GC19038/Machine/JinHongMachine/JHSKQueDuanJi.c

#include "global.h"


#if JIN_HONG_MACHINE ==1

void SK_QueDuan_AlarmProtect(void);
void SK_QueDuan_ManualAction(void);
void SK_QueDuan_AutoAction(void);
void SK_QueDuan_StepCheckStart(void);
void SK_QueDuan_XiaQue(void);
void SK_QueDuan_BingLian(void);
void SK_QueDuan_Motor(void);
void SK_QueDuan_YuanDianAction(void);
void SK_QueDuan_ExtiActionX31(void);
void SK_StopCode(void);
void SK_Motor_SZ(unsigned char En);


short *SK_length_buffer;
short *SK_GYlength_buffer;


void SK_QueDuan_ExtiActionX31(void)
{
    SK_NcCheckLianFlg = 1;
}
void SK_QD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(SKQD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}
void SK_StopCode(void)
{
   switch(SKQD_StopStep)
   {
          case 1:            
             SKQD_StopStep=2;
             if(X_DRV)
             {
                AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
                AxisDecStop(X_AXIS);
             }
            break;
          case 2:    
            if(!X_DRV || (dwXRealPos < 10))
            {
                SKQD_StopCodeDelay=dwTickCount+350;
                SKQD_StopStep = 3;
            }  
            break;
          case 3:
            if(dwTickCount >= SKQD_StopCodeDelay)
            {
 //             if(!cSTOPONE)
              {                
                    SKQD_StopStep=0;                    
              }
//              else
//              {        
//                    QD_SetAlarmCode(QD_PARAM_ANQUANMEN_ALARM);
//                    BKQD_StopStep=0;
//                    cSTOPONE=0;
//              }
              SK_Motor_SZ(SKQD_MOTOR_DIS); //电机松轴
            }
            break;
   }
}
//电机松轴
void SK_Motor_SZ(unsigned char En)
{
    if(En) //使能
    {  
        if(SKQD_PARAM_MOTOR_SELECT)
            SKQD_SZ_OUT   = 1;  //伺服电机
        else
            SKQD_SZ_OUT   = 0;  //步进电机
    }
    else  //松轴
    {
        if(SKQD_PARAM_MOTOR_SELECT)
            SKQD_SZ_OUT   = 0;  //伺服电机
        else
            SKQD_SZ_OUT   = 1;  //步进电机
    }  
}

void SK_QueDuan_InitAction(void)
{
    float length_buff,pulse_buff;
   
    length_buff = SKQD_PARAM_CYCLE_LENGTH;
    pulse_buff  = SKQD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;  
   
    SK_Motor_SZ(SKQD_MOTOR_DIS); //电机松轴
    SetAlarmCode(SKQD_ALARM_ADDR,0);
     SetDirReverse(X_AXIS, 0);  
    axis_set_parameter(axis_x, AXIS_ACCDEC_MODE,0);
}

void SK_QueDuan_Action(void)
{
    user_datas[123] = 11;
 
    SK_QueDuan_AlarmProtect();
    SK_StopCode();
    SK_QueDuan_Motor();
    SK_QueDuan_XiaQue();
    SK_QueDuan_BingLian();
    SK_QueDuan_ManualAction();
    SK_QueDuan_AutoAction();
    SK_QueDuan_StepCheckStart();   // 调用脚踏开关检测程序 
 
}

//手动动作
void SK_QueDuan_ManualAction(void)
{  
    if(bRunning == 0)  
    {     
      //下切
         if(SKQD_bXiaQie)
        {
            SKQD_bXiaQie = 0;
            if(SKQD_XiaQieStep == 0)
            {
                SKQD_XiaQieStep = 1;
            }  
        }

        if(SKQD_bQianDianDW)
        {
            SKQD_bQianDianDW = 0;
            if(SKQD_MotorStep == 0 && !SKQD_XIAMO_IN &&!SKQD_SHANGMO_IN)
            {
                SKQD_MotorStep = 61;
                SK_cZipCnt      = 0;
                SK_Motor_SZ(SKQD_MOTOR_EN); //电机锁轴
                SKQD_MotorDelay  =    dwTickCount + 150;
            }
        }
        
        
        if(SKQD_bSM)
        {
          SKQD_bSM = 0;
          if(SKQD_YAGOUZHEN_IN && !SKQD_SHANGMO_VAVLE)
          {
            SKQD_SHANGMO_VAVLE = 1;
          }
          else if (SKQD_SHANGMO_VAVLE)
          {
            SKQD_SHANGMO_VAVLE = 0;
          }
            
        }
        
        if(SKQD_bXM)
        {
        
            SKQD_bXM = 0;
            SKQD_XIAMO_VAVLE = ~SKQD_XIAMO_VAVLE;
        }
          if(SKQD_bBinLian)//合链
        {
            SKQD_bBinLian = 0;
            SKQD_BL_VAVLE = ~SKQD_BL_VAVLE;
        }
        
        if(SKQD_bGZ)
        {
           SKQD_bGZ = 0;
           if(SKQD_SHANGMO_ROIGIN_IN && SKQD_GZ_VAVLE)
             SKQD_GZ_VAVLE =0;
           else if (!SKQD_GZ_VAVLE)
             SKQD_GZ_VAVLE=1;
        }
        
        if(SKQD_bDGZ )
        {
          SKQD_bDGZ = 0;
          SKQD_DGZ_VAVLE = ~SKQD_DGZ_VAVLE;
        
        }

        if(SKQD_bChaoSheng)
        {
           SKQD_bChaoSheng = 0;           
            SKQD_CSB_VAVLE  = 1;
            SKQD_CSDelay = dwTickCount + SKQD_PARAM_CS_TIME + 5;
            
        }
      


         if(SKQD_XiaQieStep == 0)
        {
            if(dwTickCount >= SKQD_CSDelay)
              SKQD_CSB_VAVLE   = 0;
        }

       
        if(SKQD_bTABLE)
        {
            SKQD_bTABLE = 0;
            SK_cTableCnt = 0;
            SKQD_TABLE_VAVLE = ~SKQD_TABLE_VAVLE;
        }
        
        if(SKQD_bJIAZI)  
        {
            SKQD_bJIAZI = 0;
          SKQD_JIAZI_VAVLE = ~SKQD_JIAZI_VAVLE;
        }
        
        if(SKQD_bYADAI)
        {
           SKQD_bYADAI = 0;
          SKQD_YADAI_VAVLE = ~SKQD_YADAI_VAVLE;
        }
        
//电机控制        
        if(SKQD_bGoMotor && !SKQD_QIAN_LIMIT_IN)
        {           
            SK_Motor_SZ(SKQD_MOTOR_EN); //电机锁轴
            SKQD_STOPINDelay = dwTickCount;
            if(!X_DRV)
            {
              
              //                  X轴       运行速度                    启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_N,SKQD_PARAM_GO_LOW_SPEED/3,SKQD_PARAM_GO_LOW_SPEED,10,12);
            }
        }
        
        if(SKQD_bBackMotor)  //后退限位已经取消
        {
            SK_Motor_SZ(SKQD_MOTOR_EN); //电机锁轴
            SKQD_STOPINDelay = dwTickCount;
            if(!X_DRV)
                //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_P,SKQD_PARAM_GO_LOW_SPEED/3,SKQD_PARAM_GO_LOW_SPEED,10,12);
        }
        
        if(!SKQD_bGoMotor && !SKQD_bBackMotor && (SKQD_MotorStep == 0) &&  (dwTickCount >= SKQD_STOPINDelay))
        {
            if(X_DRV) AxisEgmStop(X_AXIS); 
        }
        
        if(SKQD_QIAN_LIMIT_IN && (SKQD_MotorStep == 0) && !SKQD_bBackMotor &&(SKQD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }       
    }
}




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

    if(!bRunning)
    {
      ;
 
    }
    else
    {
        if(SKQD_PARAM_RUN_LENGTH < 5000)
            SKQD_PARAM_RUN_LENGTH= 5000;
        if((dwXRealPos > SKQD_PARAM_RUN_LENGTH) && (SK_NcGoLimitEn != 0))  //第一条手动时不保护
        {
            //AxisDecStop(X_AXIS); //AxisEgmStop(X_AXIS);   
            SK_NcGoLimitEn = 0;
            bStop = 1;
            SKQD_StopStep = 1;
            SKQD_JIAZI_VAVLE = 0;
            SetAlarmCode(SKQD_ALARM_ADDR,SKQD_BACK_ALARM);
        }
    }
}


void SK_QueDuan_AutoAction(void)
{   
    if(bRunning)
    {//台面电机定时关掉
      
        if(dwTickCount >= SKQD_TBDelay)
            SKQD_TABLE_VAVLE = 0;  
        switch(SKQD_AutoStep)
        {
            case 1:
                  if(dwTickCount >= SKQD_AutoDelay)
                  {	
                         
                      if(SKQD_MotorStep == 0)
                      {
                          SKQD_AutoStep = 2;	 
                          SKQD_MotorDelay  =    dwTickCount;
                          SKQD_MotorStep = 61;   //前点定位
                      }
                      SK_NcGoLimitEn = 0;
                  }	
                  break;	
            case 2:	 
                  if(SKQD_MotorStep == 0)
                  {   
                      SKQD_MotorStep = 30;  //夹链后拉
                      SKQD_AutoStep = 3;	
                      SK_NcGoLimitEn = 1;
                  }
                  break;	
            case 3:	//后面两步为延时反转步
                  if((SKQD_MotorStep == 0) )//|| (SKQD_MotorStep == 392) || (SKQD_MotorStep == 393))
                  {   
                      if(SKQD_SAFE_IN)
                      {
                          bStop = 1;
                      }
                      else 
                      {                          
                          if(SKQD_XiaQieStep == 0)
                             SKQD_XiaQieStep = 1;                 
                          SKQD_AutoStep = 4;
                      }
                  }              
                  break;
            case 4:
                
                 if((SKQD_XiaQieStep == 0) || (SKQD_XiaQieStep == 13))// && !QD_SHANG_MU_LIMIT_IN)
                 {
                    if(SKQD_MotorStep == 0) 
                    {
                       SKQD_MotorStep = 40;     //切完后退                              
                    }
                    SKQD_AutoStep = 5;	    
                  }
                    
                 break;
            case 5:	              
                if(SKQD_MotorStep == 0)
                {
                    SK_cZipCnt++;
                    SKQD_PARAM_NOW_CNT++;
                    SK_cTableCnt++;
                    AddToTal(SKQD_TOTAL_ADDR);
                    AddToTal(CT_WORKTOTAL_ADDR);
                    CalProSP(SKQD_PROSPEED_ADDR);                      
                    if(SK_cTableCnt >= SKQD_PARAM_TABLE_NUM)
                    {
                        SK_cTableCnt = 0;
                        SKQD_TABLE_VAVLE = 1;
                        SKQD_TBDelay = dwTickCount + SKQD_PARAM_TB_TIME;
                    }                     
                    if(SK_SingOneFlg)
                    {                   
                       bRunning = 0;
                        SKQD_AutoStep = 0; 
                        SK_SingOneFlg = 0;
                    }
                    else                        
                    {
                        SKQD_AutoStep = 1; 
                        
                        if((SKQD_PARAM_NOW_CNT >= SKQD_PARAM_ZHA_SHU) && (SKQD_PARAM_ZHA_SHU > 0))   
                        {
                            
                            SK_cTableCnt = 0;
                            SKQD_TABLE_VAVLE = 1;
                            SKQD_TBDelay = dwTickCount + SKQD_PARAM_TB_TIME;
                            
                            SKQD_AutoDelay = dwTickCount + SKQD_PARAM_ZS_STOP_TIME;
                            SKQD_PARAM_NOW_CNT = 0;
                            if(SKQD_PARAM_ZS_STOP_TIME == 0)
                            {
                                bRunning = 0;
                                SKQD_AutoStep = 0; 
                                SK_SingOneFlg = 0;
                                SK_QD_SetAlarmCode(SKQD_TOTAL_ALARM);
                                SKQD_TABLE_VAVLE = 0;
                            }

                        }
                        else
                            SKQD_AutoDelay = dwTickCount + SKQD_PARAM_CYCLE_DELAY;
                    }
                }
                break;
        }	
    }
}

//合链
void SK_QueDuan_BingLian(void)
{
    static long bl_pos_buff;
    
    switch(SKQD_BinLianStep)
    {
        case 0:break;
        case 1:
              bl_pos_buff = dwXRealPos;
              SKQD_BinLianStep = 2;
        break;       
        case 2:
              if((dwXRealPos - bl_pos_buff) >= SKQD_PARAM_DELAY_HL_LENGTH)
              {
                   SKQD_BL_VAVLE = 1;   
                   SKQD_BinLianStep = 3;
              }            
        break;
        case 3://有过链检测
              if((SKQD_GZ_VAVLE && (SKQD_PARAM_HL_DELAY_BACK == 0)) || ((dwXRealPos - bl_pos_buff) >= (SKQD_PARAM_ZIPPER_LENGTH - SKQD_PARAM_HL_DELAY_BACK)))  
              {
                    SKQD_BL_VAVLE = 0;
                   SKQD_BinLianStep = 0;   
              }
        break;
        case 10:
             bl_pos_buff = dwXRealPos;
              SKQD_BinLianStep = 11;
        break;       
        case 11:
              if((dwXRealPos - bl_pos_buff) >= SKQD_PARAM_DELAY_HL_LENGTH)
              {
                   SKQD_BL_VAVLE = 1;   
                   SKQD_BinLianStep = 12;
              }            
        break;
        case 12://有过链检测
              if(SKQD_GUOLIAN_IN_DW)  
              {
                    SKQD_BinLianStep = 13;
                    SKQD_BLDelay = dwTickCount + SKQD_PARAM_BL_DELAY_BACK;
              }
        break;
        case 13:
          if(dwTickCount >= SKQD_BLDelay )
          {
           SKQD_BL_VAVLE = 0;
           SKQD_BinLianStep = 0;   
          }
          break;
            default:;    
        }
    
}

void SK_QueDuan_StepCheckStart(void)
{
//		启动      			
    if((SKQD_START_IN_UP) || bStart || SKQD_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (SKQD_AutoStep == 0))
        {
            if(!SKQD_XIAMO_ROIGIN_IN) SK_QD_SetAlarmCode(SKQD_XM_DAOWEI);
            else if(!SKQD_SHANGMO_ROIGIN_IN) SK_QD_SetAlarmCode(SKQD_SM_ALARM);
            else
            {
                bRunning    = 1;
                SKQD_AutoStep = 1;
                SK_SingOneFlg= 0;
                if(SKQD_bSingle) 
                    SK_SingOneFlg= 1;
                SK_cZipCnt      = 0;
                SK_cTuiFangKuaiCnt = 0;                
                SetAlarmCode(SKQD_ALARM_ADDR,0); 
                SK_Motor_SZ(SKQD_MOTOR_EN); //电机锁轴
                SKQD_AutoDelay = dwTickCount + 150; 
                SK_NcGoLimitEn = 0;
                SKQD_BL_VAVLE=0;
                SKQD_GZ_VAVLE  =0; 
                SKQD_DGZ_VAVLE  =0; 
            }
        }
        SKQD_bSingle = 0;
    }
    //停止
   if((SKQD_STOP_IN_UP && (dwTickCount >= SKQD_STOPINDelay)) || bStop)
   {
        bStop = 0;  
        SKQD_STOPINDelay = dwTickCount + 100;
        if(bRunning)
        {
            SKQD_AutoDelay   = dwTickCount;
            SKQD_MotorDelay = dwTickCount;
            SKQD_XiaQieDelay  = dwTickCount;
            SK_SingOneFlg  = 0; 
            SKQD_BinLianStep  = 0;
            if((SKQD_StopStep == 0) && X_DRV)
                SKQD_StopStep = 1;
//            AxisDecStop(X_AXIS);    
            SetAlarmCode(SKQD_ALARM_ADDR,0);      
            SKQD_SHANGMO_VAVLE  =0;          
            SKQD_XIAMO_VAVLE  =0;               
            SKQD_CSB_VAVLE =0;  
            SKQD_TABLE_VAVLE=0;
            SKQD_BL_VAVLE=0;
        }
        else
        {
            SKQD_AutoDelay   = dwTickCount;
            SKQD_MotorDelay = dwTickCount;
            SKQD_XiaQieDelay  = dwTickCount;
    
            SK_SingOneFlg  = 0; 
            SKQD_BinLianStep  = 0;
            SKQD_XiaQieStep = 0;
            SKQD_MotorStep  = 0;
            SKQD_DGUOLIAN_VAVLE=0;
            SKQD_BL_VAVLE=0;         
            SKQD_DGZ_VAVLE  =0;              
            SKQD_YADAI_VAVLE =0;            
            SKQD_SHANGMO_VAVLE =0;
            if(SKQD_SHANGMO_ROIGIN_IN)
                SKQD_GZ_VAVLE  =0; 
            SKQD_XIAMO_VAVLE  =0;            
            SKQD_JIAZI_VAVLE   =0;    
            SKQD_CSB_VAVLE =0;   
            SKQD_TABLE_VAVLE = 0; 
            
            if((SKQD_StopStep == 0))
            {
                 AxisEgmStop(X_AXIS);   
                 SK_Motor_SZ(SKQD_MOTOR_DIS); //电机松轴
            }   
            
            SetAlarmCode(SKQD_ALARM_ADDR,0);
        }
        bRunning   = 0;
        SKQD_XiaQieStep = 0;
        SKQD_AutoStep   = 0;
        SKQD_MotorStep  = 0;

    }
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        SKQD_XiaQieStep = 0;
        SKQD_AutoStep   = 0;
        SKQD_MotorStep  = 0;
        SKQD_XiaQieStep = 0;
        SKQD_MotorStep  = 0; 
        SKQD_BinLianStep  = 0; 
        SKQD_AutoDelay   = dwTickCount;
        SKQD_MotorDelay = dwTickCount;
        SKQD_XiaQieDelay  = dwTickCount;
        SKQD_KaDaiDelay   = dwTickCount;
        SK_SingOneFlg  = 0; 
        bRunning   = 0;
        if(X_DRV)  //电机没有停止的话要减速停止
            SKQD_StopStep=1;
 //       AxisEgmStop(X_AXIS); 

    }
    
}   




//记忆长度模式误差检测
void SK_QueDuan_CheckLength(long zip_length)
{
    static long start_dist;
    switch(SKQD_CheckLengthStep)
    {
        case 0:break;
        case 1:
               start_dist = dwXRealPos;
               SK_NdwSaveLength = 0;
               SKQD_CheckLengthStep = 2;
               break;
        case 2:
          if(SKQD_GUOLIAN_IN_DW){  
            SK_NdwSaveLength = dwXRealPos - start_dist;   

          }
               break;         
    }          
}

#if 1//!QD_KB_MODE  //开口
//开口切专用
//30步开始后拉开始，分解4种工作模式
//40步开始用切断后拉动作
//60步开始为前方向，开闭口一样

void SK_QueDuan_Motor(void)
{
    static long length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff,bhgz_length_buff;
        static unsigned char cChangeSpeed;
    long pulse_buff;
        unsigned  short ch,kk;
        user_datas[121] = dwXRealPos ;
        user_datas[122] = SKQD_AutoStep;
        user_datas[123] = SKQD_MotorStep;
        user_datas[124] = SKQD_StopStep ;
        user_datas[125] = SKQD_XiamuStep;//bhgz_length_buff;
        user_datas[126] = go_buff - dwXRealPos;

	switch(SKQD_MotorStep)
	{
               case 30:
                    cChangeSpeed = 0;
                    switch(SKQD_PARAM_BACK_MODE)  //三种模式 
                    {
                        case 0: //单数控模式
                            SKQD_MotorStep   = 310;  //每种模式留20步
                           
                              break;
                        case 1://单感应模式
                            SKQD_MotorStep   = 330;  //每种模式留20步
                            
                            break;
                        case 2: //先感应后数控模式+检测
                            SKQD_MotorStep   = 350;  //每种模式留20步
                            break;
                    
                    }  
                    back_buff = 0;
                    gou_zhen_buff = 0;
                    SKQD_MotorDelay  =    dwTickCount + SKQD_PARAM_DELAY_BACK;    
                    break;
         //310步到315步为数控模式                    
                case 310:
                    SKQD_MotorStep   = 311; 
                    if(SKQD_PARAM_BL_ENABLE)
                        SKQD_BinLianStep = 1;  //并链起动
                    SKQD_DGUOLIAN_VAVLE=1;    //顶过链杆
                    break;
                case 311:   
                    if(dwTickCount >= SKQD_MotorDelay)
                    {   
                        SK_length_buffer = &SKQD_PARAM_OFFSET_LENGTH;  
                        SK_DCC_TIME_BL=SKQD_PARAM_DCC + SKQD_PARAM_GO_HIGH_SPEED/500;   
                        
                        AxisMovePosAccDecNotStop(X_AXIS,SKQD_PARAM_BACK_SPEED,SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer), SKQD_PARAM_START_SPEED,SKQD_PARAM_BACK_LOW_SPEED,
                                                 SKQD_PARAM_ACC,SK_DCC_TIME_BL,(SKQD_PARAM_BACK_LOW_SPEED_LENGTH));          
                        SKQD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                        SKQD_MotorStep   = 312;
                    }
                    break;   
                case 312:    
                    if(SKQD_GUOLIAN_IN_DW)
                    {
                        bhgz_length_buff = dwXRealPos;                       
                    }
                    //顶过链提前输出
                    if (!SKQD_DGUOLIAN_VAVLE && ((dwXRealPos + SKQD_PARAM_GOUZHEN_LENGTH + 350) >= (SKQD_PARAM_ZIPPER_LENGTH )))
                    {  
                        SKQD_DGUOLIAN_VAVLE=0;                        
                    }
                    //下模提前输出
                    if (!SKQD_DGUOLIAN_VAVLE && ((dwXRealPos + SKQD_PARAM_GOUZHEN_LENGTH + 100) >= (SKQD_PARAM_ZIPPER_LENGTH )))
                    {  
                        SKQD_DGUOLIAN_VAVLE=0;
                        
                    }
                    //勾针提前输出
                    if (!SKQD_GZ_VAVLE && ((dwXRealPos + SKQD_PARAM_XIAMO_LENTH) >= (SKQD_PARAM_ZIPPER_LENGTH )))
                    {  
                        SKQD_XIAMO_VAVLE=1;
                        SKQD_DGUOLIAN_VAVLE=0;
                        
                    }
                    if (!SKQD_GZ_VAVLE && ((dwXRealPos +SKQD_PARAM_GOUZHEN_LENGTH) >= (SKQD_PARAM_ZIPPER_LENGTH )))
                    {  
                        SKQD_GZ_VAVLE = 1;                        
                    } 
                    if((dwXRealPos) >= (SKQD_PARAM_ZIPPER_LENGTH  + (*SK_length_buffer) - SKQD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*length_buffer) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)))))
                    {           
                        SKQD_MotorDelay  = dwTickCount + 2000; //钩针未到位延时警告
                        SKQD_MotorStep   = 313;                                 
                    }//下面条件为无效代码
                    else if((dwXRealPos >= (SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer) + SKQD_PARAM_ERROR_LENGTH)) && SKQD_PARAM_ERROR_LENGTH)
                    {
                        SK_QD_SetAlarmCode(SKQD_GZ_ALARM);
                    }   
                    
                    break;
                case 313:                  
                    if(SKQD_GUOLIAN_IN_DW)
                    {
                        bhgz_length_buff = dwXRealPos;
                        
                    }
                    //顶过链提前关
                    if (!SKQD_DGUOLIAN_VAVLE && ((dwXRealPos + SKQD_PARAM_GOUZHEN_LENGTH + 350) >= (SKQD_PARAM_ZIPPER_LENGTH )))
                    {  
                        SKQD_DGUOLIAN_VAVLE=0;   //顶
                        
                    }                   
                    //下模提前输出
                    if (!SKQD_GZ_VAVLE && ((dwXRealPos + SKQD_PARAM_XIAMO_LENTH) >= (SKQD_PARAM_ZIPPER_LENGTH )))
                    {  
                        SKQD_XIAMO_VAVLE=1;
                        SKQD_DGUOLIAN_VAVLE=0;
                        
                    }
                    //勾针提前输出
                    if (!SKQD_GZ_VAVLE && ((dwXRealPos + SKQD_PARAM_GOUZHEN_LENGTH) >= (SKQD_PARAM_ZIPPER_LENGTH )))
                    {  
                        SKQD_GZ_VAVLE = 1;
                        SKQD_XIAMO_VAVLE=1;
                        SKQD_MotorStep  = 501;
                        
                    } 
                    if(SKQD_GZ_VAVLE)
                    {
                        SKQD_MotorStep  = 501;
                    }

                    break;
                case 501:                    
                    if(SKQD_GOUZHEN_IN)   //勾针到位信号
                    {                      
                        //                          AxisEgmStop(X_AXIS);                           
                        SKQD_YADAI_VAVLE = 1;
                        SKQD_DGZ_VAVLE = 1;
                        SKQD_BL_VAVLE = 0;
                        if((((dwXRealPos-bhgz_length_buff)< (SKQD_PARAM_KWGZBJ_LENTH + SKQD_PARAM_KWGZBJ_ERROR_LENTH)) && ((dwXRealPos-bhgz_length_buff) > (SKQD_PARAM_KWGZBJ_LENTH - SKQD_PARAM_KWGZBJ_ERROR_LENTH))) | !SKQD_PARAM_KWGZBJ_LENTH)
                        {
                            if(SKQD_YAGOUZHEN_IN)
                            {
                                SKQD_MotorStep   = 502;
                                bhgz_length_buff = dwXRealPos + 30; 
                            }
                            else if(!SKQD_YAGOUZHEN_IN && !X_DRV)
                            {
                                AxisEgmStop(X_AXIS); 
                                SK_QD_SetAlarmCode(SKQD_YAGOUZHEN_ALARM); 
                            }   
                        }
                        else
                        {
                            AxisEgmStop(X_AXIS); 
                            SK_QD_SetAlarmCode(SKQD_PARAM_KWGZ_ALARM);
                        }
                    }
                    else if((dwXRealPos >= (SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer) + SKQD_PARAM_ERROR_LENGTH)) && SKQD_PARAM_ERROR_LENGTH)
                    {
                        AxisEgmStop(X_AXIS);
                        if(dwTickCount >= SKQD_MotorDelay)                            
                            SK_QD_SetAlarmCode(SKQD_GZ_ALARM);
                    }   
                    break;
                case 502:                       
                    if(dwXRealPos >= bhgz_length_buff)  //??
                    {                      
                        AxisEgmStop(X_AXIS);                           
                        SKQD_YADAI_VAVLE=1;
                        
                        SKQD_MotorStep   = 314;
                        
                    }                        
                    break;                      
                case 314:
                        if(!X_DRV)
                        {    
                            SKQD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
                            user_datas[127] = dwXRealPos;
                            SKQD_BL_VAVLE=0;
                            SKQD_MotorStep   = 315;
                            
                        }   
                        break;
                case 315:    
                    if(SK_cZipCnt < 2)  //第一条把误差到正负9MM
                    {
                        ch = SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer)-200; 
                        kk = SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer)+200;
                    }   
                    else
                    {
                        if(SKQD_PARAM_BACK_MODE == 2)
                        {
                            ch = SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer) - 30 - SKQD_PARAM_ERROR_LENGTH;                            
                            kk = SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer) - 30 + SKQD_PARAM_ERROR_LENGTH;     
                        }
                        else
                        {
                            ch = SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer)-SKQD_PARAM_ERROR_LENGTH;                            
                            kk = SKQD_PARAM_ZIPPER_LENGTH + (*SK_length_buffer)+SKQD_PARAM_ERROR_LENGTH;     
                        }    
                    }                   
                    if(((dwXRealPos) < (ch))) 
                    { 
                        
                        SetAlarmCode(SKQD_ALARM_ADDR,SKQD_LENGTH_SHORT_ALARM);   
                        if(dwTickCount >= SKQD_MotorDelay)
                            bAlarmStop = 1;
                    }          
                    else if((dwXRealPos > kk))//(QD_PARAM_ERROR_LENGTH - 200 + (*length_buffer)+50)))
                    {                       
                        SetAlarmCode(SKQD_ALARM_ADDR,SKQD_LENGTH_LONG_ALARM);   
                        if(dwTickCount >= SKQD_MotorDelay)
                            bAlarmStop = 1;
                    }     
                    else
                    {                                                              
                        SKQD_MotorStep   = 0;//390;  //延时反转步
                    }                       
                    break;
              //330步到349步单感应模式   
                case  330:  
                    SKQD_MotorStep   = 331;                    
                    break;
                case 331:  
                    if(dwTickCount >= SKQD_MotorDelay)
                    {   
                        SKQD_MotorStep   = 332;  
                        if(SKQD_PARAM_BL_ENABLE)
                          SKQD_BinLianStep = 10;  //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,SKQD_PARAM_CHECK_BACK_HSPEED,SKQD_DIR_P,2000,2000,SKQD_PARAM_ACC,SKQD_PARAM_DCC);                          
                    }
                   
                    break;
                case 332: 
                        if(SKQD_GUOLIAN_IN_UP)  //重新到链上
                        {
                            AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS)/2); 
                            if(GetCurSpeed(X_AXIS) > (SKQD_PARAM_BACK_LOW_SPEED))
                                AxisContinueMoveChangeSpeed(X_AXIS,GetCurSpeed(X_AXIS),SKQD_PARAM_BACK_LOW_SPEED,25,15);                      
                             gou_zhen_buff = dwXRealPos;
                              back_buff = dwXRealPos;
                             SKQD_MotorStep   = 333;  //到检测定位                          
                             
                             user_datas[127] = dwXRealPos;
                             SKQD_MotorDelay  = dwTickCount + 3;
                        } 
                        if(SKQD_GUOLIAN_IN_DW)
                        {
                          bhgz_length_buff = dwXRealPos;
                        
                        }
                        
                    break;
                case 333:                     
                    if(SKQD_GUOLIAN_IN_DW)
                    {
                        bhgz_length_buff = dwXRealPos;                       
                    }
                    if(dwTickCount > SKQD_MotorDelay)
                    {
                        if(!SKQD_GUOLIAN_IN)
                        {
                            SKQD_MotorDelay  = dwTickCount + SKQD_PARAM_GOUZHEN_DELAY;
                            SKQD_XMDelay  = dwTickCount + SKQD_PARAM_XIAMO_DELAY;
                            AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED/2,25,15);                               
                            back_buff = dwXRealPos;
                            SKQD_MotorStep   = 334;
                        }
                    }
                    else
                    {   //滤波时间内信号灭掉就重新检测
                        if(!SKQD_GUOLIAN_IN)
                        {
                            SKQD_MotorStep   = 332;                            
                        }
                    }
                    break; 
                case 334:    
                    if(SKQD_GUOLIAN_IN_DW)
                    {
                        bhgz_length_buff = dwXRealPos;                        
                    }
                    if(dwTickCount >= SKQD_XMDelay)
                    {                       
                        SKQD_XIAMO_VAVLE=1;
                    }  
                    if(dwTickCount >= SKQD_MotorDelay)
                    {
                        SKQD_XIAMO_VAVLE=1;
                        SKQD_GZ_VAVLE=1;
                        SKQD_MotorDelay  = dwTickCount + 350; 
                        SKQD_MotorStep   = 335;                        
                    }
                    break; 
                case 335:
                    
                    //在空们都把延时清零    
                    if(SKQD_GUOLIAN_IN)
                    {
                        gou_zhen_buff = dwXRealPos; 
                    }
                    if(dwXRealPos > (back_buff + SKQD_PARAM_LLGC_LENTH))
                    {                   
                        SK_QD_SetAlarmCode(SKQD_GUOCHANG_ALARM);
                    }
                    
                    if(SKQD_GOUZHEN_IN)
                    {                                                            
                        SKQD_YADAI_VAVLE=1;
                        SKQD_DGZ_VAVLE=1;
                        SKQD_BL_VAVLE=0;
                        if((((dwXRealPos-bhgz_length_buff)< (SKQD_PARAM_KWGZBJ_LENTH + SKQD_PARAM_KWGZBJ_ERROR_LENTH)) && ((dwXRealPos-bhgz_length_buff) > (SKQD_PARAM_KWGZBJ_LENTH - SKQD_PARAM_KWGZBJ_ERROR_LENTH))) | !SKQD_PARAM_KWGZBJ_LENTH)
                        {
                            if(SKQD_YAGOUZHEN_IN)
                            {
                                SKQD_MotorStep   = 336;
                                bhgz_length_buff = dwXRealPos + 30;
                            }
                            else if(dwTickCount >= SKQD_MotorDelay)  
                            {
                                AxisEgmStop(X_AXIS); 
                                SK_QD_SetAlarmCode(SKQD_YAGOUZHEN_ALARM);
                            }  
                        }
                        else
                        {
                            AxisEgmStop(X_AXIS); 
                            SK_QD_SetAlarmCode(SKQD_PARAM_KWGZ_ALARM);
                        }
                    }
                    break;
                case 336:    
                    if(dwXRealPos >= bhgz_length_buff)
                        AxisEgmStop(X_AXIS); 
                    if(!X_DRV)
                    {
                        SKQD_BL_VAVLE=0;
                        SKQD_MotorStep   = 337;
                        
                    }
                    
                    break;  
                case 337:
                    if(SK_cZipCnt == 1)
                    {
                        length_buff = dwXRealPos;
                        SetData32bits(SKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff-30);  //测量记录长度
                    }     
                    else if(SK_cZipCnt > 1)  //长度检测
                    {
                        if(SKQD_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) > (length_buff+SKQD_PARAM_ERROR_LENGTH))                  
                                    SK_QD_SetAlarmCode(SKQD_LENGTH_LONG_ALARM);
                            }
                            else   //拉链变短
                            {
                                if((dwXRealPos + SKQD_PARAM_ERROR_LENGTH) < (length_buff))
                                    SK_QD_SetAlarmCode(SKQD_LENGTH_SHORT_ALARM);
                            } 
                        }
                    }
                    SKQD_MotorStep   = 338;
                    break;
                   
                case 338:   
                    SKQD_MotorStep = 0;//390;   //延时反转步
                    
                    break;
              //350步到369步先感应后数控模式   
                case  350:  
                    back_buff = dwXRealPos;
                    gou_zhen_buff = dwXRealPos;                    
                    SKQD_MotorStep   = 351;   
                    break;
                case 351:  
                    if(dwTickCount >= SKQD_MotorDelay)
                    {   
                        SKQD_MotorStep   = 352; 
                        //第一,二条都是过链感应，测量长度
                        if(SK_cZipCnt < 2)
                        {
                            if(SKQD_PARAM_BL_ENABLE)
                                SKQD_BinLianStep = 10;  //并链起动
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                            AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_CHECK_BACK_HSPEED /2,SKQD_DIR_P,SKQD_PARAM_START_SPEED,2000,SKQD_PARAM_ACC,SKQD_PARAM_DCC);     
                        }   
                        else
                        {  
                            if(SKQD_PARAM_BL_ENABLE)
                                SKQD_BinLianStep = 1;  //并链起动
                            SKQD_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
                            SKQD_MotorStep   = 310; 
                        }  
                    }
                    break;
                case 352:
                    //前两条都按最低速度工作
                    if(SKQD_GUOLIAN_IN_UP)  //重新到链上
                    {                        
                        AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_CHECK_BACK_HSPEED/2,SKQD_PARAM_CHECK_BACK_HSPEED/4,25,15);                           
                        gou_zhen_buff = dwXRealPos;
                        back_buff = dwXRealPos;
                        SKQD_MotorStep   = 353;  //到检测定位                                                 
                        SKQD_MotorDelay  = dwTickCount + 8;
                    } 
                    if(SKQD_GUOLIAN_IN_DW)
                    {
                        bhgz_length_buff = dwXRealPos;                        
                    }                    
                    break;
                case 353:
                    if(SKQD_GUOLIAN_IN_DW)
                    {
                        bhgz_length_buff = dwXRealPos;                        
                    }
                    //此步为前两条运行                    
                    if(dwTickCount > SKQD_MotorDelay)
                    {
                        if(SKQD_GUOLIAN_IN_DW)
                        {
                            SKQD_MotorDelay  = dwTickCount + SKQD_PARAM_GOUZHEN_DELAY;
                            AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
                            back_buff = dwXRealPos;
                            SKQD_MotorStep   = 354;
                        }
                    }
                    else
                    {
                        if(!SKQD_GUOLIAN_IN)
                        {
                            SKQD_MotorStep = 352;
                        }
                    }                    
                    break;   
                case 354:
                    if(SKQD_GUOLIAN_IN_DW)
                    {
                        bhgz_length_buff = dwXRealPos;
                        
                    }
                    if(dwTickCount >= SKQD_XMDelay)
                    { 
                        SKQD_XIAMO_VAVLE=1;
                        // SKQD_MotorDelay  = dwTickCount + 50;  
                    }  
                    if(dwTickCount >= SKQD_MotorDelay)
                    {
                        SKQD_XIAMO_VAVLE=1;
                        SKQD_GZ_VAVLE=1;
                        SKQD_MotorDelay  = dwTickCount + 350; 
                        SKQD_MotorStep   = 355;                        
                    }
                    break; 
                case 355:	                   
                    if(dwXRealPos > back_buff + SKQD_PARAM_LLGC_LENTH )
                    {                   
                        SK_QD_SetAlarmCode(SKQD_GUOCHANG_ALARM);
                    }                   
                    //在空们都把延时清零    
                    if(SKQD_GOUZHEN_IN)
                    {                      
                        SKQD_BL_VAVLE=0; 
                        if((((dwXRealPos-bhgz_length_buff)< (SKQD_PARAM_KWGZBJ_LENTH + SKQD_PARAM_KWGZBJ_ERROR_LENTH)) && ((dwXRealPos-bhgz_length_buff) > (SKQD_PARAM_KWGZBJ_LENTH - SKQD_PARAM_KWGZBJ_ERROR_LENTH))) | !SKQD_PARAM_KWGZBJ_LENTH)
                        {
                            if(SKQD_YAGOUZHEN_IN)
                            {
                                SKQD_MotorStep   = 356;
                                bhgz_length_buff = dwXRealPos + 30;
                            }
                            else if(dwTickCount >= SKQD_MotorDelay)
                            {
                                AxisEgmStop(X_AXIS); 
                                SK_QD_SetAlarmCode(SKQD_YAGOUZHEN_ALARM);
                            }   
                        }
                        else
                        {
                            AxisEgmStop(X_AXIS); 
                            SK_QD_SetAlarmCode(SKQD_PARAM_KWGZ_ALARM);
                        }
                    }                   
                    break;
                case 356:   
                    if(dwXRealPos >= bhgz_length_buff)
                    {
                        AxisEgmStop(X_AXIS);
                    }
                    if(!X_DRV)
                    {
                        SKQD_YADAI_VAVLE=1;
                        SKQD_DGZ_VAVLE=1;
                        SKQD_BL_VAVLE=0;
                        if(SK_cZipCnt == 1)
                        {
                            length_buff = dwXRealPos ;
                            SetData32bits(SKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);  //测量记录长度
                        }     
                        SKQD_MotorStep   = 357;                       
                    }
                    break;                    
                case 357:
                    SKQD_MotorStep   = 0;//390;   //延时反转步
                    break;       
                    //此两步为到位后反转步                    
                case 390:
                    if(SKQD_YAGOUZHEN_IN && SKQD_GOUZHEN_IN)
                    {
                        SKQD_MotorDelay = dwTickCount + SKQD_PARAM_YD_FZ_DELAY;
                        SKQD_MotorStep   = 391;  
                    }
                    break;
              case 391:    
                    if((dwTickCount >= SKQD_MotorDelay) || SKQD_SHANGMO_IN)
                    {
                      SKQD_DGZ_VAVLE=1;
                      SKQD_MotorStep   = 392; 
                      AxisMovePosAccDec(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED*2,-SKQD_PARAM_FZ_LENGTH,2000,1500,SKQD_PARAM_ACC,SKQD_PARAM_DCC,00);                                   
                    }
                    break;
                case 392:    
                    if(!X_DRV)//dwTickCount >= SKQD_MotorDelay) 
                    {
                        SKQD_MotorStep = 0;
                    }
                    break;
                case 393:    
                    if(dwTickCount >= SKQD_MotorDelay) 
                    {
                        AxisMovePosAccDec(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED*3/2,-SKQD_PARAM_FZ_LENGTH,1000,1000,SKQD_PARAM_ACC,SKQD_PARAM_DCC,00);                                   
                        SKQD_MotorStep   = 0;
                    }
                    break;

                case 40:     
                    if(SKQD_PARAM_SJZ_LENGTH == 0)
                    {
                        SKQD_JIAZI_VAVLE = 0; 
                    }
                    
                    SKQD_MotorDelay     = dwTickCount + SKQD_PARAM_CUT_BACK_DELAY;
                    SetDir(X_AXIS, SKQD_DIR_N);  
                    SKQD_MotorStep   = 41;
                    jz_buff = dwXRealPos;
                    break; 
                case 41:                          
                    if(dwTickCount >= SKQD_MotorDelay)
                    { 
                        //夹子已经张开
                        AxisMovePosAccDec(X_AXIS,SKQD_PARAM_CUT_BACK_SPEED,(SKQD_PARAM_SJZ_LENGTH+SKQD_PARAM_BACK_LENGTH),SKQD_PARAM_START_SPEED,SKQD_PARAM_START_SPEED,10,10,0);
                        //  AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                        SKQD_MotorStep   = 42;   
                    }
                    break;
                case 42:	                   
                    if(((SKQD_PARAM_SJZ_LENGTH) <= (dwXRealPos - jz_buff)))
                    {
                        SKQD_JIAZI_VAVLE = 0;
                    }
                    if(!X_DRV)
                    {
                        SKQD_JIAZI_VAVLE = 0;
                        SKQD_MotorStep   = 43;
                    }
                    break;
                case 43:	                           // 切断完成后拉电机动作
                    if(!X_DRV)
                    {
                        SKQD_MotorStep   = 0;
                        SKQD_MotorDelay  =    dwTickCount;
                    }
                    break;   
                case 61: // 前点定位数控模式
                    SKQD_BL_VAVLE = 0;
                    if(dwTickCount >= SKQD_MotorDelay)
                    {                              
                        SKQD_MotorStep = 62;
                    }
                    break;
                case 62:
                    if(dwTickCount >= SKQD_MotorDelay)
                    {          
                        if(SKQD_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);                           
                            SKQD_MotorDelay = dwTickCount + 300;
                        }
                        SKQD_MotorStep = 63;            
                        SKQD_JIAZI_VAVLE = 0;  
                    }
                    break;
                case 63:
     
                    if(!X_DRV && !SKQD_QIAN_LIMIT_IN && (dwTickCount >= SKQD_MotorDelay) && 
                       ((dwXRealPos > 4000) || (!SKQD_SHANGMO_IN && !SKQD_XIAMO_IN && !SKQD_YAGOUZHEN_IN)))// && !QD_SHANG_MU_LIMIT_IN)
                    {
                        go_buff  = dwXRealPos;
                        SKQD_YADAI_VAVLE = 1;
                        SKQD_DGZ_VAVLE  = 0;
                        if(SK_cZipCnt > 0)
                        {                            
                            if(dwXRealPos>(SKQD_PARAM_GO_LOW_SPEED_LENGTH))   
                            { //  
                                axis_set_parameter( X_AXIS,AXIS_ACCDEC_MODE,1);
                                SK_DCC_TIME_BL = SKQD_PARAM_DCC + SKQD_PARAM_GO_HIGH_SPEED/500;
                                AxisMovePosAccDecNotStop(X_AXIS,SKQD_PARAM_GO_HIGH_SPEED,-dwXRealPos,
                                                         SKQD_PARAM_START_SPEED,SKQD_PARAM_GO_LOW_SPEED,SKQD_PARAM_ACC,SK_DCC_TIME_BL,
                                                         SKQD_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,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_N,SKQD_PARAM_GO_LOW_SPEED/3,SKQD_PARAM_GO_LOW_SPEED,15,15);                                
                            }           
                        }
                        else
                        {
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                            AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_N,SKQD_PARAM_GO_LOW_SPEED/3,SKQD_PARAM_GO_LOW_SPEED,15,15);
                            // MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
                        }                        
                        SKQD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                        SKQD_MotorStep   =64;
                    }                         
                    break;
                case 64:
                    if(SK_cZipCnt > 0)
                    {     
                        if(SKQD_QIAN_LIMIT_IN)  //前点限位      
                        {
                            if(SKQD_PARAM_GO_DW_LENGTH)
                            {    
                                SetPos(X_AXIS, SKQD_PARAM_GO_DW_LENGTH);
                                AxisMovePosAccDec(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,-SKQD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                            }
                            else
                                AxisEgmStop(X_AXIS);
                            SKQD_MotorStep   = 66;              
                            
                            
                        }
                    }
                    else
                    {                            
                        if(SKQD_QIAN_LIMIT_IN)  //前点限位      
                        {
                            if(SKQD_PARAM_GO_DW_LENGTH)
                            {    
                                SetPos(X_AXIS, SKQD_PARAM_GO_DW_LENGTH);
                                AxisMovePosAccDec(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,-SKQD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                            }
                            else
                                AxisEgmStop(X_AXIS);
                            SKQD_MotorStep   = 66;                                        
                        }
                    }
 //                   if(dwTickCount >= SKQD_MotorDelay)
 //                           SK_QD_SetAlarmCode(SKQD_NO_ZIPPER_ALARM);
                    break;
                case 66:
                    if(!X_DRV  || (dwXRealPos <= 0))
                    {   
                        axis_set_parameter( X_AXIS,AXIS_ACCDEC_MODE,0);
                        SetPos(X_AXIS, 0);
                        SKQD_MotorDelay =    dwTickCount;
                        SKQD_MotorStep   = 67;
                    }
                    break;   
                case 67:  
                    if(dwTickCount >= SKQD_MotorDelay) 
                    {
                        if(bRunning)
                        {
                            SKQD_JIAZI_VAVLE = 1;
                            SKQD_MotorDelay =    dwTickCount + SKQD_PARAM_DELAY_BACK*3/5;
                        }
                        SKQD_MotorStep   = 68;
                    }
                    break;
                case 68:
                    if(dwTickCount >= SKQD_MotorDelay)
                    {
                        SKQD_YADAI_VAVLE = 0;
                        SKQD_MotorStep   = 69;
                        SKQD_MotorDelay  = dwTickCount + SKQD_PARAM_DELAY_BACK*2/5;
                    }
                    break;
                case 69:
                    if(dwTickCount >= SKQD_MotorDelay)
                    {
                        SKQD_MotorStep   = 0;
                        SKQD_MotorDelay  = dwTickCount;
                    }
                    break;
               
	}
}
#endif


//超声方式下切,开口专用
void SK_QueDuan_XiaQue(void)	
{
   switch(SKQD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
          
             if(bRunning)
             {
                 SKQD_XiaQieStep = 5;                  
                 SKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                 if(SKQD_SAFE_IN)
                 {
                    bStop = 1;
                     SKQD_XIAMO_VAVLE   = 0;
                 }
               }
               else          
                 SKQD_XiaQieStep = 2;                     
                break;
        case 2:   
                SKQD_XIAMO_VAVLE=1;
                SKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                SKQD_XiaQieStep = 3;   
               break;
        case 3:
                if(SKQD_XIAMO_IN)
                {
                    SKQD_XiaQieDelay = dwTickCount + 0;
                    SKQD_XiaQieStep = 4; 
                }
                else if(dwTickCount >= SKQD_XiaQieDelay)
                {
                    SK_QD_SetAlarmCode(SKQD_XM_DAOWEI);
                }
                break;
        case 4:   

                SKQD_XiaQieDelay = dwTickCount + 3000;
                SKQD_GZ_VAVLE  = 1;
                SK_cTuiFangKuaiCnt=0;
                SKQD_XiaQieStep = 5;  
                
                break;
        case 5:  
                if(SKQD_GOUZHEN_IN || bRunning)
                {
                    SKQD_DGZ_VAVLE=1;                
                    SKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                    SKQD_XiaQieStep = 6;  
                }
                else if(dwTickCount >= SKQD_XiaQieDelay)
                {
                    SK_QD_SetAlarmCode(SKQD_GZ_ALARM);
                }
                
                break;
        case 6: 
                if(SKQD_YAGOUZHEN_IN)
                {                         
                    SKQD_XiaQieStep = 7;  
                    SKQD_XiaQieDelay = dwTickCount + 1000;
                }
                else if(dwTickCount >= SKQD_XiaQieDelay)
                {
                    SK_QD_SetAlarmCode(SKQD_YAGOUZHEN_ALARM);  //压勾针到位
                }
                break;
        case 7:
               if(SKQD_GOUZHEN_IN || bRunning)
               {                

                   if(!bRunning)
                     SKQD_XiaQieDelay = dwTickCount + 200;
                   else
                   {
                     SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_CUT_DELAY;
                   }
                   if(!SKQD_QIAN_LIMIT_IN)
                       SKQD_XiaQieStep = 8;   
                   else
                       SK_QD_SetAlarmCode(SKQD_QIAN_LIMIT_ALARM);
               }              
               break;
        case 8://上下模同时输出
               if(dwTickCount >= SKQD_XiaQieDelay)
               {
                  SKQD_YADAI_VAVLE = 1;//压带
                  SKQD_DGZ_VAVLE  = 1;
                  SKQD_SHANGMO_VAVLE = 1;
                  SKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                  SKQD_XiaQieStep = 9;   
                  if(bRunning)
                        SKQD_MotorStep   = 390;
               }
               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(SKQD_SHANGMO_IN && SKQD_XIAMO_IN )
                {
                    SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_DELAY_CS;       // 
                    SKQD_XiaQieStep = 10;                      
                }
                else if(dwTickCount >= SKQD_XiaQieDelay)
                {
                    if(!SKQD_SHANGMO_IN) SK_QD_SetAlarmCode(SKQD_SM_DAOWEI);
                    else SK_QD_SetAlarmCode(SKQD_XM_DAOWEI);
                }
                break;
        case 10:
                if(dwTickCount >= SKQD_XiaQieDelay)	
                {
 
                        SKQD_CSB_VAVLE = 1;
                 //
                    SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_CS_TIME;       // 
                    SKQD_XiaQieStep = 11;    
                    
                }
                break;
        case 11:
                if(dwTickCount >= SKQD_XiaQieDelay)	
                {
                    SKQD_CSB_VAVLE = 0;
                    SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_CS_COLD_TIME;       // 
                    SKQD_XiaQieStep = 12;	
                    SKQD_DGZ_VAVLE  = 0;
                }
                break;
        case 12:  
               if(dwTickCount >= SKQD_XiaQieDelay)
               {
                    SKQD_SHANGMO_VAVLE = 0;                     
                    SKQD_XIAMO_VAVLE = 0;                    
                    
                    SKQD_ErrorDelay = dwTickCount + VAVLE_ALARM_TIME;   
                    SKQD_XiaQieStep = 13;	
               }// 
                break;
        case 13:
               if((!SKQD_SHANGMO_IN))
               {
                 SKQD_GZ_VAVLE = 0;
                 SKQD_XiaQieDelay = dwTickCount +  7;//SKQD_PARAM_TDGZ_DELAY ;
                 SKQD_XiaQieStep = 14; 
                  SKQD_ErrorDelay = dwTickCount + VAVLE_ALARM_TIME; 
               }
                else if((dwTickCount >= SKQD_ErrorDelay) && !SKQD_SHANGMO_VAVLE)	
                {
                    SK_QD_SetAlarmCode(SKQD_SM_YUANWEI);
                }
               break;
      case 14:
              if(dwTickCount >= SKQD_XiaQieDelay)
              {
                    if(SKQD_SHANGMO_ROIGIN_IN && !SKQD_XIAMO_IN && !SKQD_YAGOUZHEN_IN)	
                    {   
                       SKQD_DGZ_VAVLE  = 0;
                        SKQD_XiaQieStep = 0; 
                        
                    }
                    else if(dwTickCount >= SKQD_ErrorDelay)	
                    {
                        SK_QD_SetAlarmCode(SKQD_XYAGOUZHEN_ALARM);
                    }                
              }
              break;
    }	
}









#endif