GC19038/Machine/JuXingMachine/JXSKQueDuanJi.c

#include "global.h"


#if JU_XING_MACHINE ==1


void SK_QueDuan_AlarmProtect(void);
void SK_QueDuan_ManualAction(void);
void SK_QueDuan_AutoAction(void);
void SK_QueDuan_StepCheckStart(void);
void SK_QueDuan_XiaQue(void);
void SK_QueDuan_Motor(void);
void SK_QueDuan_YuanDianAction(void);
void SK_QueDuan_TuiLianAction(void);
void SK_QueDuan_ExtiActionX31(void);
void SK_QueDuan_BingLian(void);
void SKQD_StopCode(void);
void SKQD_TuiDaiAction(void);
short *SKQD_length_buffer;


void SKQD_SetAlarmCode(unsigned alarm_code)
{
  SetAlarmCode(SKQD_ALARM_ADDR,alarm_code);
  bAlarmStop = 1;
}
void SK_QueDuan_ExtiActionX31(void)
{
  cCheckLianFlg = 1;
  SKQD_cRealPos = GetPos(X_AXIS);
}
void SKQD_StopCode(void)
{
  switch(SKQD_StopStep)
  {
  case 1:            
    SKQD_StopStep=2;
    if(X_DRV)
    {
      AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
      AxisDecStop(X_AXIS);
    }
    break;
  case 2:    
    if(!X_DRV || (SKQD_cRealPos < 10))
    {
      SKQD_StopCodeDelay=dwTickCount+350;
      SKQD_StopStep = 3;
    }  
    break;
  case 3:
    if(dwTickCount >= SKQD_StopCodeDelay)
    {
      if(!cSTOPONE)
      {                
        SKQD_StopStep=0;
        
      }
      else
      {        
        SKQD_SetAlarmCode(SKQD_PARAM_ANQUANMEN_ALARM);
        SKQD_StopStep=0;
        cSTOPONE=0;
      }
      SKQD_SZ_OUT   = 1;  //电机松轴
    }
    break;
  }
  switch(SKQD_CHUIQIStep) 
  {
  case 1:
    SKQD_CQ_VAVLE=1;
    SKQD_CHUIQIStep=2;
    SKQD_ChuiQiDelay=dwTickCount+SKQD_PARAM_ChuiQi_TIME;
    break;
  case 2:
    if(dwTickCount >= SKQD_ChuiQiDelay)
    {
      SKQD_CQ_VAVLE=0;
      SKQD_CHUIQIStep=0;
    }
    break;
    
  }
}



void SK_QueDuan_InitAction(void)
{
  float length_buff,pulse_buff;
  axis_x->speed_unit = 1;   //速度频率倍率单位
  length_buff = SKQD_PARAM_CYCLE_LENGTH;
  pulse_buff  = SKQD_PARAM_CYCLE_PULSE;
  XGearRatio  = pulse_buff/length_buff;  
  //  SKQD_SZ_OUT   = 1;
  // Motor_SZ(SKQD_MOTOR_DIS); //电机松轴
  SKQD_SetAlarmCode(0);       
  SetDirReverse(X_AXIS, 1);
}

void SK_QueDuan_Action(void)
{
  
  SK_QueDuan_AlarmProtect();
  SK_QueDuan_Motor();
  SK_QueDuan_XiaQue();
  SK_QueDuan_ManualAction();
  SK_QueDuan_TuiLianAction();
  SK_QueDuan_BingLian();
  SKQD_StopCode();
  SK_QueDuan_AutoAction();
  SK_QueDuan_StepCheckStart();   // 调用脚踏开关检测程序 
  
  
}

//手动动作
void SK_QueDuan_ManualAction(void)
{  
  //条数或扎数达到后，台面电机转两秒之后再停机
  if(cTABLETIME)
  {
    if(cTABLETOTAL)
    {
      cTABLETOTAL=0;
      SKQD_TABLE_VAVLE = 1;
      SKQD_TableDelay=dwTickCount + 2000;
      
    }
    if(dwTickCount >= SKQD_TableDelay)
    {
      SKQD_TABLE_VAVLE = 0;
      cTABLETIME=0;
      
    }
  }
  if(SKQD_HOUXIANWEI_UP && bRunning)
  {
    AxisEgmStop(X_AXIS);
    SKQD_SetAlarmCode(SKQD_PARAM_RUN_LENGTH_ALARM);
  }
  if(bRunning == 0)  
  {   
    
    
    
    cGoLimitEn = 0;
    if(SKQD_bClearTotal) //切断计数清零
    {
      SKQD_bClearTotal       = 0;
      ClrcToTal(SKQD_TOTAL_ADDR);
    }
    
    if(SKQD_bClearNowTotal)
    {
      SKQD_bClearNowTotal = 0;
      SKQD_PARAM_NOW_CNT = 0;
    }
    
    if(SKQD_bXiaQie)
    {
      SKQD_bXiaQie = 0;
      if((SKQD_XiaQieStep == 0) && !SKQD_TL_VAVLE)
      {
        SKQD_XiaQieStep = 1;
      }  
    }
    
    if(SKQD_bQianDianDW)
    {
      SKQD_bQianDianDW = 0;
      if(SKQD_MotorStep == 0)
      {
        SKQD_MotorStep = 61;
        cZipCnt      = 0;
      }
    }
    
    if(SKQD_bTL)
    {  
      SKQD_bTL = 0;
      if(SKQD_TL_VAVLE)
      {
        SKQD_TL_VAVLE = 0;
      } 
      else if(!SKQD_GZ_VAVLE && !SKQD_SM_VAVLE)
      {
        SKQD_TL_VAVLE = ~SKQD_TL_VAVLE;
      }
    }
    
    
    
    if(SKQD_bYD)
    {
      SKQD_bYD = 0;
      SKQD_YD_VAVLE = ~SKQD_YD_VAVLE;
    }
    if(SKQD_bHuLian)
    {
      SKQD_bHuLian=0;
      SKQD_HULIAN_VAVLE = ~SKQD_HULIAN_VAVLE;
    }
    
    if(SKQD_bGZ)
    {
      SKQD_bGZ = 0;
   //   SKQD_GZ_VAVLE = ~SKQD_GZ_VAVLE;
      
    }
    if(SKQD_bYD_ONE)
    {
      SKQD_bYD_ONE = 0;
      SKQD_YD_ONE_VAVLE = ~SKQD_YD_ONE_VAVLE;
    }
    if(SKQD_bJD)
    {
      SKQD_bJD = 0;
      SKQD_JD_VAVLE = ~SKQD_JD_VAVLE;
    }
    
    if(SKQD_bXM)
    {
      SKQD_bXM = 0;
      SKQD_XM_VAVLE = ~SKQD_XM_VAVLE;
      if(!SKQD_XM_VAVLE)SKQD_GZ_VAVLE = 0;
    }
    if(SKQD_GOUZHEN_IN_DW)
    {
      SKQD_YD_VAVLE=1;
    }
    
    if(SKQD_bSM)
    {
      SKQD_bSM = 0;
      if(SKQD_SM_VAVLE)
        SKQD_SM_VAVLE = 0;
      else if(!SKQD_TL_VAVLE)
        SKQD_SM_VAVLE = 1;
    }
    
    //台面电机
    if(SKQD_bTB)
    {
      SKQD_bTB = 0;           
      SKQD_TABLE_VAVLE = ~SKQD_TABLE_VAVLE;
    } 
    if(SKQD_bTestCS)
    {
      SKQD_bTestCS = 0;
      SKQD_CS_OUT  = 1;
      SKQD_CSDelay = dwTickCount + SKQD_PARAM_CS_TIME;
    }
    
    if(SKQD_bBL)//吹气
    {
      SKQD_bBL = 0;
      SKQD_BL_VAVLE = ~SKQD_BL_VAVLE;
    }
    
    if(SKQD_bHL)  //护链,双开用
    {
      SKQD_bHL = 0;
      SKQD_HL_VAVLE = ~SKQD_HL_VAVLE;
    }
    
    if(SKQD_bYX)
    {
      SKQD_bYX = 0;
      SKQD_YX_VAVLE = ~SKQD_YX_VAVLE;
    }
    if(SKQD_XiaQieStep == 0)
    {
      if(dwTickCount >= SKQD_CSDelay)SKQD_CS_OUT  = 0;
    }        
    //电机控制        
    if(SKQD_QIAN_LIMIT_IN && SKQD_bGoMotor)
    {
      AxisEgmStop(X_AXIS);
    }
    if(SKQD_bGoMotor && !SKQD_QIAN_LIMIT_IN)
    {           
      SKQD_SZ_OUT   = 0;
      //   SKQD_JZ_DIR   = SKQD_YDIR_N;
      
      if(!X_DRV)
        AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_N,SKQD_PARAM_GO_LOW_SPEED,SKQD_PARAM_GO_LOW_SPEED,10,12);
      
    }
    if(SKQD_HOUXIANWEI && SKQD_bBackMotor)
    {
      AxisEgmStop(X_AXIS);
    }
    
    if(SKQD_bBackMotor && !SKQD_HOUXIANWEI)  //后退限位已经取消
    {
      SKQD_SZ_OUT   = 0;
      //       SKQD_JZ_DIR   = SKQD_YDIR_P;
      if(!X_DRV)
        
        AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_P,SKQD_PARAM_GO_LOW_SPEED,SKQD_PARAM_GO_LOW_SPEED,10,12);
      
    }
    
    if(!SKQD_bGoMotor && !SKQD_bBackMotor && (SKQD_MotorStep == 0))
    {
      if(X_DRV)AxisDecStop(X_AXIS);
    }
    
    if(SKQD_QIAN_LIMIT_IN && (SKQD_MotorStep == 0) && !SKQD_bBackMotor &&(SKQD_AutoStep == 0))
    {
      if(X_DRV)AxisEgmStop(X_AXIS);
    }       
  }
}




void SK_QueDuan_AlarmProtect(void)
{ 
  SKQD_cRealPos = GetPos(X_AXIS);
  
  if(!bRunning)
  {
    ;
    //
#if 0     
    if(SKQD_BACK_LIMIT_IN_UP)
    {
      if((SKQD_MotorStep == 0) && X_DRV && SKQD_bBackMotor)        //到后限不能再后退但可以点前进
      {
        SKQD_bBackMotor = 0;
        
        AxisDecStop(X_AXIS);   
        SKQD_JD_VAVLE   = 0;
        SKQD_SetAlarmCode(SKQD_BACK_ALARM);
        
      }
    }
#endif      
  }
  else
  {
    if((SKQD_cRealPos > SKQD_PARAM_RUN_LENGTH) && (SKQD_PARAM_RUN_LENGTH > 3000)
       && (cGoLimitEn != 0))
    {
      AxisEgmStop(X_AXIS);   
      SKQD_JD_VAVLE = 0;
      SKQD_SetAlarmCode(SKQD_BACK_ALARM);
    }
  }
}


void SK_QueDuan_AutoAction(void)
{  
  //台面电机定时关掉
  
  
  if(SKQD_QIAN_STOP_Auto)
  {
    
    cDLJ_ATUO=1;
    AxisEgmStop(X_AXIS);
    
    
    
  }
  if(SKQD_QIAN_START_Auto)
  {
    if(cDLJ_ATUO)
    {
      cDLJ_ATUO=0;
      SKQD_AutoDelay = dwTickCount + 1000;
      SKQD_MotorDelay = dwTickCount + 2000;
      if((SKQD_MotorStep==63 || SKQD_MotorStep==64 || SKQD_MotorStep==65) && !SKQD_QIAN_LIMIT_IN)
        AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_N,SKQD_PARAM_GO_LOW_SPEED/3,SKQD_PARAM_GO_LOW_SPEED/3,15,15);
      else if((SKQD_cRealPos < SKQD_PARAM_ZIPPER_LENGTH) && (SKQD_MotorStep > 311))
        AxisMoveTwoPos(X_AXIS,1000,(SKQD_PARAM_ZIPPER_LENGTH - SKQD_cRealPos) + (*SKQD_length_buffer),
                       SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED_LENGTH,SKQD_DIR_P,5000,3000,20,30);
      
      
      
    }             
    
    
  }
  if(!cDLJ_ATUO)
  {
    if(bRunning)
    {  
      if(!cTABLETIME)
      {
        if(dwTickCount >= SKQD_TBDelay)
          SKQD_TABLE_VAVLE = 0;
      }
      switch(SKQD_AutoStep)
      {
      case 1:
        if(dwTickCount >= SKQD_AutoDelay)
        {
          if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
          {
          SKQD_AutoStep = 2;	    
          if(SKQD_MotorStep == 0)
          {
            SKQD_MotorStep = 61;   //前点定位
          }
          cGoLimitEn = 0;
        }
        }	
        break;	
      case 2:	 
        if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
        {
        if(SKQD_MotorStep == 0)
        {   
          SKQD_MotorStep = 30;  
          SKQD_AutoStep = 3;	
          cGoLimitEn = 1;
        }
        }
        break;	
      case 3:	
        
        if(SKQD_MotorStep == 0)
        {   
          if(SKQD_SAFE_IN)
          {
            bStop = 1;
          }
          else 
          {
            if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
            {
           if(SKQD_MotorStep==0) 
           {
            if(SKQD_XiaQieStep == 0)
              SKQD_XiaQieStep = 1;                 
            SKQD_AutoStep = 4;
           }
            }
         
          }
        }              
        break;
      case 4:
        
        //                                  闭口
        if((SKQD_XiaQieStep == 0) || ((SKQD_XiaQieStep == 6) && SKQD_KB_MODE)|| ((SKQD_XiaQieStep == 14) && (SKQD_KB_MODE == 0)))// && !SKQD_SHANG_MU_LIMIT_IN)
        {
          if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
          {
          if(SKQD_MotorStep == 0) 
          {
            cGoLimitEn=0;
            SKQD_MotorStep = 40;     //切完后退
            
          }
          SKQD_AutoStep = 5;	
          }
        }
        
        break;
      case 5:	 
        
        if(SKQD_MotorStep == 0)
        {
          cZipCnt++;
          SKQD_PARAM_NOW_CNT++;
          cTableCnt++;
          AddToTal(SKQD_TOTAL_ADDR);
          AddToTal(CT_WORKTOTAL_ADDR);
          CalProSP(SKQD_PROSPEED_ADDR);
          
          if(cTableCnt >= SKQD_PARAM_TABLE_NUM)
          {
            cTableCnt = 0;
            SKQD_TABLE_VAVLE = 1;
            SKQD_TBDelay = dwTickCount + SKQD_PARAM_TB_TIME;
          }
          
          if( SingOneFlg || cZhouWanone)
          {
            
            {
              cZhouWanone=0;
              cStopMode=0;
              bRunning = 0;
              SKQD_AutoStep = 0; 
              SingOneFlg = 0;
              SKQD_TABLE_VAVLE = 0;
              
            }
            
            //                         if(GetTotal(SKQD_TOTAL_ADDR) >= SKQD_PARAM_SET_TOTAL) SKQD_SetAlarmCode(SKQD_TOTAL_ALARM);
          }
          else
          {
            SKQD_AutoStep = 1; 
            
            if((SKQD_PARAM_NOW_CNT >= SKQD_PARAM_ZHA_SHU) && (SKQD_PARAM_ZHA_SHU > 0))   
            {
              SKQD_AutoDelay = dwTickCount + SKQD_PARAM_ZS_STOP_TIME;
              SKQD_PARAM_NOW_CNT = 0;
              cTABLETIME = 1;
              cTABLETOTAL= 1;
              if(SKQD_PARAM_ZS_STOP_TIME == 0)
              {
                bRunning = 0;
                SKQD_AutoStep = 0; 
                SingOneFlg = 0;
                cTABLETIME = 1;
                cTABLETOTAL= 1;
                SKQD_SetAlarmCode(SKQD_TOTAL_ALARM);
              }
            }
            else
              SKQD_AutoDelay = dwTickCount + SKQD_PARAM_CYCLE_DELAY;
          }
        }
        break;
      }	
    }
  }
}

void SK_QueDuan_StepCheckStart(void)
{
  
  if(SKQD_DANXUNHUAN_LIMIT_IN_UP)
  {
    SKQD_bSingle=1;
  }
  //		启动      			
  if((SKQD_START_IN_UP) || bStart || SKQD_bSingle)
  {
    bStart = 0;
    
    if(!bRunning && (SKQD_AutoStep == 0))
    {
      if(SKQD_XIA_MU_LIMIT_IN && !SKQD_PARAM_XM_ENABLE)SKQD_SetAlarmCode(SKQD_XM_DAOWEI);
      //            else if(GetAlarmCode(SKQD_ALARM_ADDR) != 0);
      //else if(GetTotal(SKQD_TOTAL_ADDR) >= SKQD_PARAM_SET_TOTAL) SKQD_SetAlarmCode(SKQD_TOTAL_ALARM);
      //           else if(SKQD_BL_VAVLE)SKQD_SetAlarmCode(SKQD_BL_ALARM);
      else if(SKQD_SM_VAVLE)SKQD_SetAlarmCode(SKQD_SM_ALARM);
      else
      {
        bRunning    = 1;
        SKQD_AutoStep = 1;
        if(SKQD_PARAM_BL_ENABLE)
          SKQD_PARAM_BL_ENABLE=1 ; //并链起动
        if(SKQD_bSingle) 
          SingOneFlg= 1;
        cZipCnt      = 0;
        cTABLETIME = 0;
        cTABLETOTAL= 0;
        cSTOPONE=0;
        cTuiFangKuaiCnt = 0;
        SKQD_BL_VAVLE = 0;    //并链关
        cDLJ_ATUO=0;
        SKQD_HULIAN_VAVLE=1;
        SKQD_YD_ONE_VAVLE=1;
        SKQD_DGLG_VAVLE = 0;  //顶过链杆关
        SetAlarmCode(SKQD_ALARM_ADDR,0); 
      }
    }
    SKQD_bSingle = 0;
  }
  
  //停止
  if(bStop)
  {
    bStop = 0;
    if(cStopMode < 2)
      cStopMode++;
    if(cStopMode==1 && bRunning)
      cZhouWanone=1;
    if(bRunning && cStopMode==2)
    {
      
      
      SKQD_AutoDelay   = dwTickCount;
      SKQD_MotorDelay = dwTickCount;
      SKQD_XiaQieDelay  = dwTickCount;
      SKQD_KaDaiDelay   = dwTickCount;
      SKQD_CSDelay = dwTickCount;
      SKQD_TBDelay  = dwTickCount;
      SKQD_TFKDelay  = dwTickCount;
      SKQD_TLDelay     = dwTickCount;
      dwTickCount = SKQD_TBDelay;
      SingOneFlg  = 0; 
      bRunning   = 0;
      SKQD_XiaQieStep = 0;
      SKQD_AutoStep   = 0;
      SKQD_MotorStep  = 0;
      SKQD_TuiLianStep = 0;
      SKQD_JD_VAVLE = 0;
      SKQD_SM_VAVLE = 0;
      SKQD_XM_VAVLE = 0;
      SKQD_YD_VAVLE = 0;
      SKQD_TFK_VAVLE= 0;
      SKQD_TL_VAVLE      = 0;
      SKQD_HL_VAVLE  = 0;
      SKQD_HULIAN_VAVLE=0;
      SKQD_YD_ONE_VAVLE=0;
      SKQD_CS_OUT   = 0;
      SKQD_XiaQieStep = 0;
      SKQD_MotorStep  = 0;
      SKQD_TuiLianStep = 0;
      //SKQD_SZ_OUT   = 1;
      SKQD_GZ_VAVLE    = 0;
      SKQD_TABLE_VAVLE   = 0;
      SKQD_DGLG_VAVLE = 0;  //顶过链杆关
      if((SKQD_StopStep == 0) && X_DRV)
        SKQD_StopStep = 1;
      SKQD_BinLianStep  = 0;
      SKQD_BL_VAVLE    = 0;
      cTABLETIME = 0;
      cTABLETOTAL= 0;
      user_datas[121] = 0;
      user_datas[122] = 0;
      
      SetAlarmCode(SKQD_ALARM_ADDR,0);        
    }
    else if(!bRunning)
    {
      SKQD_AutoDelay   = dwTickCount;
      SKQD_MotorDelay = dwTickCount;
      SKQD_XiaQieDelay  = dwTickCount;
      SKQD_KaDaiDelay   = dwTickCount;
      SKQD_CSDelay = dwTickCount;
      SKQD_TBDelay  = dwTickCount;
      SKQD_TFKDelay = dwTickCount;
      SKQD_TLDelay  = dwTickCount;
      dwTickCount = SKQD_TBDelay;
      SKQD_CHUIQIStep=0;
      SingOneFlg  = 0; 
      SKQD_HULIAN_VAVLE=0;
      SKQD_YD_ONE_VAVLE=0;
      SKQD_JD_VAVLE = 0;
      SKQD_SM_VAVLE = 0;
      SKQD_XM_VAVLE = 0;
      SKQD_YD_VAVLE = 0;
      SKQD_TFK_VAVLE= 0;
      SKQD_YX_VAVLE = 0;
      SKQD_HL_VAVLE  = 0;
      cStopMode=0;
      cZhouWanone=0;
      SKQD_TL_VAVLE      = 0;
      SKQD_DGLG_VAVLE = 0;  //顶过链杆关
      SKQD_CS_OUT   = 0;
      SKQD_XiaQieStep = 0;
      SKQD_MotorStep  = 0;
      SKQD_TuiLianStep = 0;
      SKQD_SZ_OUT   = 1;
      SKQD_GZ_VAVLE    = 0;
      SKQD_TABLE_VAVLE   = 0;
      if((SKQD_StopStep == 0))
      {
        SK_cSTOPONE = 0;
        AxisEgmStop(X_AXIS);   
        SKQD_SZ_OUT   = 1;
      }   
      cTABLETIME = 0;
      cTABLETOTAL= 0;
      SKQD_BinLianStep  = 0;
      SKQD_BL_VAVLE    = 0;
      SetAlarmCode(SKQD_ALARM_ADDR,0);
      bRunning   = 0;
      SKQD_XiaQieStep = 0;
      SKQD_AutoStep   = 0;
      SKQD_MotorStep  = 0;
      SKQD_TuiLianStep = 0;
    }
    
  }
  if(SKQD_STOP_IN_UP )
  {
    
    
    if(bRunning)
    {
      
      
      SKQD_AutoDelay   = dwTickCount;
      SKQD_MotorDelay = dwTickCount;
      SKQD_XiaQieDelay  = dwTickCount;
      SKQD_KaDaiDelay   = dwTickCount;
      SKQD_CSDelay = dwTickCount;
      SKQD_TBDelay  = dwTickCount;
      SKQD_TFKDelay  = dwTickCount;
      SKQD_TLDelay     = dwTickCount;
      dwTickCount = SKQD_TBDelay;
      SingOneFlg  = 0; 
      bRunning   = 0;
      SKQD_XiaQieStep = 0;
      SKQD_AutoStep   = 0;
      SKQD_MotorStep  = 0;
      SKQD_TuiLianStep = 0;
      SKQD_JD_VAVLE = 0;
      SKQD_SM_VAVLE = 0;
      SKQD_XM_VAVLE = 0;
      SKQD_YD_VAVLE = 0;
      SKQD_TFK_VAVLE= 0;
      SKQD_TL_VAVLE      = 0;
      SKQD_HL_VAVLE  = 0;
      SKQD_HULIAN_VAVLE=0;
      SKQD_YD_ONE_VAVLE=0;
      SKQD_CS_OUT   = 0;
      SKQD_XiaQieStep = 0;
      SKQD_MotorStep  = 0;
      SKQD_TuiLianStep = 0;
      //SKQD_SZ_OUT   = 1;
      SKQD_GZ_VAVLE    = 0;
      SKQD_TABLE_VAVLE   = 0;
      SKQD_DGLG_VAVLE = 0;  //顶过链杆关
      if((SKQD_StopStep == 0) && X_DRV)
        SKQD_StopStep = 1;
      SKQD_BinLianStep  = 0;
      SKQD_BL_VAVLE    = 0;
      cTABLETIME = 0;
      cTABLETOTAL= 0;
      user_datas[121] = 0;
      user_datas[122] = 0;
      
      SetAlarmCode(SKQD_ALARM_ADDR,0);        
    }
    else if(!bRunning)
    {
      SKQD_AutoDelay   = dwTickCount;
      SKQD_MotorDelay = dwTickCount;
      SKQD_XiaQieDelay  = dwTickCount;
      SKQD_KaDaiDelay   = dwTickCount;
      SKQD_CSDelay = dwTickCount;
      SKQD_TBDelay  = dwTickCount;
      SKQD_TFKDelay = dwTickCount;
      SKQD_TLDelay  = dwTickCount;
      dwTickCount = SKQD_TBDelay;
      SKQD_CHUIQIStep=0;
      SingOneFlg  = 0; 
      SKQD_HULIAN_VAVLE=0;
      SKQD_YD_ONE_VAVLE=0;
      SKQD_JD_VAVLE = 0;
      SKQD_SM_VAVLE = 0;
      SKQD_XM_VAVLE = 0;
      SKQD_YD_VAVLE = 0;
      SKQD_TFK_VAVLE= 0;
      SKQD_YX_VAVLE = 0;
      SKQD_HL_VAVLE  = 0;
      cStopMode=0;
      cZhouWanone=0;
      SKQD_TL_VAVLE      = 0;
      SKQD_DGLG_VAVLE = 0;  //顶过链杆关
      SKQD_CS_OUT   = 0;
      SKQD_XiaQieStep = 0;
      SKQD_MotorStep  = 0;
      SKQD_TuiLianStep = 0;
      SKQD_SZ_OUT   = 1;
      SKQD_GZ_VAVLE    = 0;
      SKQD_TABLE_VAVLE   = 0;
      if((SKQD_StopStep == 0))
      {
        SK_cSTOPONE = 0;
        AxisEgmStop(X_AXIS);   
        SKQD_SZ_OUT   = 1;
      }   
      cTABLETIME = 0;
      cTABLETOTAL= 0;
      SKQD_BinLianStep  = 0;
      SKQD_BL_VAVLE    = 0;
      SetAlarmCode(SKQD_ALARM_ADDR,0);
      bRunning   = 0;
      SKQD_XiaQieStep = 0;
      SKQD_AutoStep   = 0;
      SKQD_MotorStep  = 0;
      SKQD_TuiLianStep = 0;
    }
    
  }
  
  if(bAlarmStop)
  {
    bAlarmStop = 0;
    SKQD_XiaQieStep = 0;
    SKQD_AutoStep   = 0;
    SKQD_MotorStep  = 0;
    SKQD_TuiLianStep = 0;
    
    SKQD_XiaQieStep = 0;
    SKQD_MotorStep  = 0;
    SKQD_TuiLianStep = 0;
    SKQD_AutoDelay   = dwTickCount;
    SKQD_MotorDelay = dwTickCount;
    SKQD_XiaQieDelay  = dwTickCount;
    SKQD_KaDaiDelay   = dwTickCount;
    SKQD_CSDelay = dwTickCount;
    SKQD_TBDelay  = dwTickCount;
    SKQD_TFKDelay  = dwTickCount;
    SKQD_TLDelay     = dwTickCount;
    SingOneFlg  = 0; 
    bRunning   = 0;
    SKQD_StopStep=1;
    cStopMode=0;
    cZhouWanone=0;
    dwTickCount = SKQD_TBDelay;
    SKQD_TABLE_VAVLE = 0;
    SKQD_TFK_VAVLE =0;
    SKQD_JD_VAVLE=0;
    SKQD_GZ_VAVLE=0;
  }
  
}   
//记忆长度模式误差检测
void SK_QueDuan_CheckLength(long zip_length)
{
  static long start_dist;
  switch(SKQD_CheckLengthStep)
  {
  case 0:break;
  case 1:
    start_dist = SKQD_cRealPos;
    dwSaveLength = 0;
    SKQD_CheckLengthStep = 2;
    break;
  case 2:
    if(SKQD_GUO_LIAN_IN_DW)
    {  
      dwSaveLength = SKQD_cRealPos - start_dist;   
      //           user_datas[127] = SKQD_cRealPos;
      
    }
    break;         
  }          
}



void SK_QueDuan_BingLian(void)
{
  static long bl_pos_buff,HL_delay;
  
  switch(SKQD_BinLianStep)
  {
  case 1:
    bl_pos_buff = SKQD_cRealPos;
    
    SKQD_BinLianStep = 2;
    break;       
  case 2:
    if((SKQD_cRealPos - bl_pos_buff) >= SKQD_PARAM_DELAY_HL_LENGTH)
    {
      SKQD_BL_VAVLE = 1;   
      SKQD_BinLianStep = 3;
    }            
    break;
  case 3://有过链检测
    if((SKQD_cRealPos - bl_pos_buff) >= (SKQD_PARAM_ZIPPER_LENGTH - SKQD_PARAM_HL_DELAY_BACK))  
    {
      SKQD_BL_VAVLE = 0;
      SKQD_BinLianStep = 0;   
    }
    if(SKQD_GUO_LIAN_IN_DW && SKQD_PARAM_BACK_MODE ==1) //|| (SKQD_PARAM_BACK_MODE==2 && cZipCnt < 2)))
    {
      SKQD_BL_VAVLE = 0;
      SKQD_BinLianStep = 0;  
    }
    break;
  case 10:
    bl_pos_buff = SKQD_cRealPos;
    SKQD_BinLianStep = 11;
    break;       
  case 11:
    if((SKQD_cRealPos - bl_pos_buff) >= SKQD_PARAM_DELAY_HL_LENGTH)
    {
      SKQD_BL_VAVLE = 1;   
      SKQD_BinLianStep = 12;
    }            
    break;
  case 12://有过链检测
    if(SKQD_GUO_LIAN_IN_DW)  
    {
      SKQD_BL_VAVLE = 0;
      SKQD_BinLianStep = 0;   
    }
    break;
  default:;    
  }
  
}
#if SKQD_KB_MODE==1  //闭口

//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 SK_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]  = SKQD_MotorStep;
  user_datas[122]  = SKQD_AutoStep;
  user_datas[124]= SKQD_cRealPos;
  user_datas[125]= bRunning;
  //       user_datas[123] = length_buff - (*SKQD_length_buffer);
  //       user_datas[127] = SKQD_cRealPos;
  //        user_datas[126] = go_buff - SKQD_cRealPos;
  
  
  
  if(!cDLJ_ATUO)
  {
    switch(SKQD_MotorStep)
    {
    case 30:
      switch(SKQD_PARAM_BACK_MODE)  //开口分四种模式 
      {
      case 0: //单数控模式
        SKQD_MotorStep   = 310;  //每种模式留20步
        SKQD_DGLG_VAVLE = 1;  //顶过链杆关
        break;
      case 1://单感应模式
        SKQD_MotorStep   = 330;  //每种模式留20步
        SKQD_DGLG_VAVLE = 0; 
        
        break;
      case 2: //先感应后数控模式+检测
        SKQD_MotorStep   = 350;  //每种模式留20步
        SKQD_DGLG_VAVLE = 0; 
        break;
      default:  //数控模式+过链检测长度
        
        break;
      }  
      SKQD_MotorDelay  =    dwTickCount + SKQD_PARAM_DELAY_BACK; 
      break;
      
    case 310:   
      if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      SKQD_MotorDelay  =    dwTickCount + SKQD_PARAM_DELAY_BACK; 
      SetDir(X_AXIS, SKQD_DIR_P);
      SKQD_JZ_DIR   = SKQD_YDIR_P; 
      SetPos(X_AXIS, 0);
      SKQD_DGLG_VAVLE = 1;  //顶过链杆关
      SKQD_length_buffer = &SKQD_PARAM_OFFSET_LENGTH;
      if(SKQD_PARAM_BL_ENABLE)   //
        SKQD_BinLianStep = 1;
      SKQD_MotorStep   = 311;
      }
      break;
    case 311:	    
      if(dwTickCount >= SKQD_MotorDelay)
      {   
        back_buff = SKQD_cRealPos;
        gou_zhen_buff = SKQD_cRealPos;
        save_buff = SKQD_cRealPos;
        SKQD_length_buffer = &SKQD_PARAM_OFFSET_LENGTH;
        DCC_TIME_BL=SKQD_PARAM_GO_HIGH_SPEED/500;                                                
        AxisMovePosAccDecNotStop(X_AXIS,SKQD_PARAM_BACK_SPEED,SKQD_PARAM_ZIPPER_LENGTH + (*SKQD_length_buffer), SKQD_PARAM_START_SPEED,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_ACC,DCC_TIME_BL,SKQD_PARAM_BACK_LOW_SPEED_LENGTH);          
        SKQD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
        SKQD_MotorStep   = 312;
      }
      break; 
    case 312:      
      //勾针提前输出
      if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_GOUZHEN_LENGTH ))
        SKQD_GZ_VAVLE = 1;
      if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_YaDai_LENGTH ))
        SKQD_YD_ONE_VAVLE = 1;
      if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_HuLian_LENGTH ))
        SKQD_HULIAN_VAVLE = 1;
      
      if((SKQD_cRealPos) > (SKQD_PARAM_ZIPPER_LENGTH + (*SKQD_length_buffer) - SKQD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*SKQD_length_buffer) - (SKQD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(SKQD_PARAM_BACK_SPEED,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_DCC)))))
      {           
        SKQD_MotorDelay  = dwTickCount + 3000; //钩针未到位延时警告
        SKQD_MotorStep   = 313;                                 
      }
      
      break;
    case 313:
      if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_GOUZHEN_LENGTH ))
      {
        SKQD_GZ_VAVLE = 1;
      }   
      if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_YaDai_LENGTH ))
        SKQD_YD_ONE_VAVLE = 1;
      if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_HuLian_LENGTH ))
        SKQD_HULIAN_VAVLE = 1;
      if(!SKQD_GOUZHEN_IN)
      {                      
        AxisEgmStop(X_AXIS);
         if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
        SKQD_MotorDelay  =    dwTickCount + 10;
        SKQD_YD_VAVLE = 1;
        SKQD_MotorStep   = 314;
        SKQD_BL_VAVLE = 0;  //停止时并链一定要打开
      }
      }
      else if((SKQD_cRealPos >= SKQD_PARAM_ZIPPER_LENGTH + 200 + (*SKQD_length_buffer)))// 长度超出2CM就警告
      {
        AxisEgmStop(X_AXIS);
        if(dwTickCount >= SKQD_MotorDelay)                            
          SKQD_SetAlarmCode(SKQD_GZ_ALARM);
      }
      break;
    case 314:     
      if(!X_DRV && (dwTickCount >= SKQD_MotorDelay))
      {    
        SKQD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
        SKQD_YD_VAVLE = 1;
        SKQD_MotorStep   = 315;
    
      }   
      break;
    case 315:
      
      if(cZipCnt == 0)
      {
        ch = SKQD_PARAM_ZIPPER_LENGTH  + (*SKQD_length_buffer)-SKQD_PARAM_WC_LENGTH; 
        kk = SKQD_PARAM_ZIPPER_LENGTH  + (*SKQD_length_buffer)+SKQD_PARAM_WC_LENGTH;
      }   
      else
      {
        ch = SKQD_PARAM_ZIPPER_LENGTH  + (*SKQD_length_buffer)-SKQD_PARAM_WC_LENGTH;                            
        kk = SKQD_PARAM_ZIPPER_LENGTH  + (*SKQD_length_buffer)+SKQD_PARAM_WC_LENGTH;                           
      }
      
      if(SKQD_cRealPos < ch) 
      { 
        SetAlarmCode(SKQD_ALARM_ADDR,SKQD_LENGTH_SHORT_ALARM);   
        if(dwTickCount >= SKQD_MotorDelay)
          bAlarmStop = 1;
      }          
      else if(SKQD_cRealPos > kk)
      {
        SetAlarmCode(SKQD_ALARM_ADDR,SKQD_LENGTH_LONG_ALARM);   
        if(dwTickCount >= SKQD_MotorDelay)
          bAlarmStop = 1;
      }     
      else
      {
           if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
        
        SKQD_MotorStep   = 390;
      }
      }
      break;
    case 330:  
         if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      back_buff = SKQD_cRealPos;
      gou_zhen_buff = SKQD_cRealPos;
      save_buff = SKQD_cRealPos;     
      SKQD_MotorStep   = 331;   
      SetDir(X_AXIS, SKQD_DIR_P);           
      }
      
      break;
    case 331:  
      if(dwTickCount >= SKQD_MotorDelay)
      {   
        
        SKQD_MotorStep   = 332; 
        if(cZipCnt < 2)
        {
          if(SKQD_PARAM_BL_ENABLE)
            SKQD_BinLianStep = 10;  //并链起动
          //第一条都是过链感应，后拉速度减半//原来SKQD_PARAM_CHECK_BACK_HSPEED/2
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_CHECK_BACK_HSPEED,SKQD_DIR_P,SKQD_PARAM_START_SPEED,1000,8,13);
          
          
        }   
        else
        {  
          if(SKQD_PARAM_BL_ENABLE)
            SKQD_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,SKQD_PARAM_BACK_SPEED,SKQD_DIR_P,SKQD_PARAM_START_SPEED,1000,SKQD_PARAM_ACC,SKQD_PARAM_DCC);                          
        }
      }
      break;
    case 332:
      if(cZipCnt > 1)  //第三条开始数控降速
      {
        if((SKQD_cRealPos +  SKQD_PARAM_BACK_LOW_SPEED_LENGTH + 300)>= length_buff)
        { 
          AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          SKQD_MotorStep   = 334;  //到检测定位
        }     
        if(SKQD_GUO_LIAN_IN_UP)  //重新到链上
        {
          
          AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          gou_zhen_buff = SKQD_cRealPos;
            SKQD_MotorStep   = 333;  //到检测定位
          SKQD_MotorDelay  = dwTickCount + SKQD_PARAM_FD_TIME;//SKQD_PARAM_DELAY_XM;
          
          
        }
        if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_YaDai_LENGTH ))
          SKQD_YD_ONE_VAVLE = 1;
        if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_HuLian_LENGTH ))
          SKQD_HULIAN_VAVLE = 1;
        if(!SKQD_GZ_VAVLE && (SKQD_cRealPos + SKQD_PARAM_GOUZHEN_LENGTH) > (SKQD_PARAM_ZIPPER_LENGTH ))
        {
          
          SKQD_GZ_VAVLE = 1;   
        }   
      }  
      else   //第一条工作
      {  
        
        if(SKQD_GUO_LIAN_IN_UP)
        {         
          
          checkdelay_buff = SKQD_cRealPos;
          AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED/2,25,15);                    
          SKQD_MotorDelay  = dwTickCount + SKQD_PARAM_FD_TIME;//SKQD_PARAM_DELAY_XM;
          SKQD_MotorStep   = 333;
        }  
      }
      
      
      break;
    case 333:  //此步为前两条运行
      
      if(cZipCnt > 1)  //第三条开始要长度误差
      {
        if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_YaDai_LENGTH ))
          SKQD_YD_ONE_VAVLE = 1;
        if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_HuLian_LENGTH ))
          SKQD_HULIAN_VAVLE = 1;
        if(!SKQD_GZ_VAVLE && (SKQD_cRealPos + SKQD_PARAM_GOUZHEN_LENGTH) > (SKQD_PARAM_ZIPPER_LENGTH ))
        {
          
          SKQD_GZ_VAVLE = 1;   
        } 
      }
      if(SKQD_GUO_LIAN_IN_DW)
      {
        gou_zhen_buff = SKQD_cRealPos; 
        SKQD_GouZhenDelay=dwTickCount+SKQD_PARAM_GouZhen_Delay;
        SKQD_YADaiDelay=dwTickCount+SKQD_PARAM_YaDai_Delay;
        SKQD_HuLianDelay=dwTickCount+SKQD_PARAM_HuLian_Delay; 
        
      }
      if(dwTickCount >= SKQD_MotorDelay)
      {
        if(SKQD_GUO_LIAN_IN)
        {
          
          AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          back_buff = SKQD_cRealPos;
          SKQD_MotorDelay  =    dwTickCount + 30;
          SKQD_MotorStep   = 334;
        }
      }
      else
      {
        if(!SKQD_GUO_LIAN_IN)
        {
          SKQD_MotorStep   = 332;
          
        }
      }                   
      break;   
    case 334:  
      if(SKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
      {      
        
        gou_zhen_buff = SKQD_cRealPos;
        SKQD_MotorStep   = 335;
        SKQD_GouZhenDelay=dwTickCount+SKQD_PARAM_GouZhen_Delay;
        SKQD_YADaiDelay=dwTickCount+SKQD_PARAM_YaDai_Delay;
        SKQD_HuLianDelay=dwTickCount+SKQD_PARAM_HuLian_Delay; 
      }         
      if(cZipCnt > 1)  //第三条开始要长度误差
      {
        if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_YaDai_LENGTH ))
          SKQD_YD_ONE_VAVLE = 1;
        if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_HuLian_LENGTH ))
          SKQD_HULIAN_VAVLE = 1;
        if(!SKQD_GZ_VAVLE && (SKQD_cRealPos + SKQD_PARAM_GOUZHEN_LENGTH) > (SKQD_PARAM_ZIPPER_LENGTH ))
        {
          SKQD_GZ_VAVLE = 1;    
          SKQD_MotorStep   = 335;  //到检测定位
          
        } 
        
        
        
      }
      if(cZipCnt > 1)  //第三条开始要长度误差
      {  
        if(SKQD_cRealPos >= (length_buff + SKQD_PARAM_ERROR_LENGTH))
        {                    
          SKQD_SetAlarmCode(SKQD_LENGTH_LONG_ALARM);
          
        }  
      }  
      
      
      break;
    case 335:
      if(cZipCnt > 1)  //第三条开始要长度误差
      {
        if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_YaDai_LENGTH ))
          SKQD_YD_ONE_VAVLE = 1;
        if(SKQD_cRealPos  >= (SKQD_PARAM_ZIPPER_LENGTH-SKQD_PARAM_HuLian_LENGTH ))
          SKQD_HULIAN_VAVLE = 1;
        if(!SKQD_GZ_VAVLE && (SKQD_cRealPos + SKQD_PARAM_GOUZHEN_LENGTH) > (SKQD_PARAM_ZIPPER_LENGTH ))
        {
          
          SKQD_GZ_VAVLE = 1;   
        } 
      }
      if(dwTickCount >= SKQD_GouZhenDelay)
      {
        SKQD_GZ_VAVLE=1;
      }
      if(dwTickCount >=SKQD_YADaiDelay)
      {
        SKQD_YD_ONE_VAVLE=1;
      }
      if(dwTickCount >= SKQD_HuLianDelay)
      {
        SKQD_HULIAN_VAVLE=1;
      }
      
      if(SKQD_GUO_LIAN_IN_DW)
      {
        gou_zhen_buff = SKQD_cRealPos; 
        
        
        
      }
      //在空们都把延时清零    
      if(SKQD_GUO_LIAN_IN)
      {
        gou_zhen_buff = SKQD_cRealPos; 
      }
      if(!SKQD_GOUZHEN_IN)
      {          
        AxisEgmStop(X_AXIS);
           if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
        SKQD_MotorDelay  =    dwTickCount + 10;
        SKQD_YD_VAVLE = 1;
        SKQD_MotorStep   = 336;
        SKQD_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(SKQD_cRealPos >= (length_buff + 300))
          {
            AxisEgmStop(X_AXIS);
            
            if(dwTickCount >= SKQD_MotorDelay)                            
              SKQD_SetAlarmCode(SKQD_GZ_ALARM);
          }
        }  
      }
      
      break;
    case 336:                                              
      if(cZipCnt > 1)  //长度检测
      {
        ch =SKQD_PARAM_ZIPPER_LENGTH;                                                                         
        
        if(((SKQD_cRealPos + SKQD_PARAM_ERROR_LENGTH) < (ch)) && SKQD_PARAM_ERROR_LENGTH) 
        { 
          SKQD_SetAlarmCode(SKQD_LENGTH_LONG_ALARM);
          cJiaDaione=1;
          
        }          
        else if((SKQD_cRealPos > (ch + SKQD_PARAM_ERROR_LENGTH)) && SKQD_PARAM_ERROR_LENGTH)//(SKQD_PARAM_ERROR_LENGTH - 200 + (*SKQD_length_buffer)+50)))
        {
          
          SKQD_SetAlarmCode(SKQD_LENGTH_SHORT_ALARM);
          cJiaDaione=1;
        }  
        else
        {
          SKQD_MotorStep   = 337;
        }
      }
      else 
      {  
        if(cZipCnt == 1)
        {
          length_buff = SKQD_cRealPos - save_buff;
          SetData32bits(SKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);  //测量记录长度
        }     
        SKQD_MotorStep   = 337;
      } 
      break;                    
    case 337:  
         if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      SKQD_MotorStep   = 390;
      }
      
      break;
      //350步到369步单感应模式   
    case  350:  
          if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      back_buff = SKQD_cRealPos;
      gou_zhen_buff = SKQD_cRealPos;
      save_buff = SKQD_cRealPos;     
      SKQD_MotorStep   = 351;   
      break; 
      }
      
    case 351:  
      if(dwTickCount >= SKQD_MotorDelay)
      {   
        
        SKQD_MotorStep   = 352; 
        //第一,二条都是过链感应，测量长度
        if(cZipCnt < 2)
        {
          if(SKQD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
            SKQD_BinLianStep = 10;  //并链起动
          SKQD_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,SKQD_PARAM_CHECK_BACK_HSPEED,SKQD_DIR_P,SKQD_PARAM_START_SPEED,1000,8,12);
          
        }   
        else
        {  
          if(SKQD_PARAM_BL_ENABLE)
            SKQD_BinLianStep = 1;  //并链起动
          SKQD_DGLG_VAVLE = 1;  //顶过链杆关
          SKQD_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
          SKQD_MotorStep   = 311; 
        }  
      }
      break;
    case 352:
      //前两条都按最低速度工作
      if(SKQD_GUO_LIAN_IN_UP)
      {                                 
        checkdelay_buff = SKQD_cRealPos;
        AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED/2,25,15);    
        SKQD_MotorDelay  = dwTickCount + 5;//SKQD_PARAM_DELAY_XM;
        SKQD_MotorStep   = 353;   
        
      }  
      
      break;
    case 353:
      
      if(SKQD_GUO_LIAN_IN_DW)
      {
        gou_zhen_buff = SKQD_cRealPos; 
        SKQD_GouZhenDelay=dwTickCount+SKQD_PARAM_GouZhen_Delay;
        SKQD_YADaiDelay=dwTickCount+SKQD_PARAM_YaDai_Delay;
        SKQD_HuLianDelay=dwTickCount+SKQD_PARAM_HuLian_Delay;
        
      }
      if(dwTickCount >= SKQD_MotorDelay)
      {
        if(SKQD_GUO_LIAN_IN)
        {
          
          AxisContinueMoveChangeSpeed(X_AXIS,SKQD_PARAM_BACK_LOW_SPEED,SKQD_PARAM_BACK_LOW_SPEED/2,25,15);   
          back_buff = SKQD_cRealPos;
          SKQD_MotorDelay  =    dwTickCount + 30;
          SKQD_MotorStep   = 359;
        }
      }
      else
      {
        if(!SKQD_GUO_LIAN_IN)
        {
          SKQD_MotorStep   = 352;
          
        }
      }        
      
      break;   
    case 359:
      if(SKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
      {      
        
        gou_zhen_buff = SKQD_cRealPos;
        SKQD_MotorStep   = 354;
        SKQD_GouZhenDelay=dwTickCount+SKQD_PARAM_GouZhen_Delay;
        SKQD_YADaiDelay=dwTickCount+SKQD_PARAM_YaDai_Delay;
        SKQD_HuLianDelay=dwTickCount+SKQD_PARAM_HuLian_Delay; 
      }         
      
      break;
      
      
    case 354:
      if(dwTickCount >= SKQD_GouZhenDelay)
      {
        SKQD_GZ_VAVLE=1;
      }
      if(dwTickCount >=SKQD_YADaiDelay)
      {
        SKQD_YD_ONE_VAVLE=1;
      }
      if(dwTickCount >= SKQD_HuLianDelay)
      {
        SKQD_HULIAN_VAVLE=1;
      }
      if(SKQD_GUO_LIAN_IN_DW)  //下降沿,定位长度
      {      
        if(SKQD_GUO_LIAN_IN_DW)
        {                  
          gou_zhen_buff = SKQD_cRealPos;
          SKQD_MotorStep   = 355;
          
          
        }                     
      }
      if(!SKQD_GOUZHEN_IN)
      {           
        
        AxisEgmStop(X_AXIS);
            if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
        SKQD_MotorDelay  =    dwTickCount + 10;
        SKQD_YD_VAVLE = 1;
        SKQD_MotorStep   = 356;
        SKQD_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(!SKQD_GOUZHEN_IN)
      {    
        
        AxisEgmStop(X_AXIS);
            if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
        SKQD_MotorDelay  =    dwTickCount + 10;
        SKQD_YD_VAVLE = 1;
        SKQD_MotorStep   = 356;
        SKQD_BL_VAVLE = 0;  //停止时并链一定要打开
      }
      }                   
      break;
    case 356:                                              
      if(cZipCnt == 1)
      {
        length_buff = SKQD_cRealPos - save_buff;
        SetData32bits(SKQD_PARAM_ZIPPER_LENGTH_ADDR,length_buff);  //测量记录长度
      }     
      SKQD_MotorStep   = 357;
      
      break;                    
    case 357:
      if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      SKQD_MotorStep   = 390;   //延时反转步
      }
      break;      
      
    case 390:
      SKQD_MotorDelay  =    dwTickCount +35;
      SKQD_MotorStep   = 391;
      break;
    case 391:
      if(dwTickCount >= SKQD_MotorDelay) 
      {
        AxisMovePosAccDec(X_AXIS,2200,-SKQD_PARAM_FZ_LENGTH,2200,2200,10,10,0);       
        SKQD_MotorStep   = 0;
      }
      break;   
      
      
    case 40:
      //切完延时后拉带松夹子
      if(SKQD_PARAM_SJZ_LENGTH == 0)
      {
        SKQD_MotorDelay  = dwTickCount + SKQD_PARAM_TDYS_DELAY;
        AxisMovePosAccDecNotStop(X_AXIS,SKQD_PARAM_CUT_BACK_SPEED,SKQD_PARAM_BACK_LENGTH,500,1500,100,100,00);          
        SetDir(X_AXIS, SKQD_DIR_P);
        SKQD_MotorStep   = 44;
        SKQD_JD_VAVLE = 0; 
      }
      else
      {
        jz_buff = SKQD_cRealPos;
        SetDir(X_AXIS, SKQD_DIR_P);
        SKQD_MotorStep   = 41;
      }
      break; 
    case 41:
      
      AxisMovePosAccDecNotStop(X_AXIS,SKQD_PARAM_CUT_BACK_SPEED,SKQD_PARAM_SJZ_LENGTH+SKQD_PARAM_BACK_LENGTH,500,1500,100,100,00);          
      //        AxisMovePosAccDec(X_AXIS,SKQD_PARAM_CUT_BACK_SPEED,SKQD_PARAM_SJZ_LENGTH+SKQD_PARAM_BACK_LENGTH,1000,1000,80,100,0);
      SKQD_MotorStep   = 42;
      //   SKQD_MotorDelay  = dwTickCount+ 10;
      break;  
      
    case 42:	 
      
      if((SKQD_PARAM_SJZ_LENGTH <= (SKQD_cRealPos - jz_buff)))
      {
        
        SKQD_JD_VAVLE = 0;
        SKQD_GZ_VAVLE=0; 
        
        SKQD_MotorStep   = 44;
      }
      break;
    case 44:	                           // 切断完成后拉电机动作
      if((SKQD_cRealPos - jz_buff) >= (SKQD_PARAM_SJZ_LENGTH+SKQD_PARAM_BACK_LENGTH))
      {
        AxisEgmStop(X_AXIS);
        SKQD_MotorStep   = 0;
        SKQD_GZ_VAVLE=0;
        SKQD_MotorDelay  =    dwTickCount;
      }
      break; 
    case 61: // 前点定位数控模式
      if(SKQD_SZ_OUT)
      {
        SKQD_SZ_OUT   = 0;                       
        SKQD_MotorDelay = dwTickCount + 150;   
        SetPos(X_AXIS, 0);
      }
      else
        SKQD_MotorDelay = dwTickCount;
      SKQD_BL_VAVLE = 0;//并链也要打开
      SetDir(X_AXIS,SKQD_DIR_N);
      
      SKQD_JZ_DIR   = SKQD_YDIR_N; 
      if(!SKQD_TL_VAVLE && cZipCnt)  //没送链情况下主动送链
      {
        if(!SKQD_SHANG_MU_LIMIT_IN && (SKQD_TuiLianStep == 0))
        {
          SKQD_TuiLianStep = 1;
          SKQD_MotorStep = 62;
        }                          
      }
      else
        SKQD_MotorStep = 62;
      break;
    case 62:
      
      if(dwTickCount >= SKQD_MotorDelay)
      {                            
        if(SKQD_QIAN_LIMIT_IN)
        {
          //      SetPos(X_AXIS, 0);//在前点，直接置零点
          SetDir(X_AXIS,SKQD_DIR_N);
          //           AxisMovePosAccDec(X_AXIS,3000,SKQD_PARAM_QDW_LENGTH,2000,2000,SKQD_PARAM_ACC,SKQD_PARAM_DCC,0);                                   
          SKQD_JZ_DIR   = SKQD_YDIR_P; 
          //前点亮的情况下先退出
          AxisMovePos(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,1000);                           
          SKQD_MotorDelay = dwTickCount + 300;
        }
        SKQD_MotorStep = 63;            
        SKQD_JD_VAVLE = 0;  
      }
      break;
    case 63:
      if(!X_DRV && !SKQD_QIAN_LIMIT_IN && (dwTickCount >= SKQD_MotorDelay))// && !SKQD_SHANG_MU_LIMIT_IN)
      {
        if(SKQD_ANQUANMEN_LIMIT_IN_UP)
        {
          
          SKQD_StopStep=1;
          cSTOPONE=1;
        }
        SetDir(X_AXIS, SKQD_DIR_N);
        SKQD_JZ_DIR   = SKQD_YDIR_N; 
        go_buff  = SKQD_cRealPos;
        SKQD_YD_VAVLE = 1;
        SKQD_HL_VAVLE = 1;      
        SKQD_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(SKQD_cRealPos>(SKQD_PARAM_GO_LOW_SPEED_LENGTH))   
          {   
            
            DCC_TIME_BL=SKQD_PARAM_GO_HIGH_SPEED/500;
            AxisMovePosAccDecNotStop(X_AXIS,SKQD_PARAM_GO_HIGH_SPEED,-SKQD_cRealPos,
                                     SKQD_PARAM_START_SPEED,SKQD_PARAM_GO_LOW_SPEED,SKQD_PARAM_ACC,DCC_TIME_BL,
                                     SKQD_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,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_N,SKQD_PARAM_GO_LOW_SPEED/3,1000,15,15);
            
          }
          
        }
        else
        {
          //                  X轴       运行速度                    启动速度        加速度  减速度
          AxisContinueMoveAcc(X_AXIS,SKQD_PARAM_GO_LOW_SPEED,SKQD_DIR_N,SKQD_PARAM_GO_LOW_SPEED/3,1000,15,20);
          // MoveAction_Const_AccDec(X_AXIS, SKQD_DIR_N,SKQD_PARAM_FIRST_GO_HIGHSPEED,SKQD_PARAM_START_SPEED,SKQD_PARAM_ACC,SKQD_PARAM_DCC);//
        }
        
        SKQD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
        SKQD_MotorStep   =64;
      }  
      
      break;
    case 64:
      
      if(SKQD_ANQUANMEN_LIMIT_IN_UP)
      {
        
        SKQD_StopStep=1;
        cSTOPONE=1;
      }
      if(cZipCnt > 1)
      {                         
        //李永庆代码
        if(((SKQD_cRealPos) < (SKQD_PARAM_GO_LOW_SPEED_LENGTH+1200)))// || (SKQD_QIAN_DEC_IN))
        {
          
          SKQD_MotorStep   =65;
        }
        if(SKQD_QIAN_LIMIT_IN)  //前点限位
        {
          SetPos(X_AXIS, SKQD_PARAM_QDW_LENGTH);
          AxisMovePosAccDec(X_AXIS,1000,-SKQD_PARAM_QDW_LENGTH,1000,1000,5,5,00);    
          SKQD_MotorStep   = 66;                            
        }
      }
      else
      {                            
        if(SKQD_QIAN_LIMIT_IN)  //前点限位
        {
          SetPos(X_AXIS, SKQD_PARAM_QDW_LENGTH);
          AxisMovePosAccDec(X_AXIS,1000,-SKQD_PARAM_QDW_LENGTH,1000,1000,5,5,00);     
          SKQD_MotorStep   = 66;                            
        }
      }
      
      break;
    case 65:
      if(SKQD_ANQUANMEN_LIMIT_IN_UP)
      {
        
        SKQD_StopStep=1;
        cSTOPONE=1;
      }
      if(SKQD_QIAN_LIMIT_IN)
      {
        SetPos(X_AXIS, SKQD_PARAM_QDW_LENGTH);
        AxisMovePosAccDec(X_AXIS,1000,-SKQD_PARAM_QDW_LENGTH,1000,1000,5,5,00);    
        SKQD_MotorStep   = 66;      
        
      }
      else if(dwTickCount >= SKQD_MotorDelay)
        SKQD_SetAlarmCode(SKQD_NO_ZIPPER_ALARM);
      
      break;
    case 66:
      if(SKQD_ANQUANMEN_LIMIT_IN_UP)
      {
        
        SKQD_StopStep=1;
        cSTOPONE=1;
      }
      if(!X_DRV || SKQD_cRealPos<0)
      {   
        AxisEgmStop(X_AXIS);
        SetPos(X_AXIS, 0);
         if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
        SKQD_MotorDelay =    dwTickCount;
        SKQD_MotorStep   = 67;
      }
      }
      break;   
    case 67:  //等推链完成后,
      if((dwTickCount >= SKQD_MotorDelay) && (SKQD_TuiLianStep == 0) && ((SKQD_PARAM_TIAOSHI_MODE && SKQD_bTS) || (SKQD_PARAM_TIAOSHI_MODE == 0)) )
      {
        if(bRunning)
        {
          SKQD_JD_VAVLE = 1;
          SKQD_MotorDelay =    dwTickCount + SKQD_PARAM_DELAY_BACK;
        }
        SKQD_MotorStep   = 68;
      }
      break;
    case 68:
      if(dwTickCount >= SKQD_MotorDelay)
      {
         if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
        SKQD_HULIAN_VAVLE=0;
        SKQD_YD_ONE_VAVLE=0;
        SKQD_YD_VAVLE = 0;
        SKQD_HL_VAVLE = 0;      
        SKQD_YX_VAVLE = 0;
        SKQD_CHUIQIStep=1;
        SKQD_TL_VAVLE    = 0;
        SKQD_MotorStep   = 0;
        SKQD_MotorDelay  = dwTickCount;
      }
      }
      break;
      
    }
  }
}
#endif
//电机动作
void SK_QueDuan_Motor(void)	 
{
  if(SKQD_KB_MODE) //闭口
  {
#if SKQD_KB_MODE  //闭口      
    SK_QueDuan_Motor_NoGL(); 
#endif        
  }
  else  //开口
  {
#if !SKQD_KB_MODE  //开口
    SK_QueDuan_Motor_KK();  //
#endif
  }  
  
}



void SK_QueDuan_TuiLianAction(void)
{
  if(SKQD_PARAM_XM_ENABLE == 0)
  {
    SKQD_TuiLianStep = 0;
  }
  else
  {  
    switch(SKQD_TuiLianStep) 
    {
    case 1:
      SKQD_TuiLianStep = 2;
      break;
    case 2:
      SKQD_TLDelay     = dwTickCount + SKQD_PARAM_YD_DELAY;
      SKQD_TuiLianStep = 3;
      break;
    case 3:
      if(!SKQD_SM_VAVLE && !SKQD_SHANG_MU_LIMIT_IN)//dwTickCount >= SKQD_TLDelay)
      {   
        SKQD_TL_VAVLE    = 1;
        // SKQD_TFK_VAVLE  = 0;
        //  if(!bRunning)SKQD_TFK_VAVLE = 1;
        
        SKQD_TLDelay     = dwTickCount + SKQD_PARAM_TL_DELAY;
        SKQD_TuiLianStep = 4;
      }
      break;
    case 4:
      if(dwTickCount >= SKQD_TLDelay)
      {
        SKQD_TuiLianStep = 0;
        
      }
      break;
    case 10:
      
      SKQD_TuiLianStep = 11;
      break;
    case 11:
      if(!Y_DRV)
      {
        {
          SKQD_TuiLianStep = 0;
        }
      }
      break;
    }
  }
}

//闭口专用
void SK_QueDuan_XiaQue_NO_GL(void)
{
  switch(SKQD_XiaQieStep) 
  {
  case 0:
    break;
  case 1:
    if(!bRunning)
    { 
      SKQD_YD_VAVLE = 1;
      SKQD_HULIAN_VAVLE=1;
      SKQD_YD_ONE_VAVLE=1;
      SKQD_XiaQieStep = 2;                             
      SKQD_XiaQieDelay = dwTickCount + 80;
      
    }
    else
    {
      SKQD_YD_VAVLE = 1;
      SKQD_XiaQieDelay = dwTickCount + 20;
      SKQD_XiaQieStep = 2;  
    }
    break;
  case 2:
    if(dwTickCount >= SKQD_XiaQieDelay)
    {
       SKQD_GZ_VAVLE=1;
      if(SKQD_PARAM_GouZhen_MODE)
        SKQD_GZ_VAVLE=0;
      SKQD_XiaQieStep = 3;  
      SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_CUT_DELAY;
    }
    break;
  case 3:
    if(dwTickCount >= SKQD_XiaQieDelay && (bRunning || !SKQD_GOUZHEN_IN  ))
    {      
      
       if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      if((SKQD_PARAM_TIAOSHI_MODE && SKQD_bTS) || (SKQD_PARAM_TIAOSHI_MODE == 0))
      {
        SKQD_SM_VAVLE   = 1;
        if(!SKQD_PARAM_XM_ENABLE)
          SKQD_XM_VAVLE   = 1;
        SKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
        SKQD_XiaQieStep = 4;   
      }
      }
      
      
    }
    
    break;
  case 4://永兴为下模固定
    if(SKQD_SHANG_MU_LIMIT_IN && (SKQD_XIA_MU_LIMIT_IN || SKQD_PARAM_XM_ENABLE))
    {    
       if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      SKQD_GZ_VAVLE   = 0;
      if(!SKQD_PARAM_CS_MODE)  //气切
      {
        SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_DELAYBACK_SM;       // 
        SKQD_XiaQieStep = 5;      
      }
      else
      {
        SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_DELAY_CS;       // 
        SKQD_XiaQieStep = 10;                      
      }     
      }
    }
    else if(dwTickCount >= SKQD_XiaQieDelay)SKQD_SetAlarmCode(SKQD_SM_DAOWEI);
    break;
  case 5:
    if(dwTickCount >= SKQD_XiaQieDelay)	
    {
       if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      
      SKQD_SM_VAVLE   = 0; 
      SKQD_XM_VAVLE   = 0;
      SKQD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       // 
      SKQD_XiaQieStep = 6;	
      }
    }
    break;
  case 6:
    if(!SKQD_SHANG_MU_LIMIT_IN && (!SKQD_XIA_MU_LIMIT_IN || SKQD_PARAM_XM_ENABLE))  //下模不动就不用判断	
    {   
       if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      if(SKQD_TuiLianStep == 0)
        SKQD_TuiLianStep = 1;
      if(!bRunning)
        SKQD_JD_VAVLE = 0;
      SKQD_XiaQieStep = 0;
      }
      
    }
    else if(dwTickCount >= SKQD_XiaQieDelay)	
    {
      SKQD_SetAlarmCode(SKQD_SM_YUANWEI);
    }
    
    break;
    //10~11步为超声
  case 10:
    if(dwTickCount >= SKQD_XiaQieDelay)	
    {
       if(!SKQD_bDanBuAuto ||  SKQD_START_IN_UP)
      {
      if(SKQD_PARAM_CS_ENABLE)SKQD_CS_OUT = 1;
      SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_CS_TIME;       // 
      SKQD_XiaQieStep = 11;      
      }
    }
    break;
  case 11:
    if(dwTickCount >= SKQD_XiaQieDelay)	
    {
      SKQD_CS_OUT = 0;
      SKQD_XiaQieDelay = dwTickCount + SKQD_PARAM_CS_COLD_TIME;       // 
      SKQD_XiaQieStep = 5;	
    }
    break;
  case 100:
    if(dwTickCount >= SKQD_XiaQieDelay)
    {
      
      //这是双开程序，暂时不考虑
#if 1
      if(SKQD_GOUZHEN_IN)
      {
        SKQD_YD_VAVLE = 1;
        SKQD_XiaQieStep = 3;  
      }
#endif                     
    }
    break;
  }	
}
//切断动作
void SK_QueDuan_XiaQue(void)	 
{
  
  if(SKQD_KB_MODE) //闭口
  {
    SK_QueDuan_XiaQue_NO_GL();  //
  }
  
}






#endif