GC19038/Machine/TongYongMachine/TYQueDuanJi.c

#include "global.h"


#if TONG_YONG_MACHINE


void QueDuan_AlarmProtect(void);
void QueDuan_ManualAction(void);
void QueDuan_AutoAction(void);
void QueDuan_StepCheckStart(void);
void QueDuan_XiaQue(void);
void QueDuan_Motor(void);
void QueDuan_YuanDianAction(void);
void QueDuan_TuiLianAction(void);
void QueDuan_ExtiActionX31(void);
void QueDuan_BingLian(void);
static unsigned long cZipCnt = 0,cTableCnt = 0,cTuiFangKuaiCnt = 0;
static long save_limit_pos,cRealPos;
static long dwSaveLength;

unsigned char cCheckLianFlg = 0;
unsigned char cCheckLianFlgEN = 0;
unsigned char cGoLimitEn    = 0;

short *length_buffer;


void QueDuan_ExtiActionX31(void)
{
    cCheckLianFlg = 1;
}
void QD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void QueDuan_InitAction(void)
{
    float length_buff,pulse_buff;
    
    length_buff = QD_PARAM_CYCLE_LENGTH;
    pulse_buff  = QD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;  
    QD_SZ_OUT   = 1;
}

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

//手动动作
void QueDuan_ManualAction(void)
{  
    if(bRunning == 0)  
    {   
        if(QD_bClearTotal) //切断计数清零
        {
            QD_bClearTotal       = 0;
            ClrcToTal(QD_TOTAL_ADDR);
        }
        
        if(QD_bClearNowTotal)
        {
            QD_bClearNowTotal = 0;
            QD_PARAM_NOW_CNT = 0;
        }
        
        if(QD_bXiaQie)
        {
            QD_bXiaQie = 0;
            if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;
        }
        
        if(QD_bQianDianDW)
        {
            QD_bQianDianDW = 0;
            if(QD_MotorStep == 0)
            {
                QD_MotorStep = 61;
                cZipCnt      = 0;
            }
        }
        
        if(QD_bTL)
        {  
            QD_TL_VAVLE = ~QD_TL_VAVLE;
        }
        
        if(!Y_DRV)QD_bTL = 0;
        
        if(QD_bYD)
        {
            QD_bYD = 0;
            QD_YD_VAVLE = ~QD_YD_VAVLE;
        }
        
        if(QD_bGZ)
        {
            QD_bGZ = 0;
            QD_GZ_VAVLE = ~QD_GZ_VAVLE;
        }
        
        if(QD_bJD)
        {
           QD_bJD = 0;
           QD_JD_VAVEL = ~QD_JD_VAVEL;
        }
        
        if(QD_bXM)
        {
           QD_bXM = 0;
           QD_XM_VAVLE = ~QD_XM_VAVLE;
           if(!QD_XM_VAVLE)QD_GZ_VAVLE = 0;
        }
        
        if(QD_bSM)
        {
           QD_bSM = 0;
           QD_SM_VAVLE = ~QD_SM_VAVLE;
        }
        
        if(QD_bTFK)
        {
            QD_bTFK = 0;
            QD_TFK_VAVEL = ~QD_TFK_VAVEL;
        }
        
        if(QD_bTB)
        {
            QD_bTB = 0;           
            QD_TABLE_VAVLE = ~QD_TABLE_VAVLE;
        }
        
        if(QD_bYBD)
        {
            QD_bYBD = 0;
            QD_YBD_VAVLE = ~QD_YBD_VAVLE;
        }
        
        if(QD_bTestCS)
        {
           QD_bTestCS = 0;
           QD_CS_OUT  = 1;
           QD_CSDelay = dwTickCount + QD_PARAM_CS_TIME;
        }
        
        if(QD_bBL)
        {
            QD_bBL = 0;
            QD_BL_VAVLE = ~QD_BL_VAVLE;
        }
        
        if(QD_XiaQieStep == 0)
        {
            if(dwTickCount >= QD_CSDelay)QD_CS_OUT  = 0;
        }
        
        if(QD_bYuanDianDW)
        {
            QD_bYuanDianDW = 0;
            if(QD_YuanDianStep == 0)QD_YuanDianStep = 1;
        }
        
//电机控制        
        if(QD_bGoMotor && !QD_QIAN_LIMIT_IN)
        {           
            QD_SZ_OUT   = 0;
            QD_JZ_DIR   = QD_YDIR_N;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,QD_DIR_N,10,1,5,5);

        }
        
        if(QD_bBackMotor && !QD_BACK_LIMIT_IN)
        {
            QD_SZ_OUT   = 0;
            QD_JZ_DIR   = QD_YDIR_P;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,10,1,5,5);
        }
        
        if(!QD_bGoMotor && !QD_bBackMotor && (QD_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QD_QIAN_LIMIT_IN && (QD_MotorStep == 0) && !QD_bBackMotor &&(QD_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
    }
}

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


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

    if(!bRunning)
    {
        if(QD_BACK_LIMIT_IN_UP)
        {
            if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor)        //到后限不能再后退但可以点前进
            {
                QD_bBackMotor = 0;
                
                AxisDecStop(X_AXIS);   
                QD_JD_VAVEL   = 0;
                QD_SetAlarmCode(QD_BACK_ALARM);
                
            }
        }
    }
    else
    {
        if(QD_BACK_LIMIT_IN_UP)
        {
            AxisDecStop(X_AXIS);   
            QD_JD_VAVEL = 0;
            QD_SetAlarmCode(QD_BACK_ALARM);
        }
    }

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

void QueDuan_AutoAction(void)
{  
    if(bRunning)
    {
        if(dwTickCount >= QD_TBDelay)QD_TABLE_VAVLE = 0;
        switch(QD_AutoStep)
        {
            case 1:
                  if(dwTickCount >= QD_AutoDelay)
                  {	
                      QD_AutoStep = 2;	    
                      if(QD_MotorStep == 0)
                      {
                          QD_MotorStep = 61;   //前点定位
                      }
                  }	
                  break;	
            case 2:	 
                  if(QD_MotorStep == 0)
                  {   
                      QD_MotorStep = 30;  
                      QD_AutoStep = 3;	    
                  }
                  break;	
            case 3:	
                  if(QD_MotorStep == 0)
                  {   
                      if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;                 
                      QD_AutoStep = 4;	    
                  }              
                  break;
            case 4:
                  if(QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI)
                  {
                      
                      if(((QD_XiaQieStep == 0) || (QD_XiaQieStep == 6)) && !QD_SHANG_MU_LIMIT_IN)
                      {
                          if(QD_MotorStep == 0) 
                          {
                              QD_MotorStep = 40;     //切完后退
                              QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                          }
                          QD_AutoStep = 5;	    
                      }
                  }
                  else
                  {
                      if(((QD_XiaQieStep == 0) || (QD_XiaQieStep == 13)) && !QD_SHANG_MU_LIMIT_IN && !QD_XIA_MU_LIMIT_IN)
                      {
                          if(QD_MotorStep == 0) 
                          {
                              QD_MotorStep = 40;     //切完后退
                              QD_AutoStep = 5;
                          }	    
                      }                  
                  }
                  break;
            case 5:	 
                  if(QD_MotorStep == 0)
                  {
                      cZipCnt++;
                      QD_PARAM_NOW_CNT++;
                      cTableCnt++;
                      AddToTal(QD_TOTAL_ADDR);
                      CalProSP(QD_PROSPEED_ADDR);
                      
                      if(cTableCnt >= QD_PARAM_TABLE_NUM)
                      {
                          cTableCnt = 0;
                          QD_TABLE_VAVLE = 1;
                          QD_TBDelay = dwTickCount + QD_PARAM_TB_TIME;
                      }
                      
                      if((GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) || SingOneFlg)
                      {
                          bRunning = 0;
                          QD_AutoStep = 0; 
                          SingOneFlg = 0;
                          
                          if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
                      }
                      else
                      {
                          QD_AutoStep = 1; 
                          
                          if(QD_PARAM_NOW_CNT >= QD_PARAM_ZHA_SHU)    
                          {
                              QD_AutoDelay = dwTickCount + QD_PARAM_ZS_STOP_TIME + 50;
                              QD_PARAM_NOW_CNT = 0;
                          }
                          else
                              QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
                      }
                  }
                  break;
        }	
    }
}

void QueDuan_StepCheckStart(void)
{
//		启动      			
    if((START_IN_UP) || bStart || QD_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (QD_AutoStep == 0))
        {
            if(!QD_SHANG_MU_ORIGIN_IN)QD_SetAlarmCode(QD_SM_YUANWEI);
            else if(QD_XIA_MU_LIMIT_IN)QD_SetAlarmCode(QD_XM_DAOWEI);
            else if(GetAlarmCode(QD_ALARM_ADDR) != 0);
            else if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
            else if(QD_BL_VAVLE)QD_SetAlarmCode(QD_BL_ALARM);
            else if(QD_SM_VAVLE)QD_SetAlarmCode(QD_SM_ALARM);
            else
            {
                bRunning    = 1;
                QD_AutoStep = 1;
                if(QD_bSingle) SingOneFlg= 1;
                cZipCnt      = 0;
                cTuiFangKuaiCnt = 0;
                if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
            }
        }
        QD_bSingle = 0;
    }


    //停止
   if(STOP_IN_UP || bStop)
   {
        bStop = 0;       
        if(bRunning)
        {
            bRunning   = 0;
            QD_XiaQieStep = 0;
            QD_AutoStep   = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_YuanDianStep = 0;
            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay  = dwTickCount;
            QD_TLDelay     = dwTickCount;
            QD_CheckDelay  = dwTickCount;
            dwTickCount = QD_TBDelay;
            SingOneFlg  = 0; 
            QD_JD_VAVEL = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVEL= 0;
            QD_TL_VAVLE      = 0;
            QD_YBD_VAVLE = 0;
            QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            //QD_SZ_OUT   = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            AxisDecStop(X_AXIS);  
            QD_YuanDianStep = 0;
            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            user_datas[121] = 0;
            user_datas[122] = 0;
            if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);        
        }
        else
        {
            bRunning   = 0;
            QD_XiaQieStep = 0;
            QD_AutoStep   = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_YuanDianStep = 0;
            QD_AutoDelay   = dwTickCount;
            QD_MotorDelay = dwTickCount;
            QD_XiaQieDelay  = dwTickCount;
            QD_KaDaiDelay   = dwTickCount;
            QD_CSDelay = dwTickCount;
            QD_TBDelay  = dwTickCount;
            QD_TFKDelay  = dwTickCount;
            QD_TLDelay     = dwTickCount;
            QD_CheckDelay  = dwTickCount;
            dwTickCount = QD_TBDelay;
            SingOneFlg  = 0; 
            QD_JD_VAVEL = 0;
            QD_SM_VAVLE = 0;
            QD_XM_VAVLE = 0;
            QD_YD_VAVLE = 0;
            QD_TFK_VAVEL= 0;
            QD_TL_VAVLE      = 0;
            QD_YBD_VAVLE = 0;
            QD_CS_OUT   = 0;
            QD_XiaQieStep = 0;
            QD_MotorStep  = 0;
            QD_TuiLianStep = 0;
            QD_SZ_OUT   = 1;
            QD_GZ_VAVLE    = 0;
            QD_TABLE_VAVLE   = 0;
            AxisDecStop(X_AXIS);  
            QD_YuanDianStep = 0;
            QD_BinLianStep  = 0;
            QD_BL_VAVLE    = 0;
            if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
        }
    }
    
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        QD_XiaQieStep = 0;
        QD_AutoStep   = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 0;
        QD_YuanDianStep = 0;
        QD_XiaQieStep = 0;
        QD_MotorStep  = 0;
        QD_TuiLianStep = 0;
        QD_AutoDelay   = dwTickCount;
        QD_MotorDelay = dwTickCount;
        QD_XiaQieDelay  = dwTickCount;
        QD_KaDaiDelay   = dwTickCount;
        QD_CSDelay = dwTickCount;
        QD_TBDelay  = dwTickCount;
        QD_TFKDelay  = dwTickCount;
        QD_TLDelay     = dwTickCount;
        QD_CheckDelay  = dwTickCount;
        SingOneFlg  = 0; 
        bRunning   = 0;
        AxisDecStop(X_AXIS); 
        dwTickCount = QD_TBDelay;
        QD_TABLE_VAVLE = 0;
    }
    
}   
//记忆长度模式误差检测
void QueDuan_CheckLength(long zip_length)
{
    static long start_dist;
    switch(QD_CheckLengthStep)
    {
        case 0:break;
        case 1:
               start_dist = cRealPos;
               QD_CheckLengthStep = 2;
               break;
        case 2:
               if(QD_GUO_LIAN_IN_DW)  dwSaveLength = cRealPos - start_dist;              
               break;         
    }          
}
void QueDuan_Motor_CS(void)
{
        static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
        user_datas[121]= QD_MotorStep;
        user_datas[122]= length_buff;
        user_datas[123] = cRealPos;
        user_datas[124] = dwSaveLength - (*length_buffer);
        user_datas[125] = QD_AutoStep;
        user_datas[126] = QD_XiaQieStep;
        user_datas[127] = QD_XiaQieStep;
        QueDuan_CheckLength(length_buff);
	switch(QD_MotorStep)
	{
                case 30:
                        QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        QD_MotorStep   = 31;
                        
                        if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                        break;
                case 31:	                                      
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            save_buff = cRealPos;
                            back_buff = cRealPos;
                            QD_JZ_DIR   = QD_YDIR_P;          
                            if(QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE)           // 纯感应模式
                            {   
                                if(QD_PARAM_DEC_MODE == QD_BACK_DIGITAL_MODE)          // 数控降速
                                {
                                    if(cZipCnt < 2)
                                    {
                                        MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_CHECK_BACK_HSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
                                        QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                        QD_MotorStep   = 32;                                      
                                    }
                                    else
                                    {
                                        MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);             
                                        QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                        QD_MotorStep   = 32;                                      
                                    }
                                }
                                else
                                {  
                                    MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);                
                                    QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    QD_MotorStep   = 32;  
                                }                         
                            }
                            else
                            { 
                                if(QD_PARAM_BACK_MODE == QD_BACK_INPUT_LENGTH_MODE)
                                {
                                      gouzhen_buff = cRealPos;  
                                      length_buffer = &QD_PARAM_OFFSET_LENGTH;
                                      length_buff  = QD_PARAM_ZIPPER_LENGTH + (*length_buffer); 
                                      AxisMovePosAccDec(X_AXIS,QD_PARAM_BACK_SPEED,(-length_buff),QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);                                   
                                      MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_BACK_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)));  
                                      QD_MotorDelay =    dwTickCount;
                                      QD_MotorStep   = 34;                                
                                }
                                else
                                {
                                      if(cZipCnt < 2)
                                      {
                                          MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_CHECK_BACK_HSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
                                          QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                          QD_MotorStep   = 32;
                                      }
                                      else
                                      {
                                          gouzhen_buff = cRealPos;   
                                          AxisMovePosAccDec(X_AXIS,QD_PARAM_BACK_SPEED,(-length_buff),QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);                                   
                                          MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_BACK_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)));  
                                          QD_MotorDelay =    dwTickCount;
                                          QD_MotorStep   = 34;
                                          QD_CheckLengthStep = 1;
                                      }
                                }
                            }
                        }
			break; 
		case 32:
                        if(QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE) //感应方式
                        {
                            if(QD_PARAM_DEC_MODE == QD_BACK_DIGITAL_MODE)          // 数控降速
                            {
                                if(cZipCnt < 2)
                                {
                                    if(QD_GUO_LIAN_IN_UP)
                                    {                                 
                                        checkdelay_buff = cRealPos;
                                        QD_MotorDelay =    dwTickCount + QD_PARAM_DELAY_XM; 
                                        if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                        QD_MotorStep   = 33;
                                    }  
                                    else if(dwTickCount >= QD_MotorDelay)
                                    {
                                        QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                                    }                          
                                }
                                else                               
                                {
                                     if((cRealPos - back_buff) > (length_buff - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)))))
                                     {
                                         if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); 
                                     }
                                    if(QD_GUO_LIAN_IN_UP)
                                    {                                 
                                        checkdelay_buff = cRealPos;
                                        QD_MotorDelay =    dwTickCount + QD_PARAM_DELAY_XM; 
                                        if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                        QD_MotorStep   = 33;
                                    }  
                                    else if(dwTickCount >= QD_MotorDelay)
                                    {
                                        QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                                    }                                     
                                }                            
                            }
                            else
                            {
                                if(QD_GUO_LIAN_IN_UP)
                                {                                 
                                    checkdelay_buff = cRealPos;
                                    if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                    QD_MotorDelay  = dwTickCount + QD_PARAM_DELAY_XM;
                                    QD_MotorStep   = 33;
                                }  
                                else if(dwTickCount >= QD_MotorDelay)
                                {
                                    QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                                }
                            }
                        }
                        else
                        {
                             if(cZipCnt < 2)
                            {
                                if(QD_GUO_LIAN_IN_UP)
                                {                                 
                                    checkdelay_buff = cRealPos;
                                    QD_MotorDelay =    dwTickCount + QD_PARAM_DELAY_XM; 
                                    if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
                                    QD_MotorStep   = 33;
                                }  
                                else if(dwTickCount >= QD_MotorDelay)
                                {
                                    QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                                }                          
                            }                       
                        }
			break;
                case 33:
                       if(dwTickCount >= QD_MotorDelay)
                       {
                           QD_XM_VAVLE    = 1;
                           QD_MotorStep   = 34;
                       }                        
                        break;
                case 34:
                        if(((cZipCnt < 2) || (QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE)) && (QD_PARAM_BACK_MODE != QD_BACK_INPUT_LENGTH_MODE))
                        {
                             if((((cRealPos - checkdelay_buff) >= QD_PARAM_DELAY_CHECK) && (QD_PARAM_LT_ENABLE)) || (((cRealPos - checkdelay_buff) >= QD_PARAM_NO_LT_DELAY_CHECK) && (QD_PARAM_LT_ENABLE == 0)))
                            {
                                if(QD_GUO_LIAN_IN_DW)
                                {                  
                                    gou_zhen_buff = cRealPos;
                                    QD_MotorStep   = 35;
                                }
                            }                       
                        }
                        else
                        {
                            if(QD_PARAM_LT_ENABLE == 0)
                            {
                                if((cRealPos - gouzhen_buff) >= (length_buff - (QD_PARAM_DELAY_XM_LENGTH)))QD_XM_VAVLE    = 1;

                                if((cRealPos - gouzhen_buff) >= (length_buff - QD_PARAM_GOUZHEN_LENGTH))
                                {
                                    QD_XM_VAVLE    = 1;
                                    QD_GZ_VAVLE    = 1;
                                    QD_MotorStep   = 36;
                                }
                            }
                            else
                            {
                                if((cRealPos - gouzhen_buff) >= (length_buff - (QD_PARAM_DELAY_XM_LENGTH)))
                                {
                                    QD_XM_VAVLE    = 1;
                                    QD_MotorStep   = 36;                                
                                }                       
                            }
                        }
                        break;
		case 35:	                        
                        if(QD_GUO_LIAN_IN_DW)
                        {
                            gou_zhen_buff = cRealPos; 
                        }
                        
                        if(QD_GUO_LIAN_IN_UP)
                        {
                            gou_zhen_buff = cRealPos; 
                        }                        
                        
                        if((cRealPos - gou_zhen_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
                        {                         
                            AxisEgmStop(X_AXIS);   
                            QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                            QD_MotorStep   = 36;
                        }   
			break;
                case 36:                                                   
                        if(!X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
                        {      
                            if(QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE)
                            {
                                QD_GZ_VAVLE = 1;
                            }
                            else
                            {
                                if((cZipCnt < 2) || (QD_PARAM_BACK_MODE != QD_BACK_INPUT_LENGTH_MODE)) 
                                {
                                    QD_GZ_VAVLE = 1;
                                }
                                else
                                {
                                    if(QD_PARAM_LT_ENABLE == 1)QD_GZ_VAVLE = 1;
                                }
                            }
                            QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                            QD_MotorStep   = 37;
                        }
                        break;
                case 37:
                        if(QD_XIA_MU_LIMIT_IN)
                        {
                            QD_MotorStep   = 38;
                            QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                        } 
                        else if(dwTickCount >= QD_MotorDelay) QD_SetAlarmCode(QD_XM_DAOWEI);
                        break;
                case 38:  
                        if(dwTickCount >= QD_MotorDelay)
                        {
                               QD_TFK_VAVEL   = 1;
                               QD_MotorStep   = 39;
                        }
                        break;
                case 39:
                        if(!X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
                        {                                  
                            if(cZipCnt == 1)
                            {
                                length_buff = cRealPos - save_buff;
                            }
                            if(cZipCnt == 0)
                            {
                               go_length_buff = cRealPos - save_buff;
                            }
                            
                            if((QD_PARAM_BACK_MODE != QD_BACK_INDUCTION_MODE)&&(QD_PARAM_BACK_MODE != QD_BACK_INPUT_LENGTH_MODE) && (cZipCnt >= 2))  
                            {
                                length_buffer = &QD_PARAM_OFFSET_LENGTH;
                                if((dwSaveLength - (*length_buffer)+ QD_PARAM_ERROR_LENGTH) < length_buff)
                                {
                                    QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                    QD_CheckLengthStep = 0; 
                                }
                                else if((dwSaveLength - (*length_buffer)-QD_PARAM_ERROR_LENGTH) > length_buff)
                                {
                                    QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                    QD_CheckLengthStep = 0;
                                }
                                else
                                  QD_CheckLengthStep = 0;
                            }
                            if((QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE) && (cZipCnt >= 2)) 
                            {
                                if((cRealPos - save_buff) > (length_buff+QD_PARAM_ERROR_LENGTH))QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                                else if((cRealPos - save_buff) < (length_buff-QD_PARAM_ERROR_LENGTH))QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                            }
                            QD_MotorStep   = 0;
                            QD_MotorDelay = dwTickCount;
                        }
                        break;
		case 40:
                           dwTickCount + QD_PARAM_CUT_BACK_DELAY;
                           QD_JZ_DIR   = QD_YDIR_P;
                           QD_MotorStep   = 41;
                        break;
                case 41:
                          if(dwTickCount >= QD_MotorDelay)
                          {
                                jz_buff = cRealPos;
                                if(QD_PARAM_SJZ_LENGTH == 0)
                                {
                                    QD_JD_VAVEL = 0; 
                                } 
                                QD_MotorDelay     = dwTickCount + 35;
                                QD_MotorStep   = 42;
 
                           }
                            break;
 
                case 42:   
                           if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
                           { 
                               AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                               QD_MotorStep   = 43;   
                           }
                           break;
               	case 43:	 
                          // 切断完成后拉电机动作
                           if(dwTickCount >= QD_MotorDelay)
                           {
                                if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff)))
                                {
                                    QD_JD_VAVEL = 0;
                                    QD_MotorStep   = 44;
                                }
                                else if(!X_DRV)
                                {
                                    QD_JD_VAVEL = 0;
                                    QD_MotorStep   = 44;
                                }
                           }
                        break;
                case 44:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QD_MotorStep   = 0;
                                QD_MotorDelay  =    dwTickCount;
                            }
                        
                        break;   
 
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                            
                        }
                        
                        if((QD_TuiLianStep == 0) && !QD_TL_VAVLE)QD_TuiLianStep = 1;

                        QD_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
                            {
                                MV_Set_Acc_CPU(X_AXIS, 10);
                                QD_JZ_DIR   = QD_YDIR_P;
                                AxisMovePos(X_AXIS,QD_PARAM_CHECK_BACK_HSPEED,-QD_PARAM_ON_BACK_LENGTH);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 63;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && (dwTickCount >= QD_MotorDelay))
                        {
                            go_buff  = cRealPos;
                            QD_JZ_DIR   = QD_YDIR_N;
                            if(cZipCnt > 0)
                            {
                                 MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
                            }
                            else
                            {
                                 MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
                            }

                            QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep  = 64;
                        }  
			break;
                case 64:
                       if(cZipCnt > 0)
                       {
                            if(((go_buff - cRealPos) > (go_length_buff - (QD_PARAM_GO_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,10))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || (QD_QIAN_DEC_IN_UP))
                            {
                                
                                MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                QD_MotorStep   =65;
                            }
                       }
                       else
                       {
                           if(QD_QIAN_DEC_IN_UP)
                           {
                                MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                QD_MotorStep   =65;    
                           }
                       }
                        break;
		case 65:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 66;                            
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                        break;
		case 66:
                        if(!X_DRV)
                        {   
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 67;
                        }
			break;   
		case 67:
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVEL = 1;
                            }
                            QD_MotorStep   = 68;
                            QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        }
			break;
                case 68:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YD_VAVLE    = 0;
                            QD_YBD_VAVLE   = 0;
                            QD_TL_VAVLE    = 0;
                            QD_BL_VAVLE = 0;
                            QD_MotorStep   = 0;
                        }
                        break;
               
	}
}

void QueDuan_BingLian(void)
{
    static long bl_pos_buff;
    
    switch(QD_BinLianStep)
    {
        case 0:break;
        case 1:
              bl_pos_buff = cRealPos;
              QD_BinLianStep = 2;
        break;       
        case 2:
              if((cRealPos - bl_pos_buff) >= QD_PARAM_DELAY_HL_LENGTH)
              {
                   QD_BL_VAVLE = 1;   
                   QD_BinLianStep = 3;
              }
             
        break;
        case 3:
              if(((cRealPos - bl_pos_buff+QD_PARAM_HL_BACK_LENGTH) >= QD_PARAM_ZIPPER_LENGTH) || QD_SM_VAVLE)
              {
                  QD_BL_VAVLE = 0;
                  QD_BinLianStep = 0;
              }
        break;
    default:;    
    }
    
}

//不带过链感应长度输入电机长度
void QueDuan_Motor_NoGL(void)
{
        static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
        user_datas[124]= QD_MotorStep;
 //       user_datas[125]= go_length_buff;
//        user_datas[123] = length_buff;
        user_datas[127] = cRealPos;
//        user_datas[126] = go_buff - cRealPos;
 //       user_datas[121]  = QD_PARAM_GOUZHEN_LENGTH;
        if(QD_GUO_LIAN_IN_DW)user_datas[122]++;
	switch(QD_MotorStep)
	{
                case 30:
                        QD_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        
                        length_buffer = &QD_PARAM_OFFSET_LENGTH;
                        if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
                        
                        if(QD_PARAM_LENGTH_MODE == 0)
                             QD_MotorStep   = 101;
                        else
                             QD_MotorStep   = 31;
                        break;
                case 31:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            back_buff = cRealPos;
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPos;
                            if(cZipCnt > 0) 
                                MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);    
                            else
                                MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_CHECK_BACK_HSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);   
                            
                            QD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   = 33;
                        }
			break; 
		case 32:
                       if(((cRealPos - gou_zhen_buff) > (QD_PARAM_ZIPPER_LENGTH - (*length_buffer) - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)QD_GZ_VAVLE = 1;

                       if((cRealPos - back_buff) > (QD_PARAM_ZIPPER_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)))))
                       {                 
                           if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); 
                           
                           QD_MotorStep   = 33;
                       }
                       else if(dwTickCount >= QD_MotorDelay)
                       {
                           QD_SetAlarmCode(QD_GZ_ALARM);
                       }
			break;
                case 33:
                       if(((cRealPos - gou_zhen_buff) > (QD_PARAM_ZIPPER_LENGTH - (*length_buffer) - QD_PARAM_GOUZHEN_LENGTH))  && !QD_GZ_VAVLE) QD_GZ_VAVLE = 1;
                                                          
                       if(QD_GOUZHEN_IN)
                       {
                           AxisEgmStop(X_AXIS);
                           QD_YD_VAVLE = 1;
                           QD_MotorStep   = 34;
                       }
                       else if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + QD_PARAM_ZIPPER_LENGTH - (*length_buffer))) && QD_GZ_VAVLE)
                       {
                             QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                       }
                       else if(dwTickCount >= QD_MotorDelay)
                       {
                           QD_SetAlarmCode(QD_GZ_ALARM);
                       }
                        break;
                case 34:
                       if(!X_DRV && (dwTickCount >= QD_MotorDelay))
                       {                    
                            AxisMovePos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_FZ_LENGTH); 
                            QD_MotorStep   = 0;
                       }
                        break;
                case 101:	                                       
                        if(dwTickCount >= QD_MotorDelay)
                        {   
                            back_buff = cRealPos;
                            gou_zhen_buff = cRealPos;
                            save_buff = cRealPos;
                            
                            if(cZipCnt < 2)
                            {
                                QD_MotorDelay  = dwTickCount + MOTOR_ALARM_TIME;
                                AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);                                                               
                                QD_MotorStep   = 102;
                            }
                            else
                            {
                                MoveAction_Const_Back(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,((length_buff - QD_PARAM_TC_LENGTH) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
                                QD_MotorStep   = 102;                           
                            }
                        }
			break;
                case 102:                     
                            if(cZipCnt < 2)
                            {
                                if(QD_GUO_LIAN_IN_UP)     
                                {
                                    QD_MotorDelay  = dwTickCount + QD_PARAM_GZ_DELAY;
                                    QD_MotorStep   = 103;
                                }
                            }
                            else
                            {
                                if(((cRealPos - gou_zhen_buff) > ((length_buff - QD_PARAM_TC_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)
                               {
                                    save_buff = cRealPos;
                                    QD_GZ_VAVLE = 1;
                               }
                               if((cRealPos - back_buff) > ((length_buff - QD_PARAM_TC_LENGTH) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,10)))))
                               {                 
                                   if(X_DRV)
                                   {
                                       MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED); 
                                   }
                                   
                                   QD_MotorStep   = 103;
                               }                           
                            }
                        break;
		case 103:
                            if(cZipCnt < 2)
                            {
                                if(dwTickCount >= QD_MotorDelay)
                                {
                                    QD_GZ_VAVLE = 1;
                                    QD_MotorStep   = 104;
                                }  
                            }
                            else
                            {
                               if(((cRealPos - gou_zhen_buff) > ((length_buff - QD_PARAM_TC_LENGTH) - QD_PARAM_GOUZHEN_LENGTH))  && !QD_GZ_VAVLE)
                               {
                                   QD_GZ_VAVLE = 1;           
                               }
                                             
                               
                               if(QD_GOUZHEN_IN)
                               {
                                   QD_YD_VAVLE = 1;
                                   QD_MotorDelay  =    dwTickCount + 5;
                                   QD_MotorStep   = 105;
                               }  
                               else if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH)) && QD_GZ_VAVLE)
                               {
                                   QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
                               }
                            }
			break;
                case 104:
                        if(cZipCnt < 2)
                        {
                            if(QD_GOUZHEN_IN)
                           {
                               AxisEgmStop(X_AXIS);
                               QD_YD_VAVLE = 1;
                               QD_MotorStep   = 105;
                           }
                        }
                        else
                        {
                        
                        }
                        break;
                case 105:
                       if(!X_DRV)
                      {
                            if(cZipCnt == 0)
                            {
                                go_length_buff = cRealPos - back_buff;
                            }
                            else if(cZipCnt == 1)
                            {
                                length_buff = cRealPos - back_buff;
                                SetData32bits(1,length_buff);
                            }
                            AxisMovePos(X_AXIS,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_FZ_LENGTH); 
                            QD_MotorStep   = 0;
                       }
                        break;                  
		case 40:
                           if(dwTickCount >= QD_MotorDelay)
                           {
                                jz_buff = cRealPos;

                                if(QD_PARAM_SJZ_LENGTH == 0)
                                {
                                    QD_JD_VAVEL = 0; 
                                } 
                                QD_MotorDelay     = dwTickCount + 35;
                                QD_MotorStep   = 41;
 
                           }
                            break;
 
                case 41:   if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
                           { 
                               AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
                               QD_MotorStep   = 42;   
                           }
                           break;
		case 42:	 
                          if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - jz_buff)))
                          {
                              QD_JD_VAVEL = 0;
                              QD_MotorStep   = 43;
                          }
                          else if(!X_DRV)
                          {
                              QD_JD_VAVEL = 0;
                              QD_MotorStep   = 43;
                          }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QD_MotorStep   = 0;
                                QD_MotorDelay  =    dwTickCount;
                            }
                        break;   
                case 61: // 前点定位数控模式
                        if(QD_SZ_OUT)
                        {
                            QD_SZ_OUT   = 0;                       
                            QD_MotorDelay = dwTickCount + 50;
                        }
                        
                        if(!QD_TL_VAVLE)
                        {
                            if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0))
                            {
                                 QD_TuiLianStep = 1;
                                 QD_MotorStep = 62;
                            }                          
                        }
                        else
                            QD_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
                            {
                                AxisMovePos(X_AXIS,QD_PARAM_CHECK_BACK_HSPEED,-QD_PARAM_ON_BACK_LENGTH);                           
                                QD_MotorDelay = dwTickCount + 1000;
                            }
                            QD_MotorStep = 63;            
                            QD_JD_VAVEL = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN)
                        {
                            go_buff  = cRealPos;
                                                    
                            if(cZipCnt > 0)
                            {
                                 MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
                            }
                            else
                            {
                                 MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
                            }
                            length_buffer = &QD_PARAM_OFFSET_LENGTH;
                            QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QD_MotorStep   =64;
                        }  
			break;
                case 64:
                        
                        if(QD_PARAM_LENGTH_MODE == 0)
                        {
                             if(((go_buff - cRealPos) > ((go_length_buff - (*length_buffer) - QD_PARAM_FZ_LENGTH) - (QD_PARAM_GO_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_DCC))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
                            {                   
                                MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                QD_MotorStep   =65;
                            }
                            else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);                           
                        }
                        else
                        {
                            if(((go_buff - cRealPos) > ((QD_PARAM_ZIPPER_LENGTH - (*length_buffer) - QD_PARAM_FZ_LENGTH) - (QD_PARAM_GO_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_DCC))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
                            {                   
                                MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
                                QD_MotorStep   =65;
                            }
                            else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        }
                        break;
		case 65:
                        if(QD_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 66;                            
                        }
                        else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
                        else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
                        break;
		case 66:
                        if(!X_DRV)
                        {   
                            QD_MotorDelay =    dwTickCount;
                            QD_MotorStep   = 67;
                        }
			break;   
		case 67:
                        if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                QD_JD_VAVEL = 1;
                            }
                            QD_MotorStep   = 68;
                        }
			break;
                case 68:
                        if(dwTickCount >= QD_MotorDelay)
                        {
                            QD_YD_VAVLE   = 0;
                            QD_TL_VAVLE    = 0;
                            if(QD_PARAM_BL_ENABLE)QD_BL_VAVLE = 0;
                            QD_MotorStep   = 0;
                            QD_MotorDelay  = dwTickCount;
                        }
                        break;
               
	}
}
//电机动作
void QueDuan_Motor(void)	 //
{
     switch(QD_MACHINE_TYPE)
     {
         case QD_NO_CS_TUIFANGKUAI: QueDuan_Motor_CS();break;
         case QD_NO_GL_TUIFANGKUAI:QueDuan_Motor_NoGL();break;
         default:;
     }
}

//超声方式下切
void QueDuan_XiaQue_CS(void)	
{
   switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
               if(bRunning)
               {
                 QD_XiaQieStep = 6;   
                 QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
               }
               else
                 QD_XiaQieStep = 2;                     
                break;
        case 2:
                QD_XM_VAVLE   = 1;
                QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                QD_XiaQieStep = 3;   
               break;
        case 3:
                if(QD_XIA_MU_LIMIT_IN)
                {
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_GZ_DELAY;
                    QD_XiaQieStep = 4; 
                }
                else if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_SetAlarmCode(QD_XM_DAOWEI);
                }
                break;
        case 4:   
                QD_GZ_VAVLE  = 1;
                QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY;
                QD_XiaQieStep = 5;  
                
                break;
        case 5:  
                QD_TFK_VAVEL = 1;
                QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                QD_XiaQieStep = 6;  
                break;
        case 6: 
                if(QD_XIA_MU_LIMIT_IN)
                {         
                    QD_XiaQieStep = 7;  
                    QD_XiaQieDelay = dwTickCount + 2000;
                }
                else if(dwTickCount >= QD_XiaQieDelay)
                {
                    QD_SetAlarmCode(QD_XM_DAOWEI);
                }
                break;
        case 7:
               if(QD_GOUZHEN_IN)
               {                
                   cTuiFangKuaiCnt = 0;
                   QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                   QD_XiaQieStep = 8;   
               }
               else if((dwTickCount >= QD_XiaQieDelay))
               {  
                   if(cTuiFangKuaiCnt == 0)
                   {
                       QD_TFK_VAVEL = 0;
                       cTuiFangKuaiCnt++;
                       QD_XiaQieDelay = dwTickCount + 1000;
                       QD_XiaQieStep = 100;   
                   }
                   else                   
                       QD_SetAlarmCode(QD_GZ_ALARM);
               }
               break;
        case 100:
               if((dwTickCount >= QD_XiaQieDelay))
               {
                   QD_XiaQieStep = 5;   
               }
               break;
        case 8:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                  QD_SM_VAVLE = 1;
                  QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                  QD_XiaQieStep = 9;   
               }
               break;
        case 9:
                if(QD_SHANG_MU_LIMIT_IN && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
                {
                    if(!QD_PARAM_CS_MODE)
                    {
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;   // QD_PARAM_DELAYBACK_SM;       // 
                        QD_XiaQieStep = 12;        
                    }
                    else
                    {
                        QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS;       // 
                        QD_XiaQieStep = 10;                      
                    }
                }
                else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
                break;
        case 10:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
                    QD_YD_VAVLE = 1;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME;       // 
                    QD_XiaQieStep = 11;      
                }
                break;
        case 11:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_CS_OUT = 0;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME;       // 
                    QD_XiaQieStep = 12;	
                }
                break;
        case 12:  
               if(dwTickCount >= QD_XiaQieDelay)
               {
                    QD_SM_VAVLE   = 0;
                    QD_XM_VAVLE   = 0;
                    QD_TFK_VAVEL  = 0;
                    QD_GZ_VAVLE = 0;
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;   
                    QD_XiaQieStep = 13;	
               }// 
                break;
        case 13:
                if(QD_SHANG_MU_ORIGIN_IN && !QD_XIA_MU_LIMIT_IN)	
                {   
                    QD_XiaQieStep = 0;   
                    QD_XiaQieDelay = dwTickCount;
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_YUANWEI);
                }
                break;
    }	
}


void QueDuan_TuiLianAction(void)
{
    switch(QD_TuiLianStep) 
    {
        case 1:
            QD_TuiLianStep = 2;
        break;
        case 2:
              QD_YBD_VAVLE   = 1;
              QD_TLDelay     = dwTickCount + QD_PARAM_YD_DELAY;
              QD_TuiLianStep = 3;
        break;
        case 3:
            if(dwTickCount >= QD_TLDelay)
            {   
                QD_TL_VAVLE    = 1;
                QD_BL_VAVLE = 1;
                if(!bRunning)QD_TFK_VAVEL = 0;
                QD_TLDelay     = dwTickCount + QD_PARAM_TL_DELAY;
                QD_TuiLianStep = 4;
            }
        break;
        case 4:
            if(dwTickCount >= QD_TLDelay)
            {
                QD_TuiLianStep = 0;
            }
        break;
        case 10:
         //   if(bRunning)AxisMovePos(Y_AXIS,QD_PARAM_TL_SPEED,QD_PARAM_TL_LENGTH);
            QD_TuiLianStep = 11;
        break;
        case 11:
            if(!Y_DRV)
            {
               {
                  QD_TuiLianStep = 0;
               }
            }
        break;
    }
}


void QueDuan_XiaQue_NO_GL(void)
{
    switch(QD_XiaQieStep) 
    {
        case 0:
                break;
        case 1:
                    QD_YD_VAVLE = 1;
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
                    QD_XiaQieStep = 2;  
                break;
        case 2:
               if(dwTickCount >= QD_XiaQieDelay)
               {
                    QD_XiaQieStep = 3;  
               }
               break;
        case 3:
                if(dwTickCount >= QD_XiaQieDelay)
                {      
                    if((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0))
                    {
                        QD_SM_VAVLE   = 1;
                        QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                        QD_XiaQieStep = 4;   
                    }
                }
        break;
        case 4:
                if(QD_SHANG_MU_LIMIT_IN)
                {
                    QD_XiaQieStep = 5;     
                    QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM;       // 
                }
                else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
        break;
        case 5:
                if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_GZ_VAVLE   = 0;
                    QD_SM_VAVLE   = 0;                  
                    QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
                    QD_XiaQieStep = 6;	
                }
        break;
        case 6:
                if(QD_SHANG_MU_ORIGIN_IN && !QD_SHANG_MU_LIMIT_IN)	
                {   
                    if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
                    if(!bRunning)QD_JD_VAVEL = 0;
                    QD_XiaQieStep = 0;
                                          
                }
                else if(dwTickCount >= QD_XiaQieDelay)	
                {
                    QD_SetAlarmCode(QD_SM_YUANWEI);
                }
                                
        break;
    }	
}
//切断动作
void QueDuan_XiaQue(void)	 
{
    switch(QD_MACHINE_TYPE)
    {	
        case QD_NO_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break;	
        case QD_NO_GL_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break;
        default:;
    }
}



#endif