GC19038/Machine/YouGuanMachine/YGMXC_NiLong_StepJi.c

#include "global.h"


#if YOU_GUAN_MACHINE

void MXC_NiLongXiuCiJiCheckStart(void);
void MXC_CuiQi_Start(void);
void MXC_ShaChe_Output(void);
void MXC_NiLongXiuCiJi_Motor(void);
void MXC_NiLongXiuCiJi_XiaC(void);
void MXC_Start_FenZ(void);
void MXC_NiLongXiuCiJi_FenZhengProc(void);
void MXC_ChuiQiProc(void);
void MXC_JiaoDao(void);
void MXC_ManualAction(void);
void MXC_AutoAction(void);

unsigned char cLFengTimer,cRFengTimer,cGuZhangStop = 0;
unsigned long cShaCheTime,cLaLianLine,cGouZhenTime;
unsigned char cChuiQiStep = 0,cGouZhenResetOK;
unsigned short cBudaiCheckDelay = 0;
unsigned char bHandWork,bPulseTatol_EN,bFirst,cInt1_OK,cStopFlag,cOneTimes,cKey_Time;
long cSetEncode,cTotal,cDinWeiTime,cAddSetPulseNum,cEncodePulse,cWorkPulseNum;


//故障报警
void MXC_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(MXC_ALARM_ADDR,alarm_code);
    MXC_bAlarmStop = 1;
    MXC_bSaveWorkData = 1;	
}

void MXC_InitAction(void)
{
    MXC_XC_SongZhou = 1;				 
    MXC_XIA_ZHI_ENABLE = 0; 
    
    if(MXC_MOTOR_MODE == 0)
       MXC_TuoDaiSongZhou = 1;
    else	
       MXC_TuoDaiSongZhou = 0;
    if(MXC_XIA_ZHI_ENABLE)
       MXC_XiaZhi_MOTOR = 1;
    else	
       MXC_XiaZhi_MOTOR = 0;   
}

void MXC_NiLongXiuCiJiAction(void)
{
    MXC_NiLongXiuCiJiCheckStart();  //启动
    MXC_NiLongXiuCiJi_FenZhengProc();	//左右分针
    MXC_NiLongXiuCiJi_XiaC();     		//下冲
    MXC_NiLongXiuCiJi_Motor();			//拖带控制
    MXC_JiaoDao();
    MXC_ManualAction();
    MXC_AutoAction();	
}


void MXC_ManualAction(void)
{
      long i;
      //清总产量
      if(MXC_bClear)         //清总产量
      {
          MXC_bClear = 0;
          ClrcToTal(MXC_TOTAL_ADDR);		    		
      }

      //当长度改变时，生产总量自动清零
      if(MXC_bChangeLength)
      {
          MXC_bChangeLength = 0;
          i = MXC_SET_ZIPPER_LENGTH;
          if(cLaLianLine != i)
          {
              cLaLianLine = i;
              SetData32bits(MXC_ZIPPER_LENGTH_ADDR,0);
              ClrcToTal(MXC_TOTAL_ADDR);
          }
      }
      //加10
      if(MXC_bAddLength)
      {
          MXC_bAddLength = 0;
          i = MXC_SET_REVISE_ZIPPER_LENGTH;
          i += 10;
          SetData32bits(MXC_ZIPPER_LENGTH_ADDR,i);
      }
      //减10
      if(MXC_bDecLength)
      {
          MXC_bDecLength = 0;
          i = MXC_SET_REVISE_ZIPPER_LENGTH;
          i -= 10;
          SetData32bits(MXC_ZIPPER_LENGTH_ADDR,i);		
      }
      //工作方式选择(数控定寸和勾针定寸)　
      if(MXC_bSetDCMode)
      {
          MXC_bSetDCMode = 0;
          if(!bRunning)
          {
                  MXC_DC_MODE++;
                  if(MXC_DC_MODE > 2)MXC_DC_MODE = 0;
          
                  if(MXC_DC_MODE != 0)	
                  {
                      MXC_GouZhen_VAVLE = 1;	
                      MXC_XIA_ZHI_ENABLE = 0;	
                      MXC_XiaZhi_MOTOR = 0;  
                  }
          }
      }
      //勾针方式选择(活动勾针和固定勾针)　
      if(MXC_bChangeGouZhenMode)
      {
          MXC_bChangeGouZhenMode = 0;
          if(!bRunning)
          {
                  MXC_GOU_ZHEN_MODE++;
                  if(MXC_GOU_ZHEN_MODE > 1)MXC_GOU_ZHEN_MODE = 0;	
          }
      }
      //下止工作选择)　
      if(MXC_bChangeXiaZhiMode)
      {
          MXC_bChangeXiaZhiMode = 0; 
          if(!bRunning)
          {
                  MXC_XIA_ZHI_ENABLE++;
                  if(MXC_XIA_ZHI_ENABLE > 1)MXC_XIA_ZHI_ENABLE = 0;
                  
                  if(MXC_XIA_ZHI_ENABLE)
                     MXC_XiaZhi_MOTOR = 1;
                  else	
                     MXC_XiaZhi_MOTOR = 0;   	
          }
      }
      
      if(MXC_bJiaoDao)
      {
          MXC_cJiaoDaoStep = 1;
          MXC_bJiaoDao = 0;
      }
      //吹气
      if((MXC_ChuiQi_VAVLE == 0))
      {
          if(MXC_DingChuPian_IN_DW)
          {
                MXC_bChuiQi = 0;
                MXC_cChuiQiDelay = dwTickCount + 10*MXC_PARAM_DELAY_CHUIQI_TIME;	
                MXC_cChuiQiStep = 1;
          }
          else if(MXC_bChuiQi == 1)
          {
                MXC_bChuiQi = 0;
                MXC_cChuiQiDelay = 0;		
                MXC_cChuiQiStep = 1;	
          }
      }

      MXC_ChuiQiProc();

      if(MXC_ChuiQi_VAVLE && (dwTickCount >= MXC_cChuiQiDelay))
      {
          MXC_ChuiQi_VAVLE = 1;//
          MXC_XiChiChuiQi = 1;
          MXC_cChuiQiDelay = dwTickCount + 10 * MXC_PARAM_CHUIQI_TIME;
      }


      if(MXC_XiChiChuiQi && (dwTickCount >= MXC_cChuiQiDelay))
      {
          MXC_XiChiChuiQi = 0;	
      }
      
    if((bRunning) == 0) ////手动 
    {        
        if(MXC_ManXiaChong_UP || MXC_bXiaChong)   
        {
            if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 1;
        }
        
        if(MXC_cXiaChongStep == 0)
        {
            if(MXC_bLeftFenZhen)
                 MXC_LeftFenZhen_VAVLE = 1; 
            else
                 MXC_LeftFenZhen_VAVLE = 0; 
            
            if(MXC_bRightFenZhen)
                 MXC_RightFenZhen_VAVLE = 1; 
            else
                 MXC_RightFenZhen_VAVLE = 0; 
            
                            //点动下冲
            if((MXC_bDotXiaChong))
            {
                MXC_bDotXiaChong = 0;
                if(MXC_LeftFenZhen_IN && MXC_RighttFenZhen_IN)
                {
                    if(MXC_XiaChongMotorMode == 0)
                    {
                        if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 20;
                    }
                    else
                    {
                        if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 40;
                    }	
                }
                else
                {
                  MXC_SetAlarmCode(MXC_XIA_CHONG_ALARM);		//下冲条件不满足
                }
            }
            
              if(MXC_bGouZhen)
              {
                  MXC_bGouZhen = 0;
                  if((MXC_GOU_ZHEN_MODE == 0))//普通勾针（活动）过链
                  {
                      MXC_cGouZhenTime  = dwTickCount + 300;
                      MXC_GouZhen_VAVLE = ~MXC_GouZhen_VAVLE;	
                  }
                  else	//固定勾针
                  {
                      MXC_GuDingGouZhen = ~MXC_GuDingGouZhen;
                  }			
              }
        }
          
        if(MXC_DC_MODE != 0)   //伺服定寸
        {      
            MXC_GuDingGouZhen = 1;
            MXC_GouZhen_VAVLE = 1;
        }
        else if((MXC_GOU_ZHEN_MODE == 0) )//普通勾针（活动）过链
        {
            if(dwTickCount >= MXC_cGouZhenTime) MXC_GouZhen_VAVLE = 0;
        }
        else
        {
            if(MXC_XiaMode)     //0普通下止，1超声下止
            {
                if(MXC_GuoLian_IN_UP)
                {
                    MXC_GuDingGouZhen = 0;	
                }
            }
            else	//刘铁方式(下拉一下就可以复位)
            {
                if(dwTickCount >= MXC_cGouZhenTime) MXC_GuDingGouZhen = 0;	
            }
        }		
        //下止动作
        if(MXC_XiaZhi_IN_UP || MXC_bXiaZhi)
        {
            MXC_bXiaZhi = 0;
            if(MXC_XiaZhi_VAVLE)
            {
                MXC_XiaZhi_VAVLE = 0;
                MXC_ChaoSheng = 0;
                MXC_FenDai_VAVLE = 0;		//分带输出
            }	
            else
            {
                if(MXC_XiaZhi_IN || MXC_XIA_ZHI_ENABLE)  //下止选择
                {	
                    //下止输出
                     MXC_cXiaZhiDelay = dwTickCount + 10 * MXC_PARAM_XIAZHI_TIME;
                     MXC_XiaZhi_VAVLE = 1;
                }
            }
        }	
        else if(MXC_XiaZhi_IN_DW)
        {
            MXC_XiaZhi_VAVLE = 0;		//下止电磁阀
            MXC_ChaoSheng    = 0;		//超声输出	
            MXC_FenDai_VAVLE = 0;		//分带输出
        }					
 
        if(MXC_bChuDai)
        {
            MXC_ChuDai_VAVLE = 1;		
        }
        else
        {
            MXC_ChuDai_VAVLE = 0;
        }	
    }
    
    if((MXC_XiaMode != 0))//普通下止
    {
        if(MXC_GuoLian_IN_UP|| MXC_FenDai_IN_UP)MXC_FenDai_VAVLE = 1; 
        if(bRunning)
        {	
            if(MXC_GuoLian_IN_UP && MXC_XiaZhi_VAVLE)MXC_cXiaZhiDelay = dwTickCount + 10 * MXC_PARAM_XIAZHI_DELAY_TIME;	
            if(MXC_GuoLian_IN && MXC_XiaZhi_VAVLE)
            {
                if(!MXC_ChaoSheng && (dwTickCount >= MXC_cXiaZhiDelay))
                {
                    MXC_ChaoSheng = 1;
                    MXC_cXiaZhiDelay = dwTickCount + (unsigned long)10 * MXC_PARAM_CHAOSHENG_TIME;	
                }
                if(MXC_ChaoSheng && (dwTickCount >= MXC_cXiaZhiDelay))
                {
                    MXC_FenDai_VAVLE = 0;		//分带输出
                    MXC_ChaoSheng    = 0;		//超声输出
                    MXC_XiaZhi_VAVLE = 0;		//下止阀
                }
            }
        }		
    }
    else 
    { 
            //下止下冲电磁铁
        if((MXC_XiaZhi_VAVLE != 0) && (dwTickCount >= MXC_cXiaZhiDelay)) 
        {       
            MXC_XiaZhi_VAVLE = 0;
        }	
    }
}

void MXC_AutoAction(void)
{
    unsigned long i;
     
    if(bRunning)
    {   
        if(MXC_XiaZhi_IN || (!MXC_Zipper_IN))
            MXC_ChuDai_VAVLE = 0;	  	
        else
            MXC_ChuDai_VAVLE = 1;
        
        if((MXC_DC_MODE == 0) && (MXC_GOU_ZHEN_MODE == 0))
        { 	
            if(MXC_GouZhen_IN_UP)MXC_cGouZhenTime = 1;
        }
        else
            MXC_cGouZhenTime = 1;	
        
        switch(MXC_cAutoStep)
        {
            case 0:
                    break;
            case 1:
                    //左右分针要退到位，过链到位要离开
                    if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN && (dwTickCount >= MXC_cAutoDelay))
                    {
                        MXC_cAutoStep = 2;
                        MXC_cMotorStep = 1;   //启动拖带 
                    }     			
                    break;
            case 2:
                    //拖带已经完成
                    if(MXC_cMotorStep == 0)
                    {
                        bFirst = 1;
                        //调试功能  
                        if(MXC_DC_MODE != 2)MXC_cAutoStep = 3;
                        
                        // 调试功能        下一条  下冲    	
                        else if((!MXC_bDingWei)  || MXC_bNext || MXC_ManXiaChong_UP || MXC_bXiaChong)
                        {
                            if(MXC_bNext)
                            {
                                MXC_cAutoStep = 1;
                                MXC_bNext = 0;
                                cInt1_OK = 0;
                                    
                            }
                            else
                            {	
                                MXC_cAutoStep = 3;
                                MXC_bDingWei = 0;
                            }
                        }	
                        MXC_cAutoDelay = dwTickCount + 5;   //延时分针
                    }
                    break;	
            case 3:
                    if((dwTickCount >= MXC_cAutoDelay) && MXC_cGouZhenTime)
                    {
                        MXC_cGouZhenTime = 0;
	                if(MXC_cLeftFenZhenStep == 0)MXC_cLeftFenZhenStep = 1;	
                        MXC_cAutoStep = 4;
                    }
                    break;
            case 4:
                    //左右分针都已完成
                    if((MXC_cLeftFenZhenStep == 0) && (MXC_cRightFenZhenStep == 0))
                    {
                        MXC_cXiaChongStep = 1;   //下冲电机启动
                        MXC_cAutoStep = 5;	
                    }
                    break;
            case 5:  //下冲已完成
                    if(MXC_cXiaChongStep == 0)
                    {
                        AddToTal(MXC_TOTAL_ADDR);	 //计数增加和保存
                        CalProSP(MXC_PROSPEED_ADDR);
                        MXC_cAutoStep = 6;
                    }
                    break;		
            case 6:
                    if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN)
                    {
                        if(GetTotal(MXC_TOTAL_ADDR) >= MXC_SET_TOTAL)MXC_SetAlarmCode(MXC_TOTAL_ALARM);
                        MXC_cAutoStep = 7;
                    }
                    break;	
            case 7:
                    if((dwTickCount >= MXC_cAutoDelay) && (MXC_Dec_IN || MXC_GOU_ZHEN_DEC_MODE || MXC_DC_MODE))
                    {
                        if(SingOneFlg)
                        {
                           SingOneFlg = 0;   
                        }
                        else
                        {
                           MXC_cAutoStep = 1;	
                        }
                    }	
                    break;		                     
        }		         
    }
}

// 检测是否踏了脚踏开关
void MXC_NiLongXiuCiJiCheckStart(void)
{
    //  停止键        不能在工作,手动,停止过程中                                
    if((!STOP_IN) && (bHandWork == 0) && (bRunning == 0) && (cStopFlag==0)
    //         启动
     && (START_IN_UP || (MXC_bStart)) && (cKey_Time == 0) && (!MXC_Zipper_IN))
    {
    	if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_KaDai_IN)
    	{
	    	bRunning = 1;
	    	MXC_bClearAlarm = 1;
	    	cKey_Time = 10;
	    	MXC_cAutoStep = 1;
	    	MXC_cMotorStep = 0;
	    	MXC_cXiaChongStep = 0;
	    	MXC_cLeftFenZhenStep = 0;
	    	MXC_cRightFenZhenStep = 0;
                SetAlarmCode(100,MXC_NO_ALARM);	
                MXC_cAutoDelay = dwTickCount + (unsigned long)200;   //先锁轴
                

                cOneTimes = 0;
                cGouZhenTime = 1;
                MXC_XiaChong_MOTOR = 0;		//
                if(MXC_XiaChongMotorMode == 1)
                {
                      MXC_XC_SongZhou = 0;
                }	

            
                if(MXC_MOTOR_MODE == 0)
                        MXC_TuoDaiSongZhou = 0;
                else		
                        MXC_TuoDaiSongZhou = 1;	
                
                if(MXC_bDingWei)cSetEncode = 0;	
                bFirst = 0;	
    	}
    	else
    	{
		//	user_datas[75] = 5;		//页面跳转
		if(MXC_KaDai_IN)
                    SetAlarmCode(100,MXC_KA_DAI_ALARM);		//卡带	
	    	else	
    		    SetAlarmCode(100,MXC_START_ALARM);			//起动条件不满足
    	}
    	MXC_bStart = 0;
    }

	//卡带感应
    if(MXC_KaDai_IN && (dwTickCount >= MXC_cKaDaiDelay))
    {
    	SetAlarmCode(MXC_ALARM_ADDR,MXC_KA_DAI_ALARM);	//警告清
//    	user_datas[75] = 5;		        //页面跳转
	MXC_cKaDaiDelay = dwTickCount + 2200;
    }
	if(MXC_KaDai_IN_UP)
	{
            MXC_bSaveWorkData = 1;	
	}		
 //停止
    if((STOP_IN_UP || (MXC_bStop)))
    { 
            //   不是下冲状态
        if((MXC_cXiaChongStep == 0) && (bRunning == 0)) 
        {
            MXC_CuiQi_Start();
            if(!MXC_XiaChong_MOTOR)MXC_XC_SongZhou = 1;
        }
       
        if((cStopFlag == 0) && (cKey_Time == 0))
        {
                cKey_Time = 4;

                if(((MXC_DC_MODE == 0) || STOP_IN_UP) && ((MXC_XiaChongMotorMode == 0) || (MXC_cXiaChongStep == 0)))
                {
                     AxisDecStop(X_AXIS);
                }	
                MXC_GuDingGouZhen = 0;      
                MXC_CuiQi_Start();
                if(X_DRV && !MXC_XiaChong_MOTOR && (MXC_DC_MODE == 1))
                {
                     cGuZhangStop = 1;
                }		
                if((++cOneTimes >= 2) || !bRunning || !X_DRV)
                {
                        
                    cStopFlag = 1;
                    SetAlarmCode(100,MXC_NO_ALARM);	
                    
//                            user_datas[75] = 50;
                    if(!X_DRV)
                    {
                            
                        if(MXC_MOTOR_MODE == 0)
                            MXC_TuoDaiSongZhou = 1;	   
                        else	
                            MXC_TuoDaiSongZhou = 0;

                    }
                                
                }
                MXC_cKaDaiDelay = dwTickCount + 1200;
                MXC_cGouZhenTime  = dwTickCount + (unsigned long)300;   //勾针延时退
        }
        MXC_bStop = 0;
        MXC_bSaveWorkData = 1;
    }

    if((MXC_cXiaChongStep == 0) && (((cStopFlag) != 0) || (MXC_KaDai_IN)))
    {
    	bRunning = 0;
    	bHandWork = 0;
		
    	cStopFlag = 0;
      	MXC_cAutoStep = 0;
       	MXC_cMotorStep = 0;
       	MXC_cXiaChongStep = 0;
       	MXC_cLeftFenZhenStep = 0;
       	MXC_cRightFenZhenStep = 0;

        MXC_XC_SongZhou      = 0;
        MXC_XiaZhi_VAVLE     = 0;
        MXC_LeftFenZhen_VAVLE = 0;
        MXC_RightFenZhen_VAVLE = 0;
        MXC_XiaChong_MOTOR   = 0;
        MXC_ChaoSheng        = 0;
        MXC_JiaoDao_OUT      = 0;
        MXC_FenDai_VAVLE     = 0;
        MXC_ChuDai_VAVLE     = 0;
        MXC_GuDingGouZhen    = 0;
        
                
        if(!X_DRV)
        {
            if(MXC_MOTOR_MODE == 0)
               MXC_TuoDaiSongZhou = 1;
            else	
               MXC_TuoDaiSongZhou = 0;
        }		
       	if(MXC_KaDai_IN_UP)MXC_CuiQi_Start();
        
        MXC_XC_SongZhou = 1;				// 刹车
        
        if(MXC_GOU_ZHEN_MODE != 0)   //超声(固定)勾针
                MXC_GuDingGouZhen = 1;
        if(MXC_DC_MODE != 0)
        {
            if(X_DRV)cGuZhangStop = 1;
        }	
        else
            AxisDecStop(X_AXIS);	
        
        MXC_cGouZhenTime  = dwTickCount + (unsigned long)300;   //勾针延时退		
    }
 }   

void MXC_JiaoDao(void)
{
   if(MXC_cJiaoDaoStep == 1)
	{
            MXC_cChuiQiDelay = dwTickCount + 500;
            MXC_JiaoDao_OUT = 1;
            MXC_cJiaoDaoStep = 2;
	}
	else if((MXC_cJiaoDaoStep == 2) && (dwTickCount >= MXC_cChuiQiDelay)) 
	{
	    MXC_JiaoDao_OUT = 0;	
            MXC_cJiaoDaoStep = 0;
	}  	
}

void MXC_CuiQi_Start(void)
{
	//启动吹气
	MXC_cChuiQiDelay = dwTickCount + (unsigned long)50 * MXC_PARAM_CHUIQI_TIME;
	MXC_ChuiQi_VAVLE = 1;
	MXC_XiChiChuiQi = 0;
}

void MXC_ChuiQiProc(void)
{	
    if(MXC_cChuiQiStep == 0)
	{	
	}
	else if((MXC_cChuiQiStep == 1) && (dwTickCount >= MXC_cChuiQiDelay))
	{
           MXC_CuiQi_Start();
           MXC_cChuiQiStep = 0;
	}	
}
void MXC_ShaChe_Output(void)
{
    //启动吹气
    cShaCheTime = dwTickCount + (unsigned long)120;
    if(MXC_XiaChongMotorMode == 0)MXC_XC_SongZhou = 1;
}

void MXC_Output_XiaCi(void)//下止输出
{
	if(MXC_XiaZhi_IN || MXC_XIA_ZHI_ENABLE)  //下止选择
	{	
            //下止输出
             MXC_cXiaZhiDelay = dwTickCount + 10 * MXC_PARAM_XIAZHI_TIME;
             MXC_XiaZhi_VAVLE = 1;
	}	
}
//关下止动作
void MXC_Close_XiaCi(void)
{
	if((MXC_XiaMode != 0))//普通下止
	{
		if(MXC_GuoLian_IN_UP || MXC_FenDai_IN_UP)
			MXC_FenDai_VAVLE = 1; 
		if(bRunning)
		{	
                    if(MXC_GuoLian_IN_UP && MXC_XiaZhi_VAVLE)
                    {
                        MXC_cXiaZhiDelay = dwTickCount + 10 * MXC_PARAM_XIAZHI_DELAY_TIME;	
                    }
                    if(MXC_GuoLian_IN && MXC_XiaZhi_VAVLE)
                    {
                        if(!MXC_ChaoSheng && (dwTickCount >= MXC_cXiaZhiDelay))
                        {
                                MXC_ChaoSheng = 1;
                                MXC_cXiaZhiDelay = dwTickCount + (unsigned long)10 * MXC_PARAM_CHAOSHENG_TIME;	
                        }
                        if(MXC_ChaoSheng && (dwTickCount >= MXC_cXiaZhiDelay))
                        {
                                MXC_FenDai_VAVLE = 0;		//分带输出
                                MXC_ChaoSheng    = 0;		//超声输出
                                MXC_XiaZhi_VAVLE = 0;		//下止阀
                        }
                    }
		}		
	}
	else 
	{ 
                //下止下冲电磁铁
            if((MXC_XiaZhi_VAVLE != 0) && (dwTickCount >= MXC_cXiaZhiDelay)) 
            {       
                MXC_XiaZhi_VAVLE = 0;
            }	
	}		
}

unsigned long MXC_LengthCallPulse(unsigned long length)
{
    return (length * 2000 / MXC_PARAM_DAILUN_LENGTH);
}

//高速输入X31/X17外部色标信号中断
void MXC_ExtiActionX31(void)
{
     if(cSeBiaoEn && !cSeBiaoOk)
    {
        cSeBiaoOk = 1;
        cSeBiaoEn  = 0;
        AxisDecStopPos(X_AXIS,MXC_PARAM_SEBIAO_DW_LENGTH);
    }
}

void  MXC_NiLongXiuCiJi_Motor(void)
{
        static long back_save_buff,gou_zhen_buff;
	static unsigned long zipper_length;
        
        dwRealPos = GetPos(X_AXIS);
	switch(MXC_cMotorStep)
	{
		case 0:
                break;
	   //         过链         左分针退位  左到位
		case 1: if(MXC_LeftFenZhen_Origin_IN && (!MXC_LeftFenZhen_IN) && MXC_RightFenZhen_Origin_IN && (!MXC_RighttFenZhen_IN)) 
                {
                        MXC_LIHE_VAVLE = 1;                               //离合器
                        gou_zhen_buff  = dwRealPos;                                                                                                                    
                        if(MXC_DC_MODE == 0)
                        {
                            zipper_length = MXC_SET_ZIPPER_LENGTH + MXC_SET_REVISE_ZIPPER_LENGTH + MXC_PARAM_DAOKOU_LENGTH;
                            if((MXC_GOU_ZHEN_MODE == 0))//普通勾针（活动）过链
                            {	                                
                                if(dwZipCnt == 0)                                 
                                    AxisMoveTwoPos(X_AXIS,MXC_PARAM_FIRST_SPEED,zipper_length,MXC_PARAM_LOW_SPEED,9999999,0);
                                else
                                    AxisMoveTwoPos(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length,MXC_PARAM_LOW_SPEED,9999999,0);
                                
                                if(MXC_PARAM_GZ_RESET_MODE)
                                    MXC_cMotorStep = 3;
                                else
                                {
                                    MXC_cMotorStep = 2;
                                    MXC_cAutoDelay = dwTickCount +  MXC_PARAM_GZ_DELAY;
                                }
                            }	
                            else   //带下止型勾针
                            {
                                MXC_cMotorStep = 11;
                                if(dwZipCnt == 0)                                 
                                    AxisMoveTwoPos(X_AXIS,MXC_PARAM_FIRST_SPEED,zipper_length,MXC_PARAM_LOW_SPEED,9999999,0);
                                else
                                    AxisMoveTwoPos(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length,MXC_PARAM_LOW_SPEED,9999999,0);	
                            }        
                            
                            cGuZhangStop = 0;
                            cWorkPulseNum = 0;
		
                            if(!MXC_GouZhen_VAVLE)
                            {
                                MXC_cMotorStep = 3;
                            }	
                        }
                        else if(MXC_DC_MODE == 1)
                        {
                            zipper_length = MXC_SET_ZIPPER_LENGTH + MXC_SET_REVISE_ZIPPER_LENGTH + MXC_PARAM_DAOKOU_LENGTH;
                            MXC_cMotorStep = 20;
                            MXC_GouZhen_VAVLE = 1;			 //定位(活动勾针)电磁阀
                            MXC_GuDingGouZhen = 1;			 //定位(活动勾针)电磁阀
                            
                            if(cWorkPulseNum >= cSetEncode)MXC_cMotorStep = 0;
                            else
                            {
                                AxisMovePos(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length);
                            }
                        }
                        else 
                        {
                            zipper_length = MXC_SET_ZIPPER_LENGTH;
                            if(cWorkPulseNum >= cSetEncode)MXC_cMotorStep = 0;
                            else
                            {
                                back_save_buff = dwRealPos;
                                if(dwZipCnt == 0)
                                {
                                    cSeBiaoOk = 0;
                                    cSeBiaoEn = 1;
                                    AxisMoveTwoPos(X_AXIS,MXC_PARAM_FIRST_SPEED,zipper_length,MXC_PARAM_LOW_SPEED,9999999,0);
                                }
                                else
                                    AxisMoveTwoPos(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length,MXC_PARAM_LOW_SPEED,9999999,0);
                                
                                MXC_cMotorStep = 50;
                                MXC_cAutoDelay = dwTickCount +  (unsigned long)10000;
                            }                        
                        }                                                       
                }
                break;
		// step2-5  活动勾针定寸		
		case 2:
                        if((dwTickCount >= MXC_cAutoDelay))
                        {	
                            MXC_GouZhen_VAVLE = 0;//定位电磁阀
                        }
                        if(!MXC_GouZhen_VAVLE && !MXC_GouZhen_IN)
                        {
                            MXC_cMotorStep = 3;
                            MXC_cAutoDelay = dwTickCount +  (unsigned long)10000;
                        }
                        break;	
		case 3:       
                         if(MXC_PARAM_GZ_RESET_MODE)
                         {
                             if((dwRealPos - gou_zhen_buff + MXC_PARAM_GZ_LENGTH) >= zipper_length)
                             {
                                 MXC_GouZhen_VAVLE = 0;//定位电磁阀
                             }
                         }
                                   
                        if(MXC_GOU_ZHEN_DEC_MODE)//数控方式
                        {
                            MXC_cMotorStep = 4;
                            MXC_cAutoDelay = dwTickCount +  (unsigned long)10000;                        
                        }
                        else  //感应方式
                        {
                            if(!MXC_Dec_IN)
                            {
                                AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                                MXC_cMotorStep = 4;
                                MXC_cAutoDelay = dwTickCount +  (unsigned long)10000;
                            }
                        }
                        
                        if(MXC_GouZhen_IN) 
                        {
                            AxisEgmStop(X_AXIS);
                            MXC_cMotorStep = 4;
                            MXC_LIHE_VAVLE = 0;
                        }
                        else if(dwTickCount >= MXC_cAutoDelay)
                        {
                            MXC_SetAlarmCode(MXC_NO_GOUZHEN_ALARM);
                        }	
                        break;
		case 4:		
                        if(MXC_GouZhen_IN)
                        {
                            MXC_cMotorStep = 0;
                            AxisEgmStop(X_AXIS);
                                
                        }
                        else if((dwTickCount >= MXC_cAutoDelay))
                        {
                            MXC_SetAlarmCode(MXC_NO_GOUZHEN_ALARM);
                        }
                        			
                        //布带对射检测
                        if(MXC_Zipper_IN)
                        {
                            MXC_cBudaiCheckDelay = dwTickCount + 3000;		
                        }
                        else if(dwTickCount >= cBudaiCheckDelay)	//没布带了
                        {
                            MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM);
                            MXC_GouZhen_VAVLE = 0;	
                        }						
                        break;			
		case 11://以下为固定勾针方式
                        if(MXC_XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针
                        {	
                            if(dwTickCount >= MXC_cAutoDelay)MXC_GuDingGouZhen = 0;
                            if(!MXC_GuoLian_IN)
                            {
                                AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                                MXC_cMotorStep = 12;
                                MXC_cAutoDelay = dwTickCount + (unsigned long)1500;   //延时检测	
                            }								
                        }
                        else
                        {	
                            if(MXC_GuoLianCheckMode)
                            {
                                if(!MXC_GuoLian_IN)
                                {
                                    AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                                    MXC_cMotorStep = 12;
                                    MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[12];   //延时检测                                 
                                }
                            }
                            else
                            {
                                if(MXC_GuoLian_IN)
                                {
                                    AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
                                    MXC_cMotorStep = 12;
                                    MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[12];   //延时检测                                 
                                }                            
                            }
                        }		
                        break;
		case 12:
                        if(dwTickCount >= MXC_cAutoDelay)
                        {
                            if(MXC_GuDingGouZhen)
                            {	
                                MXC_GuDingGouZhen = 0;
                                MXC_cAutoDelay = dwTickCount + (unsigned long)1500;   //延时检测
                            }	
                            else if(!MXC_GuDingGouZhen)
                            {
                                MXC_SetAlarmCode(MXC_GU_DING_GOUZHEN_ALARM);
                            }			
                        }
                        
                        if(MXC_XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针	
                        {
                            if(MXC_GuoLian_IN)
                            {
                                MXC_GuDingGouZhen = 0;
                                MXC_cMotorStep = 13;
                                MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10];   //延时停电机	
                            }	                             
                        }
                        else
                        {
                            if(MXC_GuoLianCheckMode)
                            {
                                if(MXC_GuoLian_IN_UP)
                                {
                                    MXC_GuDingGouZhen = 0;
                                    MXC_cMotorStep = 13;
                                    MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10];   //延时停电机	
                                }
                            }
                            else 
                            {
                                if(MXC_GuoLian_IN_DW)
                                {
                                    MXC_GuDingGouZhen = 0;
                                    MXC_cMotorStep = 13;
                                    MXC_cAutoDelay = dwTickCount + (unsigned long)user_datas[10];   //延时停电机	
                                }                           
                            }	
                        }
                        break;	
		case 13:
                        if((dwTickCount >= MXC_cAutoDelay))	
                        {
                            if(MXC_XiaMode == 0)			//0　普通下止　1　超声下止 当超声下时勾针	
                            {
                                AxisEgmStop(X_AXIS);
                                if(MXC_GuoLian_IN)
                                {
                                    MXC_cMotorStep = 0;
                                    MXC_LIHE_VAVLE = 0;
                                }
                            }
                            else
                            {
                                if(MXC_GuoLianCheckMode)
                                {
                                    if(MXC_GuoLian_IN)
                                    {
                                        MXC_cMotorStep = 0;
                                        AxisEgmStop(X_AXIS);
                                        MXC_LIHE_VAVLE = 0;
                                    }
                                }
                                else
                                {
                                    if(!MXC_GuoLian_IN)
                                    {
                                        MXC_cMotorStep = 0;
                                        AxisEgmStop(X_AXIS);
                                        MXC_LIHE_VAVLE = 0;
                                    }                                
                                }	
                            }	
                        }
                        
                        if(MXC_Zipper_IN)
                        {
                            MXC_cBudaiCheckDelay = dwTickCount + 3000;		
                        }
                        else if(dwTickCount >= MXC_cBudaiCheckDelay)	//没布带了
                        {
                            MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM);	//没拉链
                            MXC_GouZhen_VAVLE = 0;		
                        }						
                        break;
		
		//伺服定寸	
		case 20:
                        if(!X_DRV)MXC_cMotorStep = 0;
                       
                        //布带对射检测
                        if(MXC_Zipper_IN)
                        {
                            MXC_cBudaiCheckDelay = dwTickCount + 140;		
                        }
                        else if(dwTickCount >= MXC_cBudaiCheckDelay)	//没布带了
                        {
                            MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM);	//没拉链
                            MXC_GouZhen_VAVLE = 0;                          
                        }
                                        
                        break;
		case 50:
                        if(dwZipCnt != 0)
                        {
                            if(MXC_SET_ZIPPER_LENGTH >= (MXC_PARAM_SEBIAO_DW_LENGTH + MXC_PARAM_SEBIAO_TQ_LENGTH))
                            {
                                cSeBiaoOk = 0;
                                cSeBiaoEn = 1;                            
                            }
                            else
                            {                      
                               if((dwRealPos - back_save_buff) >= (MXC_SET_ZIPPER_LENGTH - MXC_PARAM_SEBIAO_DW_LENGTH - MXC_PARAM_SEBIAO_TQ_LENGTH))
                               {
                                   cSeBiaoOk = 0;
                                   cSeBiaoEn = 1;                                 
                               }
                            }
                        }
                       
                        if(cSeBiaoOk)
                        { 
                            cSeBiaoOk = 0;
                            cSeBiaoEn = 0;
                            MXC_cMotorStep   = 51;
                        }
                        else
                        {
                                                    //布带对射检测
                            if(MXC_Zipper_IN)
                            {
                                MXC_cBudaiCheckDelay = dwTickCount + 140;		
                            }
                            else if(dwTickCount >= MXC_cBudaiCheckDelay)	//没布带了
                            {
                                MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM);	//没拉链
                                MXC_GouZhen_VAVLE = 0;                          
                            }                        
                        }
                        
                        break;	
		case 51:
                        if(!X_DRV)
                        {
                            MXC_cMotorStep = 0;
                        }
                        else if(dwTickCount >= MXC_cAutoDelay)
                        {
                            MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);		//
                        }
                            //布带对射检测
                        if(MXC_Zipper_IN)
                        {
                            MXC_cBudaiCheckDelay = dwTickCount + 140;		
                        }
                        else if(dwTickCount >= MXC_cBudaiCheckDelay)	//没布带了
                        {
                            MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM);	//没拉链
                            MXC_GouZhen_VAVLE = 0;                          
                        }
                        break;	
	}
}
//下冲
void  MXC_NiLongXiuCiJi_XiaC(void)
{       
    switch(MXC_cXiaChongStep)
    { 
    case 0:
            return;
            break;
    case 1:
            MXC_cXiaChongStep = 2;
            MXC_XC_SongZhou = 0; //刹车打开
            MXC_cXiaChongDelay = dwTickCount + (unsigned long)7;   //刹车放开时间

            //下止输出
            if(bRunning)MXC_Output_XiaCi();	
            
            break;
    case 2:
            if(dwTickCount >= MXC_cXiaChongDelay)
            {
                    MXC_cXiaChongStep = 3;	
                    MXC_XiaChong_MOTOR = 1;  //下冲电机  
                    MXC_cXiaChongDelay = dwTickCount + (unsigned long)ERRORTIME;   //下冲最长时间   	

                    if(MXC_XiaChongMotorMode == 1)
                    {
                            AxisMoveTwoPos(Y_AXIS,MXC_XiaChongSpeed,2000,MXC_XiaChongLowSpeed,9999999,0);
                            MXC_ChuiQi_VAVLE = 1;
                    }	
    }
    break;
    case 3:  //碰到右大微动,延时停
            if(MXC_XiaChong_IN_UP)
            {
                    MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_XC_DELAY;
                    MXC_cXiaChongStep = 4;
                    MXC_LeftFenZhen_VAVLE = 0;  	//退左分针
                    MXC_RightFenZhen_VAVLE = 0;	//退右分针	
                    MXC_cGouZhenTime  = dwTickCount + (unsigned long)150;   //勾针延时退	
                    MXC_GouZhen_VAVLE = 1;
                    MXC_GuDingGouZhen = 1;

            }
            else if(dwTickCount >= MXC_cXiaChongDelay) //自动停机
            {	
                    MXC_cXiaChongStep = 0;
                    MXC_ShaChe_Output();////刹车
                    MXC_XiaChong_MOTOR = 0;// 	//下冲电机
                    MXC_SetAlarmCode(MXC_XC_ALARM);
                    MXC_LeftFenZhen_VAVLE = 0;   	//退左分针
                    MXC_RightFenZhen_VAVLE = 0;	//退右分针
                    AxisEgmStop(Y_AXIS);
            }
            
            break;
    case 4:	
            if(dwTickCount >= MXC_cXiaChongDelay)	
            {
                    MXC_cXiaChongStep = 5;
                    AxisEgmStop(Y_AXIS);
                    MXC_XiaChong_MOTOR = 0;      //延时刹车
                    MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_SC_DELAY;			
            }
            break;
    case 5:	
            if((dwTickCount >= MXC_cXiaChongDelay))
            {
                    MXC_cXiaChongStep = 6;
                    MXC_ShaChe_Output();
                    MXC_cXiaChongDelay = dwTickCount + (unsigned long)30;		
            }
            break;
    case 6:
            if(!MXC_XiaZhi_VAVLE && !MXC_ChaoSheng && (dwTickCount >= MXC_cXiaChongDelay))
            {
                    MXC_cXiaChongStep = 0;
            }	
            break;
    case 20:                      // 点动普通下冲动作
                MXC_XC_SongZhou = 0;
                MXC_cXiaChongDelay = dwTickCount + 50;	
                MXC_cXiaChongStep = 21;
            break;
    case 21:   
               if((dwTickCount >= MXC_cXiaChongDelay))
               {
                    MXC_XiaChong_MOTOR = 1;
                    MXC_cXiaChongDelay = dwTickCount + 50;	
                    MXC_cXiaChongStep = 22;
               }
            break;
    case 22:   
               if((dwTickCount >= MXC_cXiaChongDelay))
               {
                    MXC_XiaChong_MOTOR = 0;
                    MXC_XC_SongZhou    = 1;
                    
                    if(MXC_XiaChongMotorMode)
                        MXC_cXiaChongStep = 0;
                    else
                    {
                        MXC_cXiaChongDelay = dwTickCount + 150;	
                        MXC_cXiaChongStep = 23;
                    }
               }
            break;
    case 23:   
               if((dwTickCount >= MXC_cXiaChongDelay))
               {
                    MXC_XC_SongZhou    = 0;                                                               
                    MXC_cXiaChongStep  = 0;
               }
            break;
    case 40:                      // 点动电机下冲动作
                MXC_XC_SongZhou = 0;
                MXC_cXiaChongDelay = dwTickCount + 50;	
                MXC_cXiaChongStep = 41;
            break;
    case 41:   
                if(!Y_DRV)AxisMovePos(Y_AXIS,20,10);
                MXC_cXiaChongStep = 42;
            break;
    case 42:   
           if(!Y_DRV)
           { 
                MXC_cXiaChongStep = 0;
           }
            break;
    }
}
//启动分针
void MXC_Start_FenZ(void)
{

}



 //分针
void  MXC_NiLongXiuCiJi_FenZhengProc(void)
{
	if(MXC_FenZSelect != 0)
	{
		MXC_cLeftFenZhenStep = 0;
		MXC_cRightFenZhenStep = 0;	
	}	
	//右分针
	switch(MXC_cLeftFenZhenStep)
	{ 
		case 0:
			break;
		case 1:
			if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
				MXC_cLeftFenZhenStep = 2;
	 			MXC_RightFenZhen_VAVLE = 1;//cMidleCoil[2] |= Q06;//SETY006;  //右分针电磁阀
	 			MXC_cFenZhenLeftDelay = dwTickCount + (unsigned long)FenZhengErrorTime;      	
 			}	
        	break;
		case 2:  //碰到右大微动,延时停
			if(!MXC_RightFenZhen_Origin_IN)   //右分针原点离开
			{
				MXC_cFenZhenLeftDelay = dwTickCount + 500;
				MXC_cLeftFenZhenStep = 3;
				MXC_cFenZhenRightDelay = dwTickCount + (unsigned long)20;
			}//右分针不下去
			else if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
                                MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);		
				if(MXC_XiaChongMotorMode == 1)
				{ 
					MXC_XiaChong_MOTOR = 0;  //下冲电机 
				}	
			}
			break;
		case 3:	
			if(MXC_RighttFenZhen_IN)  //插针到位
			{
				MXC_cLeftFenZhenStep = 0;
				MXC_cRightFenZhenStep = 1;   //左分针延时启动
			}
			else if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
				MXC_RightFenZhen_VAVLE = 0;//右分针
				cRFengTimer++; 
				//当右分针分不到位时，左分针也要重新分针
				MXC_LeftFenZhen_VAVLE = 0;
				MXC_cRightFenZhenStep = 0;
				if(cRFengTimer < 4)
				{
					MXC_cLeftFenZhenStep = 4;
					MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime;
				}
				else
				{
					MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
					if(MXC_XiaChongMotorMode == 1)
					{ 
						MXC_XiaChong_MOTOR = 0;  //下冲电机 
					}	
				}
			}
			break;
		case 4:	
			if(MXC_RightFenZhen_Origin_IN)  //退到位
			{
				MXC_cLeftFenZhenStep = 5;
				MXC_cFenZhenLeftDelay = dwTickCount + 150;
			}
			else if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
				MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
				if(MXC_XiaChongMotorMode == 1)
				{ 
					MXC_XiaChong_MOTOR = 0; //下冲电机 
				}	
			}
			break;
		case 5:
			if(dwTickCount >= MXC_cFenZhenLeftDelay)
			{
				MXC_cFenZhenLeftDelay = dwTickCount + 30;  
				MXC_cLeftFenZhenStep = 1;
			}	
			break;
	}
	//左分针
	switch(MXC_cRightFenZhenStep)
	{ 
		case 0:
			break;
		case 1:
			if(dwTickCount >= MXC_cFenZhenRightDelay)
			{
				MXC_cRightFenZhenStep = 2;
	 			MXC_LeftFenZhen_VAVLE = 1; //左分针电磁阀
	 			MXC_cFenZhenRightDelay = dwTickCount + (unsigned long)FenZhengErrorTime;      	
 			}	
        	break;
		case 2:  //碰到右大微动,延时停
			if(!MXC_LeftFenZhen_Origin_IN)   //右分针原点离开
			{
				MXC_cFenZhenRightDelay = dwTickCount + 500;
				MXC_cRightFenZhenStep = 3;
			}//左分针不下去
			else if(dwTickCount >= MXC_cFenZhenRightDelay)
			{
				MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
				if(MXC_XiaChongMotorMode == 1)
				{ 
					MXC_XiaChong_MOTOR = 0;  //下冲电机 
				}					
			}
			break;
		case 3:	
			if(MXC_LeftFenZhen_IN)  //插针到位
				MXC_cRightFenZhenStep = 0;
                        
			else if(dwTickCount >= MXC_cFenZhenRightDelay)
			{
				MXC_LeftFenZhen_VAVLE = 0;//左分针
				cLFengTimer++; 
				if(cLFengTimer < 6)
				{
					MXC_cRightFenZhenStep = 4;
					MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime;
					if((cLFengTimer%2) == 0)
					{
						MXC_RightFenZhen_VAVLE = 0;
						MXC_cLeftFenZhenStep = 0;
					}
				}
				else
				{
					if(MXC_XiaChongMotorMode == 1)
					{ 
						MXC_XiaChong_MOTOR = 0; //下冲电机 
					}						
					MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
				}
			}
			break;
		case 4:	
			if(MXC_LeftFenZhen_Origin_IN)  //退到位
			{
				MXC_cRightFenZhenStep = 5;
				MXC_cFenZhenRightDelay = dwTickCount + 150;
			}
			else if(dwTickCount >= MXC_cFenZhenRightDelay)
			{
				MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);	
				if(MXC_XiaChongMotorMode == 1)
				{ 
					MXC_XiaChong_MOTOR = 0;//下冲电机 
				}					
			}
			break;
		case 5:
			if(dwTickCount >= 36)
			{
				MXC_cFenZhenRightDelay = dwTickCount + 30;  
				if((cLFengTimer%2) == 0)  //左边插两次都插不到，就退右边再同时插
				{
					MXC_cFenZhenLeftDelay = dwTickCount + 30;
					MXC_cLeftFenZhenStep = 1;
					cRFengTimer = 0;
					MXC_cRightFenZhenStep = 0;
				}
				else
				{
					MXC_cRightFenZhenStep = 1;
				}
			}	
			break;
	}
}



#endif