GC19038/Machine/JuXingMachine/JXBKQueDuanJi.c

#include "global.h"


#if JU_XING_MACHINE ==1


void BK_QueDuan_AlarmProtect(void);
void BK_QueDuan_ManualAction(void);
void BK_QueDuan_AutoAction(void);
void BK_QueDuan_StepCheckStart(void);
void BK_QueDuan_XiaQue(void);
void BK_QueDuan_Motor(void);
void BK_QueDuan_YuanDianAction(void);
void BK_QueDuan_TuiLianAction(void);
void BK_QueDuan_ExtiActionX31(void);
void BK_QueDuan_BingLian(void);
void BK_StopCode(void);
void BKQD_TuiDaiAction(void);
short *BK_length_buffer;
void BKQD_SetAlarmCode(unsigned alarm_code)
{
  SetAlarmCode(BKQD_ALARM_ADDR,alarm_code);
  bAlarmStop = 1;
}
void BK_QueDuan_ExtiActionX31(void)
{
  KK_cCheckLianFlg = 1;
}
void BK_StopCode(void)
{
  switch(BKQD_StopStep)
  {
  case 1:            
    BKQD_StopStep=2;
    if(X_DRV)
    {
      AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
      AxisDecStop(X_AXIS);
    }
    break;
  case 2:    
    if(!X_DRV || (KK_cRealPos < 10))
    {
      BKQD_StopCodeDelay=dwTickCount+350;
      BKQD_StopStep = 3;
    }  
    break;
  case 3:
    if(dwTickCount >= BKQD_StopCodeDelay)
    {
      if(!cSTOPONE)
      {                
        BKQD_StopStep=0;
        
      }
      else
      {        
        BKQD_SetAlarmCode(BKQD_PARAM_ANQUANMEN_ALARM);
        BKQD_StopStep=0;
        cSTOPONE=0;
      }
      BKQD_SZ_OUT   = 1;  //电机松轴
    }
    break;
  }
}

void BK_QueDuan_InitAction(void)
{
  float length_buff,pulse_buff;
  
  length_buff = BKQD_PARAM_CYCLE_LENGTH;
  pulse_buff  = BKQD_PARAM_CYCLE_PULSE;
  XGearRatio  = pulse_buff/length_buff;  
  //  BKQD_SZ_OUT   = 1;
  BKQD_SetAlarmCode(0);
  SetDirReverse(X_AXIS, 1);
}

void BK_QueDuan_Action(void)
{
  
  BK_QueDuan_AlarmProtect();
  BK_QueDuan_Motor();
  BK_QueDuan_XiaQue();
  BK_QueDuan_ManualAction();
  BK_QueDuan_TuiLianAction();
  BK_QueDuan_BingLian();
  BK_StopCode();
  BK_QueDuan_AutoAction();
  BK_QueDuan_StepCheckStart();   // 调用脚踏开关检测程序 
  
  
}

//手动动作
void BK_QueDuan_ManualAction(void)
{  
  //条数或扎数达到后，台面电机转两秒之后再停机
  if(KK_cTABLETIME)
  {
    if(KK_cTABLETOTAL)
    {
      KK_cTABLETOTAL=0;
      BKQD_TABLE_VAVLE = 1;
      BKQD_TableDelay=dwTickCount + 2000;
      
    }
    if(dwTickCount >= BKQD_TableDelay)
    {
      BKQD_TABLE_VAVLE = 0;
      KK_cTABLETIME=0;
      
    }
  }
  if(bRunning == 0)  
  {   
    
    
    
    KK_cGoLimitEn = 0;
    if(BKQD_bClearTotal) //切断计数清零
    {
      BKQD_bClearTotal       = 0;
      ClrcToTal(BKQD_TOTAL_ADDR);
    }
    
    if(BKQD_bClearNowTotal)
    {
      BKQD_bClearNowTotal = 0;
      BKQD_PARAM_NOW_CNT = 0;
    }
    
    if(BKQD_bXiaQie)
    {
      BKQD_bXiaQie = 0;
      if((BKQD_XiaQieStep == 0) && !BKQD_TL_VAVLE)
      {
        BKQD_XiaQieStep = 1;
      }  
    }
    
    if(BKQD_bQianDianDW)
    {
      BKQD_bQianDianDW = 0;
      if(BKQD_MotorStep == 0)
      {
        BKQD_MotorStep = 61;
        cZipCnt      = 0;
      }
    }
    
    if(BKQD_bTL)
    {  
      BKQD_bTL = 0;
      if(BKQD_TL_VAVLE)
      {
        BKQD_TL_VAVLE = 0;
      } 
      else if(!BKQD_GZ_VAVLE && !BKQD_SM_VAVLE)
      {
        BKQD_TL_VAVLE = ~BKQD_TL_VAVLE;
      }
    }
    if(BKQD_bECQ)
    {
      BKQD_bECQ=0;
      KK_cShuangDao=1;
      KK_cDiErLaChu=1;
      KK_cECQ_STOP=1;
      bRunning    = 1;
      BKQD_AutoStep = 1;
      
    }
    
    
    //        if(!Y_DRV)BKQD_bTL = 0;
    
    if(BKQD_bYD)
    {
      BKQD_bYD = 0;
      BKQD_YD_VAVLE = ~BKQD_YD_VAVLE;
    }
    
    if(BKQD_bGZ)
    {
      BKQD_bGZ = 0;
      BKQD_GZ_VAVLE = ~BKQD_GZ_VAVLE;
    }
    
    if(BKQD_bJD)
    {
      BKQD_bJD = 0;
      BKQD_JD_VAVLE = ~BKQD_JD_VAVLE;
    }
    
    if(BKQD_bXM)
    {
      BKQD_bXM = 0;
      BKQD_XM_VAVLE = ~BKQD_XM_VAVLE;
      if(!BKQD_XM_VAVLE)BKQD_GZ_VAVLE = 0;
    }
    if(BKQD_GOUZHEN_IN_UP)
    {
      BKQD_YD_VAVLE=1;
    }
    
    if(BKQD_bSM)
    {
      BKQD_bSM = 0;
      if(BKQD_SM_VAVLE)
        BKQD_SM_VAVLE = 0;
      else if(!BKQD_TL_VAVLE || !BKQD_PARAM_XM_ENABLE)
        BKQD_SM_VAVLE = 1;
    }
    //推方块
    if(BKQD_bTFK)
    {
      BKQD_bTFK = 0;
      BKQD_TFK_VAVLE = ~BKQD_TFK_VAVLE;
    }
    //台面电机
    if(BKQD_bTB)
    {
      BKQD_bTB = 0;           
      BKQD_TABLE_VAVLE = ~BKQD_TABLE_VAVLE;
    }
    
    //        if(BKQD_bYBD)
    //  /      {
    //            BKQD_bYBD = 0;
    //            BKQD_YBD_VAVLE = ~BKQD_YBD_VAVLE;
    //        }
    
    if(BKQD_bTestCS)
    {
      BKQD_bTestCS = 0;
      BKQD_CS_OUT  = 1;
      BKQD_CSDelay = dwTickCount + BKQD_PARAM_CS_TIME;
    }
    
    if(BKQD_bBL)//吹气
    {
      BKQD_bBL = 0;
      BKQD_CQ_VAVLE = ~BKQD_CQ_VAVLE;
    }
    
    if(BKQD_bHL)  //护链,双开用
    {
      BKQD_bHL = 0;
      BKQD_HL_VAVLE = ~BKQD_HL_VAVLE;
    }
    
    if(BKQD_bYX)
    {
      BKQD_bYX = 0;
      BKQD_YX_VAVLE = ~BKQD_YX_VAVLE;
    }
    if(BKQD_XiaQieStep == 0)
    {
      if(dwTickCount >= BKQD_CSDelay)BKQD_CS_OUT  = 0;
    }        
    //电机控制        
    if(BKQD_bGoMotor && !BKQD_QIAN_LIMIT_IN)
    {           
      BKQD_SZ_OUT   = 0;
      //   BKQD_JZ_DIR   = BKQD_YDIR_N;
      if(!X_DRV)
        //                  X轴       运行速度                    启动速度        加速度  减速度
        AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED,BKQD_PARAM_GO_LOW_SPEED,10,12);
      
    }
    
    if(BKQD_bBackMotor)  //后退限位已经取消
    {
      BKQD_SZ_OUT   = 0;
      //       BKQD_JZ_DIR   = BKQD_YDIR_P;
      if(!X_DRV)
        //                  X轴       运行速度                    启动速度        加速度  减速度
        AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_P,BKQD_PARAM_GO_LOW_SPEED,BKQD_PARAM_GO_LOW_SPEED,10,12);
    }
    
    if(!BKQD_bGoMotor && !BKQD_bBackMotor && (BKQD_MotorStep == 0))
    {
      if(X_DRV)AxisDecStop(X_AXIS);
    }
    
    if(BKQD_QIAN_LIMIT_IN && (BKQD_MotorStep == 0) && !BKQD_bBackMotor &&(BKQD_AutoStep == 0))
    {
      if(X_DRV)AxisEgmStop(X_AXIS);
    }       
  }
}




void BK_QueDuan_AlarmProtect(void)
{ 
  KK_cRealPos = GetPos(X_AXIS);
  
  if(!bRunning)
  {
    ;
    //
#if 0     
    if(BKQD_BACK_LIMIT_IN_UP)
    {
      if((BKQD_MotorStep == 0) && X_DRV && BKQD_bBackMotor)        //到后限不能再后退但可以点前进
      {
        BKQD_bBackMotor = 0;
        
        AxisDecStop(X_AXIS);   
        BKQD_JD_VAVLE   = 0;
        BKQD_SetAlarmCode(BKQD_BACK_ALARM);
        
      }
    }
#endif      
  }
  else
  {
    if((KK_cRealPos > BKQD_PARAM_RUN_LENGTH) && (BKQD_PARAM_RUN_LENGTH > 3000)
       && (KK_cGoLimitEn != 0))
    {
      AxisEgmStop(X_AXIS);   
      BKQD_JD_VAVLE = 0;
      BKQD_SetAlarmCode(BKQD_BACK_ALARM);
    }
  }
}


void BK_QueDuan_AutoAction(void)
{  
  //台面电机定时关掉
  
  
  if(BKQD_QIAN_STOP_Auto)
  {
    
    KK_cDLJ_ATUO=1;
    AxisEgmStop(X_AXIS);
    
    
    
  }
  if(BKQD_QIAN_START_Auto)
  {
    if(KK_cDLJ_ATUO)
    {
      KK_cDLJ_ATUO=0;
      BKQD_AutoDelay = dwTickCount + 1000;
      BKQD_MotorDelay = dwTickCount + 2000;
      if((BKQD_MotorStep==63 || BKQD_MotorStep==64 || BKQD_MotorStep==65) && !BKQD_QIAN_LIMIT_IN)
        AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED/3,BKQD_PARAM_GO_LOW_SPEED/3,15,15);
      else if((KK_cRealPos < BKQD_PARAM_ZIPPER_LENGTH) && (BKQD_MotorStep > 311))
        AxisMoveTwoPos(X_AXIS,1000,(BKQD_PARAM_ZIPPER_LENGTH - KK_cRealPos) + (*BK_length_buffer),
                       BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED_LENGTH,BKQD_DIR_P,5000,3000,20,30);
      
    }             
    
    
  }
  if(!KK_cDLJ_ATUO)
  {
    if(bRunning)
    {  
      if(!KK_cTABLETIME)
      {
        if(dwTickCount >= BKQD_TBDelay)
          BKQD_TABLE_VAVLE = 0;
      }
      switch(BKQD_AutoStep)
      {
      case 1:
        if(dwTickCount >= BKQD_AutoDelay)
        {	
          BKQD_AutoStep = 2;	    
          if(BKQD_MotorStep == 0)
          {
            BKQD_MotorStep = 61;   //前点定位
          }
          KK_cGoLimitEn = 0;
        }	
        break;	
      case 2:	 
        if(BKQD_MotorStep == 0)
        {   
          if(!KK_cShuangDao)
            BKQD_MotorStep = 30;  
          else
            BKQD_MotorStep = 801;  
          BKQD_AutoStep = 3;	
          KK_cGoLimitEn = 1;
        }
        break;	
      case 3:	
        if(BKQD_MotorStep == 0)
        {   
          if(BKQD_SAFE_IN)
          {
            bStop = 1;
          }
          else 
          {
            
            if(!KK_cShuangDao)
            {
              if(BKQD_XiaQieStep == 0)
                BKQD_XiaQieStep = 1;   
            }
            else
            {
              if(BKQD_XiaQieStep == 0)
                BKQD_XiaQieStep = 201; 
            }
            BKQD_AutoStep = 4;
          }
        }              
        break;
      case 4:
        
        //                                  闭口
        if((BKQD_XiaQieStep == 0) || ((BKQD_XiaQieStep == 6) && BKQD_KB_MODE)|| ((BKQD_XiaQieStep == 14) && (BKQD_KB_MODE == 0)))// && !BKQD_SHANG_MU_LIMIT_IN)
        {
          if(BKQD_MotorStep == 0) 
          {
            KK_cGoLimitEn=0;
            BKQD_MotorStep = 40;     //切完后退
            
          }
          BKQD_AutoStep = 5;	    
        }
        
        break;
      case 5:	 
        
        if(BKQD_MotorStep == 0)
        {
          if(!KK_cDiErLaChu)
            cZipCnt++;
          BKQD_PARAM_NOW_CNT++;
          cTableCnt++;
          AddToTal(BKQD_TOTAL_ADDR);
          AddToTal(CT_WORKTOTAL_ADDR);
          CalProSP(BKQD_PROSPEED_ADDR);
          
          if(cTableCnt >= BKQD_PARAM_TABLE_NUM)
          {
            cTableCnt = 0;
            BKQD_TABLE_VAVLE = 1;
            BKQD_TBDelay = dwTickCount + BKQD_PARAM_TB_TIME;
          }
          
          if( SingOneFlg || cZhouWanone)
          {
            
            {
              cZhouWanone=0;
              cStopMode=0;
              bRunning = 0;
              BKQD_AutoStep = 0; 
              SingOneFlg = 0;
              BKQD_TABLE_VAVLE = 0;
              
            }
            
            //                         if(GetTotal(BKQD_TOTAL_ADDR) >= BKQD_PARAM_SET_TOTAL) BKQD_SetAlarmCode(BKQD_TOTAL_ALARM);
          }
          else
          {
            BKQD_AutoStep = 1; 
            
            if((BKQD_PARAM_NOW_CNT >= BKQD_PARAM_ZHA_SHU) && (BKQD_PARAM_ZHA_SHU > 0))   
            {
              BKQD_AutoDelay = dwTickCount + BKQD_PARAM_ZS_STOP_TIME;
              BKQD_PARAM_NOW_CNT = 0;
              KK_cTABLETIME = 1;
              KK_cTABLETOTAL= 1;
              if(BKQD_PARAM_ZS_STOP_TIME == 0)
              {
                bRunning = 0;
                BKQD_AutoStep = 0; 
                SingOneFlg = 0;
                KK_cTABLETIME = 1;
                KK_cTABLETOTAL= 1;
                BKQD_SetAlarmCode(BKQD_TOTAL_ALARM);
              }
            }
            else
              BKQD_AutoDelay = dwTickCount + BKQD_PARAM_CYCLE_DELAY;
          }
        }
        break;
      }	
    }
  }
}

void BK_QueDuan_StepCheckStart(void)
{
  //		启动      			
  if((START_IN_UP) || bStart || BKQD_bSingle)
  {
    bStart = 0;
    
    if(!bRunning && (BKQD_AutoStep == 0))
    {
      if(BKQD_XIA_MU_LIMIT_IN && !BKQD_PARAM_XM_ENABLE)BKQD_SetAlarmCode(BKQD_XM_DAOWEI);
      //            else if(GetAlarmCode(BKQD_ALARM_ADDR) != 0);
      //else if(GetTotal(BKQD_TOTAL_ADDR) >= BKQD_PARAM_SET_TOTAL) BKQD_SetAlarmCode(BKQD_TOTAL_ALARM);
      //           else if(BKQD_BL_VAVLE)BKQD_SetAlarmCode(BKQD_BL_ALARM);
      else if(BKQD_SM_VAVLE)BKQD_SetAlarmCode(BKQD_SM_ALARM);
      else
      {
        bRunning    = 1;
        BKQD_AutoStep = 1;
        if(BKQD_PARAM_BL_ENABLE)
          BKQD_PARAM_BL_ENABLE=1 ; //并链起动
        if(BKQD_bSingle) 
        {
          SingOneFlg= 1;
          BKQD_bSingle=0;
          
        }
        else
        {
          SingOneFlg=0;
        }
        cZipCnt      = 0;
        KK_cTABLETIME = 0;
        KK_cTABLETOTAL= 0;
        cSTOPONE=0;
        cTuiFangKuaiCnt = 0;
        BKQD_BL_VAVLE = 0;    //并链关
        KK_cDLJ_ATUO=0;
        BKQD_DGLG_VAVLE = 0;  //顶过链杆关
        SetAlarmCode(BKQD_ALARM_ADDR,0); 
      }
    }
    BKQD_bSingle = 0;
  }
  if(BKQD_STOP_ANNIU_IN_UP) 
  {
    bRunning   = 0;
    BKQD_XiaQieStep = 0;
    BKQD_AutoStep   = 0;
    BKQD_MotorStep  = 0;
    BKQD_TuiLianStep = 0;
    BKQD_AutoDelay   = dwTickCount;
    BKQD_MotorDelay = dwTickCount;
    BKQD_XiaQieDelay  = dwTickCount;
    BKQD_KaDaiDelay   = dwTickCount;
    BKQD_CSDelay = dwTickCount;
    BKQD_TBDelay  = dwTickCount;
    BKQD_TFKDelay = dwTickCount;
    BKQD_TLDelay  = dwTickCount;
    dwTickCount = BKQD_TBDelay;
    BKQD_CHUIQIStep=0;
    SingOneFlg  = 0; 
    BKQD_JD_VAVLE = 0;
    BKQD_SM_VAVLE = 0;
    BKQD_XM_VAVLE = 0;
    BKQD_YD_VAVLE = 0;
    BKQD_TFK_VAVLE= 0;
    BKQD_YX_VAVLE = 0;
    BKQD_HL_VAVLE  = 0;
    BKQD_TL_VAVLE      = 0;
    BKQD_DGLG_VAVLE = 0;  //顶过链杆关
    BKQD_CS_OUT   = 0;
    BKQD_XiaQieStep = 0;
    BKQD_MotorStep  = 0;
    BKQD_TuiLianStep = 0;
    BKQD_SZ_OUT   = 1;
    BKQD_GZ_VAVLE    = 0;
    BKQD_TABLE_VAVLE   = 0;
    BKQD_StopStep=1;
    KK_cTABLETIME = 0;
    KK_cTABLETOTAL= 0;
    BKQD_BinLianStep  = 0;
    BKQD_BL_VAVLE    = 0;
    SetAlarmCode(BKQD_ALARM_ADDR,0);
    
  }
  if((BKQD_ANQUANMEN_LIMIT_IN_UP || BKQD_ANQUANMEN_LIMIT_IN) && bRunning)
  {
    
    BKQD_StopStep=1;
    cSTOPONE=1;
  }
  if(STOP_IN_UP)
  {
    if(bRunning)
    {
      KK_cShuangDao=0;
      KK_cDiErLaChu=0;
      BKQD_AutoDelay   = dwTickCount;
      BKQD_MotorDelay = dwTickCount;
      BKQD_XiaQieDelay  = dwTickCount;
      BKQD_KaDaiDelay   = dwTickCount;
      BKQD_CSDelay = dwTickCount;
      BKQD_TBDelay  = dwTickCount;
      BKQD_TFKDelay = dwTickCount;
      BKQD_TLDelay  = dwTickCount;
      dwTickCount = BKQD_TBDelay;
      BKQD_CHUIQIStep=0;
      SingOneFlg  = 0; 
      BKQD_JD_VAVLE = 0;
      BKQD_SM_VAVLE = 0;
      BKQD_XM_VAVLE = 0;
      BKQD_YD_VAVLE = 0;
      BKQD_TFK_VAVLE= 0;
      BKQD_YX_VAVLE = 0;
      BKQD_HL_VAVLE  = 0;
      cStopMode=0;
      cZhouWanone=0;
      BKQD_TL_VAVLE      = 0;
      BKQD_DGLG_VAVLE = 0;  //顶过链杆关
      BKQD_CS_OUT   = 0;
      BKQD_XiaQieStep = 0;
      BKQD_MotorStep  = 0;
      BKQD_TuiLianStep = 0;
      //  BKQD_SZ_OUT   = 1;
      BKQD_GZ_VAVLE    = 0;
      BKQD_TABLE_VAVLE   = 0;
      if((BKQD_StopStep == 0) && X_DRV)
        BKQD_StopStep = 1;
      KK_cTABLETIME = 0;
      KK_cTABLETOTAL= 0;
      BKQD_BinLianStep  = 0;
      BKQD_BL_VAVLE    = 0;
      SetAlarmCode(BKQD_ALARM_ADDR,0);
      bRunning   = 0;
      BKQD_XiaQieStep = 0;
      BKQD_AutoStep   = 0;
      BKQD_MotorStep  = 0;
      BKQD_TuiLianStep = 0;
    }
    else
    {
      KK_cShuangDao=0;
      KK_cDiErLaChu=0;
      BKQD_AutoDelay   = dwTickCount;
      BKQD_MotorDelay = dwTickCount;
      BKQD_XiaQieDelay  = dwTickCount;
      BKQD_KaDaiDelay   = dwTickCount;
      BKQD_CSDelay = dwTickCount;
      BKQD_TBDelay  = dwTickCount;
      BKQD_TFKDelay = dwTickCount;
      BKQD_TLDelay  = dwTickCount;
      dwTickCount = BKQD_TBDelay;
      BKQD_CHUIQIStep=0;
      SingOneFlg  = 0; 
      BKQD_JD_VAVLE = 0;
      BKQD_SM_VAVLE = 0;
      BKQD_XM_VAVLE = 0;
      BKQD_YD_VAVLE = 0;
      BKQD_TFK_VAVLE= 0;
      BKQD_YX_VAVLE = 0;
      BKQD_HL_VAVLE  = 0;
      cStopMode=0;
      cZhouWanone=0;
      BKQD_TL_VAVLE      = 0;
      BKQD_DGLG_VAVLE = 0;  //顶过链杆关
      BKQD_CS_OUT   = 0;
      BKQD_XiaQieStep = 0;
      BKQD_MotorStep  = 0;
      BKQD_TuiLianStep = 0;
      BKQD_SZ_OUT   = 1;
      BKQD_GZ_VAVLE    = 0;
      BKQD_TABLE_VAVLE   = 0;
      if((BKQD_StopStep == 0))
      {
        KK_cSTOPONE = 0;
        AxisEgmStop(X_AXIS);   
        BKQD_SZ_OUT   = 1;
      }   
      KK_cTABLETIME = 0;
      KK_cTABLETOTAL= 0;
      BKQD_BinLianStep  = 0;
      BKQD_BL_VAVLE    = 0;
      SetAlarmCode(BKQD_ALARM_ADDR,0);
      bRunning   = 0;
      BKQD_XiaQieStep = 0;
      BKQD_AutoStep   = 0;
      BKQD_MotorStep  = 0;
      BKQD_TuiLianStep = 0;
      
    }
  }
  //停止
  if( bStop)
  {
    bStop = 0;
    if(cStopMode < 2)
      cStopMode++;
    if(cStopMode==1 && bRunning)
      cZhouWanone=1;
    if(bRunning && cStopMode==2)
    {
      
      KK_cShuangDao=0;
      KK_cDiErLaChu=0;
      BKQD_AutoDelay   = dwTickCount;
      BKQD_MotorDelay = dwTickCount;
      BKQD_XiaQieDelay  = dwTickCount;
      BKQD_KaDaiDelay   = dwTickCount;
      BKQD_CSDelay = dwTickCount;
      BKQD_TBDelay  = dwTickCount;
      BKQD_TFKDelay  = dwTickCount;
      BKQD_TLDelay     = dwTickCount;
      dwTickCount = BKQD_TBDelay;
      SingOneFlg  = 0; 
      bRunning   = 0;
      BKQD_XiaQieStep = 0;
      BKQD_AutoStep   = 0;
      BKQD_MotorStep  = 0;
      BKQD_TuiLianStep = 0;
      BKQD_JD_VAVLE = 0;
      BKQD_SM_VAVLE = 0;
      BKQD_XM_VAVLE = 0;
      BKQD_YD_VAVLE = 0;
      BKQD_TFK_VAVLE= 0;
      BKQD_TL_VAVLE      = 0;
      BKQD_HL_VAVLE  = 0;
      BKQD_CS_OUT   = 0;
      BKQD_XiaQieStep = 0;
      BKQD_MotorStep  = 0;
      BKQD_TuiLianStep = 0;
      //BKQD_SZ_OUT   = 1;
      BKQD_GZ_VAVLE    = 0;
      BKQD_TABLE_VAVLE   = 0;
      BKQD_DGLG_VAVLE = 0;  //顶过链杆关
      if((BKQD_StopStep == 0) && X_DRV)
        BKQD_StopStep = 1;
      BKQD_BinLianStep  = 0;
      BKQD_BL_VAVLE    = 0;
      KK_cTABLETIME = 0;
      KK_cTABLETOTAL= 0;
      user_datas[121] = 0;
      user_datas[122] = 0;
      
      SetAlarmCode(BKQD_ALARM_ADDR,0);        
    }
    else if(!bRunning)
    {
      KK_cShuangDao=0;
      KK_cDiErLaChu=0;
      BKQD_AutoDelay   = dwTickCount;
      BKQD_MotorDelay = dwTickCount;
      BKQD_XiaQieDelay  = dwTickCount;
      BKQD_KaDaiDelay   = dwTickCount;
      BKQD_CSDelay = dwTickCount;
      BKQD_TBDelay  = dwTickCount;
      BKQD_TFKDelay = dwTickCount;
      BKQD_TLDelay  = dwTickCount;
      dwTickCount = BKQD_TBDelay;
      BKQD_CHUIQIStep=0;
      SingOneFlg  = 0; 
      BKQD_JD_VAVLE = 0;
      BKQD_SM_VAVLE = 0;
      BKQD_XM_VAVLE = 0;
      BKQD_YD_VAVLE = 0;
      BKQD_TFK_VAVLE= 0;
      BKQD_YX_VAVLE = 0;
      BKQD_HL_VAVLE  = 0;
      cStopMode=0;
      cZhouWanone=0;
      BKQD_TL_VAVLE      = 0;
      BKQD_DGLG_VAVLE = 0;  //顶过链杆关
      BKQD_CS_OUT   = 0;
      BKQD_XiaQieStep = 0;
      BKQD_MotorStep  = 0;
      BKQD_TuiLianStep = 0;
      BKQD_SZ_OUT   = 1;
      BKQD_GZ_VAVLE    = 0;
      BKQD_TABLE_VAVLE   = 0;
      if((BKQD_StopStep == 0))
      {
        KK_cSTOPONE = 0;
        AxisEgmStop(X_AXIS);   
        BKQD_SZ_OUT   = 1;
      }   
      KK_cTABLETIME = 0;
      KK_cTABLETOTAL= 0;
      BKQD_BinLianStep  = 0;
      BKQD_BL_VAVLE    = 0;
      SetAlarmCode(BKQD_ALARM_ADDR,0);
      bRunning   = 0;
      BKQD_XiaQieStep = 0;
      BKQD_AutoStep   = 0;
      BKQD_MotorStep  = 0;
      BKQD_TuiLianStep = 0;
    }
    
  }
  
  if(bAlarmStop)
  {
    bAlarmStop = 0;
    BKQD_XiaQieStep = 0;
    BKQD_AutoStep   = 0;
    BKQD_MotorStep  = 0;
    BKQD_TuiLianStep = 0;
    
    BKQD_XiaQieStep = 0;
    BKQD_MotorStep  = 0;
    BKQD_TuiLianStep = 0;
    BKQD_AutoDelay   = dwTickCount;
    BKQD_MotorDelay = dwTickCount;
    BKQD_XiaQieDelay  = dwTickCount;
    BKQD_KaDaiDelay   = dwTickCount;
    BKQD_CSDelay = dwTickCount;
    BKQD_TBDelay  = dwTickCount;
    BKQD_TFKDelay  = dwTickCount;
    BKQD_TLDelay     = dwTickCount;
    SingOneFlg  = 0; 
    bRunning   = 0;
    //  BKQD_StopStep=1;
    cStopMode=0;
    cZhouWanone=0;
    dwTickCount = BKQD_TBDelay;
    BKQD_TABLE_VAVLE = 0;
    BKQD_TFK_VAVLE =0;
    BKQD_JD_VAVLE=0;
    BKQD_GZ_VAVLE=0;
  }
  
}   
//记忆长度模式误差检测
void BK_QueDuan_CheckLength(long zip_length)
{
  static long start_dist;
  switch(BKQD_CheckLengthStep)
  {
  case 0:break;
  case 1:
    start_dist = KK_cRealPos;
    dwSaveLength = 0;
    BKQD_CheckLengthStep = 2;
    break;
  case 2:
    if(BKQD_GUO_LIAN_IN_DW)
    {  
      dwSaveLength = KK_cRealPos - start_dist;   
      //           user_datas[127] = KK_cRealPos;
      
    }
    break;         
  }          
}


void BK_QueDuan_BingLian(void)
{
  static long bl_pos_buff,HL_delay;
  
  switch(BKQD_BinLianStep)
  {
  case 1:
    bl_pos_buff = KK_cRealPos;
    
    BKQD_BinLianStep = 2;
    break;       
  case 2:
    if((KK_cRealPos - bl_pos_buff) >= BKQD_PARAM_DELAY_HL_LENGTH)
    {
      BKQD_BL_VAVLE = 1;   
      BKQD_BinLianStep = 3;
    }            
    break;
  case 3://有过链检测
    if((KK_cRealPos - bl_pos_buff) >= (BKQD_PARAM_ZIPPER_LENGTH - BKQD_PARAM_HL_DELAY_BACK))  
    {
      BKQD_BL_VAVLE = 0;
      BKQD_BinLianStep = 0;   
    }
    if(BKQD_GUO_LIAN_IN_DW && BKQD_PARAM_BACK_MODE ==1) //|| (BKQD_PARAM_BACK_MODE==2 && cZipCnt < 2)))
    {
      BKQD_BL_VAVLE = 0;
      BKQD_BinLianStep = 0;  
    }
    break;
  case 10:
    bl_pos_buff = KK_cRealPos;
    BKQD_BinLianStep = 11;
    break;       
  case 11:
    if((KK_cRealPos - bl_pos_buff) >= BKQD_PARAM_DELAY_HL_LENGTH)
    {
      BKQD_BL_VAVLE = 1;   
      BKQD_BinLianStep = 12;
    }            
    break;
  case 12://有过链检测
    if(BKQD_GUO_LIAN_IN_DW)  
    {
      BKQD_BL_VAVLE = 0;
      BKQD_BinLianStep = 0;   
    }
    break;
  default:;    
  }
  
}

//作闭口专用程序
//不带过链感应长度输入电机长度  闭口有勾针到位
void BK_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;
  long pulse_buff;
  unsigned  short ch,kk;
  user_datas[121]  = BKQD_MotorStep;
  user_datas[122]  = BKQD_AutoStep;
  user_datas[123]= KK_cRealPos;
  user_datas[125]= bRunning;
  //       user_datas[123] = length_buff - (*BK_length_buffer);
  //       user_datas[127] = KK_cRealPos;
  //        user_datas[126] = go_buff - KK_cRealPos;
  
  
  if((BKQD_MotorStep >= 101) && (BKQD_MotorStep <= 103))
  {
    if(BKQD_QIAN_LIMIT_IN_DW)BKQD_HL_VAVLE   = 0; 
  }
  if(!KK_cDLJ_ATUO)
  {
    switch(BKQD_MotorStep)
    {
    case 30:
      switch(BKQD_PARAM_BACK_MODE)  //开口分四种模式 
      {
      case 0: //单数控模式
        BKQD_MotorStep   = 310;  //每种模式留20步
        BKQD_DGLG_VAVLE = 1;  //顶过链杆关
        break;
      case 1://单感应模式
        BKQD_MotorStep   = 330;  //每种模式留20步
        
        break;
      case 2: //先感应后数控模式+检测
        BKQD_MotorStep   = 350;  //每种模式留20步
        break;
      default:  //数控模式+过链检测长度
        BKQD_MotorStep   = 370;  //每种模式留20步
        break;
      }  
      BKQD_MotorDelay  =    dwTickCount + BKQD_PARAM_DELAY_BACK;    
      break;
      
    case 310:
      BKQD_MotorDelay  =    dwTickCount + BKQD_PARAM_DELAY_BACK; 
      SetDir(X_AXIS, BKQD_DIR_P);
      BKQD_JZ_DIR   = BKQD_YDIR_P; 
      SetPos(X_AXIS, 0);
      BK_length_buffer = &BKQD_PARAM_OFFSET_LENGTH;
      if(BKQD_PARAM_BL_ENABLE)   //
        BKQD_BinLianStep = 1;
      BKQD_MotorStep   = 311;
      break;
    case 311:	    
      if(KK_cRealPos  >= (BKQD_PARAM_ZIPPER_LENGTH-BKQD_PARAM_GOUZHEN_LENGTH ))
        BKQD_GZ_VAVLE = 1;
      if(dwTickCount >= BKQD_MotorDelay)
      {   
        back_buff = KK_cRealPos;
        gou_zhen_buff = KK_cRealPos;
        save_buff = KK_cRealPos;
        BK_length_buffer = &BKQD_PARAM_OFFSET_LENGTH;
           DCC_TIME_BL=BKQD_PARAM_GO_HIGH_SPEED/500;  
        //李永庆代码                                                   
        //两段速度移动距离
        //               轴     第一段速度  第一段长度要减去送链长度  第二段速度 第二段长度  方向
         AxisMovePosAccDecNotStop(X_AXIS,BKQD_PARAM_BACK_SPEED,BKQD_PARAM_ZIPPER_LENGTH + (*BK_length_buffer), BKQD_PARAM_START_SPEED,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_ACC,DCC_TIME_BL,BKQD_PARAM_BACK_LOW_SPEED_LENGTH);          
      BKQD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
        BKQD_MotorStep   = 312;
      }
      break; 
    case 312:
      if(BKQD_PARAM_BL_ENABLE)
      {
        if(KK_cRealPos>BKQD_PARAM_DELAY_HL_LENGTH)
        {
          BKQD_YD_VAVLE=1;
        }
        if(KK_cRealPos>(BKQD_PARAM_ZIPPER_LENGTH-BKQD_PARAM_HL_DELAY_BACK-200))
        {
          BKQD_YD_VAVLE=0;
        }
        
      }
      //勾针提前输出
      if(KK_cRealPos  >= (BKQD_PARAM_ZIPPER_LENGTH-BKQD_PARAM_GOUZHEN_LENGTH ))
        BKQD_GZ_VAVLE = 1;
      
      if((KK_cRealPos) > (BKQD_PARAM_ZIPPER_LENGTH-BKQD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*BK_length_buffer) - (BKQD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(BKQD_PARAM_BACK_SPEED,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_DCC)))))
      {           
        BKQD_MotorDelay  = dwTickCount + 3000; //钩针未到位延时警告
        BKQD_MotorStep   = 313;                                 
      }
      else if(KK_cRealPos >= (BKQD_PARAM_ZIPPER_LENGTH + 200 + (*BK_length_buffer)))//BKQD_PARAM_ERROR_LENGTH))
      {
        BKQD_SetAlarmCode(BKQD_GZ_ALARM);
      }                  
      break;
    case 313:
      if(BKQD_PARAM_BL_ENABLE)
      {
        if(KK_cRealPos>BKQD_PARAM_DELAY_HL_LENGTH)
        {
          BKQD_YD_VAVLE=1;
        }
        if(KK_cRealPos>(BKQD_PARAM_ZIPPER_LENGTH-BKQD_PARAM_HL_DELAY_BACK-200))
        {
          BKQD_YD_VAVLE=0;
        }
        
      }
      if(KK_cRealPos  >= (BKQD_PARAM_ZIPPER_LENGTH-BKQD_PARAM_GOUZHEN_LENGTH ))
      {
        BKQD_GZ_VAVLE = 1;
        //   BKQD_MotorDelay  = dwTickCount + 2000; //钩针未到位延时警告
      }   
      
      if(BKQD_GOUZHEN_IN)
      {                      
        AxisEgmStop(X_AXIS);
        BKQD_MotorDelay  =    dwTickCount + 10;
        BKQD_YD_VAVLE = 1;
        BKQD_MotorStep   = 314;
        BKQD_BL_VAVLE = 0;  //停止时并链一定要打开
      }
      else if(KK_cRealPos >= (BKQD_PARAM_ZIPPER_LENGTH+100+(*BK_length_buffer)))
      {
        AxisEgmStop(X_AXIS);
        if(dwTickCount >= BKQD_MotorDelay)                            
          BKQD_SetAlarmCode(BKQD_GZ_ALARM);
      }
      break;
    case 314:
      if(BKQD_PARAM_BL_ENABLE)
      {
        if(KK_cRealPos>BKQD_PARAM_DELAY_HL_LENGTH)
        {
          BKQD_YD_VAVLE=1;
        }
        if(KK_cRealPos>(BKQD_PARAM_ZIPPER_LENGTH-BKQD_PARAM_HL_DELAY_BACK-200))
        {
          BKQD_YD_VAVLE=0;
        }
        
      }
      if(!X_DRV && (dwTickCount >= BKQD_MotorDelay))
      {    
        BKQD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
        BKQD_YD_VAVLE = 1;
        BKQD_MotorStep   = 315;
        SetDir(X_AXIS, BKQD_DIR_N);
        BKQD_JZ_DIR   = BKQD_YDIR_N; 
      }   
      break;
    case 315:
      if(cZipCnt == 0)
      {
        ch = BKQD_PARAM_ZIPPER_LENGTH  + (*BK_length_buffer)-120; 
        kk = BKQD_PARAM_ZIPPER_LENGTH  + (*BK_length_buffer)+120;
      }   
      else
      {
        ch = BKQD_PARAM_ZIPPER_LENGTH  + (*BK_length_buffer)-100;                            
        kk = BKQD_PARAM_ZIPPER_LENGTH  + (*BK_length_buffer)+100;                           
      }user_datas[128] = ch; 
      user_datas[127] = kk;   
      if(((KK_cRealPos) < (ch))) 
      { 
        SetAlarmCode(BKQD_ALARM_ADDR,BKQD_LENGTH_LONG_ALARM);   
        if(dwTickCount >= BKQD_MotorDelay)
          bAlarmStop = 1;
      }          
      else if((KK_cRealPos > kk))//(BKQD_PARAM_ERROR_LENGTH - 200 + (*BK_length_buffer)+50)))
      {
        SetAlarmCode(BKQD_ALARM_ADDR,BKQD_LENGTH_LONG_ALARM);   
        if(dwTickCount >= BKQD_MotorDelay)
          bAlarmStop = 1;
      }     
      else
      {
        
        BKQD_MotorStep   =390;
      }
      
      break;
      
    case 330:  
      back_buff = KK_cRealPos;
      gou_zhen_buff = KK_cRealPos;
      save_buff = KK_cRealPos;     
      BKQD_MotorStep   = 331;   
      SetDir(X_AXIS, BKQD_DIR_P);                    
      user_datas[127] = 0;
      break;
    case 331:  
      if(dwTickCount >= BKQD_MotorDelay)
      {   
        
        BKQD_MotorStep   = 332; 
        if(cZipCnt < 2)
        {
          if(BKQD_PARAM_BL_ENABLE)
            BKQD_BinLianStep = 10;  //并链起动
          //第一条都是过链感应，后拉速度减半//原来BKQD_PARAM_CHECK_BACK_HSPEED/2
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,9000,BKQD_DIR_P,BKQD_PARAM_START_SPEED,2000,8,13);  
          
        }   
        else
        {  
          if(BKQD_PARAM_BL_ENABLE)
            BKQD_BinLianStep = 1;  //并链起动
          //因为每条都是过链感应，所以直接运行检测模式后拉速度
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_CHECK_BACK_HSPEED,BKQD_DIR_P,BKQD_PARAM_START_SPEED,2000,BKQD_PARAM_ACC,BKQD_PARAM_DCC);
        }
      }
      break;
    case 332:
      if(cZipCnt > 1)  //第三条开始数控降速
      {
        if((KK_cRealPos +  BKQD_PARAM_BACK_LOW_SPEED_LENGTH + 300)>= length_buff)
        { 
          AxisContinueMoveChangeSpeed(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          
          BKQD_MotorStep   = 334;  //到检测定位
        }  
        
        if(BKQD_GUO_LIAN_IN_UP)  //重新到链上
        {
          BKQD_GZ_VAVLE = 1;
          AxisContinueMoveChangeSpeed(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          
          gou_zhen_buff = KK_cRealPos;
          BKQD_MotorStep   = 333;  //到检测定位    
          BKQD_MotorDelay  = dwTickCount + 3;//BKQD_PARAM_DELAY_XM;
          
          
        }
        
        
        
        if(!BKQD_GZ_VAVLE && (KK_cRealPos + BKQD_PARAM_GOUZHEN_LENGTH) > (BKQD_PARAM_ZIPPER_LENGTH ))
        {
          
          BKQD_GZ_VAVLE = 1;
          
          
        }   
      }  
      else   //第一条工作
      {  
        
        if(BKQD_GUO_LIAN_IN_UP)
        {         
          
          checkdelay_buff = KK_cRealPos;
          AxisContinueMoveChangeSpeed(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          
          BKQD_MotorDelay  = dwTickCount + 3;//BKQD_PARAM_DELAY_XM;
          BKQD_MotorStep   = 333;
        }  
      }
      
      
      break;
    case 333:  //此步为前两条运行
      
      
      
      if(BKQD_GUO_LIAN_IN_DW)
      {
        gou_zhen_buff = KK_cRealPos; 
        
      }
      if(dwTickCount >= BKQD_MotorDelay)
      {
        if(BKQD_GUO_LIAN_IN)
        {
          
          AxisContinueMoveChangeSpeed(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          
          back_buff = KK_cRealPos;
          BKQD_MotorDelay  =    dwTickCount + 30;
          BKQD_MotorStep   = 335;
        }
      }
      else
      {
        if(!BKQD_GUO_LIAN_IN)
        {
          BKQD_MotorStep   = 332;
          
        }
      }                 
      
      break;   
    case 334:   
      
      
      if(BKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
      {      
        
        gou_zhen_buff = KK_cRealPos;
        BKQD_MotorStep   = 335;
        BKQD_MotorDelay  =    dwTickCount + 30;
        BKQD_GZ_VAVLE = 1;
        
        
      }                   
      if(cZipCnt > 1)  //第三条开始要长度误差
      {  
        if(KK_cRealPos >= (length_buff + BKQD_PARAM_ERROR_LENGTH))
        {                    
          BKQD_SetAlarmCode(BKQD_LENGTH_LONG_ALARM);
          user_datas[128] = 1;
        }  
      }  
      
      
      break;
    case 335:
      
      
      if(BKQD_GUO_LIAN_IN_DW)
      {
        gou_zhen_buff = KK_cRealPos; 
        BKQD_GZ_VAVLE = 1;
        
      }
      //在空们都把延时清零    
      if(BKQD_GUO_LIAN_IN)
      {
        gou_zhen_buff = KK_cRealPos; 
      }
      if(BKQD_GOUZHEN_IN)
      {          
        
        AxisEgmStop(X_AXIS);
        BKQD_MotorDelay  =    dwTickCount + 10;
        BKQD_YD_VAVLE = 1;
        BKQD_MotorStep   = 336;
        BKQD_BL_VAVLE = 0;  //停止时并链一定要打开
      }
      else
      {
        if(cZipCnt > 1)  //2 条后才有长度误差
        {
          if(KK_cRealPos >= (length_buff + 100))
          {
            AxisEgmStop(X_AXIS);
            user_datas[128] = 2;
            if(dwTickCount >= BKQD_MotorDelay)                            
              BKQD_SetAlarmCode(BKQD_GZ_ALARM);
          }
        }  
      }
      
      break;
    case 336:                                              
      if(cZipCnt > 1)  //长度检测
      {
        ch = BKQD_PARAM_ZIPPER_LENGTH;                                                                         
        user_datas[127] = ch;
        if(((KK_cRealPos + BKQD_PARAM_ERROR_LENGTH) < (ch)) && BKQD_PARAM_ERROR_LENGTH) 
        { 
          BKQD_SetAlarmCode(BKQD_LENGTH_LONG_ALARM);
          user_datas[128] = 3;
          
        }          
        else if((KK_cRealPos > (ch + BKQD_PARAM_ERROR_LENGTH)) && BKQD_PARAM_ERROR_LENGTH)//(BKQD_PARAM_ERROR_LENGTH - 200 + (*BK_length_buffer)+50)))
        {
          user_datas[128] = 4;
          BKQD_SetAlarmCode(BKQD_LENGTH_SHORT_ALARM);
          
        }  
        else
        {
          BKQD_MotorStep   = 337;
        }
      }
      else 
      {  
        if(cZipCnt == 1)
        {
          length_buff = KK_cRealPos - save_buff;
          SetData32bits(BKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);  //测量记录长度
        }     
        BKQD_MotorStep   = 337;
      } 
      break;                    
    case 337:   
      BKQD_MotorStep   = 390;
      
      //                    SetDir(X_AXIS, BKQD_DIR_N);
      //                    if(dwTickCount >= BKQD_MotorDelay) 
      //                    {
      //                        AxisMovePosAccDec(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,-BKQD_PARAM_FZ_LENGTH,3000,BKQD_PARAM_ACC,BKQD_PARAM_DCC);                                   
      //                        BKQD_MotorStep   = 0;
      //                    }
      break;
      //350步到369步单感应模式   
    case  350:  
      back_buff = KK_cRealPos;
      gou_zhen_buff = KK_cRealPos;
      save_buff = KK_cRealPos;     
      BKQD_MotorStep   = 351;   
      break;           
      
    case 351:  
      if(dwTickCount >= BKQD_MotorDelay)
      {   
        
        BKQD_MotorStep   = 352; 
        //第一,二条都是过链感应，测量长度
        if(cZipCnt < 2)
        {
          if(BKQD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
            BKQD_BinLianStep = 10;  //并链起动
          BKQD_DGLG_VAVLE = 0;  //顶过链杆关
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,9000,BKQD_DIR_P,BKQD_PARAM_START_SPEED,2000,8,12);
          
        }   
        else
        {  
          if(BKQD_PARAM_BL_ENABLE)
            BKQD_BinLianStep = 1;  //并链起动
          BKQD_DGLG_VAVLE = 1;  //顶过链杆关
          BKQD_CheckLengthStep = 1;    //长度检测,第3条才有对比
          //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
          BKQD_MotorStep   = 311; 
        }  
      }
      break;
    case 352:
      
      
      //前两条都按最低速度工作
      if(BKQD_GUO_LIAN_IN_UP)
      {                                 
        checkdelay_buff = KK_cRealPos;
        AxisContinueMoveChangeSpeed(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
        
        BKQD_MotorDelay  = dwTickCount + 3;//BKQD_PARAM_DELAY_XM;
        BKQD_MotorStep   = 353;   
        BKQD_GZ_VAVLE = 1;
      }  
      
      break;
    case 353:
      
      
      if(BKQD_GUO_LIAN_IN_DW)
      {
        gou_zhen_buff = KK_cRealPos; 
        
      }
      if(dwTickCount >= BKQD_MotorDelay)
      {
        if(BKQD_GUO_LIAN_IN)
        {
          
          AxisContinueMoveChangeSpeed(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,BKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          
          back_buff = KK_cRealPos;
          BKQD_MotorDelay  =    dwTickCount + 30;
          BKQD_MotorStep   = 354;
        }
      }
      else
      {
        if(!BKQD_GUO_LIAN_IN)
        {
          BKQD_MotorStep   = 352;
          
        }
      }        
      
      break;   
    case 354:
      
      if(BKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
      {      
        if(BKQD_GUO_LIAN_IN_DW)
        {                  
          gou_zhen_buff = KK_cRealPos;
          BKQD_MotorStep   = 355;
          BKQD_GZ_VAVLE = 1;
        }                     
      }
      if(BKQD_GOUZHEN_IN)
      {           
        
        AxisEgmStop(X_AXIS);
        BKQD_MotorDelay  =    dwTickCount + 10;
        BKQD_YD_VAVLE = 1;
        BKQD_MotorStep   = 356;
        BKQD_BL_VAVLE = 0;  //停止时并链一定要打开
      }                   
      break;
    case 355:
      
      //在空们都把延时清零    
      if(BKQD_GOUZHEN_IN)
      {           
        
        AxisEgmStop(X_AXIS);
        BKQD_MotorDelay  =    dwTickCount + 10;
        BKQD_YD_VAVLE = 1;
        BKQD_MotorStep   = 356;
        BKQD_BL_VAVLE = 0;  //停止时并链一定要打开
      }                   
      break;
    case 356:                                              
      if(cZipCnt == 1)
      {
        length_buff = KK_cRealPos - save_buff;
        SetData32bits(BKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);  //测量记录长度
      }     
      BKQD_MotorStep   = 357;
      
      break;                    
    case 357:
      BKQD_MotorStep   = 390;   //延时反转步
      break;    
      
      //此两步为到位后反转步
    case 390:
      SetDir(X_AXIS, BKQD_DIR_N);
      BKQD_MotorDelay  =    dwTickCount + 30;
      BKQD_MotorStep   = 391; 
      break;
    case 391:    
      if(dwTickCount >= BKQD_MotorDelay) 
      {
        SetDir(X_AXIS, BKQD_DIR_N);
        AxisMovePosAccDec(X_AXIS,BKQD_PARAM_BACK_LOW_SPEED,-BKQD_PARAM_FZ_LENGTH,3000,1000,BKQD_PARAM_ACC,BKQD_PARAM_DCC,0);                                   
        BKQD_MotorStep   = 0;
      }
      break;          
      
    case 801:
      BKQD_MotorDelay  =    dwTickCount + BKQD_PARAM_DELAY_BACK; 
      SetDir(X_AXIS, BKQD_DIR_P);
      BKQD_JZ_DIR   = BKQD_YDIR_P; 
      SetPos(X_AXIS, 0);
      BKQD_MotorStep   = 802;
      break;
    case 802:
      if(dwTickCount >= BKQD_MotorDelay)
      {
        BKQD_MotorStep   = 803;
        AxisMovePosAccDec(X_AXIS,3000,BKQD_PARAM_SHUANGDAO_LENGTH,1000,1000,25,50,0);
      }
      break;
    case 803:
      if(!X_DRV || KK_cRealPos>=BKQD_PARAM_SHUANGDAO_LENGTH)
      {
        BKQD_MotorStep   = 0;
        KK_cDiErLaChu=1;
      }      
    case 40:
      //切完延时后拉带松夹子
      if(BKQD_PARAM_SJZ_LENGTH == 0 || KK_cShuangDao)
      {
        SetDir(X_AXIS, BKQD_DIR_P);
        jz_buff = KK_cRealPos;
        AxisMovePosAccDec(X_AXIS,BKQD_PARAM_CUT_BACK_SPEED,BKQD_PARAM_BACK_LENGTH,1000,1000,25,50,0);
        BKQD_MotorStep   = 44;
        BKQD_JD_VAVLE = 0; 
      }
      else
      {
        jz_buff = KK_cRealPos;
        SetDir(X_AXIS, BKQD_DIR_P);
        BKQD_MotorStep   = 41;
      }
      break; 
    case 41:
      AxisMovePosAccDec(X_AXIS,BKQD_PARAM_CUT_BACK_SPEED,BKQD_PARAM_SJZ_LENGTH+BKQD_PARAM_BACK_LENGTH,1000,1000,25,50,0);
      BKQD_MotorStep   = 42;
      break;  
      
    case 42:	 
      if((BKQD_PARAM_SJZ_LENGTH <= (KK_cRealPos - jz_buff)) )
      {
        BKQD_JD_VAVLE = 0;
        BKQD_GZ_VAVLE=0; 
        BKQD_MotorStep   = 44;
      }
      break;
      
    case 44:	                           // 切断完成后拉电机动作
      if(((BKQD_PARAM_SJZ_LENGTH+BKQD_PARAM_BACK_LENGTH) <= (KK_cRealPos - jz_buff)) ||!X_DRV)
      {
        AxisEgmStop(X_AXIS);
        if(!KK_cECQ_STOP)
          BKQD_MotorStep   = 0;
        else
        {
          cStopMode=2;
          bStop=1;
          
        }
        BKQD_GZ_VAVLE=0;
        BKQD_MotorDelay  =    dwTickCount;
      }
      break;    
    case 61: // 前点定位数控模式
      if(!KK_cDiErLaChu)
      {
        if(BKQD_SZ_OUT)
        {
          BKQD_SZ_OUT   = 0;                       
          BKQD_MotorDelay = dwTickCount + 150;   
          SetPos(X_AXIS, 0);
        }
        else
          BKQD_MotorDelay = dwTickCount;
        BKQD_BL_VAVLE = 0;//并链也要打开
        SetDir(X_AXIS,BKQD_DIR_N);
        
        BKQD_JZ_DIR   = BKQD_YDIR_N; 
        if(!BKQD_TL_VAVLE && cZipCnt)  //没送链情况下主动送链
        {
          if(!BKQD_SHANG_MU_LIMIT_IN && (BKQD_TuiLianStep == 0))
          {
            BKQD_TuiLianStep = 1;
            BKQD_MotorStep = 62;
          }                          
        }
        else
          BKQD_MotorStep = 62;
      }
      else
      {
        if(BKQD_SHANG_MU_ORIGIN_IN)
        {
          KK_cDiErLaChu=0;
          BKQD_MotorStep = 65;
          AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED/3,1000,15,15);
        }
      }
      break;
    case 62:
      if(dwTickCount >= BKQD_MotorDelay)
      {                            
        if(BKQD_QIAN_LIMIT_IN)
        {
          SetPos(X_AXIS, 0);//在前点，直接置零点
          SetDir(X_AXIS,BKQD_DIR_N);
          
          BKQD_JZ_DIR   = BKQD_YDIR_P; 
          //前点亮的情况下先退出
          AxisMovePos(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,1000);                           
          BKQD_MotorDelay = dwTickCount + 300;
        }
        BKQD_MotorStep = 63;            
        BKQD_JD_VAVLE = 0;  
      }
      break;
    case 63:
      if(!X_DRV && !BKQD_QIAN_LIMIT_IN && (dwTickCount >= BKQD_MotorDelay))// && !BKQD_SHANG_MU_LIMIT_IN)
      {
        
        SetDir(X_AXIS, BKQD_DIR_N);
        BKQD_JZ_DIR   = BKQD_YDIR_N; 
        go_buff  = KK_cRealPos;
        BKQD_YD_VAVLE = 1;
        BKQD_HL_VAVLE = 1;      
        BKQD_YX_VAVLE = 1;
        //李永庆代码,当位置在慢速之外,走数控到慢速点
        if(cZipCnt > 0)
        {
          
          if(KK_cRealPos>(BKQD_PARAM_GO_LOW_SPEED_LENGTH))   
          {   
            
            DCC_TIME_BL=BKQD_PARAM_GO_HIGH_SPEED/500;
            AxisMovePosAccDecNotStop(X_AXIS,BKQD_PARAM_GO_HIGH_SPEED,-BK_cRealPos,
                                     BKQD_PARAM_START_SPEED,BKQD_PARAM_GO_LOW_SPEED,BKQD_PARAM_ACC,DCC_TIME_BL,
                                     BKQD_PARAM_GO_LOW_SPEED_LENGTH); 
          } 
          else
          {
            //                  X轴       运行速度                    启动速度        加速度  减速度
            AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED/3,1000,15,15);
            
            //   MoveAction_Const_AccDec(X_AXIS, BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED_LENGTH,BKQD_PARAM_START_SPEED,BKQD_PARAM_ACC,BKQD_PARAM_DCC);
          }
          
        }
        else
        {
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,BKQD_PARAM_GO_LOW_SPEED,BKQD_DIR_N,BKQD_PARAM_GO_LOW_SPEED/3,1000,15,15);
          // MoveAction_Const_AccDec(X_AXIS, BKQD_DIR_N,BKQD_PARAM_FIRST_GO_HIGHSPEED,BKQD_PARAM_START_SPEED,BKQD_PARAM_ACC,BKQD_PARAM_DCC);//
        }
        
        BKQD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
        BKQD_MotorStep   =64;
      }  
      
      break;
    case 64:
      
      if(cZipCnt > 1)
      {                         
        //李永庆代码
        if(((KK_cRealPos) < (BKQD_PARAM_GO_LOW_SPEED_LENGTH+1200)))// || (BKQD_QIAN_DEC_IN))
        {
          user_datas[126]= GetCurSpeed(X_AXIS);
          //     MoveChangSpeedDec(X_AXIS,BKQD_PARAM_GO_HIGH_SPEED*2/3,6,8);
          //    AxisChangeSpeed(X_AXIS,40);
          BKQD_MotorStep   =65;
        }
        if(BKQD_QIAN_LIMIT_IN)  //前点限位
        {
          BKQD_TFK_VAVLE=0;
          AxisEgmStop(X_AXIS);
          BKQD_MotorStep   = 66;                            
        }
      }
      else
      {                            
        if(BKQD_QIAN_LIMIT_IN)  //前点限位
        {
          BKQD_TFK_VAVLE=0;
          AxisEgmStop(X_AXIS);
          BKQD_MotorStep   = 66;                            
        }
      }
      
      break;
    case 65:
      
      if(BKQD_QIAN_LIMIT_IN)
      {
        BKQD_TFK_VAVLE=0;
        AxisEgmStop(X_AXIS);
        BKQD_MotorStep   = 66;      
        
      }
      else if(dwTickCount >= BKQD_MotorDelay)
        BKQD_SetAlarmCode(BKQD_NO_ZIPPER_ALARM);
      
      break;
    case 66:
      
      if(!X_DRV)
      {   
        BKQD_TFK_VAVLE=0;
        SetPos(X_AXIS, 0);
        BKQD_MotorDelay =    dwTickCount;
        BKQD_MotorStep   = 67;
      }
      break;   
    case 67:  //等推链完成后,
      if((dwTickCount >= BKQD_MotorDelay) && (BKQD_TuiLianStep == 0) && ((BKQD_PARAM_TIAOSHI_MODE && BKQD_bTS) || (BKQD_PARAM_TIAOSHI_MODE == 0)) )
      {
        if(bRunning)
        {
          BKQD_JD_VAVLE = 1;
          BKQD_MotorDelay =    dwTickCount + BKQD_PARAM_DELAY_BACK;
        }
        BKQD_MotorStep   = 68;
      }
      break;
    case 68:
      if(dwTickCount >= BKQD_MotorDelay)
      {
        BKQD_YD_VAVLE = 0;
        BKQD_HL_VAVLE = 0;      
        BKQD_YX_VAVLE = 0;
        BKQD_CHUIQIStep=1;
        BKQD_TL_VAVLE    = 0;
        BKQD_MotorStep   = 0;
        BKQD_MotorDelay  = dwTickCount;
      }
      break;
      
    }
  }
}

//电机动作
void BK_QueDuan_Motor(void)	 
{

    BK_QueDuan_Motor_NoGL(); 
   

  
}


void BK_QueDuan_TuiLianAction(void)
{
  if(BKQD_PARAM_XM_ENABLE == 0)
  {
    BKQD_TuiLianStep = 0;
  }
  else
  {  
    switch(BKQD_TuiLianStep) 
    {
    case 1:
      BKQD_TuiLianStep = 2;
      break;
    case 2:
      BKQD_TLDelay     = dwTickCount + BKQD_PARAM_YD_DELAY;
      BKQD_TuiLianStep = 3;
      break;
    case 3:
      if(!BKQD_SM_VAVLE && !BKQD_SHANG_MU_LIMIT_IN)//dwTickCount >= BKQD_TLDelay)
      {   
        BKQD_TL_VAVLE    = 1;
        // BKQD_TFK_VAVLE  = 0;
        //  if(!bRunning)BKQD_TFK_VAVLE = 1;
        
        BKQD_TLDelay     = dwTickCount + BKQD_PARAM_TL_DELAY;
        BKQD_TuiLianStep = 4;
      }
      break;
    case 4:
      if(dwTickCount >= BKQD_TLDelay)
      {
        BKQD_TuiLianStep = 0;
        
      }
      break;
    case 10:
      
      BKQD_TuiLianStep = 11;
      break;
    case 11:
      if(!Y_DRV)
      {
        {
          BKQD_TuiLianStep = 0;
        }
      }
      break;
    }
  }
}

//闭口专用
void BK_QueDuan_XiaQue_NO_GL(void)
{
  switch(BKQD_XiaQieStep) 
  {
  case 0:
    break;
  case 1:
    if(!bRunning)
    {
      //     BKQD_GZ_VAVLE = 1;  //勾针
      
      //     BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_CUT_DELAY;
      //     BKQD_XiaQieStep = 100;   
      BKQD_YD_VAVLE = 1;
      BKQD_XiaQieStep = 2;                             
      BKQD_XiaQieDelay = dwTickCount + 30;
      
    }
    else
    {
      BKQD_YD_VAVLE = 1;
      BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_CUT_DELAY;
      BKQD_XiaQieStep = 2;  
    }
    break;
  case 2:
    if(dwTickCount >= BKQD_XiaQieDelay)
    {
      BKQD_XiaQieStep = 3;  
      BKQD_XiaQieDelay = dwTickCount;
    }
    break;
  case 3:
    if(dwTickCount >= BKQD_XiaQieDelay )
    {      
      
      if(BKQD_SHANG_MU_ORIGIN_IN)
      {
        if((BKQD_PARAM_TIAOSHI_MODE && BKQD_bTS) || (BKQD_PARAM_TIAOSHI_MODE == 0))
        {
          BKQD_SM_VAVLE   = 1;
          if(!BKQD_PARAM_XM_ENABLE)
            BKQD_XM_VAVLE   = 1;
          BKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
          BKQD_XiaQieStep = 4;   
        }
      }
      else if(dwTickCount >= (BKQD_XiaQieDelay+3000))
      {
        BKQD_SetAlarmCode(BKQD_SM_YUANWEI);
      }
      
    }
    
    break;
  case 4://永兴为下模固定
    if(BKQD_SHANG_MU_LIMIT_IN && (BKQD_XIA_MU_LIMIT_IN || BKQD_PARAM_XM_ENABLE))
    {          
      BKQD_GZ_VAVLE   = 0;
      if(!BKQD_PARAM_CS_MODE)  //气切
      {
        BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_DELAYBACK_SM;       // 
        BKQD_XiaQieStep = 5;      
      }
      else
      {
        BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_DELAY_CS;       // 
        BKQD_XiaQieStep = 10;                      
      }      // 
    }
    else if(dwTickCount >= BKQD_XiaQieDelay)
      BKQD_SetAlarmCode(BKQD_SM_DAOWEI);
    break;
  case 5:
    if(dwTickCount >= BKQD_XiaQieDelay)	
    {
      
      BKQD_SM_VAVLE   = 0; 
      BKQD_XM_VAVLE   = 0;
      BKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
      BKQD_XiaQieStep = 6;	
    }
    break;
  case 6:
    if(!BKQD_SHANG_MU_LIMIT_IN && (!BKQD_XIA_MU_LIMIT_IN || BKQD_PARAM_XM_ENABLE))  //下模不动就不用判断	
    {   
      if(BKQD_TuiLianStep == 0)
        BKQD_TuiLianStep = 1;
      if(!bRunning)
        BKQD_JD_VAVLE = 0;
      if(BKQD_PARAM_SHUANGDAO_MODE)
      {
        if(!BK_cShuangDao)
            BK_cShuangDao=1; 
        else
          BK_cShuangDao=0;
      }
      
      BKQD_XiaQieStep = 0;
      
    }
    else if(dwTickCount >= BKQD_XiaQieDelay)	
    {
      BKQD_SetAlarmCode(BKQD_SM_YUANWEI);
    }
    
    break;
    //10~11步为超声
  case 10:
    if(dwTickCount >= BKQD_XiaQieDelay)	
    {
      if(BKQD_PARAM_CS_ENABLE)BKQD_CS_OUT = 1;
      BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_CS_TIME;       // 
      BKQD_XiaQieStep = 11;      
    }
    break;
  case 11:
    if(dwTickCount >= BKQD_XiaQieDelay)	
    {
      BKQD_CS_OUT = 0;
      BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_CS_COLD_TIME;       // 
      BKQD_XiaQieStep = 5;	
    }
    break;
    
    
  case 201:
    BKQD_XiaQieStep = 3;
    BKQD_XiaQieDelay = dwTickCount + BKQD_PARAM_CUT_DELAY;
    break;
    
    
  case 100:
    if(dwTickCount >= BKQD_XiaQieDelay)
    {
      
      //这是双开程序，暂时不考虑
#if 1
      if(BKQD_GOUZHEN_IN)
      {
        BKQD_YD_VAVLE = 1;
        BKQD_XiaQieStep = 3;  
      }
#endif                     
    }
    break;
  }	
}
//切断动作 
void BK_QueDuan_XiaQue(void)	 
{
    BK_QueDuan_XiaQue_NO_GL(); 
}


  



#endif