GC19038/Machine/ChangShengGeiLiMachine/GLQueduanChuantou - Back230912.c

#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE

unsigned short cTaiMiamMotor;
unsigned long cSlowPusle;

unsigned char  bDecEn;
unsigned char  bStartOnceTime,bOnceProcess;
unsigned short cWorkCnt;

unsigned char QTryCnt = 0, HTryCnt = 0;
unsigned short cZhaCnt = 0;
unsigned char QZhuangLiaoOkFlg = 0,HZhuangLiaoOkFlg = 0;
unsigned char QTuiLaTouOkFlg  = 0,HTuiLaTouOkFlg = 0;
unsigned char ManFlg;
unsigned char cStopFlg = 0, cResetOrigin_Flag= 0,cCheck_Go_In_Flag;
unsigned char cFirstQStartFlg = 0,cFirstHStartFlg = 0;
unsigned char cCountFlg      = 0,cQDCT_TuiLianOKFlag = 0;
short *qdct_length_buff;
static long save_limit_pos;
unsigned char cTuiLianStep,cChuan_LianCheckOK = 0,cChuan_Lian_ErrorNum;

void QDCT_ManualAction(void);
void QDCT_JiaLianAction(void);
void QDCT_AutoStepAction(void);
void QDCT_QZhenDongAction(void);
void QDCT_HZhenDongAction(void);
void QDCT_TableAction(void);
void QDCT_Motor(void);
void QDCT_CheckStart(void);
void QDCT_QTuiLT_Step(void);
void QDCT_HTuiLT_Step(void);
void QDCT_XiaQieAction(void);
void QDCT_AlarmProtect(void);
void QDCT_QZLT_Step(void);
void QDCT_HZLT_Step(void);
void QDCT_TuiLian(void);
void QDCT_TuiLianAction(void);

void QDCT_TestMotor(void);

void QDCT_ExtiActionX31(void)
{


}

void QDCT_SeBiaoAction(void)
{
    if(QDCT_SEBIAO_IN_DW)
    {
        if(cSeBiaoEn && !cSeBiaoOk)
        {
            cSeBiaoEn = 0;
            cSeBiaoOk = 1;
            SetRemainLength(X_AXIS,QDCT_SEBIAO_LENGTH,QDCT_SEBIAO_BACK_DW_SPEED);
             tXAxisStepper.State = 5;
        }
    }
}

//故障报警
void QDCT_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QDCT_ALARM_ADDR,alarm_code);
    QDCT_bAlarmStop = 1;
}

//初始化动作
void QDCT_InitAction(void)
{
    float buff_pulse,buff_dist;
   
    buff_pulse  = QDCT_PARAM_CYCLE_PULSE;
    buff_dist   = QDCT_PARAM_CYCLE_LENGTH;
    XGearRatio  =  buff_pulse/buff_dist;
    
    buff_pulse  = QDCT_PARAM_YLCYCLE_PULSE;
    buff_dist   = QDCT_PARAM_YLCYCLE_LENGTH;
    YGearRatio  =  buff_pulse/buff_dist;
    
    QDCT_SZ_OUT = QDCT_MOTOR_DISEN;
    QDCT_QZDPStep= 1;  
    QDCT_HZDPStep= 1;  
    QDCT_TLPStep  = 1;
    cWorkCnt = 0;
    cZhaCnt = 0;
    dwZipCnt = 0;
    if(QDCT_PARAM_MAX_BACK_LENGTH < 13000) QDCT_PARAM_MAX_BACK_LENGTH = 25000;
    SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);
}

void QDCT_Action(void)
{ 
//    QDCT_SeBiaoAction();
    QDCT_TuiLian();
    QDCT_AlarmProtect();
    QDCT_QZhenDongAction();
    QDCT_HZhenDongAction();
    QDCT_CheckStart();
    QDCT_QZLT_Step();
    QDCT_HZLT_Step();
    QDCT_TableAction();
    QDCT_QTuiLT_Step();
    QDCT_HTuiLT_Step();
    QDCT_JiaLianAction();
    QDCT_XiaQieAction();	
    QDCT_Motor();
    QDCT_ManualAction();
    QDCT_AutoStepAction();  
    QDCT_TuiLianAction();
    
    QDCT_TestMotor();
}
unsigned char cTestMotorStep;
unsigned long cTesttime;
void QDCT_TestMotor(void)
{
    switch(cTestMotorStep)
    {
        //1到10步为回到原点
        case 1:
            QDCT_SZ_OUT   = QDCT_MOTOR_EN;      //锁轴
            QDCT_JJ_DIR   = QDCT_JJ_DIR_P;      //方向设定
            QDCT_TestMotorDelay = dwTickCount + 50;
            cTestMotorStep = 2;
            break;
        case 2:
            if(dwTickCount >= QDCT_TestMotorDelay)//锁轴时间到
            {
                AxisContinueMoveAcc(X_AXIS,5, QDCT_DIR_P,5,10,10);
                cTestMotorStep= 3;
            }  
            break;
        case 3:    //回到原点     
            if(QDCT_GO_LIMIT_IN)        //最前点感应
            {
                AxisEgmStop(X_AXIS);
                QDCT_TestMotorDelay = dwTickCount + 50;
                cTestMotorStep= 4;
                SetPos(X_AXIS, 0);               
            }  
            break;
        case 4:            
            if(!X_DRV)
           {
                user_datas[129] = dwTickCount - cTesttime;
              QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
               cTestMotorStep= 5; 
               QDCT_JJ_DIR   = QDCT_JJ_DIR_N;      //方向设定
               axis_ccw(axis_x);
               
           }
           break;
        case 5:   
           if(dwTickCount >= QDCT_TestMotorDelay)
           {  
                if(1)//QDCT_bTest)
                 {
                        QDCT_bTest = 0;
                        cTestMotorStep= 6;  
                        
                        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-QDCT_PARAM_SET_ZIPPER_LENGTH,5,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                      //  AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short acc_pulse,unsigned short dec_pulse)
                    //    AxisMovePoint(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-QDCT_PARAM_SET_ZIPPER_LENGTH);
                        cTesttime = dwTickCount;
                }
            }
            break;
        case 6:    
            if(!X_DRV)
            {
                user_datas[129] = dwTickCount - cTesttime;
                QDCT_JJ_DIR   = QDCT_JJ_DIR_P;      //方向设定
                QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                cTestMotorStep= 7; 
                 axis_cw(axis_x);
            }
            break;
        case 7:    
            if(dwTickCount >= QDCT_TestMotorDelay)
           { 
               if(1)//QDCT_bTest)
               {
                    QDCT_bTest = 0;
                    cTestMotorStep= 8; 
      //              MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,-(QDCT_PARAM_SET_ZIPPER_LENGTH)),PosToPulse(X_AXIS,-QDCT_PARAM_SET_ZIPPER_LENGTH/2),PosToPulse(X_AXIS,-QDCT_PARAM_SET_ZIPPER_LENGTH/2),5,5,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                 //   AxisMove(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(QDCT_PARAM_SET_ZIPPER_LENGTH-600),QDCT_PARAM_JJGO_SPEED/2,-600,QDCT_DIR
  //                  AxisMovePos(X_AXIS,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH);
                   AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH,5,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                  //  AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short acc_pulse,unsigned short dec_pulse)
                   // AxisMovePoint(X_AXIS,QDCT_PARAM_JJGO_SPEED,0);
                   cTesttime = dwTickCount;
                }  
            }
            break;   
        case 8:
 //           if(!X_DRV)
 //           {
                if(dwRealPos <= (QDCT_PARAM_SET_ZIPPER_LENGTH/2))
                {
                     MoveChangSpeed(X_AXIS,5);
                     cTestMotorStep= 4; 

                     

                }  
//            }
            break;
    }      
}
//
void QDCT_TuiLian(void)
{
  
    if(cQDCT_TuiLianOKFlag && (QDCT_YD_OUT && QDCT_SL_OUT))
    {  
        QDCT_TuiLianStep = 0;
        return;
    }    
    switch(QDCT_TuiLianStep) 
    {
        case 0:
        break;
        case 1:
            QDCT_TuiLianStep = 2;
            QDCT_YD_OUT = 1;
        break;
        case 2:   
            QDCT_TLDelay     = dwTickCount+QDCT_PARAM_DELAY_SL;
            QDCT_TuiLianStep = 3;
        break;
        case 3:
            if(dwTickCount >= QDCT_TLDelay)
            {   
                  QDCT_SL_OUT    = 1;
                  QDCT_TLDelay     = dwTickCount;
                  QDCT_TuiLianStep = 4;
                  cQDCT_TuiLianOKFlag = 1;
            }
        break;
        case 4:
            if(dwTickCount >= QDCT_TLDelay)
            {
                QDCT_TuiLianStep = 0;
            }
        break;
    }
}

//前振动
void QDCT_QZhenDongAction(void)
{
    switch(QDCT_QZDPStep)
    {  
        case 1:
            if((dwTickCount >= QDCT_QZhenDongDelay))
            {
                if(!QDCT_PARAM_QLT_ON && bRunning)
                {
                    QDCT_QZDP_OUT = 0;
                    QDCT_QZDPStep = 0;
                }
                else
                {
                    if(!QDCT_QZDP_IN)
                    {
                        QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK;
                        QDCT_QZDPStep = 2;
                    }
                    else
                    {
                        QDCT_QZDP_OUT = 0;
                    }
                }
            }
            break;
        case 2:    
           if((dwTickCount >= QDCT_QZhenDongDelay))
            {
                QDCT_QZDP_OUT = 1;
                if(QDCT_QZDP_IN)
                {
                    QDCT_QZDPStep = 3;
                    QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;
                   
                }
            }
           break;
        case 3:    
            if((QDCT_QZDPStep == 3) && (dwTickCount >= QDCT_QZhenDongDelay))
            {
                if(QDCT_QZDP_IN)
                {
                    QDCT_QZDPStep = 1;           
                    QDCT_QZDP_OUT = 0;
                }
                else
                { 
                    QDCT_QZDPStep = 2;           
                }
            }
            break;
    }       
    //打拉片,两个共用一个盘
    if((QDCT_TLPStep == 1)  && (dwTickCount >= QDCT_TLPDelay))
    {
        if((QDCT_QZDP_OUT | QDCT_HZDP_OUT) && QDCT_PARAM_TLP_ENABLE)
        {
            QDCT_TLPStep = 2;
            QDCT_TLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME;
            QDCT_TLP_OUT  = 1;
        }
    }
    else if((QDCT_TLPStep == 2) && (dwTickCount >= QDCT_TLPDelay))
    {
        QDCT_TLPStep = 1;
        QDCT_TLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME;
        QDCT_TLP_OUT  = 0;       
    }
}
//后振动盘
void QDCT_HZhenDongAction(void)
{
    switch(QDCT_HZDPStep)
    {  
        case 1:
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                //后拉头使能
                if(!QDCT_PARAM_HLT_ON && bRunning)
                {
                    QDCT_HZDP_OUT = 0;
                    QDCT_HZDPStep = 0;
                }
                else
                {
                    if(!QDCT_HZDP_IN)
                    {
                        QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK;
                        QDCT_HZDPStep = 2;
                    }
                    else
                    {
                        QDCT_HZDP_OUT = 0;
                    }
                }
            }
            break;
        case 2:    
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                QDCT_HZDP_OUT = 1;
                if(QDCT_HZDP_IN)
                {
                    QDCT_HZDPStep = 3;
                    QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;    
                }
            }
            break;
        case 3:    
            if((dwTickCount >= QDCT_HZhenDongDelay))
            {
                if(QDCT_HZDP_IN)
                {
                    QDCT_HZDPStep = 1;
                    QDCT_HZDP_OUT = 0;
                }
                else
                {
                    QDCT_HZDPStep = 2;
                }       
            }
            break;
    }
}
void QDCT_AlarmProtect(void)
{ 
    static unsigned short ka_dai_cnt;
    dwRealPos = GetPos(X_AXIS);

    if(QDCT_PARAM_BACK_ALARM_MODE)    
    {                              //感应后限模式
        if(!bRunning)
        {
            if(QDCT_BACK_LIMIT_IN_UP)
            {
                if(X_DRV && (QDCT_bMotorBack) || (QDCT_MotorStep != 0))        //到后限不能再后退但可以点前进
                {
                    QDCT_bMotorBack = 0;
                    
                    AxisEgmStop(X_AXIS); 
                    QDCT_JD_OUT   = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                }
            }
        }
        else
        {
            if(QDCT_BACK_LIMIT_IN_UP)
            {
                AxisEgmStop(X_AXIS); 
   
                QDCT_JD_OUT = 0;
                QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            }
        }
    }
    else  //软件限位
    {   
/*      if(QDCT_GO_LIMIT_IN_UP)      //数控后限模式
        {
            save_limit_pos = dwRealPos;
        }        
        if(QDCT_PARAM_MAX_BACK_LENGTH < (dwRealPos - save_limit_pos)) 
        {
            if(!bRunning)
            {
                if((QDCT_MotorStep == 0) && X_DRV && QDCT_bMotorBack)        //到后限不能再后退但可以点前进
                {
                    QDCT_bMotorBack = 0;
                    AxisDecStop(X_AXIS);   
                    QDCT_JD_OUT   = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);                    
                }
            }
            else
            {
                AxisDecStop(X_AXIS);   
                QDCT_JD_OUT = 0;
                QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            }
        } */       
     }
    
     if(QDCT_KA_DAI_IN)
     {
        if(ka_dai_cnt < 110)ka_dai_cnt++;
     }
     else
     {
        ka_dai_cnt = 0;
   //     if(GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_KD_ALARM)QDCT_SetAlarmCode(QDCT_NO_ALARM); 
     }
     if((ka_dai_cnt > 100) && bRunning)
        QDCT_SetAlarmCode(QDCT_KD_ALARM);

}

void QDCT_JiaLianAction(void)
{
    switch(QDCT_JiaLianStep)
    {  
        case 1:   
            QDCT_JD_Delay = dwTickCount + QDCT_PARAM_JD_DELAY;
            QDCT_JiaLianStep  = 2;
            break;
        case 2:
            if(dwTickCount >= QDCT_JD_Delay)
            {
                QDCT_JD_OUT        = 1;
                QDCT_JD_Delay = dwTickCount + QDCT_PARAM_DELAY_KL;
                QDCT_JiaLianStep  = 3;
            }
            break;
        case 3:    
            if((dwTickCount >= QDCT_JD_Delay))
            {
                if(!QDCT_PARAM_QLT_ON && !QDCT_PARAM_HLT_ON)
                {
                    QDCT_JD_Delay = dwTickCount;
                    QDCT_YD_OUT = 0;
                    QDCT_JiaLianStep  = 4;
                }
                else
                {
                    //单拉头时开链
                    if(QDCT_LATOU)
                        QDCT_KL_OUT = 1;
                    else   //夹带输出后吹气
                    {
                        QDCT_CQ_OUT = 1;
                        QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                    }
                    QDCT_YD_OUT = 0;
                    QDCT_JD_Delay = dwTickCount + QDCT_PARAM_KL_TIME;                    
                }
                QDCT_JiaLianStep  = 4;
            }
            break;
        case 4:        
            if(dwTickCount >= QDCT_JD_Delay)
            {
                QDCT_KL_OUT = 0;        
                QDCT_JiaLianStep  = 0;
            }
            break;
    }
}

unsigned char QDCT_CheckLength(void)
{
        //单拉头       无限长度
    if(QDCT_LATOU && QDCT_LONG_LENGTH_USE)
    {
        if(QDCT_PARAM_SET_ZIPPER_LENGTH > QDCT_PARAM_TRANS_LENGTH)
          return 1;
        else 
          return 0;
    }
    else
      return 0;
}


//自动动作
void QDCT_AutoStepAction(void)
{  
    static unsigned char jz_over; 
   
    if(bRunning)
    {     
        switch(QDCT_AutoStep)
        {  
            case 1:
                jz_over = 0;
                cChuan_Lian_ErrorNum = 0;
                QDCT_AutoStep = 2;
                if(QDCT_QZDPStep == 0)QDCT_QZDPStep = 1;
                if(QDCT_HZDPStep == 0)QDCT_HZDPStep = 1;
                if(!QDCT_GO_LIMIT_IN || dwZipCnt)
                {
                    if(QDCT_QZhuangLiaoStep  == 0)QDCT_QZhuangLiaoStep = 1;
                    if(QDCT_HZhuangLiaoStep  == 0)QDCT_HZhuangLiaoStep = 1;
                }
                break;
            case 2:
                if((dwTickCount >= QDCT_AutoDelay) && (QDCT_MotorStep  == 0))
                {
                    QDCT_AutoStep = 3;
                }
                break;
            case 3:            
                 if(QDCT_MotorStep  == 0)
                {
                    QDCT_MotorStep = 61;    //前进定位好后自动夹链和开链
                    QDCT_AutoStep = 4;
                }
                break;
            case 4:
                QDCT_AutoStep = 5;
                break;
            case 5:
                
                QDCT_AutoStep = 9; 
                break;
            case 6:
                 QDCT_AutoStep = 7;
                 break;
            case 7:
                QDCT_AutoStep = 8;  
                break;
            case 9:   
                if(!QDCT_GO_LIMIT_IN || dwZipCnt)
                {
                    if(QDCT_QZhuangLiaoStep  == 0)
                        QDCT_QZhuangLiaoStep = 1;//前装料
                    if(QDCT_HZhuangLiaoStep  == 0)
                        QDCT_HZhuangLiaoStep = 1;//后装料
                }
                if(QDCT_MotorStep  == 0)   //前定位完成,
                {
                    QDCT_AutoStep = 11;
                    cCheck_Go_In_Flag = 1;
                    if(QDCT_QZhuangLiaoStep  == 0)
                        QDCT_QZhuangLiaoStep = 1;//前装料
                    if(QDCT_HZhuangLiaoStep  == 0)
                        QDCT_HZhuangLiaoStep = 1;//后装料
                } 
                break;
            case 10:
              break;
            case 11:      
                if((QDCT_MotorStep  == 0) && (QDCT_QZhuangLiaoStep  == 0) && (QDCT_HZhuangLiaoStep  == 0)
                   && QZhuangLiaoOkFlg && HZhuangLiaoOkFlg)  //
                {              
                  if(QDCT_SEBIAO_MODE)    //色标模式
                        QDCT_MotorStep = 1;
                    else
                        QDCT_MotorStep = 30;
                    cChuan_LianCheckOK = 0;
                    QDCT_AutoStep = 12;
                } 
                break;
                
            case 12:       
                if(QDCT_CHUAN_LIAN_CHECK_SELECT!= 0)  //检测拉链没有穿入
                {//18CM处还没有检测到拉链的话停止
                    if(((dwRealPos >= 1800)) && (!cChuan_LianCheckOK))  //只要一次上升沿
                    {
 //                       AxisDecStop(X_AXIS); 
 //                       AxisDecStop(Y_AXIS); 
 //                       QDCT_AutoStep = 70;  //检测到拉链没有穿入,进到第一个拉头处夹住出不计数
 //                       QDCT_MotorDelay = dwTickCount + 5000;
 //                       QDCT_JD_OUT = 0;
 //                       break;
                    }
                }  
                if((QDCT_MotorStep  == 0) || (QDCT_MotorStep  == 37))
                {   
                    QDCT_AutoStep = 13;
                    if(QDCT_CHUAN_LIAN_CHECK_SELECT!= 0)  //检测拉链没有穿入
                    {
                        if(!cChuan_LianCheckOK)  //只要一次上升沿
                        {
//                            QDCT_JD_OUT = 0;
//                            QDCT_AutoStep = 70;  //检测到拉链没有穿入,进到第一个拉头处夹住出不计数
//                            QDCT_MotorDelay = dwTickCount + 5000;
//                            break;
                        }
                    }  
                }                
                break;
                
            case 13:
                if(QDCT_CheckLength())    //判断长度转换压轮电机拖带
                {
                    QDCT_AutoStep = 50;
                }
                else
                    QDCT_AutoStep = 14;
                break;
            case 14:
                if(bStartOnceTime)
                {
                    bStartOnceTime = 0;
                    QDCT_AutoStep = 0;
                    bRunning  = 0;
                }
                else
                {
                     if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN && QTuiLaTouOkFlg && HTuiLaTouOkFlg)
                    {
                        QZhuangLiaoOkFlg = 0;
                        HZhuangLiaoOkFlg = 0;
                       if(QDCT_QZhuangLiaoStep  == 0)
                            QDCT_QZhuangLiaoStep = 1;
                        if(QDCT_HZhuangLiaoStep  == 0)
                             QDCT_HZhuangLiaoStep = 1;
                    }
                    if((QDCT_XiaQieStep  == 0))
                    {
                        QDCT_XiaQieStep = 1;
                        QDCT_AutoStep = 15;                        
                    }  
                }
                break;
                
            case 15://拖带完成
                if(!X_DRV && !Y_DRV)
                {
                    if(((QDCT_XiaQieStep  == 0) || (QDCT_XiaQieStep  == 7)) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
                    {
                         if(QDCT_MotorStep  == 0)
                        {
                            QZhuangLiaoOkFlg = 0;
                            HZhuangLiaoOkFlg = 0;
                            if(QDCT_QZhuangLiaoStep  == 0)
                                QDCT_QZhuangLiaoStep = 1;
                            if(QDCT_HZhuangLiaoStep  == 0)
                                QDCT_HZhuangLiaoStep = 1;
                            if(jz_over)
                            {
                              jz_over = 0;
                              QDCT_MotorStep = 160;
                              QDCT_MotorDelay = dwTickCount + QDCT_PARAM_YL_SL_DELAY;
                            }
                            else
                              QDCT_MotorStep = 40;
                            QDCT_AutoStep = 16;
                        } 
                    }  
                }
                break;
                  /**/
            case 16:    
                if((QDCT_MotorStep  == 0))
                {        
                    if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || cChuan_LianCheckOK)
                    {  
                        CalProSP(QDCT_SPEED_ADDR);	  //计算生产速度
                        AddToTal(QDCT_TOTAL_ADDR);	//生产总量加1并保存
                        AddToTal(QDCT_NOWTOTAL_ADDR);	//生产总量加1并保存
                        cWorkCnt++;
                        cZhaCnt++;
                        dwZipCnt++;
                        QDCT_PARAM_TB_CNT1++;
                        QDCT_PARAM_TB_CNT2++;
                        cChuan_Lian_ErrorNum = 0;
                    }
                    else
                    {
                        cChuan_Lian_ErrorNum++;
                    
                        if(cChuan_Lian_ErrorNum >= 2)
                        {
                            QDCT_SetAlarmCode(QDCT_CLOK_ALARM);
                        }  
                    }    
#if 0
//                    if((QDCT_PARAM_TB_CNT2 >= QDCT_PARAM_TABLE_NUM2) && (QDCT_PARAM_TABLE_NUM2 != 0))
//                    {
//                        QDCT_TB_OUT = 1;
//                        QDCT_PARAM_TB_CNT2     = 0;
//                        QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME2;
//                    }  
 #endif
                    
                       if(QDCT_PARAM_TB_CNT1 >= QDCT_PARAM_TABLE_NUM)
                       {
                            QDCT_TB_OUT = 1;
                            QDCT_PARAM_TB_CNT1      = 0;
                            //QDCT_PARAM_TB_CNT2     = 0;
                            QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME;
                       }            
                       if((GetTotal(QDCT_TOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR)) && (GetTotal(QDCT_SETTOTAL_ADDR) != 0))
                        {            
                            bStartOnceTime = 0;
                            QDCT_SetAlarmCode(QDCT_TOTAL_ALARM);
                        }
                        else
                        {   
                            QDCT_AutoStep = 17;	
                        }
                    
                }
                break;
              
            case 17:
                 if(GetTotal(QDCT_NOWTOTAL_ADDR) >= QDCT_ZHA_NO) //扎数到
                 {
                   
                    //扎数到了，台面输出
                     QDCT_TB_OUT = 1;
                     QDCT_PARAM_TB_CNT1      = 0;
                     QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME2;
                        
                     ClrcToTal(QDCT_NOWTOTAL_ADDR);
                     
                     
                     if(( QDCT_ZHA_STOP_TIME > 0)) //扎数不能为0
                     { 
                         if(QDCT_ZHA_NO > 0)
                              QDCT_AutoDelay = dwTickCount + QDCT_ZHA_STOP_TIME;
                     }  
                     else
                        SingOneFlg = 1;
                     if(SingOneFlg)
                     {
                         SingOneFlg = 0;
                         QDCT_AutoStep = 0; 
                         bRunning = 0;
                     }
                     else
                       QDCT_AutoStep = 2;  
                     
                 }
                 else
                 {
                  
                     QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY;
                     if(SingOneFlg)
                     {
                         SingOneFlg = 0;
                         QDCT_AutoStep = 0; 
                         bRunning = 0;
                     }
                     else
                       QDCT_AutoStep = 2;  
                  
                 }      
                break;  
            case 50:       
                QDCT_YL_OUT = 1;
                QDCT_AutoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_AutoStep = 51;  
                break;
            case 51:
                if(QDCT_YL_LIMIT_IN)
                {
                    QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_DELAY;
                    QDCT_AutoStep = 52;  
                }
                else if(dwTickCount >= QDCT_AutoDelay)
                  QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
                break;
            case 52:   
                if((dwTickCount >= QDCT_AutoDelay) && (QDCT_MotorStep == 0))   
                {
                    QDCT_YL_DIR = QDCT_YL_DIR_N;
                    jz_over = 1;
                    QDCT_MotorStep = 150;   //走松夹子
                    if(!Y_DRV)//压轮电机动作
                        AxisMovePos(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH-QDCT_PARAM_TRANS_LENGTH+1000));
                    QDCT_AutoStep = 53;  
                }
                break;
            case 53:
                if((dwTickCount >= QDCT_AutoDelay))
                {
                    if(!Y_DRV)
                    {
                        QDCT_AutoStep = 54;  
                        QDCT_YL_DIR = QDCT_YL_DIR_P;
                        QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_FZ_DELAY;
                    }        
                }
                break;
            case 54:    
                if((dwTickCount >= QDCT_AutoDelay))
                {
                    if(!Y_DRV)AxisMovePos(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_FZ_LENGTH));
                    QDCT_AutoStep = 14;  
                }
                break;
            //检测到拉链没有穿进去
            case 70:
                if((dwTickCount >= QDCT_AutoDelay))  //张开夹子
                {
                    //检测到拉链没有穿入,进到第一个拉头处夹住出不计数
                    QDCT_MotorStep = 200;  
                    QDCT_AutoStep = 71; 
                }
                break;
            case 71:
                if(QDCT_MotorStep == 0)
                {
                    QDCT_XM_OUT = 0;    //下模退
                    QDCT_QJLT_OUT = 0;  //前后夹拉头退
                    QDCT_HJLT_OUT = 0;
                    QDCT_AutoDelay = dwTickCount + 40;
                    QDCT_AutoStep = 72;  
                }  
                break;      
            case 72:
                if((dwTickCount >= QDCT_AutoDelay))  //延时下切
                {
                     if(cChuan_Lian_ErrorNum == 0)
                        QDCT_AutoStep = 14; 
                     else
                        QDCT_SetAlarmCode(QDCT_CLOK_ALARM);
                }
                break; 
 
        } 
    }
}


//台面电机动作

void QDCT_TableAction(void)
{
  if(QDCT_TB_OUT && (dwTickCount >= QDCT_TableDelay))
      QDCT_TB_OUT = 0;
}

void QDCT_TuiLianAction(void)
{
    static unsigned long tuilian_delay;
    switch(cTuiLianStep)
    {
        case 1:
            if(QDCT_YD_OUT)
            {
                QDCT_YD_OUT = 1;
                tuilian_delay = dwTickCount + 1000;
                cTuiLianStep  = 2;
            }
        break;
        case 2:
            if(dwTickCount >= tuilian_delay)
            {
                QDCT_SL_OUT = 0;
                tuilian_delay = dwTickCount + 1000;
                cTuiLianStep  = 0;
            }
        break;
        case 3:
            if(dwTickCount >= tuilian_delay)
            {
                QDCT_YD_OUT = 0;
                cTuiLianStep  = 0;
            }
        break;
    }
}

void QDCT_CheckStart(void)
{
    static unsigned char long_stop_flg = 0,yd_back_flg,sl_flg;
    static unsigned long long_time_delay,yd_back_delay,sl_delay,sl_delayStart,dw_Stop_In_Delay;
    
#if  !QDCT_LATOU   //双头才有运行指示灯
        QDCT_STATE_RUN = bRunning;
        if(GetAlarmCode(QDCT_ALARM_ADDR) == 0)
            QDCT_STATE_ERROR = 0;
        else
           QDCT_STATE_ERROR = 1;
#endif    
       //启动    自动启动 单一自动	 			
    if(QDCT_START_IN_UP || bStart || QDCT_bOnceStart && (dwTickCount >= sl_delayStart))
    {
        if(QDCT_bOnceStart)
        {
            QDCT_bOnceStart     = 0;
            bStartOnceTime = 1;
            dwZipCnt    = 0;
        }
        bStart     = 0;
        
        if(!QDCT_NO_ZIPPER_CHECK_IN)QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
        else if(QDCT_PARAM_SET_ZIPPER_LENGTH <500)QDCT_SetAlarmCode(QDCT_ZIPPER_LENGTH_ALARM);
        else if(QDCT_QLTCZ_IN || QDCT_HLTCZ_IN)QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM);
        else if(!QDCT_QHSL_ORIGIN_IN || !QDCT_HHSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_GL_ORIGIN_ALARM);
        else if(QDCT_HHSL_LIMIT_IN || QDCT_HHSL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_START_SL_LIMIT_ALARM);
        else if(!QDCT_XQ_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_XQ_ORIGIN_ALARM);
        else if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_SM_ORIGIN_ALARM);
        else if(QDCT_XQ_LIMIT_IN && !QDCT_PARAM_XM_MODE)QDCT_SetAlarmCode(QDCT_XQ_LIMIT_ALARM);
        else if(QDCT_SQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);   
        else if(QDCT_YL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);  
        else if(QDCT_GO_LIMIT_IN && (QDCT_YD_OUT && ((QDCT_SL_OUT && QDCT_PARAM_XM_MODE) || !QDCT_PARAM_XM_MODE) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM)))
        {
            if(!bRunning && (QDCT_AutoStep == 0) && ((GetAlarmCode(QDCT_ALARM_ADDR) == 0) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM)))
            {
                bRunning   = 1;
                cTuiLianStep = 0;
                yd_back_flg = 0;
                QDCT_AutoStep  = 4;
                SetAlarmCode(QDCT_ALARM_ADDR,0);
                sl_flg = 0;
                QDCT_MotorStep = 66;
                cWorkCnt   = 0;    
                QTryCnt     = 0;
                HTryCnt     = 0;
                QTuiLaTouOkFlg = 1;
                
                HTuiLaTouOkFlg = 1;
                dwZipCnt    = 0;
                cFirstQStartFlg  = 1;
                cFirstHStartFlg  = 1;
                QZhuangLiaoOkFlg = 0;
                HZhuangLiaoOkFlg = 0;
                QDCT_QZDPStep = 1;
                QDCT_HZDPStep = 1;
                QDCT_TLPStep  = 1;
                SingOneFlg = 0;
                cCheck_Go_In_Flag = 1;
            }        
        }
        else
        {
            if(!bRunning && (QDCT_AutoStep == 0) && (GetAlarmCode(QDCT_ALARM_ADDR) == 0))
            {
                bRunning   = 1;
                yd_back_flg = 0;
                cTuiLianStep = 0;
                QDCT_AutoStep  = 1;
                cWorkCnt   = 0;    
                QTryCnt     = 0;
                HTryCnt     = 0;
                QTuiLaTouOkFlg = 1;
                HTuiLaTouOkFlg = 1;
                dwZipCnt    = 0;
                cFirstQStartFlg   = 1;
                cFirstHStartFlg   = 1;
                QZhuangLiaoOkFlg = 0;
                HZhuangLiaoOkFlg = 0;
                QDCT_QZDPStep = 1;
                QDCT_HZDPStep = 1;
                QDCT_TLPStep  = 1;
                SingOneFlg = 0;
                cCheck_Go_In_Flag = 1;
            }
        }
    }
    
    if(cStopFlg == 1)
    {
         if(!X_DRV)  cStopFlg = 0; 
    }    
    
    if(bStop)
    {
       SingOneFlg = 1;
       bStop = 0;
    }
    //停止
    if(QDCT_STOP_IN_UP&& (dwTickCount >= dw_Stop_In_Delay))
    {	
        dw_Stop_In_Delay = dwTickCount + 80;
        SingOneFlg = 0;
       if(bRunning)
       {
          SetDecTime(X_AXIS,12) ;
          SetDecTime(Y_AXIS,12) ;
          AxisDecStop(X_AXIS);
          AxisDecStop(Y_AXIS);
          bRunning = 0;
          QDCT_bOnceStart = 0;
          bStartOnceTime = 0;
          bStop = 0; 		           
          QDCT_AutoStep = 0;
          QDCT_QZhuangLiaoStep = 0;
          QDCT_HZhuangLiaoStep = 0;
          QDCT_MotorStep    = 0;
          QDCT_JiaLianStep  = 0;
          if(!QDCT_PARAM_CS_ENABLE)QDCT_XiaQieStep   = 0;
          QDCT_ZhenDongStep = 0;
          QDCT_QTLTStep = 0;  
          QDCT_HTLTStep = 0;  
          ManFlg = 0;
       }
       else
       {
           if(!X_DRV)
                QDCT_SZ_OUT = QDCT_MOTOR_DISEN;
          SetDecTime(X_AXIS,12) ;
          SetDecTime(Y_AXIS,12) ;
          AxisDecStop(X_AXIS);
          AxisDecStop(Y_AXIS);
          bRunning = 0;
          QDCT_bOnceStart = 0;
          bStop = 0; 		
          bStartOnceTime = 0;   
          QDCT_AutoStep = 0;
          QDCT_QZhuangLiaoStep = 0;
          QDCT_HZhuangLiaoStep = 0;
          QDCT_MotorStep    = 0;
          QDCT_JiaLianStep  = 0;
          QDCT_XiaQieStep   = 0;
          QDCT_ZhenDongStep = 0;
          QDCT_QTLTStep = 0;
          QDCT_HTLTStep = 0;
          QDCT_SQ_OUT = 0;
          if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 0;
          QDCT_XM_OUT = 0;
          QDCT_JD_OUT = 0;   
          QDCT_QTLT_OUT = 0;
          QDCT_HTLT_OUT = 0;
          QDCT_QHSL_OUT = 0;
          QDCT_KL_OUT = 0;
          QDCT_YL_OUT   = 0;
          QDCT_CS_OUT   = 0;
          
          //if(cTuiLianStep == 0)cTuiLianStep = 1;
          long_stop_flg = 1;
          long_time_delay = dwTickCount+1500;

          QDCT_HHSL_OUT= 0;
             
          if(GetAlarmCode(QDCT_ALARM_ADDR) != 0)
            SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);   
          ManFlg = 0;
          
          if(!X_DRV && (QDCT_GO_DEC_IN) && !bRunning && (QDCT_MotorStep == 0))
          {
             QDCT_SZ_OUT = QDCT_MOTOR_EN;   
             cStopFlg = 1;
             AxisMovePos(X_AXIS,QDCT_BACK_LOWSPEED,-QDCT_PARAM_ON_BACK_LENGTH);        
          }           
       }
       //测试停止
       cTestMotorStep = 0;
    }
    
    if(sl_flg)
    {
        if(dwTickCount >= sl_delay)
        {
            sl_flg = 0;
            QDCT_SL_OUT   = 0;
            sl_delayStart = dwTickCount+500;
        }
    }
    
    if(long_stop_flg)
    {
        if(dwTickCount >= long_time_delay)
        {
             if(QDCT_STOP_IN)
             {
                 QDCT_QJLT_OUT = 0;
                 QDCT_HJLT_OUT = 0;     
                 QDCT_YD_OUT   = 0;
                 QDCT_SL_OUT   = 0;
                 
             }
        }
        else if(!QDCT_STOP_IN)
        {
             long_stop_flg = 0;
        }
    }
    
    
    if(QDCT_bAlarmStop)
    {   
        bRunning         = 0;
        QDCT_bOnceStart = 0;
        QDCT_bAlarmStop = 0;
        bStartOnceTime = 0;  
        AxisDecStop(X_AXIS);
        AxisDecStop(Y_AXIS);
        QDCT_AutoStep = 0;
        QDCT_QZhuangLiaoStep = 0;
        QDCT_HZhuangLiaoStep = 0;
        QDCT_MotorStep    = 0;
        QDCT_JiaLianStep  = 0;
        QDCT_ZhenDongStep = 0;
        if(!QDCT_QTLT_OUT)
            QDCT_QTLTStep = 0;
        if(!QDCT_HTLT_OUT)
            QDCT_HTLTStep = 0;
        ManFlg = 0;
        
        if(GetAlarmCode(QDCT_ALARM_ADDR) != QDCT_ZLT_ALARM)
        {
            if(QDCT_SL_OUT)
            {
                QDCT_YD_OUT   = 1;
                sl_flg        = 1;
                sl_delay      = dwTickCount+1000;
            }
        }
       
        
    }
}   

unsigned long GetLength(long dist0,long dist1)
{
    if(dist0 < dist1)
        return (dist1-dist0);
    else
        return (dist0-dist1);
}
//电机控制动作
void QDCT_Motor(void)	 //
{   
  /*
  1~5步追色标
  30步开始后拉
  61  前进定位
  200步,进去一定位置夹废料
  */
        static long save_buff,length_buff,gou_zhen_buff,back_dec_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff,xm_delay_back,back_delay;
        long speed_buff;
        long len_buff;
        unsigned short acc,dec,start_speed;
        if(QDCT_CHUAN_LIAN_OK_UP)
          cChuan_LianCheckOK = 1;
        if(!QDCT_NO_ZIPPER_CHECK_IN && bRunning)
        {
            QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
        }
        switch(QDCT_MotorStep)
	{
                case 1:
                        QDCT_MotorDelay  =    dwTickCount + QDCT_PARAM_DELAY_BACK;
                        QDCT_MotorStep   = 2;
                        QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                        QDCT_YD_OUT      = 0;
                        break;
                case 2:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            back_buff     = dwRealPos;
                            back_dec_buff = dwRealPos;
                           // QDCT_DIR_OUT  = QDCT_Y_DIR_N;
                          /*  if(dwZipCnt == 0)
                            {
                                 cSeBiaoOk = 0;
                                 cSeBiaoEn = 1;
                                 MoveAction_Const_AccDec(X_AXIS, QDCT_DIR_N, QDCT_SEBIAO_LOW_SPEED,1,5,5);
                            }
                            else */
                            {
                                 cSeBiaoOk = 0;
                                 cSeBiaoEn = 0;
                                 MoveAction_Const_AccDec(X_AXIS, QDCT_DIR_N, QDCT_PARAM_PUTIN_LOW_SPEED,1,5,5); 
                                 
                            }     
                            QDCT_MotorStep   = 3;
                        }
                        break;
                case 3:                     
                     //   if(GetLength(dwRealPos,back_buff) >= (QDCT_PARAM_PUTIN_LENGTH))
                        if(GetPos(X_AXIS) >= (QDCT_PARAM_PUTIN_LENGTH))                  
                        {
                           if(QDCT_PARAM_QLT_ON && !QDCT_GO_LIMIT_IN)QDCT_QJLT_OUT     = 0;
                           if(QDCT_PARAM_HLT_ON && !QDCT_GO_LIMIT_IN)QDCT_HJLT_OUT     = 0;
                           QDCT_XM_OUT      = 0;
                           AxisEgmStop(X_AXIS);
                             xm_delay_back = dwTickCount + QDCT_PARAM_BACK_DELAY;
                             QDCT_MotorStep   = 4;
                        }
                        break;
                case 4:  
                        if(dwTickCount >= xm_delay_back)
                        {
                            QDCT_MotorStep   = 5;
                            MoveAction_Const_AccDec(X_AXIS, QDCT_DIR_N, QDCT_SEBIAO_HIGH_SPEED,1,5,5); 
                        } 
                        break;
                case 5:       
                        if(QDCT_SEBIAO_IN_UP)  //空位变慢
                        {
                             AxisChangeSpeed(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
                             xm_delay_back = dwTickCount + 6;
                             QDCT_MotorStep   = 6;
                        }
                        break;
                case 6:   
                     if(dwTickCount >= xm_delay_back)   
                      {
                            cSeBiaoOk = 0;
                            cSeBiaoEn = 1;   
                            QDCT_MotorStep   = 7;
                      }
                     else if(!QDCT_SEBIAO_IN)
                            QDCT_MotorStep   = 5;
                     break;
                case 7:     
                      if(cSeBiaoOk)
                      {
                           tXAxisStepper.State = 5;
                      }
                      if(!X_DRV)
                      {    
                       
                         if(QDCT_SEBIAO_ERROR_LENGHT && (((GetPos(X_AXIS) > (QDCT_PARAM_SET_ZIPPER_LENGTH  + QDCT_SEBIAO_ERROR_LENGHT))
                              || GetPos(X_AXIS) < (QDCT_PARAM_SET_ZIPPER_LENGTH  - QDCT_SEBIAO_ERROR_LENGHT))))
                            {
                                QDCT_SetAlarmCode(QDCT_SE_BIAO_ALARM);
                            }
                            else 
                            {
                                QDCT_MotorStep = 0;
                            }
                        }
                        
                        if(QDCT_PARAM_MAX_BACK_LENGTH < GetLength(dwRealPos,back_buff))    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }
                        break;
                        
                case 30:
                         QDCT_MotorDelay = dwTickCount;
                        if(QDCT_SZ_OUT == QDCT_MOTOR_DISEN)
                        {
                            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
                            QDCT_MotorDelay = dwTickCount + 50;
                        }
                        QDCT_SL_OUT = 0;//送带退
                        if(bRunning)
                            cCountFlg        = 0;
                        else
                            cCountFlg        = 1;// 手动状态直接关掉计数感应检测功能
                        QDCT_MotorDelay  =  dwTickCount + QDCT_PARAM_DELAY_BACK;
                        QDCT_YD_OUT      = 0;   //压带
                        QDCT_MotorStep   = 31;     
                        QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                        cCheck_Go_In_Flag = 0;
                        break;
                case 31:	                                       
                        if(dwTickCount >= QDCT_MotorDelay)
                        {   
                            gou_zhen_buff = dwRealPos;
                            save_buff = dwRealPos;
                            back_buff = dwRealPos;
                            qdct_length_buff = &QDCT_PARAM_OFFSET_LENGTH;
                            if((*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH) < 0)*qdct_length_buff = 0;
                                                               
                           if(QDCT_LATOU)  //单拉头
                           {
                               acc = QDCT_PARAM_ACC_PULSE;
                               dec = QDCT_PARAM_DEC_PULSE;
                               if(QDCT_PARAM_PUTIN_LOW_SPEED < QDCT_PARAM_START_SPEED)
                                   start_speed = QDCT_PARAM_PUTIN_LOW_SPEED;
                               else 
                                   start_speed = QDCT_PARAM_START_SPEED;
                           }
                           else//双拉头
                           {
                               acc = QDCT_PARAM_ACC_PULSE;      //加速度
                             //  dec = QDCT_PARAM_DEC_PULSE*2;
                               dec = QDCT_PARAM_DEC_PULSE;      //减速度
                               if(QDCT_PARAM_PUTIN_LOW_SPEED < QDCT_PARAM_START_SPEED)
                                   start_speed = QDCT_PARAM_PUTIN_LOW_SPEED;
                               else 
                                   start_speed = QDCT_PARAM_START_SPEED;
                           }
                           
                            if(QDCT_CheckLength())//无限长
                            {
                                if(QDCT_PARAM_MODE)   //反穿
                                {
                                   MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_LENGTH),PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH),PosToPulse(X_AXIS,QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,start_speed, acc,dec);
                                }                               
                                  else
                                   MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_TRANS_LENGTH-1000+(*qdct_length_buff)),PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH),PosToPulse(X_AXIS,QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,start_speed, acc,dec);                            
                            }
                            else
                            {
                                if(QDCT_PARAM_MODE)     //反穿
                                   MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_LENGTH),PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH),PosToPulse(X_AXIS,QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,start_speed, acc,dec);
                                else
                                   MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_SET_ZIPPER_LENGTH+(*qdct_length_buff)),PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH),PosToPulse(X_AXIS,QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,start_speed, acc,dec);
                            }
                            QDCT_MotorStep   = 33;
                        }
			break; 
/*                case 32:
                        if(QDCT_COUNT_IN || (QDCT_PARAM_SET_ZIPPER_LENGTH <= QDCT_PARAM_CNT_ENABLE_LENGTH))cCountFlg       = 1;
                        if(QDCT_GO_DEC_IN_DW)QDCT_XQ_OUT = 1;
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                           
                            QDCT_MotorStep   = 33;
                        } 
                        break;
*/
		case 33:  //这一步关夹拉头
                        
                        if(QDCT_COUNT_IN || (QDCT_PARAM_SET_ZIPPER_LENGTH <= QDCT_PARAM_CNT_ENABLE_LENGTH))
                            cCountFlg       = 1;
/* 
                        if(QDCT_LONG_LENGTH_USE)
                        {
                            if(((back_buff-dwRealPos) >= QDCT_PARAM_XQ_UP_LENGTH) && !QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 1;
                            if((back_buff-dwRealPos) >= (QDCT_PARAM_PUTIN_LENGTH))
                            {
                               if(QDCT_PARAM_QLT_ON && !QDCT_GO_LIMIT_
                                    IN)QDCT_QJLT_OUT     = 0;
                               if(QDCT_PARAM_HLT_ON )//&& !QDCT_GO_LIMIT_IN)
                                    QDCT_HJLT_OUT     = 0;
                               xm_delay_back  =    dwTickCount + QDCT_PARAM_XM_START_TIME;
                               QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                               QDCT_MotorStep   = 34;
                            }
                            else if(!X_DRV)
                            {
                               if(QDCT_PARAM_QLT_)//ON && !QDCT_GO_LIMIT_IN)
                                    QDCT_QJLT_OUT     = 0;
                               if(QDCT_PARAM_HLT_ON )//&& !QDCT_GO_LIMIT_IN)
                                    QDCT_HJLT_OUT     = 0;
                               if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MO
                                    DE)QDCT_XQ_OUT = 1;
                               xm_delay_back  =    dwTickCount + QDCT_PARAM_XM_START_TIME;
                               QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                               QDCT_MotorStep   = 34;                           
                            }
                        }
                        else
*/
                        {
                            if(QDCT_PARAM_MODE)// 0为正穿 1为反穿
                            {
                                if(!X_DRV)
                                {
                                     if(QDCT_PARAM_QLT_ON )//&& !QDCT_GO_LIMIT_IN)
                                        QDCT_QJLT_OUT     = 0;
                                    if(QDCT_PARAM_HLT_ON )//&& !QDCT_GO_LIMIT_IN)
                                        QDCT_HJLT_OUT     = 0;
                                     xm_delay_back  =    dwTickCount + QDCT_PARAM_XM_START_TIME;
                                     QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                                     back_delay       =    dwTickCount + QDCT_PARAM_BACK_DELAY;
                                     QDCT_MotorStep   = 34;                                
                                }
                            }
                            else
                            {
                              //当到达输出下切刀位置,离开前点限位,下模活动和没有超声情况下
                                if(((GetLength(dwRealPos,back_buff)) >= QDCT_PARAM_XQ_UP_LENGTH) &&
                                   !QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE)
                                  QDCT_XQ_OUT = 1;
                                if((GetLength(dwRealPos,back_buff)) >= (QDCT_PARAM_PUTIN_LENGTH))
                                {
                                   if(QDCT_PARAM_QLT_ON )//&& !QDCT_GO_LIMIT_IN)
                                        QDCT_QJLT_OUT     = 0;//前夹拉头关
                                   if(QDCT_PARAM_HLT_ON )//&& !QDCT_GO_LIMIT_IN)
                                        QDCT_HJLT_OUT     = 0; //后夹拉头关
                                   xm_delay_back  =    dwTickCount + QDCT_PARAM_XM_START_TIME;
                                   QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                                   QDCT_MotorStep   = 34;
                                }
                                else if(!X_DRV)
                                {
                                   if(QDCT_PARAM_QLT_ON )//&& !QDCT_GO_LIMIT_IN)
                                        QDCT_QJLT_OUT     = 0;
                                   if(QDCT_PARAM_HLT_ON)//&& !QDCT_GO_LIMIT_IN)
                                       QDCT_HJLT_OUT     = 0;
                                   if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE)
                                     QDCT_XQ_OUT = 1;
                                   xm_delay_back  =    dwTickCount + QDCT_PARAM_XM_START_TIME;
                                   QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                                   QDCT_MotorStep   = 34;                           
                                }
                            }
                        }
                        //行程超限
                        if(QDCT_PARAM_MAX_BACK_LENGTH < GetLength(dwRealPos,back_buff))    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }
			break;
                case 34:
                        if(QDCT_COUNT_IN || (QDCT_PARAM_SET_ZIPPER_LENGTH <= QDCT_PARAM_CNT_ENABLE_LENGTH))
                          cCountFlg       = 1;

                         if(((GetLength(dwRealPos,back_buff)) >= QDCT_PARAM_XQ_UP_LENGTH)  
                            && !QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE)
                              QDCT_XQ_OUT = 1;
                         // 0为正穿 1为反穿
                        if(QDCT_PARAM_MODE)
                        {
                            if(dwTickCount >= xm_delay_back)// && QDCT_LATOU
                                QDCT_XM_OUT      = 0;
                            
                            if(dwTickCount >= back_delay)
                            {
                                qdct_length_buff = &QDCT_PARAM_OFFSET_LENGTH;  //修正长度
                                if((*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH) < 0)
                                   *qdct_length_buff = 0;
                                
                                
                                if((!QDCT_QJLT_IN || !QDCT_PARAM_QLT_ON) && (!QDCT_HJLT_IN || !QDCT_PARAM_HLT_ON))
                                {   
                                   
                                    QDCT_XM_OUT = 0;                  
                                    if(QDCT_QTLTStep == 0)
                                        QDCT_QTLTStep = 1;  
                                    if(QDCT_HTLTStep == 0)
                                        QDCT_HTLTStep = 1;  
                                    
                                    if((QDCT_PARAM_SET_ZIPPER_LENGTH+(*qdct_length_buff)-QDCT_PARAM_PUTIN_LENGTH) >= 0)
                                    {
                                        if(QDCT_LONG_LENGTH_USE)
                                        {
                                              if(QDCT_CheckLength())
                                                 MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_TRANS_LENGTH-1000+(*qdct_length_buff)-QDCT_PARAM_PUTIN_LENGTH),PosToPulse(X_AXIS,0),PosToPulse(X_AXIS,QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                              else
                                                 MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_SET_ZIPPER_LENGTH+(*qdct_length_buff)-QDCT_PARAM_PUTIN_LENGTH),PosToPulse(X_AXIS,0),PosToPulse(X_AXIS,QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                        }
                                        else
                                            MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_SET_ZIPPER_LENGTH+(*qdct_length_buff)-QDCT_PARAM_PUTIN_LENGTH),PosToPulse(X_AXIS,0),PosToPulse(X_AXIS,QDCT_PARAM_LOWSPEED_LENGTH),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED, QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                        
                                    }
                                    else;
                                       
                                    QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                                    QDCT_MotorStep   = 35;
                                }
                                else if(dwTickCount >= QDCT_MotorDelay)
                                    QDCT_SetAlarmCode(QDCT_JLT_ALARM);   
                            }
                        }
                        else
                        {
                            if(dwTickCount >= xm_delay_back)
                                QDCT_XM_OUT      = 0;
                            if((!QDCT_QJLT_IN || !QDCT_PARAM_QLT_ON) && (!QDCT_HJLT_IN || !QDCT_PARAM_HLT_ON))
                            {                      
                                if(QDCT_QTLTStep == 0)
                                    QDCT_QTLTStep = 1;  
                                if(QDCT_HTLTStep == 0)
                                    QDCT_HTLTStep = 1;  
                                QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                                QDCT_MotorStep   = 35;
                            }
                            else if(!X_DRV && !QDCT_QJLT_IN && !QDCT_HJLT_IN)
                            {
                                QDCT_XM_OUT      = 0;
                                //if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE)QDCT_XQ_OUT      = 1;
                                QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                                QDCT_MotorStep   = 35;                        
                            }
                            else if(dwTickCount >= QDCT_MotorDelay)
                                QDCT_SetAlarmCode(QDCT_JLT_ALARM);    
                        }
                        
                        if(QDCT_PARAM_MAX_BACK_LENGTH < GetLength(dwRealPos,back_buff))    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }
                        break;
                case 35:
                       if(QDCT_COUNT_IN || (QDCT_PARAM_SET_ZIPPER_LENGTH <= QDCT_PARAM_CNT_ENABLE_LENGTH))
                            cCountFlg       = 1;

                       if(((dwRealPos-back_buff) >= QDCT_PARAM_XQ_UP_LENGTH)  && !QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE)
                            QDCT_XQ_OUT = 1;
                       if(!X_DRV && QDCT_XM_ORIGIN_IN && !QDCT_XM_LIMIT_IN)
                       {
                            if(QDCT_QTLTStep == 0)
                                QDCT_QTLTStep = 1;
                            if(QDCT_HTLTStep == 0)
                                QDCT_HTLTStep = 1;
                            if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE)
                                QDCT_XQ_OUT = 1;
                            //无限长时换压轮拖带
                            if(!QDCT_CheckLength())
                                QDCT_YD_OUT      = 1;
                            QDCT_MotorStep   = 36;
                       }
                       else if(dwTickCount >= QDCT_MotorDelay)
                            QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
                       
                        if(QDCT_PARAM_MAX_BACK_LENGTH < GetLength(dwRealPos,back_buff))    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }
                        break;
		case 36:
                       if(QDCT_COUNT_IN || (QDCT_PARAM_SET_ZIPPER_LENGTH <= QDCT_PARAM_CNT_ENABLE_LENGTH))
                            cCountFlg       = 1;
                       if(!X_DRV)
                       {
                            QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
                            if(QDCT_QTLTStep == 0)
                                QDCT_QTLTStep = 1;
                            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_FZ_LENGTH,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                            QDCT_MotorStep   = 37;                          
                       }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < GetLength(dwRealPos,back_buff))    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }                      
			break;
                case 37: 
                      if(QDCT_COUNT_IN || (QDCT_PARAM_SET_ZIPPER_LENGTH <= QDCT_PARAM_CNT_ENABLE_LENGTH))
                            cCountFlg       = 1;
                      if(!X_DRV)
                      {
                            if(QDCT_QTLTStep == 0)
                                QDCT_QTLTStep = 1;  
                            
                            if(cCountFlg)                             
                                QDCT_MotorStep   = 0;
                            else
                                QDCT_SetAlarmCode(QDCT_COUNT_ALARM);
                           if(bRunning)
                           {
                               if(!QDCT_NO_ZIPPER_CHECK_IN)QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
                           } 
                      }
                        if(QDCT_PARAM_MAX_BACK_LENGTH < GetLength(dwRealPos,back_buff))    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }
                        break;
		case 40:
                     //     if(dwTickCount >= QDCT_MotorDelay)
                           {
                                jz_buff = dwRealPos;
                                QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                                if(QDCT_PARAM_SJZ_LENGTH == 0)
                                {
                                    QDCT_JD_OUT = 0;
                                }
                                QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME;                                
                                QDCT_MotorStep   = 41;
                           }
                            break;
                case 41:
                           if(QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay))
                           {
                                if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || cChuan_LianCheckOK)
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,-(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                               else
                                    AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,-(1000 + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                QDCT_MotorStep   = 42;
                           }
                           break;
		case 42:	
                            if(QDCT_LONG_LENGTH_USE)// 无限长切断完成后拉电机动作
                            {
                                if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0)|| cChuan_LianCheckOK)
                                {   
                                    if(((QDCT_PARAM_SJZ_LENGTH) <= (jz_buff- dwRealPos)))
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 43;
                                    }
                                    else if(!X_DRV)
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 43;
                                    }
                                }
                              else
                              {
                              //松夹子长度
                                    if(((QDCT_PARAM_SJZ_LENGTH) <= (dwRealPos - jz_buff)))
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 43;
                                    }
                                    else if(!X_DRV)
                                    {
                                        QDCT_JD_OUT = 0;
                                        QDCT_MotorStep   = 43;
                                    }
                                }  
                            }
                            else        //普通长度
                            {//松夹子长度
                                if(((QDCT_PARAM_SJZ_LENGTH) <= (dwRealPos - jz_buff)))
                                {
                                    QDCT_JD_OUT = 0;
                                    QDCT_MotorStep   = 43;
                                }
                                else if(!X_DRV)
                                {
                                    QDCT_JD_OUT = 0;
                                    QDCT_MotorStep   = 43;
                                }
                            }
                            
                        if(QDCT_PARAM_MAX_BACK_LENGTH < GetLength(dwRealPos,back_buff))    
                        {
                              QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                      if(!X_DRV)
                      {
                           QDCT_MotorStep   = 0;   
                                QDCT_MotorDelay  =    dwTickCount;
                      }     
                            
                       if(QDCT_PARAM_MAX_BACK_LENGTH < GetLength(dwRealPos,back_buff))    
                        {
                             QDCT_JD_OUT = 0;
                              QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                        }
                        break;   
            case 61: // 前点定位数控模式
                        QDCT_MotorDelay = dwTickCount; 
                        if((QDCT_JD_OUT && (!QDCT_GO_LIMIT_IN)) || (QDCT_SZ_OUT == QDCT_MOTOR_DISEN))
                        {
                            if(!QDCT_GO_LIMIT_IN)
                                QDCT_JD_OUT   = 0;  
                            
                            if((QDCT_SZ_OUT == QDCT_MOTOR_DISEN))
                                QDCT_MotorDelay = dwTickCount + 40;  
                            QDCT_SZ_OUT   = QDCT_MOTOR_EN;                           
                            //下模不动时要推链
                            if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !QDCT_JD_OUT)
                                QDCT_TuiLianStep = 1;
                        }
                        QDCT_SZ_OUT   = QDCT_MOTOR_EN;
                        QDCT_JJ_DIR   = QDCT_JJ_DIR_P;//方向设定
                        QDCT_MotorStep = 62;
                        break;
                case 62://电机锁轴时间到
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            //已经夹住并且在前点的条件,认为布带已经夹好
                            if(QDCT_JD_OUT && QDCT_GO_LIMIT_IN)
                            {
                                QDCT_MotorStep   = 67;
                            }
                            else{        
                              
                              //前点亮的情况下要先后退离开
                                if(QDCT_GO_LIMIT_IN || QDCT_GO_DEC_IN)
                                {
                                    QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                                    //后退离开长度
                                  //  AxisContinueMoveAcc(X_AXIS,5, QDCT_DIR_N,5,10,10);
                                  AxisMovePos(X_AXIS,6,-QDCT_PARAM_GO_LOWSPEED_LENGTH);
                                 //   AxisMovePos(X_AXIS,QDCT_BACK_LOWSPEED,-QDCT_PARAM_ON_BACK_LENGTH);                           
                                    QDCT_MotorDelay = dwTickCount + 500;
                                    QDCT_MotorStep = 620; 
                                }
                                else
                                {
                                    QDCT_MotorStep = 63;
                                    QDCT_MotorDelay = dwTickCount;
                                }     
                                QDCT_JD_OUT = 0;  
                            }
                        }
			break;
                case 620:
                    if(QDCT_GO_LIMIT_IN)
                    {
                        SetPos(X_AXIS, 0);
                    }
                    else //后退离开长度    
                    {
                       AxisMovePos(X_AXIS,6,-500);  
                        QDCT_MotorStep = 63;    
                         QDCT_MotorDelay = dwTickCount + 1500;
                    }   
                    break;
		case 63://                                                                     后夹拉头
                        if(!X_DRV && !QDCT_GO_LIMIT_IN && (dwTickCount >= QDCT_MotorDelay) && (QDCT_HJLT_IN || !bRunning))
                        {
                            go_buff  = dwRealPos;
                            QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
                            //不是第一次
                            if(dwZipCnt > 0)
                            {
                                   speed_buff =  QDCT_PARAM_JJGO_SPEED;                          
                                   if(QDCT_LATOU)       //1为单拉头
                                   {
                                       acc = QDCT_PARAM_ACC_PULSE*2;
                                       start_speed = QDCT_PARAM_START_SPEED;
                                       dec = QDCT_PARAM_DEC_PULSE;
                                   }
                                   else //双拉头
                                   {
                                       acc = QDCT_PARAM_ACC_PULSE*2;
                                        start_speed = QDCT_PARAM_START_SPEED;
                                    // dec = QDCT_PARAM_DEC_PULSE*1.5;
                                        dec = QDCT_PARAM_DEC_PULSE;
                                   }
                                  /*
                                  // if((QDCT_PARAM_SET_ZIPPER_LENGTH <= 2000) && QDCT_PARAM_JJGO_SPEED > 50 )speed_buff = speed_buff-10;
                                   MoveAction_Const_Stop_AccDec(X_AXIS,QDCT_DIR_P,speed_buff,start_speed,acc,dec);
                                  QDCT_MotorStep  = 64;
                                   */
                                   //LYQ 改为直接当前位置返回长度
                                   if(dwRealPos > QDCT_PARAM_GO_LOWSPEED_LENGTH)
                                        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJGO_SPEED,dwRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH,13,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                   QDCT_MotorStep  = 66;
                                   QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                  
                            }
                            else
                            {
                                   MoveAction_Const_Stop_AccDec(X_AXIS,QDCT_DIR_P,QDCT_PARAM_FIRSTSPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                   QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                   QDCT_MotorStep  = 65;
                            }
                        }  
			break;
                case 64:
                            if(QDCT_LATOU)       //1为单拉头
                           {
                                dec = QDCT_PARAM_DEC_PULSE;
                           }
                           else //双拉头
                           {
                             // dec = QDCT_PARAM_DEC_PULSE*1.5;
                                dec = QDCT_PARAM_DEC_PULSE;
                           }
                           if(QDCT_CheckLength())
                           {
                              if(((GetLength(dwRealPos,go_buff)) > ((QDCT_PARAM_TRANS_LENGTH-1000) - (QDCT_PARAM_GO_LOWSPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_GO_LOWSPEED,dec))) + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH)) || QDCT_GO_DEC_IN_UP)
                              {                   
                                  MoveChangSpeed(X_AXIS,QDCT_PARAM_GO_LOWSPEED);
                                  QDCT_MotorStep   = 66;
                                  QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                              }
                              else if(dwTickCount >= QDCT_MotorDelay)
                                 QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);                           
                           }
                           else
                           {
                              if(((GetLength(dwRealPos,go_buff)) > ((QDCT_PARAM_SET_ZIPPER_LENGTH) - (QDCT_PARAM_GO_LOWSPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_GO_LOWSPEED,dec))) + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH)) || QDCT_GO_DEC_IN_UP)
                              {                   
                                  MoveChangSpeed(X_AXIS,QDCT_PARAM_GO_LOWSPEED);
                                  QDCT_MotorStep   = 66;
                                  QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                              }
                              else if(dwTickCount >= QDCT_MotorDelay)
                                QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
                           }                        
                          break;
		case 65:
                        //碰到减速开关
                        if(QDCT_GO_DEC_IN && X_DRV)
                            MoveChangSpeed(X_AXIS,QDCT_PARAM_GO_LOWSPEED);
                        //碰到前点限位停止
                        if(QDCT_GO_LIMIT_IN)
                        {
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorStep   = 66;  
                            SetPos(X_AXIS, 0); 
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)
                            QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
                        break;
		case 66:
                        if(dwZipCnt)
                        {
                          if(!X_DRV)
                          {    
                                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_GO_LOWSPEED,dwRealPos,5,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                QDCT_MotorStep   = 67;   
                          }
                        }
                        else
                            QDCT_MotorStep   = 67;
                        break;
                case 67:       
                        if(!X_DRV)  //电机已经
                        {   
                            QDCT_MotorDelay =    dwTickCount;
                            QDCT_MotorStep   = 68;
                        }
			break;   
		case 68:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(QDCT_JiaLianStep == 0)
                            {
                                QDCT_JiaLianStep = 1;
                                QDCT_MotorStep   = 69;
                            }
                        }
			break;
                case 69:
                        if(QDCT_JiaLianStep == 0)
                        {
                            
                            QDCT_MotorStep   = 0;
                        }
                        break;
   //测试来回                     
                case 100:
                        if((dwTickCount >= QDCT_MotorDelay) && !X_DRV)
                        {
                            QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                            AxisMovePos(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-(QDCT_PARAM_SET_ZIPPER_LENGTH));
                            QDCT_MotorStep   = 101;
                            QDCT_MotorDelay =    dwTickCount + 1000;
                        }
                        break;
                case 101:
                        if((dwTickCount >= QDCT_MotorDelay) && !X_DRV)
                        {
                                QDCT_MotorStep   = 102;
                        }
                        break;
                case 102:
                        AxisMovePos(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH));
                        QDCT_MotorStep   = 100;
                        QDCT_MotorDelay =    dwTickCount + 1000;
                        break;  
                //切断后压轮送出链        
                case 160:
                        if((dwTickCount >= QDCT_MotorDelay) && !Y_DRV)
                        {
                            QDCT_YL_DIR = QDCT_YL_DIR_N;
                            if(!Y_DRV)AxisMovePos(Y_AXIS,QDCT_PARAM_YL_SL_SPEED,QDCT_PARAM_YL_SL_LENGTH);
                            QDCT_MotorDelay =    dwTickCount + QDCT_PARAM_YL_BACK_DELAY;
                            QDCT_MotorStep   = 161;
                        }break;
                case 161:
                        if(dwTickCount >= QDCT_MotorDelay)QDCT_YL_OUT = 0;
                        if(!Y_DRV)
                        {
                            QDCT_YL_OUT = 0;
                            QDCT_MotorDelay =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                            QDCT_MotorStep   = 162;
                        }
                         break;
                case 162:
                        if(!QDCT_YL_LIMIT_IN)  
                        {
                            QDCT_MotorDelay =    dwTickCount;
                            QDCT_MotorStep   = 0;
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)
                            QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
                         break;
		case 150:
                     //     if(dwTickCount >= QDCT_MotorDelay)
                           {
                                jz_buff = dwRealPos;
                                QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
                                QDCT_JD_OUT = 0;
                                QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME+150;                                
                                QDCT_MotorStep   = 151;
                           }
                            break;
                case 151:
                           if(QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay))
                           {
                                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED/2,-(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                                QDCT_MotorStep   = 152;
                           }
                           break;
                case 152:
                           if(!X_DRV) QDCT_MotorStep   = 0;
                           break;
                //以下为夹子进去夹废料
                case 200:                        
                       QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
                       AxisMovePosAccDec(X_AXIS,QDCT_PARAM_GO_LOWSPEED,dwRealPos-350,13,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                       QDCT_MotorStep  = 201;
                      break;
                case 201:
                       if(!X_DRV)
                       {    
                           QDCT_JD_OUT        = 1;
                           QDCT_MotorStep   = 202;   
                           QDCT_MotorDelay = dwTickCount + 50;
                       }
                       break;
                
		case 202:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            QDCT_MotorStep   = 0;
                        }
			break;
 
                           
	}
}



//切断动作
void QDCT_XiaQieAction(void)	 
{
    user_datas[121] = tXAxisStepper.State;// GetPos(Y_AXIS);//QDCT_HZhuangLiaoStep;//QDCT_AutoStep;
    user_datas[122] = GetPos(X_AXIS);
    user_datas[123] = QDCT_MotorStep;
    user_datas[124] = QDCT_AutoStep ;
    user_datas[125] = QDCT_XiaQieStep;//cChuan_LianCheckOK;
    user_datas[126] = cSeBiaoEn;//QDCT_QZhuangLiaoStep;
    user_datas[127] = cSeBiaoOk;//QDCT_HZhuangLiaoStep;
    user_datas[128] = tXAxisStepper.cPmovPulse;
#if 1    
    switch(QDCT_XiaQieStep)
    {  
        case 1:
            if(bRunning)
            {
                if(!QDCT_NO_ZIPPER_CHECK_IN)
                {
                    QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
                }
            } 
            if(QDCT_GO_LIMIT_IN || QDCT_GO_DEC_IN)
            {
                if(QDCT_GO_LIMIT_IN)
                {
                    QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM);
                    QDCT_XiaQieStep   = 0;
                }
                else
                {
                    QDCT_SetAlarmCode(QDCT_DEC_ALARM);
                    QDCT_XiaQieStep   = 0;
                }
            }
            else
            {
                QDCT_XiaQieStep = 2;       
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUT_DELAY;
            }
        break;
        case 2:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_XiaQieStep = 3; 
                QDCT_YD_OUT     = 1;
                QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                if(!QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE)
                {
                     QDCT_XQ_OUT = 1; 
                }
            }
            break;
        case 3:        
           if(QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE || QDCT_PARAM_CS_ENABLE)
           {
               QDCT_XiaQieDelay = dwTickCount;
               QDCT_XiaQieStep = 4;   
           }
           else if(dwTickCount >= QDCT_XiaQieDelay)
           {
               QDCT_SetAlarmCode(QDCT_XQ_ALARM);
               QDCT_XiaQieStep = 0;
           }
           break;
        case 4:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                if(!QDCT_SL_ORIGIN_IN && QDCT_PARAM_XM_MODE)
                    QDCT_SetAlarmCode(QDCT_SL_ORIGIN_ALARM);
                else
                {
                    QDCT_SQ_OUT = 1;   //上切刀输出
                    if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 1;
                    QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                }
                QDCT_XiaQieStep = 5;         	
            }
            break;
        case 5:   
          //上下切刀到位
            if(QDCT_SQ_LIMIT_IN && QDCT_XQ_LIMIT_IN)
            {    
                cQDCT_TuiLianOKFlag = 0;
                if(QDCT_PARAM_CS_ENABLE)
                {
                    QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_DELAY;
                    QDCT_XiaQieStep = 50;         //跳到超声处理   
                }
                else
                {
                    QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUTBACK_DELAY;
                    QDCT_XiaQieStep = 6;  
                }
            }
            else if(dwTickCount >= QDCT_XiaQieDelay)
            {
                if(!QDCT_SQ_LIMIT_IN)
                {
                    QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);
                    QDCT_XiaQieStep = 0;
                }
                else
                {
                    QDCT_SetAlarmCode(QDCT_XQ_ALARM);
                    QDCT_XiaQieStep = 0;
                }
            } 
            break;
        case 6:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_SQ_OUT = 0;
                QDCT_XQ_OUT = 0;
                QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_XiaQieStep = 7;             
            }
            break;
        case 7:
            if(!QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
            {
                    if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT)
                        QDCT_TuiLianStep = 1;
                    QDCT_XiaQieStep = 0;   
            }
            else if(dwTickCount >= QDCT_XiaQieDelay)
            {
                QDCT_XiaQieStep  = 0;
                if(QDCT_SQ_LIMIT_IN) QDCT_SetAlarmCode(QDCT_SQ_ORIGIN_ALARM);
                else if(QDCT_XQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XQ_ALARM);
            }
            break;
        case 50:
            if(dwTickCount >= QDCT_XiaQieDelay)
            {
                if(QDCT_PARAM_CS_CONTROL)
                    QDCT_CS_OUT = 1;
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_TIME;
                QDCT_XiaQieStep = 51;             
            }
            break;
        case 51:   
            if((dwTickCount >= QDCT_XiaQieDelay))
            {
                QDCT_CS_OUT = 0;
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_COLD_TIME;
                QDCT_XiaQieStep = 6;             
            }
            break;
    }       
#endif
}

//前装拉头动作
void QDCT_QZLT_Step(void)
{
    switch(QDCT_QZhuangLiaoStep)
    {
        case 1: 
            if(!QDCT_PARAM_QLT_ON && bRunning)
            {
                 QZhuangLiaoOkFlg = 1;
                 QDCT_QJLT_OUT    = 1;
            }
            if(QZhuangLiaoOkFlg)
            {
                 QDCT_QZhuangLiaoStep = 0;
            }
            else
            {
                 if(cFirstQStartFlg && QDCT_QJLT_IN)
                 {
                     QDCT_QZhuangLiaoStep = 8;
                     if(!QDCT_PARAM_HLT_ON)
                        QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME*4;
                    else
                        QDCT_QZhuangLiaoDelay = dwTickCount + 15;
                 }
                 else
                 {
                     cFirstQStartFlg = 0;
                     if(QDCT_QTLTStep == 0)
                     {
                         QDCT_QTLTStep = 1;    //推拉头开始    
                         QDCT_QZhuangLiaoStep = 2; 
                     }
                 }
            }
            break;
        case 2: //推拉完成
            if(QDCT_QTLTStep == 0)
            {
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 3;   
            }
            break;
        case 3:    //横送料原点  下模原点                          下切完成
            if(QDCT_QHSL_ORIGIN_IN && QDCT_XM_ORIGIN_IN && (QDCT_XiaQieStep == 0))
            {
                  QDCT_QZhuangLiaoStep = 50;
//                  if(QDCT_PARAM_QLT_ON)
//                        QDCT_CQ_OUT = 1;
                  QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                  QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY;
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                if(!QDCT_QHSL_ORIGIN_IN)
                    QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);
                else
                    QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            }
            break;
        case 50: //横送输出
            if((dwTickCount >= QDCT_QZhuangLiaoDelay))
            {
                QDCT_QHSL_OUT = 1;      //前横送输出
                QDCT_QJLT_OUT = 0;    // 前夹拉头关 
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 4;      
            }
            break;
        case 4: //横送到位   
            if(QDCT_QHSL_LIMIT_IN)
            {
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT;
                QDCT_QZhuangLiaoStep = 5;   
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(49);//QDCT_HSL_LIMIT_ALARM);
            }
            break;
        case 5://延时夹拉头
            if((dwTickCount >= QDCT_QZhuangLiaoDelay))
            {
                QDCT_QJLT_OUT = 1; 
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 6;   
            }
            break;
        case 6://夹拉头到位   
            if(QDCT_QJLT_IN)
            {
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK;
                QDCT_QZhuangLiaoStep = 7;
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_JLT_ALARM);
            }
            break;
        case 7:
            if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                
                QDCT_QHSL_OUT   = 0;
                if(!QDCT_PARAM_HLT_ON)
                    QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME*4;
                else
                    QDCT_QZhuangLiaoDelay = dwTickCount + 55;
                if(!bRunning)  //手状态下装料完成
                {
                    QDCT_QZhuangLiaoStep = 0;
                    if(QDCT_QTLTStep == 0)
                        QDCT_QTLTStep = 1;  //横送料退回时启动推拉头   
                }    
                else
                {           
                    if(cFirstQStartFlg);
                    else
                      QTuiLaTouOkFlg = 0;
                    if(QDCT_QTLTStep == 0)
                        QDCT_QTLTStep = 1;  //横送料退回时启动推拉头   
                    
                    QDCT_QZhuangLiaoStep = 8;
                  //  QDCT_QZhuangLiaoDelay = dwTickCount + 15;
                }                
            }
            break;
        case 8:   
          
            if(QDCT_PARAM_QLT_ON && QDCT_PARAM_HLT_ON && bRunning)
            {
                if(QDCT_QHSL_LIMIT_IN)
                  QDCT_QZhuangLiaoDelay = dwTickCount + 55;
              //后装料
                if(((QDCT_HZhuangLiaoStep == 8) || (HZhuangLiaoOkFlg == 1)) && ((dwTickCount >= QDCT_QZhuangLiaoDelay) || QDCT_QHSL_ORIGIN_IN))
                {
                    if(!QDCT_HJLT_IN)  //后夹拉头没到位输出
                        QDCT_HJLT_OUT = 1;
                    QDCT_QZhuangLiaoStep = 100;
                    QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME*4;
                }
            }
            else        //前拉头
            {
          
                if(QDCT_HHSL_ORIGIN_IN && !QDCT_HHSL_OUT && ((QDCT_HZhuangLiaoStep==0) && (HZhuangLiaoOkFlg == 1)  || (QDCT_HZhuangLiaoStep == 8) || (HTryCnt > 4)))
                { 
                    if(!QDCT_QHSL_LIMIT_IN)  //离开5MS后就可以上升了
                    {
                        QDCT_QZhuangLiaoDelay = dwTickCount + 55;
                        cFirstQStartFlg  = 0;
                        if(QDCT_QTLTStep == 0)
                            QDCT_QTLTStep = 1;  
                        //不应该这个地方限定时间
                        
                        QDCT_QZhuangLiaoStep = 9; 
                    }   
                    else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
                    {
                        QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
                    }
                }
                else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
                {
                    if(QDCT_QHSL_LIMIT_IN)
                        QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
                    else if(QDCT_HHSL_LIMIT_IN)
                        QDCT_SetAlarmCode(QDCT_HHSL_LIMIT_ALARM);             
                    else 
                        QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM); 
                } 
            } 
            break;
        case 9:   
            if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_QZhuangLiaoStep = 10; 
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME*4;
            }
            break;
        case 10:     
            if(QDCT_GO_LIMIT_IN)
            {
                QDCT_XM_OUT   = 1;     
                
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 11; 
          
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                if(!X_DRV && cCheck_Go_In_Flag)
                    QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM);  
            }  
            break;
        case 11:    
            if(QDCT_XM_LIMIT_IN)
            {
                QDCT_QZhuangLiaoStep = 12; 
                QDCT_QZhuangLiaoDelay = dwTickCount + 100;
                          
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); 
            }
            break;
        case 12:
            //
            if(QDCT_QLTCZ_IN || QDCT_bTestMode)
            {
                QDCT_QZhuangLiaoStep  = 0; 
                QZhuangLiaoOkFlg = 1;
                QTryCnt = 0;
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                if(bRunning)
                {
                    QTryCnt++;
                    if(QTryCnt > 4)
                    {
                        QTryCnt = 4+5;
                        QDCT_SetAlarmCode(QDCT_ZLT_ALARM); 
                        QDCT_QJLT_OUT = 0;
                        QDCT_XM_OUT  = 0;      
                    }
                    else
                    {
                        QDCT_QZhuangLiaoStep = 13; 
                    } 
                }
                else
                {
                    QDCT_QZhuangLiaoStep  = 0; 
                    QDCT_QZhuangLiaoDelay = dwTickCount;
                }
            }
            break;
        case 13:    
            QDCT_XM_OUT          = 0;
            QDCT_QJLT_OUT         = 0;
            QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_QZhuangLiaoStep = 14; 
            break;
        case 14:
            if(QDCT_XM_ORIGIN_IN)
            {
                QDCT_QZhuangLiaoStep = 15; 
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            } 
            break;
        case 15: 
            QDCT_QZhuangLiaoStep = 1;
            break;
            //前后拉头都选择
        case 100:   
          //          前横送输出       前限位                前横送输出      前夹拉头     后横送输出      后夹拉头
            if(!QDCT_QHSL_OUT && QDCT_GO_LIMIT_IN && !QDCT_QHSL_OUT && QDCT_QJLT_IN&& !QDCT_HHSL_OUT && QDCT_HJLT_IN)
            {
                QDCT_XM_OUT   = 1;     //下模输出 

                cFirstQStartFlg  = 0;                
                cFirstHStartFlg  = 0;
                 
                if(QDCT_QTLTStep == 0)
                    QDCT_QTLTStep = 1;  
                if(QDCT_HTLTStep == 0)
                    QDCT_HTLTStep = 1;  
                QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QZhuangLiaoStep = 101;        
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                if(!QDCT_QHSL_ORIGIN_IN)
                    QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);
                else if(!QDCT_HHSL_ORIGIN_IN)
                    QDCT_SetAlarmCode(QDCT_HHSL_ORIGIN_ALARM);
                else if(!QDCT_GO_LIMIT_IN)
                {
                    if(!X_DRV && cCheck_Go_In_Flag)
                        QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM); 
                }    
                else if(!QDCT_QJLT_IN)  //前夹拉到位
                    QDCT_SetAlarmCode(QDCT_JLT_ALARM); 
                 else if(!QDCT_HJLT_IN) //后夹拉到位
                    QDCT_SetAlarmCode(QDCT_HJLT_ALARM); 
            }
            break;
        case 101:
            if(QDCT_XM_LIMIT_IN)  //下模到位
            {
                QDCT_QZhuangLiaoStep = 102; 
                QDCT_QZhuangLiaoDelay = dwTickCount + 100;                          
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); 
            }
            break;
        case 102:  
          //两个顶针信号或调试模式
            if((QDCT_QLTCZ_IN && QDCT_HLTCZ_IN)|| QDCT_bTestMode)
            {
                QDCT_QZhuangLiaoStep  = 0; 
                QZhuangLiaoOkFlg = 1;
                QTryCnt = 0;
                QDCT_HZhuangLiaoStep  = 0; 
                HZhuangLiaoOkFlg = 1;
                HTryCnt = 0;
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                if(bRunning)
                {                  
                    if(!QDCT_QLTCZ_IN)
                        QTryCnt++;
                    else 
                        QZhuangLiaoOkFlg = 1;
                    if(!QDCT_HLTCZ_IN)
                        HTryCnt++;
                    else 
                        HZhuangLiaoOkFlg = 1;
                    if((QTryCnt > 4) || (HTryCnt > 4))
                    {
                        QTryCnt = 4+5;
                        HTryCnt = 4+5;
                        QDCT_SetAlarmCode(QDCT_ZLT_ALARM); 
                        QDCT_XM_OUT  = 0;      
                    }
                    else
                    {
                        QDCT_QZhuangLiaoStep = 103; 
                    } 
                }
                else
                {
                    QDCT_QZhuangLiaoStep  = 0; 
                    QDCT_QZhuangLiaoDelay = dwTickCount;
                }
            }
            break;
        case 103:    //装拉头失败重复装几次拉头        
            QDCT_XM_OUT = 0; //下模退回
            
            QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_QZhuangLiaoStep = 104; 
            break;
        case 104:
            if(!QDCT_XM_LIMIT_IN)//QDCT_XM_ORIGIN_IN)  //下模下到位
            {
                if(!QZhuangLiaoOkFlg)
                    QDCT_QJLT_OUT         = 0;
                if(!HZhuangLiaoOkFlg)
                    QDCT_HJLT_OUT         = 0;
                QDCT_QZhuangLiaoStep = 105; 
            }
            else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            } 
            break;
        case 105:       
            if(!QZhuangLiaoOkFlg && !HZhuangLiaoOkFlg)
            {
                QDCT_QZhuangLiaoStep = 1;
                QDCT_HZhuangLiaoStep = 1;
            }
            else if(!QZhuangLiaoOkFlg)
            {
                QDCT_QZhuangLiaoStep = 1;
                QDCT_HZhuangLiaoStep  = 0; 
            }
            else if(!HZhuangLiaoOkFlg)
            {
                QDCT_HZhuangLiaoStep = 1;
                QDCT_QZhuangLiaoStep = 8;
            }
            break;
    }
}

//后装拉头动作
void QDCT_HZLT_Step(void)
{
    switch(QDCT_HZhuangLiaoStep)   
    {
        case 1:   
            if(!QDCT_PARAM_HLT_ON && bRunning)
            {
                HZhuangLiaoOkFlg = 1;
                QDCT_HJLT_OUT    = 1;
            }
            if(HZhuangLiaoOkFlg)
            {
                QDCT_HZhuangLiaoStep = 0;
            }
            else
            {
                if(cFirstHStartFlg && QDCT_HJLT_IN)
                {
                    QDCT_HZhuangLiaoStep = 8;
                    if(QDCT_PARAM_QLT_ON)
                        QDCT_HZhuangLiaoDelay = dwTickCount+ 15;// + QDCT_VAVLE_ERROR_TIME*4;
                    else
                        QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME*4;
                }
                else
                {
                    cFirstHStartFlg = 0;
                    if(QDCT_HTLTStep == 0)
                    {
                        QDCT_HTLTStep = 1;        
                        QDCT_HZhuangLiaoStep = 2; 
                    }
                }
            }
            break;
        case 2:  
            if(QDCT_HTLTStep == 0)//后推拉头完成
            {
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 3;   
            }
            break;
        case 3:
            if(QDCT_HHSL_ORIGIN_IN && QDCT_XM_ORIGIN_IN && (QDCT_XiaQieStep == 0))
            {
              //改到夹链后吹气
//                if(QDCT_PARAM_HLT_ON && !QDCT_PARAM_QLT_ON)
//                {   
//                    QDCT_CQ_OUT = 1;
//                    QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
//                }
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY;
                QDCT_HZhuangLiaoStep = 50;   
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                if(!QDCT_HHSL_ORIGIN_IN)
                    QDCT_SetAlarmCode(QDCT_HHSL_ORIGIN_ALARM);
                else
                    QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            }
            break;
        case 50: 
            if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_HHSL_OUT = 1;  //横送料输出
                QDCT_HJLT_OUT = 0; 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 4;   
            }
            break;
        case 4:     
            if(QDCT_HHSL_LIMIT_IN)  //横送到位
            {
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT;
                QDCT_HZhuangLiaoStep = 5;   
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_HHSL_LIMIT_ALARM);
            }
            break;
        case 5:        //延时夹拉头
            if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_HJLT_OUT = 1; 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 6;   
            }
            break;
        case 6://夹拉头到位
            if(QDCT_HJLT_IN)
            {
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK;
                QDCT_HZhuangLiaoStep = 7;
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_HJLT_ALARM);
            }
            break;
        case 7: //延时退横送料
            if((dwTickCount >= QDCT_HZhuangLiaoDelay))
            {
                QDCT_HHSL_OUT   = 0;
                HTuiLaTouOkFlg = 0;
                if(QDCT_HTLTStep == 0)
                    QDCT_HTLTStep = 1;  
                if(QDCT_PARAM_QLT_ON)
                    QDCT_HZhuangLiaoDelay = dwTickCount+ 55;// + QDCT_VAVLE_ERROR_TIME*4;
                else
                    QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME*4;
                if(!bRunning)
                    QDCT_HZhuangLiaoStep = 0;
                else
                {
                    if(QDCT_PARAM_QLT_ON)
                        QDCT_HZhuangLiaoStep = 70;//前后都选择
                    else
                        QDCT_HZhuangLiaoStep = 8;
                    if(cFirstHStartFlg);
                    else
                        HTuiLaTouOkFlg = 0;
                    
                }
            }
            break;
        case 70:  //前后都选择
            if(QDCT_HHSL_LIMIT_IN)      
            {
                QDCT_HZhuangLiaoDelay = dwTickCount+ 55;
            }
            else if((dwTickCount >= QDCT_HZhuangLiaoDelay) || QDCT_HHSL_ORIGIN_IN)
                QDCT_HZhuangLiaoStep = 8;
             break; 
        case 8:       //前后拉头都选择的话等 前装料一起输出下模  
            if(QDCT_PARAM_QLT_ON && QDCT_PARAM_HLT_ON && bRunning)
            {
            
            }
            else  //单选择后拉头的话要合下模
            {
                if(!QDCT_QHSL_LIMIT_IN && QDCT_QHSL_ORIGIN_IN && !QDCT_QHSL_OUT && ((QDCT_QZhuangLiaoStep==0) && (QZhuangLiaoOkFlg == 1) || (QDCT_QZhuangLiaoStep == 8) || (QTryCnt > 4)))
                {       
                    if(!QDCT_HHSL_LIMIT_IN)
                    {
                        QDCT_HZhuangLiaoDelay = dwTickCount + 45;
                        cFirstHStartFlg  = 0;                  
                        if(QDCT_HTLTStep == 0)
                            QDCT_HTLTStep = 1;  
                        QDCT_HZhuangLiaoStep = 9;   
                    }
                    else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
                    {
                        QDCT_SetAlarmCode(QDCT_HHSL_LIMIT_ALARM);
                    }
                }
                else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
                {
                    if(QDCT_QHSL_LIMIT_IN)
                        QDCT_SetAlarmCode(QDCT_HHSL_LIMIT_ALARM);        
                    else 
                        QDCT_SetAlarmCode(QDCT_HHSL_ORIGIN_ALARM); 
                }   
            }
            break;
        case 9:    
            if((dwTickCount >= QDCT_HZhuangLiaoDelay) || QDCT_HHSL_ORIGIN_IN)
            { 
                QDCT_HZhuangLiaoDelay = dwTickCount + 4*QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 10;  
            }  
            break;
        case 10:
            if(QDCT_GO_LIMIT_IN)
            {  
                QDCT_XM_OUT   = 1;     //下模输出 
                QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HZhuangLiaoStep = 11;   
            }   
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                if(!X_DRV && cCheck_Go_In_Flag)
                    QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM); 
            }  
              
            break;
        case 11:  //下模到位       
            if(QDCT_XM_LIMIT_IN)
            {
                QDCT_HZhuangLiaoStep = 12; 
                QDCT_HZhuangLiaoDelay = dwTickCount + 100;                          
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); 
            }
            break;
        case 12:
          //拉头顶针感应
            if(QDCT_HLTCZ_IN || QDCT_bTestMode)
            {
                QDCT_HZhuangLiaoStep  = 0; 
                HZhuangLiaoOkFlg      = 1;
                HTryCnt               = 0;
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                if(bRunning)
                {
                    HTryCnt++;
                    if(HTryCnt > 4)
                    {
                        HTryCnt = 4+5;
                        QDCT_SetAlarmCode(QDCT_ZLT_ALARM); 
                        QDCT_XM_OUT  = 0;   
                    }
                    else
                    {   //重装拉头
                        QDCT_HZhuangLiaoStep = 13; 
                    } 
                }
                else
                {
                    QDCT_HZhuangLiaoStep  = 0; 
                    QDCT_HZhuangLiaoDelay = dwTickCount;
                }
            }
            break;
        case 13://装拉头失败重复装几次拉头    
            QDCT_XM_OUT          = 0;  //下模退回
            QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_HZhuangLiaoStep = 14; 
            break;
        case 14:    
            if(QDCT_XM_ORIGIN_IN)
            {
                QDCT_HJLT_OUT         = 0;
                QDCT_HZhuangLiaoStep = 15; 
            }
            else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
            {
                QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
            }
            break;
        case 15:        
            QDCT_HZhuangLiaoStep = 1;
            break;
    }
}
//前推拉头动作
void QDCT_QTuiLT_Step(void)
{
    static unsigned long q_dlp_delay;
    
    if(QDCT_QDLP_OUT && (dwTickCount >= q_dlp_delay))
        QDCT_QDLP_OUT = 0;
    switch(QDCT_QTLTStep)
    {  
        case 1:
        //前拉头使能
            if(!QDCT_PARAM_QLT_ON && bRunning)
            {
               QTuiLaTouOkFlg = 1;
            }
            if(QTuiLaTouOkFlg)
            {
                QDCT_QTLTStep = 0; 
            }
            else
            {
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QTLTStep = 2;
            }
            break;
        case 2:
            if(QDCT_QHSL_ORIGIN_IN && !QDCT_QHSL_LIMIT_IN)
            {
                QDCT_QTLT_OUT = 1;
                if(QTryCnt<= QDCT_PARAM_TRY_TIMES)QDCT_QDLP_OUT       = 1;
                q_dlp_delay = dwTickCount + QDCT_PARAM_DLP_TIME;
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_QTLTStep = 3;
            }
            else if(dwTickCount >= QDCT_QTLT_Delay) 
                QDCT_SetAlarmCode(QDCT_SL_ALARM);          
            break;
        case 3:
            if(QDCT_QTLT_LIMIT_IN)
            { 
                QDCT_QTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
                QDCT_QTLTStep = 4;
            }
            else if(dwTickCount >= QDCT_QTLT_Delay) 
                QDCT_SetAlarmCode(QDCT_SL_ALARM);        
            break;
        case 4:
            if((dwTickCount >= QDCT_QTLT_Delay))
            {
                QDCT_QTLT_OUT       = 0;
                QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
                QDCT_QTLTStep = 5;
                QTuiLaTouOkFlg    = 1;
            }
            break;
        case 5:    
            if(!QDCT_QTLT_LIMIT_IN)
            {
                QDCT_QTLTStep = 0;
                QDCT_QTLT_Delay = dwTickCount;
                
            }
            else if(dwTickCount >= QDCT_QTLT_Delay) 
                QDCT_SetAlarmCode(QDCT_SL_ALARM); 
            break;
    }
}

//后推拉头动作
void QDCT_HTuiLT_Step(void)
{
    static unsigned long h_dlp_delay;
//    static unsigned short dlp_flg = 0;
    if(QDCT_HDLP_OUT && (dwTickCount >= h_dlp_delay))
        QDCT_HDLP_OUT = 0;
    switch(QDCT_HTLTStep)
    {
        case 1:
            if(!QDCT_PARAM_HLT_ON && bRunning)
            {
               HTuiLaTouOkFlg = 1;
            }
            if(HTuiLaTouOkFlg)
            {
                QDCT_HTLTStep = 0; 
            }
            else
            {
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HTLTStep = 2;
            }
            break;
        case 2:
            if(QDCT_HHSL_ORIGIN_IN && !QDCT_HHSL_LIMIT_IN)
            {
                QDCT_HTLT_OUT       = 1;
                if(HTryCnt<= QDCT_PARAM_TRY_TIMES)
                    QDCT_HDLP_OUT = 1; 
                h_dlp_delay = dwTickCount + QDCT_PARAM_DLP_TIME;
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HTLTStep = 3;
            }
            else if(dwTickCount >= QDCT_HTLT_Delay) 
                QDCT_SetAlarmCode(QDCT_SL_ALARM);          
            break;
        case 3:    
            if(QDCT_HTLT_LIMIT_IN)
            { 
                QDCT_HTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
                QDCT_HTLTStep = 4;
            }
            else if(dwTickCount >= QDCT_HTLT_Delay) 
              QDCT_SetAlarmCode(QDCT_SL_ALARM);        
            break;
        case 4:
            if((dwTickCount >= QDCT_HTLT_Delay))
            {
                QDCT_HTLT_OUT       = 0;
                QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
                QDCT_HTLTStep = 5;
                HTuiLaTouOkFlg    = 1;
            }
            break;
       case 5:  
            if(!QDCT_HTLT_LIMIT_IN)
            {
                QDCT_HTLTStep = 0;
                QDCT_HTLT_Delay = dwTickCount;
                
            }
            else if(dwTickCount >= QDCT_HTLT_Delay) 
                QDCT_SetAlarmCode(QDCT_SL_ALARM);    
            break;
    }
}
//手动动作
void QDCT_ManualAction(void)
{ 
    static unsigned char cs_flg;
    static long cs_delay;
    if(bRunning == 0)  
    {   
        if(bClearTotal) //切断计数清零
        {
            bClearTotal       = 0;
            ClrcToTal(QDCT_TOTAL_ADDR);
        }
        
        if(QDCT_bClerNowTotal)
        {
            QDCT_bClerNowTotal = 0;
            QDCT_PARAM_TB_CNT1 = 0;
            QDCT_PARAM_TB_CNT2 = 0;
            ClrcToTal(QDCT_NOWTOTAL_ADDR);
        }		
	//切断	
        if(QDCT_bQieDuan)
        {
            QDCT_bQieDuan = 0;
            if(QDCT_XiaQieStep == 0)
            {
                  if(QDCT_PARAM_XM_MODE)      //下模不动
                  {
                        if(QDCT_SL_ORIGIN_IN )
                          QDCT_XiaQieStep = 1;
                    }
                    else
                    {
                        QDCT_XiaQieStep = 1;
                    }
            }
        }
        //测试行程
        if(QDCT_bReset_Origin)
        {
            QDCT_bReset_Origin = 0;
            cTestMotorStep = 1;
        } 
        //前点定位
        if(QDCT_bQianDianDW)
        {
            QDCT_bQianDianDW = 0;
            if((QDCT_MotorStep == 0) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
            {
                QDCT_MotorStep = 61;
                dwZipCnt      = 0;
            }
            else if(QDCT_SQ_LIMIT_IN)
                QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);  
        }
        //下模
        if(QDCT_bManXM)
        {
            QDCT_bManXM = 0;
            QDCT_XM_OUT = ~QDCT_XM_OUT;
            
            if(QDCT_QHSL_OUT || QDCT_HHSL_OUT)QDCT_XM_OUT = 0;
        }
        //上切刀       
        if(QDCT_bManSQ)
        {
            QDCT_bManSQ = 0;
            
           if(QDCT_SQ_OUT)//QDCT_GO_LIMIT_IN || QDCT_GO_DEC_IN) 
                QDCT_SQ_OUT = 0;
            //         送料原点              下模动                                  //下模不动
           else if((QDCT_SL_ORIGIN_IN && (QDCT_PARAM_XM_MODE != 0))||(QDCT_PARAM_XM_MODE == 0))
           {    
                QDCT_SQ_OUT = 1;
                cQDCT_TuiLianOKFlag = 0;
           }
        }
        //下切刀
        if(QDCT_bManXQ)
        {
            QDCT_bManXQ = 0;
            QDCT_XQ_OUT = ~QDCT_XQ_OUT;
            cQDCT_TuiLianOKFlag = 0;
            if(QDCT_GO_LIMIT_IN || QDCT_GO_DEC_IN)
              QDCT_XQ_OUT = 0;
        }
       //夹带 
        if(QDCT_bManJD)
        {
            QDCT_bManJD = 0;
            QDCT_JD_OUT = ~QDCT_JD_OUT;
        }
        //前推拉头
        if(QDCT_bManQTLT)
        {
           QDCT_bManQTLT = 0;
           if(QDCT_QHSL_ORIGIN_IN)
           {
              if(QDCT_QTLTStep == 0)
              {
                  QDCT_QTLTStep = 1;
                  QTuiLaTouOkFlg    = 0;
              }
              else
              {
                    QDCT_QTLT_OUT       = 0;
              }  
           }
        }
        //后推拉头
        if(QDCT_bManHTLT)
        {
           QDCT_bManHTLT = 0;
           if(QDCT_HHSL_ORIGIN_IN)
           {
               if(QDCT_HTLTStep == 0)
               {
                   QDCT_HTLTStep  = 1;
                   HTuiLaTouOkFlg = 0;
               }
               else     //后推拉头
                   QDCT_HTLT_OUT       = 0;
           }
        }
        //前横送料
        if(QDCT_bManQHSL)
        {
           QDCT_bManQHSL = 0;
           QDCT_QHSL_OUT = ~QDCT_QHSL_OUT;
           
           if(QDCT_XM_OUT || QDCT_QTLT_LIMIT_IN)QDCT_QHSL_OUT = 0;
          
        }
        
        if(QDCT_bManHHSL)
        {
           QDCT_bManHHSL = 0;
           QDCT_HHSL_OUT = ~QDCT_HHSL_OUT;
           
           if(QDCT_XM_OUT || QDCT_HTLT_LIMIT_IN)QDCT_HHSL_OUT = 0;
          
        }
        //前振动盘
        if(QDCT_bManQZD)
        {
           QDCT_bManQZD = 0;
           if(QDCT_QZDP_OUT)
           {
               QDCT_QZDP_OUT = 0;
               QDCT_QZDPStep = 0;
           }
           else
           {
               QDCT_QZDP_OUT = 1;
               QDCT_QZDPStep = 2;
               if(QDCT_TLPStep==0)QDCT_TLPStep  = 1;
           }
        }
    //后振动盘
        if(QDCT_bManHZD)
        {
           QDCT_bManHZD = 0;
           if(QDCT_HZDP_OUT)
           {
               QDCT_HZDP_OUT = 0;
               QDCT_HZDPStep = 0;
           }
           else
           {
               QDCT_HZDP_OUT = 1;
               QDCT_HZDPStep = 2;
           }
        }
        
        //前夹拉头
        if(QDCT_bManQJLT)
        {
            QDCT_bManQJLT = 0;
            QDCT_QJLT_OUT = ~QDCT_QJLT_OUT;
        }
        //后夹拉头
        if(QDCT_bManHJLT)
        {
            QDCT_bManHJLT = 0;
            QDCT_HJLT_OUT = ~QDCT_HJLT_OUT;
        }
        //台面电机
        if(QDCT_bTable)
        {
            QDCT_bTable = 0;
            QDCT_TB_OUT = 1;
            QDCT_TableDelay = dwTickCount+QDCT_PARAM_TABLE_TIME;
        }
        //前装料
        if(QDCT_bQZuangLT)
        {
            QDCT_bQZuangLT = 0;
            if(QDCT_QZhuangLiaoStep == 0)
            {
                QTryCnt              = 0;
                QTuiLaTouOkFlg      = 1;
                QDCT_QZhuangLiaoStep = 3;
                cFirstQStartFlg      = 0;
            }
        }
        //后装料
        if(QDCT_bHZuangLT)
        {
            QDCT_bHZuangLT = 0;
            if(QDCT_HZhuangLiaoStep == 0)
            {
                HTryCnt              = 0;
                HTuiLaTouOkFlg      = 1;
                QDCT_HZhuangLiaoStep = 3;
                cFirstHStartFlg      = 0;
            }
        }
        //压带
        if(QDCT_bManYD)
        {
            QDCT_bManYD = 0;
            QDCT_YD_OUT = ~QDCT_YD_OUT;
        }
        //吹气
        if(QDCT_bManCQ)
        {
            QDCT_bManCQ = 0;
            QDCT_CQ_OUT = 1;//~QDCT_CQ_OUT;  //吹气
            QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
        }
        //推拉片
        if(QDCT_bManDLP)
        {
            QDCT_bManDLP = 0;
            QDCT_TLP_OUT = ~QDCT_TLP_OUT;
        }
        //穿拉头
        if(QDCT_bChuanLT)
        {
            QDCT_bChuanLT = 0;
            if(!QDCT_BACK_LIMIT_IN)
            {
                if(QDCT_MotorStep == 0)QDCT_MotorStep = 30;
            }
        }
        //电机松轴
        if(QDCT_bManSZ)
        {
            QDCT_bManSZ = 0;
            QDCT_SZ_OUT = ~QDCT_SZ_OUT;
        }
//电机控制        
        if(QDCT_bMotorGo && !QDCT_GO_LIMIT_IN && !QDCT_SQ_LIMIT_IN)
        {           
            QDCT_JD_OUT   = 0;
            QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QDCT_DIR_P, 5,5,10,10);
                   
        }
        else if(QDCT_bMotorGo && QDCT_SQ_LIMIT_IN)
            QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);      
        
        if(QDCT_bMotorBack && !QDCT_BACK_LIMIT_IN)
        {
            QDCT_JD_OUT   = 0;
            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
            QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QDCT_DIR_N,5,5,10,10);
        }
 
        if(!QDCT_bMotorGo && !QDCT_bMotorBack && (QDCT_MotorStep == 0) && (cStopFlg == 0) && (cTestMotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QDCT_GO_LIMIT_IN && (QDCT_MotorStep == 0) && !QDCT_bMotorBack &&(QDCT_AutoStep == 0) && (cStopFlg == 0) && (cStopFlg == 0) && (cTestMotorStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
        if(QDCT_bYLGO)
        {           
            QDCT_YL_DIR = QDCT_YL_DIR_P;
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,5, QDCT_YL_DIR_P,5,10,10);
        }

        if(QDCT_bYLBACK)
        {           
            QDCT_YL_DIR = QDCT_YL_DIR_N;
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,5, QDCT_YL_DIR_N,5,10,10);
        }
        
        if(!QDCT_bYLGO && !QDCT_bYLBACK && (QD_MotorStep == 0) && (QDCT_AutoStep == 0))
        {
            if(Y_DRV)AxisDecStop(Y_AXIS);
        }
        
        if(QDCT_bYL)
        {
             QDCT_bYL = 0;
             QDCT_YL_OUT = ~QDCT_YL_OUT;
        }
        
        if(QDCT_bManKL)
        {
            QDCT_bManKL = 0;
            QDCT_KL_OUT = ~QDCT_KL_OUT;
         //   QDCT_JiaLianStep = 3;
        }
        
        if(QDCT_bManCS)
        {
            QDCT_bManCS = 0;
            cs_delay = dwTickCount + QDCT_PARAM_CS_TIME;
            QDCT_CS_OUT = 1;
            cs_flg  = 1;
        }    
    }
    if(cs_flg)
    {
        if(QDCT_CS_OUT && (dwTickCount >= cs_delay))
        {
             QDCT_CS_OUT = 0;
             cs_flg  = 0;
        }
    } 
    //这里特殊改动
 //   if(QDCT_PARAM_XM_MODE!== 0)
  //  {
    
        if(QDCT_CQ_OUT && (dwTickCount >= QDCT_CQDelay)) QDCT_CQ_OUT = 0;
 //   }
}

#endif