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- #include "global.h"
- #if CHANG_SHENG_GEI_LI_MACHINE
- void MXC_NiLongXiuCiJiCheckStart(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);
- void MXC_NiLongXiuCiJi_GouZhenProc(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,dwRealPosY;
- unsigned long cZipperLength[2];
- unsigned char cCheckLengthOk=0,cDaoJu_Flag=0;
- unsigned char STOP_IN_FLAG,STOP_IN_FLAG_OLD,STOP_FILTER;
- unsigned char MXC_SingOneFlag = 0;
- unsigned char MXC_KD_Flag = 0,KD_GO_ON_FLAG = 0;
- long MXC_KD_pos = 0,save_pos_buff = 0;
- //故障报警
- void MXC_SetAlarmCode(unsigned alarm_code)
- {
- SetAlarmCode(MXC_ALARM_ADDR,alarm_code);
- MXC_bAlarmStop = 1;
- }
- //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;
- if(X_DRV)SetRemainLength(X_AXIS, MXC_PARAM_SEBIAO_DW_LENGTH,MXC_PARAM_SB_OFFSET_SPEED);
- }
- }
- void MXC_ExtiActionX20(void)
- {
- }
- void MXC_InitAction(void)
- {
- float length_buff,pulse_buff;
-
- CalFreqTab_X_Free(25);
- length_buff = MXC_PARAM_DAILUN_LENGTH;
- pulse_buff = 2000;
- XGearRatio = pulse_buff/length_buff;
-
-
- length_buff = MXC_PARAM_DAILUN_LENGTH;// 勾针电机一圈周长;
- pulse_buff = 2000; // 勾针电机细分
- YGearRatio = pulse_buff/length_buff;
-
-
- MXC_XC_SongZhou = MXC_XC_SERVER_DISEN;
- MXC_TuoDaiSongZhou = MXC_SERVER_DISEN;
- // MXC_XIA_ZHI_ENABLE = 0;
- if(MXC_XIA_ZHI_ENABLE)
- MXC_XiaZhi_MOTOR = 1;
- else
- MXC_XiaZhi_MOTOR = 0;
-
- STOP_IN_FLAG = STOP_IN;
- STOP_IN_FLAG_OLD = STOP_IN_FLAG;
- }
- void MXC_NiLongXiuCiJiAction(void)
- {
- MXC_NiLongXiuCiJiCheckStart(); //启动
- MXC_NiLongXiuCiJi_FenZhengProc(); //左右分针
- MXC_NiLongXiuCiJi_XiaC(); //下冲
- MXC_ChuiQiProc();
- MXC_NiLongXiuCiJi_Motor(); //拖带控制
- MXC_JiaoDao();
- MXC_ManualAction();
- MXC_AutoAction();
- MXC_NiLongXiuCiJi_GouZhenProc();
- }
- void MXC_ManualAction(void)
- {
- long i;
-
- //清总产量
- if(MXC_bClear) //清总产量
- {
- MXC_bClear = 0;
- ClrcToTal(MXC_TOTAL_ADDR);
- MXC_bSaveWorkData = 1;
- }
- //当长度改变时,生产总量自动清零
- if(MXC_bChangeLength)
- {
- MXC_bChangeLength = 0;
- MXC_bClear = 1;
- }
- //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(!MXC_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(!MXC_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(!MXC_bRunning)
- {
- MXC_XIA_ZHI_ENABLE++;
- if(MXC_XIA_ZHI_ENABLE > 2)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;
- }
-
- if(MXC_bChuiQi)
- {
- MXC_bChuiQi = 0;
-
- if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
- }
-
- if((MXC_bRunning) == 0) ////手动
- {
- if(MXC_ManXiaChong_UP || MXC_bXiaChong)
- {
- MXC_bXiaChong = 0;
- if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 1;
- }
-
- if(MXC_cXiaChongStep == 0)
- {
- if(MXC_bLeftFenZhen)
- {
- MXC_bLeftFenZhen = 0;
- MXC_LeftFenZhen_VAVLE = ~MXC_LeftFenZhen_VAVLE;
- }
-
- if(MXC_bRightFenZhen)
- {
- MXC_bRightFenZhen = 0;
- MXC_RightFenZhen_VAVLE= ~MXC_RightFenZhen_VAVLE;
- }
-
- //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 = 1;
- }
-
- }
- }
-
- 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;
- }
-
- if(MXC_bChuDai)
- {
- MXC_ChuDai_VAVLE = 1;
- }
- else
- {
- MXC_ChuDai_VAVLE = 0;
- }
-
- if(MXC_GouZhenforward)
- {
- MXC_GouzhenMotor_DR = MXC_GZ_DIR_P;
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Hand_SPEED,MXC_GZ_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- }
- if(MXC_GouZhenback)
- {
- MXC_GouzhenMotor_DR = MXC_GZ_DIR_N;
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Hand_SPEED,MXC_GZ_DIR_N,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- }
-
- if((MXC_cGouZhenDWStep == 0) && !MXC_GouZhenforward && !MXC_GouZhenback)
- {
- if(Y_DRV)AxisDecStop(Y_AXIS);
- }
-
- }
- //下止下冲电磁铁
- if((MXC_XiaZhi_VAVLE != 0) && (dwTickCount >= MXC_cXiaZhiDelay))
- {
- MXC_XiaZhi_VAVLE = 0;
- }
- }
- void MXC_AutoAction(void)
- {
- // DISPLAY_DATA0 = MXC_cAutoStep;
- DISPLAY_DATA1 = MXC_cMotorStep;
- DISPLAY_DATA2 = MXC_cLeftFenZhenStep;
- DISPLAY_DATA3 = MXC_cRightFenZhenStep;
- DISPLAY_DATA4 = MXC_cXiaChongStep;
- DISPLAY_DATA5 = dwRealPos;
- if(MXC_bRunning)
- {
- if((!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:
- if(dwTickCount >= MXC_cAutoDelay)
- {
- if(MXC_TuoDaiSongZhou == MXC_SERVER_DISEN)
- {
- MXC_TuoDaiSongZhou = MXC_SERVER_EN;
- MXC_cAutoDelay = dwTickCount + 200; //先锁轴
- }
- else
- MXC_cAutoDelay = dwTickCount;
- MXC_cAutoStep = 2;
- }
- break;
- case 2:
- //左右分针要退到位,过链到位要离开
- if(!MXC_GouZhen_IN && MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN && (dwTickCount >= MXC_cAutoDelay))
- {
- MXC_cAutoStep = 3;
- MXC_cMotorStep = 1; //启动拖带
- }
- break;
- case 3:
- //拖带已经完成
- if(MXC_cMotorStep == 0)
- {
- if(SingOneFlg)
- {
- dwZipCnt = 0;
- SingOneFlg = 0;
- MXC_cAutoStep = 0;
- MXC_bRunning = 0;
- }
- else
- {
- MXC_cAutoStep = 4;
- }
- }
- break;
- case 4:
- MXC_cAutoStep = 5;
- break;
- case 5:
- //左右分针都已完成
- if((MXC_cLeftFenZhenStep == 0) && (MXC_cRightFenZhenStep == 0) && (MXC_cXiaChongStep == 0))
- {
- MXC_cXiaChongStep = 1; //下冲电机启动
- MXC_cAutoStep = 6;
- }
- break;
- case 6: //下冲已完成
- if(((MXC_cXiaChongStep == 0) || (MXC_cXiaChongStep >= 5)) && !MXC_XiaZhi_VAVLE)
- {
- dwZipCnt++;
- AddToTal(MXC_TOTAL_ADDR); //计数增加和保存
- CalProSP(MXC_PROSPEED_ADDR);
- MXC_cAutoStep = 7;
- }
- break;
- case 7:
- 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 = 8;
- }
- break;
- case 8:
- MXC_cAutoDelay = dwTickCount + MXC_PARAM_MOTOR_DELAY;
-
- if(MXC_SingOneFlag)
- {
- dwZipCnt = 0;
- MXC_SingOneFlag = 0;
- MXC_cAutoStep = 0;
- MXC_bRunning = 0;
- }
- 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((MXC_bRunning == 0) && (START_IN_UP || MXC_bStart || MXC_bNext))
- {
- if(!MXC_LeftFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_START_LFZ_ORIGIN_ALARM); //没拉链
- else if(GetTotal(MXC_TOTAL_ADDR) >= MXC_SET_TOTAL)MXC_SetAlarmCode(MXC_TOTAL_ALARM);
- else if(!MXC_RightFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_START_RFZ_ORIGIN_ALARM);
- else if(!MXC_Zipper_IN)MXC_SetAlarmCode(MXC_START_NO_ZIPPER_ALARM);
- else if((MXC_PARAM_SEBIAO_DW_LENGTH > MXC_SET_ZIPPER_LENGTH) && (MXC_DC_MODE==2))MXC_SetAlarmCode(MXC_SEBIAO_ZIPPER_LENGTH_ALARM);
- else if(MXC_KaDai_IN)MXC_SetAlarmCode(MXC_KA_DAI_ALARM);
- else
- {
- if(MXC_bNext)
- {
- SingOneFlg = 1;
- MXC_bNext = 0;
- }
- MXC_bRunning = 1;
- MXC_cAutoStep = 1;
- cGouZhenTime = 1;
- cCheckLengthOk = 0;
- cZipperLength[0] = 0;
- cZipperLength[1] = 0;
- dwZipCnt = 0;
- }
- MXC_bStart = 0;
- }
- //卡带感应
- if(MXC_KaDai_IN && (dwTickCount >= MXC_cKaDaiDelay))
- {
- if(MXC_DC_MODE == 1)
- {
- if(X_DRV && MXC_bRunning && (MXC_cMotorStep == 20))
- {
- MXC_KD_Flag = 1;
- KD_GO_ON_FLAG = 1;
- }
- }
- MXC_SetAlarmCode(MXC_KA_DAI_ALARM);
-
-
- MXC_cKaDaiDelay = dwTickCount + 2200;
- }
-
- if(MXC_KD_Flag)
- {
- if(!X_DRV)
- {
- MXC_KD_pos = dwRealPos - save_pos_buff;
- MXC_KD_Flag = 0;
- }
- }
-
- if(MXC_KaDai_IN_UP)
- {
- if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
- }
- //停止
- STOP_IN_FLAG_OLD = STOP_IN_FLAG;
-
- if(STOP_IN)
- {
- if(STOP_FILTER < 50)
- {
- STOP_FILTER++;
- }
- else
- STOP_IN_FLAG = 1;
- }
- else if(STOP_FILTER > 25)
- {
- STOP_FILTER--;
- }
- else
- STOP_IN_FLAG = 0;
-
- if(MXC_bStop)
- {
- MXC_bStop = 0;
- if(MXC_bRunning)MXC_SingOneFlag = 1;
- }
-
-
-
- if(((STOP_IN_FLAG && !STOP_IN_FLAG_OLD)))
- {
- MXC_bStop = 0;
- if(MXC_bRunning)
- {
- if(MXC_cXiaChongStep==0)
- {
- if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
-
- if(!MXC_XiaChong_MOTOR)MXC_XC_SongZhou = MXC_XC_SERVER_EN;
- }
-
- MXC_bRunning = 0;
- cStopFlag = 0;
- MXC_cAutoStep = 0;
- MXC_cMotorStep = 0;
- MXC_cDCPStep = 0;
- AxisDecStop(X_AXIS);
- MXC_cJiaoDaoStep = 0;
- SingOneFlg = 0;
- MXC_SingOneFlag = 0;
- MXC_KD_Flag = 0;
- KD_GO_ON_FLAG = 0;
- }
- else
- {
- MXC_bRunning = 0;
-
- cStopFlag = 0;
- MXC_cAutoStep = 0;
- MXC_cMotorStep = 0;
- MXC_cXiaChongStep = 0;
- MXC_cLeftFenZhenStep = 0;
- MXC_cRightFenZhenStep = 0;
- MXC_cJiaoDaoStep = 0;
- MXC_cDCPStep = 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_ChuDai_VAVLE = 0;
- MXC_GuDingGouZhen = 0;
- SingOneFlg = 0;
- MXC_SingOneFlag = 0;
- MXC_KD_Flag = 0;
- KD_GO_ON_FLAG = 0;
- if(MXC_XiaChongMotorMode)
- MXC_XC_SongZhou = MXC_XC_SERVER_EN;
- else
- MXC_XC_ShaChe = MXC_SC_DISEN;
-
- if((MXC_cChuiQiStep == 0) &&(MXC_cXiaChongStep==0))MXC_cChuiQiStep = 1;
- AxisDecStop(X_AXIS);
- SetAlarmCode(MXC_ALARM_ADDR,MXC_NO_ALARM);
- }
- }
-
- if(!MXC_bRunning && (MXC_cMotorStep==0) && (MXC_cXiaChongStep == 0))
- {
- if(!X_DRV)MXC_TuoDaiSongZhou = MXC_SERVER_DISEN;
- }
- if(MXC_bAlarmStop)
- {
- MXC_bAlarmStop = 0;
- MXC_bRunning = 0;
- MXC_cAutoStep = 0;
- MXC_cMotorStep = 0;
- MXC_cLeftFenZhenStep = 0;
- MXC_cRightFenZhenStep = 0;
- MXC_cDCPStep = 0;
- MXC_LeftFenZhen_VAVLE = 0;
- MXC_RightFenZhen_VAVLE = 0;
- MXC_SingOneFlag = 0;
- AxisDecStop(X_AXIS);
- if((GetAlarmCode(MXC_ALARM_ADDR) == MXC_XIA_CHONG_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_XC_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_FEN_ZHEN_ALARM))
- {
- MXC_cXiaChongStep = 0;
- MXC_XiaChong_MOTOR = 0;
- }
- }
- }
- 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_ChuiQiProc(void)
- {
- //吹气
- if(MXC_XiaChong_IN_UP)
- {
- if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1;
- }
-
-
- switch (MXC_cDCPStep)
- {
- case 0:
- break;
- case 1:
- MXC_cDCPStep = 2;
- MXC_cDaoJuCheckDelay = dwTickCount + ERRORTIME;
- break;
- case 2:
- if(MXC_DingChuPian_IN_DW)
- {
- MXC_cDCPStep = 0;
- }
- else if(dwTickCount >= MXC_cDaoJuCheckDelay)MXC_SetAlarmCode(MXC_DAO_JU_ALARM);
- break;
- }
-
- switch(MXC_cChuiQiStep)
- {
- case 1:
- MXC_cChuiQiStep = 2;
- if(MXC_bRunning)MXC_cChuiQiDelay = dwTickCount+MXC_PARAM_DELAY_CHUIQI_TIME;
- break;
- case 2:
- if(dwTickCount >= MXC_cChuiQiDelay)
- {
- MXC_cChuiQiDelay = dwTickCount + MXC_PARAM_CHUIQI_TIME;
- MXC_ChuiQi_VAVLE = 1;//
- MXC_cDCPStep = 1;
- MXC_cChuiQiStep = 3;
- }
- break;
- case 3:
- if(dwTickCount >= MXC_cChuiQiDelay)
- {
- MXC_ChuiQi_VAVLE = 0;//
- MXC_cChuiQiStep = 0;
- }
- break;
- }
- }
- void MXC_ShaChe_Output(void)
- {
- //启动吹气
- cShaCheTime = dwTickCount + (unsigned long)120;
- if(MXC_XiaChongMotorMode == 0)MXC_XC_SongZhou = MXC_XC_SERVER_DISEN;
- }
- void MXC_Output_XiaCi(void)//下止输出
- {
- if(MXC_XIA_ZHI_ENABLE) //下止选择
- {
- //下止输出
- MXC_cXiaZhiDelay = dwTickCount + 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(MXC_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 char ComPareLength(void)
- {
- if((cZipperLength[0] != 0) && (cZipperLength[1] != 0))
- {
- if(cZipperLength[0] > cZipperLength[1])
- {
- if((cZipperLength[0] - cZipperLength[1]) > 200)
- {
- return 0;
- }
- else
- return 1;
- }
- else
- {
- if((cZipperLength[1] - cZipperLength[0]) > 200)
- {
- return 0;
- }
- else
- return 1;
- }
- }
- else
- return 0;
- }
- void MXC_NiLongXiuCiJi_Motor(void)
- {
- static long save_buff,gou_zhen_buff,zipper_length_buff;
- static unsigned long zipper_length;
- short *revise_buff;
-
- DISPLAY_DATA6 = zipper_length;
- if(MXC_bRunning)
- {
- if(MXC_Zipper_IN)
- {
- MXC_cBudaiCheckDelay = dwTickCount + MXC_PARAM_MOTOR_ALARM_TIME;
- }
- else if(dwTickCount >= MXC_cBudaiCheckDelay) //没布带了
- {
- MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM); //没拉链
- }
- }
-
- dwRealPos = GetPos(X_AXIS);
- dwRealPosY = GetPos(Y_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))
- {
- save_buff = dwRealPos;
- revise_buff = &user_datas[17];
- save_pos_buff = dwRealPos;
- if(MXC_DC_MODE == 0) //钩针定寸
- {
- if(MXC_DEC_MODE) //数控模式
- {
- if(MXC_PARAM_AUTO_CHECK_MODE)
- {
- if(cCheckLengthOk)
- {
- MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_SET_SPEED,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- }
- else
- {
- if(cCheckLengthOk == 0)
- {
- cZipperLength[0] = cZipperLength[1];
- cZipperLength[1] = zipper_length_buff - dwRealPos;
- zipper_length_buff = dwRealPos;
- if(ComPareLength())
- {
- cCheckLengthOk = 1;
- }
- }
- if(cCheckLengthOk)zipper_length = cZipperLength[1] + (*revise_buff);
- MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_FIRST_SPEED,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- }
- }
- else
- {
- zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH;
- if(dwZipCnt==0) MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_FIRST_SPEED,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- else
- MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_SET_SPEED,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- }
- }
- else // 感应方式
- {
- AxisContinueMove(X_AXIS,MXC_PARAM_SET_SPEED,MXC_DIR_P);
- }
- MXC_cMotorStep = 2;
- }
- else if(MXC_DC_MODE == 1) //电机定寸
- {
- if(KD_GO_ON_FLAG)
- {
- if(MXC_KD_pos > (MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH))
- zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH;
- else
- zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH - MXC_KD_pos;
- KD_GO_ON_FLAG = 0;
- }
- else
- zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + 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
-
- AxisMovePosAccDec(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- }
- else //色标定寸
- {
- zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff);
-
- if((dwZipCnt==0)||SingOneFlg)MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_SB_LOW_SPEED,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- else MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_SB_HIGH_SPEED,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
-
- cSeBiaoOk = 0;
- cSeBiaoEn = 0;
- MXC_cMotorStep = 50;
- }
- MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY;
- MXC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME;
- }
- break;
- // step2-5 活动勾针定寸
- case 2:
- if((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0))MXC_GouZhen_VAVLE = 0;
- if(MXC_DEC_MODE) // 数控方式
- {
- if(MXC_PARAM_AUTO_CHECK_MODE)
- {
- if(cCheckLengthOk)
- {
- if(((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE)MXC_GouZhen_VAVLE = 0;
-
- if((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_LOWSPEED_LENGTH-(zipper_length/20)))
- {
- AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
- MXC_cMotorStep = 3;
- }
- }
- else
- {
- if(MXC_GouZhen_IN)
- {
- MXC_GouZhen_VAVLE = 0;
- MXC_cMotorStep = 4;
- AxisEgmStop(X_AXIS);
- }
- else
- {
- if(dwTickCount >= MXC_cGouZhenTime)MXC_GouZhen_VAVLE = 0;
- MXC_cMotorStep = 3;
- }
- }
-
- }
- else
- {
- if(dwZipCnt==0)
- {
- if(MXC_GouZhen_IN)
- {
- MXC_GouZhen_VAVLE = 0;
- MXC_cMotorStep = 4;
- AxisEgmStop(X_AXIS);
- }
- else
- {
- if(dwTickCount >= MXC_cGouZhenTime)MXC_GouZhen_VAVLE = 0;
- MXC_cMotorStep = 3;
- }
- }
- else
- {
- if(((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE)MXC_GouZhen_VAVLE = 0;
-
- if((save_buff -dwRealPos) >= (zipper_length - MXC_PARAM_LOWSPEED_LENGTH-(zipper_length/20)))
- {
- AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
- MXC_cMotorStep = 3;
- }
- else if(MXC_GouZhen_IN)
- {
- MXC_GouZhen_VAVLE = 0;
- MXC_cMotorStep = 4;
- AxisEgmStop(X_AXIS);
- }
- }
- }
- }
- else // 感应方式
- {
- if(MXC_Dec_IN_DW)
- {
- AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
- MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY;
- MXC_cMotorStep = 3;
- }
- }
- if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
- break;
- case 3:
- if((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0))MXC_GouZhen_VAVLE = 0;
- if(MXC_DEC_MODE) // 数控方式
- {
- if(MXC_PARAM_AUTO_CHECK_MODE)
- {
- if(((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE &&cCheckLengthOk)MXC_GouZhen_VAVLE = 0;
- }
- else
- {
- if(((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE)MXC_GouZhen_VAVLE = 0;
- }
-
- if(MXC_GouZhen_IN)
- {
- MXC_GouZhen_VAVLE = 0;
- MXC_cMotorStep = 4;
- AxisEgmStop(X_AXIS);
- }
- }
- else // 感应方式
- {
- MXC_cMotorStep = 4;
- }
-
- if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
- break;
- case 4:
- if((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0))MXC_GouZhen_VAVLE = 0;
- if(MXC_DEC_MODE) // 数控方式
- {
- if(!X_DRV)
- {
- MXC_cMotorStep = 0;
- }
- }
- else // 感应方式
- {
- if(MXC_GouZhen_IN)
- {
- MXC_cMotorStep = 5;
- AxisEgmStop(X_AXIS);
- }
- }
- if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
- break;
- case 5:
- if(MXC_DEC_MODE) // 数控方式
- {
-
- }
- else // 感应方式
- {
- if(!X_DRV)
- {
- MXC_cMotorStep = 0;
- }
- }
- if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
- 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;
- }
- }
- }
- }
- break;
- */
- //伺服定寸
- case 20:
- if(!X_DRV)MXC_cMotorStep = 0;
- else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM);
- break;
- case 50:
- if(dwZipCnt==0)
- {
- cSeBiaoOk = 0;
- cSeBiaoEn = 1;
- MXC_cMotorStep = 51;
- }
- else
- {
- if((save_buff - dwRealPos + MXC_PARAM_LOWSPEED_LENGTH) >= (zipper_length -MXC_PARAM_SEBIAO_DW_LENGTH)) AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
- if((save_buff - dwRealPos + MXC_PARAM_SEBIAO_TQ_LENGTH) >= (zipper_length - MXC_PARAM_SEBIAO_DW_LENGTH))
- {
- cSeBiaoOk = 0;
- cSeBiaoEn = 1;
- MXC_cMotorStep = 51;
- }
- else if((save_buff - dwRealPos) > (zipper_length + MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
-
- }
- break;
- case 51:
- if(dwZipCnt!=0)
- {
- if((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_LOWSPEED_LENGTH)) AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED);
- if((save_buff - dwRealPos) > (zipper_length + MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
- }
-
- if(!X_DRV)
- {
- if(dwZipCnt!=0)
- {
- if((save_buff - dwRealPos) < (zipper_length - MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
- }
- MXC_cMotorStep = 0;
- }
- else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM);
- break;
- }
- }
- //下冲
- void MXC_NiLongXiuCiJi_XiaC(void)
- {
- switch(MXC_cXiaChongStep)
- {
- case 0:
- return;
- break;
- case 1:
- {
- if((MXC_XIA_ZHI_ENABLE == 2) && MXC_bRunning)
- {
- MXC_cXiaChongStep = 7;
- MXC_GouZhen_VAVLE = 1;
- MXC_cGouZhenTime = dwTickCount + 300;
- MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_DELAY_XC;
-
- }
- else
- {
- MXC_cRightFenZhenStep = 1;
- MXC_cLeftFenZhenStep = 0;
- cRFengTimer = 0;
- cLFengTimer = 0;
- MXC_cXiaChongStep = 2;
- }
- }
-
- break;
- case 2:
- if((MXC_cRightFenZhenStep==0) && (MXC_cLeftFenZhenStep==0))
- {
- if(MXC_XiaChongMotorMode)
- MXC_XC_SongZhou = MXC_XC_SERVER_EN;
- else
- MXC_XC_ShaChe = MXC_SC_DISEN;
- MXC_XC_SongZhou = MXC_XC_SERVER_DISEN; //刹车打开
- if(MXC_bRunning)
- {
- MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_DELAY_XC;
- }
- MXC_cXiaChongStep = 3;
- }
- break;
- case 3:
- if(dwTickCount >= MXC_cXiaChongDelay)
- {
- MXC_cXiaChongStep = 4;
- MXC_XiaChong_MOTOR = 1; //下冲电机
- if(MXC_bRunning)MXC_Output_XiaCi();//下止输出
- 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);
- }
- }
- break;
- case 4: //碰到右大微动,延时停
- if(MXC_XiaChong_IN_UP)
- {
- MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_XC_DELAY;
- MXC_cXiaChongStep = 5;
- MXC_LeftFenZhen_VAVLE = 0; //退左分针
- MXC_RightFenZhen_VAVLE = 0; //退右分针
- MXC_GouZhen_VAVLE = 1;
- MXC_cGouZhenTime = dwTickCount + 300;
- }
- 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 5:
- if(dwTickCount >= MXC_cXiaChongDelay)
- {
-
- AxisEgmStop(Y_AXIS);
- MXC_XiaChong_MOTOR = 0; //延时刹车
- if(MXC_PARAM_SC_MODE)
- {
- MXC_cXiaChongStep = 0;
- }
- else
- {
- MXC_cXiaChongStep = 6;
- }
-
- // MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_SC_DELAY;
- }
- break;
- case 6:
- // if((dwTickCount >= MXC_cXiaChongDelay))
- {
- MXC_cXiaChongStep = 7;
- MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_SC_DELAY;
- // MXC_ShaChe_Output();
- }
- break;
- case 7:
- if((dwTickCount >= MXC_cXiaChongDelay)&& !MXC_XiaZhi_VAVLE)
- {
- MXC_cXiaChongStep = 0;
- if(MXC_bRunning)MXC_Output_XiaCi();//下止输出
- MXC_cXiaChongDelay = dwTickCount;
- MXC_XC_SongZhou = MXC_XC_SERVER_EN;
- }
- break;
- case 20: // 点动普通下冲动作
- MXC_XC_SongZhou = MXC_XC_SERVER_DISEN;
- 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 = MXC_XC_SERVER_DISEN;
-
- if(MXC_XiaChongMotorMode)
- MXC_cXiaChongStep = 0;
- else
- {
- MXC_cXiaChongDelay = dwTickCount + 150;
- MXC_cXiaChongStep = 23;
- }
- }
- break;
- case 23:
- if((dwTickCount >= MXC_cXiaChongDelay))
- {
- MXC_XC_SongZhou = MXC_XC_SERVER_EN;
- MXC_cXiaChongStep = 0;
- }
- break;
- case 40: // 点动电机下冲动作
- MXC_XC_SongZhou = MXC_XC_SERVER_DISEN;
- 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;
- }
- }
- //分针
- void MXC_NiLongXiuCiJi_FenZhengProc(void)
- {
- if(MXC_FenZSelect==0)
- {
- MXC_cLeftFenZhenStep = 0;
- MXC_cRightFenZhenStep = 0;
- }
- //右分针
- switch(MXC_cRightFenZhenStep)
- {
- case 0:
- break;
- case 1:
- MXC_cFenZhenRightDelay = MXC_PARAM_R_FZ_DELAY+dwTickCount;
- MXC_cRightFenZhenStep = 2;
- break;
- case 2:
- if(dwTickCount >= MXC_cFenZhenRightDelay)
- {
- MXC_cRightFenZhenStep = 3;
- MXC_RightFenZhen_VAVLE = 1;//右分针电磁阀
- MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime;
- }
- break;
- case 3: //碰到右大微动,延时停
- if(!MXC_RightFenZhen_Origin_IN) //右分针原点离开
- {
- MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime;
- MXC_cRightFenZhenStep = 4;
- }//右分针不下去
- else if(dwTickCount >= MXC_cFenZhenRightDelay)
- {
- MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);
- }
- break;
- case 4:
- if(MXC_RighttFenZhen_IN) //插针到位
- {
- MXC_cRightFenZhenStep = 0;
- MXC_cLeftFenZhenStep = 1; //左分针延时启动
- }
- else if(dwTickCount >= MXC_cFenZhenRightDelay)
- {
- 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_cRightFenZhenStep = 5;
- MXC_cFenZhenRightDelay = dwTickCount + FenZhengErrorTime;
- }
- else
- {
- MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);
- }
- }
- break;
- case 5:
- if(MXC_RightFenZhen_Origin_IN) //退到位
- {
- MXC_cRightFenZhenStep = 6;
- }
- else if(dwTickCount >= MXC_cFenZhenRightDelay)
- {
- MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);
- }
- break;
- case 6:
- {
- MXC_cRightFenZhenStep = 1;
- }
- break;
- }
- //左分针
- switch(MXC_cLeftFenZhenStep)
- {
- case 0:
- break;
- case 1:
- MXC_cFenZhenLeftDelay = MXC_PARAM_L_FZ_DELAY+dwTickCount;
- MXC_cLeftFenZhenStep = 2;
- break;
- case 2:
- if(dwTickCount >= MXC_cFenZhenLeftDelay)
- {
- MXC_cLeftFenZhenStep = 3;
- MXC_LeftFenZhen_VAVLE = 1; //左分针电磁阀
- MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime;
- }
- break;
- case 3: //离开左分针原点
- if(!MXC_LeftFenZhen_Origin_IN) //左分针原点离开
- {
- MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime;
- MXC_cLeftFenZhenStep = 4;
- }//左分针不下去
- else if(dwTickCount >= MXC_cFenZhenLeftDelay)
- {
- MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);
- }
- break;
- case 4:
- if(MXC_LeftFenZhen_IN) //插针到位
- MXC_cLeftFenZhenStep = 0;
- else if(dwTickCount >= MXC_cFenZhenLeftDelay)
- {
- MXC_LeftFenZhen_VAVLE = 0;//左分针
- cLFengTimer++;
- if(cLFengTimer < 6)
- {
- MXC_cLeftFenZhenStep = 5;
- MXC_cFenZhenLeftDelay = dwTickCount + FenZhengErrorTime;
- if((cLFengTimer%2) == 0)
- {
- MXC_RightFenZhen_VAVLE = 0;
- MXC_cRightFenZhenStep = 0;
- }
- }
- else
- {
- MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);
- }
- }
- break;
- case 5:
- if(MXC_LeftFenZhen_Origin_IN) //退到位
- {
- MXC_cLeftFenZhenStep = 6;
- }
- else if(dwTickCount >= MXC_cFenZhenLeftDelay)
- {
- MXC_SetAlarmCode(MXC_FEN_ZHEN_ALARM);
- }
- break;
- case 6:
- if((cLFengTimer%2) == 0) //左边插两次都插不到,就退右边再同时插
- {
- MXC_cRightFenZhenStep = 1;
- cRFengTimer = 0;
- MXC_cLeftFenZhenStep = 0;
- }
- else
- {
- MXC_cLeftFenZhenStep = 1;
- }
- break;
- }
- }
- //勾针复位定位动作
- void MXC_NiLongXiuCiJi_GouZhenProc(void)
- {
- if(MXC_GouZhenlocation)
- {
- MXC_GouZhenlocation = 0;
- MXC_cGouZhenDWStep = 1;
- }
- switch(MXC_cGouZhenDWStep)
- {
- case 1:
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Auto_SPEED,MXC_GZ_DIR_P,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- MXC_cGouZhenDWStep = 1;
- break;
- case 2:
- if(MXC_GouZhenforward_IN)
- {
- MXC_cGouZhenDWStep = 2;
- AxisDecStop(Y_AXIS);
- }
- break;
- case 3:
- if(!Y_DRV)
- {
- AxisContinueMoveAcc(Y_AXIS,MXC_GouzhenSpeed_Auto_SPEED,MXC_GZ_DIR_N,MXC_PARAM_START_SPEED,MXC_PARAM_ACC_SPEED,MXC_PARAM_DEC_SPEED);
- MXC_cGouZhenDWStep = 4;
- }
- break;
- case 4:
- if(!MXC_GouZhenforward_IN)
- {
- MXC_cGouZhenDWStep = 5;
- AxisDecStop(Y_AXIS);
- }
- break;
- case 5:
- if(!Y_DRV)
- {
- AxisMovePos(Y_AXIS,MXC_GouzhenSpeed_Auto_SPEED,MXC_SET_ZIPPER_LENGTH);
- MXC_cGouZhenDWStep = 6;
- }
- break;
- case 6:
- if(!Y_DRV)MXC_cGouZhenDWStep = 0;
- break;
- }
- }
- #endif
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