V1.01-005

增加了俊跃双电机，备份初版

Component/axis_motion/AllSeroDrv.c

@@ -666,6 +666,7 @@ void AxisMovePosAccDec(unsigned short axis,unsigned short speed,long pos,
       unsigned short start_speed,unsigned short stop_speed,
       unsigned short acc_pulse,unsigned short dec_pulse,long slowpos)
 {
+    if(pos==0)return;
     switch(axis)
     {
         case X_AXIS:
@@ -755,6 +756,7 @@ void AxisMovePosAccDecNotStop(unsigned short axis,unsigned short speed,long pos,
     unsigned short start_speed,unsigned short lastspeed,
     unsigned short acc_pulse,unsigned short dec_pulse,long slowpos)
 {
+    if(pos==0)return;
     switch(axis)
     {
         case X_AXIS:

Machine/FuXiaoWeiMachine/FXWChuantou_HeLian.h

@@ -148,42 +148,34 @@ extern void ExtiAcitionX02(void);
 //#define CTHL_PARAM_TD_RunSpeed         user_datas[4]//整数 拖带电机拖带速度
 #define CTHL_PARAM_FKDW_Speed          user_datas[5]//整数 方块定位速度(低速度)
 //#define CTHL_PARAM_FZ_Speed            user_datas[6]//整数 反转速度
-
 #define CTHL_PARAM_first_CL_MAX_Length       user_datas[7]//第一条拉链最长度
-//#define CTHL_PARAM_FKDW_Length         user_datas[8]//0.01 方块定位长度
+#define CTHL_PARAM_GFJ_LENGTH             (user_datas[8]) //感应到方块后定位距离
 //#define CTHL_PARAM_FZFK_IN_LENGTH      user_datas[9]  //反转感应方块后再走长度
 #define CTHL_PARAM_FKDWMAN_Speed        user_datas[10]  //感应到方块后慢速
+
 #define CTHL_PARAM_HLT_SPEED_Speed      user_datas[11]//合拉头速度
 #define CTHL_PARAM_TLiao_BACKDELAY   (10*user_datas[12])//0.01推拉头到位延时返回
 #define CTHL_PARAM_MaGou_DELAY       (10*user_datas[13])//0.01接料到位延时码勾
 #define CTHL_PARAM_HSLiaoOff_DELAY   (10*user_datas[14])//0.01码勾输出后退横送料
 #define CTHL_PARAM_CheckLT_DELAY     (10*user_datas[15])//0.01码勾输出后延时检测拉头
 #define  CTHL_PARAM_WLCDSHEZHI_LENTH    user_datas[16]  //拉带报警长度
-
 #define CTHL_PARAM_CXDW_Length         user_datas[17]  //小插定位长度
-
 #define CTHL_PARAM_XCDWFZ_DELAY      (10*user_datas[18]) //前码定位后延时反转
-
 #define CTHL_PARAM_CRTD_DELAY        (10*user_datas[19]) //延时穿入拖带
-
 #define CTHL_PARAM_FMOTOR_BILI       0.95// (user_datas[20]/100)  //0.01 副电机指数
 
 #define CTHL_PARAM_XCLD_DELAY        (10*user_datas[21]) //延时合链
-
 #define CTHL_PARAM_HL_LENGTH         user_datas[22] //慢速合链长度
-
 #define CTHL_PARAM_H_JLiao_DELAY       (10*user_datas[23])//横送到位延时接料
-
 //#define CTHL_PARAM_CRHDW_LENGTH        user_datas[23] //穿入后定位长度
-
 #define CTHL_PARAM_SMG_LENGTH        user_datas[24] //松码钩后输出合链长度
-
 #define CTHL_PARAM_ZDP_Start_TIME      (10*user_datas[25])      //0.01振动盘启动延时  
 #define CTHL_PARAM_ZDP_Stop_TIME       (10*user_datas[26])       //0.01振动盘延时停止 
 #define CTHL_PARAM_HELIAN_LENGTH      user_datas[27] //剩余合链长度
 //#define CTHL_PARAM_FDGN_LENGTH        user_datas[28] //第一个方块屏蔽长度
 //#define CTHL_PARAM_FKJC_DELAY      (user_datas[29]*10) //延时输出方块检测
 #define CTHL_PARAM_TXCDW_DELAY      (user_datas[30]*10) //延时退推方块
+
 #define CTHL_PARAM_XCCR_SPEED        user_datas[31] //小插插入速度
 #define  CTHL_PARAM_ZDP_AUTO         user_datas[32]  //振动盘控制
 #define CTHL_PARAM_XCCR_LENGTH          user_datas[33] //小插插入长度
@@ -194,6 +186,7 @@ extern void ExtiAcitionX02(void);
 #define CTHL_PARAM_XMDD_LENGTH              user_datas[38] //斜码松带反转
 #define CTHL_PARAM_DBSF_MODE                 user_datas[39] // DB伺服报警切换   1外部接口
 #define CTHL_PARAM_SLOW_LENGTH                 user_datas[40] // 减速长度
+
 #define CTHL_PARAM_JXM_SPEED                  user_datas[41] //进斜码速度
 #define CTHL_PARAM_TXM_DELAY                  (user_datas[42]*10) //推斜码进去长度
 #define CTHL_PARAM_TTXM_LENGTH                 user_datas[43] //退推斜码长度          
@@ -204,17 +197,17 @@ extern void ExtiAcitionX02(void);
 #define CTHL_PARAM_XMZM_MODE                   user_datas[48]//斜码直码切换
 //#define CTHL_PARAM_YSXC_DELAY                   (user_datas[49]*10)//延时顶链
 #define CTHL_PARAM_TD_RunSpeed                  (user_datas[50])//整数 拖带电机拖带速度
+
 #define CTHL_PARAM_FZ_Speed                     (user_datas[51]) //整数 反转速度
 #define CTHL_PARAM_FKDW_OUT_DELAY               (user_datas[52]) //方块定位阀延时动作
 #define CTHL_PARAM_TuiXiaMo_DELAY                (10*user_datas[53]) //退下模时间
 #define CTHL_PARAM_FKDW_FZSTOP_DELAY             (10*user_datas[54]) //方块反转定位延时停
-
 #define CTHL_PARAM_Test                       (user_datas[55]) //
 #define CTHL_PARAM_XMCR_SLOW_LENGTH          (user_datas[56]) //斜码穿入慢速长度
 #define CTHL_PARAM_XMCR_YJDW_LENGTH          (user_datas[57]) //一键定位补偿距离
 #define CTHL_PARAM_CRFZ_LENGTH          (user_datas[58]) //穿入小插后反转长度
 
-#define CTHL_PARAM_GFJ_LENGTH             (user_datas[8]) //感应到方块后定位距离
+
 #define CTHL_PARAM_HeLianSY_LENGTH          (user_datas[60]) //最后一条合链剩余长度
 #define CTHL_PARAM_CR_BAOHU_LENGTH          (user_datas[61]) //穿入保护长度
 #define CTHL_PARAM_CLsudu_SPEED            (user_datas[62]) //穿入保护长度
@@ -222,13 +215,14 @@ extern void ExtiAcitionX02(void);
 #define CTHL_PARAM_TQMDW_DELAY            (10 * user_datas[64]) //辅助拉小插长度
 #define CTHL_PARAM_SDXZ                   (user_datas[65])               //反转时速度修正，倒退轮的速度和长度修正
 #define CTHL_PARAM_TMG_TXM_DELAY            (user_datas[66]) //退码勾后延时退下模
-
 #define CTHL_PARAM_FZJS_LENGTH             (user_datas[67]) //反转减速长度
 #define CTHL_PARAM_FZDS_Speed             (user_datas[68]) //反转入方块速度
 #define CTHL_PARAM_FZJSDS_LENGTH          user_datas[69] //穿入方块低速长度
 #define CTHL_PARAM_TDDW_LENGTH             (user_datas[70]) //感应到方块后定位距离
+
 #define CTHL_PARAM_XCCRBH_LENGTH             (user_datas[71]) //小插插入保护长度
 #define CTHL_PARAM_JMDW_LENGTH             (user_datas[72]) //前码定位距离
+
 //速度页面调试参数
 #define CTHL_PARAM_First_SPEED                  user_datas[150] //前两条速度
 #define CTHL_PARAM_Stop_length                  user_datas[151] //前两条定位长度

Machine/JunYueMachine/JuYueChuantou_HeLian.h

@@ -1,11 +1,6 @@
 
 #if JUN_YUE_MACHINE  ==  1
 
-extern void YWXChuanTou_HeLian_InitAction(void);
-extern void YWXChuanTou_HeLian_Action(void);
-extern void YWXChuanTou_HeLian_SetAlarmCode(unsigned alarm_code);
-extern void ExtiAcitionX02(void);
-
 #define DIR_P 1
 #define DIR_N 0
 
@@ -19,44 +14,37 @@ extern void ExtiAcitionX02(void);
 #define CTHL_VAVLE_ERROR_TIME   3000 
 #define CTHL_MOTOR_ALARM_TIME   5000
 
+#define HSLIAO_CHECK_TIME                      1//横送是检测穿头模和第一次合链是否在原位
+//合链运行状态
+#define CTHL_STATE_IDE               0//空闲台
+#define CTHL_STATE_QMDW              1//前码定位
 
 //故障代码列表
 #define CTHL_NO_ALARM                0
 #define CTHL_WLZDTJ_ALARM            1   //无拉链自动停机
-#define CTHL_TLiao_Limit_ALARM       3   //给拉头到位异常*
+#define CTHL_GDLT_ALARM              2   //固定拉头异常
+#define CTHL_TLiao_Limit_ALARM       3   //推料到位异常
 #define CTHL_HSLiao_Limit_ALARM      5   //横送料到位异常
-#define CTHL_HSLiao_Origin_ALARM     6   //横送料原位异常*
-
-#define CTHL_JLT_MZ_ALARM            7   //夹拉头到位信号、拉头检测异常*
-
-#define CTHL_CTXM_Limit_ALARM         8    //下模到位异常*
-#define CTHL_CTXM_Origin_ALARM        9   //下模原位异常*
-#define CTHL_JLT_Limit_ALARM         20   //夹拉头到位异常*
-#define CTHL_ZLT_Limit_ALARM       21   //装拉头异常 * 
-#define CTHL_FZYL_Limit_ALARM       22   //右压轮到位异常  
-#define CTHL_JCXBD_Limit_ALARM       23   //插销布带夹到位异常  
-#define CTHL_CXHT_Limit_ALARM       25   //插销回退到位异常  
-#define CTHL_CXBB_Limit_ALARM       26   //插销摆臂到位异常
-#define CTHL_FK_Check_ALARM       27   //方块光纤检测异常
-#define CTHL_CXGY_Check_ALARM       28   //插销到位感应检测异常
-#define CTHL_SM_Limit_ALARM       29   //上摸到位异常
-#define CTHL_SERVO_CONFIG_ALARM       30  //是否配置转矩限制失败
-#define CTHL_MSLENGTH_OUT_ALARM       31  //穿链慢速超出拉链长度
-#define CTHL_FZMOTOR_ALARM       32  //反转电机卡滞
-#define CTHL_SYHL_ERRO_ALARM       33  //剩余合练长度设置错误
-
-#define CTHL_TXM_Limit_ALARM        13   //侧推布带到位异常
-
+#define CTHL_HSLiao_Origin_ALARM     6   //横送料原位异常
+#define CTHL_JLiao_Origin_ALARM      7   //接料到位异常
+#define CTHL_CTM_Limit_ALARM         8     //穿头模到位异常
+#define CTHL_CTM_Origin_ALARM        9   //穿头模原位异常
 #define CTHL_JXM_Limit_ALARM         10  //夹斜码要输出才能推斜码
-#define JH_CTHL_NL_LTou_Check_ALARM  11   //拉头缺料感应异常
+#define CTHL_XCDW_Limit_ALARM        11   //拉头缺料感应异常
 #define CTHL_QMDW_Limit_ALARM        12   //前码定位感应异常
-
+#define CTHL_TXM_Limit_ALARM        13   //推斜码到位异常
 #define CTHL_XCBI_Limit_ALARM        14   //小插摆臂到位异常
 #define CTHL_SafeDoor_ALARM             15   //
 #define CTHL_SF_ALR_ALARM            16   //伺服报警异常
 #define CTHL_FXDW_ALARM             17   //方块定位(X04)异常
-#define CTHL_ZLT_ALARM               18   //装拉头异常*
-#define CTHL_CRFK_ALARM             19   //穿入长度异常超出预设长度
+#define CTHL_ZLT_ALARM               18   //装拉头异常
+#define CTHL_CRFK_ALARM             19   //穿入方块超出预设长度
+
+#define CTHL_SERVO_CONFIG_ALARM     20  //伺服配置转矩限制失败
+#define CTHL_FZTD_KZ_ALARM          21  //反转拖带卡滞
+#define CTHL_FK_Check_ALARM         22  //方块检测异常
+#define CTHL_LTQL_CHECK_ALARM       23   //拉头缺料感应异常
+#define CTHL_YLT_CHECK_ALARM        24   //拉头缺料感应异常
 
 #define CTHL_AutoStep            cStepMByte
 #define CTHL_ZhuangLiaoStep      cStepMByte1
@@ -66,7 +54,7 @@ extern void ExtiAcitionX02(void);
 #define CTHL_ZhenDongStep        cStepMByte6
 #define CTHL_SongLiaoStep        cStepMByte7
 #define CTHL_FZ_MotorStep        cStepMByte8     //穿链
-#define CTHL_AutoStep1           cStepMByte9
+#define CTHL_CTXMSSStep          cStepMByte9
 
 
 #define CTHL_ZhuangLiaoDelay      cDelayTime2
@@ -83,54 +71,55 @@ extern void ExtiAcitionX02(void);
 
 
 //32位无符号变量
-#define CTHL_LianLengthCheckFirst       cUDword32Buff1
-#define CTHL_LianLengthCheck            cUDword32Buff2
-#define CTHL_LianLengthXFZCheckFirst    cUDword32Buff3
-#define CTHL_LianLengthXFZCheck         cUDword32Buff4
-#define CTHL_LianLengthYFZCheckFirst    cUDword32Buff5
-#define CTHL_LianLengthYFZCheck         cUDword32Buff6
-#define CTHL_LianLengthGLCheckFirst     cUDword32Buff13
-#define CTHL_LianLengthGLCheck          cUDword32Buff14
-
-#define CTHL_GLGY_FKDW_Length           cUDword32Buff7//过链感应与方块钩针的距离
-#define CTHL_FKGY_FKDW_Length           cUDword32Buff8//过链感应与方块钩针的距离
-#define CTHL_FKGY_Length                cUDword32Buff9//方块感应长度，X轴
-#define CTHL_FKGY_STOP_Length           cUDword32Buff10//方块感应减停长度
-#define CTHL_DataBuff                   cUDword32Buff11
-#define CTHL_CXCD                       cUDword32Buff12 //穿插销长度  
+#define CTHL_LianLengthCheck     cUDword32Buff1
+#define CTHL_LianLengthAutoCheck cUDword32Buff2
+#define CTHL_LianLengthCheckOld  cUDword32Buff3
+#define CTHL_LianLengthCheckFK_UP  cUDword32Buff4
+#define CTHL_LianLengthAutoCheckERROR cUDword32Buff5
+#define CTHL_LianLengthAutoCRCDcheck  cUDword32Buff6
+#define CTHL_LianLengthAutoFZcheck  cUDword32Buff7
+#define CTHL_LianLengthAutoFZCRcheck  cUDword32Buff8
+#define CTHL_LianLengthAutoFZcheck_DW cUDword32Buff9
+#define CTHL_LianLengthAutolengthcheck cUDword32Buff10
+#define CTHL_DataBuff                  cUDword32Buff11
+#define CTHL_LianLengthBuff            cUDword32Buff12         
+
 
 //32位有符号变量
-#define CTHL_XSavePosBuff       cDword32Buff1
+#define CTHL_XSavePosBuff        cDword32Buff1
 #define CTHL_X_CXPosBuff         cDword32Buff2
 #define CTHL_YSavePosBuff        cDword32Buff3
-#define CTHL_YsaveFZPosBuff    cDword32Buff5
-#define CTHL_LENTH               cDword32Buff6
-#define CTHL_XSavePosBuff1       cDword32Buff7
-#define CTHL_XSavePosBuff2       cDword32Buff8
-#define CTHL_XSavePosBuff3       cDword32Buff9//感应到第一个方块插销位置
-#define CTHL_HL_LENTH            cDword32Buff10
-//
-#define XY_CTHL_CheckInX02PosBuff   cDword32Buff4//?
+#define CTHL_CheckInX02PosBuff   cDword32Buff4
+#define CTHL_YsaveCXDWPosBuff   cDword32Buff5
+#define CTHL_LENTH              cDword32Buff6
+#define CTHL_XSavePosBuff1      cDword32Buff7
+#define CTHL_XSavePosBuff2      cDword32Buff8
+#define CTHL_XSavePosBuff3      cDword32Buff9
+
 //16位变量
-#define CTHL_RunStepSave                cUShort16Buff1
-#define CTHL_Test               cUShort16Buff2
+#define CTHL_RunStepSave            cUShort16Buff1
+#define CTHL_Test                   cUShort16Buff2
+#define CTHL_RunState               cUShort16Buff3  //合链运行状态  
 //8位变量
-#define CTHL_TryCnt              cCharBuff1
-#define CTHL_cZipCnt             cCharBuff2
-#define CTHL_stop               cCharBuff3
-#define CTHL_AUTO_start          cCharBuff4
-#define CTHL_wltzi               cCharBuff6
-#define cStopMode                cCharBuff7
-#define cTDAUTO                  cCharBuff8
-#define cDELAYONE                cCharBuff9
-#define cHELIANMG                cCharBuff11
-#define cBAOjin                  cCharBuff12
-
-
+#define CTHL_TryCnt                 cCharBuff1
+#define CTHL_cZipCnt                cCharBuff2
+#define CTHL_stop                   cCharBuff3
+#define CTHL_AUTO_start             cCharBuff4
+#define CTHL_MOTOR_MODE             cCharBuff5
+#define CTHL_wltzi                  cCharBuff6
+#define CTHL_cStopMode              cCharBuff7
+#define cTDAUTO                     cCharBuff8
+#define cDELAYONE                   cCharBuff9
+#define cGFJAUTO                    cCharBuff10
+#define cHELIANMG                   cCharBuff11
+#define cBAOjin                     cCharBuff12
+#define CTHL_CTXMSS_FLAG            cCharBuff13
+       
 //位标志位
 #define bTuiLaTouOkFlg              bBitFlag0
 #define bZhuangLiaoOkFlg            bBitFlag1
-#define bXiaoMOUpFlg                bBitFlag2
+#define bXiaMoENFlg                 bBitFlag2
+#define bHeLaTouOK                  bBitFlag3
 #define bCL_EN_FLG                  bBitFlag4
 #define bCL_OK_FLG                  bBitFlag5
 #define bCheckEN_FLG                bBitFlag6
@@ -155,39 +144,37 @@ extern void ExtiAcitionX02(void);
 #define CTHL_PARAM_TDCYCLE_PULSE       user_datas[0]//0 转一圈脉冲数  
 #define CTHL_PARAM_TDCYCLE_LENGTH      user_datas[1]//整数 转一圈拖带多长 
 #define CTHL_PARAM_FZCYCLE_LENGTH      user_datas[2]//0 转一圈脉冲数  
-#define CTHL_PARAM_FZLDCYCLE_LENGTH    user_datas[3]//整数 转一圈拖带多长  
-
-
-
-//#define CTHL_PARAM_TD_RunSpeed         user_datas[4]//整数 拖带电机拖带速度
+#define CTHL_PARAM_FZLDCYCLE_LENGTH      user_datas[3]//整数 转一圈拖带多长   
+//#define CTHL_PARAM_TD_RunSpeed         user_datas[4]//整数 拖带电机拖带速度---wu
 #define CTHL_PARAM_FKDW_Speed          user_datas[5]//整数 方块定位速度(低速度)
-#define CTHL_PARAM_FZDS_Speed            user_datas[6]//整数 反转低速
-#define CTHL_PARAM_FZJSDS_LENGTH          user_datas[34] //穿入方块低速长度
+//#define CTHL_PARAM_FZ_Speed            user_datas[6]//整数 反转速度
 
+#define CTHL_PARAM_first_CL_MAX_Length       user_datas[7]//第一条拉链最长度
 //#define CTHL_PARAM_FKDW_Length         user_datas[8]//0.01 方块定位长度
-
-
-//给拉头
-#define CTHL_PARAM_TLiao_FORWARDDELAY    (10*user_datas[12])//延时推给拉头阀*
-#define CTHL_PARAM_TLiao_BACKDELAY     (10*user_datas[13])//延时回退给拉头阀*
-//装拉头
-#define CTHL_PARAM_ZLT_UPTIME          (10*user_datas[14])//0.01装拉头阀上升到位时间
-#define CTHL_PARAM_JLT_FORTIME         (10*user_datas[15])//延时横送回退
-#define CTHL_PARAM_JLiaoCH_DELAY         (10*user_datas[18]) //夹拉头检测延时
-#define CTHL_PARAM_MaGou_DELAY           (10*user_datas[19])  //夹到位后延时码钩
-// 保护长度 
-#define CTHL_PARAM_first_CL_MAX_Length (10*user_datas[7])//第一条拉链最长度
+//#define CTHL_PARAM_FZFK_IN_LENGTH      user_datas[9]  //反转感应方块后再走长度
+#define CTHL_PARAM_FKDWMAN_Speed        user_datas[10]  //感应到方块后慢速
+#define CTHL_PARAM_HLT_SPEED_Speed      user_datas[11]//合拉头速度
+#define CTHL_PARAM_TLiao_BACKDELAY   (10*user_datas[12])//0.01推拉头到位延时返回
+#define CTHL_PARAM_JLTOU_DELAY       (10*user_datas[13])//0.01接料到位延时码勾
+#define CTHL_PARAM_HSLiaoOff_DELAY   (10*user_datas[14])//0.01码勾输出后退横送料
+#define CTHL_PARAM_CheckLT_DELAY     (10*user_datas[15])//0.01码勾输出后延时检测拉头
 #define  CTHL_PARAM_WLCDSHEZHI_LENTH    user_datas[16]  //拉带报警长度
+
 #define CTHL_PARAM_CXDW_Length         user_datas[17]  //小插定位长度
-//固定尺寸长度
 
-//
+#define CTHL_PARAM_XCDWFZ_DELAY      (10*user_datas[18]) //前码定位后延时反转
+
+#define CTHL_PARAM_CRTD_DELAY        (10*user_datas[19]) //延时穿入拖带
+
 #define CTHL_PARAM_FMOTOR_BILI       0.95// (user_datas[20]/100)  //0.01 副电机指数
-//
 
+#define CTHL_PARAM_XCLD_DELAY        (10*user_datas[21]) //延时合链
+
+#define CTHL_PARAM_HL_LENGTH         user_datas[22] //慢速合链长度
 
+#define CTHL_PARAM_H_JLiao_DELAY       (10*user_datas[23])//横送到位延时接料
 
-#define CTHL_PARAM_HLDW_LENGTH        user_datas[23] //合练定位长度
+//#define CTHL_PARAM_CRHDW_LENGTH        user_datas[23] //穿入后定位长度
 
 #define CTHL_PARAM_SMG_LENGTH        user_datas[24] //松码钩后输出合链长度
 
@@ -196,56 +183,60 @@ extern void ExtiAcitionX02(void);
 #define CTHL_PARAM_HELIAN_LENGTH      user_datas[27] //剩余合链长度
 //#define CTHL_PARAM_FDGN_LENGTH        user_datas[28] //第一个方块屏蔽长度
 //#define CTHL_PARAM_FKJC_DELAY      (user_datas[29]*10) //延时输出方块检测
-
+#define CTHL_PARAM_TXCDW_DELAY      (user_datas[30]*10) //延时退推方块
 #define CTHL_PARAM_XCCR_SPEED        user_datas[31] //小插插入速度
 #define  CTHL_PARAM_ZDP_AUTO         user_datas[32]  //振动盘控制
-
-
-
-
+#define CTHL_PARAM_XCCR_LENGTH          user_datas[33] //小插插入长度
+#define CTHL_PARAM_FKIN_LENGTH          user_datas[34] //提前下方块
+#define CTHL_PARAM_XCIN_DELAY           (user_datas[35]*10) //小插定位后延时拖带
+#define CTHL_PARAM_YDC_DELAY             (user_datas[36]*10) //延时压方块
 //#define CTHL_PARAM_GFJSZ_LENGTH              user_datas[37] //倒带长度
 #define CTHL_PARAM_XMDD_LENGTH              user_datas[38] //斜码松带反转
 #define CTHL_PARAM_DBSF_MODE                 user_datas[39] // DB伺服报警切换   1外部接口
+#define CTHL_PARAM_SLOW_LENGTH                 user_datas[40] // 减速长度
+#define CTHL_PARAM_JXM_SPEED                  user_datas[41] //进斜码速度
+#define CTHL_PARAM_TXM_DELAY                  (user_datas[42]*10) //推斜码进去长度
+#define CTHL_PARAM_TTXM_LENGTH                 user_datas[43] //退推斜码长度          
+#define CTHL_PARAM_TJXM_LENGTH                 user_datas[44]//退夹斜码长度
+//#define CTHL_PARAM_FZSTOP_SPEED                 user_datas[45]//反转停机速度
+#define CTHL_PARAM_FZSTOP_LENGTH                 user_datas[46]//反转停机距离
+#define CTHL_PARAM_FZCXC_LENGTH                 user_datas[47]//穿小插反转距离
+#define CTHL_PARAM_XMZM_MODE                   user_datas[48]//斜码直码切换
+//#define CTHL_PARAM_YSXC_DELAY                   (user_datas[49]*10)//延时顶链
+#define CTHL_PARAM_TD_RunSpeed                  (user_datas[50])//整数 拖带电机拖带速度
+#define CTHL_PARAM_FZ_Speed                     (user_datas[51]) //整数 反转速度
+#define CTHL_PARAM_FKDW_OUT_DELAY               (user_datas[52]) //方块定位阀延时动作
+#define CTHL_PARAM_TuiXiaMo_DELAY                (10*user_datas[53]) //退下模时间
+#define CTHL_PARAM_FKDW_FZSTOP_DELAY             (10*user_datas[54]) //方块反转定位延时停
+
+#define CTHL_PARAM_Test                       1//(user_datas[55]) //
+#define CTHL_PARAM_XMCR_SLOW_LENGTH          (user_datas[56]) //斜码穿入慢速长度
+#define CTHL_PARAM_XMCR_YJDW_LENGTH          (user_datas[57]) //一键定位补偿距离
+#define CTHL_PARAM_CRFZ_LENGTH          (user_datas[58]) //穿入小插后反转长度
+
+#define CTHL_PARAM_GFJ_LENGTH             (user_datas[8]) //感应到方块后定位距离
+#define CTHL_PARAM_HeLianSY_LENGTH          (user_datas[60]) //最后一条合链剩余长度
+#define CTHL_PARAM_CR_BAOHU_LENGTH          (user_datas[61]) //穿入保护长度
+#define CTHL_PARAM_CLsudu_SPEED            (user_datas[62]) //穿入保护长度
+#define CTHL_PARAM_XCFZ_LENGTH            (user_datas[63]) //辅助拉小插长度
+#define CTHL_PARAM_TQMDW_DELAY            (10 * user_datas[64]) //辅助拉小插长度
+#define CTHL_PARAM_SDXZ                   (user_datas[65])               //反转时速度修正，倒退轮的速度和长度修正
+#define CTHL_PARAM_TMG_TXM_DELAY            (user_datas[66]) //退码勾后延时退下模
+
+#define CTHL_PARAM_FZJS_LENGTH             (user_datas[67]) //反转减速长度
+#define CTHL_PARAM_FZDS_Speed             (user_datas[68]) //反转入方块速度
+#define CTHL_PARAM_FZJSDS_LENGTH          user_datas[69] //穿入方块低速长度
+#define CTHL_PARAM_TDDW_LENGTH             (user_datas[70]) //感应到方块后定位距离
+#define CTHL_PARAM_XCCRBH_LENGTH             (user_datas[71]) //小插插入保护长度
+#define CTHL_PARAM_JMDW_LENGTH             (user_datas[72]) //前码定位距离
+#define CTHL_PARAM_GDLT_DELAY               (10*user_datas[73])//0.01接料到位延时码勾
+#define CTHL_PARAM_HLWZ_LENGTH             (user_datas[74]) //合链位置长度
+//速度页面调试参数
+#define CTHL_PARAM_First_SPEED                  user_datas[150] //前两条速度
+#define CTHL_PARAM_Stop_length                  user_datas[151] //前两条定位长度
+#define CTHL_PARAM_FZFirst_SPEED                  user_datas[152] //前两条反转速度
+#define CTHL_PARAM_FZStop_length                  user_datas[153] //前两条反转定位长度
 
-
-
-
-//穿链参数
-#define CTHL_PARAM_JXM_SPEED                  user_datas[41] //穿拉头速度
-#define CTHL_PARAM_FZ_Speed                     (user_datas[51]) //走链速度
-#define CTHL_PARAM_XMCR_SLOW_LENGTH             user_datas[56]//穿链长度
-#define CTHL_PARAM_SMXJ_LENGTH                user_datas[43]//上摸下降长度   
-#define CTHL_PARAM_TJXM_LENGTH                  user_datas[44]//退夹斜码长度
-#define CTHL_PARAM_FZFirst_SPEED                  user_datas[152]//前两条反转速度
-
-#define CTHL_PARAM_TXM_DELAY                  (user_datas[42]*10) //侧推布带到位延时
-#define CTHL_PARAM_FKDW_OUT_DELAY               (user_datas[52]*10) //方块定位阀延时动作
-//插销参数
-#define CTHL_PARAM_HLT_SPEED_Speed              user_datas[11]//穿插销的速度
-#define CTHL_PARAM_CRFZ_LENGTH          (user_datas[58]) //穿插销后退长度       
-#define CTHL_PARAM_XCCR_LENGTH          user_datas[33] //小插插入长度
-#define CTHL_PARAM_XCIN_DELAY           (user_datas[35]*10) //小插定位下降后，延时松上模
-#define CTHL_PARAM_CXBB_DELAY             (user_datas[36]*10) //插销摆臂
-#define CTHL_PARAM_YSCX_DELAY             user_datas[22]*10 //延时插销时间
-#define CTHL_PARAM_JBD_DELAY      (user_datas[30]*10) //夹布带延时
-#define CTHL_PARAM_XCLD_DELAY        (10*user_datas[21]) //延时合链
-
-#define CTHL_PARAM_FZXZ_LENGTH                 user_datas[46]//反转修正长度
-#define CTHL_PARAM_FZJS_LENGTH              user_datas[38] //反转入方块减速长度
-#define CTHL_PARAM_FZSTOP_LENGTH      user_datas[9]  //反转入方块停机长度
-#define CTHL_PARAM_FZSJ_LENGTH                 user_datas[45]//反转松紧调整
-//合链参数
-#define CTHL_PARAM_TD_RunSpeed        (user_datas[50])//整数 拖带电机拖带速度
-#define CTHL_PARAM_TuiXiaMo_DELAY                    (10*user_datas[53]) //延时退上模
-//拖带设置
-#define CTHL_PARAM_CLsudu_SPEED            (user_datas[62]) //长链拖带快速速度
-#define CTHL_PARAM_First_SPEED                  user_datas[150] //前两拖带条速度
-#define CTHL_PARAM_XMUP_LENGTH                 user_datas[40] // 下模上升位置
-//方块定位
-#define CTHL_PARAM_FKDWMAN_Speed        user_datas[10]  //感应到方块后慢速
-#define CTHL_PARAM_TDDW_LENGTH          user_datas[8] //感应到方块后定位距离
-#define CTHL_PARAM_GJSY_LENGTH          user_datas[28] //方块过链感减速位置
-#define CTHL_PARAM_FKDW_DW_LENGTH       user_datas[54] //方块定位下降位置
 //伺服参数 180~190
 #define SERVO_PARAM_TRARR_LIMITMAX       user_datas[180]//伺服扭矩最大限制
 #define SERVO_PARAM_TRARR_LIMITMIN       user_datas[181]//伺服扭矩最小限制
@@ -255,50 +246,22 @@ extern void ExtiAcitionX02(void);
 
 
 
-
-#define CTHL_PARAM_FZCXC_LENGTH                 user_datas[47]//穿小插反转距离
-#define CTHL_PARAM_XMZM_MODE                   user_datas[48]//斜码直码切换
-#define CTHL_PARAM_YSXC_DELAY                   (user_datas[49]*10)//延时顶链
-
-#define CTHL_PARAM_TDDW_FIRST_LENGTH          user_datas[63] //感应到方块后定位距离
-#define CTHL_PARAM_FKDW_DW_FIRST_LENGTH       user_datas[55] //方块定位下降位置
-
-
-#define CTHL_PARAM_CYCLE_TIME              (user_datas[57]) //循环时间
-#define CTHL_PARAM_ZLT_TIME                (user_datas[61]) //装拉头时间
-#define CTHL_PARAM_CL_TIME                 (user_datas[66]) //穿链时间
-#define CTHL_PARAM_TD_TIME                 (user_datas[65]) //拉带时间     
-
-#define CTHL_PARAM_HeLianSY_LENGTH          (user_datas[60]) //最后一条合链剩余长度
-
-
-
-
-
-//速度页面调试参数
-#define CTHL_PARAM_Stop_length                  user_datas[151] //前两条定位长度
-#define CTHL_PARAM_GFJ_LENGTH                  user_datas[153] //前两条反转定位长度
-
 //俊跃输入
-#define CTHL_FK_DINGWEI              M0384    //X00方块定位感应
-#define CTHL_FK_DINGWEI_UP           (M0384 && !OLDM384)
-#define CTHL_FK_DINGWEI_DW           (!M0384 && OLDM384)
+#define CTHL_FKDW_IN              M0384    //X00方块定位感应
+#define CTHL_FKDW_IN_UP           (M0384 && !OLDM384)
+#define CTHL_FKDW_IN_DW           (!M0384 && OLDM384)
 #define CTHL_FK_Check              M0385    //X01方块过链感应
 #define CTHL_FK_Check_UP           (M0385 && !OLDM385)
 #define CTHL_FK_Check_DW           (!M0385 && OLDM385)
 
-#define CTHL_XCBB_Limit_IN          M0386    //X02插销摆动到位
+#define CTHL_TXC_Limit_IN          M0386    //X02插销摆动到位
 
 #define CTHL_LTou_Check              M0387    //X03码钩,拉头检测
-#define CTHL_MG_Check_UP           (M0387 && !OLDM387)
-#define CTHL_MG_Check_DW           (!M0387 && OLDM387)
 
-#define CTHL_CXGY_IN               M0388       //X04插销到位感应开关
-#define CTHL_CXGY_IN_UP            (M0388 && !OLDM388)   
-#define CTHL_CXGY_IN_DW            (!M0388 && OLDM388) 
+#define CTHL_XCDW_Limit_IN               M0388       //X04插销到位感应开关
 
-#define CTHL_CTXM_Limit_IN          M0389       //X05下模到位
-#define CTHL_CTXM_Origin_IN         M0390       //X06下模原位
+#define CTHL_CTM_Limit_IN          M0389       //X05下模到位
+#define CTHL_CTM_Origin_IN         M0390       //X06下模原位
 #define CTHL_HSLiao_Limit_IN        M0391       //X07横送料到位
 #define CTHL_HSLiao_Origin_IN       M0392       //X08横送料原位
 
@@ -315,98 +278,38 @@ extern void ExtiAcitionX02(void);
 #define CTHL_FKGY_IN_DW            (!M0398 && OLDM398)  
 
 #define CTHL_DingDai_Limit_IN      M0399   //顶带到位
-#define CTHL_HQM_Limit_IN          M0400   //护前码到位
-/*
-振宇输入
-#define CTHL_START_IN              M0384         //X00 //启动
-#define CTHL_START_IN_UP           (M0384 && !OLDM384)
-#define CTHL_STOP_IN               M0385        // X01  //停止
-#define CTHL_STOP_IN_UP            (M0385 && !OLDM385)
-#define CTHL_STOP_IN_DW            (!M0385 && OLDM385)
-#define CTHL_TLiao_Limit_IN       M0386       //X02推料到位，给拉头到位
-#define CTHL_HSLiao_Origin_IN      M0387       //X03横送料原位
-#define CTHL_HSLiao_Limit_IN       M0388       //X04横送料到位
-
-
-#define CTHL_FKDW_IN               M0390   //X06方块定位感应
-#define CTHL_FKDW_IN_UP            (M0390 && !OLDM390)
-#define CTHL_FKDW_IN_DW            (!M0390 && OLDM390)
+#define CTHL_LinkStart_IN          M0400   //联机启动
+#define CTHL_QMDW_IN               M0401   //护前码到位,前码定位
+#define CTHL_SafeDoor_IN           M0402          //X21 安全门
+#define CTHL_NoLaLian_IN           M0404          //X24 最后拉链信号
+#define CTHL_NoLaLian_IN_UP        (M0404 && !OLDM404)
+#define CTHL_SF_ALR_IN             M0405            //X20 伺服报警
 
-#define CTHL_FKGY_IN               M0391   //X07方块感应，反转时感应
-#define CTHL_FKGY_IN_UP            (M0391 && !OLDM391)   
-#define CTHL_FKGY_IN_DW            (!M0391 && OLDM391)  
-
-#define CTHL_SML_Limit_IN          M0392        //X10上模到位
-#define CTHL_TXM_Limit_IN          M0393       //X11推斜码到位，侧推布带到位
-
-#define CTHL_CXGY_IN              M0394       //X12插销到位感应开关
-#define CTHL_CXGY_IN_UP            (M0394 && !OLDM394)   
-#define CTHL_CXGY_IN_DW            (!M0394 && OLDM394)  
-
-#define CTHL_JLiao_Limit_IN        M0395      //X13接拉头到位，夹拉头到位
-
-#define CTHL_XCJC_Origin_IN        M0396      //X14插销钩针原位，插销检测气缸原位
-
-#define CTHL_CTXM_Origin_IN         M0397       //X15下模原位
-#define CTHL_CTXM_Limit_IN          M0398       //X16下模到位
-
-
-#define CTHL_JCXBD_Limit_IN         M0400      //X20夹插销布
-#define CTHL_CXHT_Limit_IN        M0401      //X21插销h后退到位
-#define CTHL_FZYL_Limit_IN        M0402      //X22右拖带压轮到位
-
-#define CTHL_LTou_Check          M0403     //X23缺拉头检测，有信号代表缺拉头。
-
-#define CTHL_KDSW_IN               M0404          //X23卡带开关
-#define CTHL_ZDP_IN                M0405          //X17振动盘
-#define CTHL_SF_ALR_IN             M0406            //X20 伺服报警
-#define CTHL_SafeDoor_IN           M0407         //X21 安全门
-#define CTHL_NoLaLian_IN           M0408          //X24 最后拉链信号
-#define CTHL_NoLaLian_IN_UP        (M0408 && !OLDM408)
-*/
 //俊跃输出
-#define CTHL_HQM_VAVLE          M0304        //Y00护前码
-#define CTHL_JQM_VAVLE          M0305      //Y01夹前码
+#define CTHL_QMDW_VAVLE          M0304        //Y00护前码
+#define CTHL_JXM_VAVLE          M0305      //Y01夹前码
 #define CTHL_TXM_VAVLE          M0306      //Y02侧推布带电磁阀 ，推方块侧的斜码、直码
-#define CTHL_FenZhen_VAVLE      M0307     //Y03分针
-#define CTHL_FKGD_VAVLE         M0308     //Y04方块固定
+#define CTHL_XCDW_VAVLE         M0307     //Y03分针,小插到位检测
+#define CTHL_TFK_VAVLE         M0308     //Y04方块固定
 
 #define CTHL_TLiao_VAVLE        M0309      //Y05给拉头
 #define CTHL_HSLiao_VAVLE       M0310      //Y06横送拉头
 #define CTHL_CTXM_VAVLE         M0311      //Y07下模
 
-#define CTHL_ZLT_VAVLE          M0312      //Y10装拉头
+#define CTHL_JLTou_VAVLE          M0312      //Y10夹拉头
 #define CTHL_MGuo_VAVLE         M0313      //Y11码勾电磁阀，拉头开锁电磁阀
-#define CTHL_XCBB_VAVLE         M0314      //Y12插销摆臂电磁阀，侧推小插侧的布带
-#define CTHL_FKYL_VAVLE        M0315       //Y13左拖带压轮，反转压轮
-#define CTHL_CXYL_VAVLE        M0316       //Y14右拖带压轮，反转压轮
+#define CTHL_JCBI_VAVLE         M0314      //Y12插销摆臂电磁阀，侧推小插侧的布带
+#define CTHL_YFK_VAVLE        M0315       //Y13压方块拖带
+#define CTHL_YXC_VAVLE        M0316       //Y14压小插拖带
 
-#define CTHL_JLTou_VAVLE         M0317      //Y17固定拉头
+#define CTHL_GDLT_VAVLE         M0317      //Y17接拉头
 #define CTHL_HL_VAVLE           M0318      //Y20合练
-#define CTHL_LINK_ALARM         M0319     //Y21合练
+#define CTHL_LINK_ALARM         M0319     //Y21联机告警
 #define CTHL_DingDai_VAVLE      M0320    //Y22顶带
-/*
-#define CTHL_TLiao_VAVLE          M0304      //Y00给拉头
-#define CTHL_HSLiao_VAVLE         M0305      //Y01横送拉头
-#define CTHL_TXM_VAVLE            M0306      //Y02侧推布带电磁阀 ，推方块侧的斜码、直码
-#define CTHL_SMZ_VAVLE            M0307      //Y03上模组电磁阀，反转后检测方块装置、检测信号X7
-#define CTHL_FKDW_VAVLE           M0308      //Y04方块钩针定位升降电磁阀，拖带时检测方块装置，信号X6
-#define CTHL_HL_VAVLE           M0309      //Y05合练
-#define CTHL_XCJC_VAVLE           M0310       //Y06小插到位检测电磁阀，插销钩针气缸，检测信号X12；
-#define CTHL_JLTou_VAVLE          M0311      //Y07夹拉头电磁阀
-#define CTHL_MGuo_VAVLE           M0312      //Y10码勾电磁阀，拉头开锁电磁阀
-
-#define CTHL_XCBB_VAVLE           M0314      //Y12插销摆臂电磁阀，侧推小插侧的布带
-#define CTHL_JCXBD_VAVLE           M0315     //Y13夹插侧的布带，为装入小插准备
-#define CTHL_CXHT_VAVLE             M0316       //Y14小插销后退，夹着小插销布带后退
-#define CTHL_FZYL_VAVLE          M0317       //Y15右拖带压轮，反转压轮
-
-#define CTHL_ZhenDongPian_OUT     M0319      //Y17控制振动盘
-
-#define CTHL_SF_ALR_CLR           M0320      //Y20伺服报警清除
-#define CTHL_DingLian_VAVLE       M0321      //Y21顶链电磁阀
-#define CTHL_TestLED              M0328      //Y30 测试状态
-*/
+
+#define CTHL_TestLED              M0328   //Y30 测试状态灯
+#define CTHL_SF_ALR_CLR           M0329   //Y31伺服报警清除
+
 //M0~M4全局固定使用
 /*
 #define bRunning                    M0000
@@ -418,34 +321,40 @@ extern void ExtiAcitionX02(void);
 
 #define CTHL_bHSL            M0005      //手动横送料 0
 #define CTHL_bTLiao          M0006      //手动推料 0
-#define CTHL_bJLT            M0007      //夹拉头 0
+#define CTHL_bJLT            M0007      //接拉头 0
 #define CTHL_bMG             M0008      //码勾 0
 #define CTHL_bCTXM           M0009      //下模 0
-#define CTHL_bZLT           M0010      //装拉头0
 
-#define CTHL_bTXM            M0011      //侧推布带
-#define CTHL_bHQM            M0012      //护前码
-#define CTHL_bJQM             M0013     //夹前码
-#define CTHL_bFENZH           M0014     //分针
+#define CTHL_bJXM            M0010     //夹前码
+#define CTHL_bTXM            M0011      //侧推斜码
+#define CTHL_bQMDW           M0012      //护前码
+#define CTHL_bTFK            M0013      //推方块
+#define CTHL_bFKDW           M0014      //方块钩针定位
+
+#define CTHL_bHL             M0015       //合链
+#define CTHL_bYFK           M0016      //方块压轮
+#define CTHL_bYCX           M0017      //插销压轮
+#define CTHL_bXCDW           M0018     //分针
+#define CTHL_bXCBI           M0019     //推插销
+
 
-#define CTHL_bFKGD            M0015      //方块固定
-#define CTHL_bCXBB            M0016     //推插销
-#define CTHL_bFKYL            M0017      //方块压轮
-#define CTHL_bCXYL            M0018      //插销压轮
-#define CTHL_bCXDD            M0019      //插销顶带
 
 #define CTHL_bSingOne         M0020     //单循环
 #define CTHL_bDANBU_MODE      M0021      //单步调试
 #define CTHL_bHandWork_MODE   M0022      //手动穿链模式
 
 #define CTHL_bAutoZhuangLiao  M0024       //自动装料
-#define CTHL_bYJDW            M0029     //一键定位
 
-#define CTHL_bCLMotor_P         M0025       //X轴电机测试
-#define CTHL_bCLMotor_N         M0026       //X轴电机测试
-#define CTHL_bCLMotor_Z        M0027       //Z轴电机测试
-#define CTHL_bBaoJin          M0028       //报警清除加松轴
-#define CTHL_bHL              M0029       //合链
+#define CTHL_bCLMotor_N       M0025       //X轴电机测试
+#define CTHL_bCLMotor_P       M0026       //X轴电机测试
+#define CTHL_bCLMotor_Z       M0027       //Z轴电机测试
+#define CTHL_bBaoJin          M0028       //松轴
+#define CTHL_bYJDW            M0029      //一键定位
+
+#define CTHL_bGDLT             M0030      //固定拉头
+#define CTHL_bCXDD            M0031      //插销顶带
+
+#define CTHL_SERVO_COM        M0036       //伺服通讯
 
 #define CTHL_bTiaoShiMode           M0040     //调试模式
 #define CTHL_bTiaoShiStep           M0041     //调试单步

User/Action.h

@@ -202,7 +202,7 @@ extern unsigned char Y07Flg;
 #define HAI_HUA_MACHINE      (0)               // 海华拉链
 #define JIN_HONG_MACHINE     (0)               // 锦泓拉链
 #define HONG_YE_MACHINE      (0)               // 宏业拉链
-#define FU_XIAO_WEI_MACHINE   (1)               // 付小伟
+#define FU_XIAO_WEI_MACHINE   (0)               // 付小伟
 #define CHANG_SHENG_GEI_LI_MACHINE (0)         // 昌盛给力拉链
 #define YOU_GUAN_MACHINE     (0)               // 福建优冠拉链。
 #define ZHEN_YU_MACHINE      (0)               // 振宇拉链
@@ -223,7 +223,7 @@ extern unsigned char Y07Flg;
 #define ZHANG_CHUN_YANG_MACHINE        (0)        //张春阳
 #define LONG_YI_MACHINE        (0)               //龙一
 #define JING_LONG_MACHINE        (0)               //金龙拉链
-#define JUN_YUE_MACHINE        (0)               //福建俊跃拉链
+#define JUN_YUE_MACHINE        (1)               //福建俊跃拉链
 //板脉冲方式定义
 #define SET_PULSE_TYPE cSetPulseType