GC19038/Machine/XinYeMachine/XYJiaoYaDinCun .c

#include "global.h"

#if XIN_YE_MACHINE

long RealPosBuff              = 0;        //记录齿数
unsigned long ToothNumBuff    = 0;
unsigned long RemainKongWeiToothNum = 0; // 空位剩余齿数
unsigned char cFirstFlg = 0,cSeBiaoStep = 0;        
unsigned short SecondToothNum = 0;
unsigned char cCntEn = 0;
unsigned long dwSeBiaoDelayCnt = 0;
void StopProc(void);
void StartProc(void);
unsigned long CalEncodePulse(void);
unsigned short testDisp;
unsigned char cStopFlg = 0;
unsigned long dwSaveTooth,CUR_LEN_JY = 0;
unsigned long over_pulse;
unsigned char cCheckFlg,cMotorFlag = 0;
void JYDC_DelayAction(void);
void JYDC_InitAction(void);
void JYDC_ExtiActionX30(void);
void JYDC_Action(void);


void ModeSelect(void);
void JYDC_ChuiQi(void);
void JYDC_XiaChong(void);
void JYDC_SetAlarmCode(unsigned alarm_code);
void JYDC_StartStopAction(void);
void JYDC_AutoRunStep(void);
void MotorRunLength(void);
unsigned char DYtuodai1,DYtuodai2;
unsigned long GetToothNum(unsigned long zipper_length);
unsigned long JYDC_ToothGetLength(unsigned long tooth_num);
unsigned char STOP_IN_FLAG,STOP_IN_FLAG_OLD,STOP_FILTER;
unsigned char cAccSpeed = 5;
unsigned char cXC_OnceFlg = 0;
unsigned long cSinglePulse;
void JYDC_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(JYDC_ALARM_ADDR,alarm_code);
    JYDC_bAlarmStop = 1;
}

void JYDC_DelayAction(void)
{
}

unsigned long JY_pulse_to_pos;
void JYDC_InitAction(void)
{   
// CalFreqTab_X_Free_JY(25);
    float length_buff,pulse_buff;
    CalFreqTab_X_Free(18);

    length_buff = JYDC_CYCLE_LENGTH;
    pulse_buff  = JYDC_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff; 
    
 //   XGearRatio  = 1;

    if(MODE_SELECT > 3)
      MODE_SELECT = 0;
    ModeSelect();
    STOP_IN_FLAG = STOP_IN;
    STOP_IN_FLAG_OLD = STOP_IN_FLAG;
    JYDC_XICHI_MOTOR_MODE = 0;
    //当前齿数
    CUR_LEN_JY = 0;
    SetData32bits(CUR_LEN_ADDR_JY,0);
}



//手动动作
void JYDC_ManualAction(void)
{  
  unsigned long ch;            
    //警告跳出
    if(bClearTotal)
    {
        bClearTotal       = 0;
        ClrcToTal(JYDC_TOTAL_ADDR);
    }    
    if(!JYDC_bRunning)
    {
        //齿数加
        if(JYDC_bAddTooth)
        {
            JYDC_bAddTooth = 0;  
            ch = GetData32bits(SET_LEN_ADDR_JY);
            ch++;
            SetData32bits(SET_LEN_ADDR_JY,ch);            
        }
        //齿数减      
        if(JYDC_bDecTooth)
        {
            JYDC_bDecTooth = 0;
            ch = GetData32bits(SET_LEN_ADDR_JY);
            if(ch)
                ch--;
            SetData32bits(SET_LEN_ADDR_JY,ch);         
        }
        	//手动下冲       
        if(JYDC_bManXiaChong || JYDC_ManXiaChong_UP)
        {
            
            JYDC_bManXiaChong = 0;
            DYtuodai2=0;
            if(JYDC_XiaChongStep == 0)//if(!JYDC_bRunning && !STOP_IN && !X_DRV && (JYDC_XiaChongStep == 0))
            {
                JYDC_XiaChongStep = 1;
            }
        }
        //手动锁齿
        if(JYDC_bManSuoChi)
        {
            JYDC_bManSuoChi = 0;       
            JYDC_SuoChi_VAVLE = ~JYDC_SuoChi_VAVLE; 
        }
        //手动吹气
        if(JYDC_bManChuiQi)
        {
            JYDC_bManChuiQi = 0;  
            JYDC_ChuiQi_VAVLE = 1;
            JYDC_ChuiQiDelay = dwTickCount + JYDC_PARAM_CHUIQI_TIME * 10;
        }
        //改变尺寸重新算
        if(JYDC_bChangeLength)
        {
            JYDC_bChangeLength = 0;    
            ModeSelect();

            SetData32bits(31,CalInch(SET_ZIPPER_LENGTH));
            //JYDC_PARAM_REVICHISHU = GetToothNum(SET_ZIPPER_LENGTH);
            SetData32bits(SET_LEN_ADDR_JY, GetToothNum(SET_ZIPPER_LENGTH)); //对就齿数
            CUR_LEN_JY = 0;
            cFirstFlg  = 1;
        }
        //输入英寸
        if(JYDC_bSetInch)
        {
            JYDC_bSetInch = 0;           
            SetData32bits(SET_LEN_ADDR,CalLengthCM(SET_ZIPPER_LENGTH_INCH));
            JYDC_bChangeLength = 1;
        }
        //设定齿数算长度
        if(JYDC_bSetTooth)
        {
            JYDC_bSetTooth = 0;
            SetData32bits(SET_LEN_ADDR,JYDC_ToothGetLength(JYDC_PARAM_REVICHISHU));
            JYDC_bChangeLength = 1;
        }
        //铣齿电机
        if(JYDC_bManXiChiMotor)
        {
            JYDC_bManXiChiMotor = 0;
            JYDC_XiChi_MOTOR    = ~JYDC_XiChi_MOTOR;
        }
        //刮齿电机
        if(JYDC_bManGuaChiMotor)
        {
             if(!X_DRV)
            {
                cStopFlg = 0;
                 JYDC_SuoChi_VAVLE = 0; 
                 AxisContinueMove(X_AXIS,JYDC_PARAM_SET_SPEED,1);
            }         
        }
        else if(!JYDC_bManMotor)
        {
            if(X_DRV && (tXAxisStepper.State != 2) && !cStopFlg)
            {
                AxisEgmStop(X_AXIS);
                JYDC_SuoChi_VAVLE = 1;
            }          
        }
        
        if(JYDC_bManMotor)
        {
          
            if(!X_DRV && !DYtuodai2)
            {
              cStopFlg = 0;
                  DYtuodai1=1;
                  DYtuodai2=1;
                 JYDC_bStart=1;
              //   AxisContinueMove(X_AXIS,10,1);
            }
        }
        else if(!JYDC_bManGuaChiMotor && !cStopFlg)
        {
            if(X_DRV && (tXAxisStepper.State != 2))
            {
                AxisEgmStop(X_AXIS);
                JYDC_SuoChi_VAVLE = 1;
            }
        }
    }
}

//高速输入X30/X16定时器中断
void JYDC_ExtiActionX30(void)
{
     if(cCheckFlg)
     {
  //       cCheckFlg = 0;
  //       DISPLAY_DATA0 = JYDC_AutoStep;
  //         DISPLAY_DATA1= JYDC_XiaChongStep;
   //          DISPLAY_DATA3
   //            DISPLAY_DATA3
   //      JYDC_SetAlarmCode(JYDC_TOTAL_ALARM);
     }
     CUR_LEN_JY++;

 //   dwRealPos = GetPos(X_AXIS);
    if(JYDC_bRunning)
    {
        JYDC_AutoDelay = dwTickCount + NO_TOOTHCOUT_TIME * 10;
    }   
    if(JYDC_SEBIAO_MODE)
    {
        if(cSeBiaoStep == 1)
        {
            dwSeBiaoDelayCnt--;
            if(dwSeBiaoDelayCnt == 0)
            {
                CUR_LEN_JY = 0;
                cFirstFlg  = 1;
                RemainKongWeiToothNum = SET_KOUWEI_JY;
                cSeBiaoStep = 2;
            }
        }
        else if(cSeBiaoStep == 2)
        {
            if((CUR_LEN_JY >= ToothNumBuff) && JYDC_bRunning)
            {
                 AxisEgmStop(X_AXIS);
                 if(JYDC_bTest)
                 {
                     CUR_LEN_JY = 0;
                     testDisp = 0;
                     JYDC_bRunning = 0;
                     JYDC_AutoStep = 0;
                     JYDC_SuoChi_VAVLE = 1;
                     cSeBiaoStep   = 0;
                 }
            }        
        }
    }
    else
    {      
        if((CUR_LEN_JY >= ToothNumBuff))
        {
            if(JYDC_bRunning)
            {
                 AxisEgmStop(X_AXIS);
                 if(JYDC_bRunning)
                   JYDC_SuoChi_VAVLE = 1;
                 if(JYDC_bTest)
                 {
                     JYDC_bRunning = 0;
                     JYDC_AutoStep = 0;
                     JYDC_SuoChi_VAVLE = 1;
                     CUR_LEN_JY = 0;
                      testDisp = 0;
                 }
            }
        }
        else  //数齿有动的时候，开始走数控
        {
           if(cMotorFlag == 0)
           {
                cMotorFlag = 1;
                //走数控长度
                MotorRunLength();
           }       
        }  
        //慢速齿数开始降速
        if((ToothNumBuff) <= (JYDC_PARAM_LOW_LENGTH+CUR_LEN_JY))
        {
//            AxisChangeSpeed(X_AXIS,JYDC_PARAM_LOW_SPEED);
        }
    } 
    
    if(cStopFlg)
    {
        dwSaveTooth++;
        if((dwSaveTooth >= 15) || (CUR_LEN_JY >= ToothNumBuff)
           || (GetCurSpeed(X_AXIS) <= (JYDC_PARAM_LOW_SPEED)))
        {
            AxisEgmStop(X_AXIS);
            JYDC_SuoChi_VAVLE = 1;
            dwSaveTooth = 0;
       //     cStopFlg = 0;
        //    DISPLAY_DATA2++;
        }
    }
}

//高速输入X31/X17外部色标信号中断
void JYDC_ExtiActionX31(void)
{
      testDisp++;
      if(CUR_LEN_JY != testDisp)
      {
 /*         DISPLAY_DATA0 = CUR_LEN_JY;
          DISPLAY_DATA2 = testDisp; 
          JYDC_SetAlarmCode(JYDC_TOTAL_ALARM);  */
      }
/*
      if(cStopFlg)
      {
          cStopFlg = 0;
          JYDC_SuoChi_VAVLE = 1;
          AxisEgmStop(X_AXIS);
      }
*/
}

void MotorRunLength(void)
{
  unsigned long ch; 
  //长度还没有到慢速长度才能加速
    if((ToothNumBuff) > (JYDC_PARAM_LOW_LENGTH+CUR_LEN_JY))
    {
        DISPLAY_DATA3 = ToothNumBuff-(JYDC_PARAM_LOW_LENGTH+CUR_LEN_JY);
        ch = JYDC_ToothGetLength(DISPLAY_DATA3); //这是跑数控长度齿数
        DISPLAY_DATA2 = ch;
        SetPos(X_AXIS, 0);
        AxisMovePosAccDecNotStop(X_AXIS,JYDC_PARAM_SET_SPEED,ch,GetCurSpeed(X_AXIS),JYDC_PARAM_LOW_SPEED,3,5);        
    }
}

//胶牙定寸动作
void JYDC_Action(void)
{	

    if((JYDC_COUNT_IN_DW && JYDC_COUNT_DIR) || (JYDC_COUNT_IN_UP && !JYDC_COUNT_DIR))  
    {
      JYDC_ExtiActionX31();  //作为计数对比
    }
    JYDC_ManualAction();
    JYDC_ChuiQi();
    JYDC_XiaChong();
    JYDC_StartStopAction();     
    JYDC_AutoRunStep();
    SetData32bits(CUR_LEN_ADDR_JY,CUR_LEN_JY);  //当前齿数给值
}
//模具选择
void ModeSelect(void)
{
  switch(MODE_SELECT)   //模具选择
    {
        case 0:   //3#模具
                JY_JIZHUN_CISHU   = JY_JIZHUN_CISHU1;//基准长度对应齿数
                JY_JIZHUN_LEN     = JY_JIZHUN_LEN1;//基准长度
                SET_DAOKOU_JY     = SET_DAOKOU_JY1;   //机械模具刀口
                break;
        case 1:	//5#模具
                JY_JIZHUN_CISHU   = JY_JIZHUN_CISHU2;//基准长度对应齿数
                JY_JIZHUN_LEN     = JY_JIZHUN_LEN2;//基准长度
                SET_DAOKOU_JY     = SET_DAOKOU_JY2;   //机械模具刀口
                break;
        case 2:	//8#模具
                JY_JIZHUN_CISHU   = JY_JIZHUN_CISHU3;//基准长度对应齿数
                JY_JIZHUN_LEN     = JY_JIZHUN_LEN3;//基准长度
                SET_DAOKOU_JY     = SET_DAOKOU_JY3;   //机械模具刀口
                break;
        default: //特殊模具
                JY_JIZHUN_CISHU   = JY_JIZHUN_CISHU4;//基准长度对应齿数
                JY_JIZHUN_LEN     = JY_JIZHUN_LEN4;//基准长度
                SET_DAOKOU_JY     = SET_DAOKOU_JY4;   //机械模具刀口
                break;	
    }
  //基准齿数或长度为0时
    if((JY_JIZHUN_CISHU == 0) || (JY_JIZHUN_LEN == 0))
    {
        JY_JIZHUN_CISHU = 49;
        JY_JIZHUN_LEN = 1250;
        SET_DAOKOU_JY = 10;
    }	
}
//输入拉链长度返回所输入拉链长度所对应的齿数
unsigned long GetToothNum(unsigned long zipper_length)
{
    float length_buff1,tooth_buff,length_buff2;
    length_buff1 = zipper_length;
    tooth_buff   = JY_JIZHUN_CISHU;
    length_buff2 = JY_JIZHUN_LEN;
    return (unsigned long)round(length_buff1 * tooth_buff / length_buff2);
}

//输入齿数返回拉链长度
unsigned long JYDC_ToothGetLength(unsigned long tooth_num)
{
    float toothbuff1,tooth_buff,length_buff2;
    toothbuff1   = tooth_num;
    tooth_buff   = JY_JIZHUN_CISHU;
    length_buff2 = JY_JIZHUN_LEN;
    
    return (unsigned long)round((toothbuff1 * length_buff2 / tooth_buff));
}

//吹气动作
void JYDC_ChuiQi(void)
{
    if(JYDC_XiaChong_IN_DW)
    {
        JYDC_ChuiQi_VAVLE = 1;
        JYDC_ChuiQiDelay = dwTickCount + JYDC_PARAM_CHUIQI_TIME * 10;		
    }
    
    if(JYDC_ChuiQi_VAVLE)
    {
        if(JYDC_ChuiQiDelay < dwTickCount)JYDC_ChuiQi_VAVLE = 0;			
    }
    
    if(JYDC_XiChiChuiQi_VAVLE)
    {
        if(JYDC_XiChiChuiQiDelay < dwTickCount)JYDC_XiChiChuiQi_VAVLE = 0;
    }
}
//下冲动作
void JYDC_XiaChong(void)
{
    switch(JYDC_XiaChongStep)
    {  
        case 1:
             JYDC_ShaChe_VAVLE = 0; 
             cCheckFlg = 1;
             JYDC_SuoChi_VAVLE = 1; //手动下冲锁齿输出
             JYDC_XiaChongDelay = dwTickCount + XIACONG_DELAY_TIME;
             JYDC_XiaChongStep = 2;
             break;
        case 2:
            if(dwTickCount >= JYDC_XiaChongDelay)
            {
                 JYDC_XiaChong_MOTOR = 1;
                 if(JYDC_XiaChong_IN)  //如是在感应上就先走下降延
                    JYDC_XiaChongStep = 3;
                 else
                 { 
                    JYDC_XiaChongStep = 4;
                    JYDC_XiaChongDelay = dwTickCount + 35;   
                 }
            }
            break;
        case 3:
            if(JYDC_XiaChong_IN_DW)
            {
                JYDC_XiaChongStep = 4;
                JYDC_XiaChongDelay = dwTickCount + 35; 
            }
            break;
        case 4:    
            if(dwTickCount >= JYDC_XiaChongDelay)
            {
                JYDC_XiaChongStep = 5;
                JYDC_XiaChongDelay = dwTickCount + JYDC_PARAM_XC_ALARM_TIME;
            }
            break;           
        case 5:         
            if(JYDC_XiaChong_IN_UP)
            {
                JYDC_XiaChong_MOTOR = 0;
                JYDC_XiaChongDelay = dwTickCount + JYDC_PARAM_SHACHE_DELAY_TIME;//延时刹车
                JYDC_XiaChongStep = 6;
            }
            else if(dwTickCount >= JYDC_XiaChongDelay)//下冲警告
            {
                JYDC_SetAlarmCode(JYDC_XIACHONG_ARRIVE_ALARM);
                JYDC_XiaChong_MOTOR = 0;
                JYDC_XiaChongStep   = 6;
            }
            break;
        case 6:    
            if(dwTickCount >= JYDC_XiaChongDelay)  //延时刹车
            {
                 JYDC_ShaChe_VAVLE = 1;
                 JYDC_XiaChongStep = 0;
                 if(!JYDC_bRunning)
                {
                    CUR_LEN_JY = 0;    
                     testDisp = 0;
                    cFirstFlg  = 1;
                    RemainKongWeiToothNum = 0;
                }
                 JYDC_XiaChongDelay = dwTickCount + JYDC_PARAM_SHACHE_TIME;
            }
            break;
    }               
    if(JYDC_ShaChe_VAVLE && (dwTickCount >= JYDC_XiaChongDelay))
    {
       JYDC_ShaChe_VAVLE = 0;
    }
}
//计算减速脉冲
unsigned long GetLowSpeedPulse(void)
{
    return (JY_JIZHUN_LEN*JYDC_CYCLE_LENGTH*10/JY_JIZHUN_CISHU/JYDC_CYCLE_PULSE*JYDC_PARAM_LOW_LENGTH+tXAxisStepper.cCurSpeed);
}
//启动停止故障停止动作
void JYDC_StartStopAction(void)
{
    static unsigned long long_time_delay,delay_stop;
    static unsigned long long_time_save_pulse,long_time_pulse;
    if((START_IN_UP || JYDC_bStart) && !JYDC_bRunning && (JYDC_AutoStep ==0))
    {    
      //产量对比
        if((GetTotal(JYDC_TOTAL_ADDR) >= SET_TOTAL) && !DYtuodai1)
          JYDC_SetAlarmCode(JYDC_TOTAL_ALARM);
        else
        {            
            cStopFlg = 0;          
            JYDC_AutoStep = 1;
            JYDC_bRunning = 1;
            JYDC_SuoChi_VAVLE = 0;
            JYDC_AutoDelay = 0;
            cAccSpeed     = 6;
        }
                  
        JYDC_bStart   = 0;
    }
   //卡带 
    if(JYDC_KaDai_IN)
    {
        if(!X_DRV)
        {
            JYDC_SuoChi_VAVLE = 1;
            SetAlarmCode(JYDC_ALARM_ADDR,JYDC_KADAI_ALARM);
//            JYDC_SetAlarmCode(JYDC_KADAI_ALARM);  
        }
        else
        {
            if(!cStopFlg)
            {
                cStopFlg = 1;                    
                long_time_save_pulse = dwRealPos;
                long_time_pulse = GetLowSpeedPulse()+800;
                CancelPmoveState(X_AXIS);
              //   AxisChangeSpeed(X_AXIS,JYDC_PARAM_LOW_SPEED);
                MoveChangSpeedDec(X_AXIS, JYDC_PARAM_LOW_SPEED, 10,10);
                dwSaveTooth = 0;
            }
        }
    }
    

//长时间按停止时锁带关   
    if(dwTickCount>=long_time_delay)
    {
      long_time_delay = dwTickCount+100;
       if(STOP_IN)
       {           
           delay_stop++;
           if(delay_stop>=10)
           {
               JYDC_SuoChi_VAVLE = 0;
           }
       }
       else
       {
           delay_stop = 0;
       }
    }
    if((STOP_IN_UP)|| JYDC_bStop)
    {
        JYDC_bStop = 0;
        if((((CUR_LEN_JY+JYDC_PARAM_LOW_LENGTH+5) >= ToothNumBuff) || (JYDC_XiaChongStep != 0)) && JYDC_bRunning)
        {
             SingOneFlg = 1;
        }
        else
        {
            JYDC_ChuiQi_VAVLE = 1;
            JYDC_ChuiQiDelay = dwTickCount + JYDC_PARAM_CHUIQI_TIME * 10;
            JYDC_AutoDelay  = dwTickCount;            
            JYDC_bRunning       = 0;
            JYDC_AutoStep       = 0;
            JYDC_XiChi_MOTOR    = 0;
            if(X_DRV)
            {
                if(!cStopFlg)
                {
                    cStopFlg = 1;                    
                    long_time_save_pulse = dwRealPos;
                    long_time_pulse = GetLowSpeedPulse()+800;
                    CancelPmoveState(X_AXIS);
                    MoveChangSpeedDec(X_AXIS, JYDC_PARAM_LOW_SPEED, 10,10);
//                    AxisChangeSpeed(X_AXIS,JYDC_PARAM_LOW_SPEED);
                    
                    
                    dwSaveTooth = 0;
                }
            }
            else
            {
                
              //   if(tXAxisStepper.cCurSpeed >= 60)MV_Set_Dec_CPU(X_AXIS, tXAxisStepper.cCurSpeed/7);
              //   AxisEgmStop(X_AXIS);
             //    JYDC_SuoChi_VAVLE = 1;
                
            }
            SingOneFlg = 0;
            JYDC_bManGuaChiMotor = 0;
        }
    }
    
    if(cStopFlg)
    {
        if(((dwRealPos - long_time_save_pulse) >= long_time_pulse))
        {
             cStopFlg = 0;
             AxisEgmStop(X_AXIS);
             JYDC_SuoChi_VAVLE = 1;
        }
    }
    if(JYDC_bAlarmStop)
    {
        
            
         JYDC_bAlarmStop        = 0;     
         AxisEgmStop(X_AXIS);
         JYDC_AutoStep     = 0;
//        if(JYDC_bRunning)
        JYDC_SuoChi_VAVLE = 1;
        JYDC_bRunning   = 0;
    //    JYDC_XiaChongDelay = dwTickCount;
        JYDC_AutoDelay  = dwTickCount;
        SingOneFlg = 0;
        JYDC_bManGuaChiMotor = 0;
        
   
    }
}

unsigned long  ToothTransPulse(unsigned long tooth)
{
    return(JY_JIZHUN_LEN * tooth * 2000 / 250 / JY_JIZHUN_CISHU);
}

unsigned char CheckSpeedError(unsigned char cspeed)
{
    unsigned char buff;
    buff = cspeed/cAccSpeed;
    
    if(buff < 5)return 5;
    else 
        return buff;
}

unsigned char CheckMaxLowSpeed(unsigned char cspeed)
{
    if(cspeed > JYDC_PARAM_SET_SPEED) 
      return JYDC_PARAM_SET_SPEED;
    else 
      return cspeed;
}
//自动运行动作
void JYDC_AutoRunStep(void)
{    
  unsigned short ch;

      DISPLAY_DATA0 = dwRealPos;
      DISPLAY_DATA1 = GetCurSpeed(X_AXIS); 
      DISPLAY_DATA2 = GetSetSpeed(X_AXIS); 
      DISPLAY_DATA3 = dwSaveTooth;
      DISPLAY_DATA4 = JYDC_AutoStep;
      DISPLAY_DATA5 = JYDC_XiaChongStep;
      DISPLAY_DATA6 = CUR_LEN_JY;
      DISPLAY_DATA7 = JYDC_XiaChongStep;
    dwRealPos = GetPos(X_AXIS);
    //
    if(JYDC_XICHI_MOTOR_MODE)
        JYDC_XiChi_MOTOR = 1;
    else 
        JYDC_XiChi_MOTOR = 0;
    if(JYDC_bRunning)
    {
        unsigned short buff;
        switch(JYDC_AutoStep)
        {  
            case 1:      
                if(dwTickCount >= JYDC_AutoDelay)
                {
                    if(JYDC_SEBIAO_MODE)  //色标(暂时关)
                    {
                        JYDC_AutoStep     = 20;
                        JYDC_SuoChi_VAVLE = 0;
                        dwZipCnt          = 0;
                    }
                    else
                    {
                      //长度超尺寸直接下冲
                        if((CUR_LEN_JY >= ToothNumBuff) && (ToothNumBuff != 0))
                        {
                           // CUR_LEN_JY        = 0;
                            testDisp = 0; 
                            if(!JYDC_bTest)
                              JYDC_XiaChongStep = 1;
                            else 
                              JYDC_XiaChongStep = 0;
                            JYDC_AutoStep     = 7;
                        }
                        else
                           JYDC_AutoStep = 2;               
                    }
                }
                break;
            case 2:       
                if(JYDC_XiaChongStep == 0)
                {
                    cFirstFlg = 1;
                    if(RemainKongWeiToothNum == 0)
                    {
                        RemainKongWeiToothNum = SET_KOUWEI_JY;  //除齿长度 
                    }
                    else
                    {    
                      
                    }               
                    JYDC_AutoStep     = 3;
                    SetPos(X_AXIS, 0);
                    cMotorFlag = 0;
                }
                break;
            case 3://和模具刀口对比
                if(RemainKongWeiToothNum >= SET_DAOKOU_JY)
                {
                    if(cFirstFlg)
                    {   
                        if(JYDC_PARAM_REVICHISHU <= SET_KOUWEI_JY)
                        {
                            ToothNumBuff = JYDC_PARAM_REVICHISHU + SET_DAOKOU_JY;
                            RemainKongWeiToothNum = 0;
                        }
                        else
                        {
                            ToothNumBuff     = JYDC_PARAM_REVICHISHU+SET_DAOKOU_JY;
                            RemainKongWeiToothNum -= SET_DAOKOU_JY;
                        }
                    }
                    else
                    {
                      
                        ToothNumBuff = SET_DAOKOU_JY;
                        RemainKongWeiToothNum -= SET_DAOKOU_JY;
                    }
                }
                else
                {
                    if(cFirstFlg)
                    {
                        ToothNumBuff = JYDC_PARAM_REVICHISHU + SET_DAOKOU_JY;
                    }
                    else
                    {
                        ToothNumBuff = RemainKongWeiToothNum;
                    }
                    RemainKongWeiToothNum = 0;
                }
                
                JYDC_SuoChi_VAVLE = 0;  //锁齿阀关
                JYDC_AutoDelay    = dwTickCount + 10;
                JYDC_AutoStep     = 4;
                break;
            case 4:   
                if(dwTickCount >= JYDC_AutoDelay)
                {
                    cCheckFlg = 0;
                    if(((ToothNumBuff) > (JYDC_PARAM_LOW_LENGTH  +  CUR_LEN_JY))
                      && (ToothNumBuff > (SET_DAOKOU_JY+ 2)))
                    {       
                        AxisContinueMoveAcc(X_AXIS,JYDC_PARAM_LOW_SPEED,1,JYDC_PARAM_LOW_SPEED,5,5);
 //         //             AxisChangeSpeed(X_AXIS,CheckSpeedError(JYDC_PARAM_SET_SPEED));
                        JYDC_AutoDelay    = dwTickCount + NO_TOOTHCOUT_TIME * 10;
                        JYDC_XiChiChuiQi_VAVLE = 1;
                        JYDC_XiChiChuiQiDelay = dwTickCount + 200;
                        JYDC_AutoStep=5;
                      
                    }
                    else
                    {
                  //      AxisContinueMove(X_AXIS,CheckMaxLowSpeed(JYDC_PARAM_LOW_SPEED/2),1);
                      AxisContinueMoveAcc(X_AXIS,JYDC_PARAM_LOW_SPEED,1,JYDC_PARAM_LOW_SPEED,5,5);
                        JYDC_AutoDelay    = dwTickCount + NO_TOOTHCOUT_TIME  * 10;
                        JYDC_XiChiChuiQi_VAVLE = 1;
                        JYDC_XiChiChuiQiDelay = dwTickCount + 200;
                        JYDC_AutoStep=6;
                          
                    }                 
                }
                break;

            case 5:
                if(cFirstFlg)
                {
                  
                    if((ToothNumBuff) <= (JYDC_PARAM_LOW_LENGTH + CUR_LEN_JY))
                    {
             //           AxisChangeSpeed(X_AXIS,CheckMaxLowSpeed(JYDC_PARAM_LOW_SPEED));
                        cFirstFlg = 0;
                        JYDC_AutoStep     = 6;
                    }
                    else if(dwTickCount >= JYDC_AutoDelay)
                    {
                     
                        JYDC_SetAlarmCode(JYDC_COUNT_ALARM);
                    }   
                    else 
                    {
             //           if(X_DRV)AxisChangeSpeed(X_AXIS,CheckSpeedError(JYDC_PARAM_SET_SPEED));
                    }
                }
                else
                {
                  
                    if((ToothNumBuff) <= (JYDC_PARAM_LOW_LENGTH + CUR_LEN_JY))
                    {
             //           AxisChangeSpeed(X_AXIS,CheckMaxLowSpeed(JYDC_PARAM_LOW_SPEED));
                        JYDC_AutoStep     = 6;
                    }
                    else if(dwTickCount >= JYDC_AutoDelay)
                    {
                        JYDC_SetAlarmCode(JYDC_COUNT_ALARM);
                    }    
                    else
                    {
             //           if(X_DRV)AxisChangeSpeed(X_AXIS,CheckSpeedError(JYDC_PARAM_SET_SPEED));
                    }
                }
                break;
            case 6:
                if(!X_DRV)
                {
                  if(DYtuodai1)
                  {
                  DYtuodai1=0;
                  JYDC_AutoDelay  = dwTickCount;            
                  JYDC_bRunning       = 0;
                  JYDC_AutoStep       = 0;
                  JYDC_XiChi_MOTOR    = 0;
                  SingOneFlg = 0;
                  JYDC_bManGuaChiMotor = 0;
                        
                  }
                  else
                  {
                    DYtuodai2=0;
                    if(JYDC_FZ_MODE)
                    {
                        JYDC_AutoStep     = 100;        
                        JYDC_AutoDelay    = dwTickCount +JYDC_DELAY_FZ; 
                    }
                    else
                    {
                        if(!JYDC_bTest)
                            JYDC_XiaChongStep = 1;
                        else 
                            JYDC_XiaChongStep = 0;
                        JYDC_AutoStep     = 7;                
                    }
                    }
                }
                else if(dwTickCount >= JYDC_AutoDelay)
                {
                    JYDC_SetAlarmCode(JYDC_COUNT_ALARM);
                }
                
                break;
            case 7:
                if(JYDC_XiaChongStep == 0)
                {
                    if(RemainKongWeiToothNum == 0)
                    {
                        JYDC_AutoStep = 8;
                        JYDC_AutoDelay    = dwTickCount;
                    }
                    else
                    {
                        JYDC_AutoStep = 3;
                        JYDC_AutoDelay    = dwTickCount;
                    }
                }
                break;
            case 8:    
                if(JYDCRunFlg == 1)
                {
                     AddToTal(JYDC_TOTAL_ADDR);
                     CUR_LEN_JY = 0;
                      testDisp = 0;
                     if((GetTotal(JYDC_TOTAL_ADDR) >= SET_TOTAL) || JYDC_bStop || SingOneFlg)
                     {
                          if(JYDC_bStop || SingOneFlg)
                          {
                              JYDC_bStop    = 0;
                              JYDC_AutoStep = 0;
                              JYDC_bRunning = 0; 
                              SingOneFlg    = 0;
                              JYDC_SuoChi_VAVLE = 1;
                              JYDC_XiChi_MOTOR = 0;
                          }
                          else
                          {
                              JYDC_SetAlarmCode(JYDC_TOTAL_ALARM);             
                          }
                     }    
                     else
                     {
                          JYDC_AutoStep = 1;
                          cAccSpeed = 6;
                          JYDC_AutoDelay = JYDC_PARAM_CYCLE_DELAY + dwTickCount;
                          CalProSP(JYDC_PROSPEED_ADDR);
                     }
                } 
                break;
            case 100:       //反转步     
                if((dwTickCount >= JYDC_AutoDelay))
                {
                    AxisMovePosAccDec(X_AXIS,JYDC_PARAM_SET_SPEED,JYDC_FZ_LENGTH,5,1,1);
                    JYDC_AutoStep = 101;
                }
            case 101:// 反转到位
                if(!JYDC_bTest)
                    JYDC_XiaChongStep = 1;
                else 
                    JYDC_XiaChongStep = 0;
                JYDC_AutoStep     = 7;                               
                break;
                //20步开始为色标方式动作    
            case 20: 
                if(dwTickCount >= JYDC_AutoDelay)   //色标动作
                {       
                    cSeBiaoEn         = 1;   
                    if(dwZipCnt == 0)
                      AxisContinueMove(X_AXIS,CheckMaxLowSpeed(JYDC_PARAM_LOW_SPEED),1);
                    else
                      AxisContinueMove(X_AXIS,JYDC_PARAM_SET_SPEED,1);
                    
                    JYDC_AutoDelay    = dwTickCount + NO_TOOTHCOUT_TIME * 10;
                    JYDC_XiChiChuiQi_VAVLE = 1;
                    JYDC_XiChiChuiQiDelay = dwTickCount + 200;

                    JYDC_AutoStep     = 21;               
                }
                break;
            case 21:
                if(!X_DRV)
                {
                    JYDC_AutoStep     = 22; 
                    JYDC_AutoDelay =  dwTickCount;
                }
                else if(dwTickCount >= JYDC_AutoDelay)
                {
                    JYDC_SetAlarmCode(JYDC_SEBIAO_ALARM);
                }
                break;
            case 22:
                if(RemainKongWeiToothNum >= SET_DAOKOU_JY)
                {
                    if(cFirstFlg)
                    {   
                        if(JYDC_PARAM_REVICHISHU <= SET_KOUWEI_JY)
                        {
                            ToothNumBuff    = JYDC_PARAM_REVICHISHU + SET_DAOKOU_JY;
                            RemainKongWeiToothNum = 0;
                        }
                        else
                        {
                           ToothNumBuff     = JYDC_PARAM_REVICHISHU + (RemainKongWeiToothNum-SET_DAOKOU_JY) + SET_DAOKOU_JY;
                           RemainKongWeiToothNum -= SET_DAOKOU_JY;
                        }
                    }
                    else
                    {
                        ToothNumBuff     = ToothNumBuff + SET_DAOKOU_JY;
                        RemainKongWeiToothNum -= SET_DAOKOU_JY;
                    }         
                }
                else
                {
                    if(cFirstFlg)
                    {
                        ToothNumBuff = JYDC_PARAM_REVICHISHU - RemainKongWeiToothNum + SET_DAOKOU_JY;
                    }
                    else
                    {
                        ToothNumBuff     = ToothNumBuff + RemainKongWeiToothNum;
                    }
                    RemainKongWeiToothNum = 0;
                }
                JYDC_AutoStep     = 23;
                break;
            case 23:
                if(dwTickCount >= JYDC_AutoDelay)
                {
                    if((ToothNumBuff - CUR_LEN_JY) > JYDC_PARAM_LOW_LENGTH)
                    {              
                        if(!X_DRV)AxisContinueMove(X_AXIS,JYDC_PARAM_SET_SPEED,0);
                        JYDC_AutoDelay    = dwTickCount + NO_TOOTHCOUT_TIME * 10;
                        JYDC_XiChiChuiQi_VAVLE = 1;
                        JYDC_XiChiChuiQiDelay = dwTickCount + 200;
                        JYDC_AutoStep     = 24;               
                    }
                    else
                    {
                        if(!X_DRV)AxisContinueMove(X_AXIS,CheckMaxLowSpeed(JYDC_PARAM_LOW_SPEED),0);
                        JYDC_AutoDelay    = dwTickCount + NO_TOOTHCOUT_TIME  * 10;
                        JYDC_XiChiChuiQi_VAVLE = 1;
                        JYDC_XiChiChuiQiDelay = dwTickCount + 200;
                        JYDC_AutoStep     = 25;    
                    } 
                }
                break;
            case 24:           
                if(cFirstFlg)
                {
                    if((ToothNumBuff - CUR_LEN_JY) <= (JYDC_PARAM_LOW_LENGTH))
                    {
                        AxisChangeSpeed(X_AXIS,CheckMaxLowSpeed(JYDC_PARAM_LOW_SPEED));
                        cFirstFlg = 0;
                        JYDC_AutoStep     = 25;
                    }
                    else if(dwTickCount >= JYDC_AutoDelay)
                    {
                        JYDC_SetAlarmCode(JYDC_COUNT_ALARM);
                    }   
                }
                else
                {
                    if((ToothNumBuff - CUR_LEN_JY) <= JYDC_PARAM_LOW_LENGTH)
                    {
                        AxisChangeSpeed(X_AXIS,CheckMaxLowSpeed(JYDC_PARAM_LOW_SPEED));
                        JYDC_AutoStep     = 25;
                    }
                    else if(dwTickCount >= JYDC_AutoDelay)
                    {
                        JYDC_SetAlarmCode(JYDC_COUNT_ALARM);
                    }           
                }
                break;
            case 25:
                if(!X_DRV)
                {
                    if(!JYDC_bTest)JYDC_XiaChongStep = 1;
                    else JYDC_XiaChongStep = 0;
                    JYDC_AutoStep     = 26;
                }
                else if(dwTickCount >= JYDC_AutoDelay)
                {
                    JYDC_SetAlarmCode(JYDC_COUNT_ALARM);
                }
                break;                
            case 26:
                if(JYDC_XiaChongStep == 0)
                {
                    if(RemainKongWeiToothNum == 0)
                    {
                        JYDC_AutoStep = 27;
                        JYDC_AutoDelay    = dwTickCount;
                    }
                    else
                    {
                        JYDC_AutoStep = 22;
                        JYDC_AutoDelay    = dwTickCount;
                    }
                }
                break;
            case 27:
                if(JYDCRunFlg == 1)
                {
                     AddToTal(JYDC_TOTAL_ADDR);
                     dwZipCnt++;
                     CUR_LEN_JY = 0;
                     cSeBiaoStep = 0;
                     if((GetTotal(JYDC_TOTAL_ADDR) >= SET_TOTAL) || JYDC_bStop || SingOneFlg)
                     {
                          if(JYDC_bStop || SingOneFlg)
                          {
                              JYDC_bStop    = 0;
                              JYDC_AutoStep = 0;
                              JYDC_bRunning = 0; 
                              SingOneFlg    = 0;
                              JYDC_SuoChi_VAVLE = 1;
                              JYDC_XiChi_MOTOR = 0;
                          }
                          else
                          {
                              JYDC_SetAlarmCode(JYDC_TOTAL_ALARM);             
                          }
                     }    
                     else
                     {
                          JYDC_AutoStep = 1;
                          JYDC_AutoDelay = JYDC_PARAM_CYCLE_DELAY + dwTickCount;
                          CalProSP(JYDC_PROSPEED_ADDR);
                     }
                } 
                break;
        }    
    }
}


#endif