GC19038/Machine/ChangShengGeiLiMachine/GLHeLian.c

#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE

void HL_InitAction(void);
void HL_Action(void);

void HL_SetAlarmCode(unsigned alarm_code);
void HL_StartStopAction(void);
void HL_AutoRunStep(void);
void HL_Motor(void);
void HL_Step(void);
void HL_PWMAction(void);

unsigned char cDWflg=0,cZCXflg=0,cHLflg=0;
unsigned char cBBflg = 0;
short *offset_length_buff;
static unsigned char OldGuoLian,GuoLian;
static unsigned long guolian_flter;
unsigned char work_flg,work_Num,cErrorStop_Flg;
unsigned short cCheckStep;

void HL_ConectAction(void)
{
	static unsigned long start_delay;
	if(HL_PARAM_CONNECT_MODE)
	{
	    if(cCheckStep == 1)	
            {
                if(HL_LW_STOP_IN_DW)
                {
                    start_delay = HL_PARAM_DELAY_START + dwTickCount;
                    cCheckStep = 2;	
                }
                else if(HL_LW_STOP_IN)
                    work_flg = 0;
	    }
	    else if((cCheckStep == 2) && (dwTickCount >= start_delay))
            {
                work_flg = 1;
                cCheckStep = 3;	
            }
	    else if(cCheckStep == 3)
            {
                if(HL_LW_STOP_IN)
                {
                    work_flg = 0;
                    cCheckStep = 1;
                }
            }	
	}
	else
	   work_flg = 1;
}


void HL_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(HL_ALARM_ADDR,alarm_code);
    HL_bAlarmStop = 1;
}

void HL_InitAction(void)
{   
    CalFreqTab_X_Free(14);
//    length_buff = 54.1*3.14;//JYDC_CYCLE_LENGTH;
//    pulse_buff  = 2000;//JYDC_CYCLE_PULSE;
//    XGearRatio  = 2000pulse_buff/length_buff; 
    XGearRatio = 1;
    SetEn(X_AXIS,HL_MOTOR_DISEN);
#if IO_Change    
    IOPinConfigure();    //可变IO初始化
#endif    
}

//手动动作
void HL_ManualAction(void)
{                  
    if(!HL_bRunning)
    {     
          //清产量
        if(bClearTotal)
        {
            bClearTotal       = 0;
            ClrcToTal(HL_TOTAL_ADDR);
            HL_bSetWorkData   = 1;
        }
        //定位数据加
        if(HL_bAdd)
        {
            HL_bAdd = 0;
            HL_PARAM_DELAY_STOP += 10;
        }
        //定位数据减
        if(HL_bDec)
        {
            HL_bDec = 0;
            if(HL_PARAM_DELAY_STOP >= 10)
              HL_PARAM_DELAY_STOP -= 10;
        }   
        //合模
        if(HL_bHM)
        {
            HL_bHM = 0;
            if(HL_HM_VAVLE)
            {
                HL_HM_VAVLE = 0;
                HL_YD_VAVLE = 0;
            }    
            else if((!HL_TFK_VAVLE) || (!HL_BB_VAVLE))
                HL_HM_VAVLE = 1;            

        }
//推方块
        if(HL_bTFK)
        {
            HL_bTFK = 0;
            HL_TFK_VAVLE = ~HL_TFK_VAVLE;
        }
        //摆 臂
        if(HL_bBB)
        {
            HL_bBB = 0;
            HL_BB_VAVLE = ~HL_BB_VAVLE;
            if(HL_BB_VAVLE)cBBflg = 1;
        }
        
        if(cBBflg)
        {
            if(HL_BB_LIMIT_IN)
            {
                cBBflg = 0;
            }
        }
        //压插销 
        if(HL_bYCX)
        {
            HL_bYCX = 0;
            HL_YCX_VAVLE    = 1;
            HL_YCXDelay     = dwTickCount + HL_PARAM_YCX_TIME;
        }
        //上挡块
        if(HL_bDK_UP)
        {
            HL_bDK_UP = 0;
            HL_DK_UP_VAVLE = ~HL_DK_UP_VAVLE;
        }
        //夹 带
        if(HL_bJD)
        {
            HL_bJD = 0;
            HL_JD_VAVLE = ~HL_JD_VAVLE;
        }
        //穿插销
        if(HL_bCCX)
        {
            HL_bCCX = 0;
            HL_CCX_VAVLE = ~HL_CCX_VAVLE;
        }
        //挡块前后
        if(HL_bDK_GO)
        {
            HL_bDK_GO = 0;
            HL_DK_GO_VAVLE = ~HL_DK_GO_VAVLE;
        }
        //压 带
        if(HL_bYD)
        {
            HL_bYD = 0;
            HL_YD_VAVLE = ~HL_YD_VAVLE;
        }  
        //松 紧
        if(HL_bSJ)
        {
            HL_bSJ = 0;
            HL_SJ_VAVLE = ~HL_SJ_VAVLE;
        } 
        
        if(HL_bHMYD)
        {
            HL_bHMYD = 0;
            
            if(HL_HM_VAVLE)
            {
                HL_HM_VAVLE = 0;
            }
            else 
            {
                HL_HM_VAVLE = 1;         
            }
        }
        //上挡块
        if(HL_bDKUP)
        {
            HL_bDKUP = 0;
            if(HL_DK_UP_VAVLE) 
            {
                HL_DK_UP_VAVLE = 0;
                HL_DK_GO_VAVLE = 0; 
                HL_YD_VAVLE    = 0;
            }
            else
            { 
                if(HL_ManDKStep == 0)HL_ManDKStep=1;
            }
        }
        
        if(HL_ManDKStep == 1)
        {
            HL_DK_UP_VAVLE = 1;  //挡块上下
            HL_ManDKStep   = 2;
        }
        else if((HL_ManDKStep == 2) && HL_DK_UP_LIMIT_IN)
        {
            HL_ManDKDelay  = dwTickCount + HL_PARAM_DELAY_DK_UP;
            HL_ManDKStep   = 3;
        }
        else if((HL_ManDKStep == 3) && (dwTickCount >= HL_ManDKDelay))
        {
            HL_DK_GO_VAVLE = 1;  //挡块前后
            HL_ManDKStep   = 0;
        }        
        
        if(HL_bCD)
        {
            HL_bCD = 0;
            HL_CD_MOTOR = ~HL_CD_MOTOR;
        } 
        
        if(HL_bYCD)
        {
            HL_bYCD = 0;
            HL_CD_VAVLE = ~HL_CD_VAVLE;
        }
        if(HL_bMotor)
        {
            SetEn(X_AXIS,HL_MOTOR_EN);
            if(!X_DRV)AxisContinueMove(X_AXIS,10,HL_DIR_P);   
        }
        else 
        {
            if(X_DRV)AxisDecStop(X_AXIS);  
        }
    }
}

//合链动作
void HL_Action(void)
{	
#if IO_Change   
    InputPinConfig();
#endif    
    HL_ConectAction();
    HL_ManualAction();
    HL_StartStopAction();     
    HL_Motor();   
    HL_Step();
    HL_AutoRunStep();
#if IO_Change     
    OutputPinConfig();
#endif
}

//启动停止故障停止动作
void HL_StartStopAction(void)
{
    static unsigned long dwstop_cnt = 0;
    if((HL_START_IN_UP || HL_bStart || HL_bSingStart || HL_bDW || HL_bZCX || HL_bHL) && !HL_bRunning && (HL_AutoStep ==0))
    {
        if((GetTotal(HL_TOTAL_ADDR) >= SET_TOTAL) && !HL_bDW && SET_TOTAL)HL_SetAlarmCode(HL_TOTAL_ALARM);
//        else if(HL_SM_LIMIT_IN)HL_SetAlarmCode(HL_SM_LIMIT_ALARM);
//        else if(HL_XM_LIMIT_IN)HL_SetAlarmCode(HL_XM_LIMIT_ALARM);
//        else if(HL_BB_LIMIT_IN)HL_SetAlarmCode(HL_BB_LIMIT_ALARM);
 //       else if(HL_DK_LIMIT_IN)HL_SetAlarmCode(HL_DK_LIMIT_ALARM);
 //       else if(!HL_DK_ORIGIN_IN)HL_SetAlarmCode(HL_DK_ORIGIN_ALARM);
 //       else if(HL_DK_UP_LIMIT_IN)HL_SetAlarmCode(HL_DK_UP_LIMIT_ALARM);
//        else if(HL_CCX_LIMIT_IN)HL_SetAlarmCode(HL_CCX_LIMIT_ALARM);
//        else if(!HL_CCX_ORIGIN_IN)HL_SetAlarmCode(HL_CCX_ORIGIN_ALARM);
//        else if(HL_TFK_LIMIT_IN)HL_SetAlarmCode(HL_TFK_LIMIT_ALARM);
//        else if(!HL_TFK_ORIGIN_IN)HL_SetAlarmCode(HL_TFK_ORIGIN_ALARM);
        else
        {      
            SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
            HL_bRunning = 1;
            cCheckStep  = 1;
            dwZipCnt    = 0;
            if(HL_PARAM_CONNECT_MODE)
            { 
               work_Num = 0;
               HL_OVEROUt_VAVLE = 1;
               HL_Y15Delay = dwTickCount + 100;
            }      
            //单次启动
            if(HL_bSingStart)
            {
                HL_bSingStart = 0;
                SingOneFlg    = 1;
            }     
            //定位
            if(HL_bDW)
            {
                cDWflg = 1;
                dwZipCnt = 1;
            }
            work_Num = 0;
            bCheckOK = 1;
            cErrorStop_Flg = 0;
            if(HL_bZCX)cZCXflg = 1;//装插销
            if(HL_bHL)cHLflg = 1;  //合链
            work_flg = 1;
            if(HL_bZCX)HL_AutoStep = 4;
            else if(HL_bHL)HL_AutoStep = 1;
            else HL_AutoStep = 1;
            
        }
        HL_bDW        = 0;
        HL_bZCX       = 0;
        HL_bHL        = 0;
        HL_bSingStart = 0;
        HL_bStart   = 0;
    }
     
    if(!HL_bMotor && !X_DRV && !HL_bRunning && (HL_MotorStep==0))
      SetEn(X_AXIS,HL_MOTOR_DISEN);
    
    if(HL_bStop)
    {
        HL_bStop = 0;
        if(HL_bRunning)  
            SingOneFlg = 1;
        else
        {
            HL_HM_VAVLE       = 0;
            HL_TFK_VAVLE      = 0;
            HL_BB_VAVLE       = 0;
            HL_DK_UP_VAVLE    = 0;
            HL_JD_VAVLE       = 0;
            HL_CCX_VAVLE      = 0;
            HL_DK_GO_VAVLE    = 0;
            HL_YD_VAVLE       = 0;
            HL_SJ_VAVLE       = 0;
            HL_CD_MOTOR       = 0;
            HL_ALARM_OUT      = 0;
            HL_bRunning       = 0;
            HL_AutoStep       = 0;
            HL_MotorStep      = 0;
            SingOneFlg        = 0;
            HL_bMotor         = 0;
            cDWflg            = 0;
            cZCXflg           = 0;
            cHLflg            = 0; 
            HL_ManDKStep      = 0;
            HL_CD_VAVLE       = 0;
            AxisEgmStop(X_AXIS);    
            SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
        }
    }
    

    if(STOP_IN)dwstop_cnt++;
    else dwstop_cnt = 0;

    
    if(dwstop_cnt >= 10000) 
    {
        HL_HM_VAVLE       = 0;
        HL_BB_VAVLE       = 0;
    }
    if(HL_STOP_IN_UP)
    {
        HL_bStop = 0;
//        if(HL_bRunning)
        {
            HL_TFK_VAVLE      = 0;
//          HL_BB_VAVLE       = 0;
            HL_DK_UP_VAVLE    = 0;
            HL_JD_VAVLE       = 0;
            HL_CCX_VAVLE      = 0;
            HL_DK_GO_VAVLE    = 0;
            HL_YD_VAVLE       = 0;
            HL_SJ_VAVLE       = 0;
            HL_CD_MOTOR       = 0;
            HL_ALARM_OUT      = 0;
            HL_bRunning       = 0;
            HL_AutoStep       = 0;
            HL_MotorStep      = 0;
            HL_HLStep         = 0;
            HL_ManDKStep      = 0;
            SingOneFlg        = 0;
            HL_bMotor         = 0;
            cDWflg            = 0;
            cZCXflg           = 0;
            cHLflg            = 0; 
            SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
            if(X_DRV)
                AxisEgmStop(X_AXIS);
            else
                SetEn(X_AXIS,HL_MOTOR_DISEN);
        }
/*        else
        {
            HL_HM_VAVLE       = 0;
            HL_TFK_VAVLE      = 0;
            HL_BB_VAVLE       = 0;
            HL_DK_UP_VAVLE    = 0;
            HL_JD_VAVLE       = 0;
            HL_CCX_VAVLE      = 0;
            HL_DK_GO_VAVLE    = 0;
            HL_YD_VAVLE       = 0;
            HL_SJ_VAVLE       = 0;
            HL_CD_MOTOR       = 0;
            HL_bRunning       = 0;
            HL_AutoStep       = 0;
            HL_MotorStep      = 0;
            HL_HLStep         = 0;
            SingOneFlg        = 0;
            cDWflg            = 0;
            cZCXflg           = 0;
            cHLflg            = 0; 
            HL_bMotor         = 0;
            SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
            AxisEgmStop(X_AXIS);
        }*/
    }
    
    
    if(HL_bAlarmStop)
    {
        HL_ALARM_OUT    = 1;
        HL_bAlarmStop   = 0;              
        AxisEgmStop(X_AXIS);
        HL_AutoStep     = 0;
        HL_ManDKStep      = 0;
        HL_MotorStep    = 0;
        HL_HLStep       = 0;
        HL_bRunning     = 0;
        SingOneFlg      = 0;
        cDWflg            = 0;
        cZCXflg           = 0;
        cHLflg            = 0; 
    }
}
//合链动作
void HL_Step(void)
{
        static long hm_save_buff;
        switch(HL_HLStep)
        {    
            case 1:
                    if(HL_GUO_LIAN_IN_UP)//过链上升沿
                   {  
                       hm_save_buff = dwRealPos;
                       HL_HLStep   = 2; 
                   }
                    break;
            case 2://上升沿后延迟长度开合模
                    if(cErrorStop_Flg == 0)
                    {
                        if(((dwRealPos + HL_PARAM_DELAY_HM_BACK) <= hm_save_buff) || (!X_DRV))
                        {
                            HL_HM_VAVLE = 0;//开模
                            HL_HLDelay  = dwTickCount + HL_VAVLE_ALARM_TIME;
                            HL_HLStep   = 3; 
                        }
 //                       else if(!X_DRV)HL_SetAlarmCode(HL_HM_BACK_ALARM);  
                    }
                    else
                    {
                        if(((dwRealPos + HL_PARAM_ERROR_DELAY_STOP-150) <= hm_save_buff) || (!X_DRV))
                        {
                            HL_HM_VAVLE = 0;//开模
                            HL_HLDelay  = dwTickCount + HL_VAVLE_ALARM_TIME;
                            HL_HLStep   = 3; 
                        }                       
                    }  
                    break;
        case 3:    //上下模到位离开
                    if(!HL_SM_LIMIT_IN && !HL_XM_LIMIT_IN)
                   {
                       HL_HLStep   = 4; 
                       //延时关摆臂
                       HL_HLDelay = dwTickCount + HL_PARAM_DELAY_BB_BACK;
                   }
                   else if(dwTickCount >= HL_HLDelay)
                   {
                       if(HL_SM_LIMIT_IN)HL_SetAlarmCode(HL_SM_LIMIT_ALARM);
                       else HL_SetAlarmCode(HL_XM_LIMIT_ALARM);                          
                   }
                    break;
            case 4:
                   if(dwTickCount >= HL_HLDelay)    //开模延时关摆臂
                   {
                       HL_HLStep   = 5; 
                       HL_BB_VAVLE = 0; //
                       HL_HLDelay = dwTickCount + HL_VAVLE_ALARM_TIME;
                       HL_TFK_VAVLE    = 1;        //推方块输出
                   }
                    break;
            case 5:
                   if(!HL_BB_LIMIT_IN)          //摆臂到位信号灭
                   {
                       HL_HLStep   = 0; 
                       if(SingOneFlg)   //单一自动
                       {
                           SingOneFlg = 0;
                           HL_AutoStep    = 0;
                           HL_bRunning    = 0;
                           HL_MotorStep   = 0;
                       }
                      
                       HL_HLDelay = dwTickCount;
                   }
                   else if(dwTickCount >= HL_HLDelay)
                   {
                       HL_SetAlarmCode(HL_BB_LIMIT_ALARM);   
                   }
                    break;
        }
}

void HL_PWMAction(void)
{

}

//电机动作
void HL_Motor(void)	 //
{  
        static long save_buff;
        dwRealPos = GetPos(X_AXIS);
        DISPLAY_DATA0 = dwRealPos;
        DISPLAY_DATA1 = HL_AutoStep;
        DISPLAY_DATA2 = HL_MotorStep;
        DISPLAY_DATA3 = tXAxisStepper.cPmovPulse;//HL_HLStep;
        DISPLAY_DATA4 = tXAxisStepper.bAuto_Mov;//save_buff;
        //实时位置
        
	switch(HL_MotorStep)
	{
            case 0:break;
            case 1:   
              
//                    if(GetEn(X_AXIS) == 0)  //未锁轴情况下有锁轴时间
//                    {
//                        SetEn(X_AXIS,HL_MOTOR_EN);
//                        HL_MotorDelay = dwTickCount + 300;      //100MSq锁轴时间
//                    else 
                        HL_MotorDelay = dwTickCount + 0;
                    HL_MotorStep = 2;
                    break;
            case 2:
                   if(dwTickCount >= HL_MotorDelay)
                   {
  //                      if(START_IN)
                        { 
                            HL_MotorDelay = dwTickCount + HL_PARAM_MOTOR_ALARM_TIME;
                            SetPos(X_AXIS, 0); 
        //                    DISPLAY_DATA5 = -dwRealPos-HL_PARAM_DELAY_STOP-300;
                            
                            if(dwZipCnt >= 2)       //2条后测出拉链长度          
                            {
                               AxisMovePosAccDecNotStop(X_AXIS,HL_PARAM_HIGH_SPEED*6/5,-(-dwRealPos-HL_PARAM_DELAY_STOP-200),6,HL_PARAM_HIGH_SPEED,2,4);
     //                          DISPLAY_DATA6 = tXAxisStepper.cCalAccPulse;
                        //         DISPLAY_DATA7 = tXAxisStepper.cCalSpeed;
                            }
                            else
                            {   
                                if(cErrorStop_Flg)
                                    MoveAction_Const_AccDec(X_AXIS,HL_DIR_P,6,2,6,1);
                                else 
                                    MoveAction_Const_AccDec(X_AXIS,HL_DIR_P,HL_PARAM_HIGH_SPEED,2,6,1);
                            }
                            HL_MotorStep = 3;  
                            
                            *offset_length_buff = 0;
                            if(HL_HM_VAVLE) //如果合模有输出启动合链
                            {  
                                if(HL_HLStep == 0)
                                  HL_HLStep = 1;
                            }
                        }
                   }
                    break;
            case 3://过链感应下降沿
                   if(HL_GUO_LIAN_IN)
                   {   //变为低速
                        if(cErrorStop_Flg == 0)
                        {
                            if(dwZipCnt >= 2)
                            {  
                                tXAxisStepper.State = 1;                            
     //                           CancelPmoveState(X_AXIS);                            
                            }
                            if(tXAxisStepper.cCurSpeed >= HL_PARAM_HIGH_SPEED)
                                AxisMovePosAccDec_LYQ(X_AXIS,tXAxisStepper.cCurSpeed,HL_PARAM_DELAY_STOP,
                                                tXAxisStepper.cCurSpeed,4,5,5);
                            else
                                AxisMovePosAccDec_LYQ(X_AXIS,HL_PARAM_HIGH_SPEED,HL_PARAM_DELAY_STOP,
                                                tXAxisStepper.cCurSpeed,4,5,5);                     
                       //    AxisChangeSpeed(X_AXIS,HL_PARAM_LOW_SPEED);
                           //空位延时检测
                           HL_MotorDelay = dwTickCount + HL_PARAM_DELAY_CHECK_TIME;  
                           HL_MotorStep   = 6;
                           save_buff      = dwRealPos;  //当位置保存
                        }
                        else  //联网故障停时慢速停止
                        {
                             HL_MotorStep   = 6;
                           save_buff      = dwRealPos;  //当位置保存
                             AxisMovePosAccDec_LYQ(X_AXIS,tXAxisStepper.cCurSpeed,HL_PARAM_ERROR_DELAY_STOP,
                                                tXAxisStepper.cCurSpeed,4,2,5);
                        }  
                          
                   }
                   else if(dwTickCount >= HL_MotorDelay)//长时间没信号警告
                       HL_SetAlarmCode(HL_GUOLIAN_ALARM);
                   else  //联机控制
                   {
                        if(HL_PARAM_CONNECT_MODE)
                        {
                          
                            if(HL_LW_START_IN)
                            {
                                if(dwTickCount >= HL_MotorDelay)
                                {
                                    if(!X_DRV)
                                   {
                                       HL_MotorStep = 2; 
                                       HL_MotorDelay = dwTickCount;
                                   }
                                }
                            }
                            else
                            {   
                                if(HL_LW_STOP_IN)
                                {
                                    HL_MotorStep = 50; 
                                    AxisEgmStop(X_AXIS); 
                                    HL_MotorDelay = dwTickCount + HL_PARAM_DELAY_START;
                                } 
                              
                            }
                        }
#if 0          //郑广程序           
                       if(work_flg)
                       {
                           if(!X_DRV)
                           {
                               HL_MotorStep = 2; 
                               HL_MotorDelay = dwTickCount;
                           }
                       }
                       else if(HL_GUO_LIAN_IN)
                       {
                           if(X_DRV)AxisEgmStop(X_AXIS); 
                       }
#endif                       
                   }                    
                   break;
            case 4:
                   if(dwTickCount >= HL_MotorDelay)
                   {
                       HL_MotorStep   = 5;
                       HL_MotorDelay = dwTickCount + HL_PARAM_MOTOR_ALARM_TIME;
                   }
                    break;
            case 5:
              //过链上升沿
                   if(HL_GUO_LIAN_IN_UP)
                   {
                       AxisChangeSpeed(X_AXIS,HL_PARAM_LOW_SPEED);
                       save_buff      = dwRealPos;  //当位置保存
                       HL_MotorStep   = 6;
                   }
                   else if(dwTickCount >= HL_MotorDelay)//规定时间没到链上警告
                       HL_SetAlarmCode(HL_GUOLIAN_ALARM);
                   
            case 6:     // 定位长度
                    if(!X_DRV)
                    {
                        HL_MotorStep   = 7;
                    }
                    if((dwRealPos + HL_PARAM_DELAY_STOP) <= save_buff)
                    {
 //                       AxisEgmStop(X_AXIS); 
 //                       HL_MotorStep   = 7;
                    }                    
                    break;   
            case 7://定位和合链完成
                    if(!X_DRV && (HL_HLStep == 0))
                    {     
                        HL_MotorStep   = 0; 
                        HL_MotorDelay = dwTickCount;
                    }
                    break;
            case 50:
                    if(HL_LW_START_IN)
                    {
                        if(dwTickCount >= HL_MotorDelay)
                        {
                            if(!X_DRV)
                            {
                                HL_MotorStep = 2; 
                                HL_MotorDelay = dwTickCount;
                                dwZipCnt = 0;
                                cErrorStop_Flg = 1;
                            }
                        }
                    }
                    else
                    {   
                        if(HL_LW_STOP_IN)
                        {
                            AxisEgmStop(X_AXIS); 
                        } 
                        HL_MotorDelay = dwTickCount + HL_PARAM_DELAY_START;
                    }                              
                    break;     
/* 
            case 20:
      //                 if(!X_DRV)
                       {
                           HL_MotorStep   = 21; 
                           HL_HM_VAVLE = 0;
                           HL_MotorDelay = dwTickCount + HL_VAVLE_ALARM_TIME;
                       }
                    break;
            case 21:
                        if(!HL_SM_LIMIT_IN && !HL_XM_LIMIT_IN)
                       {
                           HL_MotorStep   = 22; 
                           HL_MotorDelay = dwTickCount + HL_PARAM_DELAY_BB_BACK;
                       }
                       else if(dwTickCount >= HL_MotorDelay)
                       {
                           if(HL_SM_LIMIT_IN)HL_SetAlarmCode(HL_SM_LIMIT_ALARM);
                           else HL_SetAlarmCode(HL_XM_LIMIT_ALARM);                          
                       }
                    break;
            case 22:
                       if(dwTickCount >= HL_MotorDelay)
                       {
                           if(cHLflg)
                               HL_MotorStep   = 0; 
                           else
                               HL_MotorStep   = 23; 
                           HL_BB_VAVLE = 0;
                           
                           if(SingOneFlg)
                           {
                               SingOneFlg = 0;
                               HL_MotorStep   = 0; 
                               HL_AutoStep    = 0;
                               HL_bRunning    = 0;
                           }
                           HL_MotorDelay = dwTickCount + HL_VAVLE_ALARM_TIME;
                       }
                    break;
            case 23:
                       if(!HL_BB_LIMIT_IN)
                       {
                           HL_MotorStep   = 0; 
                        //   if(!X_DRV)AxisMovePosAccDec(X_AXIS,HL_PARAM_LOW_SPEED,HL_PARAM_DELAY_STOP2,1,5,5);
                       }
                       else if(dwTickCount >= HL_MotorDelay)
                       {
                           HL_SetAlarmCode(HL_BB_LIMIT_ALARM);   
                       }
                    break;
            case 24:
                       if(!X_DRV)
                       {
                           HL_MotorStep   = 0; 
                           HL_MotorDelay = dwTickCount;
                       }
                    break;
 
*/
	}
}

//自动运行动作
void HL_AutoRunStep(void)
{    
    static long save_buff;
    static unsigned long yd_delay_back;
    static unsigned char yd_back_flg = 0;
    static unsigned long dk_up_delay;
    if((dwTickCount >= HL_YCXDelay) && HL_YCX_VAVLE)HL_YCX_VAVLE = 0;
//    if((dwTickCount >= HL_Y14Delay) && Y14)Y14 = 0;
    if(dwTickCount >= HL_Y15Delay)  //工作完成输出信号延时关
        HL_OVEROUt_VAVLE = 0;
    if(HL_front_IN_DW)
      bCheckOK = 1;
    if(HL_bRunning)
    {
        if(yd_back_flg)
        {
            if(dwTickCount >= yd_delay_back)
            {
                yd_back_flg = 0;
                HL_YD_VAVLE = 0;        //压带
            }
        }
        switch(HL_AutoStep)
        {
            case 1:
                HL_AutoStep     = 2;
                SetEn(X_AXIS,HL_MOTOR_EN);
                HL_AutoDelay = dwTickCount + 300;
                break;
            case 2:
                if((dwTickCount >= HL_AutoDelay))
                {       
                    if(HL_MotorStep == 0)
                    {////1为联机模式                //联网信号上  前机态拖带电机输出
          //              if((!HL_PARAM_CONNECT_MODE))// || (!HL_STOP_IN && HL_front_IN && bCheckOK))//屏蔽部分为和前机有信号联动
                        {
                            HL_AutoStep     = 3;                    
                            HL_MotorStep    = 1;    //电机启动
                            bCheckOK = 0;
                        }
           //             if((HL_front_IN_DW) && (work_Num == 0))
            //            {  
           //  /               work_Num++;
          //                  HL_OVEROUt_VAVLE = 1;
          //                  HL_Y15Delay = dwTickCount + 100;
          //              }
                        HL_CD_VAVLE     = 0;    //扯带电磁阀
                        HL_SJ_VAVLE     = 0;    //松紧气缸
                    }
                }
                break;
            case 3:
                if(HL_MotorStep == 0)
                {
                    if(cDWflg | cHLflg)
                    {
                        HL_AutoDelay    = dwTickCount + 150; 
                        HL_AutoStep   =200;
                        
                    }
                    else
                    {
                        HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_TFK; // 延时推方块
                        HL_AutoStep  = 4; 
                    }
                }
                break;
#if 0            
            if((HL_front_IN_DW) && (work_Num == 0))
            {  
               work_Num++;
               HL_OVEROUt_VAVLE = 1;
               HL_Y15Delay = dwTickCount + 100;
            }
#endif            
            case 4:
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_TFK_VAVLE    = 1;        //推方块输出
                    HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                    HL_AutoStep  = 5;            
                }
                break;
            case 5:        
                if(HL_TFK_LIMIT_IN) //推方块到位
                {
                    HL_AutoStep = 6;
                    //延时合模
                    HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_HM;
                }
                else if(dwTickCount >= HL_AutoDelay)
                {
                   HL_SetAlarmCode(HL_TFK_LIMIT_ALARM);
                }
                break;
            case 6:
              
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_HM_VAVLE     = 1; //Y00  //合模
                    HL_SJ_VAVLE     = 1; //Y10  //松紧气缸
                    HL_YD_VAVLE     = 1;     //  压带
                    HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                    HL_AutoStep = 7;
                } 
                break;
            case 7:
        //上下模合模到位
                if(HL_SM_LIMIT_IN && HL_XM_LIMIT_IN)
                {
                    HL_AutoStep = 8;
                    //延时关推方块
                    HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_TFK_BACK;
                }
                else if(dwTickCount >= HL_AutoDelay)
                {
                    if(!HL_SM_LIMIT_IN)
                        HL_SetAlarmCode(HL_SM_LIMIT_ALARM);
                    else
                        HL_SetAlarmCode(HL_XM_LIMIT_ALARM);
                }
                break;
            case 8:
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_AutoStep = 9;
                    HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                    HL_TFK_VAVLE = 0;
                }
                break;
            case 9:          
                if(!HL_TFK_LIMIT_IN)//HL_TFK_ORIGIN_IN)        //推方块离开到位信号，回到原点
                {
                   HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_DK_UP;
                   HL_AutoStep = 10;
                }
                else if(dwTickCount >= HL_AutoDelay)
                    HL_SetAlarmCode(HL_TFK_ORIGIN_ALARM);
                break;
            case 10:    
                if((dwTickCount >= HL_AutoDelay))
                {           
                    HL_DK_UP_VAVLE   = 1;  //Y03  //挡块上下
                    HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                    HL_AutoStep = 11;
                }
                break;
            case 11:
//                if(!HL_DK_UP_LIMIT_IN)       //挡块上到位
                {
                    HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_DK_GO;  //延时输出挡块前后
                    HL_AutoStep = 100;
                }
 //               else if(dwTickCount >= HL_AutoDelay)
 //                   HL_SetAlarmCode(HL_DK_UP_LIMIT_ALARM);
                break;
            case 100:        
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_DK_GO_VAVLE = 1; ////挡块前后输出
                    HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                    HL_AutoStep = 12;
                }
                break;        
            case 12:
                if(HL_DK_LIMIT_IN && (!HL_DK_UP_LIMIT_IN) && HL_TFK_ORIGIN_IN)//挡块前后输出到位
                {
                     HL_AutoDelay    = dwTickCount +  HL_PARAM_DELAY_BB;
                     HL_YCX_VAVLE    = 1;  //压插销电磁阀
    //                 Y14 = 1;
                     HL_YCXDelay     = dwTickCount + HL_PARAM_YCX_TIME;
                     HL_Y14Delay     = dwTickCount + HL_PARAM_DELAY_Y14_BACK;
                     HL_AutoStep = 13;
                }
                else if(dwTickCount >= HL_AutoDelay)
                {
                    if(HL_DK_UP_LIMIT_IN)
                        HL_SetAlarmCode(HL_DK_UP_LIMIT_ALARM);
                    else if(!HL_TFK_ORIGIN_IN)
                        HL_SetAlarmCode(HL_TFK_ORIGIN_ALARM);
                    else
                        HL_SetAlarmCode(HL_DK_LIMIT_ALARM);
                }    
                break;
            case 13:
                if(dwTickCount >= HL_AutoDelay)
                {          
 //                    if(HL_PARAM_BB_ENABLE == 0)
                        HL_BB_VAVLE = 1; //摆臂输出
                     HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                     HL_AutoStep = 14;
                }
                break;
            case 14:    
 //               if(HL_PARAM_BB_ENABLE == 0)
                {
                    if(HL_BB_LIMIT_IN)//摆臂到位
                    {               
                        HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CCX;
                        HL_AutoStep = 15;
                        if(HL_PARAM_CCX_MODE == 0)  //气缸穿入
                        {
  //                          AxisMovePosAccDec(X_AXIS,8,120,3,5,5);
                            save_buff = dwRealPos;
                            AxisMovePosAccDec(X_AXIS,HL_PARAM_CCX_SPEED,HL_PARAM_CCX_LENGTH,4,5,5);
                            HL_AutoDelay    = dwTickCount + 2;
                        }    
                    }
                    else if(dwTickCount >= HL_AutoDelay)
                        HL_SetAlarmCode(HL_BB_LIMIT_ALARM);
                }
  //              else
  //              {               
//                      HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_BB;
//                      HL_AutoStep = 15;         
 //               }
                break;
            case 15:   
                if(dwTickCount >= HL_AutoDelay)
                {
                    if(HL_PARAM_CCX_MODE)////穿插销模式 1为电机穿 0为夹带气缸穿
                    {
                        if(HL_PARAM_BB_ENABLE)  //后输出模式
                        {
                            HL_BB_VAVLE = 1; 
                            HL_AutoStep = 180;
                            HL_AutoDelay    = dwTickCount+HL_PARAM_DELAY_CCX;       
                        }
                        else
                        {
                            if(!X_DRV)
                            {
                                AxisMovePosAccDec(X_AXIS,HL_PARAM_CCX_SPEED,HL_PARAM_CCX_LENGTH,1,5,5); 
                            HL_AutoDelay    = dwTickCount;  
                            HL_AutoStep = 16;
                            }
                        }
                    }  
                    else
                    {
                        if(HL_PARAM_BB_ENABLE)
                            HL_BB_VAVLE = 1; 
                        //原来45
                        if(((dwRealPos + 12) <= save_buff) || !X_DRV)
                        {
                            HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CCX;
                            HL_JD_VAVLE = 1;
                            HL_AutoStep = 16;
                        }
                    }
                }
                break;
            case 180:   
                if((dwTickCount >= HL_AutoDelay))
                {
                      if(!X_DRV)
                        AxisMovePosAccDec(X_AXIS,HL_PARAM_CCX_SPEED,HL_PARAM_CCX_LENGTH,1,5,5); 
                      HL_AutoDelay    = dwTickCount;   
                      HL_AutoStep = 16;
                }
                break;
            case 16:  
                if((dwTickCount >= HL_AutoDelay) && !HL_YCX_VAVLE)
                {
                    if(HL_PARAM_CCX_MODE)
                    {              
                        if(!X_DRV)
                        {
                            HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                            HL_CheckDelay   = dwTickCount + HL_PARAM_DELAY_CHECK_CCX;
                            HL_AutoStep = 17;
                            if(HL_PARAM_CD_ENABLE) //1为带扯带功能
                                HL_JD_VAVLE = 1;
                        }
                    }
                    else
                    {
                        HL_CCX_VAVLE = 1;
                        HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                        HL_CheckDelay   = dwTickCount + HL_PARAM_DELAY_CHECK_CCX;
                        HL_AutoStep = 17;
                        if(HL_PARAM_CD_ENABLE)
                            HL_JD_VAVLE = 1;
                    }
                }
                break;
            case 17:
                if((dwTickCount >= HL_CheckDelay))
                {
                    if(HL_CCX_LIMIT_IN)
                    {        
                        if(HL_PARAM_CCX_MODE)
                        {
                            HL_DK_UP_VAVLE     = 0;
                            HL_DK_GO_VAVLE = 0; ////挡块前后关
//                            if(HL_PARAM_CD_ENABLE)
  //                            SetEn(X_AXIS,HL_MOTOR_DISEN);
                            HL_AutoDelay = dwTickCount + HL_VAVLE_ALARM_TIME;
                            HL_AutoStep = 18;
                        }
                        else
                        {
                            HL_DK_UP_VAVLE     = 0;
                            HL_DK_GO_VAVLE = 0; ////挡块前后关
                            HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_JD_BACK;
                            HL_AutoStep = 50;
                        }
                    }
                    else if(dwTickCount >= HL_AutoDelay)
                        HL_SetAlarmCode(HL_CCX_LIMIT_ALARM);
                }
                break;
            case 50:
                 if(dwTickCount >= HL_AutoDelay)
                {   
                     HL_JD_VAVLE     = 0;
                     HL_AutoDelay    = dwTickCount + 5;
                     HL_AutoStep = 51;
                }
                break;
            case 51:
                 if(dwTickCount >= HL_AutoDelay)
                {
//                     if(!X_DRV)AxisMovePosAccDec(X_AXIS,HL_PARAM_CCX_SPEED,HL_PARAM_CCX_LENGTH,4,5,5);    
                     HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                     HL_AutoStep = 18;
                }
                break;
            case 18:       
                if(HL_DK_UP_LIMIT_IN && !X_DRV && ((HL_BB_LIMIT_IN && (HL_PARAM_BB_ENABLE == 0)) || (HL_PARAM_BB_ENABLE == 1)))
                {  
                    HL_CCX_VAVLE    = 0;
                    HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_BACK_DK_UP;
                    HL_AutoStep = 19;
                }
                else if(dwTickCount >= HL_AutoDelay)
                {
                    if(!HL_DK_UP_LIMIT_IN)HL_SetAlarmCode(HL_DK_UP_LIMIT_ALARM);
                    else HL_SetAlarmCode(HL_BB_LIMIT_ALARM);
                }
                break;
            case 19:
              
                if(dwTickCount >= HL_AutoDelay)
                { 
                        HL_DK_GO_VAVLE  = 0;
                        if(!HL_PARAM_CCX_TIMES)
                        {
                            yd_back_flg  = 1;
                            yd_delay_back = dwTickCount + HL_PARAM_DELAY_YD_BACK;
                        }
                        HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                        HL_AutoStep = 20;     
                }
                break;
            case 20:
                if(HL_DK_ORIGIN_IN)
                { 
                    if(HL_PARAM_CCX_MODE)
                    {
                        HL_AutoDelay    = dwTickCount;
                        
                        if(HL_PARAM_CD_ENABLE)
                            HL_AutoStep = 21;
                        else
                            HL_AutoStep = 25;
                    }
                    else
                    {
                        if(!HL_PARAM_CCX_TIMES)
                        {
                           HL_AutoDelay    = dwTickCount;
                            HL_AutoStep = 25;
                        }
                        else
                        {
                            HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_JD;
                            HL_AutoStep = 21;
                        }                   
                    }             
                }
                else if(dwTickCount >= HL_AutoDelay)
                    HL_SetAlarmCode(HL_DK_ORIGIN_ALARM);    
                break;
            case 21:
              
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_JD_VAVLE = 1;
                    if(HL_PARAM_CD_ENABLE)
                    {
                        HL_AutoStep = 150;
                        HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CD;
                    }
                    else
                    {
                        HL_AutoStep = 22;
                        if(!HL_PARAM_CCX_MODE)HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CCX;
                    }  
                }
                break;
            case 150:
                if((dwTickCount >= HL_AutoDelay))
                {
                    HL_CD_VAVLE  = 1;
                    if(!HL_PARAM_CCX_MODE)HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CCX;
                    HL_AutoStep = 22;
                }
                break;
            case 22:
                if((dwTickCount >= HL_AutoDelay))
                {
                    HL_CCX_VAVLE = 1;
                    HL_AutoStep = 23;
                }
                break;
            case 23:
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_JD_BACK;
                    HL_AutoStep = 24;
                } 
                break;
           case 24:    
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_JD_VAVLE = 0;
                 //   HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CCX;
                    HL_AutoStep = 25;
                } 
                break;
            case 25:  
                if((dwTickCount >= HL_AutoDelay))
                {
                    if(HL_PARAM_BB_ENABLE)HL_BB_VAVLE = 0; 
                    HL_CCX_VAVLE = 0;
                    HL_JD_VAVLE = 0;
                    yd_back_flg  = 1;
                    cErrorStop_Flg = 0;
                    yd_delay_back = dwTickCount + HL_PARAM_DELAY_YD_BACK;
                    if(cZCXflg)
                    {
                        cZCXflg       = 0;  
                        HL_AutoStep  = 0;
                        HL_bRunning  = 0;
                    }
                    else
                    { 
                        HL_AutoStep = 26;
                    }
                }
                break;
            case 26:      
                 if(HL_PARAM_CONNECT_MODE)
                { 
                   work_Num = 0;
                   HL_OVEROUt_VAVLE = 1;
                   HL_Y15Delay = dwTickCount + 100;
                }       
                 AddToTal(HL_TOTAL_ADDR);
                 dwZipCnt++;
                 if(GetTotal(HL_TOTAL_ADDR) >= HL_PARAM_SET_TOTAL)
                 {
                      HL_SetAlarmCode(HL_TOTAL_ALARM);             
                 }    
                 else
                 {
                      HL_AutoStep = 2;
                      HL_AutoDelay = HL_PARAM_CYCLE_DELAY + dwTickCount;
                      CalProSP(HL_PROSPEED_ADDR);
                 }
                 break;
            case 71:
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_JD_VAVLE = 1;
                    HL_DK_GO_VAVLE  = 0;  
                    HL_AutoStep = 72;
                    HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CCX;  
                    dk_up_delay    = dwTickCount +HL_PARAM_DELAY_BACK_DK_UP;
                }
                break;
            case 72:
                if(dwTickCount >= HL_AutoDelay)
                {
                    if(dwTickCount >= dk_up_delay)HL_DK_UP_VAVLE     = 0;
                    HL_CCX_VAVLE = 1;
                    HL_AutoStep = 73;
                }
                break;
            case 73:
                if(dwTickCount >= HL_AutoDelay)
                {
                    if(dwTickCount >= dk_up_delay)HL_DK_UP_VAVLE     = 0;
                    if(HL_CCX_LIMIT_IN)
                    {
                        HL_AutoDelay    = dwTickCount;
                        HL_AutoStep = 74;       
                    }
                } 
                break;
            case 74:
                if(dwTickCount >= HL_AutoDelay)
                {       
                        if(dwTickCount >= dk_up_delay)HL_DK_UP_VAVLE     = 0;
                        HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_JD_BACK;
                        HL_AutoStep = 75;       
                }
                break;
            case 75:
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_JD_VAVLE = 0;
                    {          
                        HL_AutoStep = 76; 
                        HL_AutoDelay    = dwTickCount;
                    }
                } 
                break;
            case 76:
                if(dwTickCount >= HL_AutoDelay)
                {              
                        HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CCX;
                        HL_AutoStep = 77;        
                }
                break;
            case 77:
                if(dwTickCount >= HL_AutoDelay)
                {
                    HL_DK_UP_VAVLE     = 0;
                    HL_CCX_VAVLE = 0;
                    yd_back_flg  = 1;
                    yd_delay_back = dwTickCount + HL_PARAM_DELAY_YD_BACK;

                    
                    if(HL_DK_UP_LIMIT_IN && (HL_DK_ORIGIN_IN))
                    {
                        if(cZCXflg)
                        {
                            cZCXflg       = 0;  
                            HL_AutoStep  = 0;
                            HL_bRunning  = 0;
                        }
                        else
                        { 
                            HL_AutoStep = 26;
                        }
                    }
                }
                break;
        case 200:
           
                if(dwTickCount >= HL_AutoDelay)
                {
                    cDWflg       = 0; 
                        cHLflg       = 0;
                        HL_AutoStep  = 0;
                        HL_bRunning  = 0;
                } 
                break;
        }
    }        
}


#endif