GC19038/Machine/XinYeMachine/XYJinShuDinCun.c

#include "global.h"

#if XIN_YE_MACHINE==1

void JSDC_CheckStart(void);
void JSDC_Motor(void);
void JSDC_XiaChong(void);
void JSDC_ChuiQi(void);
void JSDC_ValveAction(void);
void JSDC_ManualAction(void);
void JSDC_AutoAction(void);
unsigned char JSDC_CheckPos(void);
unsigned char JSDC_cLFengTimer,JSDC_cRFengTimer;
unsigned long JSDC_cZipperLength[2];
unsigned char JSDC_cCheckLengthOk=0;
unsigned char JSDC_cGZDW_CNT=0,JSDC_SingOne=0,JSDC_oneDEL=0,JSDC_twoDEL=0;
unsigned char JSDC_STOP_IN_FLAG,JSDC_STOP_IN_FLAG_OLD,JSDC_STOP_FILTER;
unsigned char JSDC_SingOneFlag = 0,JSDC_FirstFlg = 0;
unsigned char JSDC_cAlarmStopFlg = 0;
long JSDC_dwEncPos = 0;
long JSDC_SaveLength = 0;
//故障报警
void JSDC_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(JSDC_ALARM_ADDR,alarm_code);
    JSDC_bAlarmStop = 1;
    JSDC_cAlarmStopFlg  = 1;
}

//高速输入X20外部色标信号中断
void JSDC_ExtiActionX20(void)
{

}

void JSDC_InitAction(void)
{
    float length_buff,pulse_buff;
    
    CalFreqTab_X_Free(25);
    length_buff = JSDC_PARAM_DAILUN_LENGTH;
    pulse_buff  = JSDC_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;
    
    length_buff = JSDC_BM_LENGTH;
    pulse_buff  = 1000;
    BMGearRatio  = pulse_buff/length_buff;
    


    JSDC_SZ_OUT = 1;				 
    
    JSDC_STOP_IN_FLAG = STOP_IN;
    JSDC_STOP_IN_FLAG_OLD = JSDC_STOP_IN_FLAG;
    JSDC_SaveLength = 0;
}

void JSDC_Action(void)
{
   InputPinConfig();  
    JSDC_CheckStart();  //启动
    JSDC_XiaChong();   //下冲
    JSDC_ChuiQi();
    JSDC_ValveAction();
    JSDC_Motor();			//拖带控制
    JSDC_ManualAction();
    JSDC_AutoAction();	
    OutputPinConfig();
}




void JSDC_ManualAction(void)
{
      long i;
      short *len_buff;
      //清总产量
    if(JSDC_bClear)         //清总产量
      {
       JSDC_bClear = 0;
          ClrcToTal(JSDC_TOTAL_ADDR);
          JSDC_bSaveWorkData = 1;
      }

      //当长度改变时，生产总量自动清零
      if(JSDC_bChangeLength)
      {
          JSDC_bChangeLength = 0;
          JSDC_SaveLength = 0;
          JSDC_bClear = 1;
      }
      //加10
      if(JSDC_bAddLength)
      {
       
          JSDC_bAddLength = 0;
          i = JSDC_SET_REVISE_ZIPPER_LENGTH;
          i += 5;
          SetData32bits(JSDC_ZIPPER_LENGTH_ADDR,i);
      }
      //减10
      if(JSDC_bDecLength)
      {

          JSDC_bDecLength = 0;
          i = JSDC_SET_REVISE_ZIPPER_LENGTH;
          i -= 5;
          SetData32bits(JSDC_ZIPPER_LENGTH_ADDR,i);		
      }
      //工作方式选择(数控定寸和勾针定寸)　
     if(JSDC_bSetDCMode)
      {
          JSDC_bSetDCMode = 0;
          JSDC_SaveLength = 0;
          if(JSDC_DC_MODE != 0)	
          {
              JSDC_GouZhen_VAVLE = 1;	
              JSDC_cGouZhenTime  = 300;
          }
          
          if(JSDC_DC_MODE == JSDC_DC_SF_MODE)
          {
              MV_Set_Command_Pos_CPU(X_AXIS,0);
          }
      }
//英寸设置
      if(JSDC_bSetLength)
      {
          JSDC_bSetLength = 0;
          if(JSDC_PARAM_INCH_MODE)
          {
              SetData32bits(15,CalLengthCM(JSDC_SET_ZIPPER_LENGTH_INCH));
              len_buff = &JSDC_SET_REVISE_ZIPPER_LENGTH_INCH;
              JSDC_SET_REVISE_ZIPPER_LENGTH = CalLengthCM2(*len_buff);
          }
          else
          {
             
              SetData32bits(18,CalInch(JSDC_SET_ZIPPER_LENGTH));
              len_buff = &JSDC_SET_REVISE_ZIPPER_LENGTH;
              JSDC_SET_REVISE_ZIPPER_LENGTH_INCH = CalInch2(*len_buff);
          }
          JSDC_SaveLength = 0;
      }
    
      if((JSDC_bRunning) == 0) ////手动 
      {        
         if(JSDC_bXiaChong | JSDC_ManualXC_IN_UP)   
          {
              JSDC_bXiaChong = 0;
              JSDC_SaveLength = 0;
              JSDC_twoDEL=1;
             if(JSDC_GOUZHEN_MODE)
              {
                  JSDC_cValveStep=1;  
              }   
              if(JSDC_cXiaChongStep == 0)
                JSDC_cXiaChongStep = 1;
          }
          if(JSDC_bMotorSZ)   
          {
              JSDC_bMotorSZ = 0;
               JSDC_SZ_OUT = ~JSDC_SZ_OUT;
          }
          //手动测试气缸
   
            if(JSDC_bDingZhen)   
          {
             
              JSDC_bDingZhen = 0;
               JSDC_DingZhen_VAVLE = ~JSDC_DingZhen_VAVLE;
          }
             if(JSDC_bRightXuanChi)   
          {
              JSDC_bRightXuanChi = 0;
               JSDC_RightXC_VAVLE = ~JSDC_RightXC_VAVLE;
          }
          
           if(JSDC_bLeftXuanChi)   
          {
              JSDC_bLeftXuanChi = 0;
               JSDC_LeftXC_VAVLE = ~JSDC_LeftXC_VAVLE;
          }
        
          if(JSDC_bShaChe)   
          {
              JSDC_bShaChe = 0;
               JSDC_XC_ShaChe = ~JSDC_XC_ShaChe;
          }
          if(JSDC_bRightCY)   
          {
              JSDC_bRightCY = 0;
               JSDC_RightCY_VAVLE = ~JSDC_RightCY_VAVLE;
          }
          if(JSDC_bLeftDY)   
          {
              JSDC_bLeftDY = 0;
               JSDC_LeftDY_VAVLE = ~JSDC_LeftDY_VAVLE;
          }
          
          //点动下冲
          if((JSDC_bDotXiaChong))
          {
              JSDC_bDotXiaChong = 0;
              if(JSDC_cXiaChongStep == 0)JSDC_cXiaChongStep = 20;
          }
         
          if(JSDC_bGouZhen)
          {
              JSDC_bGouZhen = 0;
              JSDC_cGouZhenTime  = dwTickCount + 300;
              JSDC_GouZhen_VAVLE = ~JSDC_GouZhen_VAVLE;			
          }
           
         if(JSDC_DC_MODE != 0)   //伺服定寸
          {      
              JSDC_GouZhen_VAVLE = 1;
          }
          else
          {
              if((dwTickCount >= JSDC_cGouZhenTime) && !JSDC_SingOne && JSDC_cXiaChongStep==0)
                JSDC_GouZhen_VAVLE = 0;
          } 
          
        if(JSDC_bTestMotor)
        {
            if(!X_DRV && JSDC_CheckPos())
            {
              // AxisContinueMove(X_AXIS,10,1);
                MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P, JSDC_SDtuodai_sSPEED,JSDC_SDtuodai_sSPEED,5,5);  
              //  if(JSDC_cSDStep == 0)JSDC_cSDStep = 1;
            }
        }
        else 
        {
            if(X_DRV)
            {
                AxisEgmStop(X_AXIS);   
               // JSDC_cSDStep = 0;
            }
        }
      }
}

void JSDC_AutoAction(void)
{
   // DISPLAY_DATA0 = JSDC_cAutoStep;
    DISPLAY_DATA1 = JSDC_cMotorStep;
    DISPLAY_DATA2 = JSDC_BM_LENGTH;
    DISPLAY_DATA3 = JSDC_cXiaChongStep;
   DISPLAY_DATA4 = JSDC_cCheckLengthOk;
   // DISPLAY_DATA5 = zipper_length;
    DISPLAY_DATA6 = dwRealPos;
 //    DISPLAY_DATA6= dwRealPos;
    JSDC_LENTH_BUFF = JSDC_dwEncPos;
    if(JSDC_bRunning)
    {   
        switch(JSDC_cAutoStep)
        {
            case 0:
                    break;
            case 1:
                    if(dwTickCount >= JSDC_cAutoDelay)
                    {

                         JSDC_cAutoStep = 2;
                    }
                    break;
            case 2:
                    //左右分针要退到位，过链到位要离开
                    if(dwTickCount >= JSDC_cAutoDelay)
                    {
                        JSDC_cAutoStep = 3;
                        switch(JSDC_DC_MODE)
                        {
                            case JSDC_DC_SF_MODE:JSDC_cMotorStep = 20; break;        //伺服
                            case JSDC_DC_BMQ_MODE:JSDC_cMotorStep = 60; break;        //编码器
                            default:JSDC_cMotorStep = 1;   //启动拖带 ;//勾针
                        }
                        
                    }     			
                    break;
            case 3:
                    //拖带已经完成
                    if(JSDC_cMotorStep == 0)
                    {
                      if(JSDC_GOUZHEN_MODE)
                        {
                            JSDC_cValveStep=1;  
                        }   
                      JSDC_cAutoStep = 4;
                    }
                    break;	
            case 4:
                  if(JSDC_cValveStep == 0)
                  {
                       JSDC_cAutoStep = 5;
                  }
                    break;
            case 5:
                    if(JSDC_cXiaChongStep == 0)
                    {
                    
                        JSDC_cXiaChongStep = 1;   //下冲电机启动
                        JSDC_cAutoStep = 6;	
                    }
                    break;
            case 6:  //下冲已完成
                    if((JSDC_cXiaChongStep == 0) || (JSDC_cXiaChongStep == 6))
                    {
                        if(JSDC_DC_MODE == JSDC_DC_BMQ_MODE)
                        {
                            JSDC_SaveLength += JSDC_PARAM_DAOKOU_LENGTH;         
                            if(JSDC_SaveLength >= JSDC_PARAM_KONG_WEI_LENGTH)
                            {
                                 if(JSDC_bRunning)
                                   SetEncodePos(0);
                              DISPLAY_DATA0 =1;
                                dwZipCnt++;
                               if(JSDC_cGZDW_CNT < 3)
                                JSDC_cGZDW_CNT++;
                                JSDC_SaveLength  = 0; 
                         //        SetPos(X_AXIS,0);
                                  if(!JSDC_SingOneFlag)
                                    {
                                      AddToTal(JSDC_TOTAL_ADDR);	 //计数增加和保存
                                      CalProSP(JSDC_PROSPEED_ADDR);
                                     }
                                JSDC_cAutoStep = 7;                            
                            }   
                            else
                            {
                                if((JSDC_PARAM_KONG_WEI_LENGTH - JSDC_SaveLength) >= JSDC_PARAM_DAOKOU_LENGTH)
                                {
                                   DISPLAY_DATA0 =2;
                                    JSDC_cAutoStep = 2; 
                                }
                                else
                                {
                                   DISPLAY_DATA0 =3;
                                    JSDC_SaveLength = JSDC_PARAM_KONG_WEI_LENGTH - JSDC_PARAM_DAOKOU_LENGTH;
                                    JSDC_cAutoStep = 2; 
                                }
                            }                        
                        }
                        else
                        {
                           DISPLAY_DATA0 =4;
                             if(JSDC_bRunning)
                                   SetEncodePos(0);
                              dwZipCnt++;
                             if(JSDC_cGZDW_CNT < 3)
                                JSDC_cGZDW_CNT++;
                              JSDC_SaveLength  = 0;
                         //      SetPos(X_AXIS,0);
                              if(!JSDC_SingOneFlag)
                              {
                                    AddToTal(JSDC_TOTAL_ADDR);	 //计数增加和保存
                                    CalProSP(JSDC_PROSPEED_ADDR);
                              }
                              JSDC_GouZhen_VAVLE = 1;        
                              JSDC_cAutoStep = 7;                            
                        }
                    }
                    break;		
            case 7:  
                        if(!JSDC_GouZhen_IN)
                        {
                            if(GetTotal(JSDC_TOTAL_ADDR) >= JSDC_SET_TOTAL)
                            {
                              JSDC_SetAlarmCode(JSDC_TOTAL_ALARM);   
                            }
                            JSDC_cAutoStep = 8;
                        }
                    break;	
            case 8:
                        JSDC_cAutoDelay = dwTickCount + JSDC_PARAM_MOTOR_DELAY;    
                        JSDC_cAutoStep = 1;	
                        if(JSDC_SingOneFlag)
                        {
                           JSDC_cGZDW_CNT=0;
                            dwZipCnt   = 0;
                            JSDC_SingOneFlag = 0;
                            JSDC_SingOne=1;
                            JSDC_cAutoStep = 0;
                            JSDC_bRunning = 0;
                            
                        }
                        
                    break;		                     
        }		         
    }
}
/*
void JSDC_SD(void)
{
        switch(JSDC_cSDStep)
        {
            case 1:
                   if(JSDC_SD_LIMIT_UP_IN_DW)
                    {
                         if(JSDC_SD_MOTOR)
                         {
                             JSDC_cSDStep = 2;
                             JSDC_cSDDelay = dwTickCount + JSDC_DELAY_STOP_SD;
                         }
                    }
                   // if(JSDC_SD_LIMIT_UP_IN_UP)
                    {
                        JSDC_SD_MOTOR = 1; 
                        JSDC_cSDDelay = dwTickCount + 2000;//JSDC_DELAY_STOP_SD;
                    }
                    break;
            case 2:
                    if(dwTickCount >= JSDC_cSDDelay)
                    {
                        JSDC_SD_MOTOR = 0;  
               //         JSDC_cSDStep = 1;
                    }     			
                    break;
        }
}

*/
// 检测是否踏了脚踏开关
void JSDC_CheckStart(void)
{
    //  停止键        不能在工作,手动,停止过程中                                
    if((JSDC_bRunning == 0) && (JSDC_START_IN_UP || JSDC_bStart || JSDC_bNext))
    {
       
        if(GetTotal(JSDC_TOTAL_ADDR) >= JSDC_SET_TOTAL)JSDC_SetAlarmCode(JSDC_TOTAL_ALARM);
        else if((JSDC_PARAM_SEBIAO_DW_LENGTH > JSDC_SET_ZIPPER_LENGTH) && (JSDC_DC_MODE==2))JSDC_SetAlarmCode(JSDC_SEBIAO_ZIPPER_LENGTH_ALARM);
        else if(JSDC_KaDai_IN)JSDC_SetAlarmCode(JSDC_KA_DAI_ALARM);
        else
    	{
            if(JSDC_bNext)
            {
               JSDC_SingOneFlag = 1;   
               JSDC_bNext  = 0;
            }
            JSDC_bRunning = 1;
            JSDC_twoDEL=0;
            JSDC_cAutoStep = 1;
            JSDC_SingOne=0;
             JSDC_GouZhen_VAVLE = 1;
             JSDC_cGZDW_CNT = 0;
             JSDC_cGouZhenTime = 1;   
            JSDC_cCheckLengthOk = 0;
            JSDC_cZipperLength[0] = 0;			
            JSDC_cZipperLength[1] = 0;
            dwZipCnt = 0;
            JSDC_cAutoDelay = dwTickCount;
            JSDC_cMotorDelay = dwTickCount;
            JSDC_cXiaChongDelay = dwTickCount;
            
    	}
    	JSDC_bStart = 0;
        JSDC_bNext  = 0;
    }

	//卡带感应
    if(JSDC_KaDai_IN)
    {
        JSDC_SetAlarmCode(JSDC_KA_DAI_ALARM);      
    }
    else
    {
        if(GetAlarmCode(JSDC_ALARM_ADDR) == JSDC_KA_DAI_ALARM)SetAlarmCode(JSDC_ALARM_ADDR,0);
    }
    
    
    if(JSDC_KaDai_IN_UP)
    {
        if(JSDC_cChuiQiStep == 0)JSDC_cChuiQiStep = 1;
    }		
 //停止
   JSDC_STOP_IN_FLAG_OLD = JSDC_STOP_IN_FLAG;
    
   if(JSDC_STOP_IN)
   {
       if(JSDC_STOP_FILTER < 50)
       {
           JSDC_STOP_FILTER++;
       }
       else
           JSDC_STOP_IN_FLAG = 1;
   }
   else if(JSDC_STOP_FILTER > 25)
   {
       JSDC_STOP_FILTER--;
   }
   else
       JSDC_STOP_IN_FLAG = 0;
   
    if(JSDC_bStop)
    {
        JSDC_bStop = 0;
        if(JSDC_bRunning)JSDC_SingOneFlag = 1;
    }
    
    
   
    if(((JSDC_STOP_IN_FLAG && !JSDC_STOP_IN_FLAG_OLD)))
    { 
        JSDC_bStop = 0;
        if(JSDC_bRunning)
        {
           if(JSDC_cXiaChongStep==0)
           {
              if(JSDC_cChuiQiStep == 0)JSDC_cChuiQiStep = 1;
              
             // if(!JSDC_XiaChong_MOTOR)JSDC_XC_SongZhou = JSDC_SERVER_DISEN;           
           }
           JSDC_cGZDW_CNT=0;
           JSDC_SingOne=0;
           JSDC_twoDEL=1;
            JSDC_bRunning = 0;  
            JSDC_cAutoStep = 0;
          // JSDC_cXiaChongStep = 0;
            JSDC_cMotorStep = 0;
             AxisEgmStop(X_AXIS);   
      //      JSDC_cJiaoDaoStep = 0;
            JSDC_SingOneFlag    = 0;
        }
        else
        {
            JSDC_bRunning = 0;                  
            JSDC_cAutoStep = 0;
            JSDC_cMotorStep = 0;
            JSDC_cXiaChongStep = 0;
            JSDC_SingOne=0;
            JSDC_cGZDW_CNT=0;
          JSDC_DingZhen_VAVLE=0;
          JSDC_RightXC_VAVLE=0;
          JSDC_ChuiQi_VAVLE=0;
          JSDC_LeftXC_VAVLE=0;
         // JSDC_GouZhen_VAVLE=0;
          JSDC_XC_ShaChe=0;
          JSDC_XiaChong_MOTOR=0;
          JSDC_RightCY_VAVLE=0;
          JSDC_LeftDY_VAVLE=0;
          
            JSDC_SingOneFlag = 0;
           
           if((JSDC_cChuiQiStep == 0) &&(JSDC_cXiaChongStep==0))JSDC_cChuiQiStep = 1;      
           AxisEgmStop(X_AXIS);   
           SetAlarmCode(JSDC_ALARM_ADDR,JSDC_NO_ALARM);
           JSDC_SetAlarmCode(JSDC_NO_ALARM);
        }
    }
    
    if(JSDC_bAlarmStop)
    {
        JSDC_bAlarmStop = 0;
        JSDC_bNext  = 0;
        JSDC_bRunning = 0;
       JSDC_cAutoStep = 0;
        JSDC_SingOne=0;
        JSDC_cMotorStep = 0;
        JSDC_SingOneFlag        = 0;
        AxisEgmStop(X_AXIS);        
    }
}   

void JSDC_ValveAction(void)
{
  switch(JSDC_cValveStep)
  {
  case 1:
    if(!X_DRV)
    {
      JSDC_RightXC_VAVLE=1;  
      JSDC_cValveDelay = dwTickCount +JSDC_RightCY_DELAY;
      JSDC_cValveStep=2;
    }   
    break;
  case 2:
    if(dwTickCount >= JSDC_cValveDelay )
    {
    JSDC_RightCY_VAVLE=1;
    JSDC_cValveDelay = dwTickCount +JSDC_LeftXC_DELAY;
    JSDC_cValveStep=3;
    }   
    break;
   case 3:
      if(dwTickCount >= JSDC_cValveDelay )
      {
      JSDC_LeftXC_VAVLE=1;
      JSDC_DingZhen_VAVLE=1;
      JSDC_cValveDelay = dwTickCount +JSDC_LeftDY_DELAY;
      JSDC_cValveStep=4;
      
      }   
      break;
    
    case 4:
      if(dwTickCount >= JSDC_cValveDelay )
      {
      
      JSDC_LeftDY_VAVLE=1;
      JSDC_cValveStep=5;
      
      }   
      break;
    case 5:
        JSDC_cValveStep=0;
        
    break;
    case 6:
       if(dwTickCount >= JSDC_cValveDelay)	
           {
             
             JSDC_DingZhen_VAVLE=0;
             JSDC_RightXC_VAVLE=0;
             JSDC_LeftXC_VAVLE=0;
             JSDC_cValveStep=0;
           }
       break;

  }
  

}
void JSDC_ChuiQi(void)
{	
      //吹气
    if(JSDC_XiaChong_IN_UP)
    {
        if(JSDC_cChuiQiStep == 0)JSDC_cChuiQiStep = 1;
    }
    
    switch(JSDC_cChuiQiStep)
    {
        case 1:
            JSDC_cChuiQiStep = 2;
            JSDC_cChuiQiDelay = dwTickCount+JSDC_PARAM_DELAY_CHUIQI_TIME;            
        break;
        case 2:
            if(dwTickCount >= JSDC_cChuiQiDelay)
            {
                JSDC_cChuiQiDelay = dwTickCount + JSDC_PARAM_CHUIQI_TIME;	
                JSDC_ChuiQi_VAVLE = 1;//
                JSDC_cChuiQiStep = 3;                
            }
        break;
        case 3:
            if(dwTickCount >= JSDC_cChuiQiDelay)
            {
                JSDC_ChuiQi_VAVLE = 0;//
                JSDC_cChuiQiStep = 0;
            }
        break;
        
        case 6:
                JSDC_cChuiQiDelay = dwTickCount + JSDC_TDCQ_TIME;	
                JSDC_ChuiQi_VAVLE = 1;//
                JSDC_cChuiQiStep = 7;                
            
        break;
        case 7:
            if(dwTickCount >= JSDC_cChuiQiDelay)
            {
                JSDC_ChuiQi_VAVLE = 0;//
                JSDC_cChuiQiStep = 0;
            }
        break;
        
    }
}

unsigned char JSDC_ComPareLength(void)
{
    if((JSDC_cZipperLength[0] != 0) && (JSDC_cZipperLength[1] != 0))
      
    {
   
		if(JSDC_cZipperLength[0] > JSDC_cZipperLength[1])
		{
                 
		    if((JSDC_cZipperLength[0] - JSDC_cZipperLength[1]) > 200)
			{
			    return 0;
			}
			else 
			    return 1;
		}
		else
	    {
               
		    if((JSDC_cZipperLength[1] - JSDC_cZipperLength[0]) > 200)
			{
			    return 0;	
			}
			else
			    return 1;
		}
	}
	else 
	    return 0;
}

unsigned char JSDC_CheckPos(void)
{
      unsigned long zipper_length;
      short *revise_buff;
      if(JSDC_DC_MODE == JSDC_DC_GZ_MODE)
      {
          if(JSDC_GouZhen_IN)
              return 0;
          else
              return 1;
      }
      else
      {
          revise_buff = &user_datas[17];
          zipper_length =  JSDC_SET_ZIPPER_LENGTH + (*revise_buff) + JSDC_PARAM_DAOKOU_LENGTH;
          if(JSDC_dwEncPos >= zipper_length)return 0;
          else
             return 1;
      }
}

void  JSDC_Motor(void)
{
        static long save_buff,gou_zhen_buff,zipper_length_buff;
       	static unsigned long zipper_length;
        short *revise_buff;
        //实时显示行程总长
        JSDC_All_LENTH =  JSDC_SET_ZIPPER_LENGTH + JSDC_SET_REVISE_ZIPPER_LENGTH + JSDC_PARAM_KONG_WEI_LENGTH;
        dwRealPos = GetPos(X_AXIS);
        JSDC_dwEncPos  = GetEncodePos();
        if(!JSDC_bRunning)
        {
            if(JSDC_CheckPos() == 0)AxisEgmStop(X_AXIS);  
        }
        
	switch(JSDC_cMotorStep)
	{
		case 0:
                break;
                case 1:
                    if(JSDC_SZ_OUT == JSDC_SERVER_DISEN)
                    {
                        JSDC_SZ_OUT = JSDC_SERVER_EN;
                        JSDC_cMotorDelay = dwTickCount + 50;   //先锁轴              
                    }
                    if(!JSDC_LENTH_MODE)
                    {
                    JSDC_cMotorStep = 2;
                    }
                    else
                    {
                    JSDC_cMotorStep = 8;
                    }
                break;
		case 2://勾针模式  手动测长
                if(dwTickCount >= JSDC_cMotorDelay)                 
                {
                     save_buff  = JSDC_dwEncPos;       
                     revise_buff = &user_datas[17];
                     zipper_length = JSDC_SET_ZIPPER_LENGTH + (*revise_buff) + JSDC_PARAM_DAOKOU_LENGTH;   
                     if(JSDC_cGZDW_CNT > 1)
                     {
                      
                         MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_SET_SPEED,1,5,1);                            
                     }
                     else
                     {
                         
                         MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_FIRST_SPEED,1,5,1);                                
                     }
                     JSDC_cChuiQiStep = 6;
                     JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;  
                      JSDC_cMotorStep = 3;
                	
                   }
                break;	
		case 3:
                      if(JSDC_GouZhen_IN)
                        {
                            JSDC_GouZhen_VAVLE = 0;
                            JSDC_cMotorStep = 5;
                            JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;  
                            AxisEgmStop(X_AXIS);     
                         }      
                        if(JSDC_dwEncPos > zipper_length - JSDC_PARAM_GZ_LENGTH)
                         {
                          JSDC_GouZhen_VAVLE = 0;
                          }

                        if((JSDC_dwEncPos - save_buff) >= (zipper_length - JSDC_PARAM_LOWSPEED_LENGTH))
                            {    
                                AxisChangeSpeed(X_AXIS,JSDC_PARAM_LOW_SPEED);
                                JSDC_cMotorStep = 4; 
                            }   
                        if(dwTickCount >= JSDC_cMotorDelay)
                          JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;	
		case 4:     
                       if(JSDC_dwEncPos > zipper_length - JSDC_PARAM_GZ_LENGTH)
                         {
                          JSDC_GouZhen_VAVLE = 0;
                          }
                        if(JSDC_GouZhen_IN)
                        {
                            JSDC_GouZhen_VAVLE = 0;
                            JSDC_cMotorStep = 5;
                            JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;  
                            AxisEgmStop(X_AXIS);     
                        }                          
                        if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;
		case 5:	
                        if(!X_DRV)
                        {
                            JSDC_cMotorStep = 0;     
                            JSDC_cMotorDelay = dwTickCount;
                        }
                        else if(dwTickCount >= JSDC_cMotorDelay)
                        {
                          JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        }
                        break;	
                        
                 //自动测长       
              case 8:       
                 if(dwTickCount >= JSDC_cMotorDelay)                 
                {
                     save_buff  = dwRealPos;       
                     revise_buff = &user_datas[17];
                     if(JSDC_cCheckLengthOk)
                     {
                         MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_SET_SPEED,1,5,1);                            
                     }
                     else
                     {
                          if(JSDC_cCheckLengthOk == 0)
                          {
                              JSDC_cZipperLength[0] = JSDC_cZipperLength[1];			
                              JSDC_cZipperLength[1] = dwRealPos - zipper_length_buff;
                              zipper_length_buff = dwRealPos;
                             
                              if(JSDC_ComPareLength())
                              {
                                  JSDC_cCheckLengthOk = 1;
                              }
                          }

                         if(JSDC_cCheckLengthOk)
                         {
                           zipper_length =  JSDC_cZipperLength[1] + (*revise_buff);
                         }
                         MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_FIRST_SPEED,1,5,1);                                
                     }
                     JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;  
                     JSDC_cGouZhenTime = dwTickCount + 300;
                       JSDC_cChuiQiStep = 6;
                     JSDC_cMotorStep = 9;
                }	
                break;	
		case 9:
                        if(((dwTickCount >= JSDC_cGouZhenTime)&&(JSDC_PARAM_GZ_RESET_MODE==0)) || (JSDC_cCheckLengthOk == 0))
                          JSDC_GouZhen_VAVLE = 0;

                        if(JSDC_cCheckLengthOk)
                        {
                            if(((dwRealPos - save_buff) >= (zipper_length - JSDC_PARAM_GZ_LENGTH))&&JSDC_PARAM_GZ_RESET_MODE)
                              JSDC_GouZhen_VAVLE = 0;
                            
                            if((dwRealPos - save_buff) >= (zipper_length - JSDC_PARAM_LOWSPEED_LENGTH))
                            {    
                                AxisChangeSpeed(X_AXIS,JSDC_PARAM_LOW_SPEED);
                                JSDC_cMotorStep = 10; 
                            }    
                        }
                        else
                        {
                             if(JSDC_GouZhen_IN)
                            {
                                JSDC_GouZhen_VAVLE = 0;
                                JSDC_cMotorStep = 11;
                                AxisEgmStop(X_AXIS);     
                            }  
                            else
                            {
                                if(dwTickCount >= JSDC_cGouZhenTime)
                                {
                                  JSDC_GouZhen_VAVLE = 0;
                                }
                                 JSDC_cMotorStep = 10; 
                            }                                    	
                        }
     
                        if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;	
		case 10:    
                        if(((dwTickCount >= JSDC_cGouZhenTime)&&(JSDC_PARAM_GZ_RESET_MODE==0)) || (JSDC_cCheckLengthOk == 0))
                          JSDC_GouZhen_VAVLE = 0;
                        if(((dwRealPos - save_buff) >= (zipper_length - JSDC_PARAM_GZ_LENGTH))&&JSDC_PARAM_GZ_RESET_MODE &&JSDC_cCheckLengthOk)
                          JSDC_GouZhen_VAVLE = 0;
                        if(JSDC_GouZhen_IN)
                        {
                            JSDC_GouZhen_VAVLE = 0;
                            JSDC_cMotorStep = 11;
                            AxisEgmStop(X_AXIS);     
                        }         
                        if(dwTickCount >= JSDC_cMotorDelay)
                          JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;
		case 11:	
                        if(((dwTickCount >= JSDC_cGouZhenTime)&&(JSDC_PARAM_GZ_RESET_MODE==0)) || (JSDC_cCheckLengthOk == 0))
                          JSDC_GouZhen_VAVLE = 0;
                        if(!X_DRV)
                        {
                            JSDC_cMotorStep = 0;     
                            JSDC_cMotorDelay = dwTickCount;
                        }
                        else if(dwTickCount >= JSDC_cMotorDelay)
                            JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;	
                        
                        
                        
                case 20:
                        if(JSDC_SZ_OUT == JSDC_SERVER_DISEN)
                        {
                            JSDC_SZ_OUT = JSDC_SERVER_EN;
                            JSDC_cMotorDelay = dwTickCount + 50;   //先锁轴   
                        }
                        JSDC_cMotorStep = 21;
                        break;
                case 21: 
                        if(dwTickCount >= JSDC_cMotorDelay)   //电机定寸模式
                        {
                            revise_buff = &user_datas[17];
                                                       
                            if(JSDC_cAlarmStopFlg)
                            {
                                zipper_length = JSDC_SET_ZIPPER_LENGTH + (*revise_buff) + JSDC_PARAM_DAOKOU_LENGTH;
                                JSDC_cAlarmStopFlg = 0;
                            }
                            else
                            {  
                                zipper_length = JSDC_SET_ZIPPER_LENGTH + (*revise_buff) + JSDC_PARAM_DAOKOU_LENGTH;
                                if((0 - dwRealPos) > zipper_length)
                                    zipper_length = JSDC_SET_ZIPPER_LENGTH + (*revise_buff) + JSDC_PARAM_DAOKOU_LENGTH;
                                else
                                    zipper_length = JSDC_SET_ZIPPER_LENGTH + (*revise_buff) + JSDC_PARAM_DAOKOU_LENGTH - (0 - dwRealPos);
                            }

                            AxisMovePosAccDec(X_AXIS,JSDC_PARAM_SET_SPEED,zipper_length,JSDC_PARAM_START_SPEED,JSDC_PARAM_ACC_SPEED,JSDC_PARAM_DEC_SPEED);
                            JSDC_GouZhen_VAVLE = 1;			 //定位(活动勾针)电磁阀
                            JSDC_cMotorStep = 22;
                            JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;   
                        }
                    break;
 		case 22:
                        if(!X_DRV)
                        {
                            MV_Set_Command_Pos_CPU(X_AXIS,0);
                            JSDC_cMotorStep = 0;
                            JSDC_cMotorDelay = dwTickCount;
                        }
                        else if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);                
                        break;
                case 60:
                    if(JSDC_SZ_OUT == JSDC_SERVER_DISEN)
                    {
                        JSDC_SZ_OUT = JSDC_SERVER_EN;
                        JSDC_cMotorDelay = dwTickCount + 50;   //先锁轴  
                    }
                    JSDC_cMotorStep = 61;
                break;
		case 61:
                if((dwTickCount >= JSDC_cMotorDelay) && JSDC_cValveStep  == 0)                
                {
                     save_buff  = JSDC_dwEncPos;       
                     revise_buff = &user_datas[17];
                          //减20做误差补偿
                     zipper_length = JSDC_SET_ZIPPER_LENGTH + (*revise_buff) + JSDC_PARAM_DAOKOU_LENGTH + JSDC_SaveLength-20;   
                       
                   if(JSDC_cGZDW_CNT > 1)
                   {
                     MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_SET_SPEED,JSDC_PARAM_START_SPEED,JSDC_PARAM_ACC_SPEED,JSDC_PARAM_DEC_SPEED);                              
                   }
                   else
                   {
                    MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_FIRST_SPEED,JSDC_PARAM_START_SPEED ,JSDC_PARAM_ACC_SPEED,JSDC_PARAM_DEC_SPEED);                              
                   
                   }
                     JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;   
                     JSDC_cChuiQiStep = 6;
                     JSDC_cMotorStep = 62;
                }	
                break;	
		case 62:        
                     //   DISPLAY_DATA4 = zipper_length;
                       if((JSDC_dwEncPos + PulseToPos(X_AXIS,(JSDC_PARAM_SET_SPEED - JSDC_PARAM_LOW_SPEED) * 0) + JSDC_PARAM_LOWSPEED_LENGTH) >= zipper_length)
                        {    
                           AxisChangeSpeed(X_AXIS,JSDC_PARAM_LOW_SPEED);
                            JSDC_cMotorStep = 63; 
                        } 
                        else if(JSDC_dwEncPos >= zipper_length)
                        {
                            JSDC_cMotorStep = 64;
                            AxisEgmStop(X_AXIS);   
                        }
                        else if(dwTickCount >= JSDC_cMotorDelay)
                          JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;	
		case 63:   
                        if((JSDC_dwEncPos) >= zipper_length)
                        {
                            JSDC_cMotorStep = 64;
                            AxisEgmStop(X_AXIS);     
                        }                         
                        else if(dwTickCount >= JSDC_cMotorDelay)
                          JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;
		case 64:	
                        if(!X_DRV)
                        {
                             
                            JSDC_cMotorStep = 0;    
                            JSDC_cMotorDelay = dwTickCount;
                        }
                        else if
                          (dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;		
	}
}
//下冲
void  JSDC_XiaChong(void)
{       
    switch(JSDC_cXiaChongStep)
    { 
    case 0:
            return;
            break;
    case 1:
           if(JSDC_cValveStep==0)
           {
            JSDC_cXiaChongStep = 2;
           }
            break;
    case 2:
              JSDC_XC_ShaChe   = JSDC_SC_DISEN;
              if(JSDC_bRunning)JSDC_cXiaChongDelay = dwTickCount + JSDC_PARAM_DELAY_XC;
              if(!JSDC_bRunning && JSDC_GOUZHEN_MODE)JSDC_cXiaChongDelay = dwTickCount + JSDC_PARAM_DELAY_XC;
              JSDC_cXiaChongStep = 3;
            break;
    case 3:
            if(dwTickCount >= JSDC_cXiaChongDelay)
            {
      //              JSDC_cLeftFenZhenStep  = 1;
                    JSDC_cXiaChongStep = 4;	
                    JSDC_XiaChong_MOTOR = 1;  //下冲电机  
                    JSDC_cXiaChongDelay = dwTickCount + (unsigned long)JSDC_ERRORTIME;   //下冲最长时间   	

                    if(JSDC_XiaChongMotorMode == 1)
                    {
                            AxisMoveTwoPos(Y_AXIS,JSDC_XiaChongSpeed,2000,JSDC_XiaChongLowSpeed,9999999,0);
                    }	
             }
    break;
    case 4:  //碰到右大微动,延时停
            if(JSDC_XiaChong_IN_UP)
            {
                  JSDC_cXiaChongDelay = dwTickCount + JSDC_PARAM_XC_DELAY;
                  JSDC_cXiaChongStep = 5;
                  
                  if(JSDC_cMotorStep || !JSDC_DC_MODE)
                  {   
                      JSDC_GouZhen_VAVLE = 1;
                  }
        
            }
            else if(dwTickCount >= JSDC_cXiaChongDelay) //自动停机
            {	
                  JSDC_cXiaChongStep = 0;
                  JSDC_XiaChong_MOTOR = 0;// 	//下冲电机
                  JSDC_SetAlarmCode(JSDC_XC_ALARM);
      
            }
            
            break;
    case 5:	
            if(dwTickCount >= JSDC_cXiaChongDelay)	
            {
                    
              AxisEgmStop(Y_AXIS);
              JSDC_XiaChong_MOTOR = 0;  
              
                  if(!JSDC_bRunning && JSDC_twoDEL)
                    {
                      JSDC_twoDEL=0;
                      SetEncodePos(0);
                    }
               
                 JSDC_cXiaChongDelay = dwTickCount + 0 ;	
                  JSDC_cXiaChongStep = 6;
                                      		
            }
         
            break;
    case 6:
            if((dwTickCount >= JSDC_cXiaChongDelay))
            {
                  
                    JSDC_cXiaChongStep = 7;
                    JSDC_cXiaChongDelay = dwTickCount+ JSDC_PARAM_SC_DELAY;
 //                   JSDC_XC_SongZhou = JSDC_SERVER_DISEN;  
                    JSDC_XC_ShaChe   = JSDC_SC_EN;
                    JSDC_RightCY_VAVLE=0;
                    JSDC_LeftDY_VAVLE=0;
                    JSDC_cValveStep=6;
                    JSDC_cValveDelay = dwTickCount + JSDC_TuiXC_DELAY;
            }	
            break;
    case 7:
            if((dwTickCount >= JSDC_cXiaChongDelay))
            {
                    
                    JSDC_cXiaChongStep = 8;
                    if(!JSDC_bRunning)MV_Set_Command_Pos_CPU(X_AXIS,0);
 //                   JSDC_XC_SongZhou = JSDC_SERVER_DISEN;  
                    JSDC_XC_ShaChe   = JSDC_SC_DISEN;
                      
            }	
            break;
        case 8:
          if(JSDC_cValveStep  == 0)
          {
              JSDC_oneDEL=0;
              JSDC_cXiaChongStep = 0;
                     
             }
             break;     
            
            
    case 20:                      // 点动普通下冲动作
  //              JSDC_XC_SongZhou = JSDC_SERVER_EN;
                JSDC_XC_ShaChe   = JSDC_SC_DISEN;
                JSDC_cXiaChongDelay = dwTickCount + 50;	
                JSDC_cXiaChongStep = 21;
            break;
    case 21:   
               if((dwTickCount >= JSDC_cXiaChongDelay))
               {
                    JSDC_XiaChong_MOTOR = 1;
                    JSDC_cXiaChongDelay = dwTickCount + 50;	
                    JSDC_cXiaChongStep = 22;
               }
            break;
    case 22:   
               if((dwTickCount >= JSDC_cXiaChongDelay))
               {
                    JSDC_XiaChong_MOTOR = 0;
              //      JSDC_XC_SongZhou    = JSDC_SERVER_EN;
                    
                    if(JSDC_XiaChongMotorMode)
                        JSDC_cXiaChongStep = 0;
                    else
                    {
                        JSDC_XC_ShaChe   = JSDC_SC_EN;
                        JSDC_cXiaChongDelay = dwTickCount + 150;	
                        JSDC_cXiaChongStep = 23;
                    }
               }
            break;
    case 23:   
               if((dwTickCount >= JSDC_cXiaChongDelay))
               {
                    //JSDC_XC_SongZhou    = JSDC_SERVER_DISEN;   
                    JSDC_XC_ShaChe   = JSDC_SC_DISEN;
                    JSDC_cXiaChongStep  = 0;
               }
            break;
    case 40:                      // 点动电机下冲动作
                //JSDC_XC_SongZhou = JSDC_SERVER_EN;
                JSDC_cXiaChongDelay = dwTickCount + 50;	
                JSDC_cXiaChongStep = 41;
            break;
    case 41:   
                if(!Y_DRV)AxisMovePos(Y_AXIS,20,10);
                JSDC_cXiaChongStep = 42;
            break;
    case 42:   
           if(!Y_DRV)
           { 
                JSDC_cXiaChongStep = 0;
           }
            break;
    }
}


#endif