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- #include "global.h"
- #if FU_XIAO_WEI_MACHINE
- #if FXW_CHANGLIAN_QIEDUAN_JI_CONFIG
- void QueDuan_AlarmProtect(void);
- void QueDuan_ManualAction(void);
- void QueDuan_AutoAction(void);
- void QueDuan_StepCheckStart(void);
- void QueDuan_XiaQue(void);
- void QueDuan_Motor(void);
- void QueDuan_YuanDianAction(void);
- void QueDuan_TuiLianAction(void);
- void QueDuan_ExtiActionX31(void);
- void QueDuan_BingLian(void);
- void QueDuan_ShenJiangAction(void);
- long TDPosToPulse(long pos);
- static unsigned long cZipCnt = 0,cTableCnt = 0,cTuiFangKuaiCnt = 0;
- static long save_limit_pos,cRealPos,cRealPosY,cRealPosTD;
- unsigned char cCheckLianFlg = 0;
- unsigned char cCheckLianFlgEN = 0;
- unsigned char cGoLimitEn = 0;
- unsigned char cLengthErrorFlg = 0;
- unsigned char lt_ok_flg;
- unsigned char erci_flg;
- static float TD_Gear;
- static long TD_Pulse;
- static unsigned char TD_En;
- static unsigned char TD_CurSpeed;
- static unsigned char TD_CurMode;
- static unsigned char cFirstTDFlg = 0;
- void QueDuan_ExtiActionX31(void)
- {
- cCheckLianFlg = 1;
- }
- void QD_SetAlarmCode(unsigned alarm_code)
- {
- SetAlarmCode(QD_ALARM_ADDR,alarm_code);
- bAlarmStop = 1;
- }
- void QueDuan_InitAction(void)
- {
- float length_buff,pulse_buff;
- save_limit_pos = QD_SAVE_POS;
-
- CalFreqTab_X_Free(20);
- length_buff = QD_PARAM_CYCLE_LENGTH;
- pulse_buff = QD_PARAM_CYCLE_PULSE;
- XGearRatio = pulse_buff/length_buff;
-
- axis_y->speed_unit = 300;
- length_buff = QD_PARAM_YL_CYCLE_LENGTH;
- pulse_buff = QD_PARAM_YL_CYCLE_PULSE;
- YGearRatio = pulse_buff/length_buff;
- length_buff = QD_PARAM_TD_CYCLE_LENGTH;
- pulse_buff = QD_PARAM_TD_CYCLE_PULSE;
- TD_Gear = pulse_buff/length_buff;
-
- QD_SZ_OUT = 1;
- QD_YLSZ_OUT = 1;
- MACHINE_BOOT_WIFI = 1;
- // if(!QD_PARAM_ERCI_XQ)QD_TD_VAVLE = 0;
- // else QD_TD_VAVLE = 1;
- QD_TDDWStep = 1;
- cFirstTDFlg = 1;
-
- }
- void TDGoPos(long pos)
- {
- long td_pos_buff;
- td_pos_buff = pos - cRealPosTD;
- if(td_pos_buff > 0)
- QD_TD_DIR = 1;
- else
- QD_TD_DIR = 0;
- TD_CurMode = 1;
- TD_CurSpeed = 100-QD_PARAM_TD_SPEED;
-
- if(td_pos_buff < 0)td_pos_buff = 0-td_pos_buff;
-
- TD_Pulse = TDPosToPulse(td_pos_buff);
- TD_En = 1;
- }
- void TDPulseControl(void)
- {
- if(dwTickCount >= QD_TDPulseDelay)
- {
- if(TD_En)
- {
- QD_TDPulseDelay = TD_CurSpeed + dwTickCount;
- QD_TD_PULSE = ~QD_TD_PULSE;
- if(QD_TD_PULSE)
- {
- if(TD_Pulse)TD_Pulse--;
- }
-
- if(TD_CurMode)
- {
- if(TD_Pulse == 0)TD_En = 0;
- }
- }
- }
- }
- long TDPosToPulse(long pos)
- {
- float pos_buff;
-
- pos_buff = pos;
-
- return (pos_buff*TD_Gear);
- }
- long TDPulseToPos(long pulse)
- {
- float pulse_buff;
-
- pulse_buff = pulse;
-
- return (pulse_buff/TD_Gear);
- }
- void TDDWAction(void)
- {
- static unsigned long dw_delay;
- long td_pos_buff;
- cRealPosTD = TDPulseToPos(TD_Pulse);
-
- if(QD_TDDW)
- {
- QD_TDDW = 0;
- if(QD_TDDWStep == 0)QD_TDDWStep = 1;
- }
- switch(QD_TDDWStep)
- {
- case 1:
- if(QD_TD_ORIGIN)
- {
- QD_TD_DIR = 1;
- TD_CurMode = 0;
- TD_CurSpeed = 80;
- TD_En = 1;
- QD_TDDWStep = 4;
- }
- else
- {
- if(cFirstTDFlg)
- {
- QD_TD_DIR = 0;
- TD_CurMode = 0;
- TD_CurSpeed = 80;
- TD_En = 1;
- QD_TDDWStep = 2;
- }
- else
- {
- QD_TDDWStep = 5;
- }
- }
- break;
- case 2:
- if(QD_TD_ORIGIN)
- {
- TD_En = 0;
- dw_delay = dwTickCount + 200;
- QD_TDDWStep = 3;
- }
- break;
- case 3:
- if(dwTickCount >= dw_delay)
- {
- QD_TD_DIR = 1;
- TD_CurMode = 0;
- TD_CurSpeed = 20;
- TD_En = 1;
- QD_TDDWStep = 4;
- }
- break;
- case 4:
- if(!QD_TD_ORIGIN)
- {
- TD_En = 0;
- dw_delay = dwTickCount + 200;
- QD_TDDWStep = 5;
- }
- break;
- case 5:
- if(dwTickCount >= dw_delay)
- {
- QD_TDDWStep = 6;
- }
- break;
- case 6:
- if(!TD_En)
- {
- QD_TDDWStep = 0;
- cFirstTDFlg = 0;
- TD_Pulse = 0;
- }
- break;
-
- }
- }
- void QueDuan_Action(void)
- {
- QueDuan_AlarmProtect();
- QueDuan_Motor();
- QueDuan_XiaQue();
- QueDuan_ManualAction();
- QueDuan_YuanDianAction();
- QueDuan_TuiLianAction();
- QueDuan_BingLian();
- QueDuan_ShenJiangAction();
- QueDuan_AutoAction();
- QueDuan_StepCheckStart(); // 调用脚踏开关检测程序
- TDPulseControl();
- TDDWAction();
- }
- long testFlg = 0;
- //手动动作
- void QueDuan_ManualAction(void)
- {
- static unsigned short button_cnt;
- if(bRunning == 0)
- {
- if(QD_bSetGZMode)
- {
- QD_bSetGZMode = 0;
- if(QD_PARAM_DC_MODE == 0)QD_GZ_VAVLE = 0;
- }
-
- if(dwTickCount >= QD_BUTTONDelay)
- {
- if(QD_bClearTotal) //计数清零
- {
- QD_BUTTONDelay = dwTickCount+1000;
- button_cnt++;
- if(button_cnt >= 3)
- {
- ClrcToTal(QD_TOTAL_ADDR);
- QD_bClearTotal = 0;
- }
- }
-
- if(QD_bClearNowTotal)
- {
- QD_BUTTONDelay = dwTickCount+1000;
- button_cnt++;
- if(button_cnt >= 3)
- {
- QD_bClearNowTotal = 0;
- QD_PARAM_NOW_CNT = 0;
- }
- }
-
- if(!QD_bClearNowTotal && !QD_bClearTotal)button_cnt = 0;
- }
-
- if(QD_bXiaQie)
- {
- QD_bXiaQie = 0;
- if((QD_XiaQieStep == 0) && !QD_QIAN_LIMIT_IN && !QD_QIAN_DEC_IN)
- {
- QD_XiaQieStep = 1;
- if(QD_PARAM_ERCI_XQ)erci_flg = 1;
- else
- erci_flg = 0;
- }
- }
-
- if(QD_bQianDianDW)
- {
- QD_bQianDianDW = 0;
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 61;
- cZipCnt = 0;
- }
- }
-
- if(QD_TDGo)
- {
- if(!TD_En)
- {
- QD_TD_DIR = 0;
- TD_CurMode = 0;
- TD_CurSpeed = 20;
- TD_En = 1;
- }
- }
- if(QD_TDBack)
- {
- if(!TD_En)
- {
- QD_TD_DIR = 1;
- TD_CurMode = 0;
- TD_CurSpeed = 20;
- TD_En = 1;
- }
- }
-
- if(!QD_TDGo && !QD_TDBack && (QD_TDDWStep == 0))
- {
- if(TD_En)
- {
- TD_En = 0;
- }
- }
- if(QD_bYD)
- {
- QD_bYD = 0;
- QD_YD_VAVLE = ~QD_YD_VAVLE;
- }
-
- if(QD_bGZ)
- {
- QD_bGZ = 0;
- QD_GZ_VAVLE = ~QD_GZ_VAVLE;
- }
-
- if(QD_bJD)
- {
- QD_bJD = 0;
- QD_JD_VAVEL = ~QD_JD_VAVEL;
- }
-
- if(QD_bR_UP)
- {
- QD_bR_UP = 0;
- QD_R_UP_VAVLE = ~QD_R_UP_VAVLE;
- }
-
- if(QD_bR_JD)
- {
- QD_bR_JD = 0;
- QD_R_JD = ~QD_R_JD;
- }
-
- if(QD_bXM)
- {
- QD_bXM = 0;
- QD_XM_VAVLE = ~QD_XM_VAVLE;
- if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)QD_XM_VAVLE = 0;
- }
-
- if(QD_bSM)
- {
- QD_bSM = 0;
- QD_SM_VAVLE = ~QD_SM_VAVLE;
- if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)QD_SM_VAVLE = 0;
- }
-
- if(QD_bTFK)
- {
- QD_bTFK = 0;
- QD_TFK_VAVEL = ~QD_TFK_VAVEL;
- }
-
- if(QD_bTB)
- {
- QD_bTB = 0;
- QD_TABLE_VAVLE = ~QD_TABLE_VAVLE;
- }
-
- if(QD_bYBD)
- {
- QD_bYBD = 0;
- QD_YBD_VAVLE = ~QD_YBD_VAVLE;
- }
-
- if(QD_bTL)
- {
- QD_bTL = 0;
- QD_TL_VAVLE = ~QD_TL_VAVLE;
- }
-
- if(QD_bTestCS)
- {
- QD_bTestCS = 0;
- QD_CS_OUT = 1;
- QD_CSDelay = dwTickCount + QD_PARAM_CS_TIME;
- }
-
- if(QD_bBL)
- {
- QD_bBL = 0;
- QD_BL_VAVLE = ~QD_BL_VAVLE;
- }
-
- if(QD_bYLOUT)
- {
- QD_bYLOUT = 0;
- QD_YLOUT_VAVLE = ~QD_YLOUT_VAVLE;
- }
- if(QD_bTable)
- {
- QD_bTable = 0;
- QD_TABLE_VAVLE = ~QD_TABLE_VAVLE;
- }
- if(QD_bTD)
- {
- QD_bTD = 0;
- }
- if(QD_bZY)
- {
- QD_bZY = 0;
- QD_ZY_VAVLE = ~QD_ZY_VAVLE;
- }
- if(QD_bSD)
- {
- QD_bSD = 0;
- QD_SD_VAVLE = ~QD_SD_VAVLE;
- }
-
- if(QD_bYTZ)
- {
- QD_bSD = 0;
- QD_YTZ_VAVLE = ~QD_YTZ_VAVLE;
- }
-
- if((QD_XiaQieStep == 0))
- {
- if(dwTickCount >= QD_CSDelay)QD_CS_OUT = 0;
- }
-
- if(QD_bYuanDianDW)
- {
- QD_bYuanDianDW = 0;
- if(QD_YuanDianStep == 0)QD_YuanDianStep = 1;
- }
-
- //电机控制
- if(QD_bYLBACK_MOTOR)
- {
- QD_YL_DIR = QD_YL_DIR_P;
- QD_YLSZ_OUT = 0;
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,5, QD_YL_DIR_P,5,10,10);
- }
- if(QD_bYLGO_MOTOR)
- {
- QD_YL_DIR = QD_YL_DIR_N;
- QD_YLSZ_OUT = 0;
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,5, QD_YL_DIR_N,5,10,10);
- }
-
- if(!QD_bYLBACK_MOTOR && !QD_bYLGO_MOTOR && (QD_MotorStep == 0))
- {
- if(Y_DRV)AxisDecStop(Y_AXIS);
- }
-
- if(QD_bYL)
- {
- QD_YL_VAVLE = ~QD_YL_VAVLE;
- }
-
- if(QD_bBackMotor && !QD_BACK_LIMIT_IN)
- {
- QD_SZ_OUT = 0;
-
- QD_JZ_DIR = QD_YDIR_P;
- if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, 5,5,10,10);
- }
-
- if(!QD_bGoMotor && !QD_bBackMotor && (QD_MotorStep == 0))
- {
- if(X_DRV)AxisDecStop(X_AXIS);
- }
-
- if(QD_QIAN_LIMIT_IN && (QD_MotorStep == 0) && !QD_bBackMotor &&(QD_AutoStep == 0))
- {
- if(X_DRV)AxisEgmStop(X_AXIS);
- }
-
- if(QD_bGoMotor && !QD_QIAN_LIMIT_IN)
- {
- QD_SZ_OUT = 0;
- QD_JZ_DIR = QD_YDIR_N;
- if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QD_DIR_N, 5,5,10,10);
- }
-
- if(QD_bCQ)
- {
- QD_bCQ = 0;
- QD_CQ_VAVLE = 1;
- QD_CQDelay = dwTickCount + QD_PARAM_CQ_TIME;
- }
- }
- if(QD_CQ_VAVLE && (dwTickCount >= QD_CQDelay) && (QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI))QD_CQ_VAVLE = 0;
- }
- void QueDuan_ShenJiangAction(void)
- {
-
- switch(QD_ShenJiangStep)
- {
- case 0:break;
- case 1:
- QD_R_UP_VAVLE = 1;
- QD_R_JD = 0;
- QD_ShenJiangDelay = dwTickCount + QD_PARAM_SJ_TIME;
- QD_ShenJiangStep = 2;
- break;
- case 2:
- if(dwTickCount >= QD_ShenJiangDelay)
- {
- QD_R_JD = 1;
- QD_ShenJiangDelay = dwTickCount + QD_PARAM_SJ_JZ_TIME;
- QD_ShenJiangStep = 3;
- }
- break;
- case 3:
- if(dwTickCount >= QD_ShenJiangDelay)
- {
- QD_JD_VAVEL = 0;
- QD_R_UP_VAVLE = 0;
- QD_ShenJiangStep = 4;
- QD_ShenJiangDelay = dwTickCount + QD_PARAM_DELAY_GO;
- }
- break;
- case 4:
- if(dwTickCount >= QD_ShenJiangDelay)
- {
- QD_JZ_DIR = QD_YDIR_N;
- if(QD_YL_ORIGIN_IN && (QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI))
- if(!X_DRV)MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);//
- else
- AxisMovePos(X_AXIS,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LENGTH);
- QD_ShenJiangStep = 5;
- }
- break;
- case 5:
- if(!X_DRV)
- {
- QD_R_JD = 0;
- QD_ShenJiangStep = 0;
- }
- break;
- case 6:
- {
- QD_R_JD = 0;
- QD_ShenJiangStep = 0;
- }
- break;
- }
- }
- void QueDuan_YuanDianAction(void)
- {
- switch(QD_YuanDianStep)
- {
- case 0:break;
- case 1:
- if(QD_MotorStep == 0)QD_MotorStep = 61;
- QD_YuanDianStep = 2;
- break;
- case 2:
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 30;
- QD_YuanDianStep = 3;
- QD_JD_VAVEL = 1;
- }
- break;
- case 3:
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 0;
- QD_YuanDianStep = 0;
- }
- break;
- }
- }
- void QueDuan_AlarmProtect(void)
- {
- cRealPos = GetPos(X_AXIS);
- cRealPosY = GetPos(Y_AXIS);
-
-
- if(QD_PARAM_BACK_ALARM_MODE)
- { //感应后限模式
- if(!bRunning)
- {
- if(QD_BACK_LIMIT_IN_UP)
- {
- if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor) //到后限不能再后退但可以点前进
- {
- QD_bBackMotor = 0;
-
- AxisDecStop(X_AXIS);
- QD_JD_VAVEL = 0;
- QD_SetAlarmCode(QD_BACK_ALARM);
-
- }
- }
- }
- else
- {
- if(QD_BACK_LIMIT_IN_UP)
- {
- AxisDecStop(X_AXIS);
-
- QD_JD_VAVEL = 0;
- QD_SetAlarmCode(QD_BACK_ALARM);
- }
- }
- }
- else
- {
-
- if(QD_QIAN_LIMIT_IN_UP) //数控后限模式
- {
- save_limit_pos = cRealPos;
- SetData32bits(200,save_limit_pos);
- }
-
- if(QD_PARAM_MAX_BACK_LENGTH < (cRealPos - save_limit_pos))
- {
- if(!bRunning)
- {
- if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor) //到后限不能再后退但可以点前进
- {
- QD_bBackMotor = 0;
- AxisDecStop(X_AXIS);
- QD_JD_VAVEL = 0;
- QD_SetAlarmCode(QD_BACK_ALARM);
- }
- }
- else
- {
- AxisDecStop(X_AXIS);
- QD_JD_VAVEL = 0;
- QD_SetAlarmCode(QD_BACK_ALARM);
- }
- }
-
- }
-
- if(bRunning)
- {
- QD_RUNLED = 1;
- QD_STOPLED = 0;
- QD_STAYLED = 0;
- }
- else
- {
- if(GetAlarmCode(QD_ALARM_ADDR) != 0)
- {
- QD_RUNLED = 0;
- QD_STOPLED = 1;
- QD_STAYLED = 0;
- }
- else
- {
- QD_RUNLED = 0;
- QD_STOPLED = 0;
- QD_STAYLED = 1;
- }
- }
- // if(!QD_KADAI_IN)QD_KaDaiDelay = dwTickCount + 3000;
-
- /* if(bRunning)
- {
- if(dwTickCount >= QD_KaDaiDelay)QD_SetAlarmCode(QD_KA_DAI_ALARM);
- }*/
- }
- void QueDuan_AutoAction(void)
- {
- if(bRunning)
- {
- if(dwTickCount >= QD_TBDelay)QD_TABLE_VAVLE = 0;
- switch(QD_AutoStep)
- {
- case 1:
- if(dwTickCount >= QD_AutoDelay)
- {
- QD_AutoStep = 2;
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 61; //前点定位
- }
- }
- break;
- case 2:
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 30;
- QD_AutoStep = 3;
- }
- break;
- case 3:
- if(QD_MotorStep == 0)
- {
- if(lt_ok_flg && !QD_PARAM_LONG_MODE)
- {
- lt_ok_flg = 0;
- SetAlarmCode(QD_ALARM_ADDR,QD_LT_ERROR_ALARM);
- }
- else
- {
- if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;
- QD_AutoStep = 4;
- }
- }
- break;
- case 4:
- if(QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI)
- {
- if(QD_PARAM_LONG_MODE)
- {
- if((QD_XiaQieStep == 0) && !QD_SHANG_MU_LIMIT_IN && !QD_XIA_MU_LIMIT_IN)
- {
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 50;
-
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
- QD_JD_VAVEL = 0;
- if(QD_PARAM_ERCI_XQ)
- {
- QD_XiaQieStep = 50;
- QD_XiaQieDelay = dwTickCount+QD_PARAM_TL_DELAY;
- }
- QD_AutoStep = 5;
- }
- }
-
- }
- else
- {
- if(((QD_XiaQieStep == 0) || (QD_XiaQieStep == 6)) && !QD_SHANG_MU_LIMIT_IN && !QD_XIA_MU_LIMIT_IN)
- {
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 40; //切完后退
- QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
- if(QD_PARAM_ERCI_XQ)
- {
- QD_XiaQieStep = 50;
- QD_XiaQieDelay = dwTickCount+QD_PARAM_TL_DELAY;
- }
- }
- QD_AutoStep = 5;
- }
- }
- }
- else
- {
- if(QD_PARAM_LONG_MODE)
- {
- if((QD_XiaQieStep == 0) && !QD_SHANG_MU_LIMIT_IN)
- {
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 50;
- QD_AutoStep = 5;
- }
- }
-
- }
- else
- {
- if(((QD_XiaQieStep == 0) || (QD_XiaQieStep == 7)) && !QD_SHANG_MU_LIMIT_IN)
- {
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 40; //切完后退
- QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
- }
- QD_AutoStep = 5;
- }
- }
- }
- break;
- case 5:
- if((QD_MotorStep == 0) && (QD_XiaQieStep == 0) && !X_DRV)
- {
- cZipCnt++;
- cTableCnt++;
- AddToTal(QD_TOTAL_ADDR);
- CalProSP(QD_PROSPEED_ADDR);
- QD_PARAM_NOW_CNT++;
- if(cTableCnt >= QD_PARAM_TABLE_NUM)
- {
- cTableCnt = 0;
- if(!QD_PARAM_LONG_MODE)QD_TABLE_VAVLE = 1;
- QD_TBDelay = dwTickCount + QD_PARAM_TB_TIME;
- }
-
- QD_AutoStep = 1;
-
- if(QD_PARAM_ZHA_SHU == 0)
- {
- if(QD_PARAM_LONG_MODE)
- QD_AutoDelay = dwTickCount + QD_PARAM_DELAY_LONG_GO;
- else
- QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
- }
- else
- {
- if(QD_PARAM_NOW_CNT >= QD_PARAM_ZHA_SHU)
- {
- QD_PARAM_NOW_CNT = 0;
- QD_AutoDelay = dwTickCount + QD_PARAM_ZS_STOP_TIME + QD_PARAM_CYCLE_DELAY;
- }
- }
- }
- break;
- }
- }
- }
- void QueDuan_StepCheckStart(void)
- {
- static unsigned char long_stop_flg = 0;
- static unsigned long stop_delay;
- if(bRunning)
- QD_PARAM_RUN_STATE = 1;
- else
- QD_PARAM_RUN_STATE = 0;
-
- // 启动
- if(((QD_START_IN_UP) || bStart || QD_bSingle))
- {
- bStart = 0;
-
- if(!bRunning && (QD_AutoStep == 0))
- {
- if((QD_XIA_MU_LIMIT_IN && (QD_PARAM_CS_MODE == 1)))QD_SetAlarmCode(QD_XM_DAOWEI);
- else if(GetAlarmCode(QD_ALARM_ADDR) != 0);
- else if(QD_BL_VAVLE)QD_SetAlarmCode(QD_BL_ALARM);
- else if(QD_SM_VAVLE)QD_SetAlarmCode(QD_SM_ALARM);
- else if(!QD_YL_ORIGIN_IN)QD_SetAlarmCode(QD_YL_LIMIT_ALARM);
- else if(QD_STOP_IN)QD_SetAlarmCode(QD_STOP_IN_ALARM);
- else if(QD_SHANG_MU_LIMIT_IN)QD_SetAlarmCode(QD_SM_DAOWEI);
- else if(!QD_SHANG_MU_ORIGIN_IN)QD_SetAlarmCode(QD_SM_YUANWEI);
- else if(QD_SAFE_DOOR_IN)QD_SetAlarmCode(QD_SAFE_DOOR_ALARM);
- else if(cFirstTDFlg);
- else
- {
- bRunning = 1;
- QD_AutoStep = 1;
- if(QD_bSingle) SingOneFlg= 1;
- else SingOneFlg= 0;
- cZipCnt = 0;
- cTuiFangKuaiCnt = 0;
- cLengthErrorFlg = 0;
- if(GetAlarmCode(QD_ALARM_ADDR) != QD_NO_ALARM)SetAlarmCode(QD_ALARM_ADDR,QD_NO_ALARM);
- }
- }
- QD_bSingle = 0;
- }
- //停止
- if(QD_STOP_IN_UP || bStop)
- {
- bStop = 0;
-
- if(bRunning)
- {
- bRunning = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 0;
- QD_YuanDianStep = 0;
- QD_AutoDelay = dwTickCount;
- QD_MotorDelay = dwTickCount;
- QD_XiaQieDelay = dwTickCount;
- QD_KaDaiDelay = dwTickCount;
- QD_CSDelay = dwTickCount;
- QD_TBDelay = dwTickCount;
- QD_TFKDelay = dwTickCount;
- QD_TLDelay = dwTickCount;
- QD_CheckDelay = dwTickCount;
- SingOneFlg = 0;
- QD_JD_VAVEL = 0;
- QD_SM_VAVLE = 0;
- QD_XM_VAVLE = 0;
- QD_TFK_VAVEL= 0;
- QD_TL_VAVLE = 0;
- QD_YBD_VAVLE = 0;
- QD_TFK_VAVEL = 0;
- QD_CS_OUT = 0;
- QD_SD_VAVLE = 0;
- QD_YLOUT_VAVLE = 0;
- QD_XiaQieStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 0;
- QD_ShenJiangStep = 0;
- //QD_SZ_OUT = 1;
- QD_GZ_VAVLE = 0;
- QD_TABLE_VAVLE = 0;
- AxisDecStop(X_AXIS);
- QD_YuanDianStep = 0;
- QD_BinLianStep = 0;
- QD_BL_VAVLE = 0;
- cLengthErrorFlg = 0;
- QD_R_JD = 0;
- QD_R_UP_VAVLE = 0;
- QD_YL_VAVLE = 0;
-
- QD_YLOUT_VAVLE = 0;
- QD_ZY_VAVLE = 0;
- QD_SD_VAVLE = 0;
- QD_YTZ_VAVLE = 0;
- TD_En = 0;
- QD_TDDWStep = 0;
- if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
- }
- else
- {
- bRunning = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 0;
- QD_YuanDianStep = 0;
- QD_AutoDelay = dwTickCount;
- QD_MotorDelay = dwTickCount;
- QD_XiaQieDelay = dwTickCount;
- QD_KaDaiDelay = dwTickCount;
- QD_CSDelay = dwTickCount;
- QD_TBDelay = dwTickCount;
- QD_TFKDelay = dwTickCount;
- QD_TLDelay = dwTickCount;
- QD_CheckDelay = dwTickCount;
- SingOneFlg = 0;
- QD_JD_VAVEL = 0;
- QD_SM_VAVLE = 0;
- long_stop_flg = 1;
- stop_delay = dwTickCount + 1500;
- QD_XM_VAVLE = 0;
- QD_TFK_VAVEL= 0;
- QD_TFK_VAVEL= 0;
- QD_TL_VAVLE = 0;
- QD_YBD_VAVLE = 0;
- QD_SD_VAVLE = 0;
- QD_CS_OUT = 0;
- QD_YLOUT_VAVLE = 0;
- QD_XiaQieStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 0;
- QD_SZ_OUT = 1;
- QD_GZ_VAVLE = 0;
- QD_TABLE_VAVLE = 0;
- AxisDecStop(X_AXIS);
- QD_YuanDianStep = 0;
- QD_BinLianStep = 0;
- QD_ShenJiangStep = 0;
- QD_BL_VAVLE = 0;
- cLengthErrorFlg = 0;
- QD_R_JD = 0;
- QD_R_UP_VAVLE = 0;
- QD_YL_VAVLE = 0;
- TD_En = 0;
- QD_YLOUT_VAVLE = 0;
- QD_ZY_VAVLE = 0;
- QD_SD_VAVLE = 0;
- QD_YTZ_VAVLE = 0;
- QD_TDDWStep = 0;
- QD_YLSZ_OUT = 1;
- if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
- }
- }
- if(long_stop_flg)
- {
- if(!QD_STOP_IN)long_stop_flg = 0;
- if(dwTickCount >= stop_delay)
- {
- if(QD_STOP_IN)
- {
- QD_YD_VAVLE = 0;
- long_stop_flg = 0;
- }
- else
- long_stop_flg = 0;
- }
- }
- if(bAlarmStop)
- {
- bAlarmStop = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 0;
- QD_YuanDianStep = 0;
- QD_XiaQieStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_TuiFangKuaiStep = 0;
- QD_ShenJiangStep = 0;
- QD_AutoDelay = dwTickCount;
- QD_MotorDelay = dwTickCount;
- QD_XiaQieDelay = dwTickCount;
- QD_KaDaiDelay = dwTickCount;
- QD_CSDelay = dwTickCount;
- QD_TBDelay = dwTickCount;
- QD_TFKDelay = dwTickCount;
- QD_TLDelay = dwTickCount;
- QD_CheckDelay = dwTickCount;
- SingOneFlg = 0;
- bRunning = 0;
- TD_En = 0;
- QD_TDDWStep = 0;
- AxisDecStop(X_AXIS);
- }
-
- }
- void QueDuan_Motor_CS(void)
- {
- static long save_buff,gou_zhen_buff,go_buff,jz_buff,go_length_buff,guo_lian_buff,xhg_buff,fz_buff,length_buff;
-
- user_datas[121]= QD_MotorStep;
- user_datas[122] = QD_AutoStep;
- user_datas[123]= go_length_buff;
- user_datas[124] = QD_BinLianStep;
- user_datas[126] = cRealPosY;
- user_datas[127] = cRealPos;
-
- switch(QD_MotorStep)
- {
- case 30:
- QD_MotorStep = 31;
- if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
- break;
- case 31:
- if(dwTickCount >= QD_MotorDelay)
- {
- gou_zhen_buff = cRealPos;
- save_buff = cRealPos;
- QD_JZ_DIR = QD_YDIR_P;
- if(QD_PARAM_DEC_MODE == 1) // 记忆长度模式
- {
- if(cZipCnt < 2)
- {
- MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_FIRST_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- }
- else
- {
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-length_buff);
- MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,5)));
- }
- }
- else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
- {
- if(QD_PARAM_LONG_MODE)
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-(QD_PARAM_YL_TRANS_LENGTH));
- else
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- }
- else //长度输入
- {
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-(QD_PARAM_ZIPPER_LENGTH - QD_PARAM_OFFSET_LENGTH));
- MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,5)));
- }
-
- if(QD_PARAM_LONG_MODE)
- QD_MotorStep = 128;
- else
- QD_MotorStep = 32;
- }
- break;
- case 32:
- if(QD_PARAM_DEC_MODE == 1) // 记忆长度模式
- {
- if(cZipCnt < 2)
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- fz_buff = cRealPos;
- QD_MotorStep = 33;
- }
- }
- else
- {
- if((cRealPos - gou_zhen_buff) >= (length_buff - QD_PARAM_DELAY_XM_LENGTH))QD_XM_VAVLE = 1;
-
- if(QD_PARAM_GOUZHEN_LENGTH != 0)
- {
- if((cRealPos - gou_zhen_buff) >= (length_buff - QD_PARAM_GOUZHEN_LENGTH))QD_GZ_VAVLE = 1;
- }
- if(!X_DRV)
- {
- QD_GZ_VAVLE = 1;
- QD_XM_VAVLE = 1;
- QD_MotorStep = 0;
- }
- }
- }
- else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
- {
- if(QD_PARAM_SPEED_MODE)
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- fz_buff = cRealPos;
- QD_MotorStep = 33;
- }
- else if((cRealPos - save_buff) >= (length_buff - PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_ACC_SPEED))))
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- }
- else
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- fz_buff = cRealPos;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorStep = 33;
- }
- }
- }
- else
- {
- if((cRealPos - gou_zhen_buff) >= ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_OFFSET_LENGTH) - QD_PARAM_DELAY_XM_LENGTH))QD_XM_VAVLE = 1;
- if(QD_PARAM_GOUZHEN_LENGTH != 0)
- {
- if((cRealPos - gou_zhen_buff) >= (QD_PARAM_ZIPPER_LENGTH - QD_PARAM_GOUZHEN_LENGTH))QD_GZ_VAVLE = 1;
- }
- if(!X_DRV)
- {
- QD_GZ_VAVLE = 1;
- QD_XM_VAVLE = 1;
- QD_MotorStep = 0;
- }
- }
- break;
- case 33:
- if(QD_PARAM_DEC_MODE==1)
- {
- if(cZipCnt < 2)
- {
- if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPos;
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
- if((cRealPos - fz_buff) >= QD_PARAM_DELAY_CHECK)
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- guo_lian_buff = cRealPos;
- QD_MotorStep = 34;
- }
- }
- }
- else
- {
-
- }
- }
- else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
- {
- if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPos;
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
- if((fz_buff - cRealPos) >= QD_PARAM_DELAY_CHECK)
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- guo_lian_buff = cRealPos;
- QD_MotorStep = 34;
- }
- }
- }
- else
- {
- }
- break;
- case 34:
- if(QD_PARAM_DEC_MODE==1)
- {
- if(cZipCnt < 2)
- {
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
- if((cRealPos - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 35;
- }
- }
- else
- {
- if((cRealPos - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 35;
- }
- }
- }
- else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
- {
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
- if((guo_lian_buff - cRealPos) >= QD_PARAM_MOTOR_DELAY_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 35;
- }
- }
- else
- {
- }
- break;
- case 35:
- if(!X_DRV)
- {
- if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
- {
- if(!X_DRV)
- {
- if(cZipCnt == 0);
- else if(cZipCnt == 1)
- {
- length_buff = save_buff - cRealPos;
- // SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH);
- }
- else
- {
- if((save_buff - cRealPos) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- else if((save_buff - cRealPos)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
- QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
- else;
- }
- QD_MotorStep = 0;
- }
-
- }
- else
- {
- if(cZipCnt == 1)
- {
- length_buff = cRealPos - save_buff;
- // SetData32bits(1,length_buff + QD_PARAM_OFFSET_LENGTH);
- }
- if(cZipCnt == 0)
- {
- go_length_buff = cRealPos - save_buff;
- }
- }
-
- QD_XM_VAVLE = 1;
- QD_GZ_VAVLE = 1;
- QD_MotorStep = 0;
- }
- break;
- case 40:
- if(dwTickCount >= QD_MotorDelay)
- {
- jz_buff = cRealPos;
-
- if(QD_PARAM_SJZ_LENGTH == 0)
- {
- QD_JD_VAVEL = 0;
- }
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_SJ_TIME;
- QD_MotorStep = 41;
-
- }
- break;
-
- case 41: if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
- {
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
- QD_MotorStep = 42;
- }
- break;
- case 42:
- // 切断完成后拉电机动作
- if(dwTickCount >= QD_MotorDelay)
- {
- if(((QD_PARAM_SJZ_LENGTH) <= (jz_buff-cRealPos)))
- {
- QD_JD_VAVEL = 0;
- QD_MotorStep = 43;
- }
- else if(!X_DRV)
- {
- QD_JD_VAVEL = 0;
- QD_MotorStep = 43;
- }
- }
- break;
- case 43: // 切断完成后拉电机动作
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- QD_MotorDelay = dwTickCount;
- }
-
- break;
- case 50:
- if(!Y_DRV)
- {
- QD_MotorStep = 51;
- QD_YL_DIR = QD_YL_DIR_P;
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS, QD_PARAM_BACK_SPEED,QD_YL_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- QD_MotorDelay = dwTickCount + QD_PARAM_YL_SL_TIME;
- QD_YLBackDelay = dwTickCount + QD_PARAM_DELAY_YL_BACK;
- }
- break;
- case 51: if(dwTickCount >= QD_MotorDelay)
- {
- AxisEgmStop(Y_AXIS);
- QD_MotorStep = 52;
- }
- if(dwTickCount >= QD_YLBackDelay) QD_YL_VAVLE = 0;
- break;
- case 52: if(!Y_DRV)
- {
- QD_YL_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
- case 61: // 前点定位数控模式
- if(QD_SZ_OUT)
- {
- QD_SZ_OUT = 0;
- QD_MotorDelay = dwTickCount + 50;
- }
-
- if(!QD_TL_VAVLE)
- {
- if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0))
- {
- QD_TuiLianStep = 1;
- }
- }
- QD_MotorStep = 62;
- break;
- case 62:
- if((QD_ShenJiangStep == 0) && QD_YL_ORIGIN_IN)
- {
- QD_MotorStep = 63;
- }
- case 63:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
- {
- QD_JZ_DIR = QD_YDIR_P;
- AxisMovePos(X_AXIS,20,-2000);
- QD_MotorDelay = dwTickCount + 1000;
- }
- QD_MotorStep = 64;
- QD_JD_VAVEL = 0;
- }
- break;
- case 64:
- if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN && !QD_JD_IN)
- {
- go_buff = cRealPos;
- QD_JZ_DIR = QD_YDIR_N;
-
- if((cZipCnt > 0) || (QD_PARAM_DEC_MODE == 2))
- {
- MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);//
- }
- else
- {
- MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- }
-
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep =65;
- }
- break;
- case 65:
- if(cZipCnt > 0)
- {
- if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
- {
- if(((go_buff - cRealPos) > ((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
- else if(QD_PARAM_DEC_MODE == 2) //纯感应方式
- {
- if(QD_PARAM_LONG_MODE)
- {
- if(QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
- else
- {
- if((QD_QIAN_DEC_IN_UP && !QD_PARAM_SPEED_MODE)
- || ((QD_QIAN_DEC_IN_UP || ((go_buff - cRealPos) > (go_length_buff - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) ) && QD_PARAM_SPEED_MODE))
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
- }
- else
- {
- if(((go_buff - cRealPos) > ((go_length_buff - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
-
- }
- else
- {
- if(QD_PARAM_DEC_MODE == 2) //纯感应方式
- {
- if(QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
- else
- QD_MotorStep =66;
- }
-
- break;
- case 66:
- if(QD_QIAN_LIMIT_IN_UP)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorDelay = dwTickCount + QD_PARAM_JD_DELAY;
- QD_MotorStep = 67;
- }
- else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
- break;
- case 67:
- if(!X_DRV && (dwTickCount >= QD_MotorDelay))
- {
- QD_JD_VAVEL = 1;
- QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_MotorStep = 68;
-
- }
- break;
- case 68:
- if(1)
- {
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- QD_MotorStep = 69;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_JD_IN_ALARM);
- }
- break;
- case 69:
- if(dwTickCount >= QD_MotorDelay)
- {
-
- QD_TFK_VAVEL = 0;
- QD_TL_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
- case 128:
-
- if(!X_DRV)
- {
- if(QD_QIAN_DEC_IN || QD_QIAN_LIMIT_IN)
- {
- QD_SetAlarmCode(QD_DEC_ALARM);
- }
- else
- {
- QD_MotorStep = 129;
- QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_YL_VAVLE = 1;
-
- if(!QD_PARAM_SJ_ENABLE)
- {
- QD_ShenJiangStep = 0;
- QD_R_UP_VAVLE = 0;
- QD_R_JD = 0;
- }
- else
- {
- if(QD_ShenJiangStep == 0)QD_ShenJiangStep = 1;
- }
- QD_YL_DIR = QD_YL_DIR_P;
- }
- }
- else
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- fz_buff = cRealPosY;
- QD_MotorStep = 150;
- }
- else
- {
- if(QD_GOUZHEN_IN)
- {
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- }
- }
- break;
- case 150:
- if(dwTickCount >= QD_GZDelay)
- {
- QD_GZ_VAVLE = 1;
- QD_MotorStep = 151;
- }
- break;
- case 151:
- if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPos;
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
- if((cRealPosY - fz_buff) >= QD_PARAM_DELAY_CHECK)
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- guo_lian_buff = cRealPos;
- QD_MotorStep = 152;
- }
- }
- break;
- case 152:
- {
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
- if((cRealPosY - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
- {
- AxisEgmStop(Y_AXIS);
- QD_MotorStep = 153;
- }
- }
- break;
- case 153:
- {
- if(!Y_DRV)
- {
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- }
- }
- break;
- case 129:
- if(!QD_YL_ORIGIN_IN)
- {
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_YL;
- QD_MotorStep = 131;
- }
- else if(dwTickCount >= QD_MotorDelay)
- QD_SetAlarmCode(QD_YL_LIMIT_ALARM);
- break;
- case 131:
- if(dwTickCount >= QD_MotorDelay)
- {
- gou_zhen_buff = cRealPos;
- save_buff = cRealPosY;
-
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS, QD_PARAM_YL_HIGH_SPEED,QD_YL_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- QD_MotorStep = 132;
- }
- break;
- case 132:
- if(QD_GUO_LIAN_IN_UP)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- AxisChangeSpeed(Y_AXIS,QD_PARAM_YL_LOW_SPEED);
- fz_buff = cRealPosY;
- QD_MotorStep = 133;
- }
- break;
- case 133:
- if(QD_GUO_LIAN_IN_UP)fz_buff = cRealPosY;
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
- if((fz_buff-cRealPosY) >= QD_PARAM_DELAY_CHECK)
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- guo_lian_buff = cRealPos;
- QD_MotorStep = 134;
- }
- }
- break;
- case 134:
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
-
- if((guo_lian_buff-cRealPosY) >= QD_PARAM_MOTOR_DELAY_LENGTH)
- {
- AxisEgmStop(Y_AXIS);
- QD_XM_VAVLE = 1;
- QD_MotorStep = 135;
- }
- break;
- case 135:
- if(!Y_DRV)
- {
- QD_YL_DIR = QD_YL_DIR_N;
- AxisMovePos(Y_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 136;
- }
- break;
- case 136:
- if(cZipCnt == 0);
- else if(cZipCnt == 1)
- {
- length_buff = save_buff - cRealPosY;
- }
- else
- {
- }
- QD_MotorStep = 0;
- break;
- }
- }
- void QueDuan_BingLian(void)
- {
- static long bl_pos_buff;
- user_datas[125]= bl_pos_buff - cRealPos;
- switch(QD_BinLianStep)
- {
- case 0:break;
- case 1:
- bl_pos_buff = cRealPos;
- QD_BinLianStep = 2;
- break;
- case 2:
- if((bl_pos_buff - cRealPos) >= QD_PARAM_DELAY_HL_LENGTH)
- {
- QD_BL_VAVLE = 1;
- QD_BinLianStep = 3;
- }
-
- break;
- case 3:
- if(QD_GUO_LIAN_IN_DW)
- {
- QD_BLDelay = dwTickCount + QD_PARAM_DELAY_BL_BACK;
- QD_BinLianStep = 4;
- }
- break;
- case 4:
- if(dwTickCount >= QD_BLDelay)
- {
- QD_BL_VAVLE = 0;
- QD_BinLianStep = 0;
- }
- break;
- default:;
- }
-
- }
- //不带过链感应长度输入电机长度
- void QueDuan_Motor_NoGL(void)
- {
- static long save_buff,gou_zhen_buff,go_buff,jz_buff,go_length_buff,guo_lian_buff,fz_buff,length_buff;
- static long save_pos_y;
- static unsigned char yl_out_flg;
- static long yl_out_delay;
- user_datas[121]= QD_MotorStep;
- user_datas[122] = QD_AutoStep;
- user_datas[123]= go_length_buff;
- user_datas[124] = save_buff-cRealPos;
- user_datas[126] = cRealPosY;
- user_datas[127] = cRealPos;
-
- if(QD_bChangeMode)
- {
- QD_bChangeMode = 0;
- if(QD_PARAM_LONG_MODE)
- QD_PARAM_LONG_MODE = 0;
- else
- QD_PARAM_LONG_MODE = 1;
-
- }
- if(QD_PARAM_LONG_MODE)QD_PARAM_DEC_MODE = 2;
- if(QD_PARAM_DEC_MODE == 1) QD_YTZ_VAVLE = 1;
-
- if(yl_out_flg)
- {
- if(dwTickCount >= yl_out_delay)
- {
-
- if((save_buff-cRealPos) > QD_PARAM_YL_OUT_LENGTH)
- {
- if(QD_PARAM_LONG_MODE)QD_YLOUT_VAVLE = 1;
- yl_out_flg = 0;
- }
-
- }
- }
- switch(QD_MotorStep)
- {
- case 30:
- QD_MotorStep = 31;
- if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
- break;
- case 31:
- if(dwTickCount >= QD_MotorDelay)
- {
- gou_zhen_buff = cRealPos;
- save_buff = cRealPos;
- QD_JZ_DIR = QD_YDIR_P;
- lt_ok_flg = 0;
-
- yl_out_flg = 1;
- yl_out_delay = dwTickCount + QD_PARAM_YL_OUT_DELAY;
- if(QD_PARAM_DC_MODE) // 带钩针模式
- {
- if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
- {
- MoveAction_Const_Back(X_AXIS,QD_DIR_N,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH) - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
- QD_YTZ_VAVLE = 1;
- }
- else if((QD_PARAM_DEC_MODE == 2)) // 纯感应模式
- {
- QD_YTZ_VAVLE = 0;
- if(QD_PARAM_LONG_MODE)
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-(QD_PARAM_YL_TRANS_LENGTH));
- else
- {
-
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_N, QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
-
- }
- }
- else //感应方式
- {
- if(QD_PARAM_LONG_MODE)
- {
- QD_YTZ_VAVLE = 1;
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,(QD_PARAM_YL_TRANS_LENGTH));
- }
- else
- {
-
- if(cZipCnt < 2)
- {
- QD_YTZ_VAVLE = 0;
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_N, QD_PARAM_FIRST_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- }
- else
- {
- QD_YTZ_VAVLE = 1;
- MoveAction_Const_Back(X_AXIS,QD_DIR_N,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,(length_buff - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
- }
- }
- }
- }
- else // 不带钩针
- {
- if(QD_PARAM_DEC_MODE==1) // 长度输入模式
- {
- AxisMovePos(X_AXIS,QD_PARAM_BACK_SPEED,-(QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH));
- MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_Back_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,5)));
- }
- else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
- {
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_BACK_SPEED,1,10,30);
- }
- else // 感应方式
- {
- if(cZipCnt < 2)
- {
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_P, QD_PARAM_FIRST_SPEED,1,10,30);
- }
- else
- {
- MoveAction_Const_Back(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,(length_buff - (QD_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
- }
- }
- }
- if(QD_PARAM_LONG_MODE)
- QD_MotorStep = 128;
- else
- QD_MotorStep = 32;
- }
- break;
- case 32:
- if(QD_PARAM_DC_MODE) // 带钩针模式
- {
- if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
- {
- if(((gou_zhen_buff- cRealPos) > ((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)))QD_GZ_VAVLE = 1;
- if((gou_zhen_buff-cRealPos) >= ((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH) - (QD_PARAM_DELAY_XM_LENGTH)))QD_XM_VAVLE = 1;
- if((gou_zhen_buff-cRealPos) >= ((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH) - (QD_PARAM_LT_CHECK_LENGTH)))
- {
- if(QD_LATOU_IN)lt_ok_flg = 1;
- }
- if(!X_DRV)
- {
- QD_YD_VAVLE = 1;
- QD_XM_VAVLE = 1;
- QD_JZ_DIR = QD_YDIR_N;
- AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 33;
- }
- else if(((cRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH)) && QD_GZ_VAVLE)
- {
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- }
- }
- else if(QD_PARAM_DEC_MODE == 2)
- {
- if(QD_PARAM_SPEED_MODE)
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorStep = 33;
- }
- else if((cRealPos - save_buff) >= (length_buff - PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_ACC_SPEED))))
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- }
- else
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorStep = 33;
- }
- }
-
- }
- else
- {
- if(cZipCnt < 2)
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorStep = 33;
- }
- }
- else
- {
- if(((gou_zhen_buff-cRealPos) > ((QD_PARAM_ZIPPER_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)))QD_GZ_VAVLE = 1;
- if((gou_zhen_buff-cRealPos) >= ((QD_PARAM_ZIPPER_LENGTH) - (QD_PARAM_DELAY_XM_LENGTH)))QD_XM_VAVLE = 1;
- if((gou_zhen_buff-cRealPos) >= ((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH) - (QD_PARAM_LT_CHECK_LENGTH)))
- {
- if(QD_LATOU_IN)lt_ok_flg = 1;
- }
- if(!X_DRV)
- {
- QD_YD_VAVLE = 1;
- QD_XM_VAVLE = 1;
- QD_JZ_DIR = QD_YDIR_N;
- AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 33;
- }
- else if(((save_buff - cRealPos) >= (QD_PARAM_ERROR_LENGTH + QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH)) && QD_GZ_VAVLE)
- {
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- }
- }
- }
-
- }
- else
- {
- if(QD_PARAM_DEC_MODE==1) // 长度输入模式
- {
- if((gou_zhen_buff-cRealPos) >= ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH + QD_PARAM_OFFSET_LENGTH) - (QD_PARAM_DELAY_XM_LENGTH)))QD_XM_VAVLE = 1;
-
- if(!X_DRV)
- {
- QD_YD_VAVLE = 1;
- QD_XM_VAVLE = 1;
- QD_MotorStep = 0;
- }
- }
- else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- fz_buff = cRealPos;
- QD_MotorStep = 33;
- }
- }
- else //感应方式
- {
-
- if(QD_GUO_LIAN_IN_DW)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- fz_buff = cRealPos;
- QD_MotorStep = 33;
- }
- }
- }
-
- break;
- case 33:
- if(QD_PARAM_DC_MODE) // 带钩针模式
- {
- if(QD_PARAM_DEC_MODE==1) // 长度输入模式
- {
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- }
- }
- else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
- {
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
-
- if(QD_GOUZHEN_IN)
- {
- AxisEgmStop(X_AXIS);
- QD_XM_VAVLE = 1;
- QD_YD_VAVLE = 1;
- QD_MotorStep = 34;
- }
- }
- else
- {
- if(cZipCnt < 2)
- {
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
-
- if(QD_GOUZHEN_IN)
- {
- AxisEgmStop(X_AXIS);
- QD_XM_VAVLE = 1;
- QD_MotorStep = 34;
- }
- }
- else
- {
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- }
- }
- }
-
- }
- else
- {
- if(QD_PARAM_DEC_MODE==1) // 长度输入模式
- {
- }
- else if(QD_PARAM_DEC_MODE==2) //纯感应模式
- {
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if((fz_buff-cRealPos) >= QD_PARAM_DELAY_CHECK)
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- guo_lian_buff = cRealPos;
- QD_MotorStep = 34;
- }
- }
- }
- else //感应方式
- {
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if((fz_buff-cRealPos) >= QD_PARAM_DELAY_CHECK)
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- guo_lian_buff = cRealPos;
- QD_MotorStep = 34;
- }
- }
- }
- }
- break;
- case 34:
- if(QD_PARAM_DC_MODE) // 带钩针模式
- {
- if(QD_PARAM_DEC_MODE==1) // 长度输入模式
- {
- }
- else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
- {
- // if(!X_DRV)
- {
- {
- QD_YD_VAVLE = 1;
- QD_JZ_DIR = QD_YDIR_N;
- AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 35;
- }
- }
- }
- else
- {
- if(!X_DRV)
- {
- QD_YD_VAVLE = 1;
-
- if(cZipCnt == 1)
- {
- length_buff = save_buff - cRealPos;
- // SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH + QD_PARAM_TC_LENGTH);
- }
- else if(cZipCnt == 0)
- {
- go_length_buff = save_buff-cRealPos;
- }
- else
- {
- if((save_buff-cRealPos) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
- {
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- cLengthErrorFlg = 1;
- }
- else if((save_buff-cRealPos)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
- {
- QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
- cLengthErrorFlg = 1;
- }
- else;
- }
- QD_JZ_DIR = QD_YDIR_N;
- AxisMovePos(X_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 35;
- }
- }
-
- }
- else
- {
- if(QD_PARAM_DEC_MODE==1) // 长度输入模式
- {
- }
- else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
- {
- if((cRealPos - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 35;
- }
- }
- else //感应方式
- {
- if((cRealPos - guo_lian_buff) >= QD_PARAM_MOTOR_DELAY_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 35;
- }
- }
- }
- break;
- case 35:
- if(QD_PARAM_DC_MODE) // 带钩针模式
- {
- if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
- {
- }
- else if(QD_PARAM_DEC_MODE == 2) // 纯感应模式
- {
- if(!X_DRV)
- {
- if(cZipCnt == 0);
- else if(cZipCnt == 1)
- {
- length_buff = cRealPos-save_buff;
- // SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH);
- }
- else
- {
- if((cRealPos- save_buff) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- else if((cRealPos - save_buff)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
- QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
- else;
- }
- QD_MotorStep = 0;
- }
- }
- else
- {
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- }
- }
- }
- else
- {
- if(QD_PARAM_DEC_MODE==1) // 长度输入模式
- {
- }
- else if(QD_PARAM_DEC_MODE==2) // 纯感应模式
- {
- if(!X_DRV)
- {
- if(cZipCnt == 0);
- else if(cZipCnt == 1)
- {
- length_buff = save_buff-cRealPos;
- // SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH);
- }
- else
- {
- if((save_buff-cRealPos) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- else if((cRealPos - save_buff)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
- QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
- else;
- }
- QD_MotorStep = 0;
- }
- }
- else
- {
- if(!X_DRV)
- {
- if(cZipCnt == 1)
- {
- length_buff = save_buff-cRealPos;
- // SetData32bits(1,length_buff - QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH);
- }
- else if(cZipCnt == 0)
- {
- go_length_buff = save_buff-cRealPos;
- }
- else
- {
- if((save_buff-cRealPos) >(length_buff + QD_PARAM_MAX_ERROR_LENGTH))
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- else if((cRealPos - save_buff)<(length_buff - QD_PARAM_MAX_ERROR_LENGTH))
- QD_SetAlarmCode(QD_LENGTH_SHORT_ALARM);
- else;
- }
- QD_MotorStep = 0;
- }
- }
- }
- break;
- case 40:
- if(dwTickCount >= QD_MotorDelay)
- {
- jz_buff = cRealPos;
- QD_JZ_DIR = QD_YDIR_P;
- if(QD_PARAM_SJZ_LENGTH == 0)
- {
- QD_JD_VAVEL = 0;
- }
- QD_MotorDelay = dwTickCount;
- QD_MotorStep = 41;
-
- }
- break;
-
- case 41: if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
- {
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
- QD_MotorStep = 42;
- }
- break;
- case 42:
- // 切断完成后拉电机动作
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_PARAM_GZ_BACK_DELAY_LENGTH<= (jz_buff - cRealPos))QD_GZ_VAVLE = 0;
- if(((QD_PARAM_SJZ_LENGTH) <= (jz_buff - cRealPos)))
- {
- QD_JD_VAVEL = 0;
- QD_GZ_VAVLE = 0;
- QD_MotorStep = 43;
- }
- else if(!X_DRV)
- {
- QD_JD_VAVEL = 0;
- QD_MotorStep = 43;
- }
- }
- break;
- case 43: // 切断完成后拉电机动作
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- QD_MotorDelay = dwTickCount;
- }
- break;
- case 50:
- if(!Y_DRV)
- {
- QD_MotorStep = 51;
- QD_YL_DIR = QD_YL_DIR_P;
- // AxisMovePos(Y_AXIS,QD_PARAM_BACK_SPEED,QD_PARAM_YL_SL_LENGTH);
- if(QD_PARAM_YL_SL_TIME != 0)
- {
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS, QD_PARAM_YL_HIGH_SPEED,QD_YL_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- QD_MotorDelay = dwTickCount + QD_PARAM_YL_SL_TIME;
- }
- else
- QD_MotorDelay = dwTickCount;
- QD_YLBackDelay = dwTickCount + QD_PARAM_DELAY_YL_BACK;
- }
- break;
- case 51: if(dwTickCount >= QD_MotorDelay)
- {
- AxisEgmStop(Y_AXIS);
- QD_MotorStep = 52;
- }
- if(dwTickCount >= QD_YLBackDelay) QD_YL_VAVLE = 0;
- break;
- case 52: if(dwTickCount >= QD_YLBackDelay)
- {
- QD_YL_VAVLE = 0;
- QD_YLOUT_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
- case 61: // 前点定位数控模式
- if(QD_SZ_OUT)
- {
- QD_SZ_OUT = 0;
- QD_MotorDelay = dwTickCount + 50;
- }
- QD_YLSZ_OUT = 0;
- QD_TuiLianStep = 1;
- QD_CQ_VAVLE = 1;
- yl_out_flg = 0;
- QD_CQDelay = dwTickCount + QD_PARAM_CQ_TIME;
- QD_MotorStep = 62;
- break;
- case 62:
- if(QD_YL_ORIGIN_IN)
- {
- QD_MotorStep = 63;
- }
- case 63:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
- {
- QD_JZ_DIR = QD_YDIR_P;
- AxisMovePos(X_AXIS,20,-2000);
- QD_MotorDelay = dwTickCount + 1000;
- }
- QD_MotorStep = 64;
- QD_JD_VAVEL = 0;
- }
- break;
- case 64:
- if(!QD_QIAN_LIMIT_IN && !QD_QIAN_DEC_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN && !QD_JD_IN)
- {
- go_buff = cRealPos;
- QD_JZ_DIR = QD_YDIR_N;
-
- if((cZipCnt > 0) || (QD_PARAM_DEC_MODE == 2))
- {
- if(!X_DRV)MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_P,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);//
- }
- else
- {
- if(!X_DRV)MoveAction_Const_Stop_AccDec(X_AXIS, QD_DIR_P,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- }
-
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep =65;
- }
- break;
- case 65:
- if(QD_SAFE_DOOR_IN)QD_SetAlarmCode(QD_SAFE_DOOR_ALARM);
- if(cZipCnt > 0)
- {
- if(QD_PARAM_DEC_MODE == 1) // 长度输入模式
- {
- if(((go_buff - cRealPos) > ((QD_PARAM_ZIPPER_LENGTH + QD_PARAM_OFFSET_LENGTH - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
- else if(QD_PARAM_DEC_MODE == 2) //纯感应方式
- {
- if(QD_PARAM_LONG_MODE)
- {
- if(QD_QIAN_DEC_IN)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
- else
- {
- if((QD_QIAN_DEC_IN && !QD_PARAM_SPEED_MODE)
- || ((QD_QIAN_DEC_IN || ((go_buff - cRealPos) > (go_length_buff - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) ) && QD_PARAM_SPEED_MODE))
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
- }
- else
- {
- if((QD_QIAN_DEC_IN && !QD_PARAM_SPEED_MODE)
- || ((QD_QIAN_DEC_IN || ((go_buff - cRealPos) > (go_length_buff - (QD_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,QD_PARAM_ACC_SPEED))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) ) && QD_PARAM_SPEED_MODE))
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
-
- }
- else
- {
- if(QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =66;
- }
- }
-
- break;
- case 66:
- if(QD_SAFE_DOOR_IN)QD_SetAlarmCode(QD_SAFE_DOOR_ALARM);
- if(QD_QIAN_LIMIT_IN_UP)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorDelay = dwTickCount + QD_PARAM_JD_DELAY;
- QD_MotorStep = 67;
- }
- else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
- break;
- case 67:
- if(!X_DRV && (dwTickCount >= QD_MotorDelay))
- {
- QD_JD_VAVEL = 1;
- QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_MotorStep = 68;
-
- }
- break;
- case 68:
- if(QD_JD_IN)
- {
- QD_SD_VAVLE = 0;
- TDGoPos(0);
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- QD_MotorStep = 69;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_JD_IN_ALARM);
- }
- break;
- case 69:
- if((dwTickCount >= QD_MotorDelay) && !TD_En)
- {
-
- QD_YD_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
- case 128:
-
- if(!X_DRV)
- {
-
- if(QD_QIAN_DEC_IN || QD_QIAN_LIMIT_IN)
- {
- QD_SetAlarmCode(QD_DEC_ALARM);
- }
- else
- {
- QD_MotorStep = 129;
- QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_YL_VAVLE = 1;
-
- /* if(!QD_PARAM_SJ_ENABLE)
- {
- QD_ShenJiangStep = 0;
- QD_R_UP_VAVLE = 0;
- QD_R_JD = 0;
- }
- else
- {
- if(QD_ShenJiangStep == 0)QD_ShenJiangStep = 1;
- }*/
- QD_YL_DIR = QD_YL_DIR_P;
- }
- }
- else
- {
- /* if(QD_QIAN_DEC_IN_DW)
- {
- yl_out_flg = 1;
- yl_out_delay = dwTickCount + QD_PARAM_YL_OUT_DELAY;
- }*/
- if(QD_GUO_LIAN_IN_DW)
- {
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorStep = 150;
- }
- else
- {
- if(QD_GOUZHEN_IN)
- {
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- }
- }
- break;
- case 150:
- if(dwTickCount >= QD_GZDelay)
- {
- QD_GZ_VAVLE = 1;
- QD_MotorStep = 151;
- }
- break;
- case 151:
- {
- QD_MotorDelay = dwTickCount + 3000;
- QD_MotorStep = 152;
- }
- break;
- case 152:
- {
- if(QD_GOUZHEN_IN)
- {
- AxisEgmStop(X_AXIS);
- QD_YD_VAVLE = 1;
- QD_MotorStep = 153;
- }
- else if(dwTickCount >= QD_MotorDelay)
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- break;
- case 153:
- {
- if(!X_DRV)
- {
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- }
- }
- break;
- case 129:
- if(!QD_YL_ORIGIN_IN)
- {
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_YL;
- QD_MotorStep = 131;
- }
- else if(dwTickCount >= QD_MotorDelay)
- QD_SetAlarmCode(QD_YL_LIMIT_ALARM);
- break;
- case 131:
- if(dwTickCount >= QD_MotorDelay)
- {
- gou_zhen_buff = cRealPos;
- save_buff = cRealPosY;
- if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS, QD_PARAM_YL_HIGH_SPEED,QD_YL_DIR_P,QD_PARAM_START_SPEED,QD_PARAM_ACC_SPEED,QD_PARAM_ACC_SPEED);
- QD_MotorStep = 132;
- }
- break;
- case 132:
- if(QD_GUO_LIAN_IN_UP)
- {
- QD_XMDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_GZDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- AxisChangeSpeed(Y_AXIS,QD_PARAM_YL_LOW_SPEED);
- QD_MotorStep = 133;
- }
- break;
- case 133:
- if(dwTickCount >= QD_XMDelay)QD_XM_VAVLE = 1;
- if(dwTickCount >= QD_GZDelay)QD_GZ_VAVLE = 1;
-
- if(QD_GOUZHEN_IN)
- {
- AxisEgmStop(Y_AXIS);
- QD_XM_VAVLE = 1;
- QD_YD_VAVLE = 1;
- QD_MotorStep = 134;
- }
- break;
- case 134:
- if(!Y_DRV)
- {
- {
- QD_YD_VAVLE = 1;
- QD_YL_DIR = QD_YL_DIR_N;
- AxisMovePos(Y_AXIS,QD_PARAM_GO_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 135;
- }
- }
- break;
- case 135:
- if(cZipCnt == 0);
- else if(cZipCnt == 1)
- {
- length_buff = save_buff - cRealPosY;
- }
- else
- {
- }
- QD_MotorStep = 0;
- break;
- }
- }
- //电机动作
- void QueDuan_Motor(void) //
- {
- switch(QD_MACHINE_TYPE)
- {
- case QD_NO_CS_TUIFANGKUAI: QueDuan_Motor_CS();break;
- case QD_NO_GL_TUIFANGKUAI:QueDuan_Motor_NoGL();break;
- default:;
- }
- }
- //超声方式下切
- void QueDuan_XiaQue_CS(void)
- {
- switch(QD_XiaQieStep)
- {
- case 0:
- break;
- case 1:
- QD_XiaQieStep = 2;
- QD_GZ_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + 1000;
- break;
- case 2:
- if(((QD_XIA_MU_LIMIT_IN || !bRunning)&& (QD_PARAM_CS_MODE == 1)) || (QD_PARAM_CS_MODE == 0))
- {
- QD_XiaQieStep = 3;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_XM_DAOWEI);
- }
- break;
- case 3:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_TFK_VAVEL = 1;
- QD_XiaQieDelay = dwTickCount + 1000;
- QD_XiaQieStep = 4;
- }
- break;
- case 4:
- if(QD_GOUZHEN_IN)
- {
- cTuiFangKuaiCnt = 0;
- QD_XM_VAVLE = 1;
- if(bRunning)QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
- else
- QD_XiaQieDelay = dwTickCount;
- QD_XiaQieStep = 5;
- }
- else if((dwTickCount >= QD_XiaQieDelay))
- {
-
- if((cTuiFangKuaiCnt == 0) && bRunning)
- {
- QD_TFK_VAVEL = 0;
- cTuiFangKuaiCnt++;
- QD_XiaQieDelay = dwTickCount + 1000;
- QD_XiaQieStep = 20;
- }
- else
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- break;
- case 5:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 6;
- }
- break;
- case 6:
- if(QD_SHANG_MU_LIMIT_IN && (QD_XIA_MU_LIMIT_IN || (QD_PARAM_CS_MODE == 0)))
- {
- if(QD_PARAM_CS_MODE)
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS; //
- QD_XiaQieStep = 100;
- }
- else
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY; //
- QD_XiaQieStep = 7;
- }
- }
- else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
- break;
- case 20:
- if((dwTickCount >= QD_XiaQieDelay))
- {
- QD_XiaQieStep = 2;
- }
- break;
- case 7:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SM_VAVLE = 0;
- QD_XM_VAVLE = 0;
- // QD_TFK_VAVEL = 0;
- QD_BL_VAVLE = 0;
- //QD_YL_VAVLE = 0;
- QD_GZ_VAVLE = 0;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 8;
- }//
- break;
- case 8:
- if(!QD_XIA_MU_LIMIT_IN && !QD_SHANG_MU_LIMIT_IN)
- {
- QD_XiaQieStep = 0;
- if(QD_TuiLianStep == 0) QD_TuiLianStep = 1;
- if(cLengthErrorFlg == 1)
- {
- cLengthErrorFlg = 0;
- if(QD_MotorStep==0)QD_MotorStep = 40;
- }
- AddToTal(QD_QIE_DUAN_TOTAL_ADDR);
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_SM_YUANWEI);
- }
- break;
- case 100:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME; //
- QD_XiaQieStep = 101;
- }
- break;
- case 101:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_CS_OUT = 0;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME; //
- QD_XiaQieStep = 7;
- }
- break;
- }
- }
- void QueDuan_TuiLianNormal(void)
- {
- switch(QD_TuiLianStep)
- {
- case 0:
- break;
- case 1:
- QD_TuiLianStep = 2;
- QD_TFK_VAVEL = 1;
- break;
- case 2:
- QD_TLDelay = dwTickCount+QD_PARAM_TL_DELAY;
- QD_TuiLianStep = 3;
- break;
- case 3:
- if(dwTickCount >= QD_TLDelay)
- {
- QD_TL_VAVLE = 1;
- QD_TLDelay = dwTickCount;
- QD_TuiLianStep = 4;
- }
- break;
- case 4:
- if(dwTickCount >= QD_TLDelay)
- {
- QD_TuiLianStep = 0;
- }
- break;
- }
- }
- void QueDuan_TuiLianNoGL(void)
- {
- switch(QD_TuiLianStep)
- {
- case 0:
- break;
- case 1:
- QD_TuiLianStep = 2;
- break;
- case 2:
- QD_TLDelay = dwTickCount + QD_PARAM_TL_DELAY;
- QD_YD_VAVLE = 1;
- QD_TuiLianStep = 3;
- break;
- case 3:
- if(dwTickCount >= QD_TLDelay)
- {
- TDGoPos(QD_PARAM_TD_LENGTH);
- QD_TLDelay = dwTickCount;
- QD_TuiLianStep = 4;
- }
- break;
- case 4:
- if((dwTickCount >= QD_TLDelay) && !TD_En)
- {
- QD_TuiLianStep = 0;
- }
- break;
- }
- }
- void QueDuan_TuiLianAction(void)
- {
- switch(QD_MACHINE_TYPE)
- {
- case QD_NO_CS_TUIFANGKUAI:QueDuan_TuiLianNormal();break;
- case QD_NO_GL_TUIFANGKUAI:QueDuan_TuiLianNoGL();break;
- default:;
- }
- }
- void QueDuan_XiaQue_NO_GL(void)
- {
- static unsigned char zy_back_flg;
- static long zy_back_delay;
-
- if(zy_back_flg)
- {
- if(dwTickCount >= zy_back_delay)
- {
- zy_back_flg = 0;
- QD_ZY_VAVLE = 0;
- }
- }
-
- if(QD_bERCI)
- {
- QD_bERCI = 0;
- if(QD_PARAM_ERCI_XQ)
- QD_PARAM_ERCI_XQ = 0;
- else
- QD_PARAM_ERCI_XQ = 1;
- if(!QD_PARAM_ERCI_XQ)
- {
- TDGoPos(0);
- }
- }
-
- switch(QD_XiaQieStep)
- {
- case 0:
- break;
- case 1:
- QD_YD_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
-
- if(QD_SAFE_DOOR_IN)QD_SetAlarmCode(QD_SAFE_DOOR_ALARM);
- else
- QD_XiaQieStep = 2;
- break;
- case 2:
- {
- QD_XM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
- QD_XiaQieStep = 3;
- }
- break;
- case 3:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- // if((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0))
- {
- QD_SM_VAVLE = 1;
- QD_SD_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 4;
- }
- }
- break;
- case 4:
- if(QD_SHANG_MU_LIMIT_IN && QD_XIA_MU_LIMIT_IN)
- {
- if(QD_PARAM_CS_MODE)
- {
- QD_XiaQieStep = 20;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS; //
- }
- else
- {
- QD_XiaQieStep = 5;
- QD_ZY_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM; //
- }
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- if(!QD_SHANG_MU_LIMIT_IN)QD_SetAlarmCode(QD_SM_DAOWEI);
- else QD_SetAlarmCode(QD_XM_DAOWEI);
- }
- break;
- case 5:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- if(!QD_PARAM_GZ_BACK_DELAY_LENGTH)QD_GZ_VAVLE = 0;
- QD_SM_VAVLE = 0;
- // QD_YL_VAVLE = 0;
- QD_BL_VAVLE = 0;
- if(erci_flg)TDGoPos(QD_PARAM_TD_LENGTH);
- else QD_TuiLianStep = 1;
-
- zy_back_flg = 1;
- zy_back_delay = dwTickCount + QD_PARAM_ZY_BACK_DELAY;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 6;
- }
- break;
- case 6:
- if(!QD_SHANG_MU_LIMIT_IN && !TD_En)
- {
- QD_XM_VAVLE = 0;
- QD_XiaQieStep = 7;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_SM_DAOWEI);
-
- }
- break;
- case 7:
- if(!QD_XIA_MU_LIMIT_IN)
- {
-
- if(!bRunning)QD_JD_VAVEL = 0;
-
- if(erci_flg && QD_PARAM_ERCI_XQ && !bRunning)
- {
- erci_flg = 0;
- QD_XiaQieDelay = dwTickCount + 100;
- QD_XiaQieStep = 50;
- }
- else
- {
- QD_XiaQieStep = 0;
- QD_XiaQieDelay = dwTickCount;
- }
- if(cLengthErrorFlg)
- {
- cLengthErrorFlg = 0;
- if(QD_MotorStep==0)QD_MotorStep = 40;
- }
- AddToTal(QD_QIE_DUAN_TOTAL_ADDR);
-
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_XM_DAOWEI);
- }
- break;
- case 20:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME; //
- QD_XiaQieStep = 21;
- }
- break;
- case 21:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_CS_OUT = 0;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME; //
- QD_XiaQieStep = 5;
- }
- break;
- case 50:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- TDGoPos(QD_PARAM_TD_LENGTH);
- QD_XiaQieDelay = dwTickCount + QD_PARAM_XM_TD_DELAY;
- QD_XiaQieStep = 51;
- }
- break;
- case 51:
- if((dwTickCount >= QD_XiaQieDelay) && !TD_En)
- {
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XM_VAVLE = 1;
- QD_XiaQieStep = 52;
- }
- break;
- case 52:
- if(1)
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_ERCI_XQ_DELAY;
- QD_XiaQieStep = 3;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- QD_SetAlarmCode(QD_ERCI_XQ_ALARM);
- break;
- }
- }
- //切断动作
- void QueDuan_XiaQue(void)
- {
- switch(QD_MACHINE_TYPE)
- {
- case QD_NO_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break;
- case QD_NO_GL_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break;
- default:;
- }
- }
- #else
- void QueDuan_AlarmProtect(void);
- void QueDuan_ManualAction(void);
- void QueDuan_AutoAction(void);
- void QueDuan_StepCheckStart(void);
- void QueDuan_XiaQue(void);
- void QueDuan_Motor(void);
- void QueDuan_YuanDianAction(void);
- void QueDuan_TuiLianAction(void);
- void QueDuan_ExtiActionX31(void);
- void QueDuan_BingLian(void);
- void QueDuan_JYSelect(void);
- static unsigned long cZipCnt = 0,cTableCnt = 0,cTuiFangKuaiCnt = 0;
- static long save_limit_pos;
- static long dwSaveLength;
- static unsigned char QD_Count_in_flg = 0,QD_Count_in_flg_old = 0;
- static unsigned short QD_filter;
- static unsigned char QD_stop_flg = 0;
- void QueDuan_ExtiActionX31(void)
- {
- }
- void QD_SetAlarmCode(unsigned alarm_code)
- {
- SetAlarmCode(QD_ALARM_ADDR,alarm_code);
- bAlarmStop = 1;
- }
- void QueDuan_InitAction(void)
- {
- float length_buff,pulse_buff;
-
- length_buff = QD_PARAM_CYCLE_LENGTH;
- pulse_buff = QD_PARAM_CYCLE_PULSE;
- XGearRatio = pulse_buff/length_buff;
- QD_SZ_OUT = 1;
-
- if(QD_MODE_SELECT > 3)QD_MODE_SELECT = 0;
- QueDuan_JYSelect();
- QD_PARAM_NO_POS = 0;
-
- QD_Count_in_flg = QD_COUNT_IN;
- QD_Count_in_flg_old = QD_Count_in_flg;
- QD_SC_VAVLE = 1;
- }
- void QueDuan_Action(void)
- {
- QueDuan_AlarmProtect();
- QueDuan_Motor();
- QueDuan_XiaQue();
- QueDuan_ManualAction();
- QueDuan_YuanDianAction();
- QueDuan_TuiLianAction();
- QueDuan_BingLian();
- QueDuan_AutoAction();
- QueDuan_StepCheckStart(); // 调用脚踏开关检测程序
- }
- void QueDuan_JYSelect(void)
- {
- switch(QD_MODE_SELECT) //模具选择
- {
- case 0: //3#模具
- QD_JIZHUN_CISHU = QD_JIZHUN_CISHU1;//基准长度对应齿数
- QD_JIZHUN_LEN = QD_JIZHUN_LEN1;//基准长度
- break;
- case 1: //5#模具
- QD_JIZHUN_CISHU = QD_JIZHUN_CISHU2;//基准长度对应齿数
- QD_JIZHUN_LEN = QD_JIZHUN_LEN2;//基准长度
- break;
- case 2: //8#模具
- QD_JIZHUN_CISHU = QD_JIZHUN_CISHU3;//基准长度对应齿数
- QD_JIZHUN_LEN = QD_JIZHUN_LEN3;//基准长度
- break;
- default: //特殊模具
- QD_JIZHUN_CISHU = QD_JIZHUN_CISHU4;//基准长度对应齿数
- QD_JIZHUN_LEN = QD_JIZHUN_LEN4;//基准长度
- break;
- }
-
- if((QD_JIZHUN_CISHU == 0) || (QD_JIZHUN_LEN == 0))
- {
- QD_JIZHUN_CISHU = 49;
- QD_JIZHUN_LEN = 1250;
- }
- }
- //输入拉链长度返回所输入拉链长度所对应的齿数
- unsigned long QD_GetToothNum(unsigned long zipper_length)
- {
- float length_buff1,tooth_buff,length_buff2;
- length_buff1 = zipper_length;
- tooth_buff = QD_JIZHUN_CISHU;
- length_buff2 = QD_JIZHUN_LEN * 10;
- return (unsigned long)round(length_buff1 * tooth_buff / length_buff2);
- }
- //输入齿数返回拉链长度
- unsigned long QD_ToothGetLength(unsigned long tooth_num)
- {
- float toothbuff1,tooth_buff,length_buff2;
- toothbuff1 = tooth_num;
- tooth_buff = QD_JIZHUN_CISHU;
- length_buff2 = QD_JIZHUN_LEN * 10;
-
- return (unsigned long)round((toothbuff1 * length_buff2 / tooth_buff));
- }
- //手动动作
- void QueDuan_ManualAction(void)
- {
- if(bRunning == 0)
- {
- if(QD_bClearTotal) //切断计数清零
- {
- QD_bClearTotal = 0;
- ClrcToTal(QD_TOTAL_ADDR);
- }
-
- if(QD_bClearNowTotal)
- {
- QD_bClearNowTotal = 0;
- QD_PARAM_NOW_CNT = 0;
- }
-
- if(QD_bXiaQie)
- {
- QD_bXiaQie = 0;
- if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;
- }
-
- if(QD_bQianDianDW)
- {
- QD_bQianDianDW = 0;
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 61;
- cZipCnt = 0;
- }
- }
-
- if(QD_bTL)
- {
- QD_TL_VAVLE = ~QD_TL_VAVLE;
- }
-
- if(!Y_DRV)QD_bTL = 0;
-
- if(QD_bYD)
- {
- QD_bYD = 0;
- QD_YD_VAVLE = ~QD_YD_VAVLE;
- }
-
- if(QD_bGZ)
- {
- QD_bGZ = 0;
- QD_GZ_VAVLE = ~QD_GZ_VAVLE;
- }
-
- if(QD_bJD)
- {
- QD_bJD = 0;
- QD_JD_VAVEL = ~QD_JD_VAVEL;
- }
-
- if(QD_bXM)
- {
- QD_bXM = 0;
- QD_XM_VAVLE = ~QD_XM_VAVLE;
-
- if(!QD_SHANG_MU_LIMIT_IN || !QD_SM_VAVLE)QD_XM_VAVLE = 0;
- }
-
- if(QD_bSM)
- {
- QD_bSM = 0;
-
- if(QD_SM_VAVLE)
- {
- if(!QD_XM_VAVLE)QD_SM_VAVLE = 0;
- }
- else
- {
- QD_SM_VAVLE = 1;
- }
- }
-
- if(QD_bTFK)
- {
- QD_bTFK = 0;
- QD_TFK_VAVEL = ~QD_TFK_VAVEL;
- }
-
- if(QD_bTB)
- {
- QD_bTB = 0;
- QD_TABLE_VAVLE = ~QD_TABLE_VAVLE;
- }
-
- if(QD_bYBD)
- {
- QD_bYBD = 0;
- QD_YBD_VAVLE = ~QD_YBD_VAVLE;
- }
-
- if(QD_bTestCS)
- {
- QD_bTestCS = 0;
- QD_CS_OUT = 1;
- QD_CSDelay = dwTickCount + QD_PARAM_CS_TIME;
- }
-
- if(QD_bBL)
- {
- QD_bBL = 0;
- QD_BL_VAVLE = ~QD_BL_VAVLE;
- }
-
- if(QD_XiaQieStep == 0)
- {
- if(dwTickCount >= QD_CSDelay)QD_CS_OUT = 0;
- }
-
- if(QD_bYuanDianDW)
- {
- QD_bYuanDianDW = 0;
- if(QD_YuanDianStep == 0)QD_YuanDianStep = 1;
- }
-
- //电机控制
- if(QD_bGoMotor && !QD_QIAN_LIMIT_IN)
- {
- QD_SZ_OUT = 0;
- if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,QD_DIR_N,10,1,5,5);
- }
-
- if(QD_bBackMotor && !QD_BACK_LIMIT_IN)
- {
- QD_SZ_OUT = 0;
- QD_SC_VAVLE = 0;
- if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,10,1,5,5);
- }
-
- if(!QD_bGoMotor && !QD_bBackMotor && (QD_MotorStep == 0))
- {
- if(X_DRV)AxisDecStop(X_AXIS);
- }
-
- if(QD_QIAN_LIMIT_IN && (QD_MotorStep == 0) && !QD_bBackMotor &&(QD_AutoStep == 0))
- {
- if(X_DRV)
- {
- AxisEgmStop(X_AXIS);
- QD_stop_flg = 1;
- }
- }
-
- if(QD_bSetLength)
- {
- QD_bSetLength = 0;
- QD_PARAM_NO_POS = 0;
- QueDuan_JYSelect();
-
- SetData32bits(87,CalInch(QD_PARAM_ZIPPER_LENGTH));
- SetData32bits(89,QD_GetToothNum(QD_PARAM_ZIPPER_LENGTH));
- }
-
- if(QD_bSetInch)
- {
- QD_bSetInch = 0;
- SetData32bits(1,CalLengthCM(QD_PARAM_ZIPPER_LENGTH_INCH));
- QD_bSetLength = 1;
- }
-
- if(QD_bSetTooth)
- {
- QD_bSetTooth = 0;
- SetData32bits(1,QD_ToothGetLength(QD_PARAM_ZIPPER_TOOTH));
- QD_bSetLength = 1;
- }
-
- if(QD_bAdd)
- {
- QD_bAdd = 0;
- SetData32bits(89,QD_PARAM_ZIPPER_TOOTH + 1);
- }
- if(QD_bDec)
- {
- QD_bDec = 0;
- if(QD_PARAM_ZIPPER_TOOTH != 0)SetData32bits(89,QD_PARAM_ZIPPER_TOOTH - 1);
- }
-
- if(QD_bCQ)
- {
- QD_bCQ = 0;
- QD_CQ_VAVLE = 1;
- QD_ChuiQiDelay = dwTickCount + QD_PARAM_CQ_DELAY;
- }
- }
-
- if(dwTickCount >= QD_ChuiQiDelay)QD_CQ_VAVLE = 0;
- }
- void QueDuan_YuanDianAction(void)
- {
- switch(QD_YuanDianStep)
- {
- case 0:break;
- case 1:
- if(QD_MotorStep == 0)QD_MotorStep = 61;
- QD_YuanDianStep = 2;
- break;
- case 2:
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 30;
- QD_YuanDianStep = 3;
- QD_JD_VAVEL = 1;
- }
- break;
- case 3:
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 0;
- QD_YuanDianStep = 0;
- }
- break;
- }
- }
- void QueDuan_AlarmProtect(void)
- {
- dwRealPos = GetPos(X_AXIS);
- if(!bRunning)
- {
- if(QD_BACK_LIMIT_IN_UP)
- {
- if((QD_MotorStep == 0) && X_DRV && QD_bBackMotor) //到后限不能再后退但可以点前进
- {
- QD_bBackMotor = 0;
-
- AxisDecStop(X_AXIS);
- QD_JD_VAVEL = 0;
- QD_SetAlarmCode(QD_BACK_ALARM);
-
- }
- }
- }
- else
- {
- if(QD_BACK_LIMIT_IN_UP)
- {
- AxisDecStop(X_AXIS);
- QD_JD_VAVEL = 0;
- QD_SetAlarmCode(QD_BACK_ALARM);
- }
- }
-
- if(!QD_KADAI_IN)
- QD_SetAlarmCode(QD_KA_DAI_ALARM);
- else
- {
- if(GetAlarmCode(QD_ALARM_ADDR) == QD_KA_DAI_ALARM)SetAlarmCode(QD_ALARM_ADDR,QD_NO_ALARM);
- }
-
- }
- void QueDuan_AutoAction(void)
- {
- if(bRunning)
- {
- if(dwTickCount >= QD_TBDelay)QD_TABLE_VAVLE = 0;
- switch(QD_AutoStep)
- {
- case 1:
- if(dwTickCount >= QD_AutoDelay)
- {
- QD_AutoStep = 2;
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 61; //前点定位
- }
- }
- break;
- case 2:
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 30;
- QD_AutoStep = 3;
- }
- break;
- case 3:
- if(QD_MotorStep == 0)
- {
- if(QD_XiaQieStep == 0)QD_XiaQieStep = 1;
- QD_AutoStep = 4;
- }
- break;
- case 4:
- if(QD_MACHINE_TYPE == QD_NO_GL_TUIFANGKUAI)
- {
-
- if(((QD_XiaQieStep == 0) || (QD_XiaQieStep >= 5)) && !QD_SHANG_MU_LIMIT_IN)
- {
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 40; //切完后退
- QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
- }
- QD_AutoStep = 5;
- }
- }
- else
- {
- if(((QD_XiaQieStep == 0) || (QD_XiaQieStep == 14)) && !QD_SHANG_MU_LIMIT_IN && !QD_XIA_MU_LIMIT_IN)
- {
- if(QD_MotorStep == 0)
- {
- QD_MotorStep = 40; //切完后退
- QD_AutoStep = 5;
- }
- }
- }
- break;
- case 5:
- if(QD_MotorStep == 0)
- {
- cZipCnt++;
- QD_PARAM_NOW_CNT++;
- cTableCnt++;
- AddToTal(QD_TOTAL_ADDR);
- CalProSP(QD_PROSPEED_ADDR);
-
-
- if((GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) || SingOneFlg)
- {
- bRunning = 0;
- QD_AutoStep = 0;
- SingOneFlg = 0;
-
- if((QD_PARAM_NOW_CNT >= QD_PARAM_TABLE_NUM) && (QD_PARAM_ZHA_SHU == 0))
- {
- QD_PARAM_NOW_CNT = 0;
- QD_TABLE_VAVLE = 1;
- QD_TBDelay = dwTickCount + QD_PARAM_TB_TIME;
- }
- if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
- }
- else
- {
- QD_AutoStep = 1;
-
- if(QD_PARAM_ZHA_SHU != 0)
- {
- if(QD_PARAM_NOW_CNT >= QD_PARAM_ZHA_SHU)
- {
- QD_AutoDelay = dwTickCount + QD_PARAM_ZS_STOP_TIME + 50;
- QD_PARAM_NOW_CNT = 0;
- }
- else
- QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
- }
- else
- {
- if(QD_PARAM_NOW_CNT >= QD_PARAM_TABLE_NUM)
- {
- QD_PARAM_NOW_CNT = 0;
- QD_TABLE_VAVLE = 1;
- QD_TBDelay = dwTickCount + QD_PARAM_TB_TIME;
- }
- QD_AutoDelay = dwTickCount + QD_PARAM_CYCLE_DELAY;
- }
- }
- }
- break;
- }
- }
- }
- void QueDuan_StepCheckStart(void)
- {
- // 启动
- if((START_IN_UP) || bStart || QD_bSingle)
- {
- bStart = 0;
-
- if(!bRunning && (QD_AutoStep == 0))
- {
- if(!QD_SHANG_MU_ORIGIN_IN)QD_SetAlarmCode(QD_SM_YUANWEI);
- else if(QD_XIA_MU_LIMIT_IN)QD_SetAlarmCode(QD_XM_DAOWEI);
- else if(GetAlarmCode(QD_ALARM_ADDR) != 0);
- else if(GetTotal(QD_TOTAL_ADDR) >= QD_PARAM_SET_TOTAL) QD_SetAlarmCode(QD_TOTAL_ALARM);
- else if(QD_BL_VAVLE)QD_SetAlarmCode(QD_BL_ALARM);
- else if(QD_SM_VAVLE)QD_SetAlarmCode(QD_SM_ALARM);
- else
- {
- bRunning = 1;
- QD_AutoStep = 1;
- if(QD_bSingle) SingOneFlg= 1;
- cZipCnt = 0;
- cTuiFangKuaiCnt = 0;
- if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
- }
- }
- QD_bSingle = 0;
- }
- //停止
- if(STOP_IN_UP || bStop)
- {
- bStop = 0;
- if(bRunning)
- {
- bRunning = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_YuanDianStep = 0;
- QD_AutoDelay = dwTickCount;
- QD_MotorDelay = dwTickCount;
- QD_XiaQieDelay = dwTickCount;
- QD_CSDelay = dwTickCount;
- QD_TBDelay = dwTickCount;
- QD_TFKDelay = dwTickCount;
- QD_TLDelay = dwTickCount;
- QD_CheckDelay = dwTickCount;
- dwTickCount = QD_TBDelay;
- SingOneFlg = 0;
- QD_JD_VAVEL = 0;
- QD_SM_VAVLE = 0;
- QD_XM_VAVLE = 0;
- // QD_YD_VAVLE = 0;
- QD_TFK_VAVEL= 0;
- QD_TL_VAVLE = 0;
- QD_YBD_VAVLE = 0;
- QD_CS_OUT = 0;
- QD_XiaQieStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- //QD_SZ_OUT = 1;
- QD_GZ_VAVLE = 0;
- QD_TABLE_VAVLE = 0;
- QD_XHG_VAVLE = 0;
- AxisDecStop(X_AXIS);
- QD_YuanDianStep = 0;
- QD_BinLianStep = 0;
- QD_BL_VAVLE = 0;
- QD_stop_flg = 1;
- user_datas[121] = 0;
- user_datas[122] = 0;
- if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
- }
- else
- {
- bRunning = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_YuanDianStep = 0;
- QD_AutoDelay = dwTickCount;
- QD_MotorDelay = dwTickCount;
- QD_XiaQieDelay = dwTickCount;
- QD_CSDelay = dwTickCount;
- QD_TBDelay = dwTickCount;
- QD_TFKDelay = dwTickCount;
- QD_TLDelay = dwTickCount;
- QD_CheckDelay = dwTickCount;
- dwTickCount = QD_TBDelay;
- SingOneFlg = 0;
- QD_JD_VAVEL = 0;
- QD_SM_VAVLE = 0;
- QD_XM_VAVLE = 0;
- QD_TFK_VAVEL= 0;
- QD_TL_VAVLE = 0;
- QD_YBD_VAVLE = 0;
- QD_CS_OUT = 0;
- QD_XiaQieStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_SZ_OUT = 1;
- QD_GZ_VAVLE = 0;
- QD_TABLE_VAVLE = 0;
- QD_XHG_VAVLE = 0;
- AxisDecStop(X_AXIS);
- QD_YuanDianStep = 0;
- QD_BinLianStep = 0;
- QD_BL_VAVLE = 0;
- QD_stop_flg = 1;
- if(GetAlarmCode(QD_ALARM_ADDR) != 0)SetAlarmCode(QD_ALARM_ADDR,0);
- }
- }
-
- if(QD_stop_flg)
- {
- if(!X_DRV && (QD_MotorStep==0))
- {
- QD_SC_VAVLE = 1;
- QD_stop_flg = 0;
- }
- }
- if(bAlarmStop)
- {
- bAlarmStop = 0;
- QD_XiaQieStep = 0;
- QD_AutoStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_YuanDianStep = 0;
- QD_XiaQieStep = 0;
- QD_MotorStep = 0;
- QD_TuiLianStep = 0;
- QD_AutoDelay = dwTickCount;
- QD_MotorDelay = dwTickCount;
- QD_XiaQieDelay = dwTickCount;
- QD_CSDelay = dwTickCount;
- QD_TBDelay = dwTickCount;
- QD_TFKDelay = dwTickCount;
- QD_TLDelay = dwTickCount;
- QD_CheckDelay = dwTickCount;
- SingOneFlg = 0;
- bRunning = 0;
- AxisDecStop(X_AXIS);
- dwTickCount = QD_TBDelay;
- QD_TABLE_VAVLE = 0;
- }
-
- }
- //记忆长度模式误差检测
- void QueDuan_CheckLength(long zip_length)
- {
- static long start_dist;
- switch(QD_CheckLengthStep)
- {
- case 0:break;
- case 1:
- start_dist = dwRealPos;
- QD_CheckLengthStep = 1;
- break;
- case 2:
- if(QD_GUO_LIAN_IN_DW) dwSaveLength = start_dist - dwRealPos;
- if((start_dist - dwRealPos) >= (zip_length-QD_PARAM_ERROR_LENGTH))
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- QD_CheckLengthStep = 0;
- }
- }
- else if((start_dist - dwRealPos) < (zip_length-QD_PARAM_ERROR_LENGTH))
- {
- }
- else
- {
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- QD_CheckLengthStep = 0;
- }
- break;
- }
- }
- void QueDuan_Motor_CS(void)
- {
- static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
- user_datas[121]= QD_MotorStep;
- user_datas[122]= go_length_buff;
- user_datas[123] = dwRealPos;
- user_datas[124] = length_buff;
- user_datas[125] = QD_AutoStep;
- user_datas[126] = QD_XiaQieStep;
- user_datas[127] = QD_XiaQieStep;
- QueDuan_CheckLength(length_buff);
- switch(QD_MotorStep)
- {
- case 30:
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- QD_MotorStep = 31;
-
- if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
- break;
- case 31:
- if(dwTickCount >= QD_MotorDelay)
- {
- save_buff = dwRealPos;
- back_buff = dwRealPos;
-
- if(QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE) // 纯感应模式
- {
- if(QD_PARAM_DEC_MODE == QD_BACK_DIGITAL_MODE) // 数控降速
- {
- if(cZipCnt < 2)
- {
- MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_CHECK_BACK_HSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- else
- {
- MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- }
- else
- {
- MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- }
- else
- {
- if(cZipCnt < 2)
- {
- MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_CHECK_BACK_HSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- else
- {
- gouzhen_buff = dwRealPos;
- AxisMovePosAccDec(X_AXIS,QD_PARAM_BACK_SPEED,-(length_buff),QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
- MoveChangSpeedPos(X_AXIS, QD_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,QD_PARAM_BACK_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)));
- QD_MotorDelay = dwTickCount;
- QD_MotorStep = 34;
- QD_CheckLengthStep = 1;
- }
- }
- }
- break;
- case 32:
- if(QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE) //感应方式
- {
- if(QD_PARAM_DEC_MODE == QD_BACK_DIGITAL_MODE) // 数控降速
- {
- if(cZipCnt < 2)
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- checkdelay_buff = dwRealPos;
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_XM;
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorStep = 33;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- }
- else
- {
- if((back_buff - dwRealPos) > (length_buff - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)))))
- {
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- }
- if(QD_GUO_LIAN_IN_UP)
- {
- checkdelay_buff = dwRealPos;
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_XM;
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorStep = 33;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- }
- }
- else
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- checkdelay_buff = dwRealPos;
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_XM;
- QD_MotorStep = 33;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- }
- }
- else
- {
- if(cZipCnt < 2)
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- checkdelay_buff = dwRealPos;
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_XM;
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- QD_MotorStep = 33;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- }
- }
- break;
- case 33:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_XM_VAVLE = 1;
- QD_MotorStep = 34;
- }
- break;
- case 34:
- if((cZipCnt < 2) || (QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE))
- {
- if((((checkdelay_buff - dwRealPos) >= QD_PARAM_DELAY_CHECK) && (QD_PARAM_LT_ENABLE)) || (((checkdelay_buff - dwRealPos) >= QD_PARAM_NO_LT_DELAY_CHECK) && (QD_PARAM_LT_ENABLE == 0)))
- {
- if(QD_GUO_LIAN_IN_DW)
- {
- gou_zhen_buff = dwRealPos;
- QD_MotorStep = 35;
- }
- }
- }
- else
- {
- if(QD_PARAM_LT_ENABLE == 0)
- {
- if((gouzhen_buff - dwRealPos) >= (length_buff - (QD_PARAM_DELAY_XM_LENGTH)))QD_XM_VAVLE = 1;
- if((gouzhen_buff - dwRealPos) >= (length_buff - QD_PARAM_GOUZHEN_LENGTH))
- {
- QD_XM_VAVLE = 1;
- QD_GZ_VAVLE = 1;
- QD_MotorStep = 36;
- }
- }
- else
- {
- if((gouzhen_buff - dwRealPos) >= (length_buff - (QD_PARAM_DELAY_XM_LENGTH)))
- {
- QD_XM_VAVLE = 1;
- QD_MotorStep = 36;
- }
- }
- }
- break;
- case 35:
- if(QD_GUO_LIAN_IN_DW)
- {
- gou_zhen_buff = dwRealPos;
- }
-
- if(QD_GUO_LIAN_IN_UP)
- {
- gou_zhen_buff = dwRealPos;
- }
-
- if((gou_zhen_buff - dwRealPos) >= QD_PARAM_MOTOR_DELAY_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_MotorStep = 36;
- }
- break;
- case 36:
- if(!X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
- {
- if(QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE)
- {
- QD_GZ_VAVLE = 1;
- }
- else
- {
- if(cZipCnt < 2)
- {
- QD_GZ_VAVLE = 1;
- }
- else
- {
- if(QD_PARAM_LT_ENABLE == 1)QD_GZ_VAVLE = 1;
- }
- }
- QD_MotorDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_MotorStep = 37;
- }
- break;
- case 37:
- if(QD_XIA_MU_LIMIT_IN)
- {
- QD_MotorStep = 38;
- QD_MotorDelay = dwTickCount + QD_PARAM_TFK_DELAY;
- }
- else if(dwTickCount >= QD_MotorDelay) QD_SetAlarmCode(QD_XM_DAOWEI);
- break;
- case 38:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_TFK_VAVEL = 1;
- QD_MotorStep = 39;
- }
- break;
- case 39:
- if(!X_DRV && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)))
- {
- if(cZipCnt == 1)
- {
- length_buff = save_buff - dwRealPos;
- }
- if(cZipCnt == 0)
- {
- go_length_buff = save_buff - dwRealPos;
- }
-
- if((QD_PARAM_BACK_MODE == QD_BACK_INDUCTION_MODE) && (cZipCnt >= 2))
- {
- if((save_buff - dwRealPos) > (length_buff-QD_PARAM_ERROR_LENGTH))QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- else if((save_buff - dwRealPos) < (length_buff+QD_PARAM_ERROR_LENGTH))QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- }
- QD_MotorStep = 0;
- }
- break;
- case 40:
- dwTickCount + QD_PARAM_CUT_BACK_DELAY;
- QD_MotorStep = 41;
- break;
- case 41:
- if(dwTickCount >= QD_MotorDelay)
- {
- jz_buff = dwRealPos;
- if(QD_PARAM_SJZ_LENGTH == 0)
- {
- QD_JD_VAVEL = 0;
- }
- QD_MotorDelay = dwTickCount + 35;
- QD_MotorStep = 42;
-
- }
- break;
-
- case 42:
- if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
- {
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
- QD_MotorStep = 43;
- }
- break;
- case 43:
- // 切断完成后拉电机动作
- if(dwTickCount >= QD_MotorDelay)
- {
- if(((QD_PARAM_SJZ_LENGTH) <= (jz_buff - dwRealPos)))
- {
- QD_JD_VAVEL = 0;
- QD_MotorStep = 44;
- }
- else if(!X_DRV)
- {
- QD_JD_VAVEL = 0;
- QD_MotorStep = 44;
- }
- }
- break;
- case 44: // 切断完成后拉电机动作
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- QD_MotorDelay = dwTickCount;
- }
-
- break;
-
- case 61: // 前点定位数控模式
- if(QD_SZ_OUT)
- {
- QD_SZ_OUT = 0;
- QD_MotorDelay = dwTickCount + 50;
- }
-
- if((QD_TuiLianStep == 0) && !QD_TL_VAVLE)QD_TuiLianStep = 1;
- QD_MotorStep = 62;
- break;
- case 62:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
- {
- MV_Set_Acc_CPU(X_AXIS, 10);
- AxisMovePos(X_AXIS,QD_PARAM_FIRST_SPEED,-QD_PARAM_ON_BACK_LENGTH);
- QD_MotorDelay = dwTickCount + 1000;
- }
- QD_MotorStep = 63;
- QD_JD_VAVEL = 0;
- }
- break;
- case 63:
- if(!X_DRV && (dwTickCount >= QD_MotorDelay))
- {
- go_buff = dwRealPos;
- if(cZipCnt > 0)
- {
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
- }
- else
- {
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);//
- }
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 64;
- }
- break;
- case 64:
- if(cZipCnt > 0)
- {
- if(((go_buff - dwRealPos) > (go_length_buff - (QD_PARAM_GO_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,10))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || (QD_QIAN_DEC_IN_UP))
- {
-
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- }
- else
- {
- if(QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- }
- break;
- case 65:
- if(QD_QIAN_LIMIT_IN_UP)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 66;
- }
- else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
- break;
- case 66:
- if(!X_DRV)
- {
- QD_MotorDelay = dwTickCount;
- QD_MotorStep = 67;
- }
- break;
- case 67:
- if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
- {
- if(bRunning)
- {
- QD_JD_VAVEL = 1;
- }
- QD_MotorStep = 68;
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- }
- break;
- case 68:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_YD_VAVLE = 0;
- QD_YBD_VAVLE = 0;
- QD_TL_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
-
- }
- }
- void QueDuan_BingLian(void)
- {
- static long bl_pos_buff;
-
- switch(QD_BinLianStep)
- {
- case 0:break;
- case 1:
- bl_pos_buff = dwRealPos;
- QD_BinLianStep = 2;
- break;
- case 2:
- if((dwRealPos - bl_pos_buff) >= QD_PARAM_DELAY_HL_LENGTH)
- {
- QD_BL_VAVLE = 1;
- QD_BinLianStep = 3;
- }
-
- break;
- case 3:
- if(QD_XIA_MU_LIMIT_IN)QD_BL_VAVLE = 0;
- break;
- default:;
- }
-
- }
- //不带过链感应长度输入电机长度
- void QueDuan_Motor_NoGL(void)
- {
- static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
- user_datas[124]= QD_MotorStep;
- // user_datas[125]= go_length_buff;
- // user_datas[123] = length_buff;
- user_datas[127] = dwRealPos;
- // user_datas[126] = go_buff - dwRealPos;
- // user_datas[121] = QD_PARAM_GOUZHEN_LENGTH;
- if(QD_GUO_LIAN_IN_DW)user_datas[122]++;
- switch(QD_MotorStep)
- {
- case 30:
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
-
- if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
-
- if(QD_PARAM_LENGTH_MODE == 0)
- QD_MotorStep = 101;
- else
- QD_MotorStep = 31;
- break;
- case 31:
- if(dwTickCount >= QD_MotorDelay)
- {
- back_buff = dwRealPos;
- gou_zhen_buff = dwRealPos;
- save_buff = dwRealPos;
- // AxisContinueMove(X_AXIS,QD_PARAM_BACK_SPEED,QD_DIR_P);
- MoveAction_Const_Back(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 33;
- }
- break;
- case 32:
- if(((dwRealPos - gou_zhen_buff) > ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)
- {
- if(user_datas[127] == 0)
- user_datas[127] = dwRealPos - gou_zhen_buff;
- save_buff = dwRealPos;
- QD_GZ_VAVLE = 1;
- }
- if((dwRealPos - back_buff) > ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,10)))))
- {
- if(X_DRV)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- }
-
- QD_MotorStep = 33;
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- break;
- case 33:
- if(((dwRealPos - gou_zhen_buff) > ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)
- {
- QD_GZ_VAVLE = 1;
- if(user_datas[127] == 0)
- user_datas[127] = dwRealPos - gou_zhen_buff;
- }
-
- if(QD_GOUZHEN_IN)
- {
- // AxisEgmStop(X_AXIS);
- QD_YD_VAVLE = 1;
- //user_datas[126] = dwRealPos - save_buff;
- QD_MotorDelay = dwTickCount + 5;
- QD_MotorStep = 34;
- }
- else if(((dwRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH)) && QD_GZ_VAVLE)
- {
- // user_datas[126] = dwRealPos - save_buff;
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- }
- else if(dwTickCount >= QD_MotorDelay)
- {
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- break;
- case 34:
- if(!X_DRV && (dwTickCount >= QD_MotorDelay))
- {
- AxisMovePos(X_AXIS,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 35;
- }
- break;
- case 35:
- if(!X_DRV)
- {
- QD_MotorStep = 36;
- }
- break;
- case 36:
- QD_MotorStep = 0;
- break;
- case 101:
- if(dwTickCount >= QD_MotorDelay)
- {
- back_buff = dwRealPos;
- gou_zhen_buff = dwRealPos;
- save_buff = dwRealPos;
-
- if(cZipCnt < 2)
- {
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- AxisContinueMove(X_AXIS,QD_PARAM_FIRST_SPEED,QD_DIR_P);
- QD_MotorStep = 102;
- }
- else
- {
- MoveAction_Const_Back(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,PosToPulse(X_AXIS,((length_buff - QD_PARAM_TC_LENGTH) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,30))))));
- QD_MotorStep = 102;
- }
- }
- break;
- case 102:
- if(cZipCnt < 2)
- {
- if(QD_GUO_LIAN_IN_UP)
- {
- QD_MotorDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- QD_MotorStep = 103;
- }
- }
- else
- {
- if(((dwRealPos - gou_zhen_buff) > ((length_buff - QD_PARAM_TC_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)
- {
- save_buff = dwRealPos;
- QD_GZ_VAVLE = 1;
- }
- if((dwRealPos - back_buff) > ((length_buff - QD_PARAM_TC_LENGTH) - (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,10)))))
- {
- if(X_DRV)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- }
-
- QD_MotorStep = 103;
- }
- }
- break;
- case 103:
- if(cZipCnt < 2)
- {
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_GZ_VAVLE = 1;
- QD_MotorStep = 104;
- }
- }
- else
- {
- if(((dwRealPos - gou_zhen_buff) > ((length_buff - QD_PARAM_TC_LENGTH) - QD_PARAM_GOUZHEN_LENGTH)) && !QD_GZ_VAVLE)
- {
- QD_GZ_VAVLE = 1;
- }
-
-
- if(QD_GOUZHEN_IN)
- {
- QD_YD_VAVLE = 1;
- QD_MotorDelay = dwTickCount + 5;
- QD_MotorStep = 105;
- }
- else if(((dwRealPos - save_buff) >= (QD_PARAM_ERROR_LENGTH + QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH)) && QD_GZ_VAVLE)
- {
- QD_SetAlarmCode(QD_LENGTH_LONG_ALARM);
- }
- }
- break;
- case 104:
- if(cZipCnt < 2)
- {
- if(QD_GOUZHEN_IN)
- {
- AxisEgmStop(X_AXIS);
- QD_YD_VAVLE = 1;
- QD_MotorStep = 105;
- }
- }
- else
- {
-
- }
- break;
- case 105:
- if(!X_DRV)
- {
- if(cZipCnt == 0)
- {
- go_length_buff = dwRealPos - back_buff;
- }
- else if(cZipCnt == 1)
- {
- length_buff = dwRealPos - back_buff;
- SetData32bits(1,length_buff);
- }
- AxisMovePos(X_AXIS,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_FZ_LENGTH);
- QD_MotorStep = 106;
- }
- break;
- case 106:
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- }
- break;
- case 40:
- if(dwTickCount >= QD_MotorDelay)
- {
- jz_buff = dwRealPos;
-
-
- /* if(1)//(QD_PARAM_SJZ_LENGTH <= 200)
- {
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH));
- QD_MotorStep = 41;
- }*/
- else
- {
- QD_JD_VAVEL = 0;
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
- QD_MotorStep = 43;
- }
- if(QD_PARAM_SJZ_LENGTH == 0)
- {
- QD_JD_VAVEL = 0;
- }
- QD_MotorDelay = dwTickCount + 35;
- QD_MotorStep = 45;
-
- }
- break;
-
- case 45: if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
- {
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
- QD_MotorStep = 43;
- }
- break;
- case 41:
-
- if(!X_DRV)
- {
- QD_JD_VAVEL = 0;
-
- QD_MotorDelay = dwTickCount + 20;
- QD_MotorStep = 42;
- }
- break;
- case 42:
- if(dwTickCount >= QD_MotorDelay)
- {
-
- if(QD_PARAM_TL_MODE)QD_JZ_DIR = QD_YDIR_P;
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_BACK_LENGTH));
- QD_MotorStep = 44;
- }
-
- break;
-
- case 43:
- // 切断完成后拉电机动作
- if(dwTickCount >= QD_MotorDelay)
- {
- if(((QD_PARAM_SJZ_LENGTH) <= (dwRealPos - jz_buff)))
- {
- user_datas[126] = dwRealPos - jz_buff;
- QD_JD_VAVEL = 0;
- QD_MotorStep = 44;
- }
- else if(!X_DRV)
- {
- QD_JD_VAVEL = 0;
- QD_MotorStep = 44;
- }
- }
- break;
- case 44: // 切断完成后拉电机动作
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- QD_MotorDelay = dwTickCount;
- }
-
- break;
- case 61: // 前点定位数控模式
- if(QD_SZ_OUT)
- {
- QD_SZ_OUT = 0;
- QD_MotorDelay = dwTickCount + 50;
- }
-
- if(!QD_TL_VAVLE)
- {
- if(!QD_SHANG_MU_LIMIT_IN && (QD_TuiLianStep == 0))
- {
- QD_TuiLianStep = 1;
- QD_MotorStep = 62;
- }
- }
- else
- QD_MotorStep = 62;
- break;
- case 62:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_QIAN_LIMIT_IN)
- {
- AxisMovePos(X_AXIS,QD_PARAM_FIRST_SPEED,-QD_PARAM_ON_BACK_LENGTH);
- QD_MotorDelay = dwTickCount + 1000;
- }
- QD_MotorStep = 63;
- QD_JD_VAVEL = 0;
- }
- break;
- case 63:
- if(!X_DRV && !QD_QIAN_LIMIT_IN && (dwTickCount >= QD_MotorDelay) && !QD_SHANG_MU_LIMIT_IN)
- {
- go_buff = dwRealPos;
-
- if(cZipCnt > 0)
- {
- MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED);//
- }
- else
- {
- if(QD_PARAM_LENGTH_MODE == 0)
- MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED);
- else
- MoveAction_Const_Stop(X_AXIS, QD_DIR_N,QD_PARAM_GO_LOW_SPEED);
- }
-
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep =64;
- }
- break;
- case 64:
- if(QD_PARAM_LENGTH_MODE == 0)
- {
- if(((go_buff - dwRealPos) > ((go_length_buff - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_GO_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,30))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- else
- {
- if(((go_buff - dwRealPos) > ((QD_PARAM_ZIPPER_LENGTH - QD_PARAM_TC_LENGTH - QD_PARAM_FZ_LENGTH) - (QD_PARAM_GO_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_GO_HIGH_SPEED,QD_PARAM_GO_LOW_SPEED,30))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || QD_QIAN_DEC_IN_UP)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- }
- break;
- case 65:
- if(QD_QIAN_LIMIT_IN_UP)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 66;
- }
- else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- else if(QD_JD_ORIGIN_IN)QD_SetAlarmCode(QD_JD_ORIGIN_ALARM);
- break;
- case 66:
- if(!X_DRV)
- {
- QD_MotorDelay = dwTickCount;
- QD_MotorStep = 67;
- }
- break;
- case 67:
- if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
- {
- if(bRunning)
- {
- QD_JD_VAVEL = 1;
- }
- QD_MotorStep = 68;
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- }
- break;
- case 68:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_YD_VAVLE = 0;
- QD_TL_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
-
- }
- }
- void QueDuan_JYCout(void)
- {
- QD_Count_in_flg_old = QD_Count_in_flg;
-
- if(QD_COUNT_IN)
- {
- if(QD_filter < QD_FILTER)
- {
- QD_filter++;
- }
- else
- QD_Count_in_flg = 1;
- }
- else if(QD_filter > (QD_FILTER/2))
- {
- QD_filter--;
- }
- else
- QD_Count_in_flg = 0;
-
- if((QD_COUNT_DIR && (!QD_Count_in_flg && QD_Count_in_flg_old)) || (!QD_COUNT_DIR && (QD_Count_in_flg && !QD_Count_in_flg_old)))
- {
- QD_PARAM_NO_POS++;
- if(bRunning && (QD_PARAM_NO_POS >= QD_PARAM_ZIPPER_TOOTH))AxisEgmStop(X_AXIS);
- }
- }
- void QueDuan_JYMotor_CS(void)
- {
- static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;
- user_datas[121]= QD_MotorStep;
- user_datas[122]= go_length_buff;
- user_datas[123] = dwRealPos;
- user_datas[124] = length_buff;
- user_datas[125] = QD_AutoStep;
- user_datas[126] = QD_XiaQieStep;
- user_datas[127] = QD_XiaQieStep;
- QueDuan_JYCout();
- switch(QD_MotorStep)
- {
- case 30:
- QD_MotorDelay = dwTickCount;
- QD_MotorStep = 31;
-
- if(QD_PARAM_BL_ENABLE)QD_BinLianStep = 1;
- break;
- case 31:
- if(dwTickCount >= QD_MotorDelay)
- {
- save_buff = dwRealPos;
- back_buff = dwRealPos;
- MoveAction_Const_AccDec(X_AXIS,QD_DIR_P,QD_PARAM_BACK_SPEED,QD_PARAM_START_SPEED,QD_PARAM_ACC,QD_PARAM_DCC);
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 32;
- }
- break;
- case 32:
- if((dwRealPos - back_buff + (QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC)))) > QD_PARAM_ZIPPER_LENGTH)
- {
- if(X_DRV)MoveChangSpeed(X_AXIS,QD_PARAM_BACK_LOW_SPEED);
- }
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- QD_SC_VAVLE = 1;
- }
- else if(dwTickCount >= QD_MotorDelay)
- QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- break;
- case 40:
- QD_MotorDelay = dwTickCount + QD_PARAM_CUT_BACK_DELAY;
- QD_MotorStep = 41;
- break;
- case 41:
- if(dwTickCount >= QD_MotorDelay)
- {
- jz_buff = dwRealPos;
- if(QD_PARAM_SJZ_LENGTH == 0)
- {
- QD_JD_VAVEL = 0;
- }
- QD_MotorDelay = dwTickCount + 35;
- QD_MotorStep = 42;
-
- }
- break;
- case 42:
- if((dwTickCount >= QD_MotorDelay) || (QD_JD_VAVEL == 1))
- {
- AxisMovePos(X_AXIS,QD_PARAM_CUT_BACK_SPEED,-(QD_PARAM_SJZ_LENGTH+QD_PARAM_BACK_LENGTH));
- QD_MotorStep = 43;
- }
- break;
- case 43:
- // 切断完成后拉电机动作
- if(dwTickCount >= QD_MotorDelay)
- {
- if(((QD_PARAM_SJZ_LENGTH) <= (dwRealPos - jz_buff)))
- {
- QD_JD_VAVEL = 0;
- QD_MotorStep = 44;
- }
- else if(!X_DRV)
- {
- QD_JD_VAVEL = 0;
- QD_MotorStep = 44;
- }
- }
- break;
- case 44: // 切断完成后拉电机动作
- if(!X_DRV)
- {
- QD_MotorStep = 0;
- QD_MotorDelay = dwTickCount;
- }
-
- break;
-
- case 61: // 前点定位数控模式
- if(QD_SZ_OUT)
- {
- QD_SZ_OUT = 0;
- QD_MotorDelay = dwTickCount + 50;
- }
- QD_MotorStep = 62;
- break;
- case 62:
- if(dwTickCount >= QD_MotorDelay)
- {
- if(QD_QIAN_LIMIT_IN || QD_QIAN_DEC_IN)
- {
- AxisMovePos(X_AXIS,QD_PARAM_FIRST_SPEED,-QD_PARAM_ON_BACK_LENGTH);
- QD_MotorDelay = dwTickCount + 1000;
- }
- QD_MotorStep = 63;
- QD_JD_VAVEL = 0;
- }
- break;
- case 63:
- if(!X_DRV && (dwTickCount >= QD_MotorDelay))
- {
- go_buff = dwRealPos;
- if(cZipCnt > 0)
- {
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_GO_HIGH_SPEED,1,5,1);//
- }
- else
- {
- MoveAction_Const_AccDec(X_AXIS, QD_DIR_N,QD_PARAM_FIRST_GO_HIGHSPEED,1,5,1);//
- }
- QD_MotorDelay = dwTickCount + MOTOR_ALARM_TIME;
- QD_MotorStep = 64;
- }
- break;
- case 64:
- if(cZipCnt > 0)
- {
- if(((go_buff - dwRealPos) > (QD_PARAM_ZIPPER_LENGTH - (QD_PARAM_GO_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QD_PARAM_BACK_SPEED,QD_PARAM_BACK_LOW_SPEED,QD_PARAM_DCC))) + QD_PARAM_BACK_LENGTH + QD_PARAM_SJZ_LENGTH)) || (QD_QIAN_DEC_IN))
- {
-
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- }
- else
- {
- if(QD_QIAN_DEC_IN)
- {
- MoveChangSpeed(X_AXIS,QD_PARAM_GO_LOW_SPEED);
- QD_MotorStep =65;
- }
- }
- if(QD_QIAN_LIMIT_IN)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 66;
- }
- break;
- case 65:
- if(QD_QIAN_LIMIT_IN)
- {
- AxisEgmStop(X_AXIS);
- QD_MotorStep = 66;
- }
- else if(dwTickCount >= QD_MotorDelay)QD_SetAlarmCode(QD_NO_ZIPPER_ALARM);
- break;
- case 66:
- if(!X_DRV)
- {
- QD_MotorDelay = dwTickCount + QD_PARAM_JD_DELAY;
- QD_MotorStep = 67;
- }
- break;
- case 67:
- if((dwTickCount >= QD_MotorDelay) && (QD_TuiLianStep == 0) && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
- {
- if(bRunning)
- {
- QD_JD_VAVEL = 1;
- }
- QD_MotorStep = 68;
- QD_MotorDelay = dwTickCount + QD_PARAM_DELAY_BACK;
- }
- break;
- case 68:
- if(dwTickCount >= QD_MotorDelay)
- {
- QD_SC_VAVLE = 0;
- QD_MotorStep = 0;
- }
- break;
-
- }
- }
- //电机动作
- void QueDuan_Motor(void) //
- {
-
- switch(QD_MACHINE_TYPE)
- {
- case QD_QQ_TUIFANGKUAI:QueDuan_JYMotor_CS();break;
- case QD_NO_CS_TUIFANGKUAI: QueDuan_Motor_CS();break;
- case QD_NO_GL_TUIFANGKUAI:QueDuan_Motor_NoGL();break;
- default:;
- }
- }
- //超声方式下切
- void QueDuan_XiaQue_CS(void)
- {
- switch(QD_XiaQieStep)
- {
- case 0:
- break;
- case 1:
- if(bRunning)
- {
- QD_XiaQieStep = 6;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- }
- else
- QD_XiaQieStep = 2;
- break;
- case 2:
- QD_XM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 3;
- break;
- case 3:
- if(QD_XIA_MU_LIMIT_IN)
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_GZ_DELAY;
- QD_XiaQieStep = 4;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_XM_DAOWEI);
- }
- break;
- case 4:
- QD_GZ_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_TFK_DELAY;
- QD_XiaQieStep = 5;
-
- break;
- case 5:
- QD_TFK_VAVEL = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 6;
- break;
- case 6:
- if(QD_XIA_MU_LIMIT_IN)
- {
- QD_XiaQieStep = 7;
- QD_XiaQieDelay = dwTickCount + 1000;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_XM_DAOWEI);
- }
- break;
- case 7:
- if(QD_GOUZHEN_IN)
- {
- QD_YD_VAVLE = 1;
- cTuiFangKuaiCnt = 0;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
- QD_XiaQieStep = 8;
- }
- else if((dwTickCount >= QD_XiaQieDelay))
- {
- if(cTuiFangKuaiCnt == 0)
- {
- QD_TFK_VAVEL = 0;
- cTuiFangKuaiCnt++;
- QD_XiaQieDelay = dwTickCount + 1000;
- QD_XiaQieStep = 100;
- }
- else
- QD_SetAlarmCode(QD_GZ_ALARM);
- }
- break;
- case 100:
- if((dwTickCount >= QD_XiaQieDelay))
- {
- QD_XiaQieStep = 5;
- }
- break;
- case 8:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 9;
- }
- break;
- case 9:
- if(QD_SHANG_MU_LIMIT_IN && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
- {
- if(!QD_PARAM_CS_MODE)
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM; //
- QD_XiaQieStep = 12;
- }
- else
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS; //
- QD_XiaQieStep = 10;
- }
- }
- else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
- break;
- case 10:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME; //
- QD_XiaQieStep = 11;
- }
- break;
- case 11:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_CS_OUT = 0;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME; //
- QD_XiaQieStep = 12;
- }
- break;
- case 12:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SM_VAVLE = 0;
- QD_XM_VAVLE = 0;
- QD_TFK_VAVEL = 0;
- QD_GZ_VAVLE = 0;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 13;
- }//
- break;
- case 13:
- if(QD_SHANG_MU_ORIGIN_IN && !QD_XIA_MU_LIMIT_IN)
- {
- QD_XiaQieStep = 0;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_SM_YUANWEI);
- }
- break;
- }
- }
- void QueDuan_TuiLianAction(void)
- {
- switch(QD_TuiLianStep)
- {
- case 1:
- QD_TuiLianStep = 2;
- break;
- case 2:
- QD_YBD_VAVLE = 1;
- QD_TLDelay = dwTickCount + QD_PARAM_YD_DELAY;
- QD_TuiLianStep = 3;
- break;
- case 3:
- if(dwTickCount >= QD_TLDelay)
- {
- QD_TL_VAVLE = 1;
- if(!bRunning)QD_TFK_VAVEL = 0;
- QD_TLDelay = dwTickCount + QD_PARAM_TL_DELAY;
- QD_TuiLianStep = 4;
- }
- break;
- case 4:
- if(dwTickCount >= QD_TLDelay)
- {
- QD_TuiLianStep = 0;
- }
- break;
- case 10:
- // if(bRunning)AxisMovePos(Y_AXIS,QD_PARAM_TL_SPEED,QD_PARAM_TL_LENGTH);
- QD_TuiLianStep = 11;
- break;
- case 11:
- if(!Y_DRV)
- {
- {
- QD_TuiLianStep = 0;
- }
- }
- break;
- }
- }
- void QueDuan_XiaQue_NO_GL(void)
- {
- switch(QD_XiaQieStep)
- {
- case 0:
- break;
- case 1:
- QD_YD_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
- QD_XiaQieStep = 2;
- break;
- case 2:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_XiaQieStep = 3;
- }
- break;
- case 3:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- if((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0))
- {
- QD_SM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 4;
- }
- }
- break;
- case 4:
- if(QD_SHANG_MU_LIMIT_IN)
- {
- QD_XiaQieStep = 5;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAYBACK_SM; //
- }
- else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_SM_DAOWEI);
- break;
- case 5:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_GZ_VAVLE = 0;
- QD_SM_VAVLE = 0;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME; //
- QD_XiaQieStep = 6;
- }
- break;
- case 6:
- if(QD_SHANG_MU_ORIGIN_IN && !QD_SHANG_MU_LIMIT_IN)
- {
- if(QD_TuiLianStep == 0)QD_TuiLianStep = 1;
- if(!bRunning)QD_JD_VAVEL = 0;
- QD_XiaQieStep = 0;
-
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_SM_YUANWEI);
- }
-
- break;
- }
- }
- //胶牙数齿超声方式下切
- void QueDuan_JYXiaQue_CS(void)
- {
- switch(QD_XiaQieStep)
- {
- case 0:
- break;
- case 1:
- QD_SC_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CUT_DELAY;
- QD_XiaQieStep = 2;
- break;
- case 2:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 3;
- }
- break;
- case 3:
- if(QD_SHANG_MU_LIMIT_IN && !QD_QIAN_LIMIT_IN)
- {
- QD_XiaQieDelay = dwTickCount;
- QD_XiaQieStep = 8;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- if(!QD_SHANG_MU_LIMIT_IN)
- QD_SetAlarmCode(QD_SM_DAOWEI);
- else
- QD_SetAlarmCode(QD_DEC_ALARM);
- }
- break;
- case 8:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_XM_VAVLE = 1;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 9;
- }
- break;
- case 9:
- if(QD_XIA_MU_LIMIT_IN && ((QD_PARAM_TIAOSHI_MODE && QD_bTS) || (QD_PARAM_TIAOSHI_MODE == 0)) )
- {
- QD_XiaQieDelay = dwTickCount + QD_PARAM_DELAY_CS; //
- QD_XiaQieStep = 10;
- }
- else if(dwTickCount >= QD_XiaQieDelay)QD_SetAlarmCode(QD_XM_DAOWEI);
- break;
- case 10:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- if(QD_PARAM_CS_ENABLE)QD_CS_OUT = 1;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_TIME; //
- QD_XiaQieStep = 11;
- }
- break;
- case 11:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_CS_OUT = 0;
- QD_XiaQieDelay = dwTickCount + QD_PARAM_CS_COLD_TIME; //
- QD_XiaQieStep = 12;
- }
- break;
- case 12:
- if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_XM_VAVLE = 0;
- QD_PARAM_NO_POS = 0;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 13;
- }//
- break;
- case 13:
- if(!QD_XIA_MU_LIMIT_IN)
- {
- QD_SM_VAVLE = 0;
- QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
- QD_XiaQieStep = 13;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_XM_DAOWEI);
- }
- case 14:
- if(QD_SHANG_MU_LIMIT_IN_DW)
- {
- QD_CQ_VAVLE = 1;
- QD_ChuiQiDelay = dwTickCount + QD_PARAM_CQ_DELAY;
- }
- if(QD_SHANG_MU_ORIGIN_IN)
- {
- QD_XiaQieStep = 0;
- }
- else if(dwTickCount >= QD_XiaQieDelay)
- {
- QD_SetAlarmCode(QD_SM_YUANWEI);
- }
- break;
- }
- }
- //切断动作
- void QueDuan_XiaQue(void)
- {
- switch(QD_MACHINE_TYPE)
- {
- case QD_NO_CS_TUIFANGKUAI:QueDuan_XiaQue_CS();break;
- case QD_QQ_TUIFANGKUAI:QueDuan_JYXiaQue_CS();break;
- case QD_NO_GL_TUIFANGKUAI:QueDuan_XiaQue_NO_GL();break;
- default:;
- }
- }
- #endif
- #endif
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