GC19038/Machine/JinHongMachine/JHBKQueDuanJi.c

#include "global.h"


#if JIN_HONG_MACHINE ==1


void BK_QueDuan_AlarmProtect(void);
void BK_QueDuan_ManualAction(void);
void BK_QueDuan_AutoAction(void);
void BK_QueDuan_StepCheckStart(void);
void BK_QueDuan_XiaQue(void);
void BK_QueDuan_Motor(void);
void BK_QueDuan_YuanDianAction(void);
void BK_QueDuan_TuiLianAction(void);
void BK_QueDuan_ExtiActionX31(void);
void BK_QueDuan_BingLian(void);
void BKQD_TuiDaiAction(void);
void BK_StopCode(void);
void BK_Motor_SZ(unsigned char En);

short *BK_length_buffer;



void BK_QueDuan_ExtiActionX31(void)
{
    BK_cCheckLianFlg = 1;
}
void BKQD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(BKQD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}
void BK_StopCode(void)
{
   switch(BKQD_StopStep)
   {
          case 1:            
             BKQD_StopStep=2;
             if(X_DRV)
             {
                AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
                AxisDecStop(X_AXIS);
             }
            break;
          case 2:    
            if(!X_DRV || (dwXRealPos < 10))
            {
                BKQD_StopCodeDelay=dwTickCount+350;
                BKQD_StopStep = 3;
            }  
            break;
          case 3:
            if(dwTickCount >= BKQD_StopCodeDelay)
            {
 //             if(!cSTOPONE)
              {                
                    BKQD_StopStep=0;                    
              }
//              else
//              {        
//                    QD_SetAlarmCode(QD_PARAM_ANQUANMEN_ALARM);
//                    BKQD_StopStep=0;
//                    cSTOPONE=0;
//              }
              BK_Motor_SZ(BKQD_MOTOR_DIS); //电机松轴
            }
            break;
   }
}

//电机松轴
void BK_Motor_SZ(unsigned char En)
{
    if(En) //使能
    {  
        if(BKQD_PARAM_MOTOR_SELECT)
            BKQD_SZ_OUT   = 1;  //伺服电机
        else
            BKQD_SZ_OUT   = 0;  //步进电机
    }
    else  //松轴
    {
        if(BKQD_PARAM_MOTOR_SELECT)
            BKQD_SZ_OUT   = 0;  //伺服电机
        else
            BKQD_SZ_OUT   = 1;  //步进电机
    }  
}

void BK_QueDuan_InitAction(void)
{
    float length_buff,pulse_buff;

   
   
    length_buff = BKQD_PARAM_CYCLE_LENGTH;
    pulse_buff  = BKQD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;  
    if(BKQD_PARAM_KAIBEE_SELECT > 1)
        BKQD_PARAM_KAIBEE_SELECT = 1;
      BK_Motor_SZ(BKQD_MOTOR_DIS); //电机松轴
     SetDirReverse(X_AXIS, 0);
     axis_set_parameter(axis_x, AXIS_ACCDEC_MODE,0); 
   
        
}

void BK_QueDuan_Action(void)
{

    BK_QueDuan_AlarmProtect();
    BK_StopCode();
    BK_QueDuan_Motor();
    BK_QueDuan_XiaQue();
    BK_QueDuan_ManualAction();
    BK_QueDuan_TuiLianAction();
    BK_QueDuan_BingLian();
    BK_QueDuan_AutoAction();
    
    BK_QueDuan_StepCheckStart();   // 调用脚踏开关检测程序 

}

//手动动作
void BK_QueDuan_ManualAction(void)
{  
    if(bRunning == 0)  
    {   
        BK_cGoLimitEn = 0;
        if(BKQD_bClearTotal) //切断计数清零
        {
            BKQD_bClearTotal       = 0;
            ClrcToTal(BKQD_TOTAL_ADDR);
        }
        
        if(BKQD_bClearNowTotal)
        {
            BKQD_bClearNowTotal = 0;
            BKQD_PARAM_NOW_CNT = 0;
        }
        
        if(BKQD_bXiaQie)
        {
            BKQD_bXiaQie = 0;
            if((BKQD_XiaQieStep == 0) && !BKQD_TL_VAVLE)
            {
                BKQD_XiaQieStep = 1;
            }  
        }
        
        if(BKQD_bQianDianDW)
        {
            BKQD_bQianDianDW = 0;
            if(BKQD_MotorStep == 0)
            {
                BKQD_MotorStep = 61;
                BK_cZipCnt      = 0;
                BK_Motor_SZ(BKQD_MOTOR_EN); //电机锁轴
                 BKQD_MotorDelay  =    dwTickCount + 150;
            }
        }
        
        if(BKQD_bTL)
        {  
            BKQD_bTL = 0;
            if(BKQD_TL_VAVLE)
            {
                BKQD_TL_VAVLE = 0;
            } 
            else if(!BKQD_GZ_VAVLE && !BKQD_SM_VAVLE)
            {
                BKQD_TL_VAVLE = ~BKQD_TL_VAVLE;
            }
        }
        

 

        if(BKQD_bYD)
        {
            BKQD_bYD = 0;
            BKQD_YD_VAVLE = ~BKQD_YD_VAVLE;
        }
        
        if(BKQD_bGZ)
        {
            BKQD_bGZ = 0;
            BKQD_GZ_VAVLE = ~BKQD_GZ_VAVLE;
        }
        
        if(BKQD_bJD)
        {
           BKQD_bJD = 0;
           BKQD_JD_VAVLE = ~BKQD_JD_VAVLE;
        }
        
        if(BKQD_bXM)
        {       
           BKQD_bXM = 0;
           if(BKQD_XM_VAVLE)
           {
                BKQD_XM_VAVLE = 0;
           }
           else
           {
                BKQD_XM_VAVLE = 1;
           }  
        }
        
        if(BKQD_bSM)
        {
           BKQD_bSM = 0;
           if(BKQD_SM_VAVLE)
                BKQD_SM_VAVLE = 0;
           else if(!BKQD_TL_VAVLE)
                BKQD_SM_VAVLE = 1;
        }
        //推方块
        if(BKQD_bTFK)
        {
            BKQD_bTFK = 0;
//            BKQD_TFK_VAVLE = ~BKQD_TFK_VAVLE;
        }
        //台面电机
        if(BKQD_bTB)
        {
           BKQD_bTB = 0;           
            BKQD_TABLE_VAVLE = ~BKQD_TABLE_VAVLE;
        }
        
//        if(BKQD_bYBD)
//  /      {
//            BKQD_bYBD = 0;
//            BKQD_YBD_VAVLE = ~BKQD_YBD_VAVLE;
//        }
        
        if(BKQD_bTestCS)
        {
           BKQD_bTestCS = 0;
           BKQD_CS_OUT  = 1;
           BKQD_CSDelay = dwTickCount + BKQD_PARAM_CS_TIME;
        }
        
        if(BKQD_bBL)//合链
        {
            BKQD_bBL = 0;
            BKQD_BL_VAVLE = ~BKQD_BL_VAVLE;
        }
        
        if(BKQD_bHL)  //护链,双开用
        {
            BKQD_bHL = 0;
//            BKQD_HL_VAVLE = ~BKQD_HL_VAVLE;
        }
        
        if(BKQD_bYX)
        {
            BKQD_bYX = 0;
//            BKQD_YX_VAVLE = ~BKQD_YX_VAVLE;
        }
        if(BKQD_XiaQieStep == 0)
        {
            if(dwTickCount >= BKQD_CSDelay) BKQD_CS_OUT  = 0;
        }

        
//电机控制        
        if(BKQD_bGoMotor && !BKQD_QIAN_LIMIT_IN)
        {           
            BK_Motor_SZ(BKQD_MOTOR_EN); //电机锁轴
            BKQD_STOPINDelay = dwTickCount;
            if(!X_DRV)
            {
              
              //                  X轴       运行速度                    启动速度        加速度  减速度
            AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED,BKQD_PARAM_GO_LOW_SPEED,10,12);

     
            }
        }
        
        if(BKQD_bBackMotor)  //后退限位已经取消
        {
            BK_Motor_SZ(BKQD_MOTOR_EN); //电机锁轴
            BKQD_STOPINDelay = dwTickCount;
            if(!X_DRV)
                //     X轴       运行速度   启动速度  加速度  减速度
               AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_P,BKQD_PARAM_GO_LOW_SPEED,BKQD_PARAM_GO_LOW_SPEED,10,12);
        }
        
        if(!BKQD_bGoMotor && !BKQD_bBackMotor && (BKQD_MotorStep == 0) &&  (dwTickCount >= BKQD_STOPINDelay))
        {
            if(X_DRV) AxisEgmStop(X_AXIS); 
        }
        
        if(BKQD_QIAN_LIMIT_IN && (BKQD_MotorStep == 0) && !BKQD_bBackMotor &&(BKQD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }       
    }
}




void BK_QueDuan_AlarmProtect(void)
{ 
    dwXRealPos = GetPos(X_AXIS);

    if(!bRunning)
    {
      ;
    }
    else
    {
        if(BKQD_PARAM_RUN_LENGTH < 5000)
            BKQD_PARAM_RUN_LENGTH= 5000;
        if((dwXRealPos > BKQD_PARAM_RUN_LENGTH) && (BK_cGoLimitEn != 0))  //第一条手动时不保护
        {
             BKQD_StopStep = 1;
             BK_cGoLimitEn = 0;
             bStop = 1;
           // AxisEgmStop(X_AXIS);   
            BKQD_JD_VAVLE = 0;
            BKQD_SetAlarmCode(BKQD_BACK_ALARM);
        }
    }
}


void BK_QueDuan_AutoAction(void)
{   
    if(bRunning)
    {//台面电机定时关掉
     if(dwTickCount >= BKQD_TBDelay)
            BKQD_TABLE_VAVLE = 0;  
        switch(BKQD_AutoStep)
        {
            case 1:
                  if(dwTickCount >= BKQD_AutoDelay)
                  {	
                      BKQD_AutoStep = 2;	    
                      if(BKQD_MotorStep == 0)
                      {
                          BKQD_MotorStep = 61;   //前点定位
                      }
                      BK_cGoLimitEn = 0;
                  }	
                  break;	
            case 2:	 
                  if(BKQD_MotorStep == 0)
                  {   
                      BKQD_MotorStep = 30;  
                      BKQD_AutoStep = 3;	
                      BK_cGoLimitEn = 1;
                  }
                  break;	
            case 3:	//后面两步为延时反转步
                  if((BKQD_MotorStep == 0))
                  {   
                      if(BKQD_SAFE_IN)
                      {
                          bStop = 1;
                      }
                      else 
                      {
                           BK_XiaQueOver = 0;
                          if(BKQD_XiaQieStep == 0)
                             BKQD_XiaQieStep = 1;                 
                         BKQD_AutoStep = 4;
                      }
                  }              
                  break;
            case 4:
                
    //              if((BKQD_MACHINE_TYPE == BKQD_NO_GL_TUIFANGKUAI) || (BKQD_MACHINE_TYPE == BKQD_CS_TUIFANGKUAI))
    //              {
                      //                                  
                      if((BKQD_XiaQieStep == 0) || (BK_XiaQueOver != 0))// && !BKQD_SHANG_MU_LIMIT_IN)
                      {
                          
                          if(BKQD_MotorStep == 0) 
                          {
                              BKQD_MotorStep = 40;     //切完后退
                              
                          }
                          BKQD_AutoStep = 5;	    
                      }
/*                      
//                  }
//                  else
//                  {
                      if(((BKQD_XiaQieStep == 0) || (BKQD_XiaQieStep == 13)) && !BKQD_SHANG_MU_LIMIT_IN && !BKQD_XIA_MU_LIMIT_IN)
                      {
                          if(BKQD_MotorStep == 0) 
                          {
                              BKQD_MotorStep = 40;     //切完后退
                              BKQD_AutoStep = 5;
                          }	    
                      }                  
                  }
*/
                 break;
            case 5:	              
                  if(BKQD_MotorStep == 0)
                  {
                      BK_XiaQueOver = 0;
                      BK_cZipCnt++;
                      BKQD_PARAM_NOW_CNT++;
                      BK_cTableCnt++;
                      AddToTal(BKQD_TOTAL_ADDR);
                      AddToTal(CT_WORKTOTAL_ADDR);
                      CalProSP(BKQD_PROSPEED_ADDR);
                      
                      if(BK_cTableCnt >= BKQD_PARAM_TABLE_NUM)
                      {
                          BK_cTableCnt = 0;
                          BKQD_TABLE_VAVLE = 1;
                          BKQD_TBDelay = dwTickCount + BKQD_PARAM_TB_TIME;
                      }
                     
                      if(/*(GetTotal(BKQD_TOTAL_ADDR) >= BKQD_PARAM_SET_TOTAL) ||*/BK_QDSingOneFlg)
                      {
                       
                              bRunning = 0;
                              BKQD_AutoStep = 0; 
                              BK_QDSingOneFlg = 0;
                              BKQD_TABLE_VAVLE = 0; 
                          
 //                         if(GetTotal(BKQD_TOTAL_ADDR) >= BKQD_PARAM_SET_TOTAL) BKQD_SetAlarmCode(BKQD_TOTAL_ALARM);
                      }
                      else
                        
                      {
                          BKQD_AutoStep = 1; 
                          
                          if((BKQD_PARAM_NOW_CNT >= BKQD_PARAM_ZHA_SHU) && (BKQD_PARAM_ZHA_SHU > 0))   
                          {
                              BKQD_AutoDelay = dwTickCount + BKQD_PARAM_ZS_STOP_TIME;
                              BKQD_PARAM_NOW_CNT = 0;
                              if(BKQD_PARAM_ZS_STOP_TIME == 0)
                              {
                                  bRunning = 0;
                                  BKQD_AutoStep = 0; 
                                  BK_QDSingOneFlg = 0;
                                  BKQD_SetAlarmCode(BKQD_TOTAL_ALARM);
                                  BKQD_TABLE_VAVLE = 0;
                              }
                          }
                          else
                              BKQD_AutoDelay = dwTickCount + BKQD_PARAM_CYCLE_DELAY;
                      }
                  }
                  break;
        }	
    }
}

void BK_QueDuan_StepCheckStart(void)
{
//		启动      			
    if((BKQD_START_IN_UP) || bStart || BKQD_bSingle)
    {
          bStart = 0;
        if(!bRunning && (BKQD_AutoStep == 0))
        {
            if((BKQD_XIA_MU_LIMIT_IN|| BKQD_KAIKUO_XIAMO_LIMIT_IN) && !BKQD_PARAM_XM_ENABLE)BKQD_SetAlarmCode(BKQD_XM_DAOWEI);
            
//          else if(GetAlarmCode(BKQD_ALARM_ADDR) != 0);
//          else if(GetTotal(BKQD_TOTAL_ADDR) >= BKQD_PARAM_SET_TOTAL) BKQD_SetAlarmCode(BKQD_TOTAL_ALARM);
 //         else if(BKQD_BL_VAVLE)BKQD_SetAlarmCode(BKQD_BL_ALARM);
            else if(BKQD_SM_VAVLE)BKQD_SetAlarmCode(BKQD_SM_ALARM);
            else
            {
                bRunning    = 1;
                BKQD_AutoStep = 1;
                if(BKQD_bSingle) 
                    BK_QDSingOneFlg= 0;
                BK_cZipCnt      = 0;
                BK_cTuiFangKuaiCnt = 0;
                BKQD_BL_VAVLE = 0;    //并链关
                BKQD_DGLG_VAVLE = 0;  //顶过链杆关
                SetAlarmCode(BKQD_ALARM_ADDR,0); 
                BK_Motor_SZ(BKQD_MOTOR_EN); //电机锁轴
                BKQD_AutoDelay = dwTickCount + 150; 
            }
        }
        BKQD_bSingle = 0;
    }
    //停止
   if((BKQD_STOP_IN_UP && (dwTickCount >= BKQD_STOPINDelay)) || bStop)
   {
        bStop = 0;  
        BKQD_STOPINDelay = dwTickCount + 100;
        if(bRunning)
        {
            BKQD_AutoDelay   = dwTickCount;
            BKQD_MotorDelay = dwTickCount;
            BKQD_XiaQieDelay  = dwTickCount;
            BKQD_KaDaiDelay   = dwTickCount;
            BKQD_CSDelay = dwTickCount;
            BKQD_TBDelay  = dwTickCount;
            BKQD_TFKDelay  = dwTickCount;
            BKQD_TLDelay     = dwTickCount;
            BK_QDSingOneFlg  = 0; 
            BKQD_JD_VAVLE = 0;
            BKQD_SM_VAVLE = 0;
            BKQD_XM_VAVLE = 0;
            BKQD_YD_VAVLE = 0;
            BKQD_TFK_VAVLE= 0;
            BKQD_TL_VAVLE      = 0;
 //           BKQD_HL_VAVLE  = 0;
            BKQD_CS_OUT   = 0;
            BKQD_XiaQieStep = 0;
            BKQD_MotorStep  = 0;
            BKQD_TuiLianStep = 0;
            BKQD_GZ_VAVLE    = 0;
            BKQD_TABLE_VAVLE   = 0;
            BKQD_DGLG_VAVLE = 0;  //顶过链杆关
            if((BKQD_StopStep == 0) && X_DRV)
                BKQD_StopStep = 1;
 //           AxisDecStop(X_AXIS);  
            BKQD_BinLianStep  = 0;
            BKQD_BL_VAVLE    = 0;
            user_datas[121] = 0;
            user_datas[122] = 0;
            
            SetAlarmCode(BKQD_ALARM_ADDR,0);        
        }
        else
        {
            BKQD_AutoDelay   = dwTickCount;
            BKQD_MotorDelay = dwTickCount;
            BKQD_XiaQieDelay  = dwTickCount;
            BKQD_KaDaiDelay   = dwTickCount;
            BKQD_CSDelay = dwTickCount;
            BKQD_TBDelay  = dwTickCount;
            BKQD_TFKDelay = dwTickCount;
            BKQD_TLDelay  = dwTickCount;
            dwTickCount = BKQD_TBDelay;
            BK_QDSingOneFlg  = 0; 
            BKQD_JD_VAVLE = 0;
            BKQD_SM_VAVLE = 0;
            BKQD_XM_VAVLE = 0;
            BKQD_YD_VAVLE = 0;
            BKQD_TFK_VAVLE= 0;

            BKQD_TL_VAVLE      = 0;
            BKQD_DGLG_VAVLE = 0;  //顶过链杆关
            BKQD_GZ_VAVLE = 0;
            BKQD_CS_OUT   = 0;
            BKQD_XiaQieStep = 0;
            BKQD_MotorStep  = 0;
            BKQD_TuiLianStep = 0;
            BKQD_TABLE_VAVLE   = 0;
            
//            BK_Motor_SZ(BKQD_MOTOR_DIS); //电机松轴
            
            if((BKQD_StopStep == 0))
            {
                 AxisEgmStop(X_AXIS);   
                 BK_Motor_SZ(BKQD_MOTOR_DIS); //电机松轴
            }   
//           AxisEgmStop(X_AXIS);   
            
            BKQD_BinLianStep  = 0;
            BKQD_BL_VAVLE    = 0;
            SetAlarmCode(BKQD_ALARM_ADDR,0);
        }
        bRunning   = 0;
        BKQD_XiaQieStep = 0;
        BKQD_AutoStep   = 0;
        BKQD_MotorStep  = 0;
        BKQD_TuiLianStep = 0;
    }
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        BKQD_XiaQieStep = 0;
        BKQD_AutoStep   = 0;
        BKQD_MotorStep  = 0;
        BKQD_TuiLianStep = 0;
        
        BKQD_XiaQieStep = 0;
        BKQD_MotorStep  = 0;
        BKQD_TuiLianStep = 0;
        BKQD_AutoDelay   = dwTickCount;
        BKQD_MotorDelay = dwTickCount;
        BKQD_XiaQieDelay  = dwTickCount;
        BKQD_KaDaiDelay   = dwTickCount;
        BKQD_CSDelay = dwTickCount;
        BKQD_TBDelay  = dwTickCount;
        BKQD_TFKDelay  = dwTickCount;
        BKQD_TLDelay     = dwTickCount;
        BK_QDSingOneFlg  = 0; 
        bRunning   = 0;
        if(X_DRV)
            BKQD_StopStep=1;
//      AxisEgmStop(X_AXIS); 
        dwTickCount = BKQD_TBDelay;
        BKQD_TABLE_VAVLE = 0;
        BKQD_JD_VAVLE=0;
        BKQD_GZ_VAVLE=0;
    }
    
}   
//记忆长度模式误差检测
void BK_QueDuan_CheckLength(long zip_length)
{
    static long start_dist;
    switch(BKQD_CheckLengthStep)
    {
        case 0:break;
        case 1:
               start_dist = dwXRealPos;
               BK_dwSaveLength = 0;
               BKQD_CheckLengthStep = 2;
               break;
        case 2:
          if(BKQD_GUO_LIAN_IN_DW){  
            BK_dwSaveLength = dwXRealPos - start_dist;   

          }
               break;         
    }          
}



void BK_QueDuan_BingLian(void)
{
    static long bl_pos_buff,HL_delay;
    
    switch(BKQD_BinLianStep)
    {
        case 0:break;
        case 1:
              bl_pos_buff = dwXRealPos;
              BKQD_BinLianStep = 2;
        break;       
        case 2:
              if((dwXRealPos - bl_pos_buff) >= BKQD_PARAM_DELAY_HL_LENGTH)
              {
                   BKQD_BL_VAVLE = 1;   
                   BKQD_BinLianStep = 3;
              }            
        break;
        case 3://有过链检测
              if(BKQD_GUO_LIAN_IN_DW || ((dwXRealPos - bl_pos_buff) >= (BKQD_PARAM_ZIPPER_LENGTH - BKQD_PARAM_HL_DELAY_BACK)))  
              {
                    BKQD_BL_VAVLE = 0;
                   BKQD_BinLianStep = 0;   
              }
        break;
        case 10:
             bl_pos_buff = dwXRealPos;
              BKQD_BinLianStep = 11;
        break;       
        case 11:
              if((dwXRealPos - bl_pos_buff) >= BKQD_PARAM_DELAY_HL_LENGTH)
              {
                   BKQD_BL_VAVLE = 1;   
                   BKQD_BinLianStep = 12;
              }            
        break;
        case 12://有过链检测
              if(BKQD_GUO_LIAN_IN_DW)  
              {
                    BKQD_BL_VAVLE = 0;
                   BKQD_BinLianStep = 0;   
              }
        break;
        default:;    
    }
    
}
//电机运行步骤
void BK_QueDuan_Motor_NoGL(void)
{
        static long save_buff,length_buff,gou_zhen_buff,go_buff,checkdelay_buff,dandao_buff,gouzhen_buff,go_length_buff,jz_buff;
        long pulse_buff;
        unsigned  short ch,kk;
        user_datas[121]  = BKQD_MotorStep;
        user_datas[122]  = BKQD_AutoStep;
        user_datas[123] = dwXRealPos;
//        user_datas[124] = dwXRealPos;

	switch(BKQD_MotorStep)
	{
               case 30:
                    switch(BKQD_PARAM_BACK_MODE)  //开口分四种模式 
                    {
                        case 0: //单数控模式
                              BKQD_MotorStep   = 310;  //每种模式留20步
                              BKQD_DGLG_VAVLE = 1;  //顶过链杆关
                              break;
                        case 1://单感应模式
                            BKQD_MotorStep   = 330;  //每种模式留20步
                            break;
                        case 2: //先感应后数控模式+检测
                            BKQD_MotorStep   = 350;  //每种模式留20步
                            break;
                        default:  //数控模式+过链检测长度
                            BKQD_MotorStep   = 370;  //每种模式留20步
                            break;
                    }  
                    BKQD_MotorDelay  =    dwTickCount + BKQD_PARAM_DELAY_BACK;    
                    break;
         //310步到315步为数控模式                    
                case 310:
                    BKQD_MotorStep   = 311;   
         //           BKQD_JZ_DIR   = BKQD_YDIR_P; 
                    if(BKQD_PARAM_BL_ENABLE)
                        BKQD_BinLianStep = 1;  //并链起动
                    break;
                case 311:   
                    if(dwTickCount >= BKQD_MotorDelay)
                    {   
                        BK_length_buffer = &BKQD_PARAM_OFFSET_LENGTH;  
                        
                        //               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
                        BK_DCC_TIME_BL= BKQD_PARAM_DCC + BKQD_PARAM_GO_HIGH_SPEED/500;                                                
                        AxisMovePosAccDecNotStop(X_AXIS,BKQD_PARAM_BACK_SPEED,BKQD_PARAM_ZIPPER_LENGTH + (*BK_length_buffer), BKQD_PARAM_START_SPEED,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_ACC,BK_DCC_TIME_BL,BKQD_PARAM_BACK_LOW_SPEED_LENGTH);                                  
                        gou_zhen_buff = dwXRealPos;
                        save_buff = dwXRealPos;                             
                        BKQD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                        BKQD_MotorStep   = 312;
                    }
                    break;   
		case 312:
                    if(dwXRealPos >= 10)
                        BKQD_TL_VAVLE = 0;
                       //勾针提前输出
                       if (!BKQD_GZ_VAVLE && ((dwXRealPos + BKQD_PARAM_GOUZHEN_LENGTH+BKQD_PARAM_TL_LENGTH) >= (BKQD_PARAM_ZIPPER_LENGTH )))
                       {  
                          BKQD_GZ_VAVLE = 1;
                       }
                       if((dwXRealPos) >= (BKQD_PARAM_ZIPPER_LENGTH  + (*BK_length_buffer) - BKQD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*BK_length_buffer) - (BKQD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(BKQD_PARAM_BACK_SPEED,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_DCC)))))
                       {           
                            BKQD_MotorDelay  = dwTickCount + 2000; //钩针未到位延时警告
                            BKQD_MotorStep   = 313;                                 
                       }//下面条件为无效代码
                       else if((dwXRealPos >= (BKQD_PARAM_ZIPPER_LENGTH-BKQD_PARAM_TL_LENGTH + (*BK_length_buffer) + BKQD_PARAM_ERROR_LENGTH)) && BKQD_PARAM_ERROR_LENGTH)
                       {
                            BKQD_SetAlarmCode(BKQD_GZ_ALARM);
                       }   
             
		      break;
                case 313:
                    if(!BKQD_GZ_VAVLE && (dwXRealPos + BKQD_PARAM_GOUZHEN_LENGTH + BKQD_PARAM_TL_LENGTH) > (BKQD_PARAM_ZIPPER_LENGTH ))
                    {
                        BKQD_GZ_VAVLE = 1;
                    }                        
                    if(BKQD_GOUZHEN_IN)
                    {                      
                        AxisEgmStop(X_AXIS);
                        BKQD_MotorDelay = dwTickCount + 0;
                        BKQD_YD_VAVLE = 1;
                        BKQD_MotorStep   = 314;
                        BKQD_BL_VAVLE = 0;  //停止时并链一定要打开
                    }
                    else if((dwXRealPos >= (BKQD_PARAM_ZIPPER_LENGTH - BKQD_PARAM_TL_LENGTH + (*BK_length_buffer) + BKQD_PARAM_ERROR_LENGTH)) && BKQD_PARAM_ERROR_LENGTH)
                    {
                        AxisEgmStop(X_AXIS);
                        if(dwTickCount >= BKQD_MotorDelay)                            
                            BKQD_SetAlarmCode(BKQD_GZ_ALARM);
                    }                          
                    break;
                    
                case 314:
                    if(!X_DRV && (dwTickCount >= BKQD_MotorDelay))
                    {    
                        BKQD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
                        BKQD_YD_VAVLE = 1;//压带
                        
                        BKQD_MotorStep   = 315;
                    }   
                    break;
                case 315: 
                        if(!BKQD_PARAM_WC_LENGTH)
                        {
                        BKQD_PARAM_WC_LENGTH=100;
                        }
                        if(BK_cZipCnt == 0)  //第一条把误差到正负9MM
                       {
                           ch = BKQD_PARAM_ZIPPER_LENGTH -BKQD_PARAM_TL_LENGTH + (*BK_length_buffer)-BKQD_PARAM_WC_LENGTH; 
                           kk = BKQD_PARAM_ZIPPER_LENGTH -BKQD_PARAM_TL_LENGTH + (*BK_length_buffer)+BKQD_PARAM_WC_LENGTH;
                       }   
                       else
                       {
                           ch = BKQD_PARAM_ZIPPER_LENGTH -BKQD_PARAM_TL_LENGTH + (*BK_length_buffer)-BKQD_PARAM_WC_LENGTH;                            
                           kk = BKQD_PARAM_ZIPPER_LENGTH -BKQD_PARAM_TL_LENGTH + (*BK_length_buffer)+BKQD_PARAM_WC_LENGTH;                           
                       }


                       if(((dwXRealPos) < (ch))) 
                       { 
                         
                            SetAlarmCode(BKQD_ALARM_ADDR,BKQD_LENGTH_SHORT_ALARM);   
                            if(dwTickCount >= BKQD_MotorDelay)
                                bAlarmStop = 1;
                       }          
                       else if((dwXRealPos > kk))//(BKQD_PARAM_ERROR_LENGTH - 200 + (*BK_length_buffer)+50)))
                       {
                         
                            SetAlarmCode(BKQD_ALARM_ADDR,BKQD_LENGTH_LONG_ALARM);   
                            if(dwTickCount >= BKQD_MotorDelay)
                                bAlarmStop = 1;
                       }     
                       else
                       {                                                        
                            BKQD_MotorStep   = 0;//390;  //延时反转步
                       }                       
                       break;
              //330步到349步单感应模式   
                case  330:  
                    gou_zhen_buff = dwXRealPos;
                      save_buff = dwXRealPos; 
                    BKQD_MotorStep   = 331;   
                    SetDir(X_AXIS, BKQD_DIR_P);                    
             
                    break;
                case 331:  
                    if(dwTickCount >= BKQD_MotorDelay)
                    {   
                        BKQD_MotorStep   = 332; 
                        if(BK_cZipCnt < 2)
                        {
                            if(BKQD_PARAM_BL_ENABLE)
                                BKQD_BinLianStep = 10;  //并链起动
                           //第一条都是过链感应，后拉速度减半//原来BKQD_PARAM_CHECK_BACK_HSPEED/2
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                          AxisContinueMoveAcc(X_AXIS,3000,BKQD_DIR_P,BKQD_PARAM_START_SPEED/2,BKQD_PARAM_START_SPEED/2,8,13);
                          
                         
                        }   
                        else
                        {  
                            if(BKQD_PARAM_BL_ENABLE)
                                BKQD_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,BKQD_PARAM_CHECK_BACK_HSPEED,BKQD_DIR_P,BKQD_PARAM_START_SPEED,BKQD_PARAM_START_SPEED,BKQD_PARAM_ACC,BKQD_PARAM_DCC);                          
                         }
                    }
                    break;
                case 332:
                    if(dwXRealPos >= 10)
                        BKQD_TL_VAVLE = 0;
                 if(dwXRealPos >250)
                   {   
                  
                  
                        if(BKQD_GUO_LIAN_IN_UP)
                        {                                 
                            checkdelay_buff = dwXRealPos;
                             AxisContinueMoveChangeSpeed(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
                             BKQD_MotorDelay  = dwTickCount + 16;//BKQD_PARAM_DELAY_XM;
                              BKQD_MotorStep   = 333;
                         }  
                
             
                   }
                    break;
                 case 333:  //此步为前两条运行   
                       if(BKQD_GUO_LIAN_IN_DW)
                       {                  
                            gou_zhen_buff = dwXRealPos;
                            BKQD_MotorStep   = 335;
                            BKQD_MotorDelay  = dwTickCount + BKQD_PARAM_GYMODE_DEALY;
                             
                        }                       
                        break;   
                case 334:                   
                   if(BKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
                   {         
                     gou_zhen_buff = dwXRealPos;
                     BKQD_MotorStep   = 335;
                      BKQD_MotorDelay  = dwTickCount + BKQD_PARAM_GYMODE_DEALY;               
                   }                   
                   if(BK_cZipCnt > 1)  //第三条开始要长度误差
                   {  
                        if(dwXRealPos >= (length_buff + BKQD_PARAM_ERROR_LENGTH))
                        {                    
                              BKQD_SetAlarmCode(BKQD_LENGTH_LONG_ALARM);
                          
                        }  
                   }       
                   break;
                case 335:
                  if(dwTickCount >= BKQD_MotorDelay)
                  {
                  
                      BKQD_GZ_VAVLE = 1;
                  }
                    if(BKQD_GUO_LIAN_IN_DW)
                    {
                        gou_zhen_buff = dwXRealPos; 
                         
                    }
                    //在空们都把延时清零    
                    if(BKQD_GUO_LIAN_IN)
                    {
                        gou_zhen_buff = dwXRealPos; 
                    }
                    if(BKQD_GOUZHEN_IN)
                    {                                    
                           AxisEgmStop(X_AXIS);
                           BKQD_MotorDelay  =    dwTickCount + 10;
                           BKQD_YD_VAVLE = 1;
                           BKQD_MotorStep   = 336;
                           BKQD_BL_VAVLE = 0;  //停止时并链一定要打开
                    }
                    else
                    {
                        if(BK_cZipCnt > 1)  //2 条后才有长度误差
                        {
                            if(dwXRealPos >= (length_buff + BKQD_PARAM_ERROR_LENGTH))
                            {
                                AxisEgmStop(X_AXIS);
                          
                                if(dwTickCount >= BKQD_MotorDelay)                            
                                    BKQD_SetAlarmCode(BKQD_GZ_ALARM);
                            }
                        }  
                    }
                    break;
                case 336:                                              
                    if(BK_cZipCnt > 1)  //长度检测
                    {
                        ch = BKQD_PARAM_ZIPPER_LENGTH;                                                                         
                 
                        if(((dwXRealPos + BKQD_PARAM_ERROR_LENGTH) < (ch)) && BKQD_PARAM_ERROR_LENGTH) 
                        { 
                            SetAlarmCode(BKQD_ALARM_ADDR,BKQD_LENGTH_LONG_ALARM);  
                          
                            if(dwTickCount >= BKQD_MotorDelay)
                                bAlarmStop = 1;
                        }          
                        else if((dwXRealPos > (ch + BKQD_PARAM_ERROR_LENGTH)) && BKQD_PARAM_ERROR_LENGTH)//(BKQD_PARAM_ERROR_LENGTH - 200 + (*BK_length_buffer)+50)))
                        {
                      
                            SetAlarmCode(BKQD_ALARM_ADDR,BKQD_LENGTH_LONG_ALARM);   
                            if(dwTickCount >= BKQD_MotorDelay)
                                bAlarmStop = 1;
                        }  
                        else
                        {
                            BKQD_MotorStep   = 337;
                        }
                    }
                    else 
                    {  
                        if(BK_cZipCnt == 1)
                        {
                            length_buff = dwXRealPos - save_buff +BKQD_PARAM_TL_LENGTH;
                            SetData32bits(BKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);  //测量记录长度
                        }     
                        BKQD_MotorStep   = 337;
                    } 
                    break;                    
                case 337:   
                    BKQD_MotorStep   = 0;//390;
                    
//                    SetDir(X_AXIS, BKQD_DIR_N);
//                    if(dwTickCount >= BKQD_MotorDelay) 
//                    {
//                        AxisMovePosAccDec(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,-BKQD_PARAM_FZ_LENGTH,3000,BKQD_PARAM_ACC,BKQD_PARAM_DCC);                                   
//                        BKQD_MotorStep   = 0;
//                    }
                    break;
              //350步到369步单感应模式   
                            
                case  350:                  
                    gou_zhen_buff = dwXRealPos;
                     BKQD_MotorStep   = 351;   
                               
                    
                    break;
                case 351:  
                    if(dwTickCount >= BKQD_MotorDelay)
                    {   
                       
                        if(BK_cZipCnt < 2)
                        {
                           BKQD_MotorStep   = 352; 
                            if(BKQD_PARAM_BL_ENABLE)
                                BKQD_BinLianStep = 10;  //并链起动
                           //第一条都是过链感应，后拉速度减半//原来BKQD_PARAM_CHECK_BACK_HSPEED/2
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                          AxisContinueMoveAcc(X_AXIS,3000,BKQD_DIR_P,BKQD_PARAM_START_SPEED/2,BKQD_PARAM_START_SPEED/2,8,13);
                          
                         
                        }   
                          else
                        {  
                            if(BKQD_PARAM_BL_ENABLE)
                                BKQD_BinLianStep = 1;  //并链起动
                            BKQD_DGLG_VAVLE = 1;  //顶过链杆关
                            BKQD_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
                            BKQD_MotorStep   = 311; 
                        }    
                    }
                    break;
                case 352:
                    if(dwXRealPos >= 10)
                        BKQD_TL_VAVLE = 0;
                  
                   
                  
                        if(BKQD_GUO_LIAN_IN_DW)
                        {                                 
                            checkdelay_buff = dwXRealPos;
                            AxisContinueMoveChangeSpeed(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
                          //   BKQD_MotorDelay  = dwTickCount + 16;//BKQD_PARAM_DELAY_XM;
                               gou_zhen_buff = dwXRealPos;
                            BKQD_MotorStep   = 355;
                            BKQD_MotorDelay  = dwTickCount + BKQD_PARAM_GYMODE_DEALY;
                         }  
              
                 
                   
                    break;
                
               
                case 355:
                  if(dwTickCount >= BKQD_MotorDelay)
                  {
                  
                      BKQD_GZ_VAVLE = 1;
                  }
                    if(BKQD_GUO_LIAN_IN_DW)
                    {
                        gou_zhen_buff = dwXRealPos; 
                         
                    }
                    //在空们都把延时清零    
                    if(BKQD_GUO_LIAN_IN)
                    {
                        gou_zhen_buff = dwXRealPos; 
                    }
                    if(BKQD_GOUZHEN_IN)
                    {                                    
                           AxisEgmStop(X_AXIS);
                           BKQD_MotorDelay  =    dwTickCount + 10;
                           BKQD_YD_VAVLE = 1;
                           BKQD_MotorStep   = 336;
                           BKQD_BL_VAVLE = 0;  //停止时并链一定要打开
                    }
                    break;
                case 356:                                              
                        if(BK_cZipCnt == 1)
                        {
                            length_buff = dwXRealPos + BKQD_PARAM_TL_LENGTH;
                            SetData32bits(BKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);  //测量记录长度
                        }     
                        BKQD_MotorStep   = 337;
                    break;                    
                case 357:   
                    BKQD_MotorStep   = 0;//390;

                    break;
                    
                    
                    
         
     
                    //此两步为到位后反转步
                case 390:
                    BKQD_MotorDelay  =    dwTickCount + 30;
                    BKQD_MotorStep   = 391; 
                    break;
                case 391:    
                    if(dwTickCount >= BKQD_MotorDelay) 
                    {
                        AxisMovePosAccDec(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,-BKQD_PARAM_FZ_LENGTH,3000,3000,BKQD_PARAM_ACC,BKQD_PARAM_DCC,00);                                   
                        BKQD_MotorStep   = 0;
                    }
                    break;
                       
		case 40:  
                       //切完延时后拉带松夹子
	               if(BKQD_PARAM_SJZ_LENGTH == 0)
                        {
                            BKQD_MotorDelay = dwTickCount + BKQD_PARAM_CUT_BACK_DELAY;
                            BKQD_MotorStep   = 43;
                             BKQD_JD_VAVLE = 0; 
                            
                        }
                        else
                        {
                            jz_buff = dwXRealPos;
                            BKQD_MotorStep   = 41;
                            
                        }
                        break; 
                    
                       
                case 41:
                    BKQD_GZ_VAVLE=0;
                    AxisMovePosAccDec(X_AXIS,BKQD_PARAM_CUT_BACK_SPEED,BKQD_PARAM_SJZ_LENGTH + BKQD_PARAM_BACK_LENGTH,2500,2000,25,25,40);
                    BKQD_MotorStep   = 42;
                    break;             
                case 42:	 
                    if(BKQD_PARAM_SJZ_LENGTH <= (dwXRealPos - jz_buff))
                        BKQD_JD_VAVLE = 0;  
                    if(!X_DRV)
                    {
                        BKQD_MotorStep   = 0;
                    }
                    break;
               
                case 43:
                    if(dwTickCount >= BKQD_MotorDelay)
                    {
                        BKQD_GZ_VAVLE=0;  //延时退勾针有助于切断带丝情况
                        AxisMovePosAccDec(X_AXIS,BKQD_PARAM_CUT_BACK_SPEED,BKQD_PARAM_BACK_LENGTH,2500,2000,15,15,30);
                        BKQD_MotorStep   = 44;     
                    }               
                    break;
                case 44:	                           // 切断完成后拉电机动作
                    if(!X_DRV)
                    {
                        BKQD_MotorStep   = 0;
                        
                        BKQD_MotorDelay  =    dwTickCount;
                    }
                    break;              
                case 61: // 前点定位数控模式
                        BKQD_BL_VAVLE = 0;//并链也要打开
                        if(dwTickCount >= BKQD_MotorDelay)
                        {                             
             //               BKQD_JZ_DIR   = BKQD_YDIR_N; 
                            if(!BKQD_TL_VAVLE && BK_cZipCnt && (BKQD_TuiLianStep == 0))  //没送链情况下主动送链
                            {
                                if(!BKQD_SHANG_MU_LIMIT_IN)
                                {
                                     BKQD_TuiLianStep = 1;
                                     BKQD_MotorStep = 62;
                                }                          
                            }
                            else
                                BKQD_MotorStep = 62;
                        }
                        break;
                case 62:                    
                        if(dwTickCount >= BKQD_MotorDelay)
                        {                            
                            if(BKQD_QIAN_LIMIT_IN)
                            {
                                //前点亮的情况下先后退离开信号后再前进定位 ,10公分
                                AxisMovePosAccDec(X_AXIS,3000,1000,2000,2000,10,10,30);                         
                                BKQD_MotorDelay = dwTickCount + 300;
                            }
                            BKQD_MotorStep = 63;            
                            BKQD_JD_VAVLE = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !BKQD_QIAN_LIMIT_IN && (dwTickCount >= BKQD_MotorDelay))// && !BKQD_SHANG_MU_LIMIT_IN)
                        {                           
                            BKQD_YD_VAVLE = 1;
                            //                           BKQD_HL_VAVLE = 1;      
                            //                           BKQD_YX_VAVLE = 1;
                            //李永庆代码,当位置在慢速之外,走数控到慢速点
                            if(BK_cZipCnt > 0)
                            {                            
                                if(dwXRealPos>(BKQD_PARAM_GO_LOW_SPEED_LENGTH))   
                                {   
                                    
                                    BK_DCC_TIME_BL= BKQD_PARAM_DCC + BKQD_PARAM_GO_HIGH_SPEED/500;
                                    AxisMovePosAccDecNotStop(X_AXIS,BKQD_PARAM_GO_HIGH_SPEED,-dwXRealPos,
                                                             BKQD_PARAM_START_SPEED,BKQD_PARAM_GO_LOW_SPEED,BKQD_PARAM_ACC,BK_DCC_TIME_BL,
                                                             BKQD_PARAM_GO_LOW_SPEED_LENGTH + BKQD_PARAM_GO_DW_LENGTH);                                    
                                } 
                                else
                                {
                                    AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED/3,BKQD_PARAM_GO_LOW_SPEED,15,15);
                                   
                                }                                
                            }
                            else
                            {
                                AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED/3,BKQD_PARAM_GO_LOW_SPEED,15,15);
                            }
                            
                            BKQD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            BKQD_MotorStep   =64;
                        }  
                       
			break;
                case 64:
                        if(BK_cZipCnt > 1)
                        {     
                            
                           if(BKQD_QIAN_LIMIT_IN)  //前点限位
                            {
                                if(BKQD_PARAM_GO_DW_LENGTH)
                                {    
                                    SetPos(X_AXIS, BKQD_PARAM_GO_DW_LENGTH);
                                    AxisMovePosAccDec(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,-BKQD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                                }
                                else
                                    AxisEgmStop(X_AXIS);
                                BKQD_MotorStep   = 66;                            
                            }                           
                        }
                        else
                        {                            
                            if(BKQD_QIAN_LIMIT_IN)  //前点限位
                            {
                                 if(BKQD_PARAM_GO_DW_LENGTH)
                                {    
                                    SetPos(X_AXIS, BKQD_PARAM_GO_DW_LENGTH);
                                    AxisMovePosAccDec(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,-BKQD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                                }
                                else
                                    AxisEgmStop(X_AXIS);
                                BKQD_MotorStep   = 66;                      
                            }             
                        }

                        break;
		case 66:
                        if(!X_DRV  || (dwXRealPos <= 0))
                        {   
                            SetPos(X_AXIS, 0);
                            BKQD_MotorDelay =    dwTickCount + 5;
                            BKQD_MotorStep   = 67;
                        }
			break;   
		case 67:  //等推链完成后,
                        if((dwTickCount >= BKQD_MotorDelay) && (BKQD_TuiLianStep == 0) && ((BKQD_PARAM_TIAOSHI_MODE && BKQD_bTS) || (BKQD_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                BKQD_JD_VAVLE = 1;
                                BKQD_MotorDelay =    dwTickCount + BKQD_PARAM_DELAY_BACK*3/5;
                            }
                            BKQD_MotorStep   = 68;
                        }
			break;
                case 68:
                        if(dwTickCount >= BKQD_MotorDelay)
                        {
                            BKQD_YD_VAVLE = 0;
                            BKQD_MotorStep   = 69;
                            BKQD_MotorDelay  = dwTickCount + BKQD_PARAM_DELAY_BACK*2/5;
                        }
                        break;
                        
                case 69:   
                        if(dwTickCount >= BKQD_MotorDelay)
                        {
                            BKQD_MotorStep   = 0;
                            BKQD_MotorDelay  = dwTickCount;
                        }
                        break;                        
               
	}
}

//电机动作
void BK_QueDuan_Motor(void)	 
{
    BK_QueDuan_Motor_NoGL(); 
}


void BK_QueDuan_TuiLianAction(void)
{
    if(BKQD_PARAM_XM_ENABLE == 0)
    {
        BKQD_TuiLianStep = 0;
    }
    else
    {  
        switch(BKQD_TuiLianStep) 
        {
            case 1:
                BKQD_TuiLianStep = 2;
            break;
            case 2:
                  BKQD_TLDelay     = dwTickCount + BKQD_PARAM_YD_DELAY;
                  BKQD_TuiLianStep = 3;
            break;
            case 3:
                if(!BKQD_SM_VAVLE && !BKQD_SHANG_MU_LIMIT_IN)//dwTickCount >= BKQD_TLDelay)
                {   
                    BKQD_TL_VAVLE    = 1;
                    if(!bRunning)BKQD_TFK_VAVLE = 0;
                    BKQD_TLDelay     = dwTickCount + BKQD_PARAM_TL_DELAY;
                    BKQD_TuiLianStep = 4;
                }
            break;
            case 4:
                if(dwTickCount >= BKQD_TLDelay)
                {
                    BKQD_TuiLianStep = 0;
                }
            break;
            case 10:
             
                BKQD_TuiLianStep = 11;
            break;
            case 11:
                if(!Y_DRV)
                {
                   {
                      BKQD_TuiLianStep = 0;
                   }
                }
            break;
        }
    }
}

//闭口专用  
void BK_QueDuan_XiaQue_NO_GL(void)
{
    switch(BKQD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
            if(!bRunning)
            {
                
                BKQD_YD_VAVLE = 1;
                BKQD_XiaQieStep = 2;                             
                BKQD_XiaQieDelay = dwTickCount + 30;
                
            }
            else
            {
                BKQD_YD_VAVLE = 1;
                BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_CUT_DELAY;
                BKQD_XiaQieStep = 2;  
            }
            break;
        case 2:
               if(dwTickCount >= BKQD_XiaQieDelay)
               {
                    BKQD_XiaQieStep = 3;  
                    BKQD_XiaQieDelay = dwTickCount;
                    if(bRunning)
                        BKQD_MotorStep   = 390;  //延时反转步
               }
               break;
        case 3:
                if(dwTickCount >= BKQD_XiaQieDelay)
                {      
                    if((BKQD_PARAM_TIAOSHI_MODE && BKQD_bTS) || (BKQD_PARAM_TIAOSHI_MODE == 0))
                    {
                        BKQD_SM_VAVLE   = 1;
                        BKQD_XM_VAVLE   = 1;
                        BKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                        BKQD_XiaQieStep = 4;   
                        BKQD_CheckTime = dwTickCount;
                    }
                }
            break;
        case 4:  
            if(BKQD_SHANG_MU_ORIGIN_DW)
                user_datas[124] = dwTickCount -  BKQD_CheckTime; 
            if(BKQD_SHANG_MU_LIMIT_IN_UP)
                user_datas[125] = dwTickCount -  BKQD_CheckTime; 
            
            
            
                if(BKQD_SHANG_MU_LIMIT_IN && (BKQD_XIA_MU_LIMIT_IN || BKQD_PARAM_XM_ENABLE))
                {          
                    BKQD_GZ_VAVLE   = 0;
                    if(!BKQD_PARAM_CS_MODE)  //气切
                    {
                        BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_DELAYBACK_SM;       // 
                        BKQD_XiaQieStep = 5;      
                    }
                    else
                    {
                        BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_DELAY_CS *3/5;       // 
                        BKQD_XiaQieStep = 10;                      
                    }      // 
                }
                else if(dwTickCount >= BKQD_XiaQieDelay)
                {
                    if(!BKQD_SHANG_MU_LIMIT_IN)
                        BKQD_SetAlarmCode(BKQD_SM_DAOWEI);
                    else
                        BKQD_SetAlarmCode(BKQD_XM_DAOWEI);
                }  
        break;
        case 5:
            if(dwTickCount >= BKQD_XiaQieDelay)	
            {
                    BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_DELAY_CS *2/5; 
                    BKQD_XiaQieStep = 6;
                    BK_XiaQueOver = 1;
            }   
            break;
    case 6:
        if(dwTickCount >= BKQD_XiaQieDelay)	
            {
                BK_XiaQueOver = 1;
                BKQD_SM_VAVLE   = 0; 
                BKQD_XM_VAVLE   = 0;
                BKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                BKQD_XiaQieStep = 7;	
            }
            break;
        case 7:
            if(!BKQD_SHANG_MU_LIMIT_IN && (!BKQD_XIA_MU_LIMIT_IN || BKQD_PARAM_XM_ENABLE))  //下模不动就不用判断	
            {   
                if(BKQD_TuiLianStep == 0)
                    BKQD_TuiLianStep = 1;
                if(!bRunning)
                    BKQD_JD_VAVLE = 0;
                BKQD_XiaQieStep = 0;                                          
            }
            else if(dwTickCount >= BKQD_XiaQieDelay)	
            {
                BKQD_SetAlarmCode(BKQD_SM_YUANWEI);
            }            
            break;
        //10~11步为超声
        case 10:
                if(dwTickCount >= BKQD_XiaQieDelay)	
                {
                    if(BKQD_PARAM_CS_ENABLE)BKQD_CS_OUT = 1;
                    BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_CS_TIME;       // 
                    BKQD_XiaQieStep = 11;      
                }
                break;
        case 11:
                if(dwTickCount >= BKQD_XiaQieDelay)	
                {
                    BKQD_CS_OUT = 0;
                    BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_CS_COLD_TIME;       // 
                    BKQD_XiaQieStep = 5;	
                }
                break;
        case 100:
               if(dwTickCount >= BKQD_XiaQieDelay)
               {
                 
                 //这是双开程序，暂时不考虑
#if 1
                    if(BKQD_GOUZHEN_IN)
                    {
                        BKQD_YD_VAVLE = 1;
                        BKQD_XiaQieStep = 3;  
                    }
#endif                     
               }
               break;
    }	
}
//切断动作
void BK_QueDuan_XiaQue(void)	 
{
  
        BK_QueDuan_XiaQue_NO_GL();


}






#endif