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- #include "global.h"
- #if YOU_GUAN_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_TuiFangKuai(void);
- void QueDuan_ExtiActionX31(void);
- void QueDuan_BingLian(void);
- static unsigned long cZipCnt = 0,cTableCnt = 0;
- static long save_limit_pos,cRealPos;
- unsigned char cCheckLianFlg = 0;
- unsigned char cCheckLianFlgEN = 0;
- unsigned char cGoLimitEn = 0;
- void QueDuan_ExtiActionX31(void)
- {
- cCheckLianFlg = 1;
-
- // user_datas[123]++;
- }
- void QD_SetAlarmCode(unsigned alarm_code)
- {
- SetAlarmCode(QD_ALARM_ADDR,alarm_code);
- bAlarmStop = 1;
- }
- void QueDuan_InitAction(void)
- {
- float length_buff,pulse_buff;
- save_limit_pos = QD_SAVE_POS;
- axis_x->speed_unit = 500;
- SetAccTime(X_AXIS,10);
- SetDecTime(X_AXIS,10);
-
- length_buff = QD_PARAM_CYCLE_LENGTH;
- pulse_buff = QD_PARAM_CYCLE_PULSE;
- XGearRatio = pulse_buff/length_buff;
-
- axis_y->speed_unit = 300;
- SetAccTime(Y_AXIS,3);
- SetDecTime(Y_AXIS,3);
-
- length_buff = QD_PARAM_TL_CYCLE_LENGTH;
- pulse_buff = QD_PARAM_TL_CYCLE_PULSE;
- YGearRatio = pulse_buff/length_buff;
-
- QD_SZ_OUT = 1;
- }
- void QueDuan_Action(void)
- {
- QueDuan_AlarmProtect();
- QueDuan_TuiFangKuai();
- 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)
- {
- if(QD_PARAM_TL_MODE)
- {
- if(!Y_DRV)AxisMovePos(Y_AXIS,QD_PARAM_TL_SPEED,QD_PARAM_TL_LENGTH);
- }
- else
- {
- QD_bTL = 0;
- 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_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;
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_N;
- if(!X_DRV)AxisContinueMove(X_AXIS,20,QD_DIR_N);
- }
-
- if(QD_bBackMotor && !QD_BACK_LIMIT_IN)
- {
- QD_SZ_OUT = 0;
-
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
- if(!X_DRV)AxisContinueMove(X_AXIS,20,QD_DIR_P);
- }
-
- 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 = 1;
- 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(QD_PARAM_BACK_ALARM_MODE)
- { //感应后限模式
- 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);
- }
- }
- }
- else
- {
-
- if(QD_QIAN_LIMIT_IN_UP) //数控后限模式
- {
- save_limit_pos = cRealPos;
- SetData32bits(200,save_limit_pos);
- }
-
- if(QD_PARAM_MAX_BACK_LENGTH < (cRealPos - save_limit_pos))
- {
- if(!bRunning)
- {
- 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
- {
- 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
- // else QD_MotorStep = 1;
- }
- }
- break;
- case 2:
- if(QD_MotorStep == 0)
- {
- if(QD_PARAM_DC_MODE == 0)
- QD_MotorStep = 20; //后退到位
- else
- 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_QQ_TUIFANGKUAI)
- {
- if(((QD_XiaQieStep == 0) || (QD_XiaQieStep >= 4)) && !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_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;
- }
- }
- 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(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;
- if(QD_PARAM_TL_MODE)
- {
- if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
- }
- }
- }
- QD_bSingle = 0;
- }
- //停止
- if(STOP_IN_UP || bStop)
- {
- bStop = 0;
- /* if(bRunning)
- {
- if(SingOneFlg)
- {
- bRunning = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 0;
- QD_YuanDianStep = 0;
- QD_BinLianStep = 0;
- SingOneFlg = 0;
- QD_JD_VAVEL = 0;
- QD_SM_VAVLE = 0;
- QD_XM_VAVLE = 0;
- QD_YD_VAVLE = 0;
- QD_XHG_VAVLE = 0;
- // QD_CS_OUT = 0;
- QD_TL_VAVLE = 0;
- QD_SZ_OUT = 1;
- QD_GZ_VAVLE = 0;
- QD_YBD_VAVLE = 0;
- QD_TFK_VAVEL = 0;
- QD_TABLE_VAVLE = 0;
- QD_BL_VAVLE = 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;
-
- AxisDecStop(X_AXIS);
- if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
- }
- else
- {
- SingOneFlg = 1;
- }
- }
- else
- {
- bRunning = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 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;
- 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_TuiFangKuaiStep = 0;
- QD_SZ_OUT = 1;
- QD_GZ_VAVLE = 0;
- QD_TABLE_VAVLE = 0;
- QD_XHG_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(bRunning)
- {
- bRunning = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 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_TuiFangKuaiStep = 0;
- //QD_SZ_OUT = 1;
- QD_GZ_VAVLE = 0;
- QD_TABLE_VAVLE = 0;
- QD_XHG_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);
- }
- else
- {
- bRunning = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 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_TuiFangKuaiStep = 0;
- QD_SZ_OUT = 1;
- QD_GZ_VAVLE = 0;
- QD_TABLE_VAVLE = 0;
- QD_XHG_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_TuiFangKuaiStep = 0;
- QD_YuanDianStep = 0;
- QD_XiaQieStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 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;
- }
-
- }
- 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;
- 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_BinLianStep;
- switch(QD_MotorStep)
- {
- case 0:
- break;
- case 1: // 前点定位数控模式
- if(QD_SZ_OUT)
- {
- QD_SZ_OUT = 0;
- QD_MotorDelay = dwTickCount + 50;
- }
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
- if((QD_TuiLianStep == 0) && !QD_TL_VAVLE && !QD_PARAM_TL_MODE)QD_TuiLianStep = 1;
- QD_MotorStep = 2;
- break;
- case 2:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_QIAN_LIMIT_IN)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
- AxisMovePos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_ON_BACK_LENGTH);
- QD_MotorDelay = dwTickCount + 1000;
- }
- QD_MotorStep = 3;
- QD_JD_VAVEL = 0;
- }
- break;
- case 3:
- if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))
- {
- if(cZipCnt == 0)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
- AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P); //第一条走低速
- }
- else
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
- AxisMoveTwoPos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,(length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH +QD_PARAM_SJZ_LENGTH),QD_PARAM_GO_LOW_SPEED,0xFFFFFF,QD_DIR_P);//第二条开始走两段速
- }
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 4;
- }
- break;
- case 4:
- if(QD_QIAN_LIMIT_IN_UP)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 5;
- }
- 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 5:
- if(!X_DRV)
- {
- QD_MotorDelay = dwTickCount;
- QD_MotorStep = 6;
- }
- break;
- case 6:
- if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0))
- {
- if(bRunning)
- {
- QD_JD_VAVEL = 1;
- }
- QD_MotorStep = 7;
- QD_MotorDelay = dwTickCount + 100;
- }
- break;
- case 7:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_YBD_VAVLE = 0;
- QD_TL_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
- case 20:// 后退使用电机定长
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- QD_MotorStep = 21;
- break;
- case 21:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-QD_PARAM_ZIPPER_LENGTH);
- QD_MotorStep = 22;
- }
- break;
- case 22:
- if(!X_DRV)
- {
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_FZ;
- QD_MotorStep = 23;
- }
- break;
- case 23:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
- AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 24;
- }
- break;
- case 24:
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- QD_MotorDelay = dwTickCount;
- }
- break;
- case 30:
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- QD_MotorStep = 31;
-
- if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
- break;
- case 31: // 后退使用钩针定长
- if(dwTickCount >= QD_MotorDelay)
- {
- save_buff = cRealPos;
- back_buff = cRealPos;
-
- if(QD_PARAM_DEC_MODE == 0)
- {
- AxisContinueMove(X_AXIS,QD_PARAM_BACK_SPEED,QD_DIR_P);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- else
- {
- if(cZipCnt < 2)
- {
- AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- else
- {
- gouzhen_buff = cRealPos;
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-length_buff);
- MoveChangSpeedPos(X_AXIS, QD_PARAM_GO_LOW_SPEED,PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH));
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 33;
- }
- }
- }
- break;
- case 32:
- if(QD_PARAM_BACK_MODE)
- {
- if(cZipCnt < 2)
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- cCheckLianFlg = 0;
- checkdelay_buff = cRealPos;
-
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep = 33;
- dwTickCount = QD_MotorDelay;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- }
- else
- {
- QD_MotorStep = 36;
- }
- }
- else
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- cCheckLianFlg = 0;
- checkdelay_buff = cRealPos;
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep = 33;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- }
- break;
- case 33:
- if((cZipCnt < 2) || (QD_PARAM_DEC_MODE == 0))
- {
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_MotorStep = 34;
- }
- }
- else
- {
- if((cRealPos - back_buff) > (length_buff - QD_PARAM_Back_LOW_SPEED_LENGTH))
- {
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep = 34;
- }
- }
- break;
- case 34:
- if((cZipCnt < 2) || (QD_PARAM_DEC_MODE == 0))
- {
- if((cRealPos - checkdelay_buff) >= QD_PARAM_DELAY_CHECK)
- {
- cCheckLianFlgEN = 1;
- if(cCheckLianFlg)
- {
- cCheckLianFlg = 0;
- gou_zhen_buff = cRealPos;
- QD_MotorStep = 35;
- }
- }
- }
- else
- {
- if((cRealPos - gouzhen_buff) >= (length_buff - QD_PARAM_GOUZHEN_LENGTH))
- {
- QD_MotorStep = 36;
- }
- }
- break;
- case 35:
- if(cCheckLianFlg)
- {
- cCheckLianFlg = 0;
- gou_zhen_buff = cRealPos;
- }
-
- 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)))
- {
- cCheckLianFlgEN = 0;
- if(QD_PARAM_DEC_MODE == 0)QD_GZ_VAVLE = 1;
- QD_YD_VAVLE = 1;
- QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
- QD_MotorStep = 37;
- }
- break;
- case 37:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_MotorStep = 38;
- }
- break;
- case 38:
- if(!X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
- {
- if(cZipCnt == 1)
- {
- length_buff = cRealPos - save_buff - QD_PARAM_OFFSET_LENGTH;
- }
- if(cZipCnt == 0)
- {
- go_length_buff = cRealPos - save_buff;
- }
- QD_MotorStep = 0;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- break;
- case 40:
- if(dwTickCount >= QD_MotorDelay)
- {
- // 切断完成后拉电机动作
- if(QD_PARAM_SJZ_LENGTH == 0)
- {
- QD_MotorDelay = dwTickCount + 50;
- QD_JD_VAVEL = 0;
-
- }
- else if(QD_PARAM_SJZ_LENGTH <= 100)
- {
- QD_MotorDelay = dwTickCount + 40;
- QD_JD_VAVEL = 0;
- }
- else if(QD_PARAM_SJZ_LENGTH <= 200)
- {
- QD_MotorDelay = dwTickCount + 30;
- QD_JD_VAVEL = 0;
- }
- else if(QD_PARAM_SJZ_LENGTH <= 300)
- {
- QD_MotorDelay = dwTickCount + 20;
- QD_JD_VAVEL = 0;
- }
- else if(QD_PARAM_SJZ_LENGTH <= 400)
- {
- QD_MotorDelay = dwTickCount + 10;
- QD_JD_VAVEL = 0;
- }
- else if(QD_PARAM_SJZ_LENGTH <= 500)
- {
- QD_MotorDelay = dwTickCount + 5;
- QD_JD_VAVEL = 0;
- }
- else
- {
- QD_MotorDelay = dwTickCount;
- }
- QD_MotorStep = 41;
- }
- break;
- case 41:
- if(dwTickCount >= QD_MotorDelay)
- {
- save_buff = cRealPos;
-
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH));
- QD_MotorStep = 42;
- }
-
- break;
-
- case 42: // 切断完成后拉电机动作
- if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - save_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_PARAM_TL_MODE)
- {
- }
- else
- {
- 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)
- {
- AxisMovePos(X_AXIS,QD_PARAM_FIRST_SPEED,-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))
- {
- go_buff = cRealPos;
- if(cZipCnt > 0)
- {
- MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED);//
- }
- else
- {
- MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED);
- }
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 64;
- }
- break;
- case 64:
- if(QD_PARAM_GO_MODE)
- {
- if(cZipCnt > 0)
- {
- if((go_buff - cRealPos) > (go_length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH))
- {
-
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- }
- else
- {
- QD_MotorStep =65;
- }
- }
- else
- {
- QD_MotorStep =65;
- }
- break;
- case 65:
- if(QD_QIAN_LIMIT_IN_UP)
- {
- if(QD_PARAM_DAO_MODE)
- {
- dandao_buff = cRealPos;
- QD_MotorStep = 70;
- }
- else
- {
- 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 70:
- if((dandao_buff - cRealPos) >= QD_PARAM_DANDAO_MODE_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 66;
- }
- 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_MotorStep = 0;
- }
- break;
-
- }
- }
- //推方块动作
- void QueDuan_TuiFangKuai(void)
- {
-
- }
- 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(QD_SM_VAVLE)QD_BL_VAVLE = 0;
- break;
- default:;
- }
-
- }
- void QueDuan_Motor_QD(void)
- {
- static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_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_BinLianStep;
- switch(QD_MotorStep)
- {
- case 0:
- break;
- case 1: // 前点定位数控模式
- if(QD_SZ_OUT)
- {
- QD_SZ_OUT = 0;
- QD_MotorDelay = dwTickCount + 50;
- }
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
- if((QD_TuiLianStep == 0) && !QD_TL_VAVLE && !QD_PARAM_TL_MODE)QD_TuiLianStep = 1;
- QD_MotorStep = 2;
- break;
- case 2:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_QIAN_LIMIT_IN)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
- AxisMovePos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_ON_BACK_LENGTH);
- QD_MotorDelay = dwTickCount + 1000;
- }
- QD_MotorStep = 3;
- QD_JD_VAVEL = 0;
- }
- break;
- case 3:
- if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay))
- {
- if(cZipCnt == 0)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
- AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P); //第一条走低速
- }
- else
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
- AxisMoveTwoPos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,(length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH +QD_PARAM_SJZ_LENGTH),QD_PARAM_GO_LOW_SPEED,0xFFFFFF,QD_DIR_P);//第二条开始走两段速
- }
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 4;
- }
- break;
- case 4:
- if(QD_QIAN_LIMIT_IN_UP)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 5;
- }
- 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 5:
- if(!X_DRV)
- {
- QD_MotorDelay = dwTickCount;
- QD_MotorStep = 6;
- }
- break;
- case 6:
- if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0))
- {
- if(bRunning)
- {
- QD_JD_VAVEL = 1;
- }
- QD_MotorStep = 7;
- QD_MotorDelay = dwTickCount + 100;
- }
- break;
- case 7:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_YBD_VAVLE = 0;
- QD_TL_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
- case 20:// 后退使用电机定长
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- QD_MotorStep = 21;
- break;
- case 21:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_N;
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-QD_PARAM_ZIPPER_LENGTH);
- QD_MotorStep = 22;
- }
- break;
- case 22:
- if(!X_DRV)
- {
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_FZ;
- QD_MotorStep = 23;
- }
- break;
- case 23:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_DIR_P;
- AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 24;
- }
- break;
- case 24:
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- QD_MotorDelay = dwTickCount;
- }
- break;
- case 30:
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- QD_MotorStep = 31;
-
- if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
- break;
- case 31: // 后退使用钩针定长
- if(dwTickCount >= QD_MotorDelay)
- {
- save_buff = cRealPos;
- back_buff = cRealPos;
- SetAccTime(X_AXIS,5);
- SetDecTime(X_AXIS,5);
-
-
- if(QD_PARAM_DEC_MODE == 0)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
- AxisContinueMove(X_AXIS,QD_PARAM_BACK_SPEED,QD_DIR_P);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- else
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
- if(cZipCnt < 2)
- {
- QD_XHG_VAVLE = 0;
- AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- else
- {
- gouzhen_buff = cRealPos;
- QD_XHG_VAVLE = 1;
- //AxisMoveTwoPos(X_AXIS,QD_PARAM_BACK_SPEED,(length_buff - QD_PARAM_Back_LOW_SPEED_LENGTH),QD_PARAM_GO_LOW_SPEED,QD_PARAM_Back_LOW_SPEED_LENGTH,QD_DIR_N);
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-length_buff);
- MoveChangSpeedPos(X_AXIS, QD_PARAM_GO_LOW_SPEED,PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH));
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 33;
- }
-
- // AxisContinueMove(X_AXIS,QD_PARAM_BACK_SPEED,QD_DIR_N);
- }
- }
- break;
- case 32:
- if(QD_PARAM_BACK_MODE)
- {
- if(cZipCnt < 2)
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- cCheckLianFlg = 0;
- checkdelay_buff = cRealPos;
-
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- // AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- // AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- // QD_CheckDelay = dwTickCount + QD_PARAM_DELAY_CHECK;
- 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))
- {
- // if(X_DRV)MoveChangSpeedPos(X_AXIS, QD_PARAM_GO_LOW_SPEED,PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH));
- }*/
- QD_MotorStep = 36;
- }
- }
- else
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- cCheckLianFlg = 0;
- checkdelay_buff = cRealPos;
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- // AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- // AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- // QD_CheckDelay = dwTickCount + QD_PARAM_DELAY_CHECK;
- QD_MotorStep = 33;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- }
- break;
- case 33:
- if((cZipCnt < 2) || (QD_PARAM_DEC_MODE == 0))
- {
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_GZ_VAVLE = 1;
- QD_MotorStep = 34;
- }
- }
- else
- {
- if((cRealPos - back_buff) > (length_buff - QD_PARAM_Back_LOW_SPEED_LENGTH))
- {
-
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep = 34;
- }
- }
- break;
- case 34:
- if((cZipCnt < 2) || (QD_PARAM_DEC_MODE == 0))
- {
- if((cRealPos - checkdelay_buff) >= QD_PARAM_DELAY_CHECK)
- {
- //user_datas[125]= cRealPos - checkdelay_buff;
- cCheckLianFlgEN = 1;
- if(cCheckLianFlg)//(!QD_GUO_LIAN_IN)
- {
- // AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- cCheckLianFlg = 0;
- gou_zhen_buff = cRealPos;
- QD_MotorStep = 35;
- }
- }
- }
- else
- {
- if((cRealPos - gouzhen_buff) >= (length_buff - QD_PARAM_GOUZHEN_LENGTH))
- {
- QD_GZ_VAVLE = 1;
- QD_MotorStep = 36;
- }
- }
- break;
- case 35:
- if(cCheckLianFlg)
- {
- cCheckLianFlg = 0;
- gou_zhen_buff = cRealPos;
- }
-
- 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)))
- {
- cCheckLianFlgEN = 0;
- if(QD_PARAM_DEC_MODE == 0)QD_GZ_VAVLE = 1;
- if(!QD_PARAM_TL_MODE)QD_YBD_VAVLE = 1;
- QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
- QD_MotorStep = 37;
- }
- break;
- case 37:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_TFK_VAVEL = 1;
- QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_MotorStep = 38;
- }
- break;
- case 38:
- if(QD_GOUZHEN_IN && !X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
- {
- if(QD_PARAM_TL_MODE)QD_YBD_VAVLE = 1;
-
-
- if(cZipCnt == 1)
- {
- length_buff = cRealPos - save_buff - QD_PARAM_OFFSET_LENGTH;
- }
- if(cZipCnt == 0)
- {
- go_length_buff = cRealPos - save_buff;
- }
- QD_MotorStep = 0;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- break;
- case 40:
- if(dwTickCount >= QD_MotorDelay)
- {
- // 切断完成后拉电机动作
- if(QD_PARAM_SJZ_LENGTH == 0)
- {
- QD_MotorDelay = dwTickCount + 50;
- QD_JD_VAVEL = 0;
-
- }
- else if(QD_PARAM_SJZ_LENGTH <= 100)
- {
- QD_MotorDelay = dwTickCount + 40;
- QD_JD_VAVEL = 0;
- }
- else if(QD_PARAM_SJZ_LENGTH <= 200)
- {
- QD_MotorDelay = dwTickCount + 30;
- QD_JD_VAVEL = 0;
- }
- else if(QD_PARAM_SJZ_LENGTH <= 300)
- {
- QD_MotorDelay = dwTickCount + 20;
- QD_JD_VAVEL = 0;
- }
- else if(QD_PARAM_SJZ_LENGTH <= 400)
- {
- QD_MotorDelay = dwTickCount + 10;
- QD_JD_VAVEL = 0;
- }
- else if(QD_PARAM_SJZ_LENGTH <= 500)
- {
- QD_MotorDelay = dwTickCount + 5;
- QD_JD_VAVEL = 0;
- }
- else
- {
- QD_MotorDelay = dwTickCount;
- }
- QD_MotorStep = 41;
- }
- break;
- case 41:
- if(dwTickCount >= QD_MotorDelay)
- {
- save_buff = cRealPos;
-
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH));
- QD_MotorStep = 42;
- }
-
- break;
-
- case 42: // 切断完成后拉电机动作
- if(((QD_PARAM_SJZ_LENGTH) <= (cRealPos - save_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_PARAM_TL_MODE)
- {
- // if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
- }
- else
- {
- if((QD_TuiLianStep == 0) && !QD_TL_VAVLE)QD_TuiLianStep = 1;
- }
- // cGoLimitEn = 1;
- SetAccTime(X_AXIS,10);
- SetDecTime(X_AXIS,10);
- QD_MotorStep = 62;
- break;
- case 62:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_QIAN_LIMIT_IN)
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
- AxisMovePos(X_AXIS,QD_PARAM_FIRST_SPEED,-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))
- {
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_N;
- go_buff = cRealPos;
- if(cZipCnt > 0)
- {
- MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED);//
- }
- else
- {
- MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED);
- }
- // MoveAction_Const_Stop(X_AXIS, QD_DIR_P,QD_PARAM_GO_HIGH_SPEED);//
- // AxisContinueMove(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_DIR_P); //第一条走低速
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep =64;
- }
- break;
- case 64:
- if(QD_PARAM_GO_MODE)
- {
- if(cZipCnt > 0)
- {
- if((go_buff - cRealPos) > (go_length_buff - QD_PARAM_Go_LOW_SPEED_LENGTH + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH))
- {
-
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- }
- else
- {
- // if(QD_QIAN_DEC_IN)
- {
- // if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);//AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- }
- }
- else
- {
- // if(QD_QIAN_DEC_IN)
- {
- // if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);//AxisChangeSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- }
- break;
- case 65:
- if(QD_QIAN_LIMIT_IN_UP)
- {
- if(QD_PARAM_DAO_MODE)
- {
- dandao_buff = cRealPos;
- QD_MotorStep = 70;
- }
- else
- {
- 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 70:
- if((dandao_buff - cRealPos) >= QD_PARAM_DANDAO_MODE_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 66;
- }
- 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_YBD_VAVLE = 0;
- QD_TL_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
-
- }
- }
- //电机动作
- void QueDuan_Motor(void) //
- {
- switch(QD_MACHINE_TYPE)
- {
- case QD_CS_TUIFANGKUAI: QueDuan_Motor_CS();break;
- case QD_QQ_TUIFANGKUAI: QueDuan_Motor_QD();break;
- default:;
- }
- }
- //超声方式下切
- void QueDuan_XiaQue_CS(void)
- {
- switch(QD_XiaQieStep)
- {
- case 0:
- break;
- case 1:
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
- QD_XiaQieStep = 2;
- break;
- case 2:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XM_VAVLE = 1;
- 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:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_GZ_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY; //
- QD_XiaQieStep = 5;
- }
- break;
- case 5:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_TFK_VAVEL = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 6;
- }
- break;
- case 6:
- if(QD_GOUZHEN_IN)
- {
- QD_SM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 7;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- break;
- case 7:
- if(QD_SHANG_MU_LIMIT_IN && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS; //
- QD_XiaQieStep = 8;
- }
- else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
- break;
- case 8:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME; //
- QD_XiaQieStep = 9;
- }
- break;
- case 9:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_CS_OUT = 0;
- QD_SM_VAVLE = 0;
- QD_XM_VAVLE = 0;
- QD_TFK_VAVEL = 0;
- QD_GZ_VAVLE = 0;
-
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 10;
- }
- break;
- case 10:
- if(QD_SHANG_MU_ORIGIN_IN && !QD_XIA_MU_LIMIT_IN)
- {
- QD_XiaQieStep = 0;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_SM_YUANWEI);
- }
- break;
- }
- }
- void QueDuan_TuiLianAction(void)
- {
- switch(QD_TuiLianStep)
- {
- case 0:
- break;
- 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)
- {
- if(QD_PARAM_TL_MODE)
- {
- QD_TuiLianStep = 10;
- }
- else
- {
- QD_TL_VAVLE = 1;
- QD_TLDelay = dwTickCount + QD_PARAM_TL_DELAY;
- QD_TuiLianStep = 4;
- }
- }
- break;
- case 4:
- if(dwTickCount >= QD_TLDelay)
- {
- // QD_TL_VAVLE = 0;
- QD_TuiLianStep = 0;
- }
- break;
- case 10:
- if(bRunning && QD_PARAM_TL_MODE)AxisMovePos(Y_AXIS,QD_PARAM_TL_SPEED,QD_PARAM_TL_LENGTH);
- QD_TuiLianStep = 11;
- break;
- case 11:
- if(!Y_DRV)
- {
- {
- QD_TuiLianStep = 0;
- }
- }
- break;
- }
- }
- //气动推方块方式下切
- void QueDuan_XiaQue_QD(void)
- {
- switch(QD_XiaQieStep)
- {
- case 0:
- break;
- case 1:
- if(!bRunning)
- {
- QD_XiaQieDelay = dwTickCount + 50;
- QD_GZ_VAVLE = 1;
- QD_XiaQieStep = 20;
- }
- else
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
- QD_XiaQieStep = 2;
- }
- break;
- case 20:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
- QD_TFK_VAVEL = 1;
- QD_XiaQieStep = 2;
- }
- break;
- case 2:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 3;
- }
- break;
- case 3:
- if(QD_SHANG_MU_LIMIT_IN && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
- {
- QD_XiaQieStep = 4;
- QD_XiaQieDelay = dwTickCount + 100;
- }
- else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
- break;
- case 4:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SM_VAVLE = 0;
- QD_TFK_VAVEL = 0;
- QD_GZ_VAVLE = 0;
-
- if(!QD_PARAM_TL_MODE)
- {
- if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
- }
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 5;
- }
- break;
- case 5:
- if(QD_SHANG_MU_ORIGIN_IN && (QD_TuiLianStep == 0))
- {
- if(QD_PARAM_TL_MODE)
- {
- if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
- }
- QD_XiaQieStep = 0;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_TL_DELAY;
- }
- 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_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break;
- case QD_QQ_TUIFANGKUAI:QueDuan_XiaQue_QD();break;
- default:;
- }
- }
- #endif
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