GC19038/Machine/JuXingMachine/JXTieBuJi.c

#include "global.h"

#if JU_XING_MACHINE == 1

void TBJ_InitAction(void);
void TBJ_Action(void);
void TBJ_ChuiQi(void);
void TBJ_ChaoShengHeMo(void);
void TBJ_SetAlarmCode(unsigned alarm_code); //等待调用
void TBJ_StartStopAction(void);
void TBJ_AutoRunStep(void);
void TBJ_Motor(void);
void TBJ_SongJiao(void);
void TBJ_STOP_Action(void);
void TBJ_ChuiQi_Stop(void);

void TBJ_Action(void)
{
    //步骤显示
    DISPLAY_DATA0 = TBJ_Auto_Step;
    DISPLAY_DATA1 = TBJ_Motor_Step;
    DISPLAY_DATA2 = TBJ_HMCS_Step;
    DISPLAY_DATA3 = TBJ_SJ_FJ_Step;
    DISPLAY_DATA4 = TBJ_SAVE_POS;
    DISPLAY_DATA5 = GetPos(X_AXIS);
  //  InputPinConfig();
    TBJ_ManualAction();
    TBJ_ChaoShengHeMo();
    TBJ_StartStopAction();
    TBJ_AutoRunStep();
    TBJ_Motor();
    TBJ_SongJiao();
 //   OutputPinConfig();
    TBJ_STOP_Action();
    TBJ_ChuiQi_Stop();
}

//故障报警
void TBJ_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(TBJ_ALARM_ADDR, alarm_code);
    TBJ_bAlarmStop = 1;
}

void TBJ_InitAction(void)
{
    float buff_pulse, buff_dist;

    //电机松轴
    SetEn(X_AXIS, TBJ_MOTOR_DISEN);
    //电机脉冲与距离比例计算
    buff_pulse = TBJ_PARAM_CYCLE_PULSE;  //电机走一圈所需的脉冲
    buff_dist = TBJ_PARAM_CYCLE_LENGTH;  //电机走一圈长度
    XGearRatio = buff_pulse / buff_dist; //可根据距离换算所需脉冲，反之一样

    TBJ_CHENGXU_UPDATE = 1; //便于屏幕判断程序有无更新

    SetDirReverse(X_AXIS, 0);
    SetAlarmCode(TBJ_ALARM_ADDR, TBJ_NO_ALARM); //警告要清除
}

//吹气
void TBJ_ChuiQi(void)
{
    if (!TBJ_CQ_VAVLE)
    {
        TBJ_CQ_VAVLE = 1;
        TBJ_CQ_Delay = dwTickCount + TBJ_PARAM_ChuiQi_TIME;
    }
}
//停止吹气
void TBJ_ChuiQi_Stop(void)
{
    if (TBJ_CQ_VAVLE && dwTickCount >= TBJ_CQ_Delay && dwTickCount >= TBJ_CS_Delay)
        TBJ_CQ_VAVLE = 0;
}
//红外算出来的时间重新赋值
void TBJ_ResetCsTime(void)
{
    if (TBJ_PARAM_CS_MODE == 0)
        user_datas[33] = user_datas[57];
    else
        user_datas[6] = user_datas[57];
}
//超声时间选择
unsigned short TBJ_Choose_CSTime(void)
{
    if (TBJ_PARAM_CS_MODE == 0)       //超声模式 0为透明胶 1为布胶
        return TBJ_PARAM_TMJ_CS_TIME; //透明胶超声时间
    else
        return TBJ_PARAM_BJ_CS_TIME; //布胶超声时间
}
//固化时间选择
unsigned short TBJ_Choose_COLDTime(void)
{
    if (TBJ_PARAM_CS_MODE == 0)
        return TBJ_PARAM_TMJ_GH_TIME; //透明胶固化时间
    else
        return TBJ_PARAM_BJ_GH_TIME; //布胶固化时间
}
//手动动作
void TBJ_ManualAction(void)
{
    if (!TBJ_bRunning)
    {
        //手动钩针输出
        if (TBJ_HAND_GOUZHEN) //X02手动钩针触发
        {
            //X02上升沿               送胶到位感应             单钩针模式                     滚轮模式
            if (TBJ_HAND_GOUZHEN_UP && (!TBJ_SJ_LIMIT_IN || TBJ_PARAM_SGZSelect || TBJ_PARAM_SongJiaoMode))
                TBJ_GZ_VAVLE = 1;              //钩针输出
            else if (TBJ_PARAM_SGZSelect == 0) //双钩针模式
            {
                if (TBJ_GZ_VAVLE && TBJ_TD_LIMIT_IN && !TBJ_XM_VAVLE) //钩针已输出  拖带到位感应亮    下模无输出
                {
                    TBJ_XM_VAVLE = 1;                               //下模输出
                    TBJ_GZ_Delay = dwTickCount + TBJ_PARAM_JJ_TIME; //下模输出时间
                }
                if (TBJ_XM_VAVLE && (dwTickCount > TBJ_GZ_Delay))
                {
                    TBJ_GZ_VAVLE = 0;
                }
            }
        }
        //屏幕按钮手动钩针
        if (TBJ_bGZ)
        {
            TBJ_bGZ = 0;
            if (TBJ_GZ_VAVLE)
                TBJ_GZ_VAVLE = 0;
            else
                TBJ_GZ_VAVLE = 1;
        }

        //手动分胶
        if ((TBJ_HAND_FENJIAO_UP || TBJ_bFJ) &&
            (((!TBJ_GZ_ORIGIN_IN) && (TBJ_PARAM_SGZSelect == 1))                         //单钩针模式下的判断
             || ((TBJ_PARAM_SGZSelect == 0) && TBJ_GZ_ORIGIN_IN && !TBJ_TD_LIMIT_IN))    //双钩针模式下的判断
            && !TBJ_SM_VAVLE && !TBJ_SM_LIMIT_IN && !TBJ_HAND_CHAOSHENG                  //下模判断  超声未打开
            && (TBJ_FJ_VAVLE || (!TBJ_SJ_VAVLE && !TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN)) //未进分胶，送胶不能输出，进完分胶后，无视送胶状态，可退分胶
        )
        {
            TBJ_bFJ = 0;
            if (TBJ_FJ_VAVLE && !TBJ_HAND_FENJIAO)
                TBJ_FJ_VAVLE = 0;
            else
                TBJ_FJ_VAVLE = 1;
        }
        else if (TBJ_HAND_FENJIAO_DW)
            TBJ_FJ_VAVLE = 0;
        else if (TBJ_bFJ)
        {
            TBJ_bFJ = 0;
            if (!(((!TBJ_GZ_ORIGIN_IN) && (TBJ_PARAM_SGZSelect == 1)) || ((TBJ_PARAM_SGZSelect == 0) && TBJ_GZ_ORIGIN_IN && !TBJ_TD_LIMIT_IN)))
                TBJ_SetAlarmCode(34); //E34 手动分胶停止，原因可能如下①夹胶非单独气缸，压胶阀未关闭；②单钩针模式下，钩针退位了；③双钩针模式下，钩针未退位；
            else if (TBJ_SM_VAVLE)
                TBJ_SetAlarmCode(35); //E35 手动分胶停止，下冲气缸未退位
            else if (TBJ_SM_LIMIT_IN)
                TBJ_SetAlarmCode(36); //E36 手动分胶停止，下冲气缸未退位或X14下冲到位感应异常
            else if (TBJ_HAND_CHAOSHENG)
                TBJ_SetAlarmCode(37); //E37 手动分胶停止，超声未关闭
            else if (TBJ_SJ_LIMIT_IN)
                TBJ_SetAlarmCode(38); //E38 手动分胶停止，送胶阀未退回，或X16送胶到位感应异常
            else if (!TBJ_SJ_ORIGIN_IN)
                TBJ_SetAlarmCode(39); //E39 手动分胶停止，送胶阀未退回，或X17退胶到位感应异常
        }
        //手动送胶
        if ((TBJ_HAND_SONGJIAO_UP || (TBJ_bSJ && !TBJ_SJ_VAVLE)))               //按钮按下 送胶阀未输出 进行送胶
        {                                                                       //手动送胶 || （按钮送胶 && 送胶阀没输出）&& （！1二次拖带的情况下考虑钩针阀没有输出）
            if ((TBJ_PARAM_SGZSelect || (TBJ_GZ_ORIGIN_IN && !TBJ_TD_LIMIT_IN)) //单钩针模式，钩针与送胶阀错位，不用考虑相撞，双钩针模式下的判断，钩针钩住拖带后退，可能会与送胶阀产生碰撞
                && (TBJ_FJ_LIMIT_IN ^ TBJ_FJ_ORIGIN_IN) && TBJ_SJ_ORIGIN_IN     //判断分胶阀有无出错，只能到位或原位  送胶阀后感应亮
                && !TBJ_SM_VAVLE && !TBJ_SM_LIMIT_IN && !TBJ_HAND_CHAOSHENG     //上模判断  超声未打开
                && (!TBJ_PARAM_TWOTD_SELECT || !TBJ_GZ_VAVLE))                  //二次拖带下需考虑钩针有无退回
            {
                if (!TBJ_YD_VAVLE) //压胶阀没输出
                {
                    TBJ_YD_VAVLE = 1;                //压胶阀输出
                    TBJ_SJ_Delay = dwTickCount + 70; //延迟70ms输出送胶阀
                }
                else if (TBJ_YD_VAVLE && (dwTickCount > TBJ_SJ_Delay))
                {
                    TBJ_SJ_VAVLE = 1; //送胶阀输出
                    TBJ_bSJ = 0;
                }
            }
            else if (TBJ_bSJ) //送胶失败，发送警告
            {
                TBJ_bSJ = 0;
                if (!(TBJ_PARAM_SGZSelect || (TBJ_GZ_ORIGIN_IN && !TBJ_TD_LIMIT_IN)))
                    TBJ_SetAlarmCode(40); //E40 手动送胶停止，双钩针模式下钩针未退回
                else if (!(TBJ_FJ_LIMIT_IN ^ TBJ_FJ_ORIGIN_IN))
                    TBJ_SetAlarmCode(41); //E41 手动送胶停止，分胶阀处于异常状态，X12,X13前后感应灯同亮或同灭
                else if (!TBJ_SJ_VAVLE && !TBJ_SJ_ORIGIN_IN)
                    TBJ_SetAlarmCode(42); //E42 手动送胶停止，X17送胶后感应异常
                else if (TBJ_SM_VAVLE)
                    TBJ_SetAlarmCode(43); //E43 手动送胶停止，下冲气缸输出中
                else if (TBJ_SM_LIMIT_IN)
                    TBJ_SetAlarmCode(44); //E44 手动送胶停止，下冲气缸未退回，或X14 下冲到位感应异常
                else if (TBJ_HAND_CHAOSHENG)
                    TBJ_SetAlarmCode(45); //E45 手动送胶停止，超声未关闭
                if (TBJ_SJ_VAVLE)
                    TBJ_SJ_VAVLE = 0;
            }
        }
        else if ((TBJ_HAND_SONGJIAO_DW || (TBJ_bSJ && TBJ_SJ_VAVLE))) //送胶阀已输出，进行退胶
        {
            if (TBJ_YD_VAVLE)
            {
                TBJ_YD_VAVLE = 0;                 //压胶阀关闭
                TBJ_SJ_Delay = dwTickCount + 120; //延迟120ms退回送胶阀
            }
            else if (!TBJ_YD_VAVLE && (dwTickCount > TBJ_SJ_Delay))
            {
                TBJ_SJ_VAVLE = 0;
                TBJ_bSJ = 0;
            }
        }
        //手动合模
        if ((TBJ_bHM || TBJ_HAND_HEMO_UP) && !TBJ_SM_VAVLE) //屏幕按钮按下 ||  上模没输出   &&    手动合模输入
        {
            if ((TBJ_HAND_HEMO_UP || TBJ_bHM) && (TBJ_FJ_ORIGIN_IN || TBJ_PARAM_FenJiaoSelect) && (!TBJ_FJ_LIMIT_IN) //分胶阀感应判断
                && (((!TBJ_SJ_LIMIT_IN) && TBJ_SJ_ORIGIN_IN) || (TBJ_PARAM_SongJiaoMode))                            //送胶阀感应判断
                && (!TBJ_FJ_VAVLE) && (!TBJ_SJ_VAVLE) && (!TBJ_CS_OUT)                                               //分胶阀判断 送胶阀判断  超声判断
                && ((TBJ_GZ_ORIGIN_IN && !TBJ_TD_LIMIT_IN) || TBJ_PARAM_SGZSelect))                                  //双钩针模式需考虑钩针有无输出
            {
                TBJ_SM_VAVLE = 1;
                if (TBJ_PARAM_XiaMo_Mode == 0) //下模活动
                {
                    TBJ_XM_VAVLE = 1;
                }
                TBJ_Hand_Hemo_flag = 1;
                TBJ_bHM = 0;
            }
            else if (TBJ_bHM)
            {
                TBJ_bHM = 0;
                if (!(TBJ_FJ_ORIGIN_IN))
                    TBJ_SetAlarmCode(46); //E46 手动合模停止，分胶阀未退位，或 X13分胶后感应异常
                else if (TBJ_FJ_LIMIT_IN)
                    TBJ_SetAlarmCode(47); //E47 手动合模停止，分胶阀未退位，或 X12分胶前感应异常
                else if (TBJ_SJ_LIMIT_IN)
                    TBJ_SetAlarmCode(48); //E48 手动合模停止，送胶阀未退位，或 X16送胶前感应异常
                else if (!TBJ_SJ_ORIGIN_IN)
                    TBJ_SetAlarmCode(49); //E49 手动合模停止，送胶阀未退位，或 X17分胶后感应异常
                else if (TBJ_CS_OUT)
                    TBJ_SetAlarmCode(50); //E50 手动合模停止，超声未关闭
            }
        }
        else if ((TBJ_bHM || TBJ_HAND_HEMO_UP) && TBJ_SM_VAVLE) //屏幕按钮按下 &&  上模已输出   &&    手动合模没输入
        {
            TBJ_SM_VAVLE = 0;              //上模退回
            if (TBJ_PARAM_XiaMo_Mode == 0) //双钩针模式下 或下模活动模式
            {
                TBJ_XM_VAVLE = 0; //下模退回
            }
            TBJ_bHM = 0;
        }
        //合模后吹气一次
        if (TBJ_SM_LIMIT_IN && TBJ_Hand_Hemo_flag) //合模到位
        {
            TBJ_ChuiQi(); //启动吹气
            TBJ_Hand_Hemo_flag = 0;
        }
        //手动超声
        if (TBJ_HAND_CHAOSHENG || ((TBJ_bCS || TBJ_bCS_FLAG) && !TBJ_HAND_CHAOSHENG_DW) && (!TBJ_FJ_VAVLE && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN || TBJ_PARAM_FenJiaoSelect) //分胶阀判断
                                      && (!TBJ_SJ_VAVLE && !TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || TBJ_PARAM_SongJiaoMode)                                                    //送胶阀判断
                                      && (dwTickCount >= TBJ_CS_Delay)                                                                                                        //超声间隔
        )
        {
            if ((TBJ_GZ_ORIGIN_IN && TBJ_TD_LIMIT_IN || TBJ_PARAM_SGZSelect) && !TBJ_SHANGCHAO_IN && !TBJ_bSC_FLAG) //钩针阀判断
            {
                if (TBJ_PARAM_XiaMo_Mode) //下模不动 超声不烧坏焊头
                {
                    if (TBJ_SM_LIMIT_IN) //已经合模
                    {
                        if ((TBJ_HAND_CHAOSHENG_UP || TBJ_bCS) && (TBJ_HMCS_Step == 0))
                        {
                            TBJ_HMCS_Step = 3; //直接发超声(按设定时间)
                            TBJ_bCS_FLAG = 1;
                        }
                    }
                    else //直接超声
                    {
                        if ((TBJ_HAND_CHAOSHENG_UP || TBJ_bCS) && !TBJ_bCS_FLAG) //按钮已按下，超声未开始
                        {
                            TBJ_bCS_FLAG = 1;                                 //cMidleCoil[0] |= (1<<10);  //M10
                            TBJ_CS_OUT = 1;                                   //发超声
                            TBJ_CS_Delay = dwTickCount + TBJ_Choose_CSTime(); //限长时间1.5
                        }
                        else if (((!TBJ_bCS && !TBJ_HAND_CHAOSHENG) || (dwTickCount >= TBJ_CS_Delay)) && TBJ_CS_OUT) //直至按钮取消或到达超声时间	关闭超声
                        {
                            TBJ_bCS = 0;
                            TBJ_bCS_FLAG = 0; //超声标志位清零
                            TBJ_CS_OUT = 0;   //关闭超声
                            TBJ_ChuiQi();     //开启吹气
                        }
                    }
                }
                /*下模活动 取消注释*/
                //          else if(TBJ_PARAM_SGZSelect == 1)//下模活动,勾针为单勾针，超声会烧坏焊头，需要合模才能超声
                //              {
                //                if((TBJ_HAND_CHAOSHENG_UP || TBJ_bCS) && !TBJ_XM_VAVLE)//下模未输出
                //                {
                //                  TBJ_bCS = 1;
                //                  TBJ_XM_VAVLE = 1;                     // 输出下模，需合模才能超声
                //                  TBJ_CS_Delay = dwTickCount + 100;     // 下模上升时间
                //                }
                //                if(TBJ_XM_VAVLE && TBJ_SM_LIMIT_IN_UP && !TBJ_bCS_FLAG && (dwTickCount >= TBJ_CS_Delay))//老款下模启动		上模到位
                //                {
                //                  TBJ_bCS_FLAG = 1;
                //                  TBJ_CS_OUT = 1;		//发超声
                //                  TBJ_CS_Delay = dwTickCount + 2000;  //限长时间2秒
                //                }
                //                if((!TBJ_bCS || (dwTickCount >= TBJ_CS_Delay)) && TBJ_CS_OUT)
                //                {
                //                  TBJ_bCS = 0;
                //                  TBJ_CS_OUT = 0;
                //                  TBJ_HMCS_Step = 4;
                //                }
                //              }
                //超声完成
                if (!TBJ_bCS && !TBJ_CS_OUT && !TBJ_HAND_CHAOSHENG) //按钮清零  超声关闭   手动超声关闭
                {
                    TBJ_bCS_FLAG = 0; //cMidleCoil[0] &= ~(1<<10);  //M10
                    TBJ_HMCS_Step = 0;
                    if (TBJ_PARAM_XiaMo_Mode == 0) //下模活动
                    {
                        TBJ_XM_VAVLE = 0; //退回下模
                    }
                }
            }
            else
                TBJ_bCS = 0;
        }
        else if (TBJ_HAND_CHAOSHENG_DW)
        {
            TBJ_bCS_FLAG = 0; //超声标志清零
            TBJ_bCS = 0;      //超声按钮清零
            TBJ_CS_OUT = 0;   //关闭超声
            TBJ_HMCS_Step = 0;
            TBJ_CS_Delay = dwTickCount + 300;
            if (TBJ_PARAM_XiaMo_Mode == 0) //下模活动
            {
                TBJ_XM_VAVLE = 0;
            }
        }
        else if (TBJ_bCS)
        {
            TBJ_bCS = 0;
            if (TBJ_FJ_VAVLE)
                TBJ_SetAlarmCode(51); //E51 手动超声停止，分胶阀未退回
            else if (TBJ_SJ_VAVLE)
                TBJ_SetAlarmCode(52); //E52 手动超声停止，送胶阀未退回
            else if (TBJ_FJ_LIMIT_IN)
                TBJ_SetAlarmCode(53); //E53 手动超声停止，分胶阀未退回，或X12分胶前感应异常
            else if (!TBJ_FJ_ORIGIN_IN && !TBJ_PARAM_FenJiaoSelect)
                TBJ_SetAlarmCode(54); //E54 手动超声停止，分胶阀未退回，或X13分胶后感应异常
            else if (TBJ_SJ_LIMIT_IN)
                TBJ_SetAlarmCode(55); //E55 手动超声停止，送胶阀未退回，或X16送胶到位感应异常
            else if (!TBJ_SJ_ORIGIN_IN)
                TBJ_SetAlarmCode(56); //E56 手动超声停止，送胶阀未退回，或X17退胶到位感应异常
        }
        //手动上超
        if (((TBJ_SHANGCHAO_IN_UP || TBJ_bSC) && !TBJ_bSC_FLAG) && (!TBJ_FJ_VAVLE && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN || TBJ_PARAM_FenJiaoSelect) //分胶阀判断
            && (!TBJ_SJ_VAVLE && !TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || TBJ_PARAM_SongJiaoMode)                                                      //送胶阀判断
            && (dwTickCount >= TBJ_CS_Delay))                                                                                                         //超声间隔
        {
            if (!TBJ_TD_LIMIT_IN && TBJ_GZ_ORIGIN_IN || TBJ_PARAM_SGZSelect)
            {
                TBJ_bSC_FLAG = 1;
                TBJ_HMCS_Step = 1; //整个合模超声过程
            }
            TBJ_bSC = 0;
        }
        else if (TBJ_SHANGCHAO_IN_DW || (TBJ_bSC_FLAG && (TBJ_HMCS_Step == 0)) || (TBJ_bSC_FLAG && TBJ_bSC))
        {
            TBJ_bSC_FLAG = 0;
            TBJ_bSC = 0;
            TBJ_SM_VAVLE = 0;
            TBJ_CS_OUT = 0;
            TBJ_CS_Delay = dwTickCount + 300;
        }
        else if (TBJ_bSC)
        {
            if (TBJ_FJ_VAVLE)
                TBJ_SetAlarmCode(57); //E57 手动上超停止，分胶阀未退回
            else if (TBJ_FJ_LIMIT_IN)
                TBJ_SetAlarmCode(58); //E58 手动上超停止，分胶阀未退回，或X12分胶前感应异常
            else if (!TBJ_PARAM_FenJiaoSelect && !TBJ_FJ_ORIGIN_IN)
                TBJ_SetAlarmCode(59); //E59 手动上超停止，分胶阀未退回，或X13分胶后感应异常
            else if (TBJ_PARAM_SongJiaoMode == 0)
            {
                if (TBJ_SJ_VAVLE)
                    TBJ_SetAlarmCode(60); //E60 手动上超停止，送胶阀未退回
                if (TBJ_SJ_LIMIT_IN)
                    TBJ_SetAlarmCode(61); //E61 手动上超停止，送胶阀未退回,或X16送胶到位感应异常
                if (!TBJ_SJ_ORIGIN_IN)
                    TBJ_SetAlarmCode(62); //E62 手动上超停止，送胶阀未退回,或X17退胶到位感应异常
            }
            TBJ_bSC = 0;
            TBJ_bSC_FLAG = 0;
        }

        //手动夹胶(压带)
        if (TBJ_bYD)
        {
            if (TBJ_YD_VAVLE)
                TBJ_YD_VAVLE = 0;
            else
                TBJ_YD_VAVLE = 1;
            TBJ_bYD = 0;
        }
    }
}

//送胶动作
void TBJ_SongJiao(void)
{
    if (TBJ_bStop)
        return;
    switch (TBJ_SJ_FJ_Step)
    {
    case 0:
        break;
    case 1:
        TBJ_SJ_FJ_Step = 2;
        TBJ_SJ_Delay = dwTickCount + TBJ_PARAM_FJ_DELAY;
        break;
    case 2:
        if (dwTickCount >= TBJ_SJ_Delay)
        {
            TBJ_SJ_FJ_Step = 3;
            TBJ_FJ_VAVLE = 1;                           //分胶阀输出
            TBJ_YD_VAVLE = 1;                           //夹胶阀输出
            TBJ_FJ_Delay = dwTickCount + 60;            //分胶阀输出时间
            TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME; //分胶阀输出容错时间
        }
        break;
    case 3:
        if ( (dwTickCount > TBJ_FJ_Delay) ||TBJ_TEST_MODE || (!TBJ_bRunning || TBJ_OneTimes)) //
        {
            TBJ_SJ_FJ_Step = 4;
        }
        else if (!TBJ_FJ_LIMIT_IN && (dwTickCount >= TBJ_SJ_ErrorTime))
        {
            TBJ_SetAlarmCode(10); //E10 分胶未到位或 X12分胶前感应异常,无法送胶
        }
        break;
    case 4:
        if (TBJ_PARAM_SGZSelect || (TBJ_Motor_Step == 0))
        {
            if (TBJ_FJ_LIMIT_IN && TBJ_FJ_VAVLE)
            {
                TBJ_SJ_FJ_Step = 5;
                TBJ_SJ_VAVLE = 1; //送胶输出
                TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME;
                TBJ_FJ_Delay = dwTickCount + TBJ_PARAM_SJ_TIME;
            }
            else if (dwTickCount > TBJ_SJ_ErrorTime)
            {
                TBJ_SetAlarmCode(10); //E10 分胶未到位或 X12分胶前感应异常,无法送胶
            }
        }
        break;
    case 5:
        if (TBJ_SJ_LIMIT_IN_UP || (TBJ_PARAM_SongJiaoMode && TBJ_PARAM_GUNLUN_SIGN && (dwTickCount > TBJ_FJ_Delay)))
        {
            if (TBJ_bRunning)
            {
                TBJ_SJ_FJ_Step = 6;
                TBJ_FJ_Delay = dwTickCount + 15;
            }
            else
                TBJ_SJ_FJ_Step = 0;
        }
        else if (dwTickCount > TBJ_SJ_ErrorTime)
        {
            TBJ_SetAlarmCode(4); //E04 送胶不到位或 X16送胶前感应异常
        }
        if (TBJ_NOJIAO_IN && TBJ_bRunning)
        {
            TBJ_SetAlarmCode(7); //E07 胶已用完，请补充胶
            TBJ_OneTimes = 1;
        }
        break;
    case 6:
        if ((dwTickCount >= TBJ_FJ_Delay) && ((!X_DRV) || ((TBJ_Auto_Step == 2) && TBJ_GUO_LIAN_IN)))
        {
            TBJ_SJ_FJ_Step = 7;
            if (!TBJ_FJBACKMode)
                TBJ_FJ_VAVLE = 0; //关分胶
            TBJ_YD_VAVLE = 0;     //关夹胶
            TBJ_FJ_Delay = dwTickCount + 50;
            TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME;
        }
        break;
    case 7:
        if ((!TBJ_FJ_LIMIT_IN || (TBJ_FJBACKMode == 1)) && (dwTickCount >= TBJ_FJ_Delay) || TBJ_TEST_MODE)
        {
            TBJ_SJ_FJ_Step = 8;
            if ((TBJ_PARAM_SongJiaoMode == 0) || (!TBJ_bRunning)) //气缸送胶先退，滚轮送胶先不退或是触摸屏手动退送胶
                TBJ_SJ_VAVLE = 0;
            TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME;
        }
        else if (dwTickCount >= TBJ_SJ_ErrorTime)
        {
            TBJ_SetAlarmCode(6); //E06 退分胶不到位警告或 X13分胶后感应异常
        }
        break;
    case 8:
        if (((TBJ_PARAM_SongJiaoMode == 1) || (!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN)))
        {
            TBJ_SJ_FJ_Step = 0;
            M0019 = 0;
        }
        else if (dwTickCount >= TBJ_SJ_ErrorTime)
        {
            TBJ_SetAlarmCode(5); //E05 退胶不到位警告 或 X16、X17送胶前后感应异常
        }
        break;
    }
}
//合模超声动作
void TBJ_ChaoShengHeMo(void)
{
    unsigned short cs_time;
    switch (TBJ_HMCS_Step)
    {
    case 0:
        break;
    case 1:
        if ((!TBJ_FJ_VAVLE) && ((!TBJ_SJ_VAVLE) || (TBJ_PARAM_SongJiaoMode))               //输出阀判断
            && (!TBJ_FJ_LIMIT_IN) && (TBJ_FJ_ORIGIN_IN || TBJ_PARAM_FenJiaoSelect)         //分胶阀位置判断
            && (((!TBJ_SJ_LIMIT_IN) && TBJ_SJ_ORIGIN_IN) || (TBJ_PARAM_SongJiaoMode == 1)) //送胶阀位置判断
            && (TBJ_GZ_ORIGIN_IN || (TBJ_PARAM_SGZSelect)))                                //钩针阀判断
        {
            TBJ_SM_VAVLE = 1; // 下冲
            if ((TBJ_PARAM_XiaMo_Mode == 0) && (TBJ_PARAM_SGZSelect != 0))
                TBJ_XM_VAVLE = 1;
            TBJ_HMCS_Step = 2;
            TBJ_SM_ErrorTime = dwTickCount + (unsigned long)ERRORTIME; //上模下冲容错时间
        }
        else if (!TBJ_bRunning)
        {
            TBJ_HMCS_Step = 0;
        }
        break;
    case 2:
        if (TBJ_SM_LIMIT_IN && ((TBJ_GZ_ORIGIN_IN && (TBJ_PARAM_SGZSelect != 0)) || TBJ_PARAM_XiaMo_Mode)) //1 下模不动
        {
            TBJ_CS_Delay = dwTickCount + TBJ_PARAM_CS_DELAY; //延时超声
            TBJ_HMCS_Step = 3;
            if (TBJ_PARAM_TuiGouZhen_Mode == 1) //0　先超声后下勾针，1　先下勾针后超声
                TBJ_GZ_VAVLE = 0;
        }
        else if ((dwTickCount >= TBJ_SM_ErrorTime) && (!X14))
        {
            TBJ_SetAlarmCode(26); //E26 超声停止，合模不到位或 X14下冲到位感应异常
        }
        else if ((dwTickCount >= TBJ_SM_ErrorTime) && (!TBJ_GZ_ORIGIN_IN))
        {
            TBJ_SetAlarmCode(27); //E27 超声停止，钩针不到位或 TBJ_GZ_ORIGIN_IN钩针复位感应异常
        }
        break;
    case 3:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_bCS = 0;
            TBJ_CS_OUT = 1; //超声打开
            cs_time = TBJ_Choose_CSTime();
            if (cs_time > 1500)
                cs_time = 1500; //超声时间上限为1.5 S
            TBJ_CS_Delay = dwTickCount + cs_time;
            TBJ_HMCS_Step = 4;
        }
        TBJ_SJ_VAVLE = 0;
        break;
    case 4:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_HMCS_Step = 5;
            TBJ_CS_OUT = 0;
            TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime() / 2); //固化一半时间
        }
        break;
    case 5:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            TBJ_HMCS_Step = 6;
            TBJ_ChuiQi();
            TBJ_GZ_VAVLE = 0;
            TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime() / 2);
        }
        break;
    case 6:
        if (dwTickCount >= TBJ_CS_Delay)
        {
            if (TBJ_PARAM_HONGWAI_GanYin != 0)
            {
                //重新算温度
                cs_time = user_datas[55];
                if (user_datas[39] == 0)
                    user_datas[39] = 1;
                //测温值              降时间阀值
                if ((cs_time >= user_datas[37]) && (cs_time >= user_datas[58]))
                {
                    cs_time = (cs_time - user_datas[58]) / user_datas[39];
                    cs_time *= user_datas[38];
                    if (cs_time > 3)
                        cs_time = 3;
                    if ((user_datas[59] + cs_time) < 4)
                        user_datas[59] += cs_time;
                    else if (user_datas[59] < 4)
                    {
                        cs_time = 3 - user_datas[59];
                        user_datas[59] = 3;
                    }
                    else
                        cs_time = 0;
                }
                else
                    cs_time = 0;
                user_datas[57] = TBJ_Choose_CSTime();
                user_datas[57] -= cs_time;
                TBJ_ResetCsTime();
            }
            user_datas[56] = user_datas[55];
            if (user_datas[56] > user_datas[58])
                user_datas[58] = user_datas[55];
            TBJ_SM_VAVLE = 0;
            TBJ_XM_VAVLE = 0;
            TBJ_HMCS_Step = 0;
            //TBJ_CS_Delay = dwTickCount + 350;
        }
        break;
    }
}

//启动停止故障停止动作
void TBJ_StartStopAction(void)
{
    if ((TBJ_START_IN_UP || TBJ_bStart || TBJ_bSingle) && !TBJ_bRunning && (TBJ_Auto_Step == 0))
    {
      if(TBJ_bSingle)
      {
         if(TBJ_GZ_VAVLE && !TBJ_PARAM_AOKO_MODE)
       {
       TBJ_bSingleone=1;
      
        TBJ_SJ_FJ_Step = 1; //开始分胶送胶，送胶分胶需电机动作完成后才能完成
         TBJ_Auto_Step = 3;
         TBJ_bRunning = 1;
         TBJ_Auto_Delay = 0;
       }
       else                                                     
       {
        ;
       
       }
      }
      else
      {
         if (TBJ_NOJIAO_IN)
        {
            TBJ_SetAlarmCode(7); //E07 胶已用完，请补充胶
        }
        else
        {
           TBJ_bSingleone=0;
            TBJ_Auto_Step = 1;
            TBJ_bRunning = 1;
            TBJ_Auto_Delay = 0;
        }
     
      }
         
        TBJ_bStart = 0;
       TBJ_bSingle=0;
    }

    if (TBJ_bStop)
    {
        /*当自动步骤达到4，已完成送胶动作，将本次贴胶动作做完*/

          TBJ_bSingleone=0;//单循环标志位
          TBJ_bSingle=0;
            TBJ_bStart = 0;
            TBJ_bRunning = 0;
            TBJ_bAlarmStop = 0;
            TBJ_bStop = 0;
            TBJ_HMCS_Step = 0;
            TBJ_Auto_Step = 0;
            TBJ_SJ_FJ_Step = 0;
            TBJ_Motor_Step = 0;
            AxisEgmStop(X_AXIS);            //刹停电机
            SetEn(X_AXIS, TBJ_MOTOR_DISEN); //松轴
            TBJ_GZ_VAVLE = 0;               //Y01钩针
            TBJ_FJ_VAVLE = 0;               //Y02分胶
            TBJ_SM_VAVLE = 0;               //Y03上模（下冲）
            TBJ_CS_OUT = 0;                 //Y10超声
            TBJ_MOTOR_OUT = 0;              //Y11拖带电机
            TBJ_XM_VAVLE = 0;               //Y12下模
            TBJ_OneTimes = 0;               //清除单次标志
            TBJ_SetAlarmCode(0);
            if (TBJ_PARAM_SHENGJIAO == 1)
                TBJ_STOP_Step = 1; //停机节省布胶动作
            else
            {
                TBJ_YD_VAVLE = 0; //Y05压带
                TBJ_SJ_VAVLE = 0; //Y04送胶退回
            }
        
    }
    
        if (TBJ_STOP_IN_UP )
    {
        /*当自动步骤达到4，已完成送胶动作，将本次贴胶动作做完*/

          TBJ_bSingleone=0;//单循环标志位
          TBJ_bSingle=0;
            TBJ_bStart = 0;
            TBJ_bRunning = 0;
            TBJ_bAlarmStop = 0;
            TBJ_bStop = 0;
            TBJ_HMCS_Step = 0;
            TBJ_Auto_Step = 0;
            TBJ_SJ_FJ_Step = 0;
            TBJ_Motor_Step = 0;
            AxisEgmStop(X_AXIS);            //刹停电机
            SetEn(X_AXIS, TBJ_MOTOR_DISEN); //松轴
            TBJ_GZ_VAVLE = 0;               //Y01钩针
            TBJ_FJ_VAVLE = 0;               //Y02分胶
            TBJ_SM_VAVLE = 0;               //Y03上模（下冲）
            TBJ_CS_OUT = 0;                 //Y10超声
            TBJ_MOTOR_OUT = 0;              //Y11拖带电机
            TBJ_XM_VAVLE = 0;               //Y12下模
            TBJ_OneTimes = 0;               //清除单次标志
            TBJ_SetAlarmCode(0);
            if (TBJ_PARAM_SHENGJIAO == 1)
                TBJ_STOP_Step = 1; //停机节省布胶动作
            else
            {
                TBJ_YD_VAVLE = 0; //Y05压带
                TBJ_SJ_VAVLE = 0; //Y04送胶退回
            }
        
    }

    if (TBJ_bAlarmStop)
    {
        TBJ_bAlarmStop = 0;
        AxisEgmStop(X_AXIS);
        TBJ_Auto_Step = 0;
        TBJ_HMCS_Step = 0;
        TBJ_Motor_Step = 0;
        TBJ_SJ_FJ_Step = 0;
           TBJ_GZ_VAVLE = 0;               //Y01钩针
            TBJ_FJ_VAVLE = 0;               //Y02分胶
            TBJ_SM_VAVLE = 0;               //Y03上模（下冲）
            TBJ_CS_OUT = 0;                 //Y10超声
      TBJ_SJ_VAVLE=0;
      TBJ_YD_VAVLE=0;
            TBJ_XM_VAVLE = 0;               //Y12下模
        TBJ_bRunning = 0;
        SingOneFlg = 0;
        SetEn(X_AXIS, TBJ_MOTOR_DISEN); //松轴
    }
}

void TBJ_STOP_Action(void)
{
    switch (TBJ_STOP_Step)
    {
    case 0:
        break;
    case 1:
    {
        TBJ_YD_VAVLE = 1;
        TBJ_STOP_Delay = dwTickCount + 50;
        TBJ_STOP_Step = 2;
    }
    break;
    case 2:
        if (dwTickCount >= TBJ_STOP_Delay)
        {
            TBJ_SJ_VAVLE = 0;
            TBJ_STOP_Step = 3;
        }
        break;
    case 3:
        if (TBJ_SJ_ORIGIN_IN)
        {
            TBJ_YD_VAVLE = 0;
            TBJ_STOP_Step = 0;
        }
        break;
    }
}

//电机动作
void TBJ_Motor(void) //
{
    switch (TBJ_Motor_Step)
    {
    case 0:
        //AxisDecStop(X_AXIS); //上钩针后减速停，保证拉链到位
        break;

    case 1:
        TBJ_Motor_Step = 2;
        SetPos(X_AXIS, 0);
        if (TBJ_TEST_MODE)
            TBJ_TEST_TIME = dwTickCount + (unsigned long)500;
        TBJ_DJ_ErrorTime = dwTickCount + TBJ_PARAM_DJ_AUTO_STOP_TIME; //电机容错时间

        if (TEST1 > 1 && TBJ_PARAM_DEC_MODE)
        {
            //第三条，开始走数控长度
            AxisMovePosAccDecNotStop(X_AXIS, TBJ_PARAM_HIGH_SPEED, TBJ_SAVE_POS - TNJ_PARAM_TD_LENGTH - TBJ_PARAM_DEC_LEN, TBJ_PARAM_MOTOR_START_SPEED, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_MOTOR_ADD, TBJ_PARAM_MOTOR_ADD + 10, 0);
        }
        else
        {
            AxisContinueMoveAcc(X_AXIS, TBJ_PARAM_HIGH_SPEED, TBJ_DIR_P, TBJ_PARAM_MOTOR_START_SPEED,
                                TBJ_PARAM_NULL_SPEED, TBJ_PARAM_MOTOR_ADD, TBJ_PARAM_MOTOR_ADD);
        }

        break;

    case 2:
        if (TEST1 > 1 && TBJ_PARAM_DEC_MODE)
        {
            if (!TBJ_GUO_LIAN_IN)
            {
                TBJ_Motor_Step = 50;
                TBJ_Motor_Delay = dwTickCount + 10; //防震时间
                if (TBJ_TEST_MODE)
                    TBJ_TEST_TIME = dwTickCount + (unsigned long)200;
                else
                    TBJ_TEST_TIME = dwTickCount + (unsigned long)5;
                TBJ_DJ_ErrorTime = dwTickCount + (unsigned long)ERRORTIME;
            }
            if ((TBJ_PARAM_LL_PRETECT_LENGTH > 0) && (GetPos(X_AXIS) >= TBJ_SAVE_POS + TBJ_PARAM_LL_PRETECT_LENGTH))
            {
                TBJ_SetAlarmCode(8); //E8 拉链长度异常，超过拉链保护长度
            }
        }
        else
        {
            if (TBJ_GUO_LIAN_IN_DOWN || (TBJ_TEST_MODE && (dwTickCount > TBJ_TEST_TIME)))
            {
                TBJ_Motor_Step = 50;
                TBJ_Motor_Delay = dwTickCount + 10; //防震时间
                if (TBJ_TEST_MODE)
                    TBJ_TEST_TIME = dwTickCount + (unsigned long)200;
                else
                    TBJ_TEST_TIME = dwTickCount + (unsigned long)5;
                TBJ_DJ_ErrorTime = dwTickCount + (unsigned long)ERRORTIME;
                AxisChangeSpeed(X_AXIS, TBJ_PARAM_NULL_SPEED);
            }
        }
        if ((dwTickCount > TBJ_DJ_ErrorTime) && (TBJ_PARAM_DJ_AUTO_STOP_TIME != 0))
        {
            TBJ_SetAlarmCode(24); //E24 拉拉链时间过长，可能由以下原因：①超出保护时间，请检查保护时间是否设置过短②电机是否启动，速度是否过慢③拉链过紧，电机没拉动
        }
        break;
    case 50: //防震
        if (TBJ_GUO_LIAN_IN)
        {
            TBJ_Motor_Step = 2;
        }
        if (dwTickCount >= TBJ_Motor_Delay)
        {
            TBJ_Motor_Step = 3;
        }
        break;
    case 3:
        if (TBJ_GUO_LIAN_IN_UP || (TBJ_TEST_MODE && (dwTickCount > TBJ_TEST_TIME))) //过链上升沿
        {
            if (TBJ_PARAM_TWOTD_SELECT == 0)
            {
                TBJ_Motor_Step = 4;
                TBJ_DJ_ErrorTime = dwTickCount + 500; //电机容错时间
                AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TNJ_PARAM_TD_LENGTH, TBJ_PARAM_NULL_SPEED,
                                  TBJ_PARAM_NULL_SPEED, 5, 5, 0); //普通拖带，根据脉冲走一定距离
                TBJ_GZ_Delay = dwTickCount + TBJ_PARAM_GZ_DELAY;  //钩针延时输出
            }
            else
            {
                AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_TWOTD_LENGTH, TBJ_PARAM_NULL_SPEED,
                                  TBJ_PARAM_NULL_SPEED, 5, 5, 0); //二次拖带，根据脉冲走不同距离
                TBJ_Motor_Step = 40;
            }
        }
        else if (dwTickCount > TBJ_DJ_ErrorTime) //一直处于空位，没拉链警告
        {
            TBJ_SetAlarmCode(1); //E01 没拉链警告  请检查 X11 过链接近开关
        }
        break;
    case 40:
        if (!X_DRV) //轴停
        {
            //TBJ_CLUTH_VAVLE = 0;     //关离合
            AxisEgmStop(X_AXIS);     //停止电机，未松轴
            TBJ_SJ_VAVLE=0;
            TBJ_GZ_VAVLE = 1;        //输出钩针
            if (TBJ_SJ_FJ_Step == 0) //分胶送胶已完成
            {
                TBJ_Motor_Delay = dwTickCount + TBJ_PARAM_TWOTD_DELAY; //二次拖带电机延时输出
                TBJ_Motor_Step = 41;
            }
        }
        break;
    case 41:
        if (dwTickCount > TBJ_Motor_Delay) //二次拖带电机延时已过
            TBJ_Motor_Step = 4;
        TBJ_DJ_ErrorTime = dwTickCount + 500; //电机容错时间
        AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TNJ_PARAM_TD_LENGTH, TBJ_PARAM_NULL_SPEED,
                          TBJ_PARAM_NULL_SPEED, 5, 5, 0); //根据脉冲走一定距离
        //TBJ_CLUTH_VAVLE = 1;                                                  //开离合
        break;
    case 4:
        if (dwTickCount > TBJ_GZ_Delay)
        {
            TBJ_GZ_VAVLE = 1; //上钩针
        }
        if (!X_DRV && (TBJ_PARAM_SGZSelect == 1) || (TBJ_TD_LIMIT_IN || TBJ_TEST_MODE))
        {
            TBJ_GZ_VAVLE = 1;             //上钩针
            AxisEgmStop(X_AXIS);          //急停电机
            if (TBJ_PARAM_SGZSelect == 0) //选择双沟针方式
            {
                TBJ_Motor_Step = 5;
                TBJ_Motor_Delay = dwTickCount + 1; //延时压带
            }
            else
            {
                TBJ_Motor_Step = 0; //单钩针方式便完成电机动作
            }
        }
        else if (dwTickCount >= TBJ_DJ_ErrorTime)
        {
            TBJ_SetAlarmCode(25); //E25 钩针未到位或 TBJ_TD_LIMIT_IN 钩针到位感应异常警告，电机停止
        }
        break;
        /*以下为双钩针模式进行*/
    case 5:
        if (dwTickCount > TBJ_Motor_Delay)
        {
            TBJ_Motor_Step = 6;
            TBJ_YD_VAVLE = 1;                                     //压带输出
            TBJ_PARAM_GZ_DELAY = dwTickCount + TBJ_PARAM_JJ_TIME; //压带输出延时退勾针
        }
        break;
    case 6:
        if (dwTickCount > TBJ_PARAM_GZ_DELAY) //过了钩针延时
        {
            TBJ_GZ_VAVLE = 0; //钩针退出
            TBJ_Motor_Step = 7;
            ///SetEn(X_AXIS, TBJ_MOTOR_DISEN);                 //松轴
            TBJ_DJ_ErrorTime = dwTickCount + ERRORTIME; //钩针退回容错时间
        }
        break;
    case 7:
        if (TBJ_GZ_ORIGIN_IN) //钩针返回原位感应
        {
            TBJ_Motor_Step = 0; //完成双钩针模式
        }
        else if (dwTickCount > TBJ_DJ_ErrorTime) //钩针长时间不退回
        {
            TBJ_SetAlarmCode(2); //E02 退勾针不到位或 TBJ_GZ_ORIGIN_IN 钩针复位感应异常，当前程序处于电机第七步
        }
        break;
        //电机退链
    case 20:
        //SetEn(X_AXIS, TBJ_MOTOR_EN); //锁轴
        //SetPos(X_AXIS, 0);       //设当前位置pos为0
        TBJ_Motor_Step = 21;
        TBJ_Motor_Delay = dwTickCount + 10; //电机延时启动，等待锁轴
        if (TBJ_PARAM_DJ_FANZHUAN == 0)     //电机如果没有选择反转退链，则关闭该步骤
            TBJ_Motor_Step = 0;
        break;
    case 21:
        if (dwTickCount > TBJ_Motor_Delay) //锁轴完成
        {
            TBJ_Motor_Step = 22;
            AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, -TBJ_TUILIAN_LENGTH, TBJ_PARAM_NULL_SPEED,
                              TBJ_PARAM_NULL_SPEED, 5, 5, 0); //根据脉冲走一定距离
        }
        break;
    case 22:
        if (!X_DRV) //电机移动到退链长度
        {
            TBJ_Motor_Step = 0;
            if (TBJ_FJBACKMode)
                TBJ_FJ_VAVLE = 0; //二次拖带退分胶
        }
        break;
    }
}

//自动运行动作
void TBJ_AutoRunStep(void)
{
    if (TBJ_bRunning)
    {
        switch (TBJ_Auto_Step)
        {
        case 0:
            break;
        case 1:
            TBJ_Auto_Step = 2;
            SetEn(X_AXIS, TBJ_MOTOR_EN); //锁轴
            TBJ_Auto_Delay = dwTickCount + 200;
            TEST1 = 0;        //当前为第一条拉链
            TBJ_SAVE_POS = 0; //用来保存第二条长度，置零
            break;
        case 2: //第一条时
            if (dwTickCount > TBJ_Auto_Delay)
            {
                TBJ_Auto_Step = 3;
                TBJ_SJ_FJ_Step = 1; //开始分胶送胶，送胶分胶需电机动作完成后才能完成
                SetPos(X_AXIS, 0);
                if (!TBJ_GZ_VAVLE)
                {
                    TBJ_Motor_Step = 1; //开始电机动作
                  
                }
                else
                {
                    TBJ_SetAlarmCode(QD_GZOut_W); //E18 钩针阀未退回，无法启动
                }
            }
            break;
        case 3:
            if ((TBJ_SJ_FJ_Step == 0) && (TBJ_Motor_Step == 0))
            {
                TBJ_Auto_Step = 4;
                if (TEST1 == 1)                    //第二条拉链
                    TBJ_SAVE_POS = GetPos(X_AXIS); //保存第二条拉链的长度数据
                if (TBJ_PARAM_DJ_FANZHUAN == 1)
                    TBJ_Motor_Step = 20;
                TBJ_Auto_Delay = dwTickCount + 1000; //延迟执行超声合模动作
            }
            break;
        case 4:
            if (((!TBJ_FJ_VAVLE && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN) || TBJ_PARAM_FenJiaoSelect)        //分胶没输出  到位没感应  原位有感应   没有分胶阀则不考虑前面条件
                && ((!TBJ_SJ_VAVLE && !TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN) || TBJ_PARAM_SongJiaoMode)      //送胶没输出  到位没感应  原位有感应   滚轮送胶则不考虑前面条件
                && ((!TBJ_PARAM_SGZSelect && TBJ_GZ_ORIGIN_IN && !TBJ_TD_LIMIT_IN) || TBJ_PARAM_SGZSelect)) //双钩针模式需要考虑钩针退回原位 拖带到位感应不亮  单钩针模式不考虑
            {
                if (TBJ_Motor_Step == 0) //反转完成
                {
                    TBJ_Auto_Step = 5;
                    TBJ_HMCS_Step = 1;                                         //执行合模超声动作
                }
            }
            else if (dwTickCount >= TBJ_Auto_Delay)
            {
                if (TBJ_FJ_VAVLE && !TBJ_PARAM_FenJiaoSelect)
                    TBJ_SetAlarmCode(28); //E28 自动停止，分胶阀退位异常
                else if (TBJ_FJ_LIMIT_IN && !TBJ_PARAM_FenJiaoSelect)
                    TBJ_SetAlarmCode(29); //E29 自动停止，分胶未退位或分胶前感应异常
                else if (!TBJ_FJ_ORIGIN_IN && !TBJ_PARAM_FenJiaoSelect)
                    TBJ_SetAlarmCode(30); //E30 自动停止，分胶未退位或分胶后感应异常
                else if (TBJ_SJ_VAVLE && !TBJ_PARAM_SongJiaoMode)
                    TBJ_SetAlarmCode(31); //E31 自动停止，送胶阀退位异常
                else if (TBJ_SJ_LIMIT_IN && !TBJ_PARAM_SongJiaoMode)
                    TBJ_SetAlarmCode(32); //E32 自动停止，送胶未退位或送胶前感应异常
                else if (!TBJ_SJ_ORIGIN_IN && !TBJ_PARAM_SongJiaoMode)
                    TBJ_SetAlarmCode(33); //E33 自动停止，送胶未退位或送胶后感应异常
                else
                {
                    TBJ_SetAlarmCode(QD_GZDaoWei_W); //E03 钩针未退位或 X20 钩针到位感应异常警告，无法启动
                }
            }
            break;
        case 5:
            if (TBJ_HMCS_Step == 0)
            {
                TBJ_Auto_Step = 6;
                TBJ_GZ_VAVLE = 0;      //退钩针
                if(TBJ_bSingleone==1)
                {
               
                 SetEn(X_AXIS, TBJ_MOTOR_DISEN); //松轴
                    TBJ_bStop = 1;
                } 
                if(!TBJ_bSingleone)
                {
                AddToTal(TBJ_TOTAL_ADDR); //产量增加
                CalProSP(TBJ_SPEED_ADDR); //计算生产速度
                }
            }
            break;
        case 6:
            if (!TBJ_SM_LIMIT_IN &&                                                   //上模已离开
                (((TBJ_PARAM_SGZSelect == 0) && TBJ_GZ_ORIGIN_IN && !TBJ_TD_LIMIT_IN) //双钩针模式，钩针已回到原位，拖带到位感应不亮（该感应需要上钩针配合，不亮代表无钩针配合）
                 || ((TBJ_PARAM_XiaMo_Mode == 0) && !TBJ_GZ_ORIGIN_IN)                //下模不动模式，钩针与上下模位置错开，不相互影响，不需要回到原位
                 || ((TBJ_PARAM_XiaMo_Mode == 1) && TBJ_PARAM_SGZSelect)))            //下模活动模式，单钩针模式，钩针与上下模位置错开
            {
                TBJ_Auto_Step = 7;
                TBJ_Auto_Delay = dwTickCount + TBJ_PARAM_KAIMO_TD_DELAY + 45; //开模后延时拖带，45为下限时间
            }
            break;
        case 7:
            if (dwTickCount > TBJ_Auto_Delay)
            {
               
                    TBJ_Auto_Step = 2;
               
                TEST1++;
                if (TEST1 > 2)
                    TEST1 = 3;
            }
            break;
        }
    }
}

/*以下为 给力贴布机 2024.3.23 旧板设置默认参数*/
//void CSTieBu_SetDefault()
//{
//	unsigned char i = 0;
//	if(TBJ_Frist_SetDefa == 0)
//	{
//            user_datas[0]	=	9;
//            user_datas[1]	=	0;
//            user_datas[2]	=	2;
//            user_datas[3]	=	0;
//            user_datas[4]	=	5;
//            user_datas[5]	=	260;
//            user_datas[6]	=	14;
//            user_datas[7]	=	120;
//            user_datas[8]	=	40;
//            user_datas[9]	=	0;
//            user_datas[10]	=	10;
//            user_datas[11]	=	15;
//            user_datas[12]	=	30;
//            user_datas[13]	=	7;
//            user_datas[14]	=	0;
//            user_datas[15]	=	1;
//            user_datas[16]	=	0;
//            user_datas[17]	=	1;
//            user_datas[18]	=	0;
//            user_datas[19]	=	0;
//            user_datas[20]	=	1;
//            user_datas[21]	=	0;
//            user_datas[22]	=	0;
//            user_datas[23]	=	0;
//            user_datas[24]	=	90;
//            user_datas[25]	=	0;
//            user_datas[26]	=	0;
//            user_datas[27]	=	30;
//            user_datas[28]	=	0;
//            user_datas[29]	=	0;
//            user_datas[30]	=	0;
//            user_datas[31]	=	0;
//            user_datas[32]	=	0;
//            user_datas[33]	=	0;
//            user_datas[34]	=	0;
//            user_datas[35]	=	0;
//            user_datas[36]	=	0;
//            user_datas[37]	=	0;
//            user_datas[38]	=	0;
//            user_datas[39]	=	0;
//            user_datas[40]	=	0;
//            user_datas[41]	=	0;
//            user_datas[42]	=	0;
//            user_datas[43]	=	0;
//            user_datas[44]	=	0;
//            user_datas[45]	=	0;
//            user_datas[46]	=	0;
//            user_datas[47]	=	0;
//            user_datas[48]	=	0;
//            user_datas[49]	=	0;
//            user_datas[50]	=	0;
//            user_datas[51]	=	0;
//            user_datas[52]	=	0;
//            user_datas[53]	=	0;
//            user_datas[54]	=	0;
//            user_datas[55]	=	0;
//            user_datas[56]	=	0;
//            user_datas[57]	=	0;
//            user_datas[58]	=	0;
//            user_datas[59]	=	0;
//            user_datas[60]	=	0;
//            user_datas[61]	=	0;
//            user_datas[62]	=	0;
//            user_datas[63]	=	0;
//            user_datas[64]	=	2;
//            user_datas[65]	=	0;
//            user_datas[66]	=	0;
//            user_datas[67]	=	0;
//		while(i < 68)
//		{
//			Write24C04(2*i, cDataArea[i] >> 8);
//			Write24C04(2*i+1, cDataArea[i]);
//			i++;
//		}
//		Frist_SetDefa  =  0x3E7;
//		Write24C04(2*95,cDataArea[71] >> 8);
//		Write24C04(2*95+1,cDataArea[71]);
//	}
//}

#endif