_LOW_SPEED,4,QD_PARAM_DCC+8);
                            
                            SetDir(X_AXIS,QD_DIR_P);
                            QD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   = 32;
                        }
			break; 
		case 32:
                   //勾针提前输出
                       if (!QD_GZ_VAVLE && ((cRealPos + QD_PARAM_GOUZHEN_LENGTH + 200) >= (QD_PARAM_ZIPPER_LENGTH )))
                            QD_GZ_VAVLE = 1;

                       if((cRealPos) > (QD_PARAM_ZIPPER_LENGTH-QD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*length_buffer) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)))))
                       {           
                            QD_MotorDelay  = dwTickCount + 2000; //钩针未到位延时警告
                            QD_MotorStep   = 33;                                 
                       }
                       else if(cRealPos >= (QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)))//QD_PARAM_ERROR_LENGTH))
                       {
                           QD_SetAlarmCode(QD_GZ_ALARM);
                       }                  
			break;
                case 33:
                       if(!QD_GZ_VAVLE && (cRealPos + QD_PARAM_GOUZHEN_LENGTH + 200) > (QD_PARAM_ZIPPER_LENGTH ))
                       {
                         QD_GZ_VAVLE = 1;
                         QD_MotorDelay  = dwTickCount + 2000; //钩针未到位延时警告
                       }   
                       //提前12MM取消数控模式,进入连续运动
                       if((cRealPos + 100 + 200) > (QD_PARAM_ZIPPER_LENGTH ))
                       {
                            CancelPmoveState(X_AXIS);
                            SetStartSpeed(X_AXIS,1500);
                            AxisChangeSpeed(X_AXIS,1500);
                       }
                       if(QD_GOUZHEN_IN)
                       {                      
                           AxisEgmStop(X_AXIS);
                           QD_MotorDelay  =    dwTickCount + 10;
                           QD_YD_VAVLE = 1;
                           QD_MotorStep   = 34;
                           QD_BL_VAVLE = 0;  //停止时并链一定要打开
                       }
                       else if(((cRealPos + 200) >= (QD_PARAM_ZIPPER_LENGTH + (*length_buffer) + QD_PARAM_ERROR_LENGTH)))// && dwTickCount >= QD_MotorDelay)
                       {
                          AxisEgmStop(X_AXIS);
                          if(dwTickCount >= QD_MotorDelay)                            
                              QD_SetAlarmCode(QD_GZ_ALARM);
                       }
                        break;
                case 34:
                       if(!X_DRV && (dwTickCount >= QD_MotorDelay))
                       {    
                            QD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
                            QD_YD_VAVLE = 1;
                            QD_MotorStep   = 35;
                       }   
                       break;
                case 35:
                       if(cZipCnt == 0)
                       {
                           ch = QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)-20-QD_PARAM_ERROR_LENGTH; 
                           kk = QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)+20+QD_PARAM_ERROR_LENGTH;
                       }   
                       else
                       {
                           ch = QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)-QD_PARAM_ERROR_LENGTH;                            
                           kk = QD_PARAM_ZIPPER_LENGTH - 200 + (*length_buffer)+QD_PARAM_ERROR_LENGTH;                           
                       }user_datas[128] = ch; 
                       user_datas[127] = kk;   
                       if(((cRealPos) < (ch)) && QD_PARAM_ERROR_LENGTH) 
                       { 
                            SetAlarmCode(QD_ALARM_ADDR,QD_LENGTH_LONG_ALARM);   
                            if(dwTickCount >= QD_MotorDelay)
                                bAlarmStop = 1;
                       }          
                       else if((cRealPos > kk) && QD_PARAM_ERROR_LENGTH)//(QD_PARAM_ERROR_LENGTH - 200 + (*length_buffer)+50)))
                       {
                            SetAlarmCode(QD_ALARM_ADDR,QD_LENGTH_LONG_ALARM);   
                            if(dwTickCount >= QD_MotorDelay)
                                bAlarmStop = 1;
                       }     
                       else
                            {
                               SetDir(X_AXIS, QD_DIR_N);
                                QD_JZ_DIR   = QD_YDIR_N;
                                SetDir(X_AXIS, QD_DIR_P);
                                 AxisMovePosAccDec(X_AXIS,QD_PARAM_BACK_LOW_SPEED,-QD_PARAM_FZ_LENGTH,3000,QD_PARAM_ACC,QD_PARAM_DCC);                                   
                               SetDir(X_AXIS, QD_DIR_P); 
                                 QD_MotorStep   = 0;
                            }
                       
                        break;
                case 101:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            back_buff = cRealPos;
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPos;
                            
                            if(cZipCnt <= 2)
                            {
                                QD_MotorDelay  = dwTickCount + MOTOR_ALARM_TIME;
                                MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_FIRST_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);                                                                    
                                QD_MotorStep   = 102;
                            }
                            else
                            {
                                MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);   
                                QD_MotorStep   = 102;                           
                            }
                        }
			break;
                case 102:                     
                            if(cZipCnt <= 2)
                            {
                                //拉链上升沿,就是到空位
                                if(QD_GUO_LIAN_IN_UP)     
                                {
                                    QD_MotorDelay  = dwTickCount + QD_PARAM_GZ_DELAY;
                                    if(X_DRV)
                                      MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); //降速
                                    QD_MotorStep   = 103;
                                }
                            }
                            else
                            {   
                              //1为双开
                               if((QD_SK_MODE) && (((cRealPos + QD_PARAM_YALIAN_LENGTH- gou_zhen_buff) > (length_buff - QD_PARAM_GOUZHEN_LENGTH))))
                               {
                                    QD_YX_VAVLE = 1;
                                    QD_HL_VAVLE = 1;
                               }   
                                if(((cRealPos - gou_zhen_buff) > (length_buff - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)
                               {
                                    QD_GZ_VAVLE = 1;
                                    QD_YX_VAVLE = 1;
                               }
                               if((cRealPos - back_buff) > (length_buff - QD_PARAM_BACK_LOW_SPEED_LENGTH-PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC))))
                               {                 
                                   if(X_DRV)
                                   {
                                       MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); 
                                   }                        
                                   QD_MotorStep   = 103;
                               }                           
                            }
                        break;
		case 103:
                            if(cZipCnt <= 2)
                            {//双开暂不用,先保留
                            #if QD_SK_MODE
                                if((QD_SK_MODE) && ((dwTickCount + QD_PARAM_GZ_DELAY/2)  >= QD_MotorDelay))
                                {
                                    QD_YX_VAVLE = 1;
                                    QD_HL_VAVLE = 1;
                                } 
                            #endif
                                if(dwTickCount >= QD_MotorDelay)
                                {
                                    QD_GZ_VAVLE = 1;
                                    QD_YX_VAVLE = 1;
                                  #if QD_SK_MODE   //双开暂不用,先保留
                                    if(QD_SK_MODE)
                                        QD_MotorStep   = 154;
                                    else
                                #endif     
                                        QD_MotorStep   = 160;
                                }  
                            }
                            else
                            {
                            #if QD_SK_MODE   //双开暂不用,先保留
                               if((QD_SK_MODE) && (((cRealPos + QD_PARAM_YALIAN_LENGTH- gou_zhen_buff) > (length_buff - QD_PARAM_GOUZHEN_LENGTH))))
                               {
                                    QD_YX_VAVLE = 1;
                                    QD_HL_VAVLE = 1;
                               }   
                            #endif  
                               if(((cRealPos - gou_zhen_buff) > (length_buff - QD_PARAM_GOUZHEN_LENGTH)))
                               {
                                   QD_GZ_VAVLE = 1; 
                                   QD_YX_VAVLE = 1;
                                #if QD_SK_MODE   //双开暂不用,先保留
                                    if(QD_SK_MODE)
                                        QD_MotorStep   = 154;
                                    else
                                #endif       
                                        QD_MotorStep   = 160;   
                               }
                                      
                               
                                 if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + length_buff)) && QD_GZ_VAVLE)
                               {
                                   QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                               }
                            }
			break;
                case 154:
                    #if QD_SK_MODE   //双开暂不用,先保留
                        if(QD_GZ_UP_IN)
                        {
                           QD_MotorDelay  = dwTickCount + QD_PARAM_DELAY_CHECK_GZ;
                           QD_MotorStep   = 104;
                        }
                    #endif
                        break;
                case 160:                  
                         if(QD_GOUZHEN_IN)
                         {
                             AxisEgmStop(X_AXIS);
                             QD_YD_VAVLE = 1;
                             QD_MotorStep   = 105;
                         }
                         else if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + length_buff)) && QD_GZ_VAVLE && (cZipCnt > 2))
                         {
                             QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                         }
                        break;     
                case 104:
                      #if QD_SK_MODE   //双开暂不用,先保留
                        if(dwTickCount >= QD_MotorDelay)
                        {
                          //勾针离开就是到位
                              if(!QD_GOUZHEN_IN && QD_GZ_UP_IN)
                             {
                                 AxisEgmStop(X_AXIS);                             
                                 QD_MotorStep   = 105;
                             }
                        }
                     #endif
                        break;
                case 105:
                       if(!X_DRV)
                      {
                             QD_MotorStep   = 0;
                             QD_HL_VAVLE = 1;
                             QD_YD_VAVLE = 1;
                       
                            if(cZipCnt == 1)
                            {
                                go_length_buff = cRealPos - back_buff;
                            }
                            else if(cZipCnt == 2)
                            {
                                length_buff = cRealPos - back_buff;
                            }
                            else if(cZipCnt > 2)
                            {
                                if(((cRealPos - save_buff) < (length_buff - QD_PARAM_ERROR_LENGTH- (*length_buffer))))QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                else if(((cRealPos - save_buff) > (QD_PARAM_ERROR_LENGTH + length_buff - (*length_buffer))))QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                else
                                {

                                }
                            }
                            AxisMovePosAccDec(X_AXIS,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_FZ_LENGTH,1,QD_PARAM_ACC,QD_PARAM_DCC);                                   
                            
                       }
                       break;
                case 106:
                           if(!X_DRV)
                           {
                               QD_SetAlarmCode(QD_GZ_ALARM);
                           }
                           else
                           {
                               if(QD_GOUZHEN_IN)
                               {
                                   AxisEgmStop(X_AXIS);
                                   QD_YD_VAVLE = 1;
                                   QD_MotorStep   = 0;
                               }
                           }
                              
                        break;                  
		case 40:                      
                       QD_JD_VAVLE = 0; 
                        SetDir(X_AXIS, QD_DIR_P);
                        QD_JZ_DIR   = QD_YDIR_P;
                        SetDir(X_AXIS, QD_DIR_N);
                               
                        QD_MotorDelay     = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                      
                        QD_MotorStep   = 41;
                        break; 
                case 41:   
                        
                        if((dwTickCount >= QD_MotorDelay))
                           { 
                             //夹子已经张开
                             AxisMovePosAccDec(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH),QD_PARAM_START_SPEED,10,10);
                            //  AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                               QD_MotorStep   = 42;   
                           }
                           break;
		case 42:	 
                  
                     //     if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff)))
                     //     {
                    //          QD_JD_VAVLE = 0;
                   //           QD_MotorStep   = 43;
                    //      }
                    //      else 
                            if(!X_DRV)
                          {
                              QD_JD_VAVLE = 0;
                              QD_MotorStep   = 43;
                          }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                        if(!X_DRV)
                        {
                            QD_MotorStep   = 0;
                            QD_MotorDelay  =    dwTickCount;
                        }
                        break;   
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 150;   
                             SetPos(X_AXIS, 0);
                        }
                        else
                            QD_MotorDelay = dwTickCount;
                        
                        QD_BL_VAVLE = 0;//并链也要打开
                        QD_JZ_DIR   = QD_YDIR_N; 
                        if(!QD_TL_VAVLE && cZipCnt)  //没送链情况下主动送链
                        {
                            if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0))
                            {
                                 QD_TuiLianStep = 1;
                                 QD_MotorStep = 62;
                            }                          
                        }
                        else
                            QD_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QD_MotorDelay)
                        {                            
                            if(QD_QIAN_LIMIT_IN)
                            {
                                SetPos(X_AXIS, 0);//在前点，直接置零点
                                QD_JZ_DIR   = QD_YDIR_P;
                                //前点亮的情况下先退出
                                AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,1000);                           
                                QD_MotorDelay = dwTickCount + 300;
                            }
                            QD_MotorStep = 63;            
                            QD_JD_VAVLE = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))// && !QD_SHANG_MU_LIMIT_IN)
                        {
                            SetDir(X_AXIS, QD_DIR_N);
                            QD_JZ_DIR   = QD_YDIR_N;
                            SetDir(X_AXIS, QD_DIR_P);
                            go_buff  = cRealPos;
                            QD_YD_VAVLE = 1;
                            QD_HL_VAVLE = 1;      
                            QD_YX_VAVLE = 1;
                            //李永庆代码,当位置在慢速之外,走数控到慢速点
                            if(cZipCnt > 0)
                            {
                             
                                if(cRealPos>(QD_PARAM_GO_LOW_SPEED_LENGTH))   
                                {   
                                  
                //                        AxisMovePosAccDecNotStop(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos-QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
               //                SetStartSpeed(X_AXIS,QD_PARAM_START_SPEED);
                //              SetAccTime(X_AXIS,QD_PARAM_ACC); 
                //              SetDecTime(X_AXIS,QD_PARAM_DCC);
                              //两段速度移动距离
                                    //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
               //                  AxisMoveTwoPos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos-QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED_LENGTH+ 100,QD_DIR_N);  
                                  //跑三段速度   
                                 AxisMoveThreePosNoStop(X_AXIS,QD_PARAM_GO_HIGH_SPEED,cRealPos -QD_PARAM_GO_LOW_SPEED_LENGTH-300,
                                                QD_PARAM_GO_HIGH_SPEED*2/3,350,
                                                QD_PARAM_GO_LOW_SPEED,QD_PARAM_GO_LOW_SPEED_LENGTH,QD_DIR_N) ; 
                                } 
                                else
                                 {
                                    //                  X轴       运行速度                    启动速度        加速度  减速度
                                    AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15);
       
                                   //   MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED_LENGTH,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
                                  }
                              
                            }
                            else
                            {
                               //                  X轴       运行速度                    启动速度        加速度  减速度
                                    AxisContinueMoveAcc(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_DIR_N,QD_PARAM_GO_LOW_SPEED/3,15,15);
                              // MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
                            }
                            
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   =64;
                        }  
                       
			break;
                case 64:
                        if(cZipCnt > 1)
                        {                         
                              //李永庆代码
                              if(((cRealPos) < (QD_PARAM_GO_LOW_SPEED_LENGTH+1200)))// || (QD_QIAN_DEC_IN))
                              {
                                   user_datas[126]= GetCurSpeed(X_AXIS);
                               //     MoveChangSpeedDec(X_AXIS,QD_PARAM_GO_HIGH_SPEED*2/3,6,8);
                             //    AxisChangeSpeed(X_AXIS,40);
                                   QD_MotorStep   =65;
                              }
                                if(QD_QIAN_LIMIT_IN)  //前点限位
                                {
                                    AxisEgmStop(X_AXIS);
                                    QD_MotorStep   = 66;                            
                                }
                        }
                        else
                        {                            
                            if(QD_QIAN_LIMIT_IN)  //前点限位
                            {
                                AxisEgmStop(X_AXIS);
                                QD_MotorStep   = 66;                            
                            }
                        }

                        break;
		case 65:
                        if(QD_QIAN_LIMIT_IN)
                        {
                            
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 66;      
                            
                        }
                        else if(dwTickCount >= QD_MotorDelay)
                            QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        
                        break;
		case 66:
                        if(!X_DRV)
                        {   
                            SetPos(X_AXIS, 0);
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 67;
                        }
			break;   
		case 67:  //等推链完成后,
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVLE = 1;
                                QD_MotorDelay =    dwTickCount + QD_PARAM_DELAY_BACK;
                            }
                            QD_MotorStep   = 68;
                        }
			break;
                case 68:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YD_VAVLE = 0;
                            QD_HL_VAVLE = 0;      
                            QD_YX_VAVLE = 0;
                            QD_TL_VAVLE    = 0;
                            QD_MotorStep   = 0;
                            QD_MotorDelay  = dwTickCount;
                        }
                        break;
               
	}
}
#endif
//电机动作
void QueDuan_Motor(void)	 
{
    if(QD_KB_MODE) //闭口
    {
#if QD_KB_MODE  //闭口      
        QueDuan_Motor_NoGL(); 
#endif        
    }
    else  //开口
    {
#if !QD_KB_MODE  //开口
        QueDuan_Motor_KK();  //
#endif
    }  
//     switch(QD_MACHINE_TYPE)  
//     {
 //        case QD_NO_CS_TUIFANGKUAI: QueDuan_Motor_CS();break;
 //        case QD_NO_GL_TUIFANGKUAI: QueDuan_Motor_NoGL();break;
 //        case QD_CS_TUIFANGKUAI:break;
 //        default:;
//     }
}

//超声方式下切,开口专用
void QueDuan_XiaQue_KK(void)	
{
   switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
/*          
             if(bRunning)
             {
                 QD_XiaQieStep = 6;                  
                 QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                 if(QD_SAFE_IN)
                 {
                    bStop = 1;
                     QD_XM_VAVLE   = 0;
                 }
               }
               else
*/          
                 QD_XiaQieStep = 2;                     
                break;
        case 2:             
                QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                QD_XiaQieStep = 3;   
               break;
        case 3:
                if(1)
                {
                    QD_XiaQieDelay = dwTickCount + 0;//QD_PARAM_GZ_DELAY;
                    QD_XiaQieStep = 4; 
                }
                else if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_SetAlarmCode(QD_XM_DAOWEI);
                }
                break;
        case 4:   
                if(QD_GZ_VAVLE)  //勾针已经有输出就不需要延时
                {
                    QD_XiaQieDelay = dwTickCount + 0;
                }
                else
                   QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                QD_GZ_VAVLE  = 1;
                cTuiFangKuaiCnt=0;
                QD_XiaQieStep = 5;  
                
                break;
        case 5:  
                if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_TFK_VAVLE = 1;
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                    QD_XiaQieStep = 6;  
                }
                break;
        case 6: 
                if(1)
                {                         
                    QD_XiaQieStep = 7;  
                    QD_XiaQieDelay = dwTickCount + 1000;
                }
                else if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_SetAlarmCode(QD_XM_DAOWEI);
                }
                break;
        case 7:
               if(QD_GOUZHEN_IN)
               {                
                   cTuiFangKuaiCnt = 0;
                   QD_YD_VAVLE    = 1;
                   if(!bRunning)
                     QD_XiaQieDelay = dwTickCount + 200;
                   else
                     QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                   
                   if(!QD_QIAN_LIMIT_IN)
                       QD_XiaQieStep = 8;   
                   else
                       QD_SetAlarmCode(QD_QIAN_LIMIT_ALARM);
               }
               else if((dwTickCount >= QD_XiaQieDelay))
               {  
                   if(cTuiFangKuaiCnt < QD_PARAM_TFK_NUMBER)
                   {
                       QD_TFK_VAVLE = 0;
                       cTuiFangKuaiCnt++;
                       QD_XiaQieDelay = dwTickCount + 500;
                       QD_XiaQieStep = 100;   
                   }
                   else   
                      
                       QD_SetAlarmCode(QD_GZ_ALARM);
               }
               break;
        case 100:
               if((dwTickCount >= QD_XiaQieDelay))
               {
                   QD_XiaQieStep = 5;   
               }
               break;
        case 8://上下模同时输出
               if(dwTickCount >= QD_XiaQieDelay)
               {
                  QD_SM_VAVLE = 1;
                  if(QD_PARAM_XM_ENABLE == 0)   //配置下模动
                        QD_XM_VAVLE   = 1;
                  QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                  QD_XiaQieStep = 9;   
               }
               break;
    case 9://上下模到位，调试模下的话，等按下一步按键     下模不动
                if(QD_SHANG_MU_LIMIT_IN && (QD_XIA_MU_LIMIT_IN || QD_PARAM_XM_ENABLE) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                {
                    if(QD_PARAM_CS_MODE)   //无超声配置
                    {
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM;       // 
                        QD_XiaQieStep = 12;        
                    }
                    else
                    {
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       // 
                        QD_XiaQieStep = 10;                      
                    }
                }
                else if(dwTickCount >= QD_XiaQieDelay)
                {
                    if(!QD_SHANG_MU_LIMIT_IN)QD_SetAlarmCode(QD_SM_DAOWEI);
                    else QD_SetAlarmCode(QD_XM_DAOWEI);
                }
                break;
        case 10:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
 
                        QD_CS_OUT = 1;
                 //
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                    QD_XiaQieStep = 11;      
                }
                break;
        case 11:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_CS_OUT = 0;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;       // 
                    QD_XiaQieStep = 12;	
                }
                break;
        case 12:  
               if(dwTickCount >= QD_XiaQieDelay)
               {
                    QD_SM_VAVLE   = 0;
                    if(QD_PARAM_XM_ENABLE == 0)   //配置下模动
                        QD_XM_VAVLE   = 0;
                    QD_TFK_VAVLE  = 0;
                    QD_GZ_VAVLE = 0;
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;   
                    QD_XiaQieStep = 13;	
               }// 
                break;
        case 13:
                if(!QD_SHANG_MU_LIMIT_IN)
                {
                    //启动推链(送链)
                    if((QD_TuiLianStep == 0) && !QD_TL_VAVLE)
                       QD_TuiLianStep = 1;
                }
                if(!QD_SHANG_MU_LIMIT_IN && (!QD_XIA_MU_LIMIT_IN || QD_PARAM_XM_ENABLE))	
                {   
                    QD_XiaQieStep = 0;                      
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_YUANWEI);
                }
                break;
    }	
}


void QueDuan_TuiLianAction(void)
{
    if(QD_PARAM_XM_ENABLE == 0)
    {
        QD_TuiLianStep = 0;
    }
    else
    {  
        switch(QD_TuiLianStep) 
        {
            case 1:
                QD_TuiLianStep = 2;
            break;
            case 2:
                  QD_TLDelay     = dwTickCount + QD_PARAM_YD_DELAY;
                  QD_TuiLianStep = 3;
            break;
            case 3:
                if(!QD_SM_VAVLE && !QD_SHANG_MU_LIMIT_IN)//dwTickCount >= QD_TLDelay)
                {   
                    QD_TL_VAVLE    = 1;
                    if(!bRunning)QD_TFK_VAVLE = 0;
                    QD_TLDelay     = dwTickCount + QD_PARAM_TL_DELAY;
                    QD_TuiLianStep = 4;
                }
            break;
            case 4:
                if(dwTickCount >= QD_TLDelay)
                {
                    QD_TuiLianStep = 0;
                }
            break;
            case 10:
             
                QD_TuiLianStep = 11;
            break;
            case 11:
                if(!Y_DRV)
                {
                   {
                      QD_TuiLianStep = 0;
                   }
                }
            break;
        }
    }
}

//闭口专用
void QueDuan_XiaQue_NO_GL(void)
{
    switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
                    if(!bRunning)
                    {
                        if((QD_MACHINE_TYPE == QD_CS_TUIFANGKUAI) && QD_SK_MODE)
                        {
                            //跳到双开
                           // QD_YD_VAVLE = 1;
                            QD_HL_VAVLE = 1;  //护链
                            QD_YX_VAVLE = 1;  //压带
                            QD_GZ_VAVLE = 1;  //勾针
                            QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                            QD_XiaQieStep = 100; 
                        }
                        else
                        {
                       //     QD_GZ_VAVLE = 1;  //勾针
                            
                       //     QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                       //     QD_XiaQieStep = 100;   
                            QD_YD_VAVLE = 1;
                            QD_XiaQieStep = 2;                             
                           QD_XiaQieDelay = dwTickCount + 30;
                        }
                    }
                    else
                    {
                        QD_YD_VAVLE = 1;
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                        QD_XiaQieStep = 2;  
                    }
                break;
        case 2:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                    QD_XiaQieStep = 3;  
                    QD_XiaQieDelay = dwTickCount;
               }
               break;
        case 3:
                if(dwTickCount >= QD_XiaQieDelay)
                {      
                    if((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0))
                    {
                        QD_SM_VAVLE   = 1;
                        QD_XM_VAVLE   = 1;
                        QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                        QD_XiaQieStep = 4;   
                    }
                }
        break;
    case 4://永兴为下模固定
                if(QD_SHANG_MU_LIMIT_IN && (QD_XIA_MU_LIMIT_IN || QD_PARAM_XM_ENABLE))
                {          
                    QD_GZ_VAVLE   = 0;
                    if(!QD_PARAM_CS_MODE)  //气切
                    {
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM;       // 
                        QD_XiaQieStep = 5;      
                    }
                    else
                    {
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       // 
                        QD_XiaQieStep = 10;                      
                    }      // 
                }
                else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
        break;
        case 5:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    
                    QD_SM_VAVLE   = 0; 
                    QD_XM_VAVLE   = 0;
                    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_XM_ENABLE))  //下模不动就不用判断	
                {   
                    if(QD_TuiLianStep == 0)
                        QD_TuiLianStep = 1;
                    if(!bRunning)
                        QD_JD_VAVLE = 0;
                    QD_XiaQieStep = 0;
                                          
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_YUANWEI);
                }
                                
        break;
        //10~11步为超声
        case 10:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                    QD_XiaQieStep = 11;      
                }
                break;
        case 11:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_CS_OUT = 0;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;       // 
                    QD_XiaQieStep = 5;	
                }
                break;
        case 100:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                 
                 //这是双开程序，暂时不考虑
#if 1
                    if(QD_GOUZHEN_IN)
                    {
                        QD_YD_VAVLE = 1;
                        QD_XiaQieStep = 3;  
                    }
#endif                     
               }
               break;
    }	
}
//切断动作
void QueDuan_XiaQue(void)	 
{
  
  if(QD_KB_MODE) //闭口
    {
        QueDuan_XiaQue_NO_GL();  //
    }
    else  //开口
    {
        QueDuan_XiaQue_KK(); 
    }  
#if 0  
    switch(QD_MACHINE_TYPE)
    {	
        case QD_NO_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break;	
        case QD_NO_GL_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break;
        case QD_CS_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break;
        default:;
    }
#endif  
}






#endif