#include "global.h" #if TONG_YONG_MACHINE void MXC_NiLongCheckStart(void); void MXC_NiLongMotor(void); void MXC_NiLongXiaChong(void); void MXC_NiLongFenZhen(void); void MXC_NiLongChuiQi(void); void MXC_ManualAction(void); void MXC_AutoAction(void); unsigned char MXC_CheckPos(void); unsigned char cLFengTimer,cRFengTimer; unsigned long cShaCheTime,cLaLianLine,cGouZhenTime; unsigned char cChuiQiStep = 0,cGouZhenResetOK; unsigned short cBudaiCheckDelay = 0; unsigned char bHandWork,bPulseTatol_EN,bFirst,cInt1_OK,cStopFlag,cOneTimes; long cSetEncode,cTotal,cDinWeiTime,cAddSetPulseNum,cEncodePulse,cWorkPulseNum; unsigned long cZipperLength[2]; unsigned char cCheckLengthOk=0,cDaoJu_Flag=0; unsigned char STOP_IN_FLAG,STOP_IN_FLAG_OLD,STOP_FILTER; unsigned char MXC_SingOneFlag = 0; unsigned char MXC_KD_Flag = 0,KD_GO_ON_FLAG = 0,cAlarmStopFlg = 0; long MXC_KD_pos = 0,save_pos_buff = 0; long MXC_dwEncPos = 0; unsigned long MXC_SaveLength = 0; //故障报警 void MXC_SetAlarmCode(unsigned alarm_code) { SetAlarmCode(MXC_ALARM_ADDR,alarm_code); MXC_bAlarmStop = 1; cAlarmStopFlg = 1; } //高速输入X20外部色标信号中断 void MXC_ExtiActionX20(void) { if(cSeBiaoEn && !cSeBiaoOk) { cSeBiaoOk = 1; cSeBiaoEn = 0; if(X_DRV)SetRemainLength(X_AXIS, MXC_PARAM_SEBIAO_DW_LENGTH,MXC_PARAM_SB_OFFSET_SPEED); } } //高速输入X31/X17外部信号中断 void MXC_ExtiActionX31(void) { } void MXC_InitAction(void) { float length_buff,pulse_buff; CalFreqTab_X_Free(25); length_buff = MXC_PARAM_DAILUN_LENGTH; pulse_buff = MXC_PARAM_CYCLE_PULSE; XGearRatio = pulse_buff/length_buff; length_buff = MXC_BM_LENGTH; pulse_buff = 1000; BMGearRatio = pulse_buff/length_buff; MXC_SZ_OUT = MXC_SERVER_DISEN; STOP_IN_FLAG = STOP_IN; STOP_IN_FLAG_OLD = STOP_IN_FLAG; MXC_SaveLength = 0; } void MXC_NiLongXiuCiJiAction(void) { MXC_NiLongCheckStart(); //启动 MXC_NiLongFenZhen(); //左右分针 MXC_NiLongXiaChong(); //下冲 MXC_NiLongChuiQi(); MXC_NiLongMotor(); //拖带控制 MXC_ManualAction(); MXC_AutoAction(); } void MXC_ManualAction(void) { long i; short *len_buff; //清总产量 if(MXC_bClear) //清总产量 { MXC_bClear = 0; ClrcToTal(MXC_TOTAL_ADDR); MXC_bSaveWorkData = 1; } //当长度改变时，生产总量自动清零 if(MXC_bChangeLength) { MXC_bChangeLength = 0; MXC_SaveLength = 0; MXC_bClear = 1; } //加10 if(MXC_bAddLength) { MXC_bAddLength = 0; i = MXC_SET_REVISE_ZIPPER_LENGTH; i += 10; SetData32bits(MXC_ZIPPER_LENGTH_ADDR,i); } //减10 if(MXC_bDecLength) { MXC_bDecLength = 0; i = MXC_SET_REVISE_ZIPPER_LENGTH; i -= 10; SetData32bits(MXC_ZIPPER_LENGTH_ADDR,i); } //工作方式选择(数控定寸和勾针定寸)　 if(MXC_bSetDCMode) { MXC_bSetDCMode = 0; MXC_SaveLength = 0; MXC_DC_MODE++; if(MXC_DC_MODE > MXC_DC_BMQ_MODE)MXC_DC_MODE = MXC_DC_GZ_MODE; if(MXC_DC_MODE != 0) { MXC_GouZhen_VAVLE = 1; MXC_cGouZhenTime = 300; MXC_XiaZhi_MOTOR = 0; } if(MXC_DC_MODE == MXC_DC_SF_MODE) { MV_Set_Command_Pos_CPU(X_AXIS,0); } } if(MXC_bSetLength) { MXC_bSetLength = 0; if(MXC_PARAM_INCH_MODE) { SetData32bits(15,CalLengthCM(MXC_SET_ZIPPER_LENGTH_INCH)); len_buff = &MXC_SET_REVISE_ZIPPER_LENGTH_INCH; MXC_SET_REVISE_ZIPPER_LENGTH = CalLengthCM2(*len_buff); } else { SetData32bits(18,CalInch(MXC_SET_ZIPPER_LENGTH)); len_buff = &MXC_SET_REVISE_ZIPPER_LENGTH; MXC_SET_REVISE_ZIPPER_LENGTH_INCH = CalInch2(*len_buff); } MXC_SaveLength = 0; } if((MXC_bRunning) == 0) ////手动 { if(MXC_bXiaChong) { MXC_bXiaChong = 0; MXC_SaveLength = 0; if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 1; } if(MXC_bLeftFenZhen) { MXC_bLeftFenZhen = 0; if(MXC_cXiaChongStep == 0) MXC_LeftFenZhen_VAVLE = ~MXC_LeftFenZhen_VAVLE; } if(MXC_bRightFenZhen) { MXC_bRightFenZhen = 0; if(MXC_cXiaChongStep == 0)MXC_RightFenZhen_VAVLE= ~MXC_RightFenZhen_VAVLE; } //点动下冲 if((MXC_bDotXiaChong)) { MXC_bDotXiaChong = 0; if(MXC_LeftFenZhen_IN && MXC_RighttFenZhen_IN) { if(MXC_cXiaChongStep == 0)MXC_cXiaChongStep = 20; } else { MXC_SetAlarmCode(MXC_XIA_CHONG_ALARM); //下冲条件不满足 } } if(MXC_bGouZhen) { MXC_bGouZhen = 0; MXC_cGouZhenTime = dwTickCount + 300; MXC_GouZhen_VAVLE = 1; } if(MXC_DC_MODE != MXC_DC_GZ_MODE) //伺服定寸 { MXC_GouZhen_VAVLE = 1; } else { if(dwTickCount >= MXC_cGouZhenTime) MXC_GouZhen_VAVLE = 0; } if(MXC_bChuiQi) { MXC_bChuiQi = 0; if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1; } if(MXC_bTestMotor) { if(!X_DRV && MXC_CheckPos())MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P, 10,1,5,5); } else { if(X_DRV)AxisDecStop(X_AXIS); } } } void MXC_AutoAction(void) { DISPLAY_DATA0 = MXC_cAutoStep; DISPLAY_DATA1 = MXC_cMotorStep; DISPLAY_DATA2 = MXC_SaveLength; DISPLAY_DATA3 = MXC_cRightFenZhenStep; DISPLAY_DATA4 = MXC_cXiaChongStep; DISPLAY_DATA5 = dwRealPos; DISPLAY_DATA6 = MXC_dwEncPos; if(MXC_XZ_ENABLE)MXC_XiaZhi_MOTOR = 1; else MXC_XiaZhi_MOTOR = 0; if(dwTickCount >= MXC_cXiaZhiDelay)MXC_XiaZhi_VAVLE = 0; if(MXC_bRunning) { switch(MXC_cAutoStep) { case 0: break; case 1: if(dwTickCount >= MXC_cAutoDelay) { MXC_cAutoStep = 2; } break; case 2: //左右分针要退到位，过链到位要离开 if(dwTickCount >= MXC_cAutoDelay) { MXC_cAutoStep = 3; switch(MXC_DC_MODE) { case MXC_DC_SF_MODE:MXC_cMotorStep = 20; break; //伺服 case MXC_DC_SB_MODE:MXC_cMotorStep = 40; break; //色标 case MXC_DC_BMQ_MODE:MXC_cMotorStep = 60; break; //编码器 default:MXC_cMotorStep = 1; //启动拖带 ;//勾针 } } break; case 3: //拖带已经完成 if(MXC_cMotorStep == 0) { if(SingOneFlg) { dwZipCnt = 0; SingOneFlg = 0; MXC_cAutoStep = 0; MXC_bRunning = 0; } else { MXC_cAutoStep = 4; } } break; case 4: MXC_cAutoStep = 5; break; case 5: //左右分针都已完成 if((MXC_cLeftFenZhenStep == 0) && (MXC_cRightFenZhenStep == 0)) { MXC_cXiaChongStep = 1; //下冲电机启动 MXC_cAutoStep = 6; } break; case 6: //下冲已完成 if((MXC_cXiaChongStep == 0) || (MXC_cXiaChongStep == 5)) { switch(MXC_DC_MODE) { case MXC_DC_SF_MODE: { MXC_SaveLength += MXC_PARAM_DAOKOU_LENGTH; if(MXC_SaveLength >= MXC_PARAM_KONG_WEI_LENGTH) { dwZipCnt++; MV_Set_Command_Pos_CPU(X_AXIS,0); MXC_SaveLength = 0; AddToTal(MXC_TOTAL_ADDR); //计数增加和保存 CalProSP(MXC_PROSPEED_ADDR); MXC_cAutoStep = 7; } else { if((MXC_PARAM_KONG_WEI_LENGTH - MXC_SaveLength) >= MXC_PARAM_DAOKOU_LENGTH) { MXC_cAutoStep = 2; } else { MXC_SaveLength = MXC_PARAM_KONG_WEI_LENGTH - MXC_PARAM_DAOKOU_LENGTH; MXC_cAutoStep = 2; } } }break; //伺服 case MXC_DC_BMQ_MODE: { MXC_SaveLength += MXC_PARAM_DAOKOU_LENGTH; if(MXC_SaveLength >= MXC_PARAM_KONG_WEI_LENGTH) { dwZipCnt++; SetEncodePos(0); MXC_SaveLength = 0; AddToTal(MXC_TOTAL_ADDR); //计数增加和保存 CalProSP(MXC_PROSPEED_ADDR); MXC_cAutoStep = 7; } else { if((MXC_PARAM_KONG_WEI_LENGTH - MXC_SaveLength) >= MXC_PARAM_DAOKOU_LENGTH) { MXC_cAutoStep = 2; } else { MXC_SaveLength = MXC_PARAM_KONG_WEI_LENGTH - MXC_PARAM_DAOKOU_LENGTH; MXC_cAutoStep = 2; } } } break; //编码器 default: { dwZipCnt++; AddToTal(MXC_TOTAL_ADDR); //计数增加和保存 CalProSP(MXC_PROSPEED_ADDR); MXC_cAutoStep = 7; } } } break; case 7: if(MXC_LeftFenZhen_Origin_IN && MXC_RightFenZhen_Origin_IN && !MXC_LeftFenZhen_IN && !MXC_RighttFenZhen_IN && !MXC_GouZhen_IN) { if(GetTotal(MXC_TOTAL_ADDR) >= MXC_SET_TOTAL)MXC_SetAlarmCode(MXC_TOTAL_ALARM); MXC_cAutoStep = 8; } break; case 8: MXC_cAutoDelay = dwTickCount + MXC_PARAM_MOTOR_DELAY; if(MXC_SingOneFlag) { dwZipCnt = 0; MXC_SingOneFlag = 0; MXC_cAutoStep = 0; MXC_bRunning = 0; } MXC_cAutoStep = 1; break; } } } // 检测是否踏了脚踏开关 void MXC_NiLongCheckStart(void) { // 停止键 不能在工作,手动,停止过程中 if((MXC_bRunning == 0) && (START_IN_UP || MXC_bStart || MXC_bNext)) { if(!MXC_LeftFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_LFZ_ORIGIN_ALARM); //没拉链 else if(GetTotal(MXC_TOTAL_ADDR) >= MXC_SET_TOTAL)MXC_SetAlarmCode(MXC_TOTAL_ALARM); else if(!MXC_RightFenZhen_Origin_IN)MXC_SetAlarmCode(MXC_RFZ_ORIGIN_ALARM); else if((MXC_PARAM_SEBIAO_DW_LENGTH > MXC_SET_ZIPPER_LENGTH) && (MXC_DC_MODE==2))MXC_SetAlarmCode(MXC_SEBIAO_ZIPPER_LENGTH_ALARM); else if(MXC_KaDai_IN)MXC_SetAlarmCode(MXC_KA_DAI_ALARM); else { if(MXC_bNext) { SingOneFlg = 1; MXC_bNext = 0; } MXC_bRunning = 1; MXC_cAutoStep = 1; cGouZhenTime = 1; cCheckLengthOk = 0; cZipperLength[0] = 0; cZipperLength[1] = 0; dwZipCnt = 0; MXC_cAutoDelay = dwTickCount; MXC_cMotorDelay = dwTickCount; MXC_cXiaChongDelay = dwTickCount; } MXC_bStart = 0; } //卡带感应 if(MXC_KaDai_IN && (dwTickCount >= MXC_cKaDaiDelay)) { MXC_SetAlarmCode(MXC_KA_DAI_ALARM); MXC_cKaDaiDelay = dwTickCount + 2200; } if(MXC_KaDai_IN_UP) { if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1; } //停止 STOP_IN_FLAG_OLD = STOP_IN_FLAG; if(STOP_IN) { if(STOP_FILTER < 50) { STOP_FILTER++; } else STOP_IN_FLAG = 1; } else if(STOP_FILTER > 25) { STOP_FILTER--; } else STOP_IN_FLAG = 0; if(MXC_bStop) { MXC_bStop = 0; if(MXC_bRunning)MXC_SingOneFlag = 1; } if(((STOP_IN_FLAG && !STOP_IN_FLAG_OLD))) { MXC_bStop = 0; if(MXC_bRunning) { if(MXC_cXiaChongStep==0) { if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1; // if(!MXC_XiaChong_MOTOR)MXC_XC_SongZhou = MXC_SERVER_DISEN; } MXC_bRunning = 0; MXC_cAutoStep = 0; MXC_cMotorStep = 0; AxisDecStop(X_AXIS); MXC_cJiaoDaoStep = 0; SingOneFlg = 0; MXC_SingOneFlag = 0; } else { MXC_bRunning = 0; cStopFlag = 0; MXC_cAutoStep = 0; MXC_cMotorStep = 0; MXC_cXiaChongStep = 0; MXC_cLeftFenZhenStep = 0; MXC_cRightFenZhenStep = 0; MXC_cJiaoDaoStep = 0; MXC_cDCPStep = 0; MXC_XiaZhi_VAVLE = 0; MXC_LeftFenZhen_VAVLE = 0; MXC_RightFenZhen_VAVLE = 0; SingOneFlg = 0; MXC_SingOneFlag = 0; /* if(MXC_XiaChongMotorMode) MXC_XC_SongZhou = MXC_SERVER_DISEN; else MXC_XC_ShaChe = MXC_SC_DISEN;*/ MXC_XC_ShaChe = MXC_SC_DISEN; if((MXC_cChuiQiStep == 0) &&(MXC_cXiaChongStep==0))MXC_cChuiQiStep = 1; AxisDecStop(X_AXIS); SetAlarmCode(MXC_ALARM_ADDR,MXC_NO_ALARM); } } /* if(!MXC_bRunning && (MXC_cMotorStep==0) && (MXC_cXiaChongStep == 0)) { if(!X_DRV)MXC_TuoDaiSongZhou = MXC_SERVER_DISEN; }*/ if(MXC_bAlarmStop) { MXC_bAlarmStop = 0; MXC_bRunning = 0; MXC_cAutoStep = 0; MXC_cMotorStep = 0; MXC_cLeftFenZhenStep = 0; MXC_cRightFenZhenStep = 0; MXC_cDCPStep = 0; MXC_LeftFenZhen_VAVLE = 0; MXC_RightFenZhen_VAVLE = 0; MXC_SingOneFlag = 0; AxisDecStop(X_AXIS); if((GetAlarmCode(MXC_ALARM_ADDR) == MXC_XIA_CHONG_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_XC_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_LFZ_ORIGIN_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_LFZ_LIMIT_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_RFZ_ORIGIN_ALARM) || (GetAlarmCode(MXC_ALARM_ADDR) == MXC_RFZ_LIMIT_ALARM)) { MXC_cXiaChongStep = 0; MXC_XiaChong_MOTOR = 0; } } } void MXC_NiLongChuiQi(void) { //吹气 if(MXC_XiaChong_IN_UP) { if(MXC_cChuiQiStep == 0)MXC_cChuiQiStep = 1; } switch(MXC_cChuiQiStep) { case 1: MXC_cChuiQiStep = 2; if(MXC_bRunning)MXC_cChuiQiDelay = dwTickCount+MXC_PARAM_DELAY_CHUIQI_TIME; break; case 2: if(dwTickCount >= MXC_cChuiQiDelay) { MXC_cChuiQiDelay = dwTickCount + MXC_PARAM_CHUIQI_TIME; MXC_ChuiQi_VAVLE = 1;// MXC_cDCPStep = 1; MXC_cChuiQiStep = 3; } break; case 3: if(dwTickCount >= MXC_cChuiQiDelay) { MXC_ChuiQi_VAVLE = 0;// MXC_cChuiQiStep = 0; } break; } } unsigned char ComPareLength(void) { if((cZipperLength[0] != 0) && (cZipperLength[1] != 0)) { if(cZipperLength[0] > cZipperLength[1]) { if((cZipperLength[0] - cZipperLength[1]) > 200) { return 0; } else return 1; } else { if((cZipperLength[1] - cZipperLength[0]) > 200) { return 0; } else return 1; } } else return 0; } unsigned char MXC_CheckPos(void) { unsigned long zipper_length; short *revise_buff; if(MXC_DC_MODE == MXC_DC_BMQ_MODE) { revise_buff = &user_datas[17]; zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH; if(MXC_dwEncPos >= zipper_length)return 0; else return 1; } else if(MXC_DC_MODE == MXC_DC_GZ_MODE) { if(MXC_GouZhen_IN) return 0; else return 1; } else if(MXC_DC_MODE == MXC_DC_GZ_MODE) { revise_buff = &user_datas[17]; zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH; if((0 - dwRealPos) > zipper_length) return 0; else return 1; } else return 1; } void MXC_NiLongMotor(void) { static long save_buff,gou_zhen_buff,zipper_length_buff; static unsigned long zipper_length; short *revise_buff; dwRealPos = GetPos(X_AXIS); MXC_dwEncPos = GetEncodePos(); if(MXC_bRunning) { if(!MXC_Zipper_IN && (MXC_DC_MODE != MXC_DC_BMQ_MODE)) MXC_SetAlarmCode(MXC_NO_ZIPPER_ALARM); } if(!MXC_bRunning) { if(MXC_CheckPos() == 0)AxisEgmStop(X_AXIS); } switch(MXC_cMotorStep) { case 0: break; case 1: if(MXC_SZ_OUT == MXC_SERVER_DISEN) { MXC_SZ_OUT = MXC_SERVER_EN; MXC_cMotorDelay = dwTickCount + 50; //先锁轴 } MXC_cMotorStep = 2; break; case 2://勾针模式 if(dwTickCount >= MXC_cMotorDelay) { save_buff = dwRealPos; revise_buff = &user_datas[17]; save_pos_buff = dwRealPos; if(cCheckLengthOk) { MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_SET_SPEED,1,5,1); } else { if(cCheckLengthOk == 0) { cZipperLength[0] = cZipperLength[1]; cZipperLength[1] = zipper_length_buff - dwRealPos; zipper_length_buff = dwRealPos; if(ComPareLength()) { cCheckLengthOk = 1; } } if(cCheckLengthOk)zipper_length = cZipperLength[1] + (*revise_buff); MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_FIRST_SPEED,1,5,1); } MXC_cMotorDelay = dwTickCount + MXC_PARAM_MOTOR_ALARM_TIME; MXC_cGouZhenTime = dwTickCount + MXC_PARAM_GZ_DELAY; MXC_cMotorStep = 3; } break; case 3: if(((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0)) || (cCheckLengthOk == 0))MXC_GouZhen_VAVLE = 0; if(MXC_PARAM_AUTO_CHECK_MODE) { if(cCheckLengthOk) { if(((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE)MXC_GouZhen_VAVLE = 0; if((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_LOWSPEED_LENGTH)) { AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); MXC_cMotorStep = 4; } } else { if(MXC_GouZhen_IN) { MXC_GouZhen_VAVLE = 0; MXC_cMotorStep = 5; AxisEgmStop(X_AXIS); } else { if(dwTickCount >= MXC_cGouZhenTime)MXC_GouZhen_VAVLE = 0; MXC_cMotorStep = 4; } } } if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 4: if(((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0)) || (cCheckLengthOk == 0))MXC_GouZhen_VAVLE = 0; if(MXC_PARAM_AUTO_CHECK_MODE) { if(((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE &&cCheckLengthOk)MXC_GouZhen_VAVLE = 0; } else { if(((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_GZ_LENGTH))&&MXC_PARAM_GZ_RESET_MODE)MXC_GouZhen_VAVLE = 0; } if(MXC_GouZhen_IN) { MXC_GouZhen_VAVLE = 0; MXC_cMotorStep = 5; AxisEgmStop(X_AXIS); } if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 5: if(((dwTickCount >= MXC_cGouZhenTime)&&(MXC_PARAM_GZ_RESET_MODE==0)) || (cCheckLengthOk == 0))MXC_GouZhen_VAVLE = 0; if(!X_DRV) { MXC_cMotorStep = 0; MXC_cMotorDelay = dwTickCount; } else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 20: if(MXC_SZ_OUT == MXC_SERVER_DISEN) { MXC_SZ_OUT = MXC_SERVER_EN; MXC_cMotorDelay = dwTickCount + 50; //先锁轴 } MXC_cMotorStep = 21; break; case 21: if(dwTickCount >= MXC_cMotorDelay) //电机定寸模式 { revise_buff = &user_datas[17]; if(cAlarmStopFlg) { zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH; cAlarmStopFlg = 0; } else { zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH + MXC_SaveLength; if((0 - dwRealPos) > zipper_length) zipper_length = 0;//MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH; else zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH + MXC_SaveLength - (0 - dwRealPos); } AxisMovePosAccDec(X_AXIS,MXC_PARAM_SET_SPEED,zipper_length,1,5,1); MXC_GouZhen_VAVLE = 1; //定位(活动勾针)电磁阀 MXC_cMotorStep = 22; MXC_cMotorDelay = dwTickCount + MXC_PARAM_MOTOR_ALARM_TIME; } break; case 22: if(!X_DRV) { MXC_cMotorStep = 0; MXC_cMotorDelay = dwTickCount; } else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 40: if(MXC_SZ_OUT == MXC_SERVER_DISEN) { MXC_SZ_OUT = MXC_SERVER_EN; MXC_cMotorDelay = dwTickCount + 50; //先锁轴 } MXC_cMotorStep = 41; break; case 41: if(dwTickCount >= MXC_cMotorDelay) { save_buff = dwRealPos; revise_buff = &user_datas[17]; zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff); if((dwZipCnt==0)||SingOneFlg)MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_SB_LOW_SPEED,1,5,1); else MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_SB_HIGH_SPEED,1,5,1); cSeBiaoOk = 0; cSeBiaoEn = 0; MXC_cMotorStep = 42; MXC_GouZhen_VAVLE = 1; //定位(活动勾针)电磁阀 MXC_cMotorDelay = dwTickCount + MXC_MOTOR_ALALRM_TIME; } break; case 42: if(dwZipCnt==0) { cSeBiaoOk = 0; cSeBiaoEn = 1; MXC_cMotorStep = 43; } else { if((save_buff - dwRealPos + MXC_PARAM_LOWSPEED_LENGTH) >= (zipper_length -MXC_PARAM_SEBIAO_DW_LENGTH)) AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); if((save_buff - dwRealPos + MXC_PARAM_SEBIAO_TQ_LENGTH) >= (zipper_length - MXC_PARAM_SEBIAO_DW_LENGTH)) { cSeBiaoOk = 0; cSeBiaoEn = 1; MXC_cMotorStep = 43; } else if((save_buff - dwRealPos) > (zipper_length + MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM); } break; case 43: if(dwZipCnt!=0) { if((save_buff - dwRealPos) >= (zipper_length - MXC_PARAM_LOWSPEED_LENGTH)) AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); if((save_buff - dwRealPos) > (zipper_length + MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM); } if(!X_DRV) { if(dwZipCnt!=0) { if((save_buff - dwRealPos) < (zipper_length - MXC_ERROR_LENGTH))MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM); } MXC_cMotorStep = 0; MXC_cMotorDelay = dwTickCount; } else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_NO_SEBIAO_ALARM); break; case 60: if(MXC_SZ_OUT == MXC_SERVER_DISEN) { MXC_SZ_OUT = MXC_SERVER_EN; MXC_cMotorDelay = dwTickCount + 50; //先锁轴 } MXC_cMotorStep = 61; break; case 61: if(dwTickCount >= MXC_cMotorDelay) { save_buff = MXC_dwEncPos; revise_buff = &user_datas[17]; zipper_length = MXC_SET_ZIPPER_LENGTH + (*revise_buff) + MXC_PARAM_DAOKOU_LENGTH + MXC_SaveLength; MoveAction_Const_AccDec(X_AXIS,MXC_DIR_P,MXC_PARAM_SET_SPEED,1,5,1); MXC_cMotorDelay = dwTickCount + MXC_PARAM_MOTOR_ALARM_TIME; MXC_cMotorStep = 62; } break; case 62: if((MXC_dwEncPos) >= (zipper_length - MXC_PARAM_LOWSPEED_LENGTH)) { AxisChangeSpeed(X_AXIS,MXC_PARAM_LOW_SPEED); MXC_cMotorStep = 63; } else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 63: if((MXC_dwEncPos) >= zipper_length) { MXC_cMotorStep = 64; AxisEgmStop(X_AXIS); } else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; case 64: if(!X_DRV) { MXC_cMotorStep = 0; MXC_cMotorDelay = dwTickCount; } else if(dwTickCount >= MXC_cMotorDelay)MXC_SetAlarmCode(MXC_LONG_TIME_NO_ZIPPER_ALARM); break; } } //下冲 void MXC_NiLongXiaChong(void) { switch(MXC_cXiaChongStep) { case 0: return; break; case 1: { MXC_cRightFenZhenStep = 1; MXC_cLeftFenZhenStep = 0; cRFengTimer = 0; cLFengTimer = 0; } MXC_cXiaChongStep = 2; break; case 2: if((MXC_cRightFenZhenStep==0) && (MXC_cLeftFenZhenStep==0)) { MXC_XC_ShaChe = MXC_SC_DISEN; if(MXC_bRunning)MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_DELAY_XC; MXC_cXiaChongStep = 3; } break; case 3: if(dwTickCount >= MXC_cXiaChongDelay) { MXC_cXiaChongStep = 4; MXC_XiaChong_MOTOR = 1; //下冲电机 if(!MXC_bRunning)MV_Set_Command_Pos_CPU(X_AXIS,0); if(!MXC_bRunning)SetEncodePos(0); MXC_cXiaChongDelay = dwTickCount + (unsigned long)MXC_ERRORTIME; //下冲最长时间 if(MXC_bRunning && MXC_XZ_ENABLE) { if(MXC_DC_MODE == MXC_DC_GZ_MODE) { MXC_XiaZhi_VAVLE = 1; MXC_cXiaZhiDelay = dwTickCount + MXC_PARAM_XIAZHI_TIME; } else { if(MXC_PARAM_DAOKOU_LENGTH >= MXC_PARAM_KONG_WEI_LENGTH) { MXC_XiaZhi_VAVLE = 1; MXC_cXiaZhiDelay = dwTickCount + MXC_PARAM_XIAZHI_TIME; } } } if(MXC_XiaChongMotorMode == 1) { AxisMoveTwoPos(Y_AXIS,MXC_XiaChongSpeed,2000,MXC_XiaChongLowSpeed,9999999,0); } } break; case 4: //碰到右大微动,延时停 if(MXC_XiaChong_IN_UP) { MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_XC_DELAY; MXC_cXiaChongStep = 5; MXC_LeftFenZhen_VAVLE = 0; //退左分针 MXC_RightFenZhen_VAVLE = 0; //退右分针 MXC_GouZhen_VAVLE = 1; MXC_cGouZhenTime = dwTickCount + 300; } else if(dwTickCount >= MXC_cXiaChongDelay) //自动停机 { MXC_cXiaChongStep = 0; // MXC_ShaChe_Output();////刹车 MXC_XiaChong_MOTOR = 0;// //下冲电机 MXC_SetAlarmCode(MXC_XC_ALARM); MXC_LeftFenZhen_VAVLE = 0; //退左分针 MXC_RightFenZhen_VAVLE = 0; //退右分针 AxisEgmStop(Y_AXIS); } break; case 5: if(dwTickCount >= MXC_cXiaChongDelay) { AxisEgmStop(Y_AXIS); MXC_XiaChong_MOTOR = 0; //延时刹车 if(MXC_PARAM_SC_MODE) { MXC_cXiaChongStep = 0; } else { MXC_cXiaChongStep = 6; } } break; case 6: { MXC_cXiaChongStep = 7; MXC_cXiaChongDelay = dwTickCount + MXC_PARAM_SC_DELAY; } break; case 7: if((dwTickCount >= MXC_cXiaChongDelay)) { MXC_cXiaChongStep = 8; MXC_cXiaChongDelay = dwTickCount+ 150; // MXC_XC_SongZhou = MXC_SERVER_DISEN; MXC_XC_ShaChe = MXC_SC_EN; } break; case 8: if((dwTickCount >= MXC_cXiaChongDelay)) { MXC_cXiaChongStep = 0; // MXC_XC_SongZhou = MXC_SERVER_DISEN; MXC_XC_ShaChe = MXC_SC_DISEN; } break; case 20: // 点动普通下冲动作 // MXC_XC_SongZhou = MXC_SERVER_EN; MXC_XC_ShaChe = MXC_SC_DISEN; MXC_cXiaChongDelay = dwTickCount + 50; MXC_cXiaChongStep = 21; break; case 21: if((dwTickCount >= MXC_cXiaChongDelay)) { MXC_XiaChong_MOTOR = 1; MXC_cXiaChongDelay = dwTickCount + 50; MXC_cXiaChongStep = 22; } break; case 22: if((dwTickCount >= MXC_cXiaChongDelay)) { MXC_XiaChong_MOTOR = 0; // MXC_XC_SongZhou = MXC_SERVER_EN; if(MXC_XiaChongMotorMode) MXC_cXiaChongStep = 0; else { MXC_XC_ShaChe = MXC_SC_EN; MXC_cXiaChongDelay = dwTickCount + 150; MXC_cXiaChongStep = 23; } } break; case 23: if((dwTickCount >= MXC_cXiaChongDelay)) { //MXC_XC_SongZhou = MXC_SERVER_DISEN; MXC_XC_ShaChe = MXC_SC_DISEN; MXC_cXiaChongStep = 0; } break; case 40: // 点动电机下冲动作 //MXC_XC_SongZhou = MXC_SERVER_EN; MXC_cXiaChongDelay = dwTickCount + 50; MXC_cXiaChongStep = 41; break; case 41: if(!Y_DRV)AxisMovePos(Y_AXIS,20,10); MXC_cXiaChongStep = 42; break; case 42: if(!Y_DRV) { MXC_cXiaChongStep = 0; } break; } } //分针 void MXC_NiLongFenZhen(void) { //右分针 switch(MXC_cRightFenZhenStep) { case 0: break; case 1: MXC_cFenZhenRightDelay = MXC_PARAM_R_FZ_DELAY+dwTickCount; MXC_cRightFenZhenStep = 2; break; case 2: if(dwTickCount >= MXC_cFenZhenRightDelay) { MXC_cRightFenZhenStep = 3; MXC_RightFenZhen_VAVLE = 1;//右分针电磁阀 MXC_cFenZhenRightDelay = dwTickCount + MXC_FenZhengErrorTime; } break; case 3: //碰到右大微动,延时停 if(!MXC_RightFenZhen_Origin_IN) //右分针原点离开 { MXC_cFenZhenRightDelay = dwTickCount + MXC_FenZhengErrorTime; MXC_cRightFenZhenStep = 4; }//右分针不下去 else if(dwTickCount >= MXC_cFenZhenRightDelay) { MXC_SetAlarmCode(MXC_RFZ_LIMIT_ALARM); } break; case 4: if(MXC_RighttFenZhen_IN) //插针到位 { MXC_cRightFenZhenStep = 0; MXC_cLeftFenZhenStep = 1; //左分针延时启动 } else if(dwTickCount >= MXC_cFenZhenRightDelay) { MXC_RightFenZhen_VAVLE = 0;//右分针 cRFengTimer++; //当右分针分不到位时，左分针也要重新分针 MXC_LeftFenZhen_VAVLE = 0; MXC_cRightFenZhenStep = 0; if(cRFengTimer < 4) { MXC_cRightFenZhenStep = 5; MXC_cFenZhenRightDelay = dwTickCount + MXC_FenZhengErrorTime; } else { MXC_SetAlarmCode(MXC_RFZ_LIMIT_ALARM); } } break; case 5: if(MXC_RightFenZhen_Origin_IN) //退到位 { MXC_cRightFenZhenStep = 6; } else if(dwTickCount >= MXC_cFenZhenRightDelay) { MXC_SetAlarmCode(MXC_RFZ_ORIGIN_ALARM); } break; case 6: { MXC_cRightFenZhenStep = 1; } break; } //左分针 switch(MXC_cLeftFenZhenStep) { case 0: break; case 1: MXC_cFenZhenLeftDelay = MXC_PARAM_L_FZ_DELAY+dwTickCount; MXC_cLeftFenZhenStep = 2; break; case 2: if(dwTickCount >= MXC_cFenZhenLeftDelay) { MXC_cLeftFenZhenStep = 3; MXC_LeftFenZhen_VAVLE = 1; //左分针电磁阀 MXC_cFenZhenLeftDelay = dwTickCount + MXC_FenZhengErrorTime; } break; case 3: //离开左分针原点 if(!MXC_LeftFenZhen_Origin_IN) //左分针原点离开 { MXC_cFenZhenLeftDelay = dwTickCount + MXC_FenZhengErrorTime; MXC_cLeftFenZhenStep = 4; }//左分针不下去 else if(dwTickCount >= MXC_cFenZhenLeftDelay) { MXC_SetAlarmCode(MXC_LFZ_LIMIT_ALARM); } break; case 4: if(MXC_LeftFenZhen_IN) //插针到位 MXC_cLeftFenZhenStep = 0; else if(dwTickCount >= MXC_cFenZhenLeftDelay) { MXC_LeftFenZhen_VAVLE = 0;//左分针 cLFengTimer++; if(cLFengTimer < 6) { MXC_cLeftFenZhenStep = 5; MXC_cFenZhenLeftDelay = dwTickCount + MXC_FenZhengErrorTime; if((cLFengTimer%2) == 0) { MXC_RightFenZhen_VAVLE = 0; MXC_cRightFenZhenStep = 0; } } else { MXC_SetAlarmCode(MXC_LFZ_LIMIT_ALARM); } } break; case 5: if(MXC_LeftFenZhen_Origin_IN) //退到位 { MXC_cLeftFenZhenStep = 6; } else if(dwTickCount >= MXC_cFenZhenLeftDelay) { MXC_SetAlarmCode(MXC_LFZ_ORIGIN_ALARM); } break; case 6: if((cLFengTimer%2) == 0) //左边插两次都插不到，就退右边再同时插 { MXC_cRightFenZhenStep = 1; cRFengTimer = 0; MXC_cLeftFenZhenStep = 0; } else { MXC_cLeftFenZhenStep = 1; } break; } } #endif