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- #include "global.h"
- #if XIN_YE_MACHINE == 1
- void XY_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag);
- void XY_CTHL_ManualAction(void);
- void XY_CTHL_AutoStepAction(void);
- void XY_CTHL_TableAction(void);
- void XY_CTHL_TD_Motor(void);
- void XY_CTHL_CL_Motor(void);
- void XY_CTHL_CheckStart(void);
- void XY_CTHL_TLiao_Step(void); //推料(推拉头)
- void XY_CTHL_AlarmProtect(void);
- void XY_CTHL_ZLT_Step(void);
- void XY_CTHL_ZhenDongAction(void);
- void XY_CTHL_bFKCXTDDWStep(void);
- void XY_CTHL_bCXCRStep(void);
- void XY_CTHL_bCLFirstStep(void);
- void ExtiAcitionX02(void)
- {
- if(bCheckEN_FLG)
- {
- bCheckEN_FLG = 0;
- XY_CTHL_CheckInX02PosBuff = GetPos(X_AXIS);
- }
- }
- //故障报警
- void XY_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag)
- {
- SetAlarmCode(XY_CTHL_ALARM_ADDR,alarm_code);
- // bAlarmStop = 0;
- // if(cStopFlag)
- if(!cWULATOUCnt)
- {
- bAlarmStop = 1;
- }
- else
- {
- cWULATOUCnt=0;
- }
-
-
-
- }
- //初始化动作
- void XY_CTHL_InitAction(void)
- {
- float buff_pulse,buff_dist;
-
- buff_pulse = XY_CTHL_PARAM_CYCLE_PULSE;
- buff_dist = XY_CTHL_PARAM_CYCLE_LENGTH;
-
- XGearRatio = buff_pulse/buff_dist;
-
- buff_pulse = 2000;//XY_CTHL_PARAM_CYCLE_PULSE;
- buff_dist = 750;//XY_CTHL_PARAM_CYCLE_LENGTH;
- YGearRatio = buff_pulse/buff_dist;
-
-
-
- bYFirstDingWeiFlg = 1;
- user_datas[121] = 0;
- user_datas[122] = 0;
- user_datas[123] = 0;
-
- SetEnReverse(X_AXIS, 1);
- SetEnReverse(Y_AXIS, 1);
- SetEnReverse(Z_AXIS, 1);
-
- SetDirReverse(X_AXIS, 0);
- SetDirReverse(Y_AXIS, 0);
- SetDirReverse(Z_AXIS, 0);
-
- SetEn(X_AXIS, MOTOR_DISEN);
- SetEn(Y_AXIS, MOTOR_DISEN);
- SetEn(Z_AXIS, MOTOR_DISEN);
-
- // QDCT_SZ_OUT = QDCT_MOTOR_DISEN;
- }
- void XY_CTHL_Action(void)
- {
- // user_datas[121] = XY_CTHL_ZhuangLiaoStep;
- // user_datas[122] =axis_x->cur_speed;
- // user_datas[123] = XY_CTHL_bCXCR_Step;
- dwXRealPos = GetPos(X_AXIS);
- dwYRealPos = GetPos(Y_AXIS);
- dwZRealPos = GetPos(Z_AXIS);
- user_datas[124] = dwXRealPos;
- user_datas[125] = dwYRealPos;
-
- user_datas[126] = XY_CTHL_CL_MotorStep;
- user_datas[127] = XY_CTHL_TD_MotorStep;
- user_datas[128] = XY_CTHL_AutoStep;
-
- XY_CTHL_ZhenDongAction();
- XY_CTHL_AlarmProtect();
- XY_CTHL_CheckStart();
- XY_CTHL_ZLT_Step();
- XY_CTHL_TLiao_Step();
- XY_CTHL_TD_Motor();
- XY_CTHL_CL_Motor();
- XY_CTHL_bFKCXTDDWStep();
- XY_CTHL_bCXCRStep();
- XY_CTHL_bCLFirstStep();
- XY_CTHL_ManualAction();
- XY_CTHL_AutoStepAction();
- }
- void XY_CTHL_AlarmProtect(void)
- {
-
-
- }
- //自动动作
- void XY_CTHL_AutoStepAction(void)
- {
- //测试用
- if(dwTickCount >= XY_CTHL_TestDelay)
- {
- XY_CTHL_TestDelay = dwTickCount + 150;
- XY_CTHL_TestLED = !XY_CTHL_TestLED;
- }
- if(bRunning)
- {
- switch(XY_CTHL_AutoStep)
- {
- case 1:
- if(XY_CTHL_SF_Origin_IN)
- {
- /* XY_CTHL_AutoStep = 10; //测试拖带定位
- XY_CTHL_AutoDelay = dwTickCount + 1000;
- break; */
-
- XY_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出
- XY_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出
- XY_CTHL_FKGD_VAVLE = 0; //方块固定关
- // XY_CTHL_XKDW_VAVLE = 1;
- XY_CTHL_AutoStep = 2;
- // XY_CTHL_AutoDelay = dwTickCount + 10;
- if(XY_CTHL_ZhuangLiaoStep == 0)
- {
- XY_CTHL_ZhuangLiaoStep = 1;
- XY_CTHL_TryCnt = 0;
- }
- }
- break;
- case 2:
- if(!XY_CTHL_XKTD_Origin_IN)// && (dwTickCount >= XY_CTHL_AutoDelay)) //斜口推带原位离开
- {
- XY_CTHL_AutoStep = 3;
- XY_CTHL_XKDW_VAVLE = 1;
- XY_CTHL_AutoDelay = dwTickCount + 20;
- }
- break;
- case 3://斜口定位
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 4;
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_XKDW_TD_DELAY;
- }
- break;
- case 4:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- // AxisContinueMoveAcc(X_AXIS,1000,DIR_P,800,600,10,10);//拖带电机
- AxisMovePosAccDecNotStop(X_AXIS,1600,150,600,1000,5,3,00);
- XY_CTHL_AutoStep = 5;
- XY_CTHL_XSavePosBuff = dwXRealPos;
- SetPos(X_AXIS, 0); //启动位置设为0点
-
- dwXRealPos = 0;
- }
- break;
- case 5:
- if(bCL_EN_FLG && (dwXRealPos >= 230))
- {
- XY_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入
- }
- if(dwXRealPos >= XY_CTHL_PARAM_WLCDSHEZHI_LENTH)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_WLZDTJ_ALARM,bRunning);
- //无拉链自动停机
- }
- if(XY_CTHL_XKSC_Limit_IN) //方块上止到位
- {
- AxisEgmStop(X_AXIS);
- XY_CTHL_QDXK_VAVLE = 1;
- XY_CTHL_FKJD_VAVLE=0;
- AxisMovePosAccDec(X_AXIS,1200,10,1200,1200,6,6,0); //
- XY_CTHL_AutoStep = 6;
- XY_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- XY_CTHL_bLTCHECK_Delay = dwTickCount + 20;
- //电机穿入可以启动
- bCL_OK_FLG = 1; //不用穿合链的话认为已经完成
- if(bCL_EN_FLG)
- {
- bCL_OK_FLG = 0;
- XY_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入
- XY_CTHL_CL_MotorStep = 1;
- XY_CTHL_CL_MotorDelay = dwTickCount + XY_CTHL_PARAM_HLJJ_CL_DELAY;
- }
- }
- else if(dwXRealPos >= (XY_CTHL_XSavePosBuff + 700))
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_FKCXDW_ALARM,bRunning); //方块插销定位异常警告
-
- }
- break;
- case 6:
- if(XY_CTHL_XKTD_Origin_IN) //斜口推带回到原位
- {
- if(bZhuangLiaoOkFlg && (XY_CTHL_ZhuangLiaoStep == 0))
- {
- if(dwTickCount >= XY_CTHL_bLTCHECK_Delay)
- {
- if(bSingOneFlg)
- {
- XY_CTHL_AutoStep = 0;
- bRunning = 0;
- }
- else
- {
- if(!XY_CTHL_LTou_Check)
- {
- XY_CTHL_CTXM_VAVLE = 1; //穿头下模上升
- XY_CTHL_AutoStep = 7;
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- }
- else
- {
- cWULATOUCnt=1;
- XY_CTHL_SetAlarmCode(XY_CTHL_ZLT_ALARM,bRunning); // 没有拉头
- }
- }
- }
- }
- }
- else if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_XKTD_Origin_ALARM,bRunning); //斜口推带回到异常
- }
- break;
- case 7:
- if(!XY_CTHL_CTM_Origin_IN)
- {
- XY_CTHL_JLTou_VAVLE = 0; //接拉头
- }
- if(XY_CTHL_CTM_Limit_IN)
- {
- XY_CTHL_JLTou_VAVLE = 0;
- //XY_CTHL_AutoStep = 8;
- //XY_CTHL_AutoDelay = dwTickCount + 3;
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_DXKYS_DELAY;
- XY_CTHL_AutoStep = 201;
- }
- else if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Limit_ALARM,bRunning); //穿头下模上升异常
- }
- break;
- case 8:
- if(dwTickCount >= XY_CTHL_AutoDelay) //延时顶斜口
- {
-
- XY_CTHL_QDXK_VAVLE = 1;
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_DXKYS_DELAY;
- XY_CTHL_AutoStep = 201;
- }
- break;
- case 201:
- if(dwTickCount >= XY_CTHL_AutoDelay) //延时顶斜口
- {
- if(XY_CTHL_PARAM_TDFZ_LENTH && !X_DRV) //拖带电机反转
- {
- AxisMovePosAccDec(X_AXIS,8000,-XY_CTHL_PARAM_DXKFZ_LENTH,800,600,6,6,0);
- XY_CTHL_AutoStep = 202;
-
- }
- }
- break;
- case 202:
- if(!X_DRV) //延时顶斜口
- {
-
- XY_CTHL_DXK_VAVLE=1;
-
- if(cQDXK_DXK)
- {
- XY_CTHL_AutoStep = 0;
- bRunning = 0;
- // SetEn(X_AXIS, MOTOR_DISEN);
- }
- else
- {
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_DXK_XKDW_Off_DELAY;
- XY_CTHL_AutoStep = 9;
- }
- }
- break;
- case 9:
- if((dwTickCount >= XY_CTHL_AutoDelay) && (bCL_OK_FLG)) //顶斜口延时退斜口上止定位
- {
- // AxisMovePosAccDec(X_AXIS,2000,-150,1200,1200,3,6,0); //反转1.5CM
- XY_CTHL_XKDW_VAVLE = 0; //斜口上止定位关
- XY_CTHL_FKJD_VAVLE = 0; //方块夹带气缸关
- XY_CTHL_AutoStep = 10;
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_XK_CR_DELAY;
- }
- break;
- case 10:
- if((dwTickCount >= XY_CTHL_AutoDelay) && !X_DRV)
- {
- XY_CTHL_TD_MotorStep = 10; //启动拖带穿入
- XY_CTHL_AutoStep = 11;
- }
- break;
- case 11:
-
- if(XY_CTHL_TD_MotorStep == 0) //穿入定位完成
- {
- /* //测试拖带定位
- XY_CTHL_AutoStep = 1;
- XY_CTHL_AutoDelay = dwTickCount + 1000;
- if(cZipCnt<3)
- cZipCnt++;
- break; */
-
-
- XY_CTHL_XKDW_VAVLE = 0; //斜口上止定位关
- XY_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出
- XY_CTHL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀
-
- if((XY_CTHL_CL_MotorStep == 0))
- {
- XY_CTHL_CXQJD_VAVLE = 1;
- }
- XY_CTHL_AutoStep = 101;
- XY_CTHL_AutoDelay = dwTickCount + 50;
-
- }
- break;
- case 101:
- if(dwTickCount >= XY_CTHL_AutoDelay)
-
- {
- XY_CTHL_XKDW_VAVLE = 1; //斜口定位
- XY_CTHL_AutoStep = 12;
- }
- break;
-
- case 12:
- if((XY_CTHL_CL_MotorStep == 0)&& (XY_CTHL_SF_Origin_IN)) //插销前夹带回到原位
- {
- XY_CTHL_AutoStep = 14;
- XY_CTHL_CXQJD_VAVLE = 1;
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_XCQJD_XCDW_DELAY;
- }
- break;
- case 14:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 15;
- XY_CTHL_FKGD_VAVLE = 1; //方块固定
- //Y轴启动插销
- XY_CTHL_CL_MotorStep = 20; //插销定位
- }
- break;
- case 15:
- if(XY_CTHL_CL_MotorStep == 0) //插销定位完成
- {
- XY_CTHL_AutoStep = 16;
- XY_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀
- XY_CTHL_AutoDelay = dwTickCount + 10; //延时插销下移
- }
- break;
- case 16:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 17;
- XY_CTHL_CXXY_VAVLE = 1; //Y06 插销下移电磁阀
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间
- }
- break;
- case 17:
- if(XY_CTHL_CXXY_Limit_IN)
- {
- XY_CTHL_AutoStep = 18;
- if(!X_DRV) //拖带电机反转
- {
- if(XY_CTHL_LENTH>0)
- AxisMovePosAccDec(X_AXIS,8000,-XY_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0);
- else
- AxisMovePosAccDec(X_AXIS,8000,-XY_CTHL_PARAM_TDFZ_LENTH-300,800,600,6,6,0);
- }
- XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀
- XY_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关
- XY_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_SCDWOff_CXDW_DELAY;
- cXcxcrCnt = 0;
- }
- else if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_CXXY_Limit_ALARM,bRunning); //插销下移异常
-
- }
- break;
- case 18:
- // if(START_IN_UP)
- {
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 19;
-
- XY_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入)
- XY_CTHL_AutoDelay = dwTickCount + 500; //插销穿入到位异常时间
- XY_CTHL_CL_MotorStep = 50; //合链电机回原点
- }
- }
- break;
- case 19:
- // if( cXcxcrCnt > 1)
- // {
- // XY_CTHL_SetAlarmCode(XY_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常
- // }
-
- if(XY_CTHL_CX_Limit_IN/* && cXcxcrCnt<2*/)
- {
- cXcxcrCnt=0;
- bZhuangLiaoOkFlg = 0;
- XY_CTHL_AutoStep = 20;
- XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_First_CL_DELAY;//延时一次穿入
- }
- else if (dwTickCount >= XY_CTHL_AutoDelay && XY_CTHL_CXDWZ_VAVLE)
- {
- cXcxcrCnt++;
- if(cXcxcrCnt >= 2)
- XY_CTHL_SetAlarmCode(XY_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常
- else
- {
- XY_CTHL_CXHJD_VAVLE=0;
- XY_CTHL_AutoStep = 190;
- XY_CTHL_AutoDelay = dwTickCount + 80;
- }
- }
- break;
-
- case 190:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 191;
- XY_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)
- XY_CTHL_AutoDelay = dwTickCount + 80;
- }
- break;
-
- case 191:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 18;
- XY_CTHL_CXHJD_VAVLE=1;
- XY_CTHL_AutoDelay = dwTickCount + 80;
- }
- break;
-
- case 20:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 21;
- XY_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- }
- break;
- case 21:
- if(!XY_CTHL_First_CT_Origin_IN) //原点离开后才开始时间
- {
- XY_CTHL_AutoStep = 22;
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_First_CL_Timer; //一次穿入时间
- }
- else if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常
- }
- break;
- case 22:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 23;
- XY_CTHL_MGuo_VAVLE = 0; //码勾退
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_MGOff_XiaMo_DELAY;
- XY_CTHL_FKGD_VAVLE = 0; //方块固定退
- XY_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开
- XY_CTHL_CXXY_VAVLE = 0; //Y06 插销下移电磁阀关
- }
- break;
- case 23:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 24;
- XY_CTHL_CTXM_VAVLE = 0; //穿头下模下降
- XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- }
- break;
- case 24:
- if(!XY_CTHL_CTM_Limit_IN)
- {
- XY_CTHL_AutoStep = 25;
- XY_CTHL_AutoDelay = dwTickCount + 20; //一次穿入延时返回
- }
- else if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Origin_ALARM,bRunning);//穿头下模下降异常
- }
- break;
- case 25:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_AutoStep = 26;
- XY_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关
- XY_CTHL_AutoDelay = dwTickCount + 5;
- XY_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭
- //退下出错警告
- XY_CTHL_AutoDelay1 = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- XY_CTHL_AutoStep1 = 1;
- }
- break;
-
-
- case 26:
- if(dwTickCount >= XY_CTHL_AutoDelay)
- {
- XY_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出
- XY_CTHL_FKGD_VAVLE = 0; //方块固定关
- XY_CTHL_AutoStep = 2;
- bCL_EN_FLG = 1;
- cXcxcrCnt=0;
- AddToTal(XY_CTHL_TOTAL_ADDR);
-
- CalProSP(XY_CTHL_SPEED_ADDR);
- if(cZipCnt<3)
- cZipCnt++;
-
- }
- break;
-
- }
- }
- //退下模后启动送拉头
- switch(XY_CTHL_AutoStep1)
- {
- case 1:
- if(cStopMode==1)
- {
- cStopMode=2;
- bStop=1;
- }
- if(XY_CTHL_CTM_Origin_IN && XY_CTHL_First_CT_Origin_IN)
- {
- XY_CTHL_ZhuangLiaoStep = 1;
- XY_CTHL_TryCnt = 0;
- XY_CTHL_AutoStep1 = 0;
- XY_CTHL_MGuo_VAVLE = 0;
- XY_CTHL_JLTou_VAVLE = 0;
- }
- else if(dwTickCount >= XY_CTHL_AutoDelay1)
- {
- //穿头模和一次穿入回位异常
- if(!XY_CTHL_CTM_Origin_IN)
- XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Origin_ALARM,bRunning);
- else if(!XY_CTHL_First_CT_Origin_IN)
- XY_CTHL_SetAlarmCode(XY_CTHL_First_CT_Origin_ALARM,bRunning);
- }
- break;
-
- }
-
- }
- void XY_CTHL_CheckStart(void)
- {
- if(cWULATOUCnt) // 无拉头警告后按
- {
- if(XY_CTHL_START_IN_UP || bStart)
- {
- bStart=0;
- if(!bRunning)
- {
- if(XY_CTHL_SafeDoor_IN)
- {
- bRunning=1;
- XY_CTHL_TryCnt=0;
- cWULATOUCnt=0;
- XY_CTHL_ZhuangLiaoStep = 1;
- XY_CTHL_AutoStep=6;
- bTuiLaTouOkFlg = 1;
- bZhuangLiaoOkFlg= 0;
- XY_CTHL_MGuo_VAVLE = 1; //判断是否已经有料
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + 150;
- }
- else
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动
- }
- }
- }
- }
- if(!XY_CTHL_SafeDoor_IN && bRunning)
- {
- bStop=1;
- XY_CTHL_SetAlarmCode(XY_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动
- }
-
- //启动 自动启动 单一自动
- if((XY_CTHL_START_IN_UP || bStart ) && !cWULATOUCnt)
- {
-
- if(!bRunning)
- {
- if(XY_CTHL_SafeDoor_IN)
- {
- cStopMode=0;
- bRunning = 1;
- cWULATOUCnt=0;
- SetEn(X_AXIS, MOTOR_EN);
- SetEn(Y_AXIS, MOTOR_EN);
- XY_CTHL_CL_MotorStep = 40;
- XY_CTHL_AutoStep = 1;
- bTuiLaTouOkFlg = 1;
- XY_CTHL_PARAM_ZDP_AUTO= 0;
- bZhuangLiaoOkFlg= 0;
- XY_CTHL_MGuo_VAVLE = 1; //判断是否已经有料
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + 150;
- bCL_EN_FLG = 0;
- cZipCnt = 0;
- cQDXK_DXK=0;
- XY_CTHL_LianLengthCheck = 0;
- cStopInCnt = 0;
- }
- else
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动
- }
- }
- bStart = 0;
- }
-
- //停止
- if(XY_CTHL_STOP_IN_UP || bStop)
- {
- if(cStopMode < 2)
- cStopMode++;
- if(bRunning && cStopMode==2)
- {
- bRunning=0;
- cStopMode=0;
- cXcxcrCnt=0;
- cWULATOUCnt=0;
- AxisEgmStop(X_AXIS);
- AxisEgmStop(Y_AXIS);
- XY_CTHL_AutoStep = 0;
- XY_CTHL_CL_MotorStep =0;
- XY_CTHL_bCLFirst_Step=0;
- XY_CTHL_ZhuangLiaoStep=0;
- XY_CTHL_XKTD_VAVLE = 0;
- cQDXK_DXK=0;
- XY_CTHL_XKDW_VAVLE =0;
- if(XY_CTHL_SF_ALR_IN )
- {
- XY_CTHL_SF_ALR_CLR=1;
- XY_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
- }
-
- if(GetAlarmCode(XY_CTHL_ALARM_ADDR) != 0)
- SetAlarmCode(XY_CTHL_ALARM_ADDR,0);
-
- }
- else if(!bRunning)
- {
- bRunning=0;
- cXcxcrCnt=0;
- cStopMode=0;
- cWULATOUCnt=0;
- AxisEgmStop(X_AXIS);
- AxisEgmStop(Y_AXIS);
- SetEn(X_AXIS, MOTOR_DISEN);
- SetEn(Y_AXIS, MOTOR_DISEN);
- cStopMode=0;
- cQDXK_DXK=0;
- if(XY_CTHL_SF_ALR_IN )
- {
- XY_CTHL_SF_ALR_CLR=1;
- XY_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
- }
- XY_CTHL_TLiao_VAVLE=0;
- XY_CTHL_HSLiao_VAVLE =0;
- XY_CTHL_JLTou_VAVLE =0;
- XY_CTHL_XKTD_VAVLE =0;
- XY_CTHL_XKDW_VAVLE =0;
- XY_CTHL_DXK_VAVLE =0;
- XY_CTHL_CXXY_VAVLE =0;
- XY_CTHL_CTXM_VAVLE =0;
- XY_CTHL_First_CT_VAVLE =0;
- XY_CTHL_FKGD_VAVLE =0;
- XY_CTHL_CXQJD_VAVLE =0;
- XY_CTHL_CXDWZ_VAVLE =0;
- XY_CTHL_CXHJD_VAVLE =0;
- XY_CTHL_CXHDW_VAVLE =0;
- XY_CTHL_FKJD_VAVLE =0;
- XY_CTHL_HLJJ_VAVLE =0;
- XY_CTHL_CXSCDW_VAVLE =0;
- XY_CTHL_MGuo_VAVLE =0;
- XY_CTHL_QDXK_VAVLE=0;
-
- XY_CTHL_AutoStep = 0;
- XY_CTHL_ZhuangLiaoStep=0;
- XY_CTHL_TLiaoStep=0;
- XY_CTHL_TD_MotorStep=0;
- XY_CTHL_JiaLianStep =0;
- XY_CTHL_SongLiaoStep =0;
- XY_CTHL_CL_MotorStep =0;
- XY_CTHL_AutoStep1 =0;
- XY_CTHL_bFKCXTDDW_Step=0;
- XY_CTHL_bCXCR_Step=0;
- XY_CTHL_bCLFirst_Step=0;
- if(GetAlarmCode(XY_CTHL_ALARM_ADDR) != 0)
- SetAlarmCode(XY_CTHL_ALARM_ADDR,0);
- SetPos(X_AXIS, 0);
- XY_CTHL_TLiaoStep = 0;
- XY_CTHL_AutoStep = 0;
-
- //穿合链电机是往零点方向时可以停止
- if(GetDir(Y_AXIS) == DIR_N)
- AxisEgmStop(Y_AXIS);
- }
- bStop=0;
- }
-
- if(bAlarmStop)
- {
- bRunning = 0;
- bAlarmStop=0;
- cStopMode=0;
- cXcxcrCnt=0;
- AxisEgmStop(X_AXIS);
- AxisEgmStop(Y_AXIS);
- XY_CTHL_AutoStep = 0;
- cQDXK_DXK=0;
- XY_CTHL_CL_MotorStep =0;
- XY_CTHL_bCLFirst_Step=0;
- XY_CTHL_SongLiaoStep =0;
- XY_CTHL_ZhuangLiaoStep=0;
- // XY_CTHL_XKTD_VAVLE = 0;
- // XY_CTHL_XKDW_VAVLE =0;
-
-
- }
- }
- //拖带电机控制动作 X轴
- void XY_CTHL_TD_Motor(void) //
- {
- #if 1
- switch(XY_CTHL_TD_MotorStep)
- {
- //1步开始,纯定位, 没有穿入
- case 1:
- if(dwTickCount >= XY_CTHL_TD_MotorDelay) //给锁轴时间
- {
- bCheckEN_FLG = 1;
- XY_CTHL_CheckInX02PosBuff= 0;
- XY_CTHL_TD_MotorStep = 2;
- SetPos(X_AXIS, 0); //启动位置设为0点
- AxisContinueMoveAcc(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed,DIR_P,800,600,15,15);
- XY_CTHL_X_CXPosBuff=0;
- }
- break;
- case 2://检测到过链
- if(dwXRealPos > 250) //穿入2CM后退
- {
- XY_CTHL_DXK_VAVLE = 0; //顶斜口气缸关
- XY_CTHL_QDXK_VAVLE = 0;
- }
- if(dwXRealPos >= XY_CTHL_PARAM_WLCDSHEZHI_LENTH)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
- }
- if(XY_CTHL_FK_Check)
- {
- XY_CTHL_DXK_VAVLE = 0; //顶斜口气缸关
- XY_CTHL_QDXK_VAVLE = 0;
- XY_CTHL_XSavePosBuff = dwXRealPos;
- XY_CTHL_TD_MotorStep = 3;
- user_datas[123] = dwXRealPos - XY_CTHL_CheckInX02PosBuff;
- if((dwXRealPos >= XY_CTHL_CheckInX02PosBuff) && XY_CTHL_CheckInX02PosBuff)
- AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed,XY_CTHL_PARAM_FKDW_Length - (dwXRealPos- XY_CTHL_CheckInX02PosBuff),
- XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,10,50,40);
- else
- AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed,XY_CTHL_PARAM_FKDW_Length,
- XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,10,50,40);
- }
- break;
- case 3:
- if(XY_CTHL_CXSC_Limit_IN_UP)
- {
- XY_CTHL_X_CXPosBuff = dwXRealPos;
-
- }
-
- if(!X_DRV || (dwXRealPos >= (XY_CTHL_XSavePosBuff + XY_CTHL_PARAM_FKDW_Length)))
- {
- AxisEgmStop(X_AXIS);
- XY_CTHL_TD_MotorStep =4 ;
- XY_CTHL_LianLengthAutoCheck = dwXRealPos;
- }
- break;
- case 4:
- if(XY_CTHL_PARAM_XCX_LENTH)
- {
-
- // if(dwXRealPos < (XY_CTHL_X_CXPosBuff+ XY_CTHL_PARAM_XCX_LENTH) )
- // {
- // XY_CTHL_TD_MotorStep = 0;
- // }
- // else if (dwXRealPos > (XY_CTHL_X_CXPosBuff + XY_CTHL_PARAM_XCX_LENTH +XY_CTHL_PARAM_XCXWC_LENTH))
- // {
- // XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常
- // }
- if(XY_CTHL_X_CXPosBuff==0)
- {
- XY_CTHL_TD_MotorStep = 0;
- XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常
- }
- else
- {
- XY_CTHL_TD_MotorStep = 0;
- }
- }
- else
- {
- XY_CTHL_TD_MotorStep = 0;
- }
- break;
-
- //穿拉头定位
- case 10:
- if(dwTickCount >= XY_CTHL_TD_MotorDelay)
- {
- XY_CTHL_TD_MotorStep = 11;
- SetPos(X_AXIS, 0); //启动位置设为0点
- dwXRealPos = 0;
- AxisContinueMoveAcc(X_AXIS,XY_CTHL_PARAM_TDCR_LowSpeed,DIR_P,200,200,5,5);
- XY_CTHL_CheckInX02PosBuff= 0;
- XY_CTHL_X_CXPosBuff=0;
- bCheckEN_FLG = 1;
- }
- break;
- case 11:
-
- if(dwXRealPos > XY_CTHL_PARAM_TDCR_LowSpeedLength) //穿入2CM后退
- {
- XY_CTHL_CheckInX02PosBuff= 0;
- XY_CTHL_DXK_VAVLE = 0; //顶斜口气缸关
- XY_CTHL_QDXK_VAVLE = 0;
- XY_CTHL_TD_MotorStep = 12;
- if((cZipCnt < 2) || (XY_CTHL_LianLengthCheck < XY_CTHL_PARAM_TDCR_LowSpeedLength+150))
- AxisContinueMoveAcc(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed,DIR_P,3000,600,10,10);
- else ////两段速度移动距离
- AxisMovePosAccDecNotStop(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed * 1.5,XY_CTHL_LianLengthCheck-(XY_CTHL_PARAM_TDCR_LowSpeedLength+150),3000,XY_CTHL_PARAM_TD_RunSpeed,10,10,0);
- }
- break;
- case 12://检测到过链
-
- if(dwXRealPos >= XY_CTHL_PARAM_WLCDSHEZHI_LENTH)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
-
- }
- if(XY_CTHL_FK_Check)
- {
- XY_CTHL_LianLengthReal = dwXRealPos;
- if(cZipCnt == 1)
- XY_CTHL_LianLengthCheck = dwXRealPos;
-
-
- //break;
- XY_CTHL_XSavePosBuff = dwXRealPos;
- XY_CTHL_TD_MotorStep = 13;
- user_datas[122] = XY_CTHL_PARAM_FKDW_Length - (dwXRealPos- XY_CTHL_CheckInX02PosBuff);
-
- if((dwXRealPos >= XY_CTHL_CheckInX02PosBuff) && XY_CTHL_CheckInX02PosBuff)
- AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed,XY_CTHL_PARAM_FKDW_Length - (dwXRealPos- XY_CTHL_CheckInX02PosBuff),
- XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,10,50,40);
- else
- AxisMovePosAccDec(X_AXIS,XY_CTHL_PARAM_TD_RunSpeed,XY_CTHL_PARAM_FKDW_Length,
- XY_CTHL_PARAM_FKDW_Speed,XY_CTHL_PARAM_FKDW_Speed,10,50,40);
- //XY_CTHL_TD_MotorStep = 0;
- }
- break;
- case 13:
- if(XY_CTHL_CXSC_Limit_IN_UP)
- {
- XY_CTHL_X_CXPosBuff = dwXRealPos;
-
- }
- if((!X_DRV ))// || (dwXRealPos >= (XY_CTHL_XSavePosBuff + XY_CTHL_PARAM_FKDW_Length)))
- {
- // user_datas[123] = dwXRealPos-XY_CTHL_CheckInX02PosBuff;
- AxisEgmStop(X_AXIS);
- XY_CTHL_TD_MotorStep = 14;
- XY_CTHL_LianLengthAutoCheck = dwXRealPos;
- }
- break;
- case 14:
-
- // if(dwXRealPos < (XY_CTHL_X_CXPosBuff+ XY_CTHL_PARAM_XCX_LENTH) )
- // {
- // XY_CTHL_TD_MotorStep = 0;
- // }
- // else if (dwXRealPos > (XY_CTHL_X_CXPosBuff + XY_CTHL_PARAM_XCX_LENTH +XY_CTHL_PARAM_XCXWC_LENTH))
- // {
- // XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常
- // }
- // else
- // {
- // XY_CTHL_TD_MotorStep = 0;
- // }
-
- if(XY_CTHL_X_CXPosBuff==0)
- {
- XY_CTHL_TD_MotorStep = 0;
- XY_CTHL_SetAlarmCode(XY_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常
- }
- else
- {
- XY_CTHL_TD_MotorStep = 0;
- }
- break;
-
-
-
- }
- #endif
- }
- //穿入电机动作,Y轴
- void XY_CTHL_CL_Motor(void) //
- {
- #if 0
- //1步开始, 穿链长度开始
- //20步开始 插销定位开始
- //40步,回原点为
- switch(XY_CTHL_CL_MotorStep)
- {
- //穿入长度位置
- case 1:
-
- if(dwTickCount >= XY_CTHL_CL_MotorDelay)
- {
- // SetDir(Y_AXIS, DIR_P);
- if(XY_CTHL_PARAM_CL_Length >= XY_CTHL_PARAM_CL_MAX_Length)
- XY_CTHL_PARAM_CL_Length = XY_CTHL_PARAM_CL_MAX_Length;
- //穿入长度要根据检测长度减动一次穿入的1CM,反转的2CM
- if((XY_CTHL_LianLengthAutoCheck < (XY_CTHL_PARAM_CL_Length + 500 )) && bRunning)
- AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,(XY_CTHL_LianLengthAutoCheck-500),800,600,6,6,50);
- else
- AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,(XY_CTHL_PARAM_CL_Length-100),800,600,6,6,50);
- XY_CTHL_CL_MotorStep = 2;
- }
- break;
- case 2:
- if((dwYRealPos + 120) > XY_CTHL_PARAM_CL_Length)
- XY_CTHL_HLJJ_VAVLE = 0;
- if(!Y_DRV || dwYRealPos >= XY_CTHL_PARAM_CL_Length)
- {
- XY_CTHL_HLJJ_VAVLE = 0;
- XY_CTHL_CL_MotorStep = 3;
- bCL_OK_FLG = 1;
- XY_CTHL_CL_MotorDelay = dwTickCount + 40; //延时数控回零点
- }
- break;
- case 3:
- if(dwTickCount >= XY_CTHL_CL_MotorDelay)
- {
- XY_CTHL_CL_MotorStep = 50;
- }
- break;
- //夹带插销到穿入位置
- case 20: //此处最好算好定位长度相减
- if(cXcxcrCnt > 0)
- {
- XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length + 30;
- XY_CTHL_CL_MotorStep = 21;
- }
- else
- {
- XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length ;
- XY_CTHL_CL_MotorStep = 21;
- }
- break;
- case 21:
- SetDir(Y_AXIS, DIR_P);
- AxisMovePosAccDec(Y_AXIS,8000,XY_CTHL_LENTH,800,500,6,6,50);
- XY_CTHL_CL_MotorStep = 22;
- break;
- case 22:
- if(!Y_DRV || (dwYRealPos >= XY_CTHL_LENTH)) //插销定位已经结束
- {
- AxisEgmStop(Y_AXIS);
- XY_CTHL_YsaveCXDWPosBuff = 0;
- XY_CTHL_CL_MotorStep = 0;
- }
- break;
- //回原点开始
- case 40:
- //要先离开
- if(XY_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN))
- {
- XY_CTHL_CL_MotorStep = 41;
- SetDir(Y_AXIS, DIR_P);
- }
- else
- {
- SetDir(Y_AXIS, DIR_N);
- XY_CTHL_CL_MotorStep = 46;
-
- }
- if(GetEn(Y_AXIS) == MOTOR_DISEN)
- {
- SetEn(Y_AXIS, MOTOR_EN);
- XY_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间
-
- }
- else //已经锁轴
- XY_CTHL_CL_MotorDelay = dwTickCount + 5;
- break;
- case 41:
- if(dwTickCount >= XY_CTHL_CL_MotorDelay)
- {
- XY_CTHL_CL_MotorStep = 42;
- AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15);
- }
- break;
- case 42:
- if(!XY_CTHL_SF_Origin_IN)
- {
- XY_CTHL_CL_MotorStep = 43;
- XY_CTHL_YSavePosBuff = dwYRealPos;
- }
- break;
- case 43:
- //离开原点5CM停止
- if((dwYRealPos - XY_CTHL_YSavePosBuff) >= 800)
- {
- AxisEgmStop(Y_AXIS);
- XY_CTHL_CL_MotorStep = 46; //留空几步备用
- XY_CTHL_CL_MotorDelay = dwTickCount + 50;
- }
- break;
- case 46:
- if(dwTickCount >= XY_CTHL_CL_MotorDelay)
- {
- XY_CTHL_CL_MotorStep = 47; //检测回到原位
- if(!XY_CTHL_SF_Origin_IN)
- AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1000,800,15,10);
- }
- break;
- case 47:
- if(XY_CTHL_SF_Origin_IN)
- {
- XY_CTHL_CL_MotorStep = 0;
- AxisEgmStop(Y_AXIS);
- SetPos(Y_AXIS, 0);
- }
- break;
- //数控回原位 (条件为自动工作,SON一直没有松开)
- case 50:
- if(dwYRealPos > 150)
- { //回零速度
- SetDir(Y_AXIS, DIR_N);
- AxisMovePosAccDecNotStop(Y_AXIS,XY_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos + 150,5000,2000,10,50,50);
-
-
- }
- else
- AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15);
- XY_CTHL_CL_MotorStep = 51;
- break;
- case 51:
- if(XY_CTHL_SF_Origin_IN)
- {
- XY_CTHL_CL_MotorStep = 0;
- AxisEgmStop(Y_AXIS);
- SetPos(Y_AXIS, 0);
- }
- break;
-
- }
- #endif
- #if 1
- //1步开始, 穿链长度开始
- //20步开始 插销定位开始
- //40步,回原点为
- switch(XY_CTHL_CL_MotorStep)
- {
- //穿入长度位置
- case 1:
-
- if(dwTickCount >= XY_CTHL_CL_MotorDelay)
- {
- //穿入长度要根据检测长度减动一次穿入的1CM,反转的2CM
- if((XY_CTHL_LianLengthAutoCheck < (XY_CTHL_PARAM_CL_Length + 100 )) && (XY_CTHL_LianLengthAutoCheck>100) && bRunning)
- {
- if(XY_CTHL_LianLengthAutoCheck>400)
- XY_CTHL_Y_CL_Length = 300;
- else
- XY_CTHL_Y_CL_Length = XY_CTHL_LianLengthAutoCheck-100;
-
- //XY_CTHL_Y_CL_Length = 100; //XY_CTHL_LianLengthAutoCheck-500;
- if(XY_CTHL_Y_CL_Length >= XY_CTHL_PARAM_CL_MAX_Length)
- XY_CTHL_Y_CL_Length = XY_CTHL_PARAM_CL_MAX_Length;
- AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,XY_CTHL_Y_CL_Length,800,600,6,6,50);
- }
- else if(XY_CTHL_LianLengthAutoCheck>100)
- {
- XY_CTHL_Y_CL_Length = XY_CTHL_LianLengthAutoCheck - XY_CTHL_PARAM_CL_Length;
- if(XY_CTHL_Y_CL_Length >= XY_CTHL_PARAM_CL_MAX_Length)
- XY_CTHL_Y_CL_Length = XY_CTHL_PARAM_CL_MAX_Length;
- AxisMovePosAccDec(Y_AXIS,XY_CTHL_PARAM_CL_Speed,XY_CTHL_Y_CL_Length,800,600,6,6,50);
- }
- XY_CTHL_CL_MotorStep = 2;
- }
- break;
- case 2:
- if((dwYRealPos + 120) > XY_CTHL_Y_CL_Length)
- XY_CTHL_HLJJ_VAVLE = 0;
- if(!Y_DRV || dwYRealPos >= XY_CTHL_Y_CL_Length)
- {
- AxisEgmStop(Y_AXIS);
- XY_CTHL_HLJJ_VAVLE = 0;
- XY_CTHL_CL_MotorStep = 3;
- bCL_OK_FLG = 1;
- XY_CTHL_CL_MotorDelay = dwTickCount + 40; //延时数控回零点
- }
- break;
- case 3:
- if(dwTickCount >= XY_CTHL_CL_MotorDelay)
- {
- XY_CTHL_CL_MotorStep = 50;
- }
- break;
- //夹带插销到穿入位置
- case 20: //此处最好算好定位长度相减
- if(cXcxcrCnt > 0 || XY_CTHL_LianLengthCheck - XY_CTHL_LianLengthReal > 350)
- {
- //XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length + 30;
- XY_CTHL_LENTH = XY_CTHL_PARAM_XCX_LENTH + XY_CTHL_PARAM_CXDW_Length - (dwXRealPos - XY_CTHL_X_CXPosBuff)+45;
- if(XY_CTHL_LENTH>0)
- XY_CTHL_CL_MotorStep = 21;
- else
- XY_CTHL_CL_MotorStep = 30;
- }
- else
- {
- //XY_CTHL_LENTH = XY_CTHL_PARAM_CXDW_Length ;
- XY_CTHL_LENTH = XY_CTHL_PARAM_XCX_LENTH + XY_CTHL_PARAM_CXDW_Length - (dwXRealPos - XY_CTHL_X_CXPosBuff);
- if(XY_CTHL_LENTH>0)
- XY_CTHL_CL_MotorStep = 21;
- else
- XY_CTHL_CL_MotorStep = 30;
- }
- break;
- case 21:
- SetDir(Y_AXIS, DIR_P);
- XY_CTHL_Y_CL_PosBuff = dwYRealPos;
- AxisMovePosAccDec(Y_AXIS,8000,XY_CTHL_LENTH,800,500,6,6,50);
- XY_CTHL_CL_MotorStep = 22;
- break;
- case 22:
- if(dwYRealPos >= XY_CTHL_Y_CL_PosBuff+XY_CTHL_LENTH-XY_CTHL_PARAM_CXDW_Length) //插销定位已经结束
- {
- XY_CTHL_CXSCDW_VAVLE = 1;
- }
-
- if(!Y_DRV || (dwYRealPos >= XY_CTHL_Y_CL_PosBuff+XY_CTHL_LENTH)) //插销定位已经结束
- {
- AxisEgmStop(Y_AXIS);
- XY_CTHL_YsaveCXDWPosBuff = 0;
- XY_CTHL_CL_MotorStep = 0;
- }
-
- break;
- case 30:
- XY_CTHL_YsaveCXDWPosBuff = 0;
- XY_CTHL_CL_MotorStep = 0;
- break;
- //回原点开始
- case 40:
- //要先离开
- if(XY_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN))
- {
- XY_CTHL_CL_MotorStep = 41;
- SetDir(Y_AXIS, DIR_P);
- }
- else
- {
- SetDir(Y_AXIS, DIR_N);
- XY_CTHL_CL_MotorStep = 46;
-
- }
- if(GetEn(Y_AXIS) == MOTOR_DISEN)
- {
- SetEn(Y_AXIS, MOTOR_EN);
- XY_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间
-
- }
- else //已经锁轴
- XY_CTHL_CL_MotorDelay = dwTickCount + 5;
- break;
- case 41:
- if(dwTickCount >= XY_CTHL_CL_MotorDelay)
- {
- XY_CTHL_CL_MotorStep = 42;
- AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15);
- }
- break;
- case 42:
- if(!XY_CTHL_SF_Origin_IN)
- {
- XY_CTHL_CL_MotorStep = 43;
- XY_CTHL_YSavePosBuff = dwYRealPos;
- }
- break;
- case 43:
- //离开原点5CM停止
- if((dwYRealPos - XY_CTHL_YSavePosBuff) >= 800)
- {
- AxisEgmStop(Y_AXIS);
- XY_CTHL_CL_MotorStep = 46; //留空几步备用
- XY_CTHL_CL_MotorDelay = dwTickCount + 50;
- }
- break;
- case 46:
- if(dwTickCount >= XY_CTHL_CL_MotorDelay)
- {
- XY_CTHL_CL_MotorStep = 47; //检测回到原位
- if(!XY_CTHL_SF_Origin_IN)
- AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1000,800,15,10);
- }
- break;
- case 47:
- if(XY_CTHL_SF_Origin_IN)
- {
- XY_CTHL_CL_MotorStep = 0;
- AxisEgmStop(Y_AXIS);
- SetPos(Y_AXIS, 0);
- }
- break;
- //数控回原位 (条件为自动工作,SON一直没有松开)
- case 50:
- if(dwYRealPos > 150)
- { //回零速度
- SetDir(Y_AXIS, DIR_N);
- AxisMovePosAccDecNotStop(Y_AXIS,XY_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos + 150,5000,2000,10,50,50);
-
-
- }
- else
- AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15);
- XY_CTHL_CL_MotorStep = 51;
- break;
- case 51:
- if(XY_CTHL_SF_Origin_IN)
- {
- XY_CTHL_CL_MotorStep = 0;
- AxisEgmStop(Y_AXIS);
- SetPos(Y_AXIS, 0);
- }
- break;
-
- }
- #endif
- }
- //装拉头动作
- void XY_CTHL_ZLT_Step(void)
- {
- switch(XY_CTHL_ZhuangLiaoStep)
- {
- case 1:
-
- if(bZhuangLiaoOkFlg)
- {
- XY_CTHL_ZhuangLiaoStep = 0;
- }
- else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay)
- {
-
- if(((XY_CTHL_MGuo_VAVLE && XY_CTHL_LTou_Check) || (!XY_CTHL_MGuo_VAVLE)) && !XY_CTHL_JLiao_Limit_IN )//说明没有拉头
- {
- //穿头模和一次穿入必须在原位,接料不能有输出
- if(XY_CTHL_CTM_Origin_IN && !XY_CTHL_CTXM_VAVLE)
- {
- XY_CTHL_First_CT_VAVLE = 0;
- XY_CTHL_JLTou_VAVLE = 0;
- XY_CTHL_MGuo_VAVLE = 0;
- if(XY_CTHL_TLiaoStep == 0)
- {
- XY_CTHL_TLiaoStep = 1;
- XY_CTHL_ZhuangLiaoStep = 2;
- }
- }
-
- else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay + 500) //警告横送拉必须保证穿头模和一次穿入在原位,接料不能有输出
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Origin_ALARM,bRunning);
-
- }
- }
- else //已经有拉头直接跳到结束
- {
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + 40;
- XY_CTHL_ZhuangLiaoStep = 9;
- }
- }
- break;
- case 2:
- if(XY_CTHL_TLiaoStep == 0) //推料已经完成
- {
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
- XY_CTHL_JLTou_VAVLE = 0;
- XY_CTHL_MGuo_VAVLE = 0;
- if(!XY_CTHL_JLiao_Limit_IN && XY_CTHL_First_CT_Origin_IN)
- {
- XY_CTHL_ZhuangLiaoStep = 3;
- XY_CTHL_HSLiao_VAVLE = 1;
- }
- }
- break;
- case 3:
- //横送到位
- if(XY_CTHL_HSLiao_Limit_IN && !XY_CTHL_HSLiao_Origin_IN)
- {
- XY_CTHL_ZhuangLiaoStep = 4;
- // XY_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + 5;
- }
- else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_HSLiao_Limit_ALARM,bRunning);
- }
- break;
- case 4:
- if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay)
- {
- XY_CTHL_ZhuangLiaoStep = 5;
- XY_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
- }
- break;
- case 5:
- if(XY_CTHL_JLiao_Limit_IN)
- {
- XY_CTHL_ZhuangLiaoStep = 6;
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + XY_CTHL_PARAM_MaGou_DELAY;
- }
- else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) //接拉头(接料)到们信号异常
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_JLiao_Limit_ALARM,bRunning);
- }
- break;
- case 6:
- if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay) //延时码勾
- {
- XY_CTHL_MGuo_VAVLE = 1; //码勾输出
- XY_CTHL_ZhuangLiaoStep = 7;
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + XY_CTHL_PARAM_HSLiaoOff_DELAY;
- bTuiLaTouOkFlg = 0; //认为拉头没法带出
- }
- break;
- case 7:
- if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay)
- {
- XY_CTHL_HSLiao_VAVLE = 0;
- XY_CTHL_ZhuangLiaoStep = 8;
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
- }
- break;
- case 8:
- if(!XY_CTHL_HSLiao_Limit_IN) //
- {
- XY_CTHL_ZhuangLiaoStep = 9;
- XY_CTHL_TLiaoStep = 1; //推拉头
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + XY_CTHL_PARAM_CheckLT_DELAY; //也是给下模能上升的时间
- }
- else if (XY_CTHL_LTou_Check) //时间内信号这说明没有拉头
- {
- //重送3次
- XY_CTHL_TryCnt++;
- XY_CTHL_JLTou_VAVLE = 0; //接拉头关
- XY_CTHL_MGuo_VAVLE = 0; //码勾打开
- if(XY_CTHL_TryCnt >= 3)
- {
- XY_CTHL_TryCnt = 0;
- bZhuangLiaoOkFlg = 0;
- XY_CTHL_ZhuangLiaoStep = 0;
- XY_CTHL_SetAlarmCode(XY_CTHL_ZLT_ALARM,bRunning);
- cWULATOUCnt=1;
- }
- else
- {
- XY_CTHL_ZhuangLiaoStep = 20; //重新送3次
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
- }
- }
- else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_HSLiao_Limit_ALARM,bRunning);
- if(bRunning)
- {
- XY_CTHL_ZhuangLiaoStep = 0 ;
- }
- }
- break;
- case 9:
- if(XY_CTHL_LTou_Check) //时间内信号这说明没有拉头
- {
- XY_CTHL_TryCnt++;
- XY_CTHL_JLTou_VAVLE = 0; //接拉头关
- XY_CTHL_MGuo_VAVLE = 0; //码勾打开
- if(XY_CTHL_TryCnt >= 3)
- {
- XY_CTHL_TryCnt=0;
- bZhuangLiaoOkFlg = 0;
- XY_CTHL_ZhuangLiaoStep = 0;
- XY_CTHL_SetAlarmCode(XY_CTHL_ZLT_ALARM,bRunning);
- cWULATOUCnt=1;
- }
- else
- {
- XY_CTHL_ZhuangLiaoStep = 20; //重新送3次
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
- }
- }
- else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay)
- {
- bZhuangLiaoOkFlg = 1;
- XY_CTHL_ZhuangLiaoStep = 0;
- }
- break;
- //装拉头不成攻重新送拉头
- case 20:
- if(XY_CTHL_HSLiao_Origin_IN)
- {
- XY_CTHL_JLTou_VAVLE = 0; //接拉头关
- XY_CTHL_MGuo_VAVLE = 0; //码勾打开
- XY_CTHL_ZhuangLiaoStep = 1;
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + 10;
- }
- else if(dwTickCount >= XY_CTHL_ZhuangLiaoDelay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_HSLiao_Origin_ALARM,bRunning);
- }
- break;
- }
- }
- void XY_CTHL_TLiao_Step(void)
- {
- switch(XY_CTHL_TLiaoStep)
- {
- case 1:
- if(bTuiLaTouOkFlg)
- {
- XY_CTHL_TLiaoStep = 0;
- }
- else
- {
- XY_CTHL_TLiao_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- XY_CTHL_TLiaoStep = 2;
- }
- break;
- case 2: //横送料在原位
- if(XY_CTHL_HSLiao_Origin_IN && !XY_CTHL_HSLiao_Limit_IN && !XY_CTHL_HSLiao_VAVLE)
- {
- XY_CTHL_TLiao_VAVLE = 1; //推料(推拉头)输出
- XY_CTHL_TLiao_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- XY_CTHL_TLiaoStep = 3;
- }
- else if(dwTickCount >= XY_CTHL_TLiao_Delay)
- XY_CTHL_SetAlarmCode(XY_CTHL_HSLiao_Origin_ALARM,1);
- break;
- case 3: //推拉头到位
- if(XY_CTHL_TLiao_Limit_IN)
- {
- XY_CTHL_TLiao_Delay = dwTickCount + XY_CTHL_PARAM_TLiao_BACKDELAY;
- XY_CTHL_TLiaoStep = 4;
- }
- else if(dwTickCount >= XY_CTHL_TLiao_Delay)
- XY_CTHL_SetAlarmCode(XY_CTHL_TLiao_Limit_ALARM,1);
- break;
- case 4:
- if(dwTickCount >= XY_CTHL_TLiao_Delay)
- {
- XY_CTHL_TLiao_VAVLE = 0;
- XY_CTHL_TLiao_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- XY_CTHL_TLiaoStep = 5;
- }
- break;
- case 5:
- if(!XY_CTHL_TLiao_Limit_IN)
- {
- XY_CTHL_TLiaoStep = 0;
- XY_CTHL_TLiao_Delay = dwTickCount;
- bTuiLaTouOkFlg = 1;
- }
- else if(dwTickCount >= XY_CTHL_TLiao_Delay)
- XY_CTHL_SetAlarmCode(XY_CTHL_TLiao_Limit_ALARM,0);
- break;
- }
-
- }
- //振动盘控制
- void XY_CTHL_ZhenDongAction(void)
- {
-
- #if 0
- if((XY_CTHL_bDLP || bRunning) && XY_CTHL_ZhenDongPian_OUT && XY_CTHL_PARAM_DALIAOPIAN)
- {
- if(CT_DLP_Time >= dwTickCount)
- {
- CT_ZDP_Delay = dwTickCount + CT_PARAM_DLP_TIME + 40;
- CT_DaLaPian_VAVLE = ~CT_DaLaPian_VAVLE;
- }
- }
- else
- CT_DaLaPian_VAVLE = 0;
- #endif
-
- #if 1
- // if(bRunning)
- // {
- if(!XY_CTHL_PARAM_ZDP_AUTO)
- {
- if(XY_CTHL_ZhenDongPian_OUT == 0)
- {
- if(!XY_CTHL_ZDP_IN)
- {
- if(dwTickCount >= XY_CTHL_ZDP_Delay)
- {
- XY_CTHL_ZhenDongPian_OUT = 1;
- XY_CTHL_ZDP_Delay = dwTickCount + XY_CTHL_PARAM_ZDP_Stop_TIME;//XY_CTHL_PARAM_ZDP_Stop_TIME + 50;
- }
- }
- else
- {
- XY_CTHL_ZDP_Delay = dwTickCount + XY_CTHL_PARAM_ZDP_Start_TIME;//XY_CTHL_PARAM_ZDP_Start_TIME;
- }
- }
- else
- {
- if(XY_CTHL_ZDP_IN)
- {
- if(dwTickCount >= XY_CTHL_ZDP_Delay)
- {
- XY_CTHL_ZhenDongPian_OUT = 0;
- XY_CTHL_ZDP_Delay = dwTickCount + XY_CTHL_PARAM_ZDP_Start_TIME;//XY_CTHL_PARAM_ZDP_Start_TIME
- }
- }
- else
- XY_CTHL_ZDP_Delay = dwTickCount + XY_CTHL_PARAM_ZDP_Stop_TIME;//XY_CTHL_PARAM_ZDP_Stop_TIME+ 50;
- }
- }
- else if (XY_CTHL_PARAM_ZDP_AUTO ==1 )
- {
- XY_CTHL_ZhenDongPian_OUT=0;
- XY_CTHL_ZDP_Delay = dwTickCount + 0;
- }
- else if(XY_CTHL_PARAM_ZDP_AUTO == 2)
- {
- XY_CTHL_ZhenDongPian_OUT=1;
- XY_CTHL_ZDP_Delay = dwTickCount + 0;
-
- }
- #endif
- }
- void XY_CTHL_bFKCXTDDWStep(void)
- {
- switch(XY_CTHL_bFKCXTDDW_Step)
- {
- case 1:
- XY_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出
- XY_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出
- XY_CTHL_FKGD_VAVLE = 0; //方块固定关
- XY_CTHL_bFKCXTDDW_Step = 2;
-
- break;
- case 2:
- if(!XY_CTHL_XKTD_Origin_IN) //斜口推带原位离开
- {
- XY_CTHL_bFKCXTDDW_Step = 3;
- XY_CTHL_bFKCXTDDW_Delay = dwTickCount + 20;
- }
- break;
- case 3://斜口定位
- if(dwTickCount >= XY_CTHL_bFKCXTDDW_Delay)
- {
- XY_CTHL_XKDW_VAVLE = 1;
- XY_CTHL_bFKCXTDDW_Step = 4;
- XY_CTHL_bFKCXTDDW_Delay = dwTickCount + XY_CTHL_PARAM_XKDW_TD_DELAY;
- }
- break;
- case 4:
- if(dwTickCount >= XY_CTHL_bFKCXTDDW_Delay)
- {
- AxisContinueMoveAcc(X_AXIS,1200,DIR_P,800,600,10,10);//拖带电机
- XY_CTHL_bFKCXTDDW_Step = 5;
- XY_CTHL_XSavePosBuff = dwXRealPos;
- SetPos(X_AXIS, 0); //启动位置设为0点
- dwXRealPos = 0;
- }
- break;
- case 5:
- if(XY_CTHL_XKSC_Limit_IN) //方块到位
- {
- AxisEgmStop(X_AXIS);
- XY_CTHL_bFKCXTDDW_Step = 0;
- XY_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭
- XY_CTHL_bFKCXTDDW_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
-
- }
- else if(dwXRealPos >= (XY_CTHL_XSavePosBuff + 800))
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_FKCXDW_ALARM,bRunning);//方块插销定位异常警告
-
- }
- break;
-
- }
- }
- //插销穿入动作
- void XY_CTHL_bCXCRStep(void)
- {
- switch(XY_CTHL_bCXCR_Step)
- {
- case 11:
- XY_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出
- XY_CTHL_FKGD_VAVLE = 0; //方块固定关
- XY_CTHL_CXSCDW_VAVLE=1;
- XY_CTHL_bCXCR_Step = 12;
-
- break;
- case 12:
- if(!XY_CTHL_XKTD_Origin_IN) //斜口推带原位离开
- {
- XY_CTHL_bCXCR_Step = 13;
- // XY_CTHL_CXQJD_VAVLE = 1; //插销前夹带
- XY_CTHL_bCXCR_Delay = dwTickCount + 20;
- }
- break;
- case 13:
- if((XY_CTHL_CL_MotorStep == 0) && (XY_CTHL_SF_Origin_IN) && (dwTickCount >= XY_CTHL_bCXCR_Delay)) //插销前夹带回到原位
- {
- XY_CTHL_bCXCR_Step = 14;
- // XY_CTHL_FKGD_VAVLE = 1; //方块固定开
- XY_CTHL_CXQJD_VAVLE = 1; //插销前夹带
- XY_CTHL_bCXCR_Delay = dwTickCount + XY_CTHL_PARAM_XCQJD_XCDW_DELAY+100;
- }
- break;
- case 14:
- if(dwTickCount >= XY_CTHL_bCXCR_Delay)
- {
- XY_CTHL_bCXCR_Step = 15;
- XY_CTHL_FKGD_VAVLE = 1; //方块固定
- //Y轴启动插销
- XY_CTHL_CL_MotorStep = 20; //插销定位
- }
- break;
- case 15:
- if(XY_CTHL_CL_MotorStep == 0) //插销定位完成
- {
- XY_CTHL_bCXCR_Step = 16;
- XY_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀
- XY_CTHL_bCXCR_Delay = dwTickCount + 10; //延时插销下移
- }
- break;
- case 16:
- if(dwTickCount >= XY_CTHL_bCXCR_Delay)
- {
- XY_CTHL_bCXCR_Step = 17;
- XY_CTHL_CXXY_VAVLE = 1; //Y06 插销下移电磁阀
- XY_CTHL_bCXCR_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间
- }
- break;
- case 17:
- if(XY_CTHL_CXXY_Limit_IN)
- {
- // if(XY_CTHL_START_IN_UP)
- {
- XY_CTHL_bCXCR_Step = 18;
- if( cXcxcrCnt==0 && !X_DRV) //拖带电机反转
- {
- // SetDir(X_AXIS, DIR_N);
- AxisMovePosAccDec(X_AXIS,10000,-XY_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0);
- }
- XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀
- XY_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关
- XY_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出
- XY_CTHL_bCXCR_Delay = dwTickCount + XY_CTHL_PARAM_SCDWOff_CXDW_DELAY;
- }
- }
- else if(dwTickCount >= XY_CTHL_bCXCR_Delay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_CXXY_Limit_ALARM,bRunning);//插销下移异常
-
- }
- break;
- case 18:
- // if(START_IN_UP)
- {
- if(dwTickCount >= XY_CTHL_bCXCR_Delay)
- {
- XY_CTHL_bCXCR_Step = 19;
-
- XY_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入)
- XY_CTHL_bCXCR_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME +1000; //插销穿入到位异常时间
- XY_CTHL_CL_MotorStep = 50; //合链电机回原点
- }
- }
- break;
- case 19:
- if( cXcxcrCnt > 1)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_CX_Limit_ALARM,bRunning); //插销穿入到位异常
- }
-
- if( XY_CTHL_CX_Limit_IN && cXcxcrCnt<2 )
- {
- cXcxcrCnt=0;
- bZhuangLiaoOkFlg = 0;
- XY_CTHL_bCXCR_Step = 0;
- XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀
-
- }
- else if (dwTickCount >= XY_CTHL_bCXCR_Delay)
- {
- cXcxcrCnt++;
-
- XY_CTHL_CXHJD_VAVLE=0;
- XY_CTHL_CXHDW_VAVLE=0;
- XY_CTHL_CXDWZ_VAVLE = 0;
- XY_CTHL_CXXY_VAVLE=0;
- XY_CTHL_bCXCR_Step = 11;
- }
-
- break;
- }
- }
- void XY_CTHL_bCLFirstStep(void)
- {
- switch(XY_CTHL_bCLFirst_Step)
- {
- case 19:
- XY_CTHL_JLTou_VAVLE = 0; //接拉头
- bZhuangLiaoOkFlg = 0;
- XY_CTHL_bCLFirst_Step = 20;
- XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀
- XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_PARAM_First_CL_DELAY;//延时一次穿入
- break;
- case 20:
- if(dwTickCount >= XY_CTHL_bCLFirst_Delay)
- {
- XY_CTHL_bCLFirst_Step = 21;
- XY_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出
- XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- }
- break;
- case 21:
- if(!XY_CTHL_First_CT_Origin_IN) //原点离开后才开始时间
- {
- XY_CTHL_bCLFirst_Step = 22;
- XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_PARAM_First_CL_Timer; //一次穿入时间
- }
- else if(dwTickCount >= XY_CTHL_bCLFirst_Delay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常
- }
- break;
- case 22:
- if(dwTickCount >= XY_CTHL_bCLFirst_Delay)
- {
- XY_CTHL_bCLFirst_Step = 23;
- XY_CTHL_MGuo_VAVLE = 0; //码勾退
- XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_PARAM_MGOff_XiaMo_DELAY;
- XY_CTHL_FKGD_VAVLE = 0; //方块固定退
- XY_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开
- XY_CTHL_CXXY_VAVLE = 0; //Y06 插销下移电磁阀关
- }
- break;
- case 23:
- if(dwTickCount >= XY_CTHL_bCLFirst_Delay)
- {
- XY_CTHL_bCLFirst_Step = 24;
- XY_CTHL_CTXM_VAVLE = 0; //穿头下模下降
- XY_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭
- XY_CTHL_bCLFirst_Delay = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- }
- break;
- case 24:
- if(!XY_CTHL_CTM_Limit_IN)
- {
- XY_CTHL_bCLFirst_Step= 25;
- XY_CTHL_bCLFirst_Delay = dwTickCount + 25; //一次穿入延时返回
- }
- else if(dwTickCount >= XY_CTHL_bCLFirst_Delay)
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_CTM_Origin_ALARM,bRunning); //穿头下模下降异常
- }
- break;
- case 25:
- if(dwTickCount >= XY_CTHL_bCLFirst_Delay)
- {
-
- XY_CTHL_bCLFirst_Step= 0;
- XY_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关
- XY_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭
-
-
- //退下出错警告
- XY_CTHL_AutoDelay1 = dwTickCount + XY_CTHL_VAVLE_ERROR_TIME;
- XY_CTHL_AutoStep1 = 1;
- bTuiLaTouOkFlg = 1;
- }
- break;
- }
- }
- //手动动作
- void XY_CTHL_ManualAction(void)
- {
- if(bRunning) // 运行灯输出
- {
- XY_CTHL_Run_State=1;
- XY_CTHL_Stop_State=0;
- }
- else
- {
- XY_CTHL_Stop_State=1;
- XY_CTHL_Run_State=0;
- }
-
- if(XY_CTHL_SF_ALR_IN ) // 伺服报警
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_SF_ALR_ALARM,0);
- }
- if(dwTickCount >= XY_CTHL_bSFBBAOJIN_Delay)
- {
- XY_CTHL_SF_ALR_CLR=0;
- }
-
- if(bRunning == 0)
- {
- if(bClearTotal) //切断计数清零
- {
- bClearTotal = 0;
- ClrcToTal(QDCT_TOTAL_ADDR);
- }
- if(XY_CTHL_bTLiao ) //手动推料(推拉头)
- {
- XY_CTHL_bTLiao = 0;
- if(XY_CTHL_TLiao_VAVLE)
- XY_CTHL_TLiao_VAVLE = 0;//XY_CTHL_TLiao_VAVLE;
- else if(!XY_CTHL_HSLiao_VAVLE && XY_CTHL_HSLiao_Origin_IN)
- {
- XY_CTHL_TLiao_VAVLE = 1;
- }
- else//条件警告
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_HENSONGLIAO_ALARM,0); // 横送料不能输出
- }
- }
- if(XY_CTHL_bHSL) //手动横送料
- {
- XY_CTHL_bHSL= 0;
- if(!XY_CTHL_First_CT_VAVLE)
- {
- if(XY_CTHL_HSLiao_VAVLE)
- {
- XY_CTHL_HSLiao_VAVLE = 0;//~XY_CTHL_HSLiao_VAVLE;
- }
- else if(!XY_CTHL_TLiao_VAVLE && !XY_CTHL_TLiao_Limit_IN && XY_CTHL_CTM_Origin_IN && !XY_CTHL_JLiao_Limit_IN &&
- !XY_CTHL_JLTou_VAVLE && !XY_CTHL_CTXM_VAVLE && !XY_CTHL_CXDWZ_VAVLE && (!XY_CTHL_bMG || (XY_CTHL_bMG && XY_CTHL_LTou_Check)))
- {
- XY_CTHL_HSLiao_VAVLE = 1;
- }
- else //条件警告 最后一个括号条件为已经有拉头
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_YCCT_ALARM,0);
- }
- }
- }
- if(XY_CTHL_bJLT) //接拉头
- {
- XY_CTHL_bJLT = 0;
- if(XY_CTHL_JLTou_VAVLE)
- XY_CTHL_JLTou_VAVLE = 0;
- else if(!XY_CTHL_First_CT_VAVLE && !XY_CTHL_CTXM_VAVLE && XY_CTHL_CTM_Origin_IN && XY_CTHL_First_CT_Origin_IN)
- {
- XY_CTHL_MGuo_VAVLE = 0;
- XY_CTHL_JLTou_VAVLE = 1;
- }
- else//条件警告
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_YCXM_Origin_ALARM,0);
- }
- }
- if(XY_CTHL_bMG) //码勾
- {
- XY_CTHL_bMG = 0;
- XY_CTHL_MGuo_VAVLE = !XY_CTHL_MGuo_VAVLE;
- }
- if(XY_CTHL_bFKJD) //方块夹带
- {
- XY_CTHL_bFKJD = 0;
- XY_CTHL_FKJD_VAVLE = !XY_CTHL_FKJD_VAVLE;
- }
- if(XY_CTHL_bXKTD) //斜口推带
- {
- XY_CTHL_bXKTD = 0;
- if(XY_CTHL_XKTD_VAVLE)
- XY_CTHL_XKTD_VAVLE = 0;
- else if(!XY_CTHL_DXK_VAVLE && (!XY_CTHL_XKSC_Limit_IN || !XY_CTHL_CTXM_VAVLE))
- XY_CTHL_XKTD_VAVLE = 1;
- else//条件警告
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_DXKCTXM_Origin_ALARM,0);
- }
- }
- if(XY_CTHL_bXKDW) //斜口定位
- {
- XY_CTHL_bXKDW = 0;
- XY_CTHL_XKDW_VAVLE = ~XY_CTHL_XKDW_VAVLE;
- }
- if(XY_CTHL_bCTXM) //穿头下模
- {
- XY_CTHL_bCTXM = 0;
- if(XY_CTHL_CTXM_VAVLE)
- {
- XY_CTHL_CTXM_VAVLE = 0;
- XY_CTHL_JLTou_VAVLE = 0;
- }
- else if(!XY_CTHL_HSLiao_VAVLE && XY_CTHL_HSLiao_Origin_IN && (!XY_CTHL_XKSC_Limit_IN || !XY_CTHL_XKTD_VAVLE))
- {
- XY_CTHL_MGuo_VAVLE = 1;
- XY_CTHL_CTXM_VAVLE = 1;
- }
- }
- if(XY_CTHL_bQianDXK) //前顶斜口
- {
- XY_CTHL_bQianDXK = 0;
- if(XY_CTHL_QDXK_VAVLE)
- XY_CTHL_QDXK_VAVLE = 0;
- else if(!XY_CTHL_XKTD_VAVLE)
- XY_CTHL_QDXK_VAVLE = 1;
- else //条件警告
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_XKTD_ALARM,0);
- }
- }
-
- if(XY_CTHL_bDXK) //顶斜口
- {
- XY_CTHL_bDXK = 0;
- if(XY_CTHL_DXK_VAVLE)
- XY_CTHL_DXK_VAVLE = 0;
- else if(!XY_CTHL_XKTD_VAVLE)
- XY_CTHL_DXK_VAVLE = 1;
- else //条件警告
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_XKTD_ALARM,0);
- }
- }
-
- if(XY_CTHL_bQianDXK_DXK)
- {
- XY_CTHL_bQianDXK_DXK = 0;
- if(!XY_CTHL_XKTD_VAVLE && XY_CTHL_AutoStep==0)
- {
- cQDXK_DXK=1;
- XY_CTHL_AutoStep = 8;
- SetEn(X_AXIS, MOTOR_EN);
- XY_CTHL_AutoDelay = dwTickCount + 50;
- bRunning=1;
- }
-
- }
- if(XY_CTHL_bFKGD) //方块固定
- {
- XY_CTHL_bFKGD = 0;
- XY_CTHL_FKGD_VAVLE = ~XY_CTHL_FKGD_VAVLE;
- }
- if(XY_CTHL_bCXQJD) //插销前夹带
- {
- XY_CTHL_bCXQJD = 0;
- XY_CTHL_CXQJD_VAVLE = ~XY_CTHL_CXQJD_VAVLE;
- }
- if(XY_CTHL_bCXSY) //插销下移电磁阀
- {
- XY_CTHL_bCXSY = 0;
- XY_CTHL_CXXY_VAVLE = !XY_CTHL_CXXY_VAVLE;
- }
- if(XY_CTHL_bCXDWZ) //Y14 插销定位针电磁阀
- {
- XY_CTHL_bCXDWZ = 0;
- if(XY_CTHL_CXDWZ_VAVLE)
- XY_CTHL_CXDWZ_VAVLE = 0;
- else if(XY_CTHL_HSLiao_Origin_IN)
- {
- XY_CTHL_CXDWZ_VAVLE = 1;
- }
- else //条件警告
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_HENSONGLIAO_ALARM,0);
- }
-
- }
- if(XY_CTHL_bCXHJD) //Y15 插销后夹带电磁阀
- {
- XY_CTHL_bCXHJD = 0;
- XY_CTHL_CXHJD_VAVLE =~XY_CTHL_CXHJD_VAVLE;
- }
- if(XY_CTHL_bCXHDW) //Y16 插销后定位电磁阀
- {
- XY_CTHL_bCXHDW = 0;
- if(XY_CTHL_CXHDW_VAVLE)
- XY_CTHL_CXHDW_VAVLE = 0;
- else if(!XY_CTHL_CXQJD_VAVLE)
- XY_CTHL_CXHDW_VAVLE = 1;
- else//条件警告
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_CXQJD_ALARM,0);
- }
- }
- if(XY_CTHL_bFirst_CT) //Y20 一次穿头电磁阀
- {
- XY_CTHL_bFirst_CT = 0;
- XY_CTHL_First_CT_VAVLE = ~XY_CTHL_First_CT_VAVLE;
- }
- if(XY_CTHL_bHLJJ) //Y21 合链夹具电磁阀
- {
- XY_CTHL_bHLJJ = 0;
- XY_CTHL_HLJJ_VAVLE = ~XY_CTHL_HLJJ_VAVLE;
- }
- if(XY_CTHL_bCXSCDW) //Y23 插销上止定位电磁阀
- {
- XY_CTHL_bCXSCDW = 0;
- XY_CTHL_CXSCDW_VAVLE = ~XY_CTHL_CXSCDW_VAVLE;
- }
- //自动装料
- if(XY_CTHL_bAutoZhuangLiao)
- {
- XY_CTHL_bAutoZhuangLiao = 0;
- if(XY_CTHL_ZhuangLiaoStep == 0)
- {
- bTuiLaTouOkFlg = 1;
- bZhuangLiaoOkFlg = 0;
- XY_CTHL_ZhuangLiaoStep = 1;
- XY_CTHL_MGuo_VAVLE = 1; //判断是否已经有料
- XY_CTHL_ZhuangLiaoDelay = dwTickCount + 150;
- }
- }
- //测试电机
- if(XY_CTHL_bCLMotor_N)
- {
- SetEn(Y_AXIS, MOTOR_EN);
- if(!XY_CTHL_SF_Origin_IN)
- {
- if(!Y_DRV)
- // Y轴 运行速度 启动速度 加速度 减速度
- AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,1000,15,15);
- }
- else
- {
- XY_CTHL_bCLMotor_N = 0;
- }
-
- }
-
- if(XY_CTHL_bCLMotor_P) //后退限位已经取消
- {
- SetEn(Y_AXIS, MOTOR_EN);
- if(!Y_DRV)
- // Y轴 运行速度 启动速度 加速度 减速度
- AxisContinueMoveAcc(Y_AXIS,2000,DIR_P,1000,1000,15,15);
- }
-
- if(!XY_CTHL_bCLMotor_P && !XY_CTHL_bCLMotor_N && (XY_CTHL_CL_MotorStep == 0))
- {
- AxisEgmStop(Y_AXIS);//AxisDecStop(Y_AXIS);
- }
- //合链电机返回原点
- if(XY_CTHL_bCLMotor_O)
- {
- XY_CTHL_bCLMotor_O = 0;
- if(XY_CTHL_CL_MotorStep == 0)
- XY_CTHL_CL_MotorStep = 40;
- }
- //拖带方块定位 ,因这步为前拖带定位, 很多电磁阀要关掉
- if(XY_CTHL_bFKTDDW)
- {
- XY_CTHL_bFKTDDW = 0;
- if(XY_CTHL_TD_MotorStep == 0)
- {
- XY_CTHL_XKDW_VAVLE = 0; //斜口定位
- XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带
- XY_CTHL_CXXY_VAVLE = 0; //插销下移
- XY_CTHL_CXHJD_VAVLE = 0; //插销后夹带
- XY_CTHL_CXHDW_VAVLE = 0; //插销后定位
- XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针
- XY_CTHL_bHLJJ = 0; //合链夹具
- XY_CTHL_FKJD_VAVLE = 0; //方块夹带
- if((GetEn(X_AXIS) == MOTOR_DISEN))
- {
- SetEn(X_AXIS, MOTOR_EN);
- XY_CTHL_TD_MotorDelay = dwTickCount + 200;
- }
- else
- XY_CTHL_TD_MotorDelay = dwTickCount + 50;
- XY_CTHL_TD_MotorStep = 1;
- }
- }
- //拖带方块插销定位(斜口推带,斜口定位,顶斜口)
- if(XY_CTHL_bFKCXTDDW)
- {
- XY_CTHL_bFKCXTDDW = 0;
- if((XY_CTHL_bFKCXTDDW_Step == 0) && (XY_CTHL_CL_MotorStep == 0) &&
- !XY_CTHL_CTXM_VAVLE)
- {
- XY_CTHL_bFKCXTDDW_Step = 1;
- SetEn(X_AXIS, MOTOR_EN);
- XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带
- XY_CTHL_CXXY_VAVLE = 0; //插销下移
- XY_CTHL_CXHJD_VAVLE = 0; //插销后夹带
- XY_CTHL_CXHDW_VAVLE = 0; //插销后定位
- XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针
- XY_CTHL_HLJJ_VAVLE = 0; //合链夹具
- }
- }
- //插销穿入(包含电机前定位,插销下移,后夹,后定位)
- if(XY_CTHL_bCXCR)
- {
- XY_CTHL_bCXCR = 0;
- //拉头模在上面到们并且码勾输出,判断有拉头
- if(XY_CTHL_CTXM_VAVLE && XY_CTHL_MGuo_VAVLE && !XY_CTHL_CXQJD_VAVLE &&
- XY_CTHL_CTM_Limit_IN && !XY_CTHL_LTou_Check)
- {
- if(XY_CTHL_CL_MotorStep == 0)
- {
- XY_CTHL_bCXCR_Step = 11;
- SetEn(Y_AXIS, MOTOR_EN);
- if(!XY_CTHL_SF_Origin_IN)
- XY_CTHL_CL_MotorStep = 40;
- }
- }
- else //警告不能自动穿插销
- {
- XY_CTHL_SetAlarmCode(XY_CTHL_WFZIDONGCX_ALARM,0);
- }
- }
- //电机合链动作
- if(XY_CTHL_bMotorHL)
- {
- XY_CTHL_bMotorHL = 0;
- if(XY_CTHL_SF_Origin_IN)
- {
- if((XY_CTHL_CL_MotorStep == 0) && !XY_CTHL_CTXM_VAVLE && (!XY_CTHL_CTM_Limit_IN))
- {
- bCL_OK_FLG = 0;
- XY_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入
- XY_CTHL_CL_MotorStep = 1;
- XY_CTHL_CL_MotorDelay = dwTickCount + XY_CTHL_PARAM_HLJJ_CL_DELAY + 130;
- if((GetEn(Y_AXIS) == MOTOR_DISEN))
- {
- SetEn(Y_AXIS, MOTOR_EN);
- XY_CTHL_CL_MotorDelay = dwTickCount + 250;
- }
- }
- }
- else
- {
- XY_CTHL_bCLMotor_O =1;
-
- }
- }
- //一次穿链动作
- if(XY_CTHL_bCL_First)
- {
- XY_CTHL_bCL_First = 0;
- //拉头模在上面到们并且码勾输出,判断有拉头
- if(XY_CTHL_CTXM_VAVLE && XY_CTHL_MGuo_VAVLE && !XY_CTHL_CXQJD_VAVLE &&
- XY_CTHL_CTM_Limit_IN && !XY_CTHL_LTou_Check && (XY_CTHL_CL_MotorStep == 0))
- {
- XY_CTHL_bCLFirst_Step = 19;
- XY_CTHL_CXHJD_VAVLE = 1; //插销后夹带
- XY_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀
- XY_CTHL_CXQJD_VAVLE = 0; //插销前夹带
- }
- }
- }
- }
- #endif
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