#include "global.h" #if JING_LONG_MACHINE == 1 void JL_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag); void JL_CTHL_ManualAction(void); void JL_CTHL_AutoStepAction(void); void JL_CTHL_TableAction(void); void JL_CTHL_TD_Motor(void); void JL_CTHL_CL_Motor(void); void JL_CTHL_CheckStart(void); void JL_CTHL_TLiao_Step(void); //推料(推拉头) void JL_CTHL_AlarmProtect(void); void JL_CTHL_ZLT_Step(void); void JL_CTHL_ZhenDongAction(void); void JL_CTHL_bFKCXTDDWStep(void); void JL_CTHL_bCXCRStep(void); void JL_CTHL_bCLFirstStep(void); //故障报警 void JL_CTHL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag) { SetAlarmCode(JL_CTHL_ALARM_ADDR,alarm_code); // bAlarmStop = 0; // if(cStopFlag) if(!cWULATOUCnt && !cXiaoChaCNT && !cCHULIANBAOJIN) { bAlarmStop = 1; } else { cWULATOUCnt=0; } } //初始化动作 void JL_CTHL_InitAction(void) { float buff_pulse,buff_dist; buff_pulse = JL_CTHL_PARAM_CYCLE_PULSE; buff_dist = JL_CTHL_PARAM_CYCLE_LENGTH; XGearRatio = buff_pulse/buff_dist; buff_pulse = 2000;//JL_CTHL_PARAM_CYCLE_PULSE; buff_dist = 750;//JL_CTHL_PARAM_CYCLE_LENGTH; YGearRatio = buff_pulse/buff_dist; 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, 0); SetDirReverse(Y_AXIS, 0); SetDirReverse(Z_AXIS, 0); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); SetEn(Z_AXIS, MOTOR_DISEN); SetAlarmCode(JL_CTHL_ALARM_ADDR,0); // QDCT_SZ_OUT = QDCT_MOTOR_DISEN; } void JL_CTHL_Action(void) { // user_datas[122] =axis_x->cur_speed; // user_datas[123] = JL_CTHL_bCXCR_Step; dwXRealPos = GetPos(X_AXIS); dwYRealPos = GetPos(Y_AXIS); dwZRealPos = GetPos(Z_AXIS); user_datas[121] = JL_CTHL_PARAM_DXKFZ_LENTH;//JL_CTHL_LianLengSave; // user_datas[122] = // user_datas[123] = // user_datas[124] = //dwXRealPos; // user_datas[125] = //dwYRealPos; // user_datas[126] = //JL_CTHL_CL_MotorStep; // user_datas[127] = //JL_CTHL_TD_MotorStep; // user_datas[128] = //JL_CTHL_AutoStep; JL_CTHL_ZhenDongAction(); JL_CTHL_AlarmProtect(); JL_CTHL_CheckStart(); JL_CTHL_ZLT_Step(); JL_CTHL_TLiao_Step(); JL_CTHL_TD_Motor(); JL_CTHL_CL_Motor(); JL_CTHL_bFKCXTDDWStep(); JL_CTHL_bCXCRStep(); JL_CTHL_bCLFirstStep(); JL_CTHL_ManualAction(); JL_CTHL_AutoStepAction(); } void JL_CTHL_AlarmProtect(void) { } //自动动作 void JL_CTHL_AutoStepAction(void) { if(bRunning) { switch(JL_CTHL_AutoStep) { case 1: /* JL_CTHL_AutoStep = 10; //测试拖带定位 JL_CTHL_AutoDelay = dwTickCount + 1000; break; */ if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 JL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 JL_CTHL_FKGD_VAVLE = 0; //方块固定关 // JL_CTHL_XKDW_VAVLE = 1; JL_CTHL_AutoStep = 2; // JL_CTHL_AutoDelay = dwTickCount + 10; if(JL_CTHL_ZhuangLiaoStep == 0) { JL_CTHL_ZhuangLiaoStep = 1; JL_CTHL_TryCnt = 0; } } break; case 2: if(!JL_CTHL_XKTD_Origin_IN)// && (dwTickCount >= JL_CTHL_AutoDelay)) //斜口推带原位离开 { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 3; JL_CTHL_XKDW_VAVLE = 1; JL_CTHL_AutoDelay = dwTickCount + 20; } } break; case 3://斜口定位 if(dwTickCount >= JL_CTHL_AutoDelay) { JL_CTHL_AutoStep = 4; // JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if(!cBanAuTo) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { AxisMovePosAccDecNotStop(X_AXIS,1600,1500,600,1000,5,20,00); JL_CTHL_AutoStep = 5; cDJzzcd=0; JL_CTHL_XSavePosBuff = dwXRealPos; // SetPos(X_AXIS, 0); //启动位置设为0点 if(cZipCnt < 1) JL_CTHL_AutoDelay = dwTickCount +350; else JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_FKJD_DELAY; } } else { JL_CTHL_AutoStep = 5; JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_FKJD_DELAY; JL_CTHL_XSavePosBuff = dwXRealPos; } break; case 5: if(dwTickCount >= JL_CTHL_AutoDelay) { JL_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 } if(bCL_EN_FLG && (dwXRealPos >= 230) && JL_CTHL_XKSC_Limit_IN) { JL_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 } if(JL_CTHL_XKSC_Limit_IN) //方块上止到位 { if(!JL_CTHL_PARAM_GYZZ_LENGTH) AxisEgmStop(X_AXIS); else { if(!cDJzzcd) { AxisMovePosAccDec(X_AXIS,1000,JL_CTHL_PARAM_GYZZ_LENGTH,800,600,10,20,0); cDJzzcd=1; } } if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_QDXK_VAVLE = 1; JL_CTHL_FKJD_VAVLE=0; JL_CTHL_AutoStep = 6; // JL_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) { bCL_OK_FLG = 0; JL_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 JL_CTHL_CL_MotorStep = 1; JL_CTHL_CL_MotorDelay = dwTickCount + JL_CTHL_PARAM_HLJJ_CL_DELAY; JL_CTHL_AutoDelay = dwTickCount + 50 + JL_CTHL_PARAM_HLJJ_CL_DELAY; } else { JL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; } } } else if(dwXRealPos >= (JL_CTHL_XSavePosBuff + 3000)) { JL_CTHL_SetAlarmCode(JL_CTHL_FKCXDW_ALARM,bRunning); //方块插销定位异常警告 } break; case 6: if((dwYRealPos > 1000) || JL_CTHL_CL_MotorStep==0) { JL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; } if(JL_CTHL_XKTD_Origin_IN) //斜口推带回到原位 { if(bZhuangLiaoOkFlg && (JL_CTHL_ZhuangLiaoStep == 0)) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { if(dwTickCount >= JL_CTHL_bLTCHECK_Delay) { if(bSingOneFlg) { JL_CTHL_AutoStep = 0; bRunning = 0; } else { if(!JL_CTHL_LTou_Check) { if(JL_CTHL_PARAM_DXKFZ_LENTH && !X_DRV && JL_CTHL_HSLiao_Origin_IN) //拖带电机反转 { user_datas[122] =dwXRealPos; AxisMovePosAccDec(X_AXIS,8000,-JL_CTHL_PARAM_DXKFZ_LENTH,800,600,6,6,0); JL_CTHL_AutoStep = 7; JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; JL_CTHL_CTXM_VAVLE = 1; //穿头下模上升 if(!JL_CTHL_PARAM_NLSL_MODE) JL_CTHL_FKJD_VAVLE= 0; //方块夹带气缸关 } else if(dwTickCount >= (JL_CTHL_AutoDelay+3000)) { JL_CTHL_SetAlarmCode(JL_CTHL_HSLiao_Origin_ALARM,bRunning); // 没有拉头 } if(JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE = 1; } else { cWULATOUCnt=1; JL_CTHL_SetAlarmCode(JL_CTHL_ZLT_ALARM,bRunning); // 没有拉头 } } } } } } else if((dwTickCount >= JL_CTHL_AutoDelay) && !JL_CTHL_XKTD_VAVLE && !cBanAuTo) { JL_CTHL_SetAlarmCode(JL_CTHL_XKTD_Origin_ALARM,bRunning); //斜口推带回到异常 } break; case 7: if(!JL_CTHL_CTM_Origin_IN) { JL_CTHL_JLTou_VAVLE = 0; //接拉头 } if(JL_CTHL_CTM_Limit_IN) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { if(JL_CTHL_PARAM_NLSL_MODE) { JL_CTHL_XKTD_VAVLE=1; } JL_CTHL_JLTou_VAVLE = 0; JL_CTHL_AutoStep = 8; JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_DXKYS_DELAY; } } else if(dwTickCount >= JL_CTHL_AutoDelay) { JL_CTHL_SetAlarmCode(JL_CTHL_CTM_Limit_ALARM,bRunning); //穿头下模上升异常 } break; case 8: if(!X_DRV) //延时顶斜口 { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { if((dwTickCount >= JL_CTHL_AutoDelay) || (JL_CTHL_PARAM_NLSL_MODE)) { if(!JL_CTHL_PARAM_NLSL_MODE) JL_CTHL_DXK_VAVLE=1; JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_DXK_XKDW_Off_DELAY; JL_CTHL_AutoStep = 9; } } } break; case 9: if((dwTickCount >= JL_CTHL_AutoDelay) && (bCL_OK_FLG)) //顶斜口延时退斜口上止定位 { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { // AxisMovePosAccDec(X_AXIS,2000,-150,1200,1200,3,6,0); //反转1.5CM JL_CTHL_XKDW_VAVLE = 0; //斜口上止定位关 JL_CTHL_FKJD_VAVLE = 0; //方块夹带气缸关 JL_CTHL_AutoStep = 10; JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_XK_CR_DELAY; } } break; case 10: if(!cBanAuTo) { if((dwTickCount >= JL_CTHL_AutoDelay) && !X_DRV) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_TD_MotorStep = 10; //启动拖带穿入 JL_CTHL_AutoStep = 11; } } } else { JL_CTHL_AutoStep = 801; JL_CTHL_AutoDelay = dwTickCount + 1000; } break; case 801: if(dwTickCount >= JL_CTHL_AutoDelay) { bRunning=0; cBanAuTo=0; JL_CTHL_QDXK_VAVLE=0; JL_CTHL_XKTD_VAVLE = 0; JL_CTHL_DXK_VAVLE=0; JL_CTHL_AutoStep = 0; } break; case 11: if(JL_CTHL_TD_MotorStep == 0) //穿入定位完成 { /* //测试拖带定位 JL_CTHL_AutoStep = 1; JL_CTHL_AutoDelay = dwTickCount + 1000; if(cZipCnt<3) cZipCnt++; break; */ if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_XKDW_VAVLE = 0; //斜口上止定位关 JL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 JL_CTHL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀 cXcxcrCnt = 0; if(JL_CTHL_CL_MotorStep == 0) { JL_CTHL_CXQJD_VAVLE = 1; } JL_CTHL_AutoStep = 12; JL_CTHL_AutoDelay = dwTickCount; } } break; case 12: if(JL_CTHL_CL_MotorStep == 0) //插销前夹带回到原位 { if(JL_CTHL_SF_Origin_IN) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 14; JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_XCQJD_XCDW_DELAY; if(cXcxcrCnt != 1) { JL_CTHL_CXQJD_VAVLE = 1; } } } else if(!JL_CTHL_SF_Origin_IN) { JL_CTHL_CL_MotorStep=50; } } break; case 14: if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_XKDW_VAVLE = 1; //斜口定位 JL_CTHL_AutoStep = 15; JL_CTHL_FKGD_VAVLE = 1; //方块固定 //Y轴启动插销 if(cXcxcrCnt != 1) { JL_CTHL_CL_MotorStep = 20; //插销定位 } } } break; case 15: if(JL_CTHL_CL_MotorStep == 0) //插销定位完成 { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 16; JL_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 JL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 JL_CTHL_AutoDelay = dwTickCount + 10; //延时插销下移 } } break; case 16: if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 17; if(JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE = 0; else JL_CTHL_CXJL_VAVLE = 1; //Y06 插销下移电磁阀 JL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 } } break; case 17: if(JL_CTHL_PARAM_CXJL_MODE) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { if(JL_CTHL_CXJL_Limit_IN) { JL_CTHL_AutoStep = 18; if( cXcxcrCnt==0 && !X_DRV && !cCXCONE) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,8000,-JL_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } JL_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 JL_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 JL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } else if(dwTickCount >= JL_CTHL_AutoDelay) { JL_CTHL_SetAlarmCode(JL_CTHL_CXJL_Limit_ALARM,bRunning); //插销下移异常 } } else { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 18; if( cXcxcrCnt==0 && !X_DRV && !cCXCONE) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,8000,-JL_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } JL_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 JL_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 JL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } break; case 18: // if(START_IN_UP) { if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 19; cBAOHUCNT=0; JL_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) JL_CTHL_AutoDelay = dwTickCount + 500; //插销穿入到位异常时间 JL_CTHL_CL_MotorStep = 50; //合链电机回原点 } } } break; case 19: if(JL_CTHL_CX_Limit_IN && (cXcxcrCnt<4)) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { cXcxcrCnt=0; cXiaoChaCNT=0; user_datas[100]=0; bZhuangLiaoOkFlg = 0; JL_CTHL_CXJL_VAVLE=0; JL_CTHL_AutoStep = 901; JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_FKGD_DELAY; //退方块固定时间 JL_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 } } else if ((dwTickCount >= JL_CTHL_AutoDelay) && (cXcxcrCnt<3) ) { cXcxcrCnt++; JL_CTHL_CXHJD_VAVLE=0; JL_CTHL_CXHDW_VAVLE=0; if(!JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE=0; else JL_CTHL_CXJL_VAVLE=1; if(cXcxcrCnt<3) { JL_CTHL_CXSCDW_VAVLE=1; JL_CTHL_AutoStep = 12; JL_CTHL_AutoDelay = dwTickCount + 120; } } else if((dwTickCount >= (JL_CTHL_AutoDelay +3000)) && !JL_CTHL_CX_Limit_IN ) { cXiaoChaCNT=1; if(!JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE=0; else JL_CTHL_CXJL_VAVLE=1; JL_CTHL_CXHJD_VAVLE =0; cBAOHUCNT=1; JL_CTHL_SetAlarmCode(JL_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常 } if( cXcxcrCnt > 2) { cXiaoChaCNT=1; JL_CTHL_CXJL_VAVLE=0; JL_CTHL_CXHJD_VAVLE =0; cBAOHUCNT=1; JL_CTHL_SetAlarmCode(JL_CTHL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常 if(JL_CTHL_START_IN_UP) { JL_CTHL_SetAlarmCode(0,bRunning); JL_CTHL_CXSCDW_VAVLE=1; JL_CTHL_AutoStep = 12; JL_CTHL_CXHJD_VAVLE=0; cXiaoChaCNT=0; cBAOHUCNT=0; cXcxcrCnt=0; JL_CTHL_CXHDW_VAVLE=0; if(!JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE=0; else JL_CTHL_CXJL_VAVLE=1; } } break; case 901: if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_FKGD_VAVLE = 0; //方块固定退 JL_CTHL_AutoStep = 20; if(!cBAOHUCNT) JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_First_CL_DELAY;//延时一次穿入 else { JL_CTHL_AutoDelay = dwTickCount + 1000;//手动插销保护时间 cBAOHUCNT=0; } } } break; case 20: if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 21; JL_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出 JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; } } break; case 21: if(!JL_CTHL_First_CT_Origin_IN) //原点离开后才开始时间 { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 22; JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_First_CL_Timer; //一次穿入时间 } } else if(dwTickCount >= JL_CTHL_AutoDelay) { JL_CTHL_SetAlarmCode(JL_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常 } break; case 22: if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 23; JL_CTHL_MGuo_VAVLE = 0; //码勾退 JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_PARAM_MGOff_XiaMo_DELAY; JL_CTHL_FKGD_VAVLE = 0; //方块固定退 JL_CTHL_FKJD_VAVLE=0; JL_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 JL_CTHL_CXJL_VAVLE = 0; //Y06 插销下移电磁阀关 } } break; case 23: if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 24; JL_CTHL_CTXM_VAVLE = 0; //穿头下模下降 JL_CTHL_AutoDelay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; } } break; case 24: if(!JL_CTHL_CTM_Limit_IN) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 25; JL_CTHL_AutoDelay = dwTickCount + 20; //一次穿入延时返回 } } else if(dwTickCount >= JL_CTHL_AutoDelay) { JL_CTHL_SetAlarmCode(JL_CTHL_CTM_Origin_ALARM,bRunning);//穿头下模下降异常 } break; case 25: if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { JL_CTHL_AutoStep = 26; JL_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 JL_CTHL_AutoDelay = dwTickCount + 5; JL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 //退下出错警告 JL_CTHL_AutoDelay1 = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; JL_CTHL_AutoStep1 = 1; } } break; case 26: if(dwTickCount >= JL_CTHL_AutoDelay) { if(!JL_CTHL_bDanBu || JL_CTHL_START_IN_UP) { if(!cCXCONE) { JL_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 JL_CTHL_FKGD_VAVLE = 0; //方块固定关 JL_CTHL_AutoStep = 2; bCL_EN_FLG = 1; cXcxcrCnt=0; AddToTal(JL_CTHL_TOTAL_ADDR); CalProSP(JL_CTHL_SPEED_ADDR); if(cZipCnt<3) cZipCnt++; } else { bRunning=0; cCXCONE=0; JL_CTHL_AutoStep = 0; } } } break; } } //退下模后启动送拉头 switch(JL_CTHL_AutoStep1) { case 1: if(cStopMode==1) { bCL_EN_FLG=1; cStopMode=2; bStop=1; } if(JL_CTHL_CTM_Origin_IN && JL_CTHL_First_CT_Origin_IN) { JL_CTHL_ZhuangLiaoStep = 1; JL_CTHL_TryCnt = 0; JL_CTHL_AutoStep1 = 0; JL_CTHL_MGuo_VAVLE = 0; JL_CTHL_JLTou_VAVLE = 0; } else if(dwTickCount >= JL_CTHL_AutoDelay1) { //穿头模和一次穿入回位异常 if(!JL_CTHL_CTM_Origin_IN) JL_CTHL_SetAlarmCode(JL_CTHL_CTM_Origin_ALARM,bRunning); else if(!JL_CTHL_First_CT_Origin_IN) JL_CTHL_SetAlarmCode(JL_CTHL_First_CT_Origin_ALARM,bRunning); } break; } } void JL_CTHL_CheckStart(void) { //监控 if(cBanAuTo) { JL_CTHL_PARAM_XCRU=1; } else { JL_CTHL_PARAM_XCRU=0; } //监控 if(cCXCONE) { JL_CTHL_PARAM_CXCR=1; } else { JL_CTHL_PARAM_CXCR=0; } if(cXCXQXQD) { if(JL_CTHL_START_IN_UP || bStart) { bStart=0; if(!bRunning) { if(JL_CTHL_SafeDoor_IN ) { bRunning=1; cXCXQXQD =0; JL_CTHL_TD_MotorStep = 0; JL_CTHL_AutoStep=11; } else { JL_CTHL_SetAlarmCode(JL_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } } } if(cWULATOUCnt) // 无拉头警告后按 { if(JL_CTHL_START_IN_UP || bStart) { bStart=0; if(!bRunning) { if(JL_CTHL_SafeDoor_IN) { bRunning=1; JL_CTHL_TryCnt=0; cWULATOUCnt=0; JL_CTHL_ZhuangLiaoStep = 1; JL_CTHL_AutoStep=6; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; JL_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 JL_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } else { JL_CTHL_SetAlarmCode(JL_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } } } if(!JL_CTHL_SafeDoor_IN && bRunning && !cBanAuTo && !cCXCONE) { bStop=1; JL_CTHL_SetAlarmCode(JL_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } //启动 自动启动 单一自动 if((JL_CTHL_START_IN_UP || bStart ) && !cWULATOUCnt && !cXCXQXQD) { if(cCHULIANBAOJIN) //无链停机启动 { cCHULIANBAOJIN=0; SetEn(X_AXIS, MOTOR_EN); // dwXRealPos=0; JL_CTHL_TD_MotorStep=9; if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); JL_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } cZipCnt=0; JL_CTHL_TD_MotorDelay = dwTickCount + 500; JL_CTHL_AutoDelay = dwTickCount + 150; if(GetAlarmCode(JL_CTHL_ALARM_ADDR) != 0) SetAlarmCode(JL_CTHL_ALARM_ADDR,0); } if(!bRunning) { if(JL_CTHL_SafeDoor_IN) { cStopMode=0; bRunning = 1; cWULATOUCnt=0; cHeLian=0; SetEn(X_AXIS, MOTOR_EN); SetEn(Y_AXIS, MOTOR_EN); JL_CTHL_CL_MotorStep = 40; JL_CTHL_AutoStep = 1; bTuiLaTouOkFlg = 1; JL_CTHL_PARAM_ZDP_AUTO= 0; bZhuangLiaoOkFlg= 0; JL_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 JL_CTHL_ZhuangLiaoDelay = dwTickCount + 150; // bCL_EN_FLG = 0; cZipCnt = 0; cQDXK_DXK=0; JL_CTHL_LianLengthCheck = 0; cStopInCnt = 0; } else { JL_CTHL_SetAlarmCode(JL_CTHL_SafeDoor_ALARM,0); // 安全门关上才能启动 } } bStart = 0; } //停止 if(JL_CTHL_STOP_IN_UP || bStop) { if(cStopMode < 2) cStopMode++; if(bRunning && cStopMode==2) { cBanAuTo=0; cCXCONE=0; bRunning=0; cStopMode=0; cXcxcrCnt=0; cXCXQXQD=0; cCHULIANBAOJIN=0; cWULATOUCnt=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); JL_CTHL_AutoStep = 0; JL_CTHL_CL_MotorStep =0; JL_CTHL_bCLFirst_Step=0; JL_CTHL_ZhuangLiaoStep=0; // JL_CTHL_XKTD_VAVLE = 0; cQDXK_DXK=0; // JL_CTHL_XKDW_VAVLE =0; if(JL_CTHL_SF_ALR_IN ) { JL_CTHL_SF_ALR_CLR=1; JL_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); JL_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } if(GetAlarmCode(JL_CTHL_ALARM_ADDR) != 0) SetAlarmCode(JL_CTHL_ALARM_ADDR,0); } else if(!bRunning) { cBanAuTo=0; cCXCONE=0; bRunning=0; cXcxcrCnt=0; cStopMode=0; cCHULIANBAOJIN=0; cXCXQXQD=0; cWULATOUCnt=0; bCL_EN_FLG=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); cStopMode=0; cQDXK_DXK=0; if(JL_CTHL_SF_ALR_IN ) { JL_CTHL_SF_ALR_CLR=1; JL_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } if(GetAlarm(Y_AXIS)==0 || GetAlarm(X_AXIS)==0) { SetEn(X_AXIS, MOTOR_DISEN); SetEn(Y_AXIS, MOTOR_DISEN); SetClr(Y_AXIS, MOTOR_NOALARM); SetClr(X_AXIS, MOTOR_NOALARM); JL_CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000; } JL_CTHL_TLiao_VAVLE=0; JL_CTHL_HSLiao_VAVLE =0; JL_CTHL_JLTou_VAVLE =0; JL_CTHL_XKTD_VAVLE =0; JL_CTHL_XKDW_VAVLE =0; JL_CTHL_DXK_VAVLE =0; JL_CTHL_CXJL_VAVLE =0; JL_CTHL_CTXM_VAVLE =0; JL_CTHL_First_CT_VAVLE =0; JL_CTHL_FKGD_VAVLE =0; JL_CTHL_CXQJD_VAVLE =0; JL_CTHL_CXDWZ_VAVLE =0; JL_CTHL_CXHJD_VAVLE =0; JL_CTHL_CXHDW_VAVLE =0; JL_CTHL_FKJD_VAVLE =0; JL_CTHL_HLJJ_VAVLE =0; JL_CTHL_CXSCDW_VAVLE =0; JL_CTHL_MGuo_VAVLE =0; JL_CTHL_QDXK_VAVLE=0; JL_CTHL_AutoStep = 0; JL_CTHL_ZhuangLiaoStep=0; JL_CTHL_TLiaoStep=0; JL_CTHL_TD_MotorStep=0; JL_CTHL_JiaLianStep =0; JL_CTHL_SongLiaoStep =0; JL_CTHL_CL_MotorStep =0; JL_CTHL_AutoStep1 =0; JL_CTHL_bFKCXTDDW_Step=0; JL_CTHL_bCXCR_Step=0; JL_CTHL_bCLFirst_Step=0; if(GetAlarmCode(JL_CTHL_ALARM_ADDR) != 0) SetAlarmCode(JL_CTHL_ALARM_ADDR,0); SetPos(X_AXIS, 0); JL_CTHL_TLiaoStep = 0; JL_CTHL_AutoStep = 0; //穿合链电机是往零点方向时可以停止 if(GetDir(Y_AXIS) == DIR_N) AxisEgmStop(Y_AXIS); } bStop=0; } if(bAlarmStop) { bRunning = 0; bAlarmStop=0; cStopMode=0; cXcxcrCnt=0; AxisEgmStop(X_AXIS); AxisEgmStop(Y_AXIS); JL_CTHL_AutoStep = 0; cQDXK_DXK=0; JL_CTHL_CL_MotorStep =0; JL_CTHL_bCLFirst_Step=0; JL_CTHL_SongLiaoStep =0; JL_CTHL_ZhuangLiaoStep=0; // JL_CTHL_XKTD_VAVLE = 0; // JL_CTHL_XKDW_VAVLE =0; } } //拖带电机控制动作 X轴 void JL_CTHL_TD_Motor(void) // { #if 1 switch(JL_CTHL_TD_MotorStep) { //1步开始，纯定位, 没有穿入 case 1: if(dwTickCount >= JL_CTHL_TD_MotorDelay) //给锁轴时间 { bCheckEN_FLG = 1; JL_CTHL_CheckInX02PosBuff= 0; JL_CTHL_TD_MotorStep = 2; SetPos(X_AXIS, 0); //启动位置设为0点 AxisContinueMoveAcc(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,DIR_P,800,600,15,15); JL_CTHL_X_CXPosBuff=0; } break; case 2://检测到过链 if(dwXRealPos > 400) //穿入2CM后退 { if(JL_CTHL_PARAM_NLSL_MODE) { JL_CTHL_XKTD_VAVLE=0; } JL_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 JL_CTHL_QDXK_VAVLE = 0; } if(dwXRealPos >= JL_CTHL_PARAM_WLCDSHEZHI_LENTH) { JL_CTHL_SetAlarmCode(JL_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } if(JL_CTHL_FK_Check) { JL_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 JL_CTHL_QDXK_VAVLE = 0; JL_CTHL_XSavePosBuff = dwXRealPos; JL_CTHL_TD_MotorStep = 3; // user_datas[123] = dwXRealPos - JL_CTHL_CheckInX02PosBuff; if((dwXRealPos >= JL_CTHL_CheckInX02PosBuff) && JL_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,JL_CTHL_PARAM_FKDW_Length, JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,30,250,40); else AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,JL_CTHL_PARAM_FKDW_Length, JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,30,250,40); } break; case 3: if(JL_CTHL_CXSC_Limit_IN_DW) { JL_CTHL_X_CXPosBuff = dwXRealPos; } if(!X_DRV || (dwXRealPos >= (JL_CTHL_XSavePosBuff + JL_CTHL_PARAM_FKDW_Length))) { AxisEgmStop(X_AXIS); JL_CTHL_TD_MotorStep =4 ; JL_CTHL_LianLengthAutoCheck = dwXRealPos; } break; case 4: if(JL_CTHL_PARAM_XCX_LENTH) //0的话不判断位置 { if ((dwXRealPos - JL_CTHL_X_CXPosBuff) > (JL_CTHL_PARAM_XCX_LENTH + JL_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 1; JL_CTHL_TD_MotorStep = 0; JL_CTHL_SetAlarmCode(JL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(JL_CTHL_X_CXPosBuff == 0) { // user_datas[121] = 3; JL_CTHL_TD_MotorStep = 0; JL_CTHL_SetAlarmCode(JL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { JL_CTHL_TD_MotorStep = 0; JL_CTHL_X_CXPosBuff=dwXRealPos; } } else { JL_CTHL_TD_MotorStep = 0; // JL_CTHL_X_CXPosBuff=dwXRealPos; } break; case 9: if(dwTickCount >= JL_CTHL_TD_MotorDelay) { JL_CTHL_TD_MotorStep = 10; JL_CTHL_TD_MotorDelay=dwTickCount+500; SetEn(X_AXIS, MOTOR_EN); } break; case 10: if(dwTickCount >= JL_CTHL_TD_MotorDelay) { JL_CTHL_TD_MotorStep = 11; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; AxisContinueMoveAcc(X_AXIS,JL_CTHL_PARAM_TDCR_LowSpeed,DIR_P,1200,1200,15,15); JL_CTHL_CheckInX02PosBuff= 0; JL_CTHL_X_CXPosBuff=0; bCheckEN_FLG = 1; } break; case 11: if(dwXRealPos > 350) //穿入2CM后退 { if(JL_CTHL_PARAM_NLSL_MODE) { JL_CTHL_XKTD_VAVLE=0; } JL_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 JL_CTHL_QDXK_VAVLE =0; } if(dwXRealPos > JL_CTHL_PARAM_TDCR_LowSpeedLength) //穿入2CM后退 { JL_CTHL_CheckInX02PosBuff= 0; JL_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 JL_CTHL_QDXK_VAVLE = 0; if(JL_CTHL_PARAM_NLSL_MODE) { JL_CTHL_XKTD_VAVLE=0; } JL_CTHL_TD_MotorStep = 12; if((cZipCnt < 2) || (JL_CTHL_LianLengthCheck < JL_CTHL_PARAM_TDCR_LowSpeedLength)) AxisContinueMoveAcc(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,DIR_P,3000,600,10,10); else ////两段速度移动距离 { AxisMovePosAccDecNotStop(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed ,JL_CTHL_LianLengthCheck-(JL_CTHL_PARAM_TDCR_LowSpeedLength),1500,7000,30,300,250); } } if(JL_CTHL_FK_Check) //在这里检测到说明速度还没有起来 { // JL_CTHL_SongDai_VAVLE=1; JL_CTHL_DXK_VAVLE = 0; //顶斜口气缸关 JL_CTHL_QDXK_VAVLE = 0; if(JL_CTHL_PARAM_NLSL_MODE) { JL_CTHL_XKTD_VAVLE=0; } JL_CTHL_TD_MotorDelay= dwTickCount + JL_CTHL_PARAM_FKJDSECONG_DEALY; JL_CTHL_LianLengthReal = dwXRealPos; JL_CTHL_XSavePosBuff = dwXRealPos; JL_CTHL_TD_MotorStep = 13; // user_datas[122] = JL_CTHL_PARAM_FKDW_Length - (dwXRealPos- JL_CTHL_CheckInX02PosBuff); if((dwXRealPos >= JL_CTHL_CheckInX02PosBuff) && JL_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,JL_CTHL_PARAM_FKDW_Length - (dwXRealPos- JL_CTHL_CheckInX02PosBuff), JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,30,250,40); else AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,JL_CTHL_PARAM_FKDW_Length, JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,30,250,40); //JL_CTHL_TD_MotorStep = 0; } else if(JL_CTHL_CXSC_Limit_IN_UP) { AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed * 2/3,JL_CTHL_PARAM_FKDW_Length, JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,30,250,50); } else if(JL_CTHL_CXSC_Limit_IN_DW) { JL_CTHL_SetAlarmCode(JL_CTHL_DK_ERROR_ALARM,bRunning); } break; case 12://检测到过链 if(cZipCnt<2) { if(dwXRealPos >= JL_CTHL_PARAM_WLCDSHEZHI_LENTH) { if(bRunning) { cCHULIANBAOJIN=1; SetEn(X_AXIS, MOTOR_DISEN); AxisEgmStop(X_AXIS); SetPos(X_AXIS, 0); //启动位置设为0点 // dwXRealPos=0; } JL_CTHL_SetAlarmCode(JL_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } else { if(dwXRealPos >= JL_CTHL_LianLengthAutoCheckERROR + JL_CTHL_PARAM_WUCD_LENTH) { if(bRunning) { cCHULIANBAOJIN=1; SetEn(X_AXIS, MOTOR_DISEN); AxisEgmStop(X_AXIS); SetPos(X_AXIS, 0); //启动位置设为0点 // dwXRealPos=0; } JL_CTHL_SetAlarmCode(JL_CTHL_WLZDTJ_ALARM,bRunning); //无拉链自动停机 } } if(JL_CTHL_FK_Check) { JL_CTHL_TD_MotorDelay= dwTickCount + JL_CTHL_PARAM_FKJDSECONG_DEALY; JL_CTHL_LianLengthReal = dwXRealPos; //if(cZipCnt == 1) // user_datas[122] = dwXRealPos; // user_datas[121] = dwXRealPos; if((cZipCnt == 1) || dwXRealPos < (JL_CTHL_LianLengthCheck*0.85) || dwXRealPos>(JL_CTHL_LianLengthCheck*1.3)) JL_CTHL_LianLengthCheck = dwXRealPos; JL_CTHL_LianLengthCheckOLD=JL_CTHL_LianLengthNEWCheck; JL_CTHL_LianLengthNEWCheck = dwXRealPos; //break; JL_CTHL_XSavePosBuff = dwXRealPos; JL_CTHL_TD_MotorStep = 13; // user_datas[122] = JL_CTHL_PARAM_FKDW_Length - (dwXRealPos- JL_CTHL_CheckInX02PosBuff); if(cZipCnt > 1 ) { if((dwXRealPos >= JL_CTHL_CheckInX02PosBuff) && JL_CTHL_CheckInX02PosBuff) AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,JL_CTHL_PARAM_FKDW_Length - (dwXRealPos- JL_CTHL_CheckInX02PosBuff), JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,30,300,50); else AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,JL_CTHL_PARAM_FKDW_Length, JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,30,300,50); } else { AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed*2/3,JL_CTHL_PARAM_first_length, JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,30,300,50); } //JL_CTHL_TD_MotorStep = 0; } else if(JL_CTHL_CXSC_Limit_IN_UP) { AxisMovePosAccDec(X_AXIS,JL_CTHL_PARAM_TD_RunSpeed * 2/3,JL_CTHL_PARAM_FKDW_Length, JL_CTHL_PARAM_FKDW_Speed,JL_CTHL_PARAM_FKDW_Speed,10,150,50); } else if(JL_CTHL_CXSC_Limit_IN_DW) { JL_CTHL_SetAlarmCode(JL_CTHL_DK_ERROR_ALARM,bRunning); } break; case 13: if(dwTickCount >= JL_CTHL_TD_MotorDelay) { JL_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 } if(JL_CTHL_CXSC_Limit_IN_DW) { JL_CTHL_X_CXPosBuff = dwXRealPos; } if((!X_DRV ))// || (dwXRealPos >= (JL_CTHL_XSavePosBuff + JL_CTHL_PARAM_FKDW_Length))) { // user_datas[123] = dwXRealPos-JL_CTHL_CheckInX02PosBuff; AxisEgmStop(X_AXIS); JL_CTHL_TD_MotorStep = 14; /* if(cZipCnt>2) { if(((JL_CTHL_LianLengthNEWCheck+JL_CTHL_LianLengthCheckOLD)*0.5) < (JL_CTHL_LianLengthCheck*0.95)) { cZipCnt=0; cHeLian=1; } }*/ if(cZipCnt==1) JL_CTHL_LianLengthAutoCheckERROR = dwXRealPos; if(cZipCnt==1) JL_CTHL_LianLengSave=dwXRealPos; JL_CTHL_LianLengthAutoCheck = dwXRealPos; // user_datas[122] = dwXRealPos-JL_CTHL_X_CXPosBuff; } break; case 14: if(JL_CTHL_PARAM_XCX_LENTH) //0的话不判断位置 { if ((dwXRealPos - JL_CTHL_X_CXPosBuff) > (JL_CTHL_PARAM_XCX_LENTH + JL_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 1; JL_CTHL_TD_MotorStep = 0; cXCXQXQD=1; JL_CTHL_SetAlarmCode(JL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if((dwXRealPos - JL_CTHL_X_CXPosBuff) < (JL_CTHL_PARAM_XCX_LENTH - JL_CTHL_PARAM_XCXWC_LENTH)) { // user_datas[121] = 2; JL_CTHL_TD_MotorStep = 0; cXCXQXQD=1; JL_CTHL_SetAlarmCode(JL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else if(JL_CTHL_X_CXPosBuff == 0) { // user_datas[121] = 3; JL_CTHL_TD_MotorStep = 0; cXCXQXQD=1; JL_CTHL_SetAlarmCode(JL_CTHL_XCXXCYC_ALARM,bRunning); // 小插销行程异常 } else { JL_CTHL_TD_MotorStep = 15; } } else { JL_CTHL_TD_MotorStep = 15; } break; case 15: // if(JL_CTHL_START_IN_UP) JL_CTHL_TD_MotorStep = 0; break; } #endif } //穿入电机动作，Y轴 void JL_CTHL_CL_Motor(void) // { #if 0 //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(JL_CTHL_CL_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= JL_CTHL_CL_MotorDelay) { // SetDir(Y_AXIS, DIR_P); if(JL_CTHL_PARAM_CL_Length >= JL_CTHL_PARAM_CL_MAX_Length) JL_CTHL_PARAM_CL_Length = JL_CTHL_PARAM_CL_MAX_Length; //穿入长度要根据检测长度减动一次穿入的1CM,反转的2CM if((JL_CTHL_LianLengthAutoCheck < (JL_CTHL_PARAM_CL_Length + 500 )) && bRunning) AxisMovePosAccDec(Y_AXIS,JL_CTHL_PARAM_CL_Speed,(JL_CTHL_LianLengthAutoCheck-500),800,600,6,6,50); else AxisMovePosAccDec(Y_AXIS,JL_CTHL_PARAM_CL_Speed,(JL_CTHL_PARAM_CL_Length-100),800,600,6,6,50); JL_CTHL_CL_MotorStep = 2; } break; case 2: if((dwYRealPos + 120) > JL_CTHL_PARAM_CL_Length) JL_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= JL_CTHL_PARAM_CL_Length) { JL_CTHL_HLJJ_VAVLE = 0; JL_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; JL_CTHL_CL_MotorDelay = dwTickCount + 40; //延时数控回零点 } break; case 3: if(dwTickCount >= JL_CTHL_CL_MotorDelay) { JL_CTHL_CL_MotorStep = 50; } break; //夹带插销到穿入位置 case 20: //此处最好算好定位长度相减 if(cXcxcrCnt > 0) { JL_CTHL_LENTH = JL_CTHL_PARAM_CXDW_Length + 30; JL_CTHL_CL_MotorStep = 21; } else { JL_CTHL_LENTH = JL_CTHL_PARAM_CXDW_Length ; JL_CTHL_CL_MotorStep = 21; } break; case 21: SetDir(Y_AXIS, DIR_P); AxisMovePosAccDec(Y_AXIS,8000,JL_CTHL_LENTH,800,500,6,6,50); JL_CTHL_CL_MotorStep = 22; break; case 22: if(!Y_DRV || (dwYRealPos >= JL_CTHL_LENTH)) //插销定位已经结束 { AxisEgmStop(Y_AXIS); JL_CTHL_YsaveCXDWPosBuff = 0; JL_CTHL_CL_MotorStep = 0; } break; //回原点开始 case 40: //要先离开 if(JL_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN)) { JL_CTHL_CL_MotorStep = 41; SetDir(Y_AXIS, DIR_P); } else { SetDir(Y_AXIS, DIR_N); JL_CTHL_CL_MotorStep = 46; } if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); JL_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } else //已经锁轴 JL_CTHL_CL_MotorDelay = dwTickCount + 5; break; case 41: if(dwTickCount >= JL_CTHL_CL_MotorDelay) { JL_CTHL_CL_MotorStep = 42; AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15); } break; case 42: if(!JL_CTHL_SF_Origin_IN) { JL_CTHL_CL_MotorStep = 43; JL_CTHL_YSavePosBuff = dwYRealPos; } break; case 43: //离开原点5CM停止 if((dwYRealPos - JL_CTHL_YSavePosBuff) >= 800) { AxisEgmStop(Y_AXIS); JL_CTHL_CL_MotorStep = 46; //留空几步备用 JL_CTHL_CL_MotorDelay = dwTickCount + 50; } break; case 46: if(dwTickCount >= JL_CTHL_CL_MotorDelay) { JL_CTHL_CL_MotorStep = 47; //检测回到原位 if(!JL_CTHL_SF_Origin_IN) AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1000,800,15,10); } break; case 47: if(JL_CTHL_SF_Origin_IN) { JL_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(dwYRealPos > 150) { //回零速度 SetDir(Y_AXIS, DIR_N); AxisMovePosAccDecNotStop(Y_AXIS,JL_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos + 150,5000,2000,10,50,50); } else AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15); JL_CTHL_CL_MotorStep = 51; break; case 51: if(JL_CTHL_SF_Origin_IN) { JL_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; } #endif #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(JL_CTHL_CL_MotorStep) { //穿入长度位置 case 1: if(dwTickCount >= JL_CTHL_CL_MotorDelay) { if(JL_CTHL_SF_Origin_IN) { if(!JL_CTHL_PARAM_AUTO_MODE) { //穿入长度要根据检测长度减动一次穿入的1CM,反转的2CM if(JL_CTHL_LianLengthAutoCheck <= 700) { JL_CTHL_Y_CL_Length=JL_CTHL_LianLengthAutoCheck-200; if(JL_CTHL_Y_CL_Length<10) JL_CTHL_Y_CL_Length=200; if(JL_CTHL_Y_CL_Length >= JL_CTHL_PARAM_CL_MAX_Length) JL_CTHL_Y_CL_Length = JL_CTHL_PARAM_CL_MAX_Length-40; AxisMovePosAccDec(Y_AXIS,JL_CTHL_PARAM_CL_Speed,JL_CTHL_Y_CL_Length,800,600,6,6,50); } else if(JL_CTHL_LianLengthAutoCheck>700) { user_datas[123] =JL_CTHL_LianLengthAutoCheck; if(cZipCnt>1) JL_CTHL_Y_CL_Length=JL_CTHL_LianLengSave-JL_CTHL_PARAM_HLTSY_LENTH-300; else { if(cZipCnt<1) JL_CTHL_Y_CL_Length=JL_CTHL_LianLengthAutoCheck-JL_CTHL_PARAM_HLTSY_LENTH-100; else JL_CTHL_Y_CL_Length=JL_CTHL_LianLengthAutoCheck-JL_CTHL_PARAM_HLTSY_LENTH-300; } if(JL_CTHL_Y_CL_Length<200) JL_CTHL_Y_CL_Length=200; if(JL_CTHL_Y_CL_Length >= JL_CTHL_PARAM_CL_MAX_Length) JL_CTHL_Y_CL_Length = JL_CTHL_PARAM_CL_MAX_Length-40; AxisMovePosAccDec(Y_AXIS,JL_CTHL_PARAM_CL_Speed,JL_CTHL_Y_CL_Length,800,600,6,6,50); } } else { if(JL_CTHL_PARAM_CL_Length >= JL_CTHL_PARAM_CL_MAX_Length) JL_CTHL_PARAM_CL_Length = JL_CTHL_PARAM_CL_MAX_Length; //穿入长度要根据检测长度减动一次穿入的1CM,反转的2CM if((JL_CTHL_LianLengthAutoCheck < (JL_CTHL_PARAM_CL_Length + 500 )) && bRunning) AxisMovePosAccDec(Y_AXIS,JL_CTHL_PARAM_CL_Speed,(JL_CTHL_LianLengthAutoCheck-500),800,600,6,6,50); else AxisMovePosAccDec(Y_AXIS,JL_CTHL_PARAM_CL_Speed,(JL_CTHL_PARAM_CL_Length-100),800,600,6,6,50); } JL_CTHL_CL_MotorStep = 2; } } break; case 2: if(JL_CTHL_PARAM_AUTO_MODE) { if((dwYRealPos + 120) > JL_CTHL_PARAM_CL_Length) JL_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= JL_CTHL_PARAM_CL_Length) { JL_CTHL_HLJJ_VAVLE = 0; JL_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; JL_CTHL_CL_MotorDelay = dwTickCount + 30; //延时数控回零点 } } else { if((dwYRealPos + 120) > JL_CTHL_Y_CL_Length) JL_CTHL_HLJJ_VAVLE = 0; if(!Y_DRV || dwYRealPos >= JL_CTHL_Y_CL_Length) { JL_CTHL_HLJJ_VAVLE = 0; JL_CTHL_CL_MotorStep = 3; bCL_OK_FLG = 1; JL_CTHL_CL_MotorDelay = dwTickCount + 30; //延时数控回零点 } } break; case 3: if(dwTickCount >= JL_CTHL_CL_MotorDelay) { JL_CTHL_CL_MotorStep = 50; } break; //夹带插销到穿入位置 case 20: //此处最好算好定位长度相减 if(cXcxcrCnt > 0) { if(cXcxcrCnt==1) JL_CTHL_LENTH = JL_CTHL_PARAM_CXDW_Length+JL_CTHL_PARAM_TDFZ_LENTH + 50; if(cXcxcrCnt>1) JL_CTHL_LENTH = JL_CTHL_PARAM_CXDW_Length +JL_CTHL_PARAM_TDFZ_LENTH + 120; JL_CTHL_CL_MotorStep = 21; } else { JL_CTHL_LENTH = JL_CTHL_PARAM_CXDW_Length ; JL_CTHL_CL_MotorStep = 21; } break; case 21: if(JL_CTHL_SF_Origin_IN) { SetDir(Y_AXIS, DIR_P); JL_CTHL_Y_CL_PosBuff = dwYRealPos; AxisMovePosAccDec(Y_AXIS,JL_CTHL_PARAM_XCLC_SPEED,JL_CTHL_LENTH,800,500,6,6,50); JL_CTHL_CL_MotorStep = 22; } break; case 22: if(dwYRealPos >= JL_CTHL_Y_CL_PosBuff+JL_CTHL_LENTH-JL_CTHL_PARAM_CXDW_Length) //插销定位已经结束 { JL_CTHL_CXSCDW_VAVLE = 1; } if(!Y_DRV || (dwYRealPos >= JL_CTHL_Y_CL_PosBuff+JL_CTHL_LENTH)) //插销定位已经结束 { AxisEgmStop(Y_AXIS); JL_CTHL_YsaveCXDWPosBuff = 0; JL_CTHL_CL_MotorStep = 0; } break; case 30: JL_CTHL_YsaveCXDWPosBuff = 0; JL_CTHL_CL_MotorStep = 0; break; //回原点开始 case 40: //要先离开 if(JL_CTHL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN)) { JL_CTHL_CL_MotorStep = 41; SetDir(Y_AXIS, DIR_P); } else { SetDir(Y_AXIS, DIR_N); JL_CTHL_CL_MotorStep = 46; } if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); JL_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } else //已经锁轴 JL_CTHL_CL_MotorDelay = dwTickCount + 5; break; case 41: if(dwTickCount >= JL_CTHL_CL_MotorDelay) { JL_CTHL_CL_MotorStep = 42; AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15); } break; case 42: if(!JL_CTHL_SF_Origin_IN) { JL_CTHL_CL_MotorStep = 43; JL_CTHL_YSavePosBuff = dwYRealPos; } break; case 43: //离开原点5CM停止 if((dwYRealPos - JL_CTHL_YSavePosBuff) >= 800) { AxisEgmStop(Y_AXIS); JL_CTHL_CL_MotorStep = 46; //留空几步备用 JL_CTHL_CL_MotorDelay = dwTickCount + 50; } break; case 46: if(dwTickCount >= JL_CTHL_CL_MotorDelay) { JL_CTHL_CL_MotorStep = 47; //检测回到原位 if(!JL_CTHL_SF_Origin_IN) AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1000,800,15,10); } break; case 47: if(JL_CTHL_SF_Origin_IN) { JL_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(dwYRealPos > 151) { //回零速度 SetDir(Y_AXIS, DIR_N); AxisMovePosAccDecNotStop(Y_AXIS,JL_CTHL_PARAM_CL_Back_O_Speed,-dwYRealPos + 150,5000,2500,30,200,00); } else AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15); JL_CTHL_CL_MotorStep = 51; break; case 51: if(JL_CTHL_SF_Origin_IN) { JL_CTHL_CL_MotorStep = 0; AxisEgmStop(Y_AXIS); SetPos(Y_AXIS, 0); } break; } #endif } //装拉头动作 void JL_CTHL_ZLT_Step(void) { switch(JL_CTHL_ZhuangLiaoStep) { case 1: if(bZhuangLiaoOkFlg) { JL_CTHL_ZhuangLiaoStep = 0; } else if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) { if(((JL_CTHL_MGuo_VAVLE && JL_CTHL_LTou_Check) || (!JL_CTHL_MGuo_VAVLE)) && !JL_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(JL_CTHL_CTM_Origin_IN && !JL_CTHL_CTXM_VAVLE) { JL_CTHL_First_CT_VAVLE = 0; JL_CTHL_JLTou_VAVLE = 0; JL_CTHL_MGuo_VAVLE = 0; if(JL_CTHL_TLiaoStep == 0) { JL_CTHL_TLiaoStep = 1; JL_CTHL_ZhuangLiaoStep = 2; } } else if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay + 500) //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 { JL_CTHL_SetAlarmCode(JL_CTHL_CTM_Origin_ALARM,bRunning); } } else //已经有拉头直接跳到结束 { JL_CTHL_ZhuangLiaoDelay = dwTickCount + 40; JL_CTHL_ZhuangLiaoStep = 9; } } break; case 2: if(JL_CTHL_TLiaoStep == 0) //推料已经完成 { JL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; JL_CTHL_JLTou_VAVLE = 0; JL_CTHL_MGuo_VAVLE = 0; if(!JL_CTHL_JLiao_Limit_IN && JL_CTHL_First_CT_Origin_IN) { JL_CTHL_ZhuangLiaoStep = 3; JL_CTHL_HSLiao_VAVLE = 1; } } break; case 3: //横送到位 if(JL_CTHL_HSLiao_Limit_IN && !JL_CTHL_HSLiao_Origin_IN) { JL_CTHL_ZhuangLiaoStep = 4; // JL_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 JL_CTHL_ZhuangLiaoDelay = dwTickCount + 5; } else if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) { JL_CTHL_SetAlarmCode(JL_CTHL_HSLiao_Limit_ALARM,bRunning); } break; case 4: if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) { JL_CTHL_ZhuangLiaoStep = 5; JL_CTHL_JLTou_VAVLE = 1; //接拉头输出,不需要时间 JL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 5: if(JL_CTHL_JLiao_Limit_IN) { JL_CTHL_ZhuangLiaoStep = 6; JL_CTHL_ZhuangLiaoDelay = dwTickCount + JL_CTHL_PARAM_MaGou_DELAY; } else if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) //接拉头(接料)到们信号异常 { JL_CTHL_SetAlarmCode(JL_CTHL_JLiao_Limit_ALARM,bRunning); } break; case 6: if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) //延时码勾 { JL_CTHL_MGuo_VAVLE = 1; //码勾输出 JL_CTHL_ZhuangLiaoStep = 7; JL_CTHL_ZhuangLiaoDelay = dwTickCount + JL_CTHL_PARAM_HSLiaoOff_DELAY; bTuiLaTouOkFlg = 0; //认为拉头没法带出 } break; case 7: if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) { JL_CTHL_HSLiao_VAVLE = 0; JL_CTHL_ZhuangLiaoStep = 8; JL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } break; case 8: if(!JL_CTHL_HSLiao_Limit_IN) // { JL_CTHL_ZhuangLiaoStep = 9; JL_CTHL_TLiaoStep = 1; //推拉头 JL_CTHL_ZhuangLiaoDelay = dwTickCount + JL_CTHL_PARAM_CheckLT_DELAY; //也是给下模能上升的时间 } else if (JL_CTHL_LTou_Check) //时间内信号这说明没有拉头 { //重送3次 JL_CTHL_TryCnt++; JL_CTHL_JLTou_VAVLE = 0; //接拉头关 JL_CTHL_MGuo_VAVLE = 0; //码勾打开 if(JL_CTHL_TryCnt >= 3) { JL_CTHL_TryCnt = 0; bZhuangLiaoOkFlg = 0; JL_CTHL_ZhuangLiaoStep = 0; JL_CTHL_SetAlarmCode(JL_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { JL_CTHL_ZhuangLiaoStep = 20; //重新送3次 JL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) { JL_CTHL_SetAlarmCode(JL_CTHL_HSLiao_Limit_ALARM,bRunning); if(bRunning) { JL_CTHL_ZhuangLiaoStep = 0 ; } } break; case 9: if(JL_CTHL_LTou_Check) //时间内信号这说明没有拉头 { JL_CTHL_TryCnt++; JL_CTHL_JLTou_VAVLE = 0; //接拉头关 JL_CTHL_MGuo_VAVLE = 0; //码勾打开 if(JL_CTHL_TryCnt >= 3) { JL_CTHL_TryCnt=0; bZhuangLiaoOkFlg = 0; JL_CTHL_ZhuangLiaoStep = 0; JL_CTHL_SetAlarmCode(JL_CTHL_ZLT_ALARM,bRunning); cWULATOUCnt=1; } else { JL_CTHL_ZhuangLiaoStep = 20; //重新送3次 JL_CTHL_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME; } } else if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) { bZhuangLiaoOkFlg = 1; JL_CTHL_ZhuangLiaoStep = 0; } break; //装拉头不成攻重新送拉头 case 20: if(JL_CTHL_HSLiao_Origin_IN) { JL_CTHL_JLTou_VAVLE = 0; //接拉头关 JL_CTHL_MGuo_VAVLE = 0; //码勾打开 JL_CTHL_ZhuangLiaoStep = 1; JL_CTHL_ZhuangLiaoDelay = dwTickCount + 10; } else if(dwTickCount >= JL_CTHL_ZhuangLiaoDelay) { JL_CTHL_SetAlarmCode(JL_CTHL_HSLiao_Origin_ALARM,bRunning); } break; } } void JL_CTHL_TLiao_Step(void) { switch(JL_CTHL_TLiaoStep) { case 1: if(bTuiLaTouOkFlg) { JL_CTHL_TLiaoStep = 0; } else { JL_CTHL_TLiao_Delay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; JL_CTHL_TLiaoStep = 2; } break; case 2: //横送料在原位 if(JL_CTHL_HSLiao_Origin_IN && !JL_CTHL_HSLiao_Limit_IN && !JL_CTHL_HSLiao_VAVLE) { JL_CTHL_TLiao_VAVLE = 1; //推料(推拉头)输出 JL_CTHL_TLiao_Delay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; JL_CTHL_TLiaoStep = 3; } else if(dwTickCount >= JL_CTHL_TLiao_Delay) JL_CTHL_SetAlarmCode(JL_CTHL_HSLiao_Origin_ALARM,1); break; case 3: //推拉头到位 if(!JL_CTHL_TLiao_Limit_IN) { JL_CTHL_TLiao_Delay = dwTickCount + JL_CTHL_PARAM_TLiao_BACKDELAY; JL_CTHL_TLiaoStep = 4; } else if(dwTickCount >= JL_CTHL_TLiao_Delay) JL_CTHL_SetAlarmCode(JL_CTHL_TLiao_Limit_ALARM,1); break; case 4: if(dwTickCount >= JL_CTHL_TLiao_Delay) { JL_CTHL_TLiao_VAVLE = 0; JL_CTHL_TLiao_Delay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; JL_CTHL_TLiaoStep = 5; } break; case 5: if(JL_CTHL_TLiao_Limit_IN) { JL_CTHL_TLiaoStep = 0; JL_CTHL_TLiao_Delay = dwTickCount; bTuiLaTouOkFlg = 1; } else if(dwTickCount >= JL_CTHL_TLiao_Delay) JL_CTHL_SetAlarmCode(JL_CTHL_TLiao_Limit_ALARM,0); break; } } //振动盘控制 void JL_CTHL_ZhenDongAction(void) { #if 0 if((JL_CTHL_bDLP || bRunning) && JL_CTHL_ZhenDongPian_OUT && JL_CTHL_PARAM_DALIAOPIAN) { if(CT_DLP_Time >= dwTickCount) { CT_ZDP_Delay = dwTickCount + CT_PARAM_DLP_TIME + 40; CT_DaLaPian_VAVLE = ~CT_DaLaPian_VAVLE; } } else CT_DaLaPian_VAVLE = 0; #endif #if 1 // if(bRunning) // { switch(JL_CTHL_PARAM_ZDP_AUTO) { case 0: if(JL_CTHL_ZhenDongPian_OUT == 0) { if(!JL_CTHL_ZDP_IN) { if(dwTickCount >= JL_CTHL_ZDP_Delay) { JL_CTHL_ZhenDongPian_OUT = 1; JL_CTHL_ZDP_Delay = dwTickCount + JL_CTHL_PARAM_ZDP_Stop_TIME;//JL_CTHL_PARAM_ZDP_Stop_TIME + 50; } } else { JL_CTHL_ZDP_Delay = dwTickCount + JL_CTHL_PARAM_ZDP_Start_TIME;//JL_CTHL_PARAM_ZDP_Start_TIME; } } else { if(JL_CTHL_ZDP_IN) { if(dwTickCount >= JL_CTHL_ZDP_Delay) { JL_CTHL_ZhenDongPian_OUT = 0; JL_CTHL_ZDP_Delay = dwTickCount + JL_CTHL_PARAM_ZDP_Start_TIME;//JL_CTHL_PARAM_ZDP_Start_TIME } } else JL_CTHL_ZDP_Delay = dwTickCount + JL_CTHL_PARAM_ZDP_Stop_TIME;//JL_CTHL_PARAM_ZDP_Stop_TIME+ 50; } break; case 1: JL_CTHL_ZhenDongPian_OUT=0; JL_CTHL_ZDP_Delay = dwTickCount; break; case 2: JL_CTHL_ZhenDongPian_OUT=1; JL_CTHL_ZDP_Delay = dwTickCount; break; } if(JL_CTHL_ZhenDongPian_OUT) { if(JL_CTHL_PARAM_LaPian_EN) { if(dwTickCount >= JL_CTHL_DLP_Delay) { JL_CTHL_DaLaPian_OUT = !JL_CTHL_DaLaPian_OUT; if(JL_CTHL_DaLaPian_OUT) JL_CTHL_DLP_Delay = dwTickCount + JL_CTHL_PARAM_DaLaPian; else JL_CTHL_DLP_Delay = dwTickCount + JL_CTHL_PARAM_DaLaPian+50; } } else JL_CTHL_DaLaPian_OUT = 0; } else JL_CTHL_DaLaPian_OUT = 0; #endif } void JL_CTHL_bFKCXTDDWStep(void) { switch(JL_CTHL_bFKCXTDDW_Step) { case 1: JL_CTHL_FKJD_VAVLE = 1; //方块夹带气缸输出 JL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 JL_CTHL_FKGD_VAVLE = 0; //方块固定关 JL_CTHL_bFKCXTDDW_Step = 2; break; case 2: if(!JL_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { JL_CTHL_bFKCXTDDW_Step = 3; JL_CTHL_bFKCXTDDW_Delay = dwTickCount + 20; } break; case 3://斜口定位 if(dwTickCount >= JL_CTHL_bFKCXTDDW_Delay) { JL_CTHL_XKDW_VAVLE = 1; JL_CTHL_bFKCXTDDW_Step = 4; // JL_CTHL_bFKCXTDDW_Delay = dwTickCount + JL_CTHL_PARAM_XKDW_TD_DELAY; } break; case 4: if(dwTickCount >= JL_CTHL_bFKCXTDDW_Delay) { AxisContinueMoveAcc(X_AXIS,1200,DIR_P,800,600,10,10);//拖带电机 JL_CTHL_bFKCXTDDW_Step = 5; JL_CTHL_XSavePosBuff = dwXRealPos; SetPos(X_AXIS, 0); //启动位置设为0点 dwXRealPos = 0; } break; case 5: if(JL_CTHL_XKSC_Limit_IN) //方块到位 { AxisEgmStop(X_AXIS); JL_CTHL_QDXK_VAVLE=1; JL_CTHL_bFKCXTDDW_Step = 6; JL_CTHL_XKTD_VAVLE = 0; //斜口推带气缸关闭 JL_CTHL_bFKCXTDDW_Delay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; } else if(dwXRealPos >= (JL_CTHL_XSavePosBuff + 800)) { JL_CTHL_SetAlarmCode(JL_CTHL_FKCXDW_ALARM,bRunning);//方块插销定位异常警告 } break; case 6: if(JL_CTHL_PARAM_TDFZ_LENTH && !X_DRV) //拖带电机反转 AxisMovePosAccDec(X_AXIS,8000,-JL_CTHL_PARAM_DXKFZ_LENTH,800,600,6,6,0); if(JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE = 1; JL_CTHL_bFKCXTDDW_Step = 0; break; } } //插销穿入动作 void JL_CTHL_bCXCRStep(void) { switch(JL_CTHL_bCXCR_Step) { case 11: JL_CTHL_XKTD_VAVLE = 1; //斜口推带气缸输出 JL_CTHL_FKGD_VAVLE = 0; //方块固定关 JL_CTHL_CXSCDW_VAVLE=1; JL_CTHL_bCXCR_Step = 12; break; case 12: if(!JL_CTHL_XKTD_Origin_IN) //斜口推带原位离开 { JL_CTHL_bCXCR_Step = 13; // JL_CTHL_CXQJD_VAVLE = 1; //插销前夹带 JL_CTHL_bCXCR_Delay = dwTickCount + 20; } break; case 13: if((JL_CTHL_CL_MotorStep == 0) && (JL_CTHL_SF_Origin_IN) && (dwTickCount >= JL_CTHL_bCXCR_Delay)) //插销前夹带回到原位 { JL_CTHL_bCXCR_Step = 14; // JL_CTHL_FKGD_VAVLE = 1; //方块固定开 JL_CTHL_CXQJD_VAVLE = 1; //插销前夹带 JL_CTHL_bCXCR_Delay = dwTickCount + JL_CTHL_PARAM_XCQJD_XCDW_DELAY+100; } break; case 14: if(dwTickCount >= JL_CTHL_bCXCR_Delay) { JL_CTHL_bCXCR_Step = 15; JL_CTHL_FKGD_VAVLE = 1; //方块固定 //Y轴启动插销 JL_CTHL_CL_MotorStep = 20; //插销定位 } break; case 15: if(JL_CTHL_CL_MotorStep == 0) //插销定位完成 { JL_CTHL_bCXCR_Step = 16; JL_CTHL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀 JL_CTHL_bCXCR_Delay = dwTickCount + 10; //延时插销下移 } break; case 16: if(dwTickCount >= JL_CTHL_bCXCR_Delay) { JL_CTHL_bCXCR_Step = 17; if(JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE = 0; else JL_CTHL_CXJL_VAVLE = 1; //Y06 插销下移电磁阀 if(JL_CTHL_PARAM_NLSL_MODE == 0) JL_CTHL_bCXCR_Delay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; //插销下移异常时间 else JL_CTHL_bCXCR_Delay = dwTickCount + 80; //插销下移异常时间 } break; case 17: if((JL_CTHL_CXJL_Limit_IN) || JL_CTHL_PARAM_NLSL_MODE) { if(JL_CTHL_CXJL_Limit_IN || (dwTickCount >= JL_CTHL_bCXCR_Delay)) { JL_CTHL_bCXCR_Step = 18; if( cXcxcrCnt==0 && !X_DRV) //拖带电机反转 { AxisMovePosAccDec(X_AXIS,10000,-JL_CTHL_PARAM_TDFZ_LENTH,800,600,6,6,0); } JL_CTHL_CXQJD_VAVLE = 0; //插销前夹带电磁阀 JL_CTHL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关 JL_CTHL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出 JL_CTHL_bCXCR_Delay = dwTickCount + JL_CTHL_PARAM_SCDWOff_CXDW_DELAY; } } else if(dwTickCount >= JL_CTHL_bCXCR_Delay) { JL_CTHL_SetAlarmCode(JL_CTHL_CXJL_Limit_ALARM,bRunning);//插销下移异常 } break; case 18: // if(START_IN_UP) { if(dwTickCount >= JL_CTHL_bCXCR_Delay) { JL_CTHL_bCXCR_Step = 19; JL_CTHL_CXHDW_VAVLE = 1; //插销后定位(插销穿入) JL_CTHL_bCXCR_Delay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME +1000; //插销穿入到位异常时间 JL_CTHL_CL_MotorStep = 50; //合链电机回原点 } } break; case 19: if( cXcxcrCnt > 1) { JL_CTHL_SetAlarmCode(JL_CTHL_CX_Limit_ALARM,bRunning); //插销穿入到位异常 } if( JL_CTHL_CX_Limit_IN && cXcxcrCnt<2 ) { cXcxcrCnt=0; bZhuangLiaoOkFlg = 0; JL_CTHL_bCXCR_Step = 0; JL_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 } else if (dwTickCount >= JL_CTHL_bCXCR_Delay) { cXcxcrCnt++; JL_CTHL_CXHJD_VAVLE=0; JL_CTHL_CXHDW_VAVLE=0; JL_CTHL_CXDWZ_VAVLE = 0; if(JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE = 0; else JL_CTHL_CXJL_VAVLE = 1; //Y06 插销下移电磁阀 JL_CTHL_bCXCR_Step = 11; } break; } } void JL_CTHL_bCLFirstStep(void) { switch(JL_CTHL_bCLFirst_Step) { case 19: JL_CTHL_JLTou_VAVLE = 0; //接拉头 bZhuangLiaoOkFlg = 0; JL_CTHL_bCLFirst_Step = 20; JL_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 JL_CTHL_CXJL_VAVLE = 0; //Y06 插销下移电磁阀关 JL_CTHL_bCLFirst_Delay = dwTickCount + JL_CTHL_PARAM_First_CL_DELAY;//延时一次穿入 break; case 20: if(dwTickCount >= JL_CTHL_bCLFirst_Delay) { JL_CTHL_bCLFirst_Step = 21; JL_CTHL_First_CT_VAVLE = 1; //一次穿入电磁阀输出 JL_CTHL_bCLFirst_Delay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; } break; case 21: if(!JL_CTHL_First_CT_Origin_IN) //原点离开后才开始时间 { JL_CTHL_bCLFirst_Step = 22; JL_CTHL_bCLFirst_Delay = dwTickCount + JL_CTHL_PARAM_First_CL_Timer; //一次穿入时间 } else if(dwTickCount >= JL_CTHL_bCLFirst_Delay) { JL_CTHL_SetAlarmCode(JL_CTHL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常 } break; case 22: if(dwTickCount >= JL_CTHL_bCLFirst_Delay) { JL_CTHL_bCLFirst_Step = 23; JL_CTHL_MGuo_VAVLE = 0; //码勾退 JL_CTHL_bCLFirst_Delay = dwTickCount + JL_CTHL_PARAM_MGOff_XiaMo_DELAY; JL_CTHL_FKGD_VAVLE = 0; //方块固定退 JL_CTHL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开 JL_CTHL_CXJL_VAVLE = 0; //Y06 插销下移电磁阀关 } break; case 23: if(dwTickCount >= JL_CTHL_bCLFirst_Delay) { JL_CTHL_bCLFirst_Step = 24; JL_CTHL_CTXM_VAVLE = 0; //穿头下模下降 JL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 JL_CTHL_bCLFirst_Delay = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; } break; case 24: if(!JL_CTHL_CTM_Limit_IN) { JL_CTHL_bCLFirst_Step= 25; JL_CTHL_bCLFirst_Delay = dwTickCount + 25; //一次穿入延时返回 } else if(dwTickCount >= JL_CTHL_bCLFirst_Delay) { JL_CTHL_SetAlarmCode(JL_CTHL_CTM_Origin_ALARM,bRunning); //穿头下模下降异常 } break; case 25: if(dwTickCount >= JL_CTHL_bCLFirst_Delay) { JL_CTHL_bCLFirst_Step= 0; JL_CTHL_First_CT_VAVLE = 0; //一次穿入电磁阀关 JL_CTHL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭 //退下出错警告 JL_CTHL_AutoDelay1 = dwTickCount + JL_CTHL_VAVLE_ERROR_TIME; JL_CTHL_AutoStep1 = 1; bTuiLaTouOkFlg = 1; } break; } } //手动动作 void JL_CTHL_ManualAction(void) { if(bRunning) // 运行灯输出 { JL_CTHL_Run_State=1; JL_CTHL_Stop_State=0; } else { JL_CTHL_Stop_State=1; JL_CTHL_Run_State=0; } if(dwTickCount >= JL_CTHL_bSFBBAOJIN_Delay) { JL_CTHL_SF_ALR_CLR=0; SetClr(Y_AXIS,MOTOR_ALARM); SetClr(X_AXIS,MOTOR_ALARM); } if(bRunning == 0) { if(bClearTotal) //切断计数清零 { bClearTotal = 0; ClrcToTal(QDCT_TOTAL_ADDR); } if(JL_CTHL_bTLiao ) //手动推料(推拉头) { JL_CTHL_bTLiao = 0; if(JL_CTHL_TLiao_VAVLE) JL_CTHL_TLiao_VAVLE = 0;//JL_CTHL_TLiao_VAVLE; else if(!JL_CTHL_HSLiao_VAVLE && JL_CTHL_HSLiao_Origin_IN) { JL_CTHL_TLiao_VAVLE = 1; } else//条件警告 { JL_CTHL_SetAlarmCode(JL_CTHL_HENSONGLIAO_ALARM,0); // 横送料不能输出 } } if(JL_CTHL_bHSL) //手动横送料 { JL_CTHL_bHSL= 0; if(!JL_CTHL_First_CT_VAVLE) { if(JL_CTHL_HSLiao_VAVLE) { JL_CTHL_HSLiao_VAVLE = 0;//~JL_CTHL_HSLiao_VAVLE; } else if(!JL_CTHL_TLiao_VAVLE && JL_CTHL_TLiao_Limit_IN && JL_CTHL_CTM_Origin_IN && !JL_CTHL_JLiao_Limit_IN && !JL_CTHL_JLTou_VAVLE && !JL_CTHL_CTXM_VAVLE && !JL_CTHL_CXDWZ_VAVLE && (!JL_CTHL_bMG || (JL_CTHL_bMG && JL_CTHL_LTou_Check))) { JL_CTHL_HSLiao_VAVLE = 1; } else //条件警告 最后一个括号条件为已经有拉头 { JL_CTHL_SetAlarmCode(JL_CTHL_YCCT_ALARM,0); } } } if(JL_CTHL_bJLT) //接拉头 { JL_CTHL_bJLT = 0; if(JL_CTHL_JLTou_VAVLE) JL_CTHL_JLTou_VAVLE = 0; else if(!JL_CTHL_First_CT_VAVLE && !JL_CTHL_CTXM_VAVLE && JL_CTHL_CTM_Origin_IN && JL_CTHL_First_CT_Origin_IN) { JL_CTHL_MGuo_VAVLE = 0; JL_CTHL_JLTou_VAVLE = 1; } else//条件警告 { JL_CTHL_SetAlarmCode(JL_CTHL_YCXM_Origin_ALARM,0); } } if(JL_CTHL_bMG) //码勾 { JL_CTHL_bMG = 0; JL_CTHL_MGuo_VAVLE = !JL_CTHL_MGuo_VAVLE; } if(JL_CTHL_bFKJD) //方块夹带 { JL_CTHL_bFKJD = 0; JL_CTHL_FKJD_VAVLE = !JL_CTHL_FKJD_VAVLE; } if(JL_CTHL_bXKTD) //斜口推带 { JL_CTHL_bXKTD = 0; if(JL_CTHL_XKTD_VAVLE) JL_CTHL_XKTD_VAVLE = 0; else if(!JL_CTHL_DXK_VAVLE && (!JL_CTHL_XKSC_Limit_IN || !JL_CTHL_CTXM_VAVLE|| JL_CTHL_PARAM_NLSL_MODE)) JL_CTHL_XKTD_VAVLE = 1; else//条件警告 { JL_CTHL_SetAlarmCode(JL_CTHL_DXKCTXM_Origin_ALARM,0); } } if(JL_CTHL_bXKDW) //斜口定位 { JL_CTHL_bXKDW = 0; JL_CTHL_XKDW_VAVLE = ~JL_CTHL_XKDW_VAVLE; } if(JL_CTHL_bCTXM) //穿头下模 { JL_CTHL_bCTXM = 0; if(JL_CTHL_CTXM_VAVLE ) { if(!JL_CTHL_CXJL_VAVLE) { JL_CTHL_CTXM_VAVLE = 0; JL_CTHL_JLTou_VAVLE = 0; } else { JL_CTHL_SetAlarmCode(JL_CTHL_TXC_Limit_ALARM,0); } } else if(!JL_CTHL_HSLiao_VAVLE && JL_CTHL_HSLiao_Origin_IN && (!JL_CTHL_XKSC_Limit_IN || !JL_CTHL_XKTD_VAVLE)) { if(JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE = 1; JL_CTHL_MGuo_VAVLE = 1; JL_CTHL_CTXM_VAVLE = 1; } } if(JL_CTHL_bQianDXK) //前顶斜口 { JL_CTHL_bQianDXK = 0; if(JL_CTHL_QDXK_VAVLE) JL_CTHL_QDXK_VAVLE = 0; else if(!JL_CTHL_XKTD_VAVLE) JL_CTHL_QDXK_VAVLE = 1; else //条件警告 { JL_CTHL_SetAlarmCode(JL_CTHL_XKTD_ALARM,0); } } if(JL_CTHL_bDXK) //顶斜口 { JL_CTHL_bDXK = 0; if(!JL_CTHL_PARAM_NLSL_MODE) { if(JL_CTHL_DXK_VAVLE) JL_CTHL_DXK_VAVLE = 0; else if(!JL_CTHL_XKTD_VAVLE) { if(!JL_CTHL_PARAM_NLSL_MODE) JL_CTHL_DXK_VAVLE = 1; } else //条件警告 { JL_CTHL_SetAlarmCode(JL_CTHL_XKTD_ALARM,0); } } else { if(JL_CTHL_XKTD_VAVLE) JL_CTHL_XKTD_VAVLE = 0; else if(!JL_CTHL_DXK_VAVLE ) { if(!JL_CTHL_XKSC_Limit_IN || !JL_CTHL_CTXM_VAVLE || JL_CTHL_PARAM_NLSL_MODE) JL_CTHL_XKTD_VAVLE = 1; else { JL_CTHL_SetAlarmCode(JL_CTHL_YCXM_Origin_ALARM,0); } } else//条件警告 { JL_CTHL_SetAlarmCode(JL_CTHL_DXKCTXM_Origin_ALARM,0); } } } if(JL_CTHL_bQianDXK_DXK) { JL_CTHL_bQianDXK_DXK = 0; if(!JL_CTHL_XKTD_VAVLE && JL_CTHL_AutoStep==0) { cQDXK_DXK=1; JL_CTHL_AutoStep = 8; SetEn(X_AXIS, MOTOR_EN); JL_CTHL_AutoDelay = dwTickCount + 50; bRunning=1; } } //斜码插入 if(JL_CTHL_bBanZiDong) { JL_CTHL_bBanZiDong=0; cBanAuTo=1; // JL_CTHL_PARAM_BanAuto_MODE=1; JL_CTHL_ZhuangLiaoDelay = dwTickCount + 150; JL_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 JL_CTHL_ZhuangLiaoStep = 1; bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg= 0; bCL_EN_FLG=0; JL_CTHL_AutoStep = 1; bRunning=1; } //小插插入 if(JL_CTHL_CXC)//穿小插 { JL_CTHL_CXC=0; cCXCONE=1; cBanAuTo=0; // JL_CTHL_PARAM_BanAuto_MODE=0; JL_CTHL_AutoStep = 11; bRunning=1; if(GetEn(Y_AXIS) == MOTOR_DISEN) { SetEn(Y_AXIS, MOTOR_EN); JL_CTHL_CL_MotorDelay = dwTickCount + 260; //锁轴时间 } } if(JL_CTHL_bFKGD) //方块固定 { JL_CTHL_bFKGD = 0; JL_CTHL_FKGD_VAVLE = ~JL_CTHL_FKGD_VAVLE; } if(JL_CTHL_bCXQJD) //插销前夹带 { JL_CTHL_bCXQJD = 0; JL_CTHL_CXQJD_VAVLE = ~JL_CTHL_CXQJD_VAVLE; } if(JL_CTHL_bCXSY) //插销下移电磁阀 { JL_CTHL_bCXSY = 0; JL_CTHL_CXJL_VAVLE = !JL_CTHL_CXJL_VAVLE; } if(JL_CTHL_bCXDWZ) //Y14 插销定位针电磁阀 { JL_CTHL_bCXDWZ = 0; if(JL_CTHL_CXDWZ_VAVLE) JL_CTHL_CXDWZ_VAVLE = 0; else if(JL_CTHL_HSLiao_Origin_IN) { JL_CTHL_CXDWZ_VAVLE = 1; } else //条件警告 { JL_CTHL_SetAlarmCode(JL_CTHL_HENSONGLIAO_ALARM,0); } } if(JL_CTHL_bCXHJD) //Y15 插销后夹带电磁阀 { JL_CTHL_bCXHJD = 0; JL_CTHL_CXHJD_VAVLE =~JL_CTHL_CXHJD_VAVLE; } if(JL_CTHL_bCXHDW) //Y16 插销后定位电磁阀 { JL_CTHL_bCXHDW = 0; if(JL_CTHL_CXHDW_VAVLE) JL_CTHL_CXHDW_VAVLE = 0; else if(!JL_CTHL_CXQJD_VAVLE) JL_CTHL_CXHDW_VAVLE = 1; else//条件警告 { JL_CTHL_SetAlarmCode(JL_CTHL_CXQJD_ALARM,0); } } if(JL_CTHL_bFirst_CT) //Y20 一次穿头电磁阀 { JL_CTHL_bFirst_CT = 0; if( !JL_CTHL_First_CT_VAVLE ) { if(!JL_CTHL_CXJL_VAVLE) JL_CTHL_First_CT_VAVLE=1; else JL_CTHL_SetAlarmCode(JL_CTHL_TXC_Limit_ALARM,0); } else if(JL_CTHL_First_CT_VAVLE) { JL_CTHL_First_CT_VAVLE=0; } } if(JL_CTHL_bHLJJ) //Y21 合链夹具电磁阀 { JL_CTHL_bHLJJ = 0; JL_CTHL_HLJJ_VAVLE = ~JL_CTHL_HLJJ_VAVLE; } if(JL_CTHL_bCXSCDW) //Y23 插销上止定位电磁阀 { JL_CTHL_bCXSCDW = 0; JL_CTHL_CXSCDW_VAVLE = ~JL_CTHL_CXSCDW_VAVLE; } //自动装料 if(JL_CTHL_bAutoZhuangLiao) { JL_CTHL_bAutoZhuangLiao = 0; if(JL_CTHL_ZhuangLiaoStep == 0) { bTuiLaTouOkFlg = 1; bZhuangLiaoOkFlg = 0; JL_CTHL_ZhuangLiaoStep = 1; JL_CTHL_MGuo_VAVLE = 1; //判断是否已经有料 JL_CTHL_ZhuangLiaoDelay = dwTickCount + 150; } } //测试电机 if(JL_CTHL_bCLMotor_N) { SetEn(Y_AXIS, MOTOR_EN); if(!JL_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 { JL_CTHL_bCLMotor_N = 0; } } if(JL_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(!JL_CTHL_bCLMotor_P && !JL_CTHL_bCLMotor_N && (JL_CTHL_CL_MotorStep == 0)) { AxisEgmStop(Y_AXIS);//AxisDecStop(Y_AXIS); } if(JL_CTHL_bTDMotor_P) //后退限位已经取消 { SetEn(X_AXIS, MOTOR_EN); if(!X_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,2000,DIR_N,1000,1000,15,15); } if(JL_CTHL_bTDMotor_N) //后退限位已经取消 { SetEn(X_AXIS, MOTOR_EN); if(!X_DRV) // Y轴 运行速度 启动速度 加速度 减速度 AxisContinueMoveAcc(X_AXIS,2000,DIR_P,1000,1000,15,15); } if(!JL_CTHL_bTDMotor_P && !JL_CTHL_bTDMotor_N && (JL_CTHL_TD_MotorStep == 0)) { AxisEgmStop(X_AXIS);//AxisDecStop(Y_AXIS); } //合链电机返回原点 if(JL_CTHL_bCLMotor_O) { JL_CTHL_bCLMotor_O = 0; if(JL_CTHL_CL_MotorStep == 0) JL_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(JL_CTHL_bFKTDDW) { JL_CTHL_bFKTDDW = 0; if(JL_CTHL_TD_MotorStep == 0) { JL_CTHL_XKDW_VAVLE = 0; //斜口定位 JL_CTHL_CXQJD_VAVLE = 0; //插销前夹带 if(!JL_CTHL_PARAM_CXJL_MODE) JL_CTHL_CXJL_VAVLE = 0; //插销下移 JL_CTHL_CXHJD_VAVLE = 0; //插销后夹带 JL_CTHL_CXHDW_VAVLE = 0; //插销后定位 JL_CTHL_CXDWZ_VAVLE = 0; //插销定位针 JL_CTHL_bHLJJ = 0; //合链夹具 JL_CTHL_FKJD_VAVLE = 0; //方块夹带 if((GetEn(X_AXIS) == MOTOR_DISEN)) { SetEn(X_AXIS, MOTOR_EN); JL_CTHL_TD_MotorDelay = dwTickCount + 200; } else JL_CTHL_TD_MotorDelay = dwTickCount + 50; JL_CTHL_TD_MotorStep = 1; } } //拖带方块插销定位(斜口推带，斜口定位，顶斜口) if(JL_CTHL_bFKCXTDDW) { JL_CTHL_bFKCXTDDW = 0; if((JL_CTHL_bFKCXTDDW_Step == 0) && (JL_CTHL_CL_MotorStep == 0) && !JL_CTHL_CTXM_VAVLE) { JL_CTHL_bFKCXTDDW_Step = 1; SetEn(X_AXIS, MOTOR_EN); JL_CTHL_CXQJD_VAVLE = 0; //插销前夹带 JL_CTHL_CXJL_VAVLE = 0; //插销下移 JL_CTHL_CXHJD_VAVLE = 0; //插销后夹带 JL_CTHL_CXHDW_VAVLE = 0; //插销后定位 JL_CTHL_CXDWZ_VAVLE = 0; //插销定位针 JL_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(JL_CTHL_bCXCR) { JL_CTHL_bCXCR = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(JL_CTHL_CTXM_VAVLE && JL_CTHL_MGuo_VAVLE && !JL_CTHL_CXQJD_VAVLE && JL_CTHL_CTM_Limit_IN && !JL_CTHL_LTou_Check) { if(JL_CTHL_CL_MotorStep == 0) { JL_CTHL_bCXCR_Step = 11; SetEn(Y_AXIS, MOTOR_EN); if(!JL_CTHL_SF_Origin_IN) JL_CTHL_CL_MotorStep = 40; } } else //警告不能自动穿插销 { JL_CTHL_SetAlarmCode(JL_CTHL_WFZIDONGCX_ALARM,0); } } //电机合链动作 if(JL_CTHL_bMotorHL) { JL_CTHL_bMotorHL = 0; if(JL_CTHL_SF_Origin_IN) { if((JL_CTHL_CL_MotorStep == 0) && !JL_CTHL_CTXM_VAVLE && (!JL_CTHL_CTM_Limit_IN)) { bCL_OK_FLG = 0; JL_CTHL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入 JL_CTHL_CL_MotorStep = 1; JL_CTHL_CL_MotorDelay = dwTickCount + JL_CTHL_PARAM_HLJJ_CL_DELAY + 130; if((GetEn(Y_AXIS) == MOTOR_DISEN)) { SetEn(Y_AXIS, MOTOR_EN); JL_CTHL_CL_MotorDelay = dwTickCount + 250; } } } else { JL_CTHL_bCLMotor_O =1; } } //一次穿链动作 if(JL_CTHL_bCL_First) { JL_CTHL_bCL_First = 0; //拉头模在上面到们并且码勾输出,判断有拉头 if(JL_CTHL_CTXM_VAVLE && JL_CTHL_MGuo_VAVLE && !JL_CTHL_CXQJD_VAVLE && JL_CTHL_CTM_Limit_IN && !JL_CTHL_LTou_Check && (JL_CTHL_CL_MotorStep == 0)) { JL_CTHL_bCLFirst_Step = 19; JL_CTHL_CXHJD_VAVLE = 1; //插销后夹带 JL_CTHL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀 JL_CTHL_CXQJD_VAVLE = 0; //插销前夹带 } } } } #endif