GC19038/Machine/TongYongMachine/TYHongMenDZJ.c

#include "global.h"


#if TONG_YONG_MACHINE


void HMDZ_ManualAction(void);
void HMDZ_AutoAction(void);
void HMDZ_StepCheckStart(void);
void HMDZ_Motor(void);
void HMDZ_ExtiActionX31(void);


static long save_limit_pos,cRealPos;



void HMDZ_ExtiActionX31(void)
{
   
}
void HMDZ_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(HMDZ_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void HMDZ_InitAction(void)
{
    HMDZ_SZ_OUT   = 1;
}

void HMDZ_Action(void)
{
    HMDZ_Motor();
    HMDZ_ManualAction();
    HMDZ_AutoAction();
    HMDZ_StepCheckStart();   // 调用脚踏开关检测程序
}

//手动动作
void HMDZ_ManualAction(void)
{  
    if(HMDZ_bRunning == 0)  
    {   
        if(HMDZ_bClearTotal) //切断计数清零
        {
            HMDZ_bClearTotal       = 0;
            ClrcToTal(HMDZ_TOTAL_ADDR);
        }
        
        if(HMDZ_bSS)
        {
            HMDZ_bSS = 0;
            HMDZ_SS_VAVLE = ~HMDZ_SS_VAVLE;
        }

        if(HMDZ_bDL)
        {
            HMDZ_bDL = 0;
            HMDZ_DL_VAVLE = ~HMDZ_DL_VAVLE;
        }
        
        if(HMDZ_bQS)
        {
            HMDZ_bQS = 0;
            HMDZ_QS_VAVEL = ~HMDZ_QS_VAVEL;
        }

        if(HMDZ_bTS)
        {
            HMDZ_bTS = 0;
            HMDZ_TS_VAVLE = ~HMDZ_TS_VAVLE;
        }    
        
        if(HMDZ_bJL)
        {
            HMDZ_bJL = 0;
            HMDZ_JL_VAVLE = ~HMDZ_JL_VAVLE;
        }

        if(HMDZ_bYL)
        {
            HMDZ_bYL = 0;
            HMDZ_CL_VAVLE = ~HMDZ_CL_VAVLE;
        }
        
        if(HMDZ_bCL)
        {
            HMDZ_bCL = 0;
            HMDZ_SS_VAVLE = ~HMDZ_SS_VAVLE;
        }

//电机控制        
        if(HMDZ_bGoMotor)
        {           
            HMDZ_SZ_OUT   = 0;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,HMDZ_DIR_N,5,1,5,5);

        }
        
        if(HMDZ_bBackMotor)
        {
            HMDZ_SZ_OUT   = 0;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,HMDZ_DIR_P,5,1,5,5);
        }
        
        if(!HMDZ_bGoMotor && !HMDZ_bBackMotor && (HMDZ_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        
    }
}

void HMDZ_AutoAction(void)
{  
    if(HMDZ_bRunning)
    {
        switch(HMDZ_AutoStep)
        {
            case 1:
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {	
                      HMDZ_AutoStep = 2;	    
                      HMDZ_JL_VAVLE = 1;
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_YL_DELAY;
                  }	
                  break;	
            case 2:	 
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {    
                      HMDZ_YL_VAVLE = 1;
                      HMDZ_JL_VAVLE = 0;
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_DL_DELAY;
                      HMDZ_AutoStep = 3;	    
                  }
                  break;	
            case 3:	
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {                    
                      HMDZ_DL_VAVLE = 1; 
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 4;	    
                  }              
                  break;
            case 4:
                  if(HMDZ_DL_LIMIT_IN && HMDZ_SG_LIMIT_IN)
                  {
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_SS_DELAY;
                      HMDZ_AutoStep = 5;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                  {
                      if(!HMDZ_DL_LIMIT_IN)HMDZ_SetAlarmCode(HMDZ_DL_LIMIT_ALARM);
                      else HMDZ_SetAlarmCode(HMDZ_SG_LIMIT_ALARM);
                  }
                  break;
            case 5:	
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {                    
                      HMDZ_SS_VAVLE = 1; 
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 6;	    
                  }              
                  break;
            case 6:
                  if(HMDZ_SS_LIMIT_IN)
                  {
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_SS_BACK_DELAY;
                      HMDZ_AutoStep = 7;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_SS_LIMIT_ALARM);
                  break;
            case 7:	
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {                    
                      HMDZ_SS_VAVLE = 0; 
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 8;	    
                  }              
                  break;
            case 8:
                  if(HMDZ_SS_ORIGIN_IN && !HMDZ_MOTOR_ORIGIN_IN)
                  {
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_RS_MOTOR_DELAY+50;
                      HMDZ_SZ_OUT   = 0;
                      HMDZ_AutoStep = 9;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                  {
                      if(!HMDZ_SS_ORIGIN_IN)
                          HMDZ_SetAlarmCode(HMDZ_SS_ORIGIN_ALARM);
                      else
                          HMDZ_SetAlarmCode(HMDZ_MOTOR_ORIGIN_ALARM);
                  }
                  break;
            case 9:	
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {   
                      if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,HMDZ_DIR_N,HMDZ_PARAM_RS_MOTOR_SPEED,HMDZ_PARAM_RS_MOTOR_START_SPEED,HMDZ_PARAM_RS_MOTOR_ACC,HMDZ_PARAM_RS_MOTOR_DEC);
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 10;	    
                  }              
                  break;
            case 10:
                  if(HMDZ_MOTOR_ORIGIN_IN)
                  {
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 11;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_MOTOR_ORIGIN_ALARM);
                  break;
            case 11:
                  if(HMDZ_RS_LIMIT_IN)
                  {
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_RS_MOTOR_STOP_DELAY;
                      HMDZ_AutoStep = 12;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_RS_LIMIT_ALARM);
                  break;
            case 12:	
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {   
                      if(X_DRV)AxisDecStop(X_AXIS);
                      HMDZ_AutoStep = 13;	    
                  }              
                  break;
            case 13:
                  if(!X_DRV)
                  {
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_TS_DELAY;
                      HMDZ_AutoStep = 14;	
                  }
                  break;
            case 14:
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {   
                      HMDZ_TS_VAVLE = 1;
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 15;	    
                  } 
                  break;
            case 15:
                  if(HMDZ_TS_LIMIT_IN)
                  {
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_QS_DELAY;
                      HMDZ_AutoStep = 16;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_TS_LIMIT_ALARM);
                  break;
            case 16:
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {   
                      HMDZ_QS_VAVEL = 1;
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 17;	    
                  } 
                  break;
            case 17:
                  if(HMDZ_QS_LIMIT_IN)
                  {
                      HMDZ_AutoDelay = dwTickCount;
                      HMDZ_AutoStep = 18;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_QS_LIMIT_ALARM);
                  break;
            case 18:
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {   
                      HMDZ_DL_VAVLE = 0;
                      HMDZ_TS_VAVLE = 0;
                      HMDZ_YL_VAVLE = 0;
                      HMDZ_CL_VAVLE = 1;
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_CL_BACK_DELAY;
                      HMDZ_AutoStep = 19;	    
                  } 
                  break;
            case 19:
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {   
                      HMDZ_CL_VAVLE = 0;
                      HMDZ_QS_VAVEL = 0;
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 20;	    
                  } 
                  break;
            case 20:
                  if(HMDZ_DL_ORIGIN_IN && HMDZ_QS_ORIGIN_IN && HMDZ_TS_ORIGIN_IN && HMDZ_SS_ORIGIN_IN) 
                  {
                      HMDZ_AutoDelay = dwTickCount;
                      HMDZ_AutoStep = 21;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                  {
                      if(!HMDZ_DL_ORIGIN_IN)                       
                          HMDZ_SetAlarmCode(HMDZ_DL_ORIGIN_ALARM);
                      else if(!HMDZ_QS_ORIGIN_IN)                       
                          HMDZ_SetAlarmCode(HMDZ_QS_ORIGIN_ALARM);
                      else if(!HMDZ_TS_ORIGIN_IN)                       
                          HMDZ_SetAlarmCode(HMDZ_TS_ORIGIN_ALARM);
                      else
                          HMDZ_SetAlarmCode(HMDZ_SS_ORIGIN_ALARM);
                  }
                  break;
            case 21:	
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {   
                      if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,HMDZ_DIR_P,HMDZ_PARAM_RS_MOTOR_SPEED,HMDZ_PARAM_RS_MOTOR_START_SPEED,HMDZ_PARAM_RS_MOTOR_ACC,HMDZ_PARAM_RS_MOTOR_DEC);
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 22;	    
                  }              
                  break;
            case 22:
                  if(HMDZ_MOTOR_ORIGIN_IN)
                  {
                      if(X_DRV)AxisDecStop(X_AXIS);
                      HMDZ_AutoStep = 23;	
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_MOTOR_ORIGIN_ALARM);
                  break;
            case 23:
                  if(!X_DRV)
                  {
                      HMDZ_SS_VAVLE = 1;
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 24;	
                  }
                  break;
            case 24:
                  if(HMDZ_SS_LIMIT_IN)
                  {
                      HMDZ_SS_VAVLE = 0; 
                      HMDZ_QS_VAVEL = 1;
                      HMDZ_AutoStep = 25;
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_SS_LIMIT_ALARM);
                  break;
            case 25:
                  if(HMDZ_QS_LIMIT_IN)
                  {
                      HMDZ_CL_VAVLE = 1;
                      HMDZ_AutoStep = 26;
                      HMDZ_AutoDelay = dwTickCount+HMDZ_PARAM_CL_BACK_DELAY;
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_QS_LIMIT_ALARM);
                  break;
            case 26:
                  if(dwTickCount >= HMDZ_AutoDelay)
                  {   
                      HMDZ_CL_VAVLE = 0;
                      HMDZ_QS_VAVEL = 0;
                      HMDZ_AutoDelay = dwTickCount+VAVLE_ALARM_TIME;
                      HMDZ_AutoStep = 27;	    
                  } 
                  break;
            case 27:
                  if(HMDZ_QS_ORIGIN_IN)
                  {
                      HMDZ_AutoStep = 28;
                  }
                  else if(dwTickCount >= HMDZ_AutoDelay)
                      HMDZ_SetAlarmCode(HMDZ_QS_ORIGIN_ALARM);
                  break;
            case 28:	 
                  if(HMDZ_MotorStep == 0)
                  {
                      AddToTal(HMDZ_TOTAL_ADDR);
                      CalProSP(HMDZ_PROSPEED_ADDR);
                      HMDZ_AutoStep = 1;
                  }
                  break;
        }	
    }
}

void HMDZ_StepCheckStart(void)
{
//		启动      			
    if((HMDZ_START_IN) || HMDZ_bStart)
    {
        HMDZ_bStart = 0;
        
        if(!HMDZ_bRunning && (HMDZ_AutoStep == 0))
        {
            if(!HMDZ_MOTOR_ORIGIN_IN)HMDZ_SetAlarmCode(HMDZ_MOTOR_ORIGIN_ALARM);
            else if(!HMDZ_DL_ORIGIN_IN)HMDZ_SetAlarmCode(HMDZ_DL_ORIGIN_ALARM);
            else if(!HMDZ_QS_ORIGIN_IN)HMDZ_SetAlarmCode(HMDZ_QS_ORIGIN_ALARM);
            else if(!HMDZ_TS_ORIGIN_IN) HMDZ_SetAlarmCode(HMDZ_TS_ORIGIN_ALARM);
            else if(!HMDZ_SS_ORIGIN_IN)HMDZ_SetAlarmCode(HMDZ_SS_ORIGIN_ALARM);
            else
            {
                HMDZ_bRunning    = 1;
                HMDZ_AutoStep = 1;
            }
        }
    }


    //停止
   if(HMDZ_STOP_IN_UP || HMDZ_bStop)
   {
        HMDZ_bStop = 0;       
        HMDZ_bRunning   = 0;
        HMDZ_AutoStep   = 0;
        HMDZ_MotorStep  = 0;

        HMDZ_SS_VAVLE = 0;
        HMDZ_DL_VAVLE = 0;
        HMDZ_QS_VAVEL = 0;
        HMDZ_TS_VAVLE = 0;
        HMDZ_JL_VAVLE = 0;
        HMDZ_YL_VAVLE = 0;
        HMDZ_CL_VAVLE = 0;
        HMDZ_SZ_OUT   = 1;
        AxisDecStop(X_AXIS);  
        if(GetAlarmCode(HMDZ_ALARM_ADDR) != 0)SetAlarmCode(HMDZ_ALARM_ADDR,0);
    }
    
    if(HMDZ_bAlarmStop)
    {
        HMDZ_bAlarmStop = 0;
        HMDZ_bRunning   = 0;
        HMDZ_AutoStep   = 0;
        HMDZ_MotorStep  = 0;

        HMDZ_SS_VAVLE = 0;
        HMDZ_DL_VAVLE = 0;
        HMDZ_QS_VAVEL = 0;
        HMDZ_TS_VAVLE = 0;
        HMDZ_JL_VAVLE = 0;
        HMDZ_YL_VAVLE = 0;
        HMDZ_CL_VAVLE = 0;
    }
    
}   

void HMDZ_Motor(void)
{
        user_datas[121]= HMDZ_MotorStep;
        user_datas[125] = HMDZ_AutoStep;


	switch(HMDZ_MotorStep)
	{
        }
}





#endif