#include "global.h" #if CHANG_SHENG_GEI_LI_MACHINE == 1 void GL_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag); void GL_CTHL_ManualAction(void); void GL_CTHL_AutoStepAction(void); void GL_CTHL_TableAction(void); void GL_CTHL_TD_Motor(void); void GL_CTHL_CL_Motor(void); void GL_CTHL_CheckStart(void); void GL_CTHL_TLiao_Step(void); //推料(推拉头) void GL_CTHL_AlarmProtect(void); void GL_CTHL_ZLT_Step(void); void GL_CTHL_ZhenDongAction(void); void GL_CTHL_bFKCXTDDWStep(void); void GL_CTHL_bCXCRStep(void); void GL_CTHL_bCLFirstStep(void); void GL_CTHL_HeMo(void); extern unsigned char LifeSignal; extern nodelink_master_t master; extern int nl_send_step; void ExtiAcitionX02(void) { if(bCheckEN_FLG) { bCheckEN_FLG = 0; GL_CTHL_CheckInX02PosBuff = GetPos(X_AXIS); } } //故障报警 void GL_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag) { SetAlarmCode(GL_CTHL_ALARM_ADDR,alarm_code); // bAlarmStop = 0; // if(cStopFlag) if(!cWULATOUCnt) { bAlarmStop = 1; } else { cWULATOUCnt=0; } } //初始化动作 void GL_CTHL_InitAction(void) { float buff_pulse,buff_dist; buff_pulse = GL_CTHL_PARAM_CYCLE_PULSE; buff_dist = GL_CTHL_PARAM_CYCLE_LENGTH; XGearRatio = buff_pulse/buff_dist; buff_pulse = GL_CTHL_PARAM_YCYCLE_PULSE; buff_dist = GL_CTHL_PARAM_YCYCLE_LENGTH; YGearRatio = buff_pulse/buff_dist; GL_CTHL_bZDP= 1; bYFirstDingWeiFlg = 1; user_datas[121] = 0; user_datas[122] = 0; user_datas[123] = 0; SetEnReverse(X_AXIS, 1); SetEnReverse(Y_AXIS, 1); SetEnReverse(Z_AXIS, 1); SetDirReverse(X_AXIS, 1); SetDirReverse(Y_AXIS, 1); SetDirReverse(Z_AXIS, 0); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); SetEn(Z_AXIS, MOTOR_DISEN); GL_CTHL_AlarmDisEnFlg=0; SetAlarmCode(GL_CTHL_ALARM_ADDR,0); //警告要清除 GL_CTHL_bSFBBAOJIN_Delay = dwTickCount + 2000; GL_CTHL_X_EN_FLG=0; GL_CTHL_Y_EN_FLG=0; // QDCT_SZ_OUT = QDCT_MOTOR_DISEN; } void GL_CTHL_Action(void) { // user_datas[121] = LifeSignal; //user_datas[122] = master.bus_status; //user_datas[123] = master.dev_count; //user_datas[124] = master.data_in[0]; // user_datas[125] = master.data_in[1]; // user_datas[126] = master.data_in[2]; //user_datas[127] = nl_send_step; //user_datas[128] = master.data_out[1]; // user_datas[121] = GL_CTHL_ZhuangLiaoStep; // user_datas[122] =GL_CTHL_bXCBackOK; // user_datas[123] = GL_CTHL_X_CXPosBuff; dwXRealPos = GetPos(X_AXIS); dwYRealPos = GetPos(Y_AXIS); dwZRealPos = GetPos(Z_AXIS); user_datas[124] = dwXRealPos; user_datas[125] = GL_CTHL_CXDW_Stop;//GL_CTHL_RunStepSave;//dwYRealPos; // user_datas[126] = dwYRealPos;//GL_CTHL_CL_MotorStep; user_datas[127] = GL_CTHL_LianLengthAutoCheck;//GL_CTHL_TDMotorStepSave; user_datas[128] = GL_CTHL_AutoStep; GL_CTHL_ZhenDongAction(); GL_CTHL_AlarmProtect(); GL_CTHL_CheckStart(); GL_CTHL_ZLT_Step(); GL_CTHL_TLiao_Step(); GL_CTHL_TD_Motor(); GL_CTHL_CL_Motor(); GL_CTHL_bFKCXTDDWStep(); GL_CTHL_bCXCRStep(); GL_CTHL_bCLFirstStep(); GL_CTHL_HeMo(); GL_CTHL_ManualAction(); GL_CTHL_AutoStepAction(); } void GL_CTHL_AlarmProtect(void) { } //自动动作 void GL_CTHL_AutoStepAction(void) { if(bRunning && !bAlarmStop) { switch(GL_CTHL_AutoStep) { case 1: if(dwTickCount >= GL_CTHL_AutoDelay ) { if(!GL_CTHL_XKSC_Limit_IN) GL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 GL_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 GL_CTHL_FKGD_VAVLE = 0; //方块固定关 // GL_CTHL_XKDW_VAVLE = 1; GL_CTHL_AutoStep = 2; GL_CTHL_AutoDelay=dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; if(GL_CTHL_HLJJ_VAVLE) bCL_EN_FLG = 1; if(GL_CTHL_ZhuangLiaoStep == 0) { GL_CTHL_ZhuangLiaoStep = 1; GL_CTHL_TryCnt = 0; } } break; case 2: if((!GL_CTHL_XKTD_Origin_IN && GL_CTHL_XKTD_VAVLE) || (!GL_CTHL_XKTD_VAVLE&& GL_CTHL_XKTD_Origin_IN)) //斜口推带原位离开 { GL_CTHL_AutoStep = 3; if(GL_CTHL_cZipCnt== 0) { GL_CTHL_AutoDelay = dwTickCount + 180; } else GL_CTHL_AutoDelay = dwTickCount; } else if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_SetAlarmCode(GL_CTHL_XKTD_Origin_ALARM,bRunning); //斜口推带异常 } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 3://斜口定位 if(dwTickCount >= GL_CTHL_AutoDelay) { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 4; GL_CTHL_XKDW_VAVLE = 1; if(GL_CTHL_cZipCnt== 0) GL_CTHL_AutoDelay = dwTickCount + 80; else GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_XKDW_TD_DELAY; } } break; case 4: if(dwTickCount >= GL_CTHL_AutoDelay) { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { if(!cBanAuTo) { if(!GL_CTHL_XKSC_Limit_IN) { // AxisContinueMoveAcc(X_AXIS,1000,DIR_P,800,600,10,10);//拖带电机 SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; AxisMovePosAccDecNotStop(X_AXIS,600,200,600,600,10,30,0); GL_CTHL_bDinweiOK = 0; } GL_CTHL_AutoStep = 5; GL_CTHL_XSavePosBuff = dwXRealPos; } else { GL_CTHL_bDinweiOK = 0; GL_CTHL_AutoStep = 5; GL_CTHL_XSavePosBuff = dwXRealPos; } } } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 5: if((dwXRealPos >= GL_CTHL_PARAM_WLCDSHEZHI_LENTH) && GL_CTHL_PARAM_WLCDSHEZHI_LENTH) { // GL_CTHL_SetAlarmCode(GL_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if((dwXRealPos > (GL_CTHL_LianLengthAutoCheck+2000)) && GL_CTHL_LianLengthAutoCheck && GL_CTHL_cZipCnt>1) { // GL_CTHL_SetAlarmCode(GL_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if(dwXRealPos>= 190) GL_CTHL_FKJD_VAVLE = 1; //方块夹带气缸关 // if((dwXRealPos >= 400) && bCL_EN_FLG) // GL_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 if(GL_CTHL_XKSC_Limit_IN) //方块上止到位 { // if(bCL_EN_FLG) // GL_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 //AxisEgmStop(X_AXIS); GL_CTHL_GDXM_VAVLE = 1; //固定斜码 GL_CTHL_FKJD_VAVLE = 0; //方块夹带气缸关 GL_CTHL_bDinweiOK = 1; if(GL_CTHL_PARAM_QianMaSelect==1) // 尼龙 { AxisEgmStop(X_AXIS); //AxisMovePosAccDec(X_AXIS,850,-25,850,850,6,2,0); //尼龙不用多走 } else //其他 { if(((GL_CTHL_bTiaoShiMode) && (!GL_CTHL_START_IN_UP))) AxisEgmStop(X_AXIS); else AxisMovePosAccDec(X_AXIS,700,GL_CTHL_PARAM_SCDW_LENTH,700,700,6,2,0); } //调试模式 // if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 6; // GL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; GL_CTHL_bLTCHECK_Delay = dwTickCount + 20; //电机穿入可以启动 bCL_OK_FLG = 1; //不用穿合链的话认为已经完成 if(bCL_EN_FLG && !GL_CTHL_PARAM_HL_EN) { bCL_OK_FLG = 0; GL_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 GL_CTHL_CL_MotorStep = 1; GL_CTHL_CL_MotorDelay = dwTickCount + GL_CTHL_PARAM_HLJJ_CL_DELAY; } } } else if(dwXRealPos >= (GL_CTHL_XSavePosBuff + 850)) //750 { AxisEgmStop(X_AXIS); GL_CTHL_SetAlarmCode(GL_CTHL_FKCXDW_ALARM,bRunning); //方块插销定位异常警告 } break; case 6: // if(GL_CTHL_XKTD_Origin_IN) //斜口推带回到原位 { if(bZhuangLiaoOkFlg && (GL_CTHL_ZhuangLiaoStep == 0)) { if(dwTickCount >= GL_CTHL_bLTCHECK_Delay) { //单一标志 if(bSingOneFlg) { //次数到停止 if(bSingOneCnt==0) { GL_CTHL_AutoStep = 0; bRunning = 0; } } if(!bSingOneFlg || (bSingOneFlg && bSingOneCnt)) { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { if(!GL_CTHL_LTou_Check) { if(GL_CTHL_HSLiao_Origin_IN) { GL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 // GL_CTHL_CTXMSS_VAVLE = 1; //穿头下模上升 if(!GL_CTHL_CTXMSS_VAVLE) GL_CTHL_HeMoStep = 1; //下模的上升和下降电磁阀要配合 GL_CTHL_CXHJD_VAVLE=1;//后夹带 GL_CTHL_AutoStep = 7; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; //插销上下类型或直码类型需要动作 if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT == 0 || (GL_CTHL_PARAM_QianMaSelect==1 && GL_CTHL_PARAM_ZhiMaDingchu)) GL_CTHL_CXSX_VAVLE = 1; //插销上下 else//插销前后+三角码类型不用顶出 GL_CTHL_CXSX_VAVLE = 0; //插销顶出 //单一标准有效，次数减去1 if(bSingOneFlg) { if(bSingOneCnt>0) bSingOneCnt--; } } else if(dwTickCount >= (GL_CTHL_AutoDelay+3000)) { GL_CTHL_SetAlarmCode(GL_CTHL_HSLiao_Origin_ALARM,bRunning); // 没有拉头 } } else { cWULATOUCnt=1; GL_CTHL_SetAlarmCode(GL_CTHL_ZLT_ALARM,bRunning); // 没有拉头 } } } } } } // else if(dwTickCount >= GL_CTHL_AutoDelay) // { // GL_CTHL_SetAlarmCode(GL_CTHL_XKTD_Origin_ALARM,bRunning); //斜口推带回到异常 // } break; case 7: if(!GL_CTHL_CTM_Origin_IN) { GL_CTHL_JLTou_VAVLE = 0; //接拉头 } if(GL_CTHL_CTM_Limit_IN) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_JLTou_VAVLE = 0; GL_CTHL_AutoStep = 8; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_DXK_DELAY; GL_CTHL_CXHJD_VAVLE=0;//后夹带 if(GL_CTHL_PARAM_QianMaSelect == 1) //尼龙的顶斜口不能输出 GL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 } } else if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_SetAlarmCode(GL_CTHL_CTM_Limit_ALARM,bRunning); //穿头下模上升异常 } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 8: if(dwTickCount >= GL_CTHL_AutoDelay) //延时顶斜口 { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { if(GL_CTHL_PARAM_QianMaSelect == 0) GL_CTHL_DXK_VAVLE = 1; //延时顶斜口 GL_CTHL_AutoStep = 9; if(!cBanAuTo) { if(GL_CTHL_cZipCnt==0) GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_DXK_XKDW_Off_DELAY+50; else GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_DXK_XKDW_Off_DELAY; } else { GL_CTHL_AutoDelay = dwTickCount + 500; } } } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 9: if((dwTickCount >= GL_CTHL_AutoDelay)) //顶斜口延时退斜口上止定位 { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_XKDW_VAVLE = 0; //方块钩针 GL_CTHL_FKJD_VAVLE = 0; //方块夹带气缸关 GL_CTHL_AutoStep = 10; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_XK_CR_DELAY; if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT == 1 && GL_CTHL_PARAM_QianMaSelect==1) GL_CTHL_CXSX_VAVLE = 0; //插销顶出退 } } break; case 10: if((dwTickCount >= GL_CTHL_AutoDelay) && !X_DRV && (bCL_OK_FLG)) { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { if(!cBanAuTo) { GL_CTHL_TD_MotorStep = 10; //启动拖带穿入 GL_CTHL_AutoStep = 11; GL_CTHL_bXCBackOK = 0; GL_CTHL_AutoDelay = dwTickCount + 0; } else { GL_CTHL_AutoStep = 801; GL_CTHL_AutoDelay = dwTickCount + 2000; } } } break; case 801: if(dwTickCount >= GL_CTHL_AutoDelay) { bRunning=0; cBanAuTo=0; cCHULIANBAOJIN=1; GL_CTHL_GDXM_VAVLE=0; GL_CTHL_XKTD_VAVLE = 0; GL_CTHL_DXK_VAVLE=0; GL_CTHL_AutoStep = 0; } break; case 11: if((GL_CTHL_TD_MotorStep == 0) && bCL_OK_FLG) //穿入定位完成 { if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT == 0) GL_CTHL_CXSX_VAVLE = 1; //插销上下 else GL_CTHL_CXSX_VAVLE = 0; //插销顶出 /* //测试拖带定位 GL_CTHL_AutoStep = 1; GL_CTHL_AutoDelay = dwTickCount + 1000; if(GL_CTHL_cZipCnt<3) GL_CTHL_cZipCnt++; break; */ // if(START_IN_UP) // { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { // GL_CTHL_XKDW_VAVLE = 0; //方块钩针 GL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 // if(GL_CTHL_PARAM_CR_MODE==0) GL_CTHL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀 if((GL_CTHL_CL_MotorStep == 0) && (GL_CTHL_SF_Origin_IN || (GL_CTHL_PARAM_CR_MODE == 0))) { GL_CTHL_CXQJD_VAVLE = 1;//插销前夹带 //GL_CTHL_SongDai_VAVLE = 1; //松带 //Y轴启动插销 GL_CTHL_CL_MotorStep = 20; //插销定位 } else if(!GL_CTHL_SF_Origin_IN) { GL_CTHL_CL_MotorStep = 40; //插销定位 } GL_CTHL_AutoStep = 12; } } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 12: if(!GL_CTHL_bXCBackOK && (GL_CTHL_CL_MotorStep == 0) && (GL_CTHL_SF_Origin_IN || (GL_CTHL_PARAM_CR_MODE == 0))) { GL_CTHL_CXQJD_VAVLE = 1; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 1; //松带 GL_CTHL_CL_MotorStep = 20; //插销定位 } if(!GL_CTHL_XKTD_Origin_IN)//) //插销前夹带回到原位 { GL_CTHL_AutoStep = 14; GL_CTHL_AutoDelay = dwTickCount + 0; } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 14: if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 15; GL_CTHL_FKGD_VAVLE = 1; //方块固定 if(GL_CTHL_PARAM_CR_MODE==0) GL_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 if(GL_CTHL_PARAM_GouZhen_mode==0) GL_CTHL_XKDW_VAVLE = 1; //方块勾针输出 } } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 15: if(!GL_CTHL_bXCBackOK && (GL_CTHL_CL_MotorStep == 0) && (GL_CTHL_SF_Origin_IN || (GL_CTHL_PARAM_CR_MODE == 0))) { GL_CTHL_CXQJD_VAVLE = 1; //GL_CTHL_SongDai_VAVLE = 1; //松带 GL_CTHL_CL_MotorStep = 20; //插销定位 } if((GL_CTHL_CL_MotorStep == 0) && GL_CTHL_bXCBackOK) //插销定位完成 { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 GL_CTHL_AutoStep = 16; GL_CTHL_AutoDelay = dwTickCount + 2; //延时插销下移 GL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 //GL_CTHL_SongDai_VAVLE = 0; //松带 // GL_CTHL_FKJD_VAVLE = 0; } } break; case 16: if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 17; if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT == 0) GL_CTHL_CXSX_VAVLE = 0; //插销上下 else GL_CTHL_CXSX_VAVLE = 1; //插销顶出 // GL_CTHL_CXSX_VAVLE = 0; //Y06 插销下移电磁阀 GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 } } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 17: if(GL_CTHL_CXXY_Limit_IN) { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 GL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 //GL_CTHL_XKDW_VAVLE = 1; //方块勾针输出 GL_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 GL_CTHL_AutoStep = 18; // if(GL_CTHL_LENTH>0 || GL_CTHL_PARAM_CR_MODE==0) { if(!GL_CTHL_bReStart) GL_CTHL_LENCountBuff = GL_CTHL_PARAM_TDFZ_LENTH; // AxisMovePosAccDec(X_AXIS,6000,-GL_CTHL_PARAM_TDFZ_LENTH,800,600,6,8,0); else GL_CTHL_LENCountBuff = GL_CTHL_PARAM_TDFZ_LENTH/3; // AxisMovePosAccDec(X_AXIS,6000,-GL_CTHL_PARAM_TDFZ_LENTH/3,800,600,6,8,0); } else { if(!GL_CTHL_bReStart) GL_CTHL_LENCountBuff = GL_CTHL_PARAM_TDFZ_LENTH + 300; // AxisMovePosAccDec(X_AXIS,6000,-GL_CTHL_PARAM_TDFZ_LENTH-300,800,600,6,8,0); else GL_CTHL_LENCountBuff = GL_CTHL_PARAM_TDFZ_LENTH/3+ 300; // AxisMovePosAccDec(X_AXIS,6000,-GL_CTHL_PARAM_TDFZ_LENTH/3-300,800,600,6,8,0); } //user_datas[123] = GL_CTHL_LENCountBuff;// if(!X_DRV && !cCXCONE) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,6000,-GL_CTHL_LENCountBuff,800,600,6,8,0); } GL_CTHL_bReStart = 0; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_CXCR_DELAY; cXcxcrCnt = 0; } } else if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_SetAlarmCode(GL_CTHL_CXGL_Limit_ALARM,bRunning); //插销下移异常 } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 18: // if(START_IN_UP) { if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 19; GL_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) // GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 GL_CTHL_AutoDelay = dwTickCount + 500; //插销穿入到位异常时间 GL_CTHL_CL_MotorStep = 50; //合链电机回原点 } } } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 19: if(GL_CTHL_CX_Limit_IN || (!GL_CTHL_CXDWZ_VAVLE && GL_CTHL_bTiaoShiMode)) { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { bZhuangLiaoOkFlg = 0; GL_CTHL_AutoStep = 901; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_TFKGD_DELAY;//延时退方块固定 } GL_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT == 1) { GL_CTHL_CXSX_VAVLE = 0; //插销顶出 } } else if((dwTickCount >= GL_CTHL_AutoDelay) && GL_CTHL_CXDWZ_VAVLE) { cXcxcrCnt++; if(cXcxcrCnt >= 3) GL_CTHL_SetAlarmCode(GL_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常 else { GL_CTHL_CXHJD_VAVLE=0; if(cXcxcrCnt== 1) GL_CTHL_AutoStep = 190; else GL_CTHL_AutoStep = 195; GL_CTHL_AutoDelay = dwTickCount + 80; } } break; case 901: if(dwTickCount >= GL_CTHL_AutoDelay) { if(!GL_CTHL_PARAM_CXJD_MODE) { GL_CTHL_AutoStep = 20; GL_CTHL_FKGD_VAVLE = 0; //GL_CTHL_CXHDW_VAVLE=0; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_First_CL_DELAY/2;//延时一次穿入 } else { GL_CTHL_AutoStep = 902; } } break; case 902: if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_CXHJD_VAVLE=0; GL_CTHL_FKJD_VAVLE = 0; //方块夹带气缸关 GL_CTHL_AutoStep = 903; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_SongJiaDai_Time;// } } break; case 903: if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_CXHJD_VAVLE=1; GL_CTHL_FKJD_VAVLE = 1; //方块夹带气缸关 GL_CTHL_AutoStep = 20; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_First_CL_DELAY/2;//延时一次穿入 } } break; //第二次 case 190: if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_AutoStep = 191; GL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入) GL_CTHL_AutoDelay = dwTickCount + 80; } break; case 191: if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_AutoStep = 18; GL_CTHL_CXHJD_VAVLE=1; GL_CTHL_AutoDelay = dwTickCount + 80; } break; //第三次 case 195: GL_CTHL_CXQJD_VAVLE = 1; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 1; //松带 if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_AutoStep = 196; GL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入) GL_CTHL_AutoDelay = dwTickCount + 500; GL_CTHL_FKGD_VAVLE = 0; AxisMovePosAccDec(Y_AXIS,1200,40,1200,500,6,6,20); } break; case 196: if(!Y_DRV) { GL_CTHL_CXQJD_VAVLE = 0; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 0; //松带 } if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_FKGD_VAVLE = 1; GL_CTHL_CXHJD_VAVLE=1; if(!Y_DRV) { GL_CTHL_CXQJD_VAVLE = 0; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 0; //松带 GL_CTHL_AutoStep = 18; GL_CTHL_AutoDelay = dwTickCount + 120; } } break; case 20: { if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 210; GL_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出 GL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带打开 //GL_CTHL_CXHDW_VAVLE=1; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_HDW_DELAY; } } } break; case 210: if(dwTickCount>=GL_CTHL_AutoDelay) { GL_CTHL_CXHDW_VAVLE=0; GL_CTHL_AutoStep = 211; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_HDW_TIME; } break; case 211: if(dwTickCount>=GL_CTHL_AutoDelay) { GL_CTHL_CXHDW_VAVLE=1; // GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 GL_CTHL_AutoStep = 21; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; } break; case 21: if(!GL_CTHL_First_CT_Origin_IN) //原点离开后才开始时间 { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_CXHDW_VAVLE=1; GL_CTHL_XKDW_VAVLE = 1; GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 GL_CTHL_AutoStep = 22; GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_First_CL_Timer/2; //一次穿入时间 GL_CTHL_FKGD_VAVLE = 0; } } else if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_SetAlarmCode(GL_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常 } break; case 22: if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 23; if(GL_CTHL_PARAM_TuoLian_Mode && GL_CTHL_SF_Origin_IN) { GL_CTHL_CXQJD_VAVLE=1; } GL_CTHL_LENCountBuff = GL_CTHL_LENCountBuff * 2/5; // if(GL_CTHL_LENCountBuff > 150) // AxisMovePosAccDec(X_AXIS,3500,GL_CTHL_LENCountBuff,800,800,6,6,0); if(!GL_CTHL_PARAM_TuoLian_Mode) GL_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_First_CL_Timer/2; //一次穿入时间 } } break; case 23: if(dwTickCount >= GL_CTHL_AutoDelay) { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { if(GL_CTHL_PARAM_TuoLian_Mode && GL_CTHL_SF_Origin_IN) { GL_CTHL_CXQJD_VAVLE=1; } if(GL_CTHL_PARAM_TuoLian_Mode && !Y_DRV) { // GL_CTHL_CXQJD_VAVLE=1; if(GL_CTHL_PARAM_LaZhi_length) AxisMovePosAccDec(Y_AXIS,GL_CTHL_PARAM_CXDW_SPEED,GL_CTHL_PARAM_LaZhi_length,300,300,10,10,20); GL_CTHL_AutoStep = 24; GL_CTHL_MGuo_VAVLE = 0; //码勾退 GL_CTHL_FKJD_VAVLE = 0; //方块夹带气缸输出 if(!GL_CTHL_PARAM_TuoLian_Mode) GL_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_MGOff_XiaMo_DELAY; } else { GL_CTHL_AutoStep = 24; GL_CTHL_MGuo_VAVLE = 0; //码勾退 GL_CTHL_FKJD_VAVLE = 0; //方块夹带气缸输出 if(!GL_CTHL_PARAM_TuoLian_Mode) GL_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_PARAM_MGOff_XiaMo_DELAY; } } } break; case 24: if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 25; GL_CTHL_HeMoStep = 10; //下模的上升和下降电磁阀要配合 GL_CTHL_CTXMSS_VAVLE = 0; //穿头下模退 GL_CTHL_AutoDelay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; if(!GL_CTHL_PARAM_TuoLian_Mode) GL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 GL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 GL_CTHL_FKGD_VAVLE = 0; //方块固定关 //GL_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 } } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; break; case 25: if(!GL_CTHL_CTM_Limit_IN) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { if(GL_CTHL_PARAM_TuoLian_Mode) { GL_CTHL_CXQJD_VAVLE=0; } if(!GL_CTHL_PARAM_TuoLian_Mode) GL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 GL_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 GL_CTHL_AutoStep = 26; if(!GL_CTHL_PARAM_TuoLian_Mode) GL_CTHL_AutoDelay = dwTickCount + 3; //一次穿入延时返回 else GL_CTHL_AutoDelay = dwTickCount + 15; //一次穿入延时返回 } } else if(dwTickCount >= GL_CTHL_AutoDelay) { GL_CTHL_SetAlarmCode(GL_CTHL_CTM_Origin_ALARM,bRunning);//穿头下模下降异常 } break; case 26: if(dwTickCount >= GL_CTHL_AutoDelay) { if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { GL_CTHL_AutoStep = 27; GL_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 GL_CTHL_AutoDelay = dwTickCount + 0; GL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 GL_CTHL_FKJD_VAVLE = 0; //方块夹带气缸输出 //退下出错警告 GL_CTHL_AutoDelay1 = dwTickCount + 1000; GL_CTHL_AutoStep1 = 1; if(!GL_CTHL_SF_Origin_IN) GL_CTHL_CL_MotorStep = 50; //合链电机回原点 } } break; case 27: if(dwTickCount >= GL_CTHL_AutoDelay) { //调试模式 if((!GL_CTHL_bTiaoShiMode) || GL_CTHL_START_IN_UP) { if(!cCXCONE) { GL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 GL_CTHL_FKGD_VAVLE = 0; //方块固定关 GL_CTHL_XKDW_VAVLE = 1; GL_CTHL_AutoStep = 4; // GL_CTHL_AutoDelay=dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; bCL_EN_FLG = 1; // cXcxcrCnt=0; AddToTal(GL_CTHL_TOTAL_ADDR); AddToTal(GL_CTHL_WORK_TOTAL_ADDR); AddToTal(GL_CTHL_CUR_TOTAL_ADDR); CalProSP(GL_CTHL_SPEED_ADDR); if(GL_CTHL_cZipCnt<3) GL_CTHL_cZipCnt++; } else { bRunning=0; cCXCONE=0; GL_CTHL_AutoStep = 0; } } } break; } GL_CTHL_RunStepSave = GL_CTHL_AutoStep; } //退下模后启动送拉头 switch(GL_CTHL_AutoStep1) { case 1: if(cStopMode==1) { cStopMode=2; bStop=1; } if(GL_CTHL_First_CT_VAVLE) { if(dwTickCount >= GL_CTHL_AutoDelay1) { GL_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 GL_CTHL_AutoDelay1 = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; } } else { if(GL_CTHL_CTM_Origin_IN && GL_CTHL_First_CT_Origin_IN) { GL_CTHL_ZhuangLiaoStep = 1; GL_CTHL_TryCnt = 0; GL_CTHL_AutoStep1 = 0; GL_CTHL_MGuo_VAVLE = 0; GL_CTHL_JLTou_VAVLE = 0; if(!bRunning) //在调机状态下先判断有没有料 { GL_CTHL_MGuo_VAVLE = 1; GL_CTHL_ZhuangLiaoDelay = dwTickCount + 100; bZhuangLiaoOkFlg = 0; } } else if(dwTickCount >= GL_CTHL_AutoDelay1) { //穿头模和一次穿入回位异常 if(!GL_CTHL_CTM_Origin_IN) GL_CTHL_SetAlarmCode(GL_CTHL_CTM_Origin_ALARM,bRunning); else if(!GL_CTHL_First_CT_Origin_IN) GL_CTHL_SetAlarmCode(GL_CTHL_First_CT_Origin_ALARM,bRunning); } } break; } } void GL_CTHL_CheckStart(void) { /* if(cWULATOUCnt) // 无拉头警告后按 { if(GL_CTHL_START_IN_UP) { if(!bRunning) { if(GL_CTHL_SafeDoor_IN) { bRunning=1; GL_CTHL_TryCnt=0; cWULATOUCnt=0; GL_CTHL_ZhuangLiaoStep = 1; GL_CTHL_AutoStep=6; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; GL_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 GL_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } else { GL_CTHL_SetAlarmCode(GL_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } } } */ if(dwTickCount>GL_CTHL_bSFBBAOJIN_Delay) { SetClr(Y_AXIS,1); SetClr(X_AXIS,1); } if(GL_CTHL_START_IN_UP || bStart) { //bStart=0; if(cCHULIANBAOJIN) //无链停机启动 { bRunning=1; GL_CTHL_AutoStep = 11; cCHULIANBAOJIN=0; SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); // dwXRealPos=0; GL_CTHL_TD_MotorStep=9; GL_CTHL_cZipCnt=0; if(GetAlarm(X_AXIS)==0 || GetAlarm(Y_AXIS)==0 ) { SetClr(Y_AXIS, 0); SetClr(X_AXIS, 0); SetEn(X_AXIS, MOTOR_DISEN); GL_CTHL_bSFBBAOJIN_Delay= dwTickCount + 200; } GL_CTHL_TD_MotorDelay = dwTickCount + 200; GL_CTHL_AutoDelay = dwTickCount + 150; if(GetAlarmCode(GL_CTHL_ALARM_ADDR) != 0) SetAlarmCode(GL_CTHL_ALARM_ADDR,0); } } //启动 自动启动 单一自动 if((GL_CTHL_START_IN_UP || bStart || GL_CTHL_bOnceStart) && !cCHULIANBAOJIN && !cTDNUMBER) { //单一启动 if(GL_CTHL_bOnceStart) { GL_CTHL_bOnceStart=0; bSingOneFlg=1;//一次标志 bSingOneCnt=1;//走完一条 } else { bSingOneFlg=0; bSingOneCnt=0; } if(!bRunning) { if(GL_CTHL_SafeDoor_IN) { GL_CTHL_CXDW_Stop = 0; cStopMode=0; bRunning = 1; cWULATOUCnt=0; cBanAuTo=0; cCXCONE=0; cCHULIANBAOJIN=0; GL_CTHL_CL_MotorStep = 40; bZhuangLiaoOkFlg= 0; GL_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 GL_CTHL_ZhuangLiaoDelay = dwTickCount + 180; GL_CTHL_LianLengthCheck = 0; GL_CTHL_LianLengthAutoCheck = 0; GL_CTHL_cZipCnt = 0; bTuiLaTouOkFlg = 1; bCL_EN_FLG = 0; cStopInCnt = 0; GL_CTHL_CTXMXJ_VAVLE = 0; GL_CTHL_bReStart = 0; //装料启动一次,保证下模已在原位(下面) if((GL_CTHL_ZhuangLiaoStep == 0) && !GL_CTHL_CTXMSS_VAVLE && GL_CTHL_CTM_Origin_IN) { GL_CTHL_ZhuangLiaoStep = 1; GL_CTHL_TryCnt = 0; } //已经定位好，并且保持在原位 if(GL_CTHL_bDinweiOK && GL_CTHL_XKSC_Limit_IN && GL_CTHL_XKDW_VAVLE && GetEn(X_AXIS) && (GL_CTHL_RunStepSave != 19)) { SetPos(X_AXIS, 0); GL_CTHL_GDXM_VAVLE = 1; GL_CTHL_AutoStep = 5; GL_CTHL_XSavePosBuff = 0; } //穿插销不到位停止 else if(((GL_CTHL_RunStepSave == 19) || (GL_CTHL_RunStepSave == 190) || (GL_CTHL_RunStepSave == 191)) && GL_CTHL_CXHJD_VAVLE && GL_CTHL_CXHDW_VAVLE && GL_CTHL_CTXMSS_VAVLE && GL_CTHL_CXDWZ_VAVLE) { if(GL_CTHL_CX_Limit_IN) { GL_CTHL_AutoStep = 19; } else { GL_CTHL_AutoStep = 16; GL_CTHL_bReStart = 1; GL_CTHL_AutoDelay = dwTickCount + 100; GL_CTHL_CXHJD_VAVLE = 0; GL_CTHL_CXHDW_VAVLE = 0; } } else { GL_CTHL_AutoStep = 1; GL_CTHL_AutoDelay = dwTickCount + 180; } GL_CTHL_cZipCnt = 0; SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); GL_CTHL_AlarmDisEnFlg=0; SetAlarmCode(GL_CTHL_ALARM_ADDR,0); } else { GL_CTHL_SetAlarmCode(GL_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } bStart = 0; } if(bStop) { bStop=0; bSingOneFlg=1; bSingOneCnt=0; } if(cTDNUMBER==1) { if(GL_CTHL_START_IN_UP || bStart) { bRunning=1; GL_CTHL_AutoStep = 11; cTDNUMBER=0; SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); // dwXRealPos=0; GL_CTHL_TD_MotorStep=10; GL_CTHL_cZipCnt=0; if(GetEn(X_AXIS)== MOTOR_DISEN) { SetEn(X_AXIS, MOTOR_EN); } GL_CTHL_TD_MotorDelay = dwTickCount + 500; GL_CTHL_AutoDelay = dwTickCount + 150; if(GetAlarmCode(GL_CTHL_ALARM_ADDR) != 0) SetAlarmCode(GL_CTHL_ALARM_ADDR,0); } } else if(cTDNUMBER==2) { if(GL_CTHL_START_IN_UP || bStart) { cTDNUMBER=0; bRunning=1; GL_CTHL_AutoDelay = dwTickCount + 500; } } //停止 if(GL_CTHL_STOP_IN_UP) { if(cStopMode < 2) cStopMode++; if(bRunning) { if(GL_CTHL_TD_MotorStep != 0) { cTDNUMBER=1; AxisEgmStop(X_AXIS); SetEn(X_AXIS, MOTOR_DISEN); bRunning=0; } else { cTDNUMBER=2; bRunning=0; } /* GL_CTHL_CXDW_Stop = 0; cStopMode=0; cXcxcrCnt=0; cWULATOUCnt=0; if(GL_CTHL_XKSC_Limit_IN) AxisEgmStop(X_AXIS); else AxisDecStop(X_AXIS); AxisEgmStop(Y_AXIS); cBanAuTo=0; cCXCONE=0; cCHULIANBAOJIN=0; GL_CTHL_AutoStep = 0; GL_CTHL_CL_MotorStep =0; GL_CTHL_HL_VAVLE = 0; GL_CTHL_HLJJ_VAVLE = 0; GL_CTHL_bCLFirst_Step=0; if(!GL_CTHL_bDinweiOK) GL_CTHL_XKDW_VAVLE =0; SetAlarmCode(GL_CTHL_ALARM_ADDR,0); bRunning=0; */ } else if(!bRunning) { bRunning=0; cXcxcrCnt=0; cStopMode=0; cWULATOUCnt=0; cBanAuTo=0; cCXCONE=0; cTDNUMBER=0; cCHULIANBAOJIN=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); cStopMode=0; GL_CTHL_bDinweiOK = 0; if((GL_CTHL_SF_ALR_IN && (GL_CTHL_PARAM_HareSelect == 0))|| ((!GetAlarm(X_AXIS) && (GL_CTHL_PARAM_HareSelect == 1)))) { SetEn(Z_AXIS, MOTOR_EN); SetClr(X_AXIS, 0); GL_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } GL_CTHL_TLiao_VAVLE=0; if(!GL_CTHL_HSLiao_VAVLE || !GL_CTHL_MGuo_VAVLE) GL_CTHL_JLTou_VAVLE =0; GL_CTHL_HSLiao_VAVLE =0; GL_CTHL_XKTD_VAVLE =0; GL_CTHL_XKDW_VAVLE =0; GL_CTHL_DXK_VAVLE =0; GL_CTHL_GDXM_VAVLE = 0; GL_CTHL_CXSX_VAVLE =0; GL_CTHL_First_CT_VAVLE =0; GL_CTHL_FKGD_VAVLE =0; GL_CTHL_CXQJD_VAVLE =0; GL_CTHL_SongDai_VAVLE = 0; //松带 GL_CTHL_CXDWZ_VAVLE =0; GL_CTHL_CXHJD_VAVLE =0; GL_CTHL_CXHDW_VAVLE =0; GL_CTHL_FKJD_VAVLE =0; GL_CTHL_HLJJ_VAVLE =0; GL_CTHL_HL_VAVLE = 0; GL_CTHL_CXHT_VAVLE = 0; GL_CTHL_CXSCDW_VAVLE =0; if((GL_CTHL_CTXMSS_VAVLE) || (GL_CTHL_CTM_Origin_IN && !GL_CTHL_CTXMSS_VAVLE)) GL_CTHL_MGuo_VAVLE =0; if(GL_CTHL_CTXMSS_VAVLE || !GL_CTHL_CTM_Origin_IN) { GL_CTHL_HeMoStep = 10; } else if(!GL_CTHL_CTXMSS_VAVLE && !GL_CTHL_CTM_Limit_IN) GL_CTHL_CTXMXJ_VAVLE = 1; GL_CTHL_CTXMSS_VAVLE =0; GL_CTHL_AutoStep = 0; GL_CTHL_ZhuangLiaoStep=0; GL_CTHL_TLiaoStep=0; GL_CTHL_TD_MotorStep=0; GL_CTHL_JiaLianStep =0; // GL_CTHL_ZhenDongStep =0; GL_CTHL_SongLiaoStep =0; GL_CTHL_CL_MotorStep =0; GL_CTHL_AutoStep1 =0; GL_CTHL_bFKCXTDDW_Step=0; GL_CTHL_bCXCR_Step=0; GL_CTHL_bCLFirst_Step=0; GL_CTHL_RunStepSave = 0; SetAlarmCode(GL_CTHL_ALARM_ADDR,0); SetPos(X_AXIS, 0); // if(cStopInCnt < 3) // cStopInCnt++; // if(bStop) // cStopInCnt = 0; GL_CTHL_TLiaoStep = 0; GL_CTHL_AutoStep = 0; GL_CTHL_CXDW_Stop = 0; //穿合链电机是往零点方向时可以停止 // if((GetDir(Y_AXIS) == DIR_N) && GL_CTHL_SF_Origin_IN) // AxisEgmStop(Y_AXIS); if(((GL_CTHL_SF_ALR_IN && (GL_CTHL_PARAM_HareSelect == 0)) || ((!GetAlarm(X_AXIS) && (GL_CTHL_PARAM_HareSelect == 1)))) || ((GL_CTHL_Y_SF_ALR_IN && (GL_CTHL_PARAM_HareSelect == 0)) || (!GetAlarm(Y_AXIS) && (GL_CTHL_PARAM_HareSelect == 1)))) { SetEn(Z_AXIS, MOTOR_EN); //清伺服警告 SetClr(X_AXIS, 0); SetClr(Y_AXIS, 0); GL_CTHL_bSFBBAOJIN_Delay= dwTickCount + 200; } /* if(cStopInCnt > 1) { GL_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); GL_CTHL_ZhuangLiaoStep = 0; } else { GL_CTHL_TD_MotorStep = 0; SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); GL_CTHL_bFKCXTDDW_Step = 0; GL_CTHL_bCXCR_Step = 0; GL_CTHL_bCLFirst_Step = 0; }*/ } bStop=0; } if(bAlarmStop) { bRunning = 0; bAlarmStop=0; cStopMode=0; cXcxcrCnt=0; if(GetAlarmCode(GL_CTHL_ALARM_ADDR) == GL_CTHL_SF_ALR_ALARM) GL_CTHL_X_EN_FLG=0; if(GetAlarmCode(GL_CTHL_ALARM_ADDR) == GL_CTHL_Y_SF_ALR_ALARM) GL_CTHL_Y_EN_FLG=0; AxisDecStop(X_AXIS); AxisEgmStop(Y_AXIS); if(!GL_CTHL_AlarmDisEnFlg) { GL_CTHL_AlarmDisEnFlg=1; GL_CTHL_AlarmDisEn_Time = dwTickCount + 1000; } if(GL_CTHL_CXSC_Limit_IN) { AxisEgmStop(X_AXIS); } GL_CTHL_AutoStep = 0; GL_CTHL_CL_MotorStep =0; GL_CTHL_bCLFirst_Step=0; GL_CTHL_SongLiaoStep =0; GL_CTHL_ZhuangLiaoStep=0; } if(GL_CTHL_AlarmDisEnFlg && (dwTickCount >= GL_CTHL_AlarmDisEn_Time) && !bRunning) { GL_CTHL_AlarmDisEnFlg=0; SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); } } //拖带电机控制动作 X轴 void GL_CTHL_TD_Motor(void) // { if(dwTickCount >= GL_CTHL_TestDelay) { GL_CTHL_TestDelay = dwTickCount + 300; //GL_CTHL_SongDai_VAVLE = !GL_CTHL_SongDai_VAVLE; } #if 1 switch(GL_CTHL_TD_MotorStep) { //1步开始，纯定位, 没有穿入 case 1: GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(dwTickCount >= GL_CTHL_TD_MotorDelay) //给锁轴时间 { GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 GL_CTHL_bTest = 0; bCheckEN_FLG = 1; GL_CTHL_CheckInX02PosBuff= 0; GL_CTHL_TD_MotorStep = 2; SetPos(X_AXIS, 0); //启动位置设为0点 if(GL_CTHL_PARAM_QianMaSelect==1) //尼龙 { AxisContinueMoveAcc(X_AXIS,4000,DIR_P,800,600,15,15); } else { if(bRunning) //自动工作中 AxisContinueMoveAcc(X_AXIS,GL_CTHL_PARAM_TD_RunSpeed,DIR_P,800,600,15,15); else AxisContinueMoveAcc(X_AXIS,GL_CTHL_PARAM_TD_RunSpeed,DIR_P,800,600,15,15); } } break; case 2://检测到过链 GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(dwXRealPos > GL_CTHL_PARAM_TuiDXM_Lenght)//200) //穿入2CM后退 { GL_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 GL_CTHL_GDXM_VAVLE = 0; if(GL_CTHL_PARAM_QianMaSelect == 1)//直码 GL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸输出 } if((dwXRealPos >= GL_CTHL_PARAM_WLCDSHEZHI_LENTH) && GL_CTHL_PARAM_WLCDSHEZHI_LENTH) { GL_CTHL_SetAlarmCode(GL_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if((dwXRealPos > (GL_CTHL_LianLengthAutoCheck+2000)) && GL_CTHL_LianLengthAutoCheck && GL_CTHL_cZipCnt>1) { GL_CTHL_SetAlarmCode(GL_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if(GL_CTHL_FK_Check) { GL_CTHL_SongDai_VAVLE = 1; //松带 // user_datas[122] = dwXRealPos; GL_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 if(GL_CTHL_PARAM_QianMaSelect == 1) //直码 GL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸输出 GL_CTHL_GDXM_VAVLE = 0; GL_CTHL_XSavePosBuff = dwXRealPos; GL_CTHL_TD_MotorStep = 3; // user_datas[123] = dwXRealPos - GL_CTHL_CheckInX02PosBuff; if((dwXRealPos >= GL_CTHL_CheckInX02PosBuff) && GL_CTHL_CheckInX02PosBuff) { AxisMovePosAccDec(X_AXIS,GL_CTHL_PARAM_TD_RunSpeed,GL_CTHL_PARAM_FKDW_Length - (dwXRealPos- GL_CTHL_CheckInX02PosBuff), GL_CTHL_PARAM_FKDW_Speed,GL_CTHL_PARAM_FKDW_Speed/2,10,50,100); } else AxisMovePosAccDec(X_AXIS,GL_CTHL_PARAM_TD_RunSpeed,GL_CTHL_PARAM_FKDW_Length, GL_CTHL_PARAM_FKDW_Speed,GL_CTHL_PARAM_FKDW_Speed/2,10,50,100); } if(GL_CTHL_CXSC_Limit_IN_UP) { GL_CTHL_X_CXPosBuff = dwXRealPos; if(GL_CTHL_PARAM_CR_MODE==0) GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } break; case 3: GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(GL_CTHL_CXSC_Limit_IN_UP && !GL_CTHL_bTest) { GL_CTHL_bTest = 1; GL_CTHL_X_CXPosBuff = dwXRealPos; // user_datas[123] = GL_CTHL_X_CXPosBuff; } if(!X_DRV || (dwXRealPos >= (GL_CTHL_XSavePosBuff + GL_CTHL_PARAM_FKDW_Length))) { AxisEgmStop(X_AXIS); GL_CTHL_TD_MotorStep =4 ; GL_CTHL_LianLengthAutoCheckOLD = GL_CTHL_LianLengthAutoCheck; GL_CTHL_LianLengthAutoCheck = dwXRealPos; } break; case 4: GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(GL_CTHL_PARAM_XCX_LENTH) //0的话不判断位置 { if(GL_CTHL_PARAM_CR_MODE==0) { if ((dwXRealPos - GL_CTHL_X_CXPosBuff) > (GL_CTHL_PARAM_XCX_LENTH + GL_CTHL_PARAM_XCXWC_LENTH)) { //user_datas[121] = 1; GL_CTHL_TD_MotorStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if((dwXRealPos - GL_CTHL_X_CXPosBuff) < (GL_CTHL_PARAM_XCX_LENTH - GL_CTHL_PARAM_XCXWC_LENTH)) { //user_datas[121] = 2; GL_CTHL_TD_MotorStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(GL_CTHL_X_CXPosBuff == 0) { //user_datas[121] = 3; GL_CTHL_TD_MotorStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { GL_CTHL_TD_MotorStep = 0; } } else { if(GL_CTHL_X_CXPosBuff == 0) { //user_datas[121] = 3; GL_CTHL_TD_MotorStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { GL_CTHL_TD_MotorStep = 0; } } } else { GL_CTHL_TD_MotorStep = 0; } break; case 9: if(dwTickCount >= GL_CTHL_TD_MotorDelay) { SetEn(X_AXIS, MOTOR_EN); GL_CTHL_TD_MotorStep=10; GL_CTHL_TD_MotorDelay=dwTickCount+500; } break; //穿拉头定位 case 10: GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(dwTickCount >= GL_CTHL_TD_MotorDelay) { GL_CTHL_TD_MotorStep = 11; GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; AxisContinueMoveAcc(X_AXIS,4000,DIR_P,800,1200,18,5); GL_CTHL_CheckInX02PosBuff= 0; bCheckEN_FLG = 1; GL_CTHL_X_CXPosBuff = 0; GL_CTHL_bTest = 0; GL_CTHL_X_FKCheckPos = 0; GL_CTHL_X_CXPosBuff2 = 0; //user_datas[121] = 0; } break; case 11: GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(dwXRealPos > 250) //穿入2CM后退 { if((GL_CTHL_cZipCnt < 2) || (GL_CTHL_LianLengthCheck < 350)) { if(GL_CTHL_PARAM_QianMaSelect == 0) AxisContinueMoveChangeSpeed(X_AXIS,GL_CTHL_PARAM_TD_RunSpeed,600,10,10); else AxisContinueMoveChangeSpeed(X_AXIS,6000,600,10,10); } else ////两段速度移动距离 { if(GL_CTHL_PARAM_QianMaSelect == 0) AxisMovePosAccDecNotStop(X_AXIS,GL_CTHL_PARAM_TD_RunSpeed + GL_CTHL_PARAM_TD_RunSpeed/3,GL_CTHL_LianLengthCheck-250,3000,7000,25,300,250); else { if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT ==1) AxisMovePosAccDecNotStop(X_AXIS,GL_CTHL_PARAM_TD_RunSpeed + GL_CTHL_PARAM_TD_RunSpeed/3,GL_CTHL_LianLengthCheck-250,3000,7000,25,300,250); else AxisMovePosAccDecNotStop(X_AXIS,GL_CTHL_PARAM_TD_RunSpeed + GL_CTHL_PARAM_TD_RunSpeed/3,GL_CTHL_LianLengthCheck-250,3000,7000,25,300,250); } } GL_CTHL_TD_MotorStep = 12; } break; case 12: GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(dwXRealPos > GL_CTHL_PARAM_TuiDXM_Lenght) { GL_CTHL_CheckInX02PosBuff= 0; GL_CTHL_GDXM_VAVLE = 0; GL_CTHL_TD_MotorStep = 13; } break; case 13://检测到过链 GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(dwXRealPos > GL_CTHL_PARAM_TuiDXM_Lenght)//400) { GL_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 if(GL_CTHL_PARAM_QianMaSelect == 1) //尼龙 GL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸输出 } if((dwXRealPos >= GL_CTHL_PARAM_WLCDSHEZHI_LENTH) && GL_CTHL_PARAM_WLCDSHEZHI_LENTH) { cCHULIANBAOJIN=1; GL_CTHL_SetAlarmCode(GL_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 // AxisDecStop(X_AXIS); GL_CTHL_TD_MotorStep = 0; //user_datas[121] = 10; AxisMovePosAccDec(X_AXIS,2000,600, GL_CTHL_PARAM_FKDW_Speed,1000,10,50,20); } if((dwXRealPos > (GL_CTHL_LianLengthAutoCheck+7000)) && GL_CTHL_LianLengthAutoCheck && GL_CTHL_cZipCnt>0) { cCHULIANBAOJIN=1; GL_CTHL_SetAlarmCode(GL_CTHL_WLZDTJ_ALARM,bRunning); AxisDecStop(X_AXIS); GL_CTHL_TD_MotorStep = 0; //user_datas[121] = 11; AxisMovePosAccDec(X_AXIS,2000,600, GL_CTHL_PARAM_FKDW_Speed,1000,10,50,20); break; //无拉链自动停机 } if(GL_CTHL_FK_Check) { GL_CTHL_SongDai_VAVLE = 1; //松带 //user_datas[122] = GetCurSpeed(X_AXIS);//dwXRealPos; if(((GL_CTHL_LianLengthCheck*(80/100)) > dwXRealPos) && GL_CTHL_cZipCnt>1) { GL_CTHL_cZipCnt=0; } if(GL_CTHL_cZipCnt < 2) GL_CTHL_LianLengthCheck = dwXRealPos; //break; GL_CTHL_X_FKCheckPos = dwXRealPos + GL_CTHL_PARAM_FKDW_Length; GL_CTHL_X_FKJDCheckPos=dwXRealPos; // GL_CTHL_TD_MotorStep = 14; // if(GetCurSpeed(X_AXIS) <= 10000) // user_datas[122] = GL_CTHL_PARAM_FKDW_Length - (dwXRealPos- GL_CTHL_CheckInX02PosBuff); //if(GL_CTHL_PARAM_QianMaSelect == 0) if(GL_CTHL_cZipCnt>1) { GL_CTHL_X_XCCheckPos=dwXRealPos; GL_CTHL_TD_MotorStep=15; AxisMovePosAccDec(X_AXIS,7000,GL_CTHL_PARAM_ECDW_Length, GL_CTHL_PARAM_FKDW_Speed,GL_CTHL_PARAM_FKDW_Speed,20,250,50); } else { AxisMovePosAccDec(X_AXIS,7000,GL_CTHL_PARAM_FKDW_Length, GL_CTHL_PARAM_FKDW_Speed,GL_CTHL_PARAM_FKDW_Speed,20,250,50); GL_CTHL_TD_MotorStep=15; } // else // AxisMovePosAccDec(X_AXIS,8000,GL_CTHL_PARAM_FKDW_Length-20, // GL_CTHL_PARAM_FKDW_Speed,GL_CTHL_PARAM_FKDW_Speed,10,35,30); //GL_CTHL_TD_MotorStep = 0; } //方块还没有感应之前感应到插销的话，肯定错位 if(GL_CTHL_CXSC_Limit_IN_UP) { //user_datas[121] = 4; GL_CTHL_X_CXPosBuff = dwXRealPos; if(GL_CTHL_PARAM_CR_MODE==0) GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } break; /* case 14: if(GL_CTHL_X_CXPosBuff2 && dwXRealPos >= GL_CTHL_X_CXPosBuff2 + GL_CTHL_PARAM_CXSCDW_Length) { GL_CTHL_CXSCDW_VAVLE=1; } if(dwXRealPos >= GL_CTHL_X_FKJDCheckPos + GL_CTHL_PARAM_TDFKJD_Length) { GL_CTHL_FKJD_VAVLE = 1; } if(GL_CTHL_CXSC_Limit_IN_DW) { GL_CTHL_X_XCCheckPos=dwXRealPos; GL_CTHL_TD_MotorStep = 15; AxisMovePosAccDec(X_AXIS,GL_CTHL_PARAM_FKDW_Speed,GL_CTHL_PARAM_ECDW_Length, 1200,1200,20,50,30); } break;*/ case 15: GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(dwXRealPos >= GL_CTHL_X_FKJDCheckPos + GL_CTHL_PARAM_TDFKJD_Length) { GL_CTHL_FKJD_VAVLE = 1; } //小插感应后多久下钩针 if(GL_CTHL_X_CXPosBuff2 && dwXRealPos >= GL_CTHL_X_CXPosBuff2 + GL_CTHL_PARAM_CXSCDW_Length) { GL_CTHL_CXSCDW_VAVLE=1; } if(GL_CTHL_X_CXPosBuff && GL_CTHL_CXSC_Limit_IN_DW) { GL_CTHL_X_CXPosBuff2=dwXRealPos; } if(GL_CTHL_CXSC_Limit_IN_UP && !GL_CTHL_bTest) { GL_CTHL_bTest = 1; GL_CTHL_X_CXPosBuff = dwXRealPos; // user_datas[123] = GL_CTHL_X_CXPosBuff; //user_datas[121] = 128; } if(GL_CTHL_cZipCnt>1) { if((!X_DRV ) || (dwXRealPos >= (GL_CTHL_X_XCCheckPos+GL_CTHL_PARAM_ECDW_Length))) { // user_datas[123] = dwXRealPos-GL_CTHL_CheckInX02PosBuff; AxisEgmStop(X_AXIS); GL_CTHL_TD_MotorStep = 16; GL_CTHL_LianLengthAutoCheckOLD = GL_CTHL_LianLengthAutoCheck; GL_CTHL_LianLengthAutoCheck = dwXRealPos; } } else { if((!X_DRV ) || (dwXRealPos >= (GL_CTHL_X_FKCheckPos))) { // user_datas[123] = dwXRealPos-GL_CTHL_CheckInX02PosBuff; AxisEgmStop(X_AXIS); GL_CTHL_TD_MotorStep = 16; GL_CTHL_LianLengthAutoCheckOLD = GL_CTHL_LianLengthAutoCheck; GL_CTHL_LianLengthAutoCheck = dwXRealPos; } } break; case 16: GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; if(dwXRealPos >= GL_CTHL_X_FKJDCheckPos + GL_CTHL_PARAM_TDFKJD_Length) { GL_CTHL_FKJD_VAVLE = 1; } if(GL_CTHL_PARAM_CR_MODE==0) { if(((dwXRealPos - GL_CTHL_X_CXPosBuff) > (GL_CTHL_PARAM_XCX_LENTH + GL_CTHL_PARAM_XCXWC_LENTH)) && GL_CTHL_X_CXPosBuff) { //user_datas[121] += 5; GL_CTHL_TD_MotorStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(((dwXRealPos - GL_CTHL_X_CXPosBuff) < (GL_CTHL_PARAM_XCX_LENTH - GL_CTHL_PARAM_XCXWC_LENTH)) && GL_CTHL_X_CXPosBuff) { //user_datas[121] += 6; GL_CTHL_TD_MotorStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(GL_CTHL_X_CXPosBuff == 0) { //user_datas[121] += 7; GL_CTHL_TD_MotorStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { GL_CTHL_TD_MotorStep = 0; } } else { if(GL_CTHL_X_CXPosBuff == 0) { //user_datas[121] += 7; GL_CTHL_TD_MotorStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { GL_CTHL_TD_MotorStep = 0; } } break; } // if(bRunning) // GL_CTHL_TDMotorStepSave = GL_CTHL_TD_MotorStep; #endif } //穿入电机动作，Y轴 void GL_CTHL_CL_Motor(void) // { #if 1 //1步开始, 穿链长度开始 //20步开始 插销定位开始 //40步,回原点为 switch(GL_CTHL_CL_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= GL_CTHL_CL_MotorDelay) { if(GL_CTHL_SF_Origin_IN) { if(GL_CTHL_PARAM_CR_MODE != 0) //电机穿入 { /* //穿入长度要根据检测长度减动一次穿入的3CM,反转的2CM if((GL_CTHL_LianLengthAutoCheck < (GL_CTHL_PARAM_CL_Length + 700)) && (GL_CTHL_LianLengthAutoCheck>700)) { GL_CTHL_Y_CL_Length=GL_CTHL_LianLengthAutoCheck-700; // if(GL_CTHL_Y_CL_Length >= GL_CTHL_PARAM_CL_MAX_Length) // GL_CTHL_Y_CL_Length = GL_CTHL_PARAM_CL_MAX_Length-40; if(GL_CTHL_Y_CL_Length >= GL_CTHL_PARAM_Y_MAX_LENTH) GL_CTHL_Y_CL_Length = GL_CTHL_PARAM_Y_MAX_LENTH-40; AxisMovePosAccDec(Y_AXIS,GL_CTHL_PARAM_CL_Speed,GL_CTHL_Y_CL_Length,2000,2000,50,50,150); } else if(GL_CTHL_LianLengthAutoCheck>700) { GL_CTHL_Y_CL_Length=GL_CTHL_LianLengthAutoCheck-GL_CTHL_PARAM_CL_Length; //if(GL_CTHL_Y_CL_Length >= GL_CTHL_PARAM_CL_MAX_Length) // GL_CTHL_Y_CL_Length = GL_CTHL_PARAM_CL_MAX_Length-40; if(GL_CTHL_Y_CL_Length >= GL_CTHL_PARAM_Y_MAX_LENTH) GL_CTHL_Y_CL_Length = GL_CTHL_PARAM_Y_MAX_LENTH-40; AxisMovePosAccDec(Y_AXIS,GL_CTHL_PARAM_CL_Speed,GL_CTHL_Y_CL_Length,2000,2000,50,50,100); } */ // (公分节判断) if((GL_CTHL_LianLengthAutoCheck < (GL_CTHL_LianLengthAutoCheckOLD)) && (GL_CTHL_LianLengthAutoCheck < GL_CTHL_PARAM_GFJ_Length)) // { // GL_CTHL_cZipCnt = 0; GL_CTHL_Y_CL_Length=GL_CTHL_LianLengthAutoCheck-900; // if(GL_CTHL_Y_CL_Length >= GL_CTHL_PARAM_CL_MAX_Length) // GL_CTHL_Y_CL_Length = GL_CTHL_PARAM_CL_MAX_Length-40; if(GL_CTHL_Y_CL_Length >= GL_CTHL_PARAM_Y_MAX_LENTH) GL_CTHL_Y_CL_Length = GL_CTHL_PARAM_Y_MAX_LENTH-40; //正常穿入 if(GL_CTHL_PARAM_GFJ_WorkMode == 0) { if(GL_CTHL_Y_CL_Length< 200) GL_CTHL_Y_CL_Length = 200; AxisMovePosAccDec(Y_AXIS,GL_CTHL_PARAM_CL_Speed,GL_CTHL_Y_CL_Length,1500,2500,50,300,0); } //停止 else if(GL_CTHL_PARAM_GFJ_WorkMode == 1) { GL_CTHL_CL_MotorStep = 0; GL_CTHL_HLJJ_VAVLE = 0; bCL_OK_FLG = 1; bSingOneFlg= 1; bSingOneCnt=0; break; } else if(GL_CTHL_PARAM_GFJ_WorkMode == 2) { GL_CTHL_CL_MotorStep = 0; GL_CTHL_HLJJ_VAVLE = 0; bCL_OK_FLG = 1; break; } } //穿入长度要根据检测长度减动一次穿入的3CM,反转的2CM else if(GL_CTHL_LianLengthCheck+GL_CTHL_PARAM_FKDW_Length>700) { if(GL_CTHL_cZipCnt>1) { if(GL_CTHL_PARAM_CL_LENTH_TYPE == 0)//穿入长度类型为剩余长度 GL_CTHL_Y_CL_Length=GL_CTHL_LianLengthCheck+GL_CTHL_PARAM_FKDW_Length-GL_CTHL_PARAM_CL_Length-200; else//穿入长度类型为穿链长度 { if(GL_CTHL_PARAM_CL_Length > GL_CTHL_LianLengthCheck+GL_CTHL_PARAM_FKDW_Length) GL_CTHL_Y_CL_Length = GL_CTHL_LianLengthCheck+GL_CTHL_PARAM_FKDW_Length - 400; else GL_CTHL_Y_CL_Length=GL_CTHL_PARAM_CL_Length-200; } } else { GL_CTHL_Y_CL_Length=GL_CTHL_X_FKJDCheckPos+GL_CTHL_PARAM_FKDW_Length-GL_CTHL_PARAM_CL_Length-200; } if(GL_CTHL_Y_CL_Length >= GL_CTHL_PARAM_Y_MAX_LENTH) GL_CTHL_Y_CL_Length = GL_CTHL_PARAM_Y_MAX_LENTH-40; if(GL_CTHL_Y_CL_Length< 200) GL_CTHL_Y_CL_Length = 200; AxisMovePosAccDec(Y_AXIS,GL_CTHL_PARAM_CL_Speed,GL_CTHL_Y_CL_Length,1500,2500,50,300,00); } GL_CTHL_CL_MotorStep = 2; } else //气缸穿入 { GL_CTHL_CL_MotorStep = 10; GL_CTHL_HL_VAVLE = 1; GL_CTHL_CL_MotorDelay = dwTickCount + GL_CTHL_PARAM_CLT_Time; if(((GL_CTHL_LianLengthAutoCheckOLD > (GL_CTHL_LianLengthAutoCheck + 1200)) && GL_CTHL_LianLengthAutoCheck) && (GL_CTHL_cZipCnt > 1)) { GL_CTHL_CL_MotorStep = 0; bCL_OK_FLG = 1; GL_CTHL_HLJJ_VAVLE = 0; GL_CTHL_HL_VAVLE = 0; } } } } break; case 2: if(!Y_DRV || dwYRealPos >= GL_CTHL_Y_CL_Length) { AxisEgmStop(Y_AXIS); GL_CTHL_HLJJ_VAVLE = 0; GL_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; GL_CTHL_CL_MotorDelay = dwTickCount + 30; //延时数控回零点 } break; case 3: if(dwTickCount >= GL_CTHL_CL_MotorDelay) { GL_CTHL_CL_MotorStep = 50; } break; //气缸穿入 case 10: if(dwTickCount >= GL_CTHL_CL_MotorDelay) { GL_CTHL_CL_MotorStep = 11; bCL_OK_FLG = 1; GL_CTHL_HLJJ_VAVLE = 0; GL_CTHL_HL_VAVLE = 0; GL_CTHL_CL_MotorDelay = dwTickCount + GL_CTHL_PARAM_HL_BACK_Time; //合链返回时间到后才能重新前夹链 } break; case 11: if(dwTickCount >= GL_CTHL_CL_MotorDelay) { GL_CTHL_CL_MotorStep = 0; } break; //夹带插销到穿入位置 case 20: //此处最好算好定位长度相减 GL_CTHL_LENTH = GL_CTHL_PARAM_CXDW_Length;//GL_CTHL_PARAM_XCX_LENTH + GL_CTHL_PARAM_CXDW_Length - (dwXRealPos - GL_CTHL_X_CXPosBuff); //user_datas[121] = GL_CTHL_LENTH; //user_datas[122] = GL_CTHL_X_CXPosBuff; if((GL_CTHL_LENTH > 0) || GL_CTHL_PARAM_CR_MODE==0) { GL_CTHL_CL_MotorStep = 21; } else { GL_CTHL_CL_MotorStep = 30; } GL_CTHL_CL_MotorDelay = dwTickCount + GL_CTHL_PARAM_CXJZ_HT_DELAY; break; case 21: if(dwTickCount >= GL_CTHL_CL_MotorDelay) { if(GL_CTHL_SF_Origin_IN) { if(GL_CTHL_PARAM_CR_MODE!= 0) { GL_CTHL_Y_CL_PosBuff = dwYRealPos; //AxisMovePosAccDec(Y_AXIS,8000,GL_CTHL_LENTH,800,500,6,6,20); AxisMovePosAccDec(Y_AXIS,GL_CTHL_PARAM_CXDW_SPEED,GL_CTHL_LENTH,300,300,10,10,20); } else { GL_CTHL_CXHT_VAVLE = 1; GL_CTHL_CL_MotorDelay = dwTickCount + GL_CTHL_PARAM_XXHT_Time; } GL_CTHL_CL_MotorStep = 22; } } break; case 22: if(GL_CTHL_PARAM_CR_MODE!= 0) { if((dwYRealPos > GL_CTHL_Y_CL_PosBuff+GL_CTHL_LENTH-GL_CTHL_PARAM_CXDW_Length) && !GL_CTHL_CXDW_Stop) GL_CTHL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀 if(!Y_DRV /*|| (dwYRealPos >= GL_CTHL_PARAM_CXDW_Length)*/) //插销定位已经结束 { AxisEgmStop(Y_AXIS); GL_CTHL_YsaveCXDWPosBuff = 0; if(GL_CTHL_CXDW_Stop) { GL_CTHL_CL_MotorStep = 23; GL_CTHL_CL_MotorDelay = dwTickCount + 30; } else { GL_CTHL_CL_MotorStep = 0; GL_CTHL_bXCBackOK = 1; GL_CTHL_CXQJD_VAVLE = 0;//YYQ //GL_CTHL_SongDai_VAVLE = 0; //松带 } } } else if(dwTickCount >= GL_CTHL_CL_MotorDelay) { GL_CTHL_CL_MotorStep = 23; GL_CTHL_CL_MotorDelay = dwTickCount + 10; GL_CTHL_CXQJD_VAVLE = 0; //GL_CTHL_SongDai_VAVLE = 0; //松带 GL_CTHL_bXCBackOK = 1; } break; case 23: if(dwTickCount >= GL_CTHL_CL_MotorDelay) { GL_CTHL_CXHT_VAVLE = 0; GL_CTHL_CL_MotorStep = 0; if(GL_CTHL_CXDW_Stop&& !bRunning) SetEn(Y_AXIS, MOTOR_DISEN); GL_CTHL_CXDW_Stop = 0; } break; case 30: GL_CTHL_YsaveCXDWPosBuff = 0; GL_CTHL_CL_MotorStep = 0; GL_CTHL_bXCBackOK = 1; GL_CTHL_CXQJD_VAVLE = 0;//YYQ //GL_CTHL_SongDai_VAVLE = 0; //松带 break; //回原点开始 case 40: if(GL_CTHL_PARAM_CR_MODE == 0) { GL_CTHL_CL_MotorStep = 0; GL_CTHL_CXQJD_VAVLE = 0; //GL_CTHL_SongDai_VAVLE = 0; //松带 GL_CTHL_CXHT_VAVLE = 0; GL_CTHL_HL_VAVLE = 0; break; } else { //要先离开 if(GL_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN)) { GL_CTHL_CL_MotorStep = 41; SetDir(Y_AXIS, DIR_P); } else { SetDir(Y_AXIS, DIR_N); GL_CTHL_CL_MotorStep = 46; } if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); GL_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } else //已经锁轴 GL_CTHL_CL_MotorDelay = dwTickCount + 5; } break; case 41: if(dwTickCount >= GL_CTHL_CL_MotorDelay) { GL_CTHL_CL_MotorStep = 42; AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15); } break; case 42: if(!GL_CTHL_SF_Origin_IN) { GL_CTHL_CL_MotorStep = 43; GL_CTHL_YSavePosBuff = dwYRealPos; } break; case 43: //离开原点5CM停止 if((dwYRealPos - GL_CTHL_YSavePosBuff) >= 800) { AxisEgmStop(Y_AXIS); GL_CTHL_CL_MotorStep = 46; //留空几步备用 GL_CTHL_CL_MotorDelay = dwTickCount + 50; } break; case 46: if(dwTickCount >= GL_CTHL_CL_MotorDelay) { GL_CTHL_CL_MotorStep = 47; //检测回到原位 if(!GL_CTHL_SF_Origin_IN) AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,800,15,10); } break; case 47: if(GL_CTHL_SF_Origin_IN) { GL_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; //数控回原位 (条件为自动工作，SON一直没有松开) case 50: if(GL_CTHL_PARAM_CR_MODE == 0) { GL_CTHL_CL_MotorStep = 0; GL_CTHL_HLJJ_VAVLE = 0; GL_CTHL_HL_VAVLE = 0; break; } else { if(!GL_CTHL_SF_Origin_IN) { if(!Y_DRV) { if(dwYRealPos > 150) { //回零速度 SetDir(Y_AXIS, DIR_N); AxisMovePosAccDecNotStop(Y_AXIS,GL_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos+151 ,3000,2500,50,150,00); } else AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,1000,15,15); } } GL_CTHL_CL_MotorStep = 51; } break; case 51: if(GL_CTHL_SF_Origin_IN) { GL_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; } #endif } void GL_CTHL_HeMo(void) { switch(GL_CTHL_HeMoStep) { case 1: GL_CTHL_HeMoStep = 2; GL_CTHL_CTXMXJ_VAVLE = 1; //GL_CTHL_JLTou_VAVLE = 0; //接拉头关 GL_CTHL_HeMo_Time = dwTickCount + 10; //GL_CTHL_TimeBuff=dwTickCount; break; case 2: if(dwTickCount >= GL_CTHL_HeMo_Time) { GL_CTHL_HeMoStep = 3; GL_CTHL_CTXMSS_VAVLE = 1; GL_CTHL_HeMo_Time = dwTickCount + 25; } break; case 3: if(dwTickCount >= GL_CTHL_HeMo_Time) { GL_CTHL_HeMoStep = 4; GL_CTHL_CTXMXJ_VAVLE = 0; GL_CTHL_HeMo_Time = dwTickCount + 1800; } break; case 4: if(!GL_CTHL_CTM_Origin_IN) GL_CTHL_JLTou_VAVLE = 0; //接拉头 if(GL_CTHL_CTM_Limit_IN) { GL_CTHL_JLTou_VAVLE = 0; //接拉头 GL_CTHL_HeMoStep = 0; //user_datas[127]=dwTickCount-GL_CTHL_TimeBuff; } else if((dwTickCount >= GL_CTHL_HeMo_Time)&& bRunning) { GL_CTHL_SetAlarmCode(GL_CTHL_CTM_Limit_ALARM,bRunning); //穿头下模上升异常 } break; case 10: GL_CTHL_HeMoStep = 11; GL_CTHL_CTXMXJ_VAVLE = 1; GL_CTHL_CTXMSS_VAVLE = 0; GL_CTHL_HeMo_Time = dwTickCount + 200; //GL_CTHL_TimeBuff=dwTickCount; break; case 11: if(dwTickCount >= GL_CTHL_HeMo_Time) { //GL_CTHL_HeMoStep = 0; GL_CTHL_CTXMXJ_VAVLE = 0; } if(GL_CTHL_CTM_Origin_IN) { GL_CTHL_HeMoStep = 0; GL_CTHL_CTXMXJ_VAVLE = 0; //user_datas[127]=dwTickCount-GL_CTHL_TimeBuff; } break; } } //装拉头动作 void GL_CTHL_ZLT_Step(void) { switch(GL_CTHL_ZhuangLiaoStep) { case 1: if(bZhuangLiaoOkFlg) { GL_CTHL_ZhuangLiaoStep = 0; } else if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay) { if(((GL_CTHL_MGuo_VAVLE && GL_CTHL_LTou_Check) || (!GL_CTHL_MGuo_VAVLE)) && !GL_CTHL_JLiao_Limit_IN )//说明没有拉头 { //穿头模和一次穿入必须在原位,接料不能有输出 if(GL_CTHL_CTM_Origin_IN && !GL_CTHL_CTXMSS_VAVLE) { GL_CTHL_First_CT_VAVLE = 0; GL_CTHL_JLTou_VAVLE = 0; GL_CTHL_MGuo_VAVLE = 0; if(GL_CTHL_TLiaoStep == 0) { GL_CTHL_TLiaoStep = 1; GL_CTHL_ZhuangLiaoStep = 2; } } else if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay + 1000) //警告横送拉必须保证穿头模和一次穿入在原位,接料不能有输出 { GL_CTHL_SetAlarmCode(GL_CTHL_CTM_Origin_ALARM,bRunning); } } else //已经有拉头直接跳到结束 { GL_CTHL_ZhuangLiaoDelay = dwTickCount + 40; GL_CTHL_ZhuangLiaoStep = 9; } } break; case 2: if(GL_CTHL_TLiaoStep == 0) //推料已经完成 { GL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; GL_CTHL_JLTou_VAVLE = 0; GL_CTHL_MGuo_VAVLE = 0; if(!GL_CTHL_JLiao_Limit_IN && GL_CTHL_First_CT_Origin_IN) { GL_CTHL_ZhuangLiaoStep = 3; GL_CTHL_HSLiao_VAVLE = 1; } } break; case 3: //横送到位 if(GL_CTHL_HSLiao_Limit_IN && !GL_CTHL_HSLiao_Origin_IN) { GL_CTHL_ZhuangLiaoStep = 4; // GL_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 GL_CTHL_ZhuangLiaoDelay = dwTickCount + 2; } else if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay) { GL_CTHL_SetAlarmCode(GL_CTHL_HSLiao_Limit_ALARM,bRunning); } break; case 4: if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay) { GL_CTHL_ZhuangLiaoStep = 5; GL_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 GL_CTHL_CTXMSS_VAVLE = 0; //Y20 穿头下模上升电磁阀 GL_CTHL_CTXMXJ_VAVLE = 0; //Y21 穿头下模下降电磁阀 GL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 5: if(GL_CTHL_JLiao_Limit_IN) { GL_CTHL_ZhuangLiaoStep = 6; GL_CTHL_ZhuangLiaoDelay = dwTickCount + GL_CTHL_PARAM_MaGou_DELAY; } else if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay) //接拉头(接料)到们信号异常 { GL_CTHL_SetAlarmCode(GL_CTHL_JLiao_Limit_ALARM,bRunning); } break; case 6: if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay) //延时码勾 { GL_CTHL_MGuo_VAVLE = 1; //码勾输出 GL_CTHL_ZhuangLiaoStep = 7; GL_CTHL_ZhuangLiaoDelay = dwTickCount + GL_CTHL_PARAM_HSLiaoOff_DELAY; bTuiLaTouOkFlg = 0; //认为拉头没法带出 } break; case 7: if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay) { GL_CTHL_HSLiao_VAVLE = 0; GL_CTHL_ZhuangLiaoStep = 8; GL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 8: if(!GL_CTHL_HSLiao_Limit_IN) // { GL_CTHL_ZhuangLiaoStep = 9; GL_CTHL_TLiaoStep = 1; //推拉头 GL_CTHL_ZhuangLiaoDelay = dwTickCount + GL_CTHL_PARAM_CheckLT_DELAY; //也是给下模能上升的时间 } else if (GL_CTHL_LTou_Check) //时间内信号这说明没有拉头 { //重送3次 GL_CTHL_TryCnt++; GL_CTHL_JLTou_VAVLE = 0; //接拉头关 GL_CTHL_MGuo_VAVLE = 0; //码勾打开 if(GL_CTHL_TryCnt >= 3) { GL_CTHL_TryCnt = 0; bZhuangLiaoOkFlg = 0; GL_CTHL_ZhuangLiaoStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { GL_CTHL_ZhuangLiaoStep = 20; //重新送3次 GL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay) { GL_CTHL_SetAlarmCode(GL_CTHL_HSLiao_Limit_ALARM,bRunning); if(bRunning) { GL_CTHL_ZhuangLiaoStep = 0 ; } } break; case 9: if(GL_CTHL_LTou_Check) //时间内信号这说明没有拉头 { GL_CTHL_TryCnt++; GL_CTHL_JLTou_VAVLE = 0; //接拉头关 GL_CTHL_MGuo_VAVLE = 0; //码勾打开 if(GL_CTHL_TryCnt >= 3) { GL_CTHL_TryCnt=0; bZhuangLiaoOkFlg = 0; GL_CTHL_ZhuangLiaoStep = 0; GL_CTHL_SetAlarmCode(GL_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { GL_CTHL_ZhuangLiaoStep = 20; //重新送3次 GL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if((dwTickCount >= GL_CTHL_ZhuangLiaoDelay) || GL_CTHL_HSLiao_Origin_IN) { bZhuangLiaoOkFlg = 1; GL_CTHL_ZhuangLiaoStep = 0; GL_CTHL_ZhuangLiaoDelay=dwTickCount+10; } break; //装拉头不成攻重新送拉头 case 20: if(GL_CTHL_HSLiao_Origin_IN) { GL_CTHL_JLTou_VAVLE = 0; //接拉头关 GL_CTHL_MGuo_VAVLE = 0; //码勾打开 GL_CTHL_ZhuangLiaoStep = 1; GL_CTHL_ZhuangLiaoDelay = dwTickCount + 10; } else if(dwTickCount >= GL_CTHL_ZhuangLiaoDelay) { GL_CTHL_SetAlarmCode(GL_CTHL_HSLiao_Origin_ALARM,bRunning); } break; } } void GL_CTHL_TLiao_Step(void) { switch(GL_CTHL_TLiaoStep) { case 1: if(bTuiLaTouOkFlg) { GL_CTHL_TLiaoStep = 0; } else { GL_CTHL_TLiao_Delay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; GL_CTHL_TLiaoStep = 2; } break; case 2: //横送料在原位 if(GL_CTHL_HSLiao_Origin_IN && !GL_CTHL_HSLiao_Limit_IN && !GL_CTHL_HSLiao_VAVLE) { GL_CTHL_TLiao_VAVLE = 1; //推料(推拉头)输出 GL_CTHL_TLiao_Delay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; GL_CTHL_TLiaoStep = 3; } else if(dwTickCount >= GL_CTHL_TLiao_Delay) GL_CTHL_SetAlarmCode(GL_CTHL_HSLiao_Origin_ALARM,1); break; case 3: //推拉头到位 if(!GL_CTHL_TLiao_Origin_IN) { GL_CTHL_TLiao_Delay = dwTickCount + GL_CTHL_PARAM_TLiao_BACKDELAY; GL_CTHL_TLiaoStep = 4; } else if(dwTickCount >= GL_CTHL_TLiao_Delay) GL_CTHL_SetAlarmCode(GL_CTHL_TLiao_Limit_ALARM,1); break; case 4: if(dwTickCount >= GL_CTHL_TLiao_Delay) { GL_CTHL_TLiao_VAVLE = 0; GL_CTHL_TLiao_Delay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; GL_CTHL_TLiaoStep = 5; } break; case 5: if(GL_CTHL_TLiao_Origin_IN) { GL_CTHL_TLiaoStep = 0; GL_CTHL_TLiao_Delay = dwTickCount; bTuiLaTouOkFlg = 1; } else if(dwTickCount >= GL_CTHL_TLiao_Delay) GL_CTHL_SetAlarmCode(GL_CTHL_TLiao_Limit_ALARM,0); break; } } //振动盘控制 void GL_CTHL_ZhenDongAction(void) { #if 1 // if(bRunning) // { if(GL_CTHL_bZDP) { if(GL_CTHL_ZhenDongPian_OUT == 1) { if(GL_CTHL_ZDP_IN) { if(dwTickCount >= GL_CTHL_ZDP_Delay) { GL_CTHL_ZhenDongPian_OUT = 0; GL_CTHL_ZDP_Delay = dwTickCount + GL_CTHL_PARAM_ZDP_Stop_TIME;//GL_CTHL_PARAM_ZDP_Stop_TIME + 50; } } else { GL_CTHL_ZDP_Delay = dwTickCount + GL_CTHL_PARAM_ZDP_Start_TIME;//GL_CTHL_PARAM_ZDP_Start_TIME; } } else { if(!GL_CTHL_ZDP_IN) { if(dwTickCount >= GL_CTHL_ZDP_Delay) { GL_CTHL_ZhenDongPian_OUT = 1; GL_CTHL_ZDP_Delay = dwTickCount + GL_CTHL_PARAM_ZDP_Start_TIME;//GL_CTHL_PARAM_ZDP_Start_TIME } } else GL_CTHL_ZDP_Delay = dwTickCount + GL_CTHL_PARAM_ZDP_Stop_TIME;//GL_CTHL_PARAM_ZDP_Stop_TIME+ 50; } } else { GL_CTHL_ZhenDongPian_OUT = 1; } GL_CTHL_CuiQi_VAVLE = ~GL_CTHL_ZhenDongPian_OUT; #endif } void GL_CTHL_bFKCXTDDWStep(void) { switch(GL_CTHL_bFKCXTDDW_Step) { case 1: GL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 GL_CTHL_FKGD_VAVLE = 0; //方块固定关 GL_CTHL_bFKCXTDDW_Step = 2; break; case 2: if(!GL_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { GL_CTHL_bFKCXTDDW_Step = 3; GL_CTHL_bFKCXTDDW_Delay = dwTickCount + 20; } break; case 3://斜口定位 if(dwTickCount >= GL_CTHL_bFKCXTDDW_Delay) { GL_CTHL_XKDW_VAVLE = 1; GL_CTHL_bFKCXTDDW_Step = 4; GL_CTHL_bFKCXTDDW_Delay = dwTickCount + GL_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if(dwTickCount >= GL_CTHL_bFKCXTDDW_Delay) { AxisContinueMoveAcc(X_AXIS,1200,DIR_P,800,600,10,10);//拖带电机 GL_CTHL_bFKCXTDDW_Step = 5; GL_CTHL_XSavePosBuff = dwXRealPos; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; } break; case 5: if(GL_CTHL_XKSC_Limit_IN) //方块到位 { AxisEgmStop(X_AXIS); GL_CTHL_bFKCXTDDW_Step = 0; GL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 GL_CTHL_bFKCXTDDW_Delay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; } else if(dwXRealPos >= (GL_CTHL_XSavePosBuff + 800)) { GL_CTHL_SetAlarmCode(GL_CTHL_FKCXDW_ALARM,bRunning);//方块插销定位异常警告 } break; } } //插销穿入动作 void GL_CTHL_bCXCRStep(void) { switch(GL_CTHL_bCXCR_Step) { case 11: if(!GL_CTHL_CXDW_Stop) GL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 GL_CTHL_FKGD_VAVLE = 0; //方块固定关 GL_CTHL_bCXCR_Step = 12; break; case 12: if(!GL_CTHL_XKTD_Origin_IN || GL_CTHL_CXDW_Stop) //斜口推带原位离开 { GL_CTHL_bCXCR_Step = 13; GL_CTHL_bCXCR_Delay = dwTickCount + 65; } break; case 13: if(GL_CTHL_PARAM_CR_MODE == 1) { if((GL_CTHL_CL_MotorStep == 0) && (GL_CTHL_SF_Origin_IN) && (dwTickCount >= GL_CTHL_bCXCR_Delay)) //插销前夹带回到原位 { GL_CTHL_bCXCR_Step = 14; if(!GL_CTHL_CXDW_Stop) GL_CTHL_FKGD_VAVLE = 1; //方块固定关 GL_CTHL_CXQJD_VAVLE = 1; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 1; //松带 GL_CTHL_bCXCR_Delay = dwTickCount + 0; } }//气缸穿入 else { GL_CTHL_bCXCR_Step = 14; if(!GL_CTHL_CXDW_Stop) GL_CTHL_FKGD_VAVLE = 1; //方块固定关 GL_CTHL_CXQJD_VAVLE = 1; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 1; //松带 GL_CTHL_bCXCR_Delay = dwTickCount + 0; } break; case 14: if(dwTickCount >= GL_CTHL_bCXCR_Delay) { GL_CTHL_bCXCR_Step = 15; if(!GL_CTHL_CXDW_Stop) GL_CTHL_FKGD_VAVLE = 1; //方块固定 //Y轴启动插销 GL_CTHL_CL_MotorStep = 20; //插销定位 } break; case 15: if(GL_CTHL_CL_MotorStep == 0) //插销定位完成 { if(!GL_CTHL_CXDW_Stop) { GL_CTHL_bCXCR_Step = 16; GL_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 GL_CTHL_bCXCR_Delay = dwTickCount + 10; //延时插销下移 } else { GL_CTHL_bCXCR_Step = 0; } GL_CTHL_CXDW_Stop = 0; } break; case 16: if(dwTickCount >= GL_CTHL_bCXCR_Delay) { GL_CTHL_bCXCR_Step = 17; if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT == 0) GL_CTHL_CXSX_VAVLE = 0; //插销上下 else GL_CTHL_CXSX_VAVLE = 1; //插销顶出 GL_CTHL_bCXCR_Delay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 } break; case 17: if(GL_CTHL_CXXY_Limit_IN) { // if(GL_CTHL_START_IN_UP) { GL_CTHL_bCXCR_Step = 18; if( cXcxcrCnt==0 && !X_DRV) //拖带电机反转 { // SetDir(X_AXIS, DIR_N); AxisMovePosAccDec(X_AXIS,10000,-GL_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } GL_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 //GL_CTHL_SongDai_VAVLE = 0; //松带 GL_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 GL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 GL_CTHL_bCXCR_Delay = dwTickCount + GL_CTHL_PARAM_CXCR_DELAY; } } else if(dwTickCount >= GL_CTHL_bCXCR_Delay) { GL_CTHL_SetAlarmCode(GL_CTHL_CXGL_Limit_ALARM,bRunning);//插销下移异常 } break; case 18: // if(START_IN_UP) { if(dwTickCount >= GL_CTHL_bCXCR_Delay) { GL_CTHL_bCXCR_Step = 19; GL_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 GL_CTHL_bCXCR_Delay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME +1000; //插销穿入到位异常时间 if(GL_CTHL_PARAM_CR_MODE == 1) GL_CTHL_CL_MotorStep = 50; //合链电机回原点 } } break; case 19: // if( cXcxcrCnt > 1) { // GL_CTHL_SetAlarmCode(GL_CTHL_CX_Limit_ALARM,bRunning); //插销穿入到位异常 } if( GL_CTHL_CX_Limit_IN ) { cXcxcrCnt=0; bZhuangLiaoOkFlg = 0; GL_CTHL_bCXCR_Step = 0; // GL_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 } else if (dwTickCount >= GL_CTHL_bCXCR_Delay) { GL_CTHL_SetAlarmCode(GL_CTHL_CX_Limit_ALARM,bRunning); //插销穿入到 GL_CTHL_bCXCR_Step = 0; /* cXcxcrCnt++; GL_CTHL_CXHJD_VAVLE=0; GL_CTHL_CXHDW_VAVLE=0; GL_CTHL_CXDWZ_VAVLE = 0; GL_CTHL_CXSX_VAVLE=1; GL_CTHL_bCXCR_Step = 11; */ } break; } } void GL_CTHL_bCLFirstStep(void) { switch(GL_CTHL_bCLFirst_Step) { case 19: GL_CTHL_JLTou_VAVLE = 0; //接拉头 bZhuangLiaoOkFlg = 0; GL_CTHL_bCLFirst_Step = 20; GL_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 GL_CTHL_bCLFirst_Delay = dwTickCount + GL_CTHL_PARAM_First_CL_DELAY;//延时一次穿入 break; case 20: if(dwTickCount >= GL_CTHL_bCLFirst_Delay) { GL_CTHL_bCLFirst_Step = 21; GL_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出 GL_CTHL_bCLFirst_Delay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; } break; case 21: if(!GL_CTHL_First_CT_Origin_IN) //原点离开后才开始时间 { GL_CTHL_bCLFirst_Step = 22; GL_CTHL_bCLFirst_Delay = dwTickCount + GL_CTHL_PARAM_First_CL_Timer; //一次穿入时间 } else if(dwTickCount >= GL_CTHL_bCLFirst_Delay) { GL_CTHL_SetAlarmCode(GL_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常 } break; case 22: if(dwTickCount >= GL_CTHL_bCLFirst_Delay) { GL_CTHL_bCLFirst_Step = 23; GL_CTHL_MGuo_VAVLE = 0; //码勾退 GL_CTHL_bCLFirst_Delay = dwTickCount + GL_CTHL_PARAM_MGOff_XiaMo_DELAY; GL_CTHL_FKGD_VAVLE = 0; //方块固定退 GL_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT == 0) GL_CTHL_CXSX_VAVLE = 1; //插销上下 else GL_CTHL_CXSX_VAVLE = 0; //插销顶出 } break; case 23: if(dwTickCount >= GL_CTHL_bCLFirst_Delay) { GL_CTHL_bCLFirst_Step = 24; GL_CTHL_CTXMSS_VAVLE = 0; //穿头下模下降 GL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 GL_CTHL_bCLFirst_Delay = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; } break; case 24: if(!GL_CTHL_CTM_Limit_IN) { GL_CTHL_bCLFirst_Step= 25; GL_CTHL_bCLFirst_Delay = dwTickCount + 25; //一次穿入延时返回 } else if(dwTickCount >= GL_CTHL_bCLFirst_Delay) { GL_CTHL_SetAlarmCode(GL_CTHL_CTM_Origin_ALARM,bRunning); //穿头下模下降异常 } break; case 25: if(dwTickCount >= GL_CTHL_bCLFirst_Delay) { GL_CTHL_bCLFirst_Step= 0; GL_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 GL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 //退下出错警告 GL_CTHL_AutoDelay1 = dwTickCount + GL_CTHL_VAVLE_ERROR_TIME; GL_CTHL_AutoStep1 = 1; bTuiLaTouOkFlg = 1; } break; } } //手动动作 void GL_CTHL_ManualAction(void) { if(cBanAuTo) { GL_CTHL_PARAM_XCRU=1; } else { GL_CTHL_PARAM_XCRU=0; } //监控 if(cCXCONE) { GL_CTHL_PARAM_CXCR=1; } else { GL_CTHL_PARAM_CXCR=0; } if(bRunning) // 运行灯输出 { GL_CTHL_Run_State=1; GL_CTHL_Stop_State=0; } else { GL_CTHL_Stop_State=1; GL_CTHL_Run_State=0; } if(GetEn(X_AXIS)==MOTOR_EN) { GL_CTHL_X_EN_FLG=1; GL_CTHL_bXAxisEnSta=1; } else { GL_CTHL_bXAxisEnSta=0; } if(GetEn(Y_AXIS)==MOTOR_EN) GL_CTHL_Y_EN_FLG=1; if(dwTickCount>GL_CTHL_bSFBBAOJIN_Delay) { if((((!GL_CTHL_SF_ALR_IN) && (GL_CTHL_PARAM_HareSelect == 0))|| (GetAlarm(X_AXIS) && (GL_CTHL_PARAM_HareSelect == 1))) && GL_CTHL_X_EN_FLG && (dwTickCount>GL_CTHL_XAlarm_Time)) // 伺服报警 { GL_CTHL_SetAlarmCode(GL_CTHL_SF_ALR_ALARM,0); } else { GL_CTHL_XAlarm_Time=dwTickCount+1000; } if((((!GL_CTHL_Y_SF_ALR_IN) && (GL_CTHL_PARAM_HareSelect == 0)) || (GetAlarm(Y_AXIS) && (GL_CTHL_PARAM_HareSelect == 1))) && GL_CTHL_Y_EN_FLG && GL_CTHL_PARAM_CR_MODE && (dwTickCount>GL_CTHL_YAlarm_Time)) // 伺服报警 { GL_CTHL_SetAlarmCode(GL_CTHL_Y_SF_ALR_ALARM,0); } else { GL_CTHL_YAlarm_Time=dwTickCount+1000; } //清伺服警报关 SetEn(Z_AXIS, MOTOR_DISEN); SetClr(X_AXIS, 1); SetClr(Y_AXIS, 1); } else { GL_CTHL_XAlarm_Time=dwTickCount+1000; GL_CTHL_YAlarm_Time=dwTickCount+1000; } if((dwYRealPos > (GL_CTHL_PARAM_Y_MAX_LENTH+20)) && Y_DRV && (GetDir(Y_AXIS)==DIR_P)) { AxisEgmStop(Y_AXIS); if(GL_CTHL_PARAM_CR_MODE != 0) { GL_CTHL_SetAlarmCode(GL_CTHL_YAxis_Limit_ALARM,0); } } if(bRunning == 0) { if(bClearTotal) //切断计数清零 { bClearTotal = 0; ClrcToTal(QDCT_TOTAL_ADDR); } if(GL_CTHL_bTLiao ) //手动推料(推拉头) { GL_CTHL_bTLiao = 0; if(GL_CTHL_TLiao_VAVLE) GL_CTHL_TLiao_VAVLE = 0;//GL_CTHL_TLiao_VAVLE; else if(!GL_CTHL_HSLiao_VAVLE && GL_CTHL_HSLiao_Origin_IN) { GL_CTHL_TLiao_VAVLE = 1; } else//条件警告 { GL_CTHL_SetAlarmCode(GL_CTHL_HENSONGLIAO_ALARM,0); // 横送料不能输出 } } if(GL_CTHL_bHSL) //手动横送料 { GL_CTHL_bHSL= 0; if(!GL_CTHL_First_CT_VAVLE) { if(GL_CTHL_HSLiao_VAVLE) { GL_CTHL_HSLiao_VAVLE = 0;//~GL_CTHL_HSLiao_VAVLE; } else if(!GL_CTHL_TLiao_VAVLE && GL_CTHL_TLiao_Origin_IN && GL_CTHL_CTM_Origin_IN && !GL_CTHL_JLiao_Limit_IN && !GL_CTHL_JLTou_VAVLE && !GL_CTHL_CTXMSS_VAVLE && !GL_CTHL_CXDWZ_VAVLE && (!GL_CTHL_bMG || (GL_CTHL_bMG && GL_CTHL_LTou_Check))) { GL_CTHL_HSLiao_VAVLE = 1; } else //条件警告 最后一个括号条件为已经有拉头 { if(!GL_CTHL_TLiao_Origin_IN) GL_CTHL_SetAlarmCode(GL_CTHL_TLiao_Limit_ALARM,0); else if(!GL_CTHL_CTM_Origin_IN) GL_CTHL_SetAlarmCode(GL_CTHL_CTM_Origin_ALARM,0); else if(GL_CTHL_JLiao_Limit_IN) GL_CTHL_SetAlarmCode(GL_CTHL_JLiao_Limit_ALARM,0); } } } if(GL_CTHL_bJLT) //接拉头 { GL_CTHL_bJLT = 0; if(GL_CTHL_JLTou_VAVLE) GL_CTHL_JLTou_VAVLE = 0; else if(!GL_CTHL_First_CT_VAVLE && !GL_CTHL_CTXMSS_VAVLE && GL_CTHL_CTM_Origin_IN && GL_CTHL_First_CT_Origin_IN) { GL_CTHL_MGuo_VAVLE = 0; GL_CTHL_JLTou_VAVLE = 1; GL_CTHL_CTXMXJ_VAVLE = 0; } else//条件警告 { if(!GL_CTHL_CTM_Origin_IN) GL_CTHL_SetAlarmCode(GL_CTHL_CTM_Origin_ALARM,0); else if(!GL_CTHL_First_CT_Origin_IN) GL_CTHL_SetAlarmCode(GL_CTHL_First_CT_Origin_ALARM,0); } } if(GL_CTHL_bMG) //码勾 { GL_CTHL_bMG = 0; GL_CTHL_MGuo_VAVLE = !GL_CTHL_MGuo_VAVLE; } //斜码插入 if(GL_CTHL_bBanZiDong) { GL_CTHL_bBanZiDong=0; cBanAuTo=1; bSingOneFlg=0; cCHULIANBAOJIN=0; // GL_CTHL_PARAM_BanAuto_MODE=1; GL_CTHL_ZhuangLiaoDelay = dwTickCount + 150; GL_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 GL_CTHL_ZhuangLiaoStep = 1; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; bCL_EN_FLG=0; GL_CTHL_AutoStep = 1; bRunning=1; } //小插插入 if(GL_CTHL_CXC)//穿小插 { GL_CTHL_CXC=0; cCXCONE=1; cBanAuTo=0; cCHULIANBAOJIN=0; // GL_CTHL_PARAM_BanAuto_MODE=0; GL_CTHL_AutoStep = 11; bRunning=1; if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); GL_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } } if(GL_CTHL_bFKJD) //方块夹带 { GL_CTHL_bFKJD = 0; GL_CTHL_FKJD_VAVLE = !GL_CTHL_FKJD_VAVLE; } if(GL_CTHL_bXKTD) //斜口推带 { GL_CTHL_bXKTD = 0; if(GL_CTHL_XKTD_VAVLE) GL_CTHL_XKTD_VAVLE = 0; else if(((!GL_CTHL_DXK_VAVLE && (!GL_CTHL_XKSC_Limit_IN || !GL_CTHL_CTXMSS_VAVLE))) || GL_CTHL_PARAM_QianMaSelect) GL_CTHL_XKTD_VAVLE = 1; else//条件警告 { GL_CTHL_SetAlarmCode(GL_CTHL_DXKCTXM_Origin_ALARM,0); } } if(GL_CTHL_bXKDW) //斜口定位 { GL_CTHL_bXKDW = 0; GL_CTHL_XKDW_VAVLE = ~GL_CTHL_XKDW_VAVLE; } if(GL_CTHL_bCTXM) //穿头下模 { GL_CTHL_bCTXM = 0; if(GL_CTHL_CTXMSS_VAVLE) { GL_CTHL_HeMoStep = 10; // GL_CTHL_JLTou_VAVLE = 0; // GL_CTHL_CTXMXJ_VAVLE = 0; GL_CTHL_CTXMSS_VAVLE = 0; } else if(!GL_CTHL_HSLiao_VAVLE && GL_CTHL_HSLiao_Origin_IN && (!GL_CTHL_XKSC_Limit_IN || !GL_CTHL_XKTD_VAVLE)) { // GL_CTHL_MGuo_VAVLE = 1; if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT==0) GL_CTHL_CXSX_VAVLE=1; GL_CTHL_HeMoStep = 1; // GL_CTHL_CTXMSS_VAVLE = 1; // GL_CTHL_CTXMXJ_VAVLE = 1; // GL_CTHL_XMXJ_Time = dwTickCount + 450; } } if(GL_CTHL_bDXK) //顶斜口 { GL_CTHL_bDXK = 0; if(GL_CTHL_DXK_VAVLE) { GL_CTHL_DXK_VAVLE = 0; } else if(!GL_CTHL_XKTD_VAVLE) { GL_CTHL_DXK_VAVLE = 1; GL_CTHL_GDXM_VAVLE = 1; } else //条件警告 { GL_CTHL_SetAlarmCode(GL_CTHL_XKTD_ALARM,0); } } if(GL_CTHL_bXKGD) //固定斜码电磁阀 { GL_CTHL_bXKGD = 0; GL_CTHL_GDXM_VAVLE = ~GL_CTHL_GDXM_VAVLE; } if(GL_CTHL_bFKGD) //方块固定 { GL_CTHL_bFKGD = 0; GL_CTHL_FKGD_VAVLE = ~GL_CTHL_FKGD_VAVLE; } if(GL_CTHL_bCXQJD) //插销前夹带 { GL_CTHL_bCXQJD = 0; GL_CTHL_CXQJD_VAVLE = ~GL_CTHL_CXQJD_VAVLE; GL_CTHL_SongDai_VAVLE = GL_CTHL_CXQJD_VAVLE; //松带 } if(GL_CTHL_bCXSY) //插销下移电磁阀 { GL_CTHL_bCXSY = 0; GL_CTHL_CXSX_VAVLE = !GL_CTHL_CXSX_VAVLE; } // if(GL_CTHL_bCXHT) { if(GL_CTHL_PARAM_CR_MODE == 0) { GL_CTHL_bCXHT = 0; GL_CTHL_CXHT_VAVLE = ~GL_CTHL_CXHT_VAVLE; GL_CTHL_CXDW_Stop = 0; } else { //Y轴启动插销 GL_CTHL_CL_MotorStep = 20; //插销定位 SetEn(Y_AXIS, MOTOR_EN); GL_CTHL_CXDW_Stop = 1; } } if(GL_CTHL_bCXDWZ) //Y14 插销定位针电磁阀 { GL_CTHL_bCXDWZ = 0; if(GL_CTHL_CXDWZ_VAVLE) GL_CTHL_CXDWZ_VAVLE = 0; else if(GL_CTHL_HSLiao_Origin_IN) { GL_CTHL_CXDWZ_VAVLE = 1; } else //条件警告 { GL_CTHL_SetAlarmCode(GL_CTHL_HENSONGLIAO_ALARM,0); } } if(GL_CTHL_bCXHJD) //Y15 插销后夹带电磁阀 { GL_CTHL_bCXHJD = 0; GL_CTHL_CXHJD_VAVLE =~GL_CTHL_CXHJD_VAVLE; } if(GL_CTHL_bCXHDW) //Y16 插销后定位电磁阀 { GL_CTHL_bCXHDW = 0; if(GL_CTHL_CXHDW_VAVLE) GL_CTHL_CXHDW_VAVLE = 0; else if(!GL_CTHL_CXQJD_VAVLE) { GL_CTHL_CXHDW_VAVLE = 1; GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 } else//条件警告 { GL_CTHL_SetAlarmCode(GL_CTHL_CXQJD_ALARM,0); } } if(GL_CTHL_bFirst_CT) //Y20 一次穿头电磁阀 { GL_CTHL_bFirst_CT = 0; GL_CTHL_First_CT_VAVLE = ~GL_CTHL_First_CT_VAVLE; } if(GL_CTHL_bHLJJ) //Y21 合链夹具电磁阀 { GL_CTHL_bHLJJ = 0; GL_CTHL_HLJJ_VAVLE = ~GL_CTHL_HLJJ_VAVLE; } if(GL_CTHL_bHL) { GL_CTHL_bHL = 0; GL_CTHL_HL_VAVLE = ~GL_CTHL_HL_VAVLE; } if(GL_CTHL_bCXSCDW) //Y23 插销上止定位电磁阀 { GL_CTHL_bCXSCDW = 0; GL_CTHL_CXSCDW_VAVLE = ~GL_CTHL_CXSCDW_VAVLE; } //自动装料 if(GL_CTHL_bAutoZhuangLiao) { GL_CTHL_bAutoZhuangLiao = 0; if(GL_CTHL_ZhuangLiaoStep == 0) { bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg = 0; GL_CTHL_ZhuangLiaoStep = 1; GL_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 GL_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } } //测试电机 if(GL_CTHL_bCLMotor_N) { SetEn(Y_AXIS, MOTOR_EN); if(!GL_CTHL_SF_Origin_IN) { if(!Y_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,1000,15,15); } else { GL_CTHL_bCLMotor_N = 0; } } if(GL_CTHL_bCLMotor_P) //后退限位已经取消 { SetEn(Y_AXIS, MOTOR_EN); if(!Y_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(Y_AXIS,2000,DIR_P,1000,1000,15,15); } if(!GL_CTHL_bCLMotor_P && !GL_CTHL_bCLMotor_N && (GL_CTHL_TD_MotorStep == 0) && (GL_CTHL_bFKCXTDDW_Step==0)&& (GL_CTHL_CL_MotorStep == 0)) { AxisEgmStop(Y_AXIS);//AxisDecStop(Y_AXIS); } /* if(GL_CTHL_bCLMotor_N) { GL_CTHL_bCLMotor_N=0; SetEn(Y_AXIS, MOTOR_EN); if(!Y_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisMovePosAccDec(Y_AXIS,GL_CTHL_PARAM_CL_Speed,-GL_CTHL_PARAM_CL_Length,2000,2000,50,50,50); } if(GL_CTHL_bCLMotor_P) //后退限位已经取消 { GL_CTHL_bCLMotor_P=0; SetEn(Y_AXIS, MOTOR_EN); if(!Y_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisMovePosAccDec(Y_AXIS,GL_CTHL_PARAM_CL_Speed,GL_CTHL_PARAM_CL_Length,2000,2000,50,50,50); } */ //合链电机返回原点 if(GL_CTHL_bCLMotor_O) { GL_CTHL_bCLMotor_O = 0; if(GL_CTHL_CL_MotorStep == 0) GL_CTHL_CL_MotorStep = 40; } //拖带方块定位 ,因这步为前拖带定位, 很多电磁阀要关掉 if(GL_CTHL_bFKTDDW) { GL_CTHL_bFKTDDW = 0; if(GL_CTHL_TD_MotorStep == 0) { GL_CTHL_XKDW_VAVLE = 0; //斜口定位 GL_CTHL_CXQJD_VAVLE = 0; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 GL_CTHL_CXSX_VAVLE = 0; //插销顶出 // GL_CTHL_CXSX_VAVLE = 1; //插销下移 GL_CTHL_CXHJD_VAVLE = 0; //插销后夹带 GL_CTHL_CXHDW_VAVLE = 0; //插销后定位 GL_CTHL_CXDWZ_VAVLE = 0; //插销定位针 GL_CTHL_bHLJJ = 0; //合链夹具 GL_CTHL_FKJD_VAVLE = 0; //方块夹带 if((GetEn(X_AXIS) == MOTOR_DISEN)) { SetEn(X_AXIS, MOTOR_EN); GL_CTHL_TD_MotorDelay = dwTickCount + 200; } else GL_CTHL_TD_MotorDelay = dwTickCount + 50; GL_CTHL_TD_MotorStep = 1; GL_CTHL_cZipCnt = 0; } } //拖带方块插销定位(斜口推带，斜口定位，顶斜口) if(GL_CTHL_bFKCXTDDW) { GL_CTHL_bFKCXTDDW = 0; if((GL_CTHL_bFKCXTDDW_Step == 0) && (GL_CTHL_CL_MotorStep == 0) && !GL_CTHL_CTXMSS_VAVLE) { GL_CTHL_bFKCXTDDW_Step = 1; SetEn(X_AXIS, MOTOR_EN); GL_CTHL_CXQJD_VAVLE = 0; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 GL_CTHL_CXSX_VAVLE = 0; //插销顶出 GL_CTHL_CXHJD_VAVLE = 0; //插销后夹带 GL_CTHL_CXHDW_VAVLE = 0; //插销后定位 GL_CTHL_CXDWZ_VAVLE = 0; //插销定位针 GL_CTHL_HLJJ_VAVLE = 0; //合链夹具 } } //插销穿入(包含电机前定位,插销下移,后夹,后定位) if(GL_CTHL_bCXCR) { GL_CTHL_bCXCR = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(GL_CTHL_CTXMSS_VAVLE && GL_CTHL_MGuo_VAVLE && !GL_CTHL_CXQJD_VAVLE && GL_CTHL_CTM_Limit_IN && !GL_CTHL_LTou_Check) { if(GL_CTHL_CL_MotorStep == 0) { GL_CTHL_bCXCR_Step = 11; if(GL_CTHL_PARAM_UP_DOWN_OUT_SELECT == 0) GL_CTHL_CXSX_VAVLE = 1; //插销上下 else GL_CTHL_CXSX_VAVLE = 0; //插销顶出 // GL_CTHL_CXSX_VAVLE = 1; //Y06 插销下移电磁阀关 GL_CTHL_CXHJD_VAVLE = 0; //插销后夹带 GL_CTHL_CXHDW_VAVLE = 0; GL_CTHL_HL_VAVLE = 0; if(GL_CTHL_PARAM_CR_MODE==0) GL_CTHL_CXSCDW_VAVLE = 1; if(GL_CTHL_PARAM_CR_MODE == 1) { SetEn(Y_AXIS, MOTOR_EN); if(!GL_CTHL_SF_Origin_IN) GL_CTHL_CL_MotorStep = 40; } } } else //警告不能自动穿插销 { GL_CTHL_SetAlarmCode(GL_CTHL_WFZIDONGCX_ALARM,0); } } //电机合链动作 if(GL_CTHL_bMotorHL) { GL_CTHL_bMotorHL = 0; if(GL_CTHL_PARAM_CR_MODE == 1) { if(GL_CTHL_SF_Origin_IN) { if((GL_CTHL_CL_MotorStep == 0) && !GL_CTHL_CTXMSS_VAVLE && (!GL_CTHL_CTM_Limit_IN)) { bCL_OK_FLG = 0; GL_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 GL_CTHL_CL_MotorStep = 1; GL_CTHL_CL_MotorDelay = dwTickCount + GL_CTHL_PARAM_HLJJ_CL_DELAY + 130; if((GetEn(Y_AXIS) == MOTOR_DISEN)) { SetEn(Y_AXIS, MOTOR_EN); GL_CTHL_CL_MotorDelay = dwTickCount + 250; } if((GL_CTHL_LianLengthAutoCheck ==0) || (GL_CTHL_PARAM_CL_Length == 0)) { GL_CTHL_LianLengthAutoCheck = 1000; GL_CTHL_PARAM_CL_Length = 1000; } } } else { GL_CTHL_bCLMotor_O = 1; } } else { GL_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 GL_CTHL_CL_MotorStep = 1; GL_CTHL_CL_MotorDelay = dwTickCount + GL_CTHL_PARAM_HLJJ_CL_DELAY; } } //一次穿链动作 if(GL_CTHL_bCL_First) { GL_CTHL_bCL_First = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(GL_CTHL_CTXMSS_VAVLE && GL_CTHL_MGuo_VAVLE && !GL_CTHL_CXQJD_VAVLE && GL_CTHL_CTM_Limit_IN && !GL_CTHL_LTou_Check && (GL_CTHL_CL_MotorStep == 0)) { GL_CTHL_bCLFirst_Step = 19; GL_CTHL_CXHJD_VAVLE = 1; //插销后夹带 GL_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 GL_CTHL_CXQJD_VAVLE = 0; //插销前夹带 //GL_CTHL_SongDai_VAVLE = 0; //Y30 松带 } } if(GL_CTHL_bSongZhou) { GL_CTHL_bSongZhou=0; if(GetEn(X_AXIS)==MOTOR_EN) { SetEn(X_AXIS, MOTOR_DISEN); } else { SetEn(X_AXIS, MOTOR_EN); } } if((!GL_CTHL_bTiaoShiMode) && GL_CTHL_START_IN_UP) nodelink_reset(); } } #endif