GC19038/Machine/JinHongMachine/JHKKQueDuanJi.c

#include "global.h"


#if JIN_HONG_MACHINE ==1


void KK_QueDuan_AlarmProtect(void);
void KK_QueDuan_ManualAction(void);
void KK_QueDuan_AutoAction(void);
void KK_QueDuan_StepCheckStart(void);
void KK_QueDuan_XiaQue(void);
void KK_QueDuan_Motor(void);
void KK_QueDuan_YuanDianAction(void);
void KK_QueDuan_TuiLianAction(void);
void KK_QueDuan_ExtiActionX31(void);
void KK_QueDuan_BingLian(void);
void KKQD_TuiDaiAction(void);
void KK_StopCode(void);
void KK_Motor_SZ(unsigned char En);

short *KK_length_buffer;



void KK_QueDuan_ExtiActionX31(void)
{
    KK_cCheckLianFlg = 1;
}
void KKQD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(KKQD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void KK_StopCode(void)
{
   switch(BKQD_StopStep)
   {
          case 1:            
             KKQD_StopStep=2;
             if(X_DRV)
             {
                AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
                AxisDecStop(X_AXIS);
             }
            break;
          case 2:    
            if(!X_DRV || (dwXRealPos < 10))
            {
                KKQD_StopCodeDelay=dwTickCount+350;
                KKQD_StopStep = 3;
                  AxisEgmStop(X_AXIS);
            }  
            break;
          case 3:
            if(dwTickCount >= BKQD_StopCodeDelay)
            {
 //             if(!cSTOPONE)
              {                
                    KKQD_StopStep=0;                    
              }
//              else
//              {        
//                    QD_SetAlarmCode(QD_PARAM_ANQUANMEN_ALARM);
//                    BKQD_StopStep=0;
//                    cSTOPONE=0;
//              }
               AxisEgmStop(X_AXIS);
              KK_Motor_SZ(KKQD_MOTOR_DIS); //电机松轴
            }
            break;
   }
}

//电机松轴
void KK_Motor_SZ(unsigned char En)
{
    if(En) //使能
    {  
        if(KKQD_PARAM_MOTOR_SELECT)
            KKQD_SZ_OUT   = 1;  //伺服电机
        else
            KKQD_SZ_OUT   = 0;  //步进电机
    }
    else  //松轴
    {
        if(KKQD_PARAM_MOTOR_SELECT)
            KKQD_SZ_OUT   = 0;  //伺服电机
        else
            KKQD_SZ_OUT   = 1;  //步进电机
    }  
}

void KK_QueDuan_InitAction(void)
{
    float length_buff,pulse_buff;

   
   
    length_buff = KKQD_PARAM_CYCLE_LENGTH;
    pulse_buff  = KKQD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;  

      KK_Motor_SZ(KKQD_MOTOR_DIS); //电机松轴
     SetDirReverse(X_AXIS, 0);
    axis_set_parameter(axis_x, AXIS_ACCDEC_MODE,0);  
   
        
}

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

//手动动作
void KK_QueDuan_ManualAction(void)
{  
    if(bRunning == 0)  
    {   
        KK_cGoLimitEn = 0;
        if(KKQD_bClearTotal) //切断计数清零
        {
            KKQD_bClearTotal       = 0;
            ClrcToTal(KKQD_TOTAL_ADDR);
        }
        
        if(KKQD_bClearNowTotal)
        {
            KKQD_bClearNowTotal = 0;
            KKQD_PARAM_NOW_CNT = 0;
        }
        
        if(KKQD_bXiaQie)
        {
            KKQD_bXiaQie = 0;
            if((KKQD_XiaQieStep == 0) && !KKQD_TL_VAVLE)
            {
                KKQD_XiaQieStep = 1;
            }  
        }
        
        if(KKQD_bQianDianDW)
        {
            KKQD_bQianDianDW = 0;
            if(KKQD_MotorStep == 0)
            {
                KKQD_MotorStep = 61;
                KK_cZipCnt      = 0;
                KK_Motor_SZ(KKQD_MOTOR_EN); //电机锁轴
                 KKQD_MotorDelay  =    dwTickCount + 150;
            }
        }
        
        if(KKQD_bTL)
        {  
            KKQD_bTL = 0;
            if(KKQD_TL_VAVLE)
            {
                KKQD_TL_VAVLE = 0;
            } 
            else if(!KKQD_GZ_VAVLE && !KKQD_SM_VAVLE)
            {
                KKQD_TL_VAVLE = ~KKQD_TL_VAVLE;
            }
        }
        

 

        if(KKQD_bYD)
        {
            KKQD_bYD = 0;
            KKQD_YD_VAVLE = ~KKQD_YD_VAVLE;
        }
        
        if(KKQD_bGZ)
        {
            KKQD_bGZ = 0;
            KKQD_GZ_VAVLE = ~KKQD_GZ_VAVLE;
        }
        
        if(KKQD_bJD)
        {
           KKQD_bJD = 0;
           KKQD_JD_VAVLE = ~KKQD_JD_VAVLE;
        }
        
        if(KKQD_bXM)
        {       
           KKQD_bXM = 0;
           if(KKQD_XM_KAIKOU_VAVLE)
           {
                KKQD_XM_KAIKOU_VAVLE = 0;
           }
           else
           {
               KKQD_XM_KAIKOU_VAVLE = 1;
           }  
        }
        
        if(KKQD_bSM)
        {
           KKQD_bSM = 0;
           if(KKQD_SM_VAVLE)
                KKQD_SM_VAVLE = 0;
           else if(!KKQD_TL_VAVLE)
                KKQD_SM_VAVLE = 1;
        }
        //推方块
        if(KKQD_bTFK)
        {
            KKQD_bTFK = 0;
            KKQD_TFK_VAVLE = ~KKQD_TFK_VAVLE;
        }
        //台面电机
        if(KKQD_bTB)
        {
           KKQD_bTB = 0;           
            KKQD_TABLE_VAVLE = ~KKQD_TABLE_VAVLE;
        }
        
//        if(KKQD_bYBD)
//  /      {
//            KKQD_bYBD = 0;
//            KKQD_YBD_VAVLE = ~KKQD_YBD_VAVLE;
//        }
        
        if(KKQD_bTestCS)
        {
           KKQD_bTestCS = 0;
           KKQD_CS_OUT  = 1;
           KKQD_CSDelay = dwTickCount + KKQD_PARAM_CS_TIME;
        }
        
        if(KKQD_bBL)//合链
        {
            KKQD_bBL = 0;
            KKQD_BL_VAVLE = ~KKQD_BL_VAVLE;
        }
        
        if(KKQD_bHL)  //护链,双开用
        {
            KKQD_bHL = 0;
//            KKQD_HL_VAVLE = ~KKQD_HL_VAVLE;
        }
        
        if(KKQD_bYX)
        {
            KKQD_bYX = 0;
//            KKQD_YX_VAVLE = ~KKQD_YX_VAVLE;
        }
        if(KKQD_XiaQieStep == 0)
        {
            if(dwTickCount >= KKQD_CSDelay) KKQD_CS_OUT  = 0;
        }

        
//电机控制        
        if(KKQD_bGoMotor && !KKQD_QIAN_LIMIT_IN)
        {           
            KK_Motor_SZ(KKQD_MOTOR_EN); //电机锁轴
            KKQD_STOPINDelay = dwTickCount;
            if(!X_DRV)
            {
              
              //                  X轴       运行速度                    启动速度        加速度  减速度
            AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_GO_LOW_SPEED,10,12);

     
            }
        }
        
        if(KKQD_bBackMotor)  //后退限位已经取消
        {
            KK_Motor_SZ(KKQD_MOTOR_EN); //电机锁轴
            KKQD_STOPINDelay = dwTickCount;
            if(!X_DRV)
                //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_P,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_GO_LOW_SPEED,10,12);
        }
        
        if(!KKQD_bGoMotor && !KKQD_bBackMotor && (KKQD_MotorStep == 0) &&  (dwTickCount >= KKQD_STOPINDelay))
        {
            if(X_DRV) AxisEgmStop(X_AXIS); 
        }
        
        if(KKQD_QIAN_LIMIT_IN && (KKQD_MotorStep == 0) && !KKQD_bBackMotor &&(KKQD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }       
    }
}




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

    if(!bRunning)
    {
      ;

    }
    else
    {
        if(KKQD_PARAM_RUN_LENGTH < 5000)
            KKQD_PARAM_RUN_LENGTH= 5000;
        if((dwXRealPos > KKQD_PARAM_RUN_LENGTH) && (KK_cGoLimitEn != 0))  //第一条手动时不保护
        {
            //AxisEgmStop(X_AXIS);  
            KK_cGoLimitEn = 0;
            bStop = 1;
            KKQD_StopStep = 1;
            KKQD_JD_VAVLE = 0;
            KKQD_SetAlarmCode(KKQD_BACK_ALARM);
        }
    }
}


void KK_QueDuan_AutoAction(void)
{   
    if(bRunning)
    {//台面电机定时关掉
        if(dwTickCount >= KKQD_TBDelay)
            KKQD_TABLE_VAVLE = 0;  
        switch(KKQD_AutoStep)
        {
        case 1:
            if(dwTickCount >= KKQD_AutoDelay)
            {	
                KKQD_AutoStep = 2;	    
                if(KKQD_MotorStep == 0)
                {
                    KKQD_MotorStep = 61;   //前点定位
                }
                KK_cGoLimitEn = 0;
            }	
            break;	
        case 2:	 
            if(KKQD_MotorStep == 0)
            {   
                KKQD_MotorStep = 30;  
                KKQD_AutoStep = 3;	
                KK_cGoLimitEn = 1;
            }
            break;	
        case 3:	//后面两步为延时反转步
            if((KKQD_MotorStep == 0) || (KKQD_MotorStep == 390) || (KKQD_MotorStep == 391))
            {   
                if(KKQD_SAFE_IN)
                {
                    bStop = 1;
                }
                else 
                {
                    
                    if(KKQD_XiaQieStep == 0)
                        KKQD_XiaQieStep = 1;                 
                    KKQD_AutoStep = 4;
                }
            }              
            break;
        case 4:
            
            //              if((KKQD_MACHINE_TYPE == KKQD_NO_GL_TUIFANGKUAI) || (KKQD_MACHINE_TYPE == KKQD_CS_TUIFANGKUAI))
            //              {
            //                                  闭口
            if((KKQD_XiaQieStep == 0) || ((KKQD_XiaQieStep == 6) && (KKQD_PARAM_KAIBEE_SELECT == 1))|| ((KKQD_XiaQieStep == 13) && (KKQD_PARAM_KAIBEE_SELECT == 0)))// && !KKQD_SHANG_MU_LIMIT_IN)
            {
                if(KKQD_MotorStep == 0) 
                {
                    KKQD_MotorStep = 40;     //切完后退
                    
                }
                KKQD_AutoStep = 5;	    
            }
            /*                      
            //                  }
            //                  else
            //                  {
            if(((KKQD_XiaQieStep == 0) || (KKQD_XiaQieStep == 13)) && !KKQD_SHANG_MU_LIMIT_IN && !KKQD_XIA_MU_LIMIT_IN)
            {
            if(KKQD_MotorStep == 0) 
            {
            KKQD_MotorStep = 40;     //切完后退
            KKQD_AutoStep = 5;
        }	    
        }                  
        }
            */
            break;
        case 5:	              
            if(KKQD_MotorStep == 0)
            {
                KK_cZipCnt++;
                KKQD_PARAM_NOW_CNT++;
                KK_cTableCnt++;
                AddToTal(KKQD_TOTAL_ADDR);
                AddToTal(CT_WORKTOTAL_ADDR);
                CalProSP(KKQD_PROSPEED_ADDR);
                
                if(KK_cTableCnt >= KKQD_PARAM_TABLE_NUM)
                {
                    KK_cTableCnt = 0;
                    KKQD_TABLE_VAVLE = 1;
                    KKQD_TBDelay = dwTickCount + KKQD_PARAM_TB_TIME;
                }
                
                if(/*(GetTotal(KKQD_TOTAL_ADDR) >= KKQD_PARAM_SET_TOTAL) ||*/KK_QDSingOneFlg)
                {
                    
                    bRunning = 0;
                    KKQD_AutoStep = 0; 
                    KK_QDSingOneFlg = 0;
                    KKQD_TABLE_VAVLE = 0; 
                    
                    //                         if(GetTotal(KKQD_TOTAL_ADDR) >= KKQD_PARAM_SET_TOTAL) KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
                }
                else
                    
                {
                    KKQD_AutoStep = 1; 
                    
                    if((KKQD_PARAM_NOW_CNT >= KKQD_PARAM_ZHA_SHU) && (KKQD_PARAM_ZHA_SHU > 0))   
                    {
                        KKQD_AutoDelay = dwTickCount + KKQD_PARAM_ZS_STOP_TIME;
                        KKQD_PARAM_NOW_CNT = 0;
                        if(KKQD_PARAM_ZS_STOP_TIME == 0)
                        {
                            bRunning = 0;
                            KKQD_AutoStep = 0; 
                            KK_QDSingOneFlg = 0;
                            KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
                            KKQD_TABLE_VAVLE = 0;
                        }
                    }
                    else
                        KKQD_AutoDelay = dwTickCount + KKQD_PARAM_CYCLE_DELAY;
                }
            }
            break;
        }	
    }
}

void KK_QueDuan_StepCheckStart(void)
{
    //		启动      			
    if((KKQD_START_IN_UP) || bStart || KKQD_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (KKQD_AutoStep == 0))
        {
            if((KKQD_XIA_MU_LIMIT_IN|| KKQD_KAIKUO_XIAMO_LIMIT_IN) && !KKQD_PARAM_XM_ENABLE)KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
            
            //            else if(GetAlarmCode(KKQD_ALARM_ADDR) != 0);
            //else if(GetTotal(KKQD_TOTAL_ADDR) >= KKQD_PARAM_SET_TOTAL) KKQD_SetAlarmCode(KKQD_TOTAL_ALARM);
            //           else if(KKQD_BL_VAVLE)KKQD_SetAlarmCode(KKQD_BL_ALARM);
            else if(KKQD_SM_VAVLE)KKQD_SetAlarmCode(KKQD_SM_ALARM);
            else
            {
                bRunning    = 1;
                KKQD_AutoStep = 1;
                if(KKQD_bSingle) 
                    KK_QDSingOneFlg= 0;
                KK_cZipCnt      = 0;
                KK_cTuiFangKuaiCnt = 0;
                KKQD_BL_VAVLE = 0;    //并链关
                KKQD_DGLG_VAVLE = 0;  //顶过链杆关
                SetAlarmCode(KKQD_ALARM_ADDR,0); 
                KK_Motor_SZ(KKQD_MOTOR_EN); //电机锁轴
                KKQD_AutoDelay = dwTickCount + 150; 
            }
        }
        KKQD_bSingle = 0;
    }
    //停止
    if((KKQD_STOP_IN_UP && (dwTickCount >= KKQD_STOPINDelay)) || bStop)
    {
        bStop = 0;  
        KKQD_STOPINDelay = dwTickCount + 100;
        if(bRunning)
        {
            KKQD_AutoDelay   = dwTickCount;
            KKQD_MotorDelay = dwTickCount;
            KKQD_XiaQieDelay  = dwTickCount;
            KKQD_KaDaiDelay   = dwTickCount;
            KKQD_CSDelay = dwTickCount;
            KKQD_TBDelay  = dwTickCount;
            KKQD_TFKDelay  = dwTickCount;
            KKQD_TLDelay     = dwTickCount;
            KK_QDSingOneFlg  = 0; 
            KKQD_JD_VAVLE = 0;
            KKQD_SM_VAVLE = 0;
            KKQD_YD_VAVLE = 0;
            KKQD_TFK_VAVLE= 0;
            KKQD_TL_VAVLE      = 0;
            //           KKQD_HL_VAVLE  = 0;
            KKQD_CS_OUT   = 0;
            KKQD_XiaQieStep = 0;
            KKQD_MotorStep  = 0;
            KKQD_TuiLianStep = 0;
            KKQD_GZ_VAVLE    = 0;
            KKQD_TABLE_VAVLE   = 0;
            KKQD_DGLG_VAVLE = 0;  //顶过链杆关
            if((KKQD_StopStep == 0) && X_DRV)
                KKQD_StopStep = 1;            
//            AxisDecStop(X_AXIS);  
            KKQD_BinLianStep  = 0;
            KKQD_BL_VAVLE    = 0;
            user_datas[121] = 0;
            user_datas[122] = 0;
            
            SetAlarmCode(KKQD_ALARM_ADDR,0);        
        }
        else
        {
            KKQD_AutoDelay   = dwTickCount;
            KKQD_MotorDelay = dwTickCount;
            KKQD_XiaQieDelay  = dwTickCount;
            KKQD_KaDaiDelay   = dwTickCount;
            KKQD_CSDelay = dwTickCount;
            KKQD_TBDelay  = dwTickCount;
            KKQD_TFKDelay = dwTickCount;
            KKQD_TLDelay  = dwTickCount;
            dwTickCount = KKQD_TBDelay;
            KK_QDSingOneFlg  = 0; 
            KKQD_JD_VAVLE = 0;
            KKQD_SM_VAVLE = 0;
            KKQD_XM_KAIKOU_VAVLE = 0;
            KKQD_YD_VAVLE = 0;
            KKQD_TFK_VAVLE= 0;
            //           KKQD_YX_VAVLE = 0;
            //            KKQD_HL_VAVLE  = 0;
            KKQD_TL_VAVLE      = 0;
            KKQD_DGLG_VAVLE = 0;  //顶过链杆关
            KKQD_GZ_VAVLE = 0;
            KKQD_CS_OUT   = 0;
            KKQD_XiaQieStep = 0;
            KKQD_MotorStep  = 0;
            KKQD_TuiLianStep = 0;
            KKQD_TABLE_VAVLE   = 0;
            
 //           KK_Motor_SZ(KKQD_MOTOR_DIS); //电机松轴
            if((KKQD_StopStep == 0))
            {
                 AxisEgmStop(X_AXIS);   
                 KK_Motor_SZ(KKQD_MOTOR_DIS); //电机松轴
            }     
            
            KKQD_BinLianStep  = 0;
            KKQD_BL_VAVLE    = 0;
            SetAlarmCode(KKQD_ALARM_ADDR,0);
        }
        bRunning   = 0;
        KKQD_XiaQieStep = 0;
        KKQD_AutoStep   = 0;
        KKQD_MotorStep  = 0;
        KKQD_TuiLianStep = 0;
    }
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        KKQD_XiaQieStep = 0;
        KKQD_AutoStep   = 0;
        KKQD_MotorStep  = 0;
        KKQD_TuiLianStep = 0;
        
        KKQD_XiaQieStep = 0;
        KKQD_MotorStep  = 0;
        KKQD_TuiLianStep = 0;
        KKQD_AutoDelay   = dwTickCount;
        KKQD_MotorDelay = dwTickCount;
        KKQD_XiaQieDelay  = dwTickCount;
        KKQD_KaDaiDelay   = dwTickCount;
        KKQD_CSDelay = dwTickCount;
        KKQD_TBDelay  = dwTickCount;
        KKQD_TFKDelay  = dwTickCount;
        KKQD_TLDelay     = dwTickCount;
        KK_QDSingOneFlg  = 0; 
        bRunning   = 0;
        if(X_DRV)
            KKQD_StopStep=1;
//        AxisEgmStop(X_AXIS); 
        dwTickCount = KKQD_TBDelay;
        KKQD_TABLE_VAVLE = 0;
        KKQD_JD_VAVLE=0;
        KKQD_GZ_VAVLE=0;
    }
    
}   
//记忆长度模式误差检测
void KK_QueDuan_CheckLength(long zip_length)
{
    static long start_dist;
    switch(KKQD_CheckLengthStep)
    {
        case 0:break;
        case 1:
               start_dist = dwXRealPos;
               KK_dwSaveLength = 0;
               KKQD_CheckLengthStep = 2;
               break;
        case 2:
          if(KKQD_GUO_LIAN_IN_DW){  
            KK_dwSaveLength = dwXRealPos - start_dist;   

          }
               break;         
    }          
}

#if 1//!KKQD_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 KK_QueDuan_Motor_KK(void)
{
    static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_length_buff,jz_buff;
    unsigned  short ch;
    user_datas[121]= KKQD_MotorStep;
    user_datas[122]= length_buff; 
    user_datas[123] = dwXRealPos;
    user_datas[124] = KK_QDSingOneFlg;
    user_datas[125] = KKQD_AutoStep;
    user_datas[126] = KKQD_XiaQieStep;
    //    user_datas[127] = KKQD_XiaQieStep;
    KK_QueDuan_CheckLength(length_buff);
    
    switch(KKQD_MotorStep)
    {
        case 30:
            switch(KKQD_PARAM_BACK_MODE)  //开口分四种模式 
            {
                case 0: //单数控模式
                    KKQD_MotorStep   = 310;  //每种模式留20步
                    KKQD_DGLG_VAVLE = 1;  //顶过链杆关
                    break;
                case 1://单感应模式
                    KKQD_MotorStep   = 330;  //每种模式留20步
                    
                    break;
                case 2: //先感应后数控模式+检测
                    KKQD_MotorStep   = 350;  //每种模式留20步
                    break;
                default:  //数控模式+过链检测长度
                    KKQD_MotorStep   = 370;  //每种模式留20步
                    break;
            }  
            KKQD_MotorDelay  =    dwTickCount + KKQD_PARAM_DELAY_BACK;  
            SetPos(X_AXIS, 0);
            dwXRealPos = 0;
            back_buff = 0;
            gou_zhen_buff = 0;
            save_buff = 0;     
            break;
            //310步到315步为数控模式                    
        case 310:
            KKQD_MotorStep   = 311;   
            //           KKQD_JZ_DIR   = KKQD_YDIR_P; 
            if(KKQD_PARAM_BL_ENABLE)
                KKQD_BinLianStep = 1;  //并链起动
            break;
        case 311:   
            if(dwTickCount >= KKQD_MotorDelay)
            {   
                KK_length_buffer = &KKQD_PARAM_OFFSET_LENGTH;
                //李永庆代码                                                                        
                //两段速度移动距离  拉链长度+慢速长度停止
                //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
                KK_DCC_TIME_BL = KKQD_PARAM_DCC + KKQD_PARAM_BACK_SPEED/500;                                         
                AxisMovePosAccDec(X_AXIS,KKQD_PARAM_BACK_SPEED,KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer), KKQD_PARAM_START_SPEED,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_ACC,KK_DCC_TIME_BL,KKQD_PARAM_BACK_LOW_SPEED_LENGTH);                         
                KKQD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                KKQD_MotorStep   = 312;
            }
            break;                    
        case 312:     
            if(dwXRealPos >= 10)
                KKQD_TL_VAVLE    = 0;
            //勾针提前输出 ，争取时间推方块
            if (!KKQD_GZ_VAVLE && (dwXRealPos >= (KKQD_PARAM_ZIPPER_LENGTH- 230)))
            {
                KKQD_GZ_VAVLE = 1;
                KKQD_XM_KAIKOU_VAVLE=1;
            }    
            //电机停止
            if(!X_DRV)
            {                         
                KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
                KKQD_MotorStep   = 314;
                KKQD_BL_VAVLE = 0;  //停止时并链一定要打开        
                if((KKQD_PARAM_BACK_MODE == 2) && !KKQD_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不用在这里对比长度           
                    if(KK_cZipCnt > 1)  //长度检测
                    {
                        if(KKQD_PARAM_ERROR_LENGTH != 0)  //长度误差值不能为0
                        {     
                            if(((KK_dwSaveLength + KKQD_PARAM_MOTOR_DELAY_LENGTH) > (length_buff + KKQD_PARAM_ERROR_LENGTH)) || (KK_dwSaveLength == 0))
                            {
                                KKQD_SetAlarmCode(KKQD_LENGTH_LONG_ALARM);//拉链变长,对比警告                                   
                            }
                            else if((KK_dwSaveLength + KKQD_PARAM_MOTOR_DELAY_LENGTH+ KKQD_PARAM_ERROR_LENGTH) < length_buff) 
                            {
                                KKQD_SetAlarmCode(KKQD_LENGTH_SHORT_ALARM);  ////拉链变短     
                            }                                      
                            KKQD_CheckLengthStep = 0;
                        }    
                    }
                }
            }             
            break;
        case 314:
            if(!X_DRV && (dwTickCount >= KKQD_MotorDelay))  //数控到停止
            {      
                KKQD_MotorStep   = 0;
                KKQD_TFK_VAVLE   = 1;    //推方块输出                       
            }
            break;
            //330步到349步单感应模式   
        case  330:  
            KKQD_MotorStep   = 331;   
            break;
        case 331:  
            if(dwTickCount >= KKQD_MotorDelay)
            {   
                KKQD_MotorStep   = 332; 
                if(KK_cZipCnt < 2)
                {
                    if(KKQD_PARAM_BL_ENABLE)
                        KKQD_BinLianStep = 10;  //并链起动
                    //第一条都是过链感应，后拉速度减半//原来KKQD_PARAM_CHECK_BACK_HSPEED/2
                    //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,8000,KKQD_DIR_P,KKQD_PARAM_START_SPEED,KKQD_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,KKQD_PARAM_BACK_SPEED,KKQD_PARAM_ZIPPER_LENGTH + (*KK_length_buffer)-KKQD_PARAM_BACK_LOW_SPEED_LENGTH,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED_LENGTH,KKQD_DIR_P); 
                    
                }   
                else
                {  
                    KK_QD_DCC_TIME_BL = KKQD_PARAM_DCC+ KKQD_PARAM_CHECK_BACK_HSPEED/500; 
                    if(KKQD_PARAM_BL_ENABLE)
                        KKQD_BinLianStep = 1;  //并链起动
                    //因为每条都是过链感应，所以直接运行检测模式后拉速度
                    //                  X轴       运行速度                                启动速度  停止速度      加速度  减速度
                    //AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_CHECK_BACK_HSPEED,KKQD_DIR_P,KKQD_PARAM_START_SPEED,KKQD_PARAM_START_SPEED,KKQD_PARAM_ACC,KKQD_PARAM_DCC);
                     AxisMovePosAccDecNotStop(X_AXIS,KKQD_PARAM_CHECK_BACK_HSPEED,KKQD_PARAM_ZIPPER_LENGTH , KKQD_PARAM_START_SPEED,KKQD_PARAM_START_SPEED*9/5,KKQD_PARAM_ACC,KK_QD_DCC_TIME_BL,KKQD_PARAM_BACK_LOW_SPEED_LENGTH + 500);
                }
            }
            break;
        case 332:
            if(dwXRealPos >= 10)
                KKQD_TL_VAVLE    = 0;
            if(KK_cZipCnt > 1)  //第二条开始数控降速
            {
                
                if(KKQD_GUO_LIAN_IN_DW)  //重新到链上
                {
                    
                    AxisChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED);
                    gou_zhen_buff = dwXRealPos;
                    KKQD_MotorStep   = 335;  //到检测定位
                }
                //
                //       if((dwXRealPos >=  (KKQD_PARAM_BACK_LOW_SPEED_LENGTH + 60)) &&  KKQD_GUO_LIAN_IN)
                //       {
                
                //       }
            }  
            else   //第一条工作
            {  
                if(KKQD_GUO_LIAN_IN_UP)
                {                                 
                    checkdelay_buff = dwXRealPos;
                    AxisContinueMoveChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
                    
                    KKQD_MotorDelay  = dwTickCount + 0;//KKQD_PARAM_DELAY_XM;
                    KKQD_MotorStep = 333;
                }  
                //                         else if((dwXRealPos >= KKQD_PARAM_RUN_LENGTH) && (KKQD_PARAM_RUN_LENGTH >= 5000))  //模组最长限制
                //                        {
                //                           KKQD_SetAlarmCode(KKQD_PARAM_RUN_LENGTH_ALARM);  //超出轨道运行长度
                //                        }
            }
            break;
        case 333:
            if(dwTickCount >= KKQD_MotorDelay)
            {
                KKQD_MotorStep   = 334;
            }                        
            break;   
        case 334:
            if(KKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
            {      
                //滤波有待调试
                //                        if((((dwXRealPos - checkdelay_buff) >= KKQD_PARAM_DELAY_CHECK) && (KKQD_PARAM_LT_ENABLE)) || (((dwXRealPos - checkdelay_buff) >= KKQD_PARAM_NO_LT_DELAY_CHECK) && (KKQD_PARAM_LT_ENABLE == 0)))
                //                        {
                if(KKQD_GUO_LIAN_IN_DW)
                {                  
                    gou_zhen_buff = dwXRealPos;
                    KKQD_MotorStep   = 335;
                }
                //                        }                       
            }
            break;
        case 335:	                        
            if(KKQD_GUO_LIAN_IN_DW)
            {
                gou_zhen_buff = dwXRealPos; 
                
            }
            //在空们都把延时清零    
            if(KKQD_GUO_LIAN_IN)
            {
                gou_zhen_buff = dwXRealPos; 
            }                 
            if(((dwXRealPos - gou_zhen_buff) >= KKQD_PARAM_MOTOR_DELAY_LENGTH/2) && !KKQD_GUO_LIAN_IN)
            {                         
                KKQD_GZ_VAVLE = 1;
                KKQD_XM_KAIKOU_VAVLE=1;
                
            }   
            //定位停止
            if(((dwXRealPos - gou_zhen_buff) >= KKQD_PARAM_MOTOR_DELAY_LENGTH) && !KKQD_GUO_LIAN_IN)
            {                         
                AxisEgmStop(X_AXIS);   
                KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                KKQD_MotorStep   = 336;
                KKQD_GZ_VAVLE = 1;
                
            }   
            break;
        case 336:                                              
            if(!X_DRV)
            {      
                KKQD_GZ_VAVLE = 1;
                KKQD_XM_KAIKOU_VAVLE=1;
                KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                //KKQD_XM_VAVLE    = 1;
                
                KKQD_MotorStep   = 337;
            }
            break;
        case 337:
            if(1)
            {
                KKQD_MotorStep   = 338;
                KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
            } 
            //             else if(dwTickCount >= KKQD_MotorDelay) KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
            break;
        case 338:  
            if((dwTickCount >= KKQD_MotorDelay))
            { 
                KKQD_TFK_VAVLE   = 1;    //推方块输出                       
                KKQD_MotorStep   = 339;
                KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
            }
            break;                    
        case 339:
            if(KK_cZipCnt == 1)
            {
                length_buff = dwXRealPos - save_buff;
                SetData32bits(KKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);
            }     
            else if(KK_cZipCnt > 1)  //长度检测
            {
                if(KKQD_PARAM_ERROR_LENGTH != 0)  //长度误差值不能为0
                {       
                    if(dwXRealPos >= length_buff)  //拉链变长,对比警告
                    {
                        if((dwXRealPos - save_buff) > (length_buff+KKQD_PARAM_ERROR_LENGTH))                  
                            KKQD_SetAlarmCode(KKQD_LENGTH_LONG_ALARM);
                    }
                    else   //拉链变短
                    {
                        if((dwXRealPos - save_buff + KKQD_PARAM_ERROR_LENGTH) < (length_buff))
                            KKQD_SetAlarmCode(KKQD_LENGTH_SHORT_ALARM);
                    } 
                }
            }
            KKQD_MotorStep   = 0;
            break;
            //350步到369步单感应模式   
        case  350:  
            back_buff = dwXRealPos;
            gou_zhen_buff = dwXRealPos;
            
            KKQD_MotorStep   = 351;   
            //           KKQD_JZ_DIR   = KKQD_YDIR_P; 
            
            
            break;
        case 351:  
            if(dwTickCount >= KKQD_MotorDelay)
            {   
                KKQD_MotorStep   = 352; 
                //第一,二条都是过链感应，测量长度
                if(KK_cZipCnt < 2)
                {
                    if(KKQD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
                        KKQD_BinLianStep = 10;  //并链起动
                    KKQD_DGLG_VAVLE = 0;  //顶过链杆关
                    //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,9000,KKQD_DIR_P,KKQD_PARAM_START_SPEED,KKQD_PARAM_START_SPEED,8,12);
                    
                }   
                else
                {  
                    if(KKQD_PARAM_BL_ENABLE)
                        KKQD_BinLianStep = 1;  //并链起动
                    KKQD_DGLG_VAVLE = 1;  //顶过链杆关
                    KKQD_CheckLengthStep = 1;    //长度检测,第3条才有对比
                    //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
                    KKQD_MotorStep   = 311; 
                }  
            }
            break;
        case 352:
            if(dwXRealPos >= 10)
                KKQD_TL_VAVLE    = 0;
            //前两条都按最低速度工作
            if(KKQD_GUO_LIAN_IN_UP)
            {                                 
                checkdelay_buff = dwXRealPos;
                AxisContinueMoveChangeSpeed(X_AXIS,KKQD_PARAM_BACK_LOW_SPEED,KKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
                
                
                
                KKQD_MotorDelay  = dwTickCount + 2;//因慢速，加8MS滤波
                KKQD_MotorStep   = 353;
            }  
            else if((dwXRealPos >= KKQD_PARAM_RUN_LENGTH) && (KKQD_PARAM_RUN_LENGTH >= 5000))  //模组最长限制
            {
                //                       KKQD_SetAlarmCode(KKQD_PARAM_RUN_LENGTH_ALARM);  //超出轨道运行长度
            }
            
            break;
        case 353:
            if(dwTickCount >= KKQD_MotorDelay)
            {
                KKQD_MotorStep   = 354;
            }                        
            break;   
        case 354:
            if(KKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
            {      
                //滤波有待调试
                //                        if((((dwXRealPos - checkdelay_buff) >= KKQD_PARAM_DELAY_CHECK) && (KKQD_PARAM_LT_ENABLE)) || (((dwXRealPos - checkdelay_buff) >= KKQD_PARAM_NO_LT_DELAY_CHECK) && (KKQD_PARAM_LT_ENABLE == 0)))
                //                        {
                if(KKQD_GUO_LIAN_IN_DW)
                {                  
                    gou_zhen_buff = dwXRealPos;
                    KKQD_MotorStep   = 355;
                }
                //                        }                       
            }
            break;
        case 355:	                        
            if(KKQD_GUO_LIAN_IN_DW)
            {
                gou_zhen_buff = dwXRealPos; 
                
            }
            //在空们都把延时清零    
            if(KKQD_GUO_LIAN_IN)
            {
                gou_zhen_buff = dwXRealPos; 
            }   
            if(((dwXRealPos - gou_zhen_buff) >= KKQD_PARAM_MOTOR_DELAY_LENGTH/2) && !KKQD_GUO_LIAN_IN)
            {                         
                KKQD_GZ_VAVLE = 1;
                KKQD_XM_KAIKOU_VAVLE=1;
            }
            //定位停止
            if(((dwXRealPos - gou_zhen_buff) >= KKQD_PARAM_MOTOR_DELAY_LENGTH) && !KKQD_GUO_LIAN_IN)
            {                         
                AxisEgmStop(X_AXIS);   
                KKQD_MotorStep   = 356;
                
            }   
            break;
        case 356:                                              
            if(!X_DRV)
            {      
                KKQD_GZ_VAVLE = 1;
                KKQD_XM_KAIKOU_VAVLE=1;
                KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                // KKQD_XM_VAVLE    = 1;
                KKQD_MotorStep   = 357;
            }
            break;
        case 357:
            if(1)
            {
                KKQD_MotorStep   = 358;
                KKQD_MotorDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
            } 
            break;
        case 358:  
            if((dwTickCount >= KKQD_MotorDelay))
            { 
                KKQD_TFK_VAVLE   = 1;    //推方块输出                       
                KKQD_MotorStep   = 359;
                KKQD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
            }
            break;                    
        case 359:
            if(KK_cZipCnt == 1)
            {
                length_buff = dwXRealPos - save_buff;
                //测量出来长度
                SetData32bits(KKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);
            }     
            KKQD_MotorStep   = 0;
            break;                    
        case 40:     
            if(KKQD_PARAM_SJZ_LENGTH == 0)
            {
                KKQD_MotorDelay = dwTickCount + KKQD_PARAM_CUT_BACK_DELAY;
                KKQD_JD_VAVLE = 0; 
            }
            else
                KKQD_MotorDelay     = dwTickCount + 3;  
            KKQD_MotorStep   = 41;
            jz_buff = dwXRealPos;
            break; 
        case 41:                          
            if((dwTickCount >= KKQD_MotorDelay))
            { 
                //夹子已经张开
                AxisMovePosAccDec(X_AXIS,KKQD_PARAM_CUT_BACK_SPEED,(KKQD_PARAM_SJZ_LENGTH+KKQD_PARAM_BACK_LENGTH),1000,1000,10,10,0);
                KKQD_MotorStep   = 42;   
            }
            break;
        case 42:	 
            
            if( (dwXRealPos - jz_buff) >= KKQD_PARAM_SJZ_LENGTH)
            {
                KKQD_JD_VAVLE = 0;
            }
            if(!X_DRV)
            {
                KKQD_JD_VAVLE = 0;
                KKQD_MotorStep   = 43;
            }
            break;
        case 43:	                           // 切断完成后拉电机动作
            if(!X_DRV)
            {
                KKQD_MotorStep   = 0;
                KKQD_MotorDelay  =    dwTickCount;
            }
            break;      
        case 61: // 前点定位数控模式
            KKQD_BL_VAVLE = 0;//并链也要打开
            if(dwTickCount >= KKQD_MotorDelay)
            {        
                //               KKQD_JZ_DIR   = KKQD_YDIR_N; 
                if(!KKQD_TL_VAVLE && KK_cZipCnt && (KKQD_TuiLianStep == 0))  //没送链情况下主动送链
                {
                    if(!KKQD_SHANG_MU_LIMIT_IN)
                    {
                        KKQD_TuiLianStep = 1;

                    }                          
                }
                KKQD_MotorStep = 62;
            }
            break;
        case 62:
            if(dwTickCount >= KKQD_MotorDelay)
            {                            
                if(KKQD_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);                            
                    KKQD_MotorDelay = dwTickCount + 300;
                }
                KKQD_MotorStep = 63;            
                KKQD_JD_VAVLE = 0;  
            }
            break;
        case 63:
            if(!X_DRV && !KKQD_QIAN_LIMIT_IN && (dwTickCount >= KKQD_MotorDelay))// && !KKQD_SHANG_MU_LIMIT_IN)
            {                
                KKQD_YD_VAVLE = 1;
                if(KK_cZipCnt > 0)
                {                    
                    if(dwXRealPos>(KKQD_PARAM_GO_LOW_SPEED_LENGTH))   
                    {   
                        
                        KK_DCC_TIME_BL = KKQD_PARAM_DCC + KKQD_PARAM_GO_HIGH_SPEED/500;
                        AxisMovePosAccDecNotStop(X_AXIS,KKQD_PARAM_GO_HIGH_SPEED,-dwXRealPos,
                                                 KKQD_PARAM_START_SPEED,KKQD_PARAM_GO_LOW_SPEED,KKQD_PARAM_ACC,KK_DCC_TIME_BL,
                                                 KKQD_PARAM_GO_LOW_SPEED_LENGTH);   
                    } 
                    else
                    {
                        //                  X轴       运行速度                    启动速度        加速度  减速度
                        AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,KKQD_PARAM_GO_LOW_SPEED/3,15,15);
                        
                        //   MoveAction_Const_AccDec(X_AXIS, KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED_LENGTH,KKQD_PARAM_START_SPEED,KKQD_PARAM_ACC,KKQD_PARAM_DCC);
                    }
                    
                }
                else
                {
                    //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,KKQD_DIR_N,KKQD_PARAM_GO_LOW_SPEED/3,KKQD_PARAM_GO_LOW_SPEED/3,15,15);
                    // MoveAction_Const_AccDec(X_AXIS, KKQD_DIR_N,KKQD_PARAM_FIRST_GO_HIGHSPEED,KKQD_PARAM_START_SPEED,KKQD_PARAM_ACC,KKQD_PARAM_DCC);//
                }
                
                KKQD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                KKQD_MotorStep   =64;
            }  
            
            break;
        case 64:
            if(KK_cZipCnt > 1)
            {                         
               
                if(KKQD_QIAN_LIMIT_IN)  //前点限位
                {
                    if(KKQD_PARAM_GO_DW_LENGTH)
                    {    
                        SetPos(X_AXIS, KKQD_PARAM_GO_DW_LENGTH);
                        AxisMovePosAccDec(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,-KKQD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                    }
                    else
                        AxisEgmStop(X_AXIS); 
                    KKQD_MotorStep   = 66; 
                }
            }
            else
            {                            
                if(KKQD_QIAN_LIMIT_IN)  //前点限位
                {
                     if(KKQD_PARAM_GO_DW_LENGTH)
                    {    
                        SetPos(X_AXIS, KKQD_PARAM_GO_DW_LENGTH);
                        AxisMovePosAccDec(X_AXIS,KKQD_PARAM_GO_LOW_SPEED,-KKQD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                    }
                    else
                        AxisEgmStop(X_AXIS);
                    KKQD_MotorStep   = 66;                            
                }
            }
            
            break;
        case 66:
            if(!X_DRV  || (dwXRealPos <= 0))
            {   
                SetPos(X_AXIS, 0);
                KKQD_MotorDelay =    dwTickCount + 5;
                KKQD_MotorStep   = 67;
            }
            break;   
        case 67:  //等推链完成后,
            if((dwTickCount >= KKQD_MotorDelay) && (KKQD_TuiLianStep == 0) && ((KKQD_PARAM_TIAOSHI_MODE && KKQD_bTS) || (KKQD_PARAM_TIAOSHI_MODE == 0)) )
            {
                if(bRunning)
                {
                    KKQD_JD_VAVLE = 1;
                    KKQD_MotorDelay =    dwTickCount + KKQD_PARAM_DELAY_BACK * 3/5;
                }
                KKQD_MotorStep   = 68;
            }
            break;
        case 68:
            if(dwTickCount >= KKQD_MotorDelay)
            {
                KKQD_YD_VAVLE = 0;
                //                   KKQD_HL_VAVLE = 0;      
                //                   KKQD_YX_VAVLE = 0;
                
                KKQD_MotorStep   = 69;
                KKQD_MotorDelay  = dwTickCount + KKQD_PARAM_DELAY_BACK*2/5;
            }
            break;
            
        case 69:   
            if(dwTickCount >= KKQD_MotorDelay)
            {
                KKQD_MotorStep   = 0;
                KKQD_MotorDelay  = dwTickCount;
            }
            break;                   
    }
}
#endif

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

//电机动作
void KK_QueDuan_Motor(void)	 
{

        KK_QueDuan_Motor_KK();  //

}

//超声方式下切,开口专用
void KK_QueDuan_XiaQue_KK(void)	
{
   switch(KKQD_XiaQieStep) 
    {
        case 0:
            break;
        case 1:
            
            if(bRunning)
            {
                KKQD_XiaQieStep = 6;                  
                KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
            }
            else          
                KKQD_XiaQieStep = 2;                     
            break;
        case 2:   
            KKQD_XM_KAIKOU_VAVLE=1;
            KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
            KKQD_XiaQieStep = 3;   
            break;
        case 3:
            if(KKQD_KAIKUO_XIAMO_LIMIT_IN || KKQD_PARAM_XM_ENABLE)
            {
                KKQD_XiaQieDelay = dwTickCount + 0;//KKQD_PARAM_GZ_DELAY;
                KKQD_XiaQieStep = 4; 
            }
            else if(dwTickCount >= KKQD_XiaQieDelay)
            {
                KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
            }
            break;
        case 4:   
            if(KKQD_GZ_VAVLE)  //勾针已经有输出就不需要延时
            {
                KKQD_XiaQieDelay = dwTickCount + 0;
            }
            else
                KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_TFK_DELAY;
            KKQD_GZ_VAVLE  = 1;
            KK_cTuiFangKuaiCnt=0;
            KKQD_XiaQieStep = 5;              
            break;
        case 5:  
            if(dwTickCount >= KKQD_XiaQieDelay)
            {
                KKQD_TFK_VAVLE = 1;
                KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                KKQD_XiaQieStep = 6;  
            }
            break;
        case 6: 
            if(1)
            {                         
                KKQD_XiaQieStep = 7;  
                KKQD_XiaQieDelay = dwTickCount + 1000;
            }
            else if(dwTickCount >= KKQD_XiaQieDelay)
            {
                KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
            }
            break;
        case 7:
            if(KKQD_GOUZHEN_IN)
            {                
                KK_cTuiFangKuaiCnt = 0;
                KKQD_YD_VAVLE    = 1;
                if(!bRunning)
                    KKQD_XiaQieDelay = dwTickCount + 200;
                else
                    KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CUT_DELAY;
                
                if(!KKQD_QIAN_LIMIT_IN)
                    KKQD_XiaQieStep = 8;   
                else
                    KKQD_SetAlarmCode(KKQD_QIAN_LIMIT_ALARM);
            }
            else if((dwTickCount >= KKQD_XiaQieDelay))
            {  
                if(KK_cTuiFangKuaiCnt < KKQD_PARAM_TFK_NUMBER)
                {
                    KKQD_TFK_VAVLE = 0;
                    KK_cTuiFangKuaiCnt++;
                    KKQD_XiaQieDelay = dwTickCount + 500;
                    KKQD_XiaQieStep = 100;   
                }
                else   
                    
                    KKQD_SetAlarmCode(KKQD_GZ_ALARM);
            }
            break;
        case 100:
            if((dwTickCount >= KKQD_XiaQieDelay))
            {
                KKQD_XiaQieStep = 5;   
            }
            break;
        case 8://上下模同时输出
            if(dwTickCount >= KKQD_XiaQieDelay)
            {
                KKQD_SM_VAVLE = 1;
                if(KKQD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KKQD_XM_KAIKOU_VAVLE   = 1;
                KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                KKQD_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(KKQD_SHANG_MU_LIMIT_IN && (KKQD_KAIKUO_XIAMO_LIMIT_IN || KKQD_PARAM_XM_ENABLE) && ((KKQD_PARAM_TIAOSHI_MODE && KKQD_bTS) || (KKQD_PARAM_TIAOSHI_MODE == 0)) )
            {
                if(!KKQD_PARAM_CS_MODE)   //无超声配置
                {
                    KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_DELAYBACK_SM;       // 
                    KKQD_XiaQieStep = 12;        
                }
                else
                {
                    KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_DELAY_CS;       // 
                    KKQD_XiaQieStep = 10;                      
                }
            }
            else if(dwTickCount >= KKQD_XiaQieDelay)
            {
                if(!KKQD_SHANG_MU_LIMIT_IN)KKQD_SetAlarmCode(KKQD_SM_DAOWEI);
                else KKQD_SetAlarmCode(KKQD_XM_DAOWEI);
            }
            break;
        case 10:
            if(dwTickCount >= KKQD_XiaQieDelay)	
            {
                
                KKQD_CS_OUT = 1;
                //
                KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CS_TIME;       // 
                KKQD_XiaQieStep = 11;      
            }
            break;
        case 11:
            if(dwTickCount >= KKQD_XiaQieDelay)	
            {
                KKQD_CS_OUT = 0;
                KKQD_XiaQieDelay = dwTickCount + KKQD_PARAM_CS_COLD_TIME;       // 
                KKQD_XiaQieStep = 12;	
            }
            break;
        case 12:  
            if(dwTickCount >= KKQD_XiaQieDelay)
            {
                KKQD_SM_VAVLE   = 0;                    
                if(KKQD_PARAM_XM_ENABLE == 0)   //配置下模动
                    KKQD_XM_KAIKOU_VAVLE=0;
                KKQD_TFK_VAVLE  = 0;
                KKQD_GZ_VAVLE = 0;
                KKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;   
                KKQD_XiaQieStep = 13;	
            }// 
            break;
        case 13:
            if(!KKQD_SHANG_MU_LIMIT_IN)
            {
                //启动推链(送链)
                if((KKQD_TuiLianStep == 0) && !KKQD_TL_VAVLE)
                    KKQD_TuiLianStep = 1;
            }
            if(!KKQD_SHANG_MU_LIMIT_IN && (!KKQD_KAIKUO_XIAMO_LIMIT_IN || KKQD_PARAM_XM_ENABLE))	
            {   
                KKQD_XiaQieStep = 0;                      
            }
            else if(dwTickCount >= KKQD_XiaQieDelay)	
            {
                KKQD_SetAlarmCode(KKQD_SM_YUANWEI);
            }
            break;
    }	
}


void KK_QueDuan_TuiLianAction(void)
{
    if(KKQD_PARAM_XM_ENABLE == 0)  //下模动不用推链动作
    {
        KKQD_TuiLianStep = 0;
    }
    else
    {  
        switch(KKQD_TuiLianStep) 
        {
            case 1:
                KKQD_TuiLianStep = 2;
                break;
            case 2:
                KKQD_TLDelay     = dwTickCount + KKQD_PARAM_YD_DELAY;
                KKQD_TuiLianStep = 3;
                break;
            case 3:
                if(!KKQD_SM_VAVLE && !KKQD_SHANG_MU_LIMIT_IN)//dwTickCount >= KKQD_TLDelay)
                {   
                    KKQD_TL_VAVLE    = 1;
                    if(!bRunning)KKQD_TFK_VAVLE = 0;
                    KKQD_TLDelay     = dwTickCount + KKQD_PARAM_TL_DELAY;
                    KKQD_TuiLianStep = 4;
                }
                break;
            case 4:
                if(dwTickCount >= KKQD_TLDelay)
                {
                    KKQD_TuiLianStep = 0;
                }
                break;
        }
    }
}


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






#endif