#include "global.h" #if JIN_LONG_MACHINE == 1 unsigned short Prv_SQJCOUNT,Prv_XQJCOUNT; void TBJ_InitAction(void); void TBJ_Action(void); void TBJ_ChuiQi(void); void TBJ_ChaoShengHeMo(void); void TBJ_SetAlarmCode(unsigned alarm_code); //等待调用 void TBJ_StartStopAction(void); void TBJ_AutoRunStep(void); void TBJ_Motor(void); void TBJ_SongJiao(void); void TBJ_STOP_Action(void); void TBJ_ChuiQi_Stop(void); void TBJ_QJCount(void); void TBJ_QieJiao_Proc(void); void TBJ_XCReset_Proc(void); void TBJ_SFHeMo_Proc(void); void TBJ_ChaoShengHeMo_SF(void); void TBJ_QJCQ_Stop(void); void TBJ_Action(void) { //步骤显示 DISPLAY_DATA0 = dwYRealPos_com;//TBJ_XC_RstStep;//TBJ_Auto_Step; DISPLAY_DATA1 = dwYRealPos;//TBJ_Motor_Step; DISPLAY_DATA2 = TBJ_HMCS_Step; DISPLAY_DATA3 = TBJ_HeMo_Step;//TBJ_SJ_FJ_Step; DISPLAY_DATA4 = TBJ_Auto_Step;//TBJ_XC_CS_LOCAL;//servo_y.IO_TO_COM;//TBJ_STOP_Step; DISPLAY_DATA5 = TBJ_FIRST_CS_Y_LOCAL;//TBJ_Motor_Step;//GetTarr(Y_AXIS);//dwXRealPos; DISPLAY_DATA6 = TBJ_CS_Y_Local; DISPLAY_DATA7 = TBJ_GH_Y_Local; CTHL_bServo_Com_Y=servo_y.IO_TO_COM; dwXRealPos = GetPos(X_AXIS); dwYRealPos = GetPos(Y_AXIS); dwYRealPos_com=get_encode_value(Y_AXIS)/4;//减速比 TBJ_ManualAction(); //TBJ_ChaoShengHeMo(); TBJ_ChaoShengHeMo_SF(); TBJ_StartStopAction(); TBJ_AutoRunStep(); TBJ_Motor(); TBJ_SongJiao(); TBJ_STOP_Action(); TBJ_ChuiQi_Stop(); TBJ_QJCQ_Stop(); TBJ_QJCount(); servo_com_run(); TBJ_QieJiao_Proc(); TBJ_XCReset_Proc(); TBJ_SFHeMo_Proc(); } void TBJ_QJCount(void) { if(TBJ_SQJGY_IN_UP) { TBJ_PARAM_SQJCOUNT++; } if(TBJ_XQJGY_IN_UP) { TBJ_PARAM_XQJCOUNT++; } } //故障报警 void TBJ_SetAlarmCode(unsigned alarm_code) { SetAlarmCode(TBJ_ALARM_ADDR, alarm_code); TBJ_bAlarmStop = 1; } void TBJ_InitAction(void) { float buff_pulse, buff_dist; //电机脉冲与距离比例计算 buff_pulse = TBJ_PARAM_CYCLE_PULSE; //电机走一圈所需的脉冲 buff_dist = TBJ_PARAM_CYCLE_LENGTH; //电机走一圈长度 XGearRatio = buff_pulse / buff_dist; //可根据距离换算所需脉冲，反之一样 buff_pulse = TBJ_PARAM_YCYCLE_PULSE; //电机走一圈所需的脉冲 buff_dist = TBJ_PARAM_YCYCLE_LENGTH; //电机走一圈长度 YGearRatio= buff_pulse / buff_dist; //可根据距离换算所需脉冲，反之一样 TBJ_CHENGXU_UPDATE = 1; //便于屏幕判断程序有无更新 SetDirReverse(X_AXIS, 1); //传递伺服齿轮比参数 set_com_servo_param(Y_AXIS,TBJ_PARAM_YCYCLE_PULSE,TBJ_PARAM_YCYCLE_LENGTH); SetServoComUse(X_AXIS,0);//X轴正常模式。 SetServoComUse(Y_AXIS,1);//Y轴伺服扭矩通讯。 ReadServoAlarm_Enable(Y_AXIS,1); ReadServoEncode_Enable(Y_AXIS,1); SetEnReverse(X_AXIS, 1); SetEnReverse(Y_AXIS, 0); //电机松轴 SetEn(X_AXIS, TBJ_MOTOR_DISEN); SetEn(Y_AXIS, TBJ_MOTOR_DISEN); SetAlarmCode(TBJ_ALARM_ADDR, TBJ_NO_ALARM); //警告要清除 TBJ_Hemo_flag=0; TBJ_XC_Reset_flag=1; if(TBJ_PARAM_XCRest_MODE)TBJ_bXCRest=1; } //吹气 void TBJ_ChuiQi(void) { if (!TBJ_CQ_VAVLE) { TBJ_CQ_VAVLE = 1; TBJ_CQ_Delay = dwTickCount + TBJ_PARAM_ChuiQi_TIME; } } //停止吹气 void TBJ_ChuiQi_Stop(void) { if (TBJ_CQ_VAVLE && dwTickCount >= TBJ_CQ_Delay)// && dwTickCount >= TBJ_CS_Delay) TBJ_CQ_VAVLE = 0; } //切胶吹气 void TBJ_QJCQ_Start(void) { if (!TBJ_QJCQ_VAVLE) { TBJ_QJCQ_VAVLE = 1; TBJ_QJCQ_Delay = dwTickCount + TBJ_PARAM_QJCQ_TIME; } } //停止吹气 void TBJ_QJCQ_Stop(void) { if (TBJ_QJCQ_VAVLE && dwTickCount >= TBJ_QJCQ_Delay)// && dwTickCount >= TBJ_CS_Delay) TBJ_QJCQ_VAVLE = 0; } //红外算出来的时间重新赋值 void TBJ_ResetCsTime(void) { if (TBJ_PARAM_CS_MODE == 0) user_datas[33] = user_datas[57]; else user_datas[6] = user_datas[57]; } //超声时间选择 unsigned short TBJ_Choose_CSTime(void) { if (TBJ_PARAM_CS_MODE == 0) //超声模式 0为透明胶 1为布胶 return TBJ_PARAM_TMJ_CS_TIME; //透明胶超声时间 else return TBJ_PARAM_BJ_CS_TIME; //布胶超声时间 } //固化时间选择 unsigned short TBJ_Choose_COLDTime(void) { if (TBJ_PARAM_CS_MODE == 0) return TBJ_PARAM_TMJ_GH_TIME; //透明胶固化时间 else return TBJ_PARAM_BJ_GH_TIME; //布胶固化时间 } //手动动作 void TBJ_ManualAction(void) { #if 1 if (!TBJ_bRunning) { //屏幕按钮手动钩针 if (TBJ_bGZ) { TBJ_bGZ = 0; if (TBJ_GZ_VAVLE) TBJ_GZ_VAVLE = 0; else TBJ_GZ_VAVLE = 1; } //手动分胶 if (TBJ_bFJ &&((TBJ_PARAM_SGZSelect) //单钩针模式下的判断 || ((TBJ_PARAM_SGZSelect == 0) && !TBJ_GZ_LIMIT_IN )) //双钩针模式下的判断 &&TBJ_Y_ORIGIN_IN //上模在原点 && (TBJ_FJ_VAVLE || (!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN)) //未进分胶，送胶不能输出，进完分胶后，无视送胶状态，可退分胶 ) { TBJ_bFJ = 0; if (TBJ_FJ_VAVLE) TBJ_FJ_VAVLE = 0; else TBJ_FJ_VAVLE = 1; } else if (TBJ_bFJ) { TBJ_bFJ = 0; if (!((TBJ_PARAM_SGZSelect) || ((TBJ_PARAM_SGZSelect == 0) && !TBJ_GZ_LIMIT_IN))) TBJ_SetAlarmCode(34); //E34 手动分胶停止，钩针未退位； else if (!TBJ_Y_ORIGIN_IN)//上摸不在原点 TBJ_SetAlarmCode(36); //E36 手动分胶停止，下冲气缸未退位或X14下冲到位感应异常 else if (TBJ_SJ_LIMIT_IN) TBJ_SetAlarmCode(38); //E38 手动分胶停止，送胶阀未退回，或X16送胶到位感应异常 else if (!TBJ_SJ_ORIGIN_IN) TBJ_SetAlarmCode(39); //E39 手动分胶停止，送胶阀未退回，或X17退胶到位感应异常 } //手动切胶 if(TBJ_bQJ) { if(TBJ_SJ_ORIGIN_IN)TBJ_QJ_Step=1; else TBJ_SetAlarmCode(TBJ_QJ_SJNORIGIN_ALARM); //E43 手动切胶，送胶不在原位 TBJ_bQJ=0; } //手动送胶 if (((TBJ_bSJ && !TBJ_SJ_VAVLE))) //按钮按下 送胶阀未输出 进行送胶 { //手动送胶 || （按钮送胶 && 送胶阀没输出）&& （！1二次拖带的情况下考虑钩针阀没有输出） if ((TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN) ) //单钩针模式，钩针与送胶阀错位，不用考虑相撞，双钩针模式下的判断，钩针钩住拖带后退，可能会与送胶阀产生碰撞 && (TBJ_FJ_LIMIT_IN ^ TBJ_FJ_ORIGIN_IN) && TBJ_SJ_ORIGIN_IN //判断分胶阀有无出错，只能到位或原位 送胶阀后感应亮 && TBJ_Y_ORIGIN_IN //上模原点 超声未打开 && !TBJ_GZ_VAVLE) //考虑钩针有无退回 { TBJ_SJ_FJ_Step=20; TBJ_bSJ = 0; } else if (TBJ_bSJ) //送胶失败，发送警告 { TBJ_bSJ = 0; if (!(TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN))) TBJ_SetAlarmCode(40); //E40 手动送胶停止，双钩针模式下钩针未退回 else if (!(TBJ_FJ_LIMIT_IN ^ TBJ_FJ_ORIGIN_IN)) TBJ_SetAlarmCode(41); //E41 手动送胶停止，分胶阀处于异常状态，X12,X13前后感应灯同亮或同灭 else if (!TBJ_SJ_VAVLE && !TBJ_SJ_ORIGIN_IN) TBJ_SetAlarmCode(42); //E42 手动送胶停止，X17送胶后感应异常 else if (!TBJ_Y_ORIGIN_IN) TBJ_SetAlarmCode(44); //E44 手动送胶停止，下冲气缸未退回，或X14 下冲到位感应异常 if (TBJ_SJ_VAVLE) TBJ_SJ_VAVLE = 0; } } else if (((TBJ_bSJ && TBJ_SJ_VAVLE))) //送胶阀已输出，进行退胶 { TBJ_SJ_FJ_Step=25; TBJ_bSJ = 0; } //手动合模 if (TBJ_bHM&&TBJ_Hemo_flag==0)//&& !TBJ_SM_VAVLE) //屏幕按钮按下 || 上模没输出 && 手动合模输入 { if ( !TBJ_XC_Reset_flag&&TBJ_FJ_ORIGIN_IN && !TBJ_FJ_LIMIT_IN //分胶阀感应判断 && ((!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN) || TBJ_PARAM_SongJiaoMode) //送胶阀原点，或者滚筒模式 //送胶阀感应判断 && !TBJ_FJ_VAVLE && !TBJ_SJ_VAVLE && !TBJ_CS_OUT //分胶阀，送胶阀、超声未动作 //分胶阀判断 送胶阀判断 超声判断 && ((TBJ_PARAM_SGZSelect) || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)))//双钩钩针在原点、或单钩针 //双钩针模式需考虑钩针有无输出 { if(TBJ_PARAM_XiaChong_MODE==0) { TBJ_SM_VAVLE = 1;//气缸合模 TBJ_Hand_Hemo_flag=1; } else { TBJ_HeMo_Step=1;//伺服合模 TBJ_GZ_VAVLE = 0;//钩针 TBJ_FJ_VAVLE = 0; //分胶 TBJ_DZ_VAVLE=0;//顶针 TBJ_SJ_VAVLE=0;//送胶 TBJ_HeMo_Delay=dwTickCount+100; set_servo_postotarr_limit(Y_AXIS,SERVO_PARAM_TRARR_BD_LIMITMIN, TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW); } if (TBJ_PARAM_XiaMo_Mode == 0)TBJ_XM_VAVLE = 1; //下模活动 TBJ_bHM = 0; } else { TBJ_bHM = 0; if (!TBJ_FJ_ORIGIN_IN) TBJ_SetAlarmCode(46); //E46 手动合模停止，分胶阀未退位，或 X13分胶后感应异常 else if (TBJ_FJ_LIMIT_IN) TBJ_SetAlarmCode(47); //E47 手动合模停止，分胶阀未退位，或 X12分胶前感应异常 else if (TBJ_SJ_LIMIT_IN) TBJ_SetAlarmCode(48); //E48 手动合模停止，送胶阀未退位，或 X16送胶前感应异常 else if (!TBJ_SJ_ORIGIN_IN) TBJ_SetAlarmCode(49); //E49 手动合模停止，送胶阀未退位，或 X17分胶后感应异常 else if (TBJ_CS_OUT) TBJ_SetAlarmCode(50); //E50 手动合模停止，超声未关闭 else if(TBJ_XC_Reset_flag) TBJ_SetAlarmCode(TBJ_XC_NO_REST); //E09 下冲电机未复位 } } else if (TBJ_bHM&&TBJ_Hemo_flag)// && TBJ_SM_VAVLE) //屏幕按钮按下 && 上模已输出 && 手动合模没输入 { if(TBJ_PARAM_XiaChong_MODE==0)TBJ_SM_VAVLE = 0; //上模退回 else { TBJ_HeMo_Step=20;//伺服合模 SetPos(Y_AXIS,dwYRealPos_com); Set_Ctrlmode_trans(Y_AXIS,POS_MODE); TBJ_HeMo_Delay=dwTickCount+100; } if (TBJ_PARAM_XiaMo_Mode == 0)TBJ_XM_VAVLE = 0; //下模退回 //双钩针模式下 或下模活动模式 TBJ_bHM = 0; } //合模后吹气一次 if (TBJ_SM_LIMIT_IN&&TBJ_Hand_Hemo_flag) //合模到位 { TBJ_ChuiQi(); //启动吹气 TBJ_Hand_Hemo_flag = 0; } //连续超声 if(TBJ_bCS) { if ((!TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN ) //分胶阀判断 && ( !TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || TBJ_PARAM_SongJiaoMode)) //送胶阀判断 { if (TBJ_bCS && !TBJ_bCS_FLAG) //按钮已按下，超声未开始 { TBJ_bCS_FLAG = 1; //cMidleCoil[0] |= (1<<10); //M10 TBJ_CS_OUT = 1; //发超声 TBJ_CS_Delay = dwTickCount + TBJ_Choose_CSTime(); //限长时间1.5 } } TBJ_bCS=0; } if(TBJ_bCS_FLAG&&dwTickCount >= TBJ_CS_Delay) { TBJ_bCS_FLAG=0; TBJ_bCS_FLAG = 0; //超声标志位清零 TBJ_CS_OUT = 0; //关闭超声 TBJ_ChuiQi(); //开启吹气 } //合模+超声 if(TBJ_bSC&& !TBJ_bSC_FLAG) { TBJ_bSC=0; if (!TBJ_XC_Reset_flag&&(!TBJ_FJ_VAVLE && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN || TBJ_PARAM_FenJiaoSelect) //分胶阀判断 && (!TBJ_SJ_VAVLE && !TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || TBJ_PARAM_SongJiaoMode) //送胶阀判断 && (dwTickCount >= TBJ_CS_Delay)) { if ((TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN))) { TBJ_bSC_FLAG = 1; TBJ_HMCS_Step = 1; //整个合模超声过程 TBJ_GZ_VAVLE = 0;//钩针 TBJ_FJ_VAVLE = 0; //分胶 TBJ_DZ_VAVLE=0;//顶针 TBJ_SJ_VAVLE=0;//送胶 set_servo_postotarr_limit(Y_AXIS,SERVO_PARAM_TRARR_BD_LIMITMIN, TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW); } } else { if (TBJ_FJ_VAVLE) TBJ_SetAlarmCode(57); //E57 手动上超停止，分胶阀未退回 else if (TBJ_FJ_LIMIT_IN) TBJ_SetAlarmCode(58); //E58 手动上超停止，分胶阀未退回，或X12分胶前感应异常 else if (!TBJ_PARAM_FenJiaoSelect && !TBJ_FJ_ORIGIN_IN) TBJ_SetAlarmCode(59); //E59 手动上超停止，分胶阀未退回，或X13分胶后感应异常 else if (TBJ_PARAM_SongJiaoMode == 0) { if (TBJ_SJ_VAVLE) TBJ_SetAlarmCode(60); //E60 手动上超停止，送胶阀未退回 if (TBJ_SJ_LIMIT_IN) TBJ_SetAlarmCode(61); //E61 手动上超停止，送胶阀未退回,或X16送胶到位感应异常 if (!TBJ_SJ_ORIGIN_IN) TBJ_SetAlarmCode(62); //E62 手动上超停止，送胶阀未退回,或X17退胶到位感应异常 } else if(TBJ_XC_Reset_flag) TBJ_SetAlarmCode(TBJ_XC_NO_REST); //E50 手动合模停止，超声未关闭 } } //手动夹胶(压带) if (TBJ_bJJ) { if (TBJ_JJ_VAVLE) TBJ_JJ_VAVLE = 0; else TBJ_JJ_VAVLE = 1; TBJ_bJJ = 0; } //手动压带 if (TBJ_bYD) { if (TBJ_YD_VAVLE) TBJ_YD_VAVLE = 0; else TBJ_YD_VAVLE = 1; TBJ_bYD = 0; } //顶针 if (TBJ_bDZ) { if (TBJ_DZ_VAVLE) TBJ_DZ_VAVLE = 0; else TBJ_DZ_VAVLE = 1; TBJ_bDZ = 0; } //松带 if (TBJ_bSD) { if (TBJ_SD_VAVLE) TBJ_SD_VAVLE = 0; else TBJ_SD_VAVLE = 1; TBJ_bSD = 0; } //风扇 if (TBJ_bFS) { if (TBJ_LQFS_OUT){ SetEn(X_AXIS, TBJ_MOTOR_DISEN); SetEn(Y_AXIS, TBJ_MOTOR_DISEN); TBJ_XC_Reset_flag=1; TBJ_LQFS_OUT = 0; } else { SetEn(X_AXIS, TBJ_MOTOR_EN); SetEn(Y_AXIS, TBJ_MOTOR_EN); TBJ_LQFS_OUT = 1; } TBJ_bFS = 0; } //手动拖带 if(TBJ_bMotor_N) { SetEn(X_AXIS, TBJ_MOTOR_EN); if(!X_DRV) { AxisContinueMoveAcc(X_AXIS,1000,DIR_N,1000,1000,10,12); } } else if(TBJ_bMotor_P) { SetEn(X_AXIS, TBJ_MOTOR_EN); if(TBJ_GZ_LIMIT_IN) { TBJ_bMotor_N=0; AxisEgmStop(X_AXIS); } if(!X_DRV&&!TBJ_GZ_LIMIT_IN) { AxisContinueMoveAcc(X_AXIS,1000,DIR_P,1000,1000,10,12); } } else { if(X_DRV) { AxisEgmStop(X_AXIS); } } //手动下冲 if(TBJ_bYMotor_N) { SetEn(Y_AXIS, TBJ_MOTOR_EN); if(TBJ_Y_ORIGIN_IN)AxisEgmStop(Y_AXIS); if(!Y_DRV&&!TBJ_Y_ORIGIN_IN) { AxisContinueMoveAcc(Y_AXIS,800,DIR_N,800,800,10,12); } } else if(TBJ_bYMotor_P) { SetEn(Y_AXIS, TBJ_MOTOR_EN); if(TBJ_Y_RUNING_IN)AxisEgmStop(Y_AXIS); if(!Y_DRV&&TBJ_FJ_ORIGIN_IN&&TBJ_SJ_ORIGIN_IN&&!TBJ_Y_RUNING_IN) { AxisContinueMoveAcc(Y_AXIS,800,DIR_P,800,1000,10,12); } } else { if(Y_DRV&&!TBJ_bXCResting&&TBJ_HMCS_Step==0&&TBJ_HeMo_Step==0) { AxisEgmStop(Y_AXIS); } } //复位下冲 if(TBJ_bXCRest&&GetServoComState(Y_AXIS)) { TBJ_bXCRest=0; TBJ_bXCResting=1; TBJ_XC_RstStep=1; TBJ_GZ_VAVLE = 0;//钩针 TBJ_FJ_VAVLE = 0; //分胶 TBJ_DZ_VAVLE=0;//顶针 TBJ_SJ_VAVLE=0;//送胶 SetEn(Y_AXIS, TBJ_MOTOR_EN); TBJ_XCRst_Delay=dwTickCount+100; Set_Ctrlmode_trans(Y_AXIS,POS_MODE); set_servo_postotarr_limit(Y_AXIS,SERVO_PARAM_TRARR_BD_LIMITMIN,TBJ_PARAM_SFZSY_SPEED,TBJ_PARAM_SFZSY_SPEED,SERVO_TARR_CW); } } #endif } //伺服合模处理 void TBJ_SFHeMo_Proc(void) { switch(TBJ_HeMo_Step) { case 1: if(dwTickCount>=TBJ_HeMo_Delay) { TBJ_LENTH=TBJ_PARAM_Y_Work_Local-dwYRealPos; AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED,TBJ_LENTH,1000,1000,20,20,10); TBJ_HeMo_Step++; } break; case 2: if(!Y_DRV) { TBJ_HeMo_Step=3; Set_Ctrlmode_trans(Y_AXIS,TARR_MODE); TBJ_HeMo_Delay=dwTickCount+100; } break; case 3: if(dwTickCount>=TBJ_HeMo_Delay) { TBJ_HeMo_Step=0; TBJ_Hemo_flag=1; SetPos(Y_AXIS,dwYRealPos_com); } break; case 20: if(dwTickCount>=TBJ_HeMo_Delay) { TBJ_LENTH=dwYRealPos-0; AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, -TBJ_LENTH, 1000, 1000, 20, 20, 10); TBJ_HeMo_Step++; } break; case 21: if(!Y_DRV) { TBJ_HeMo_Step=0; TBJ_Hemo_flag=0; TBJ_ChuiQi(); //启动吹气 } break; } } //下冲复位处理 void TBJ_XCReset_Proc(void) { switch(TBJ_XC_RstStep) { case 1: if(TBJ_XC_Reset_flag) { AxisDisableSoftwarelmt(Y_AXIS); if(TBJ_Y_ORIGIN_IN&&dwTickCount>=TBJ_XCRst_Delay) { TBJ_XC_RstStep=4; AxisContinueMove(Y_AXIS,200,DIR_P); } else { TBJ_XC_RstStep++; AxisContinueMove(Y_AXIS,800,DIR_N); } } else { TBJ_XC_RstStep=14; SetPos(Y_AXIS,dwYRealPos_com); } break; case 2: if(TBJ_Y_ORIGIN_IN) { TBJ_XC_RstStep++; AxisEgmStop(Y_AXIS); TBJ_XCRst_Delay=dwTickCount+10; } break; case 3: if(dwTickCount>=TBJ_XCRst_Delay) { TBJ_XC_RstStep++; AxisContinueMove(Y_AXIS,200,DIR_P); } break; case 4: if(!TBJ_Y_ORIGIN_IN) { TBJ_XC_RstStep++; AxisEgmStop(Y_AXIS); TBJ_XCRst_Delay=dwTickCount+10; } break; case 5: TBJ_XC_RstStep++; AxisMovePosAccDec(Y_AXIS,800,10,800,800,10,10,0); break; case 6: if(dwTickCount>=TBJ_XCRst_Delay&&!Y_DRV) { TBJ_XC_RstStep++; AxisContinueMove(Y_AXIS,200,DIR_N); } break; case 7: if(TBJ_Y_ORIGIN_IN) { TBJ_XC_RstStep++; AxisEgmStop(Y_AXIS); TBJ_XCRst_Delay=dwTickCount+10; } break; case 8: if(dwTickCount>=TBJ_XCRst_Delay&&!Y_DRV) { TBJ_XC_RstStep++; //AxisMovePos(Y_AXIS,400,-10); AxisMovePosAccDec(Y_AXIS,400,-10,400,400,10,10,0); } break; case 9: if(!Y_DRV) { /*if(TBJ_PARAM_SFXC_MODE) { if(get_tarr_set(Y_AXIS)!=2)//伺服配置转矩限制失败 { TBJ_XC_RstStep=0; SetEn(Y_AXIS, MOTOR_DISEN);//设置扭矩做准备 TBJ_XC_Reset_flag=1; TBJ_SetAlarmCode(65);//伺服转矩配置失败 } }*/ TBJ_XC_RstStep++; TBJ_XCRst_Delay=dwTickCount+100; } break; case 10: if(dwTickCount>=TBJ_XCRst_Delay&&!Y_DRV) { SetPos(Y_AXIS, 0); axis_set_com_pos(Y_AXIS,0); //if(TBJ_PARAM_SFXC_MODE==0) { TBJ_XC_RstStep=0; TBJ_bXCResting=0; TBJ_XC_Reset_flag=0; AxisEnableSoftwarelmt(Y_AXIS,TBJ_PARAM_Y_SOFT_PLIMIT,0); } /*else { TBJ_XC_RstStep++; TBJ_XCRst_Delay=dwTickCount+10; }*/ } break; case 11: if(dwTickCount>=TBJ_XCRst_Delay) { TBJ_XC_RstStep++; Set_Ctrlmode_trans(Y_AXIS,TARR_MODE); TBJ_XCRst_Delay=dwTickCount+100; } break; case 12://扭矩到达 if (dwTickCount >= TBJ_XCRst_Delay) { TBJ_XC_RstStep ++; TBJ_XCRst_Delay = dwTickCount + 500; } break; case 13://扭矩到达并维持10ms if (!(GetTarr(Y_AXIS))) { if((dwTickCount >= TBJ_XCRst_Delay)) { TBJ_XC_RstStep++; TBJ_PARAM_Y_Work_Local= dwYRealPos_com-30; TBJ_PARAM_Y_SOFT_PLIMIT=dwYRealPos_com-20; //AxisEnableSoftwarelmt(Y_AXIS,TBJ_PARAM_Y_SOFT_PLIMIT,0); SetPos(Y_AXIS,dwYRealPos_com); Set_Ctrlmode_trans(Y_AXIS,POS_MODE); TBJ_XCRst_Delay = dwTickCount + 10; } } else { TBJ_XCRst_Delay = dwTickCount + 100; } break; case 14://扭矩到达 if(dwTickCount>=TBJ_XCRst_Delay) { TBJ_XC_RstStep ++; AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, -dwYRealPos, 1000, 1000, 20, 20, 10) ; } break; case 15://扭矩到达 if(!Y_DRV) { TBJ_XCRst_Delay = dwTickCount + 100; TBJ_XC_RstStep = 16; } break; case 16://扭矩到达 if(dwTickCount>=TBJ_XCRst_Delay) { if(TBJ_Y_ORIGIN_IN) { TBJ_XC_RstStep = 0; TBJ_bXCResting=0; TBJ_XC_Reset_flag=0; } else { TBJ_XC_RstStep = 1; TBJ_bXCResting=1; TBJ_XC_Reset_flag=1; } } break; } } //送胶动作 void TBJ_SongJiao(void) { #if 1 if (TBJ_bStop) return; switch (TBJ_SJ_FJ_Step) { case 0: break; case 1: TBJ_SJ_FJ_Step = 2; TBJ_SJ_Delay = dwTickCount + TBJ_PARAM_FJ_DELAY; break; case 2: if (dwTickCount >= TBJ_SJ_Delay) { TBJ_SJ_FJ_Step = 3; TBJ_FJ_VAVLE = 1; //分胶阀输出 //TBJ_JJ_VAVLE = 1; //夹胶阀输出 TBJ_JJ_VAVLE = 0; //2024-0903 TBJ_FJ_Delay = dwTickCount + 1; //分胶阀输出时间 TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME; //分胶阀输出容错时间 } break; case 3: if (TBJ_FJ_LIMIT_IN ) { TBJ_SJ_FJ_Step = 4; TBJ_SJ_VAVLE = 1; //送胶输出 TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME; TBJ_FJ_Delay = dwTickCount + TBJ_PARAM_SJ_TIME; } else if (dwTickCount > TBJ_SJ_ErrorTime) { TBJ_SetAlarmCode(10); //E10 分胶未到位或 X12分胶前感应异常,无法送胶 } break; case 4: TBJ_SJ_FJ_Step = 5; /* if ((TBJ_PARAM_SGZSelect || (TBJ_Motor_Step == 0)) && (dwTickCount >= TBJ_SJ_Delay)) { if (TBJ_FJ_LIMIT_IN && TBJ_FJ_VAVLE) { TBJ_SJ_FJ_Step = 5; TBJ_SJ_VAVLE = 1; //送胶输出 TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME; TBJ_FJ_Delay = dwTickCount + TBJ_PARAM_SJ_TIME; } else if (dwTickCount > TBJ_SJ_ErrorTime) { TBJ_SetAlarmCode(10); //E10 分胶未到位或 X12分胶前感应异常,无法送胶 } }*/ break; case 5: if (TBJ_SJ_LIMIT_IN_UP || (TBJ_PARAM_SongJiaoMode && (dwTickCount > TBJ_FJ_Delay))) { TBJ_SJ_FJ_Step = 6; TBJ_FJ_Delay = dwTickCount + 20; } else if (dwTickCount > TBJ_SJ_ErrorTime) { TBJ_SetAlarmCode(4); //E04 送胶不到位或 X07送胶前感应异常 } break; case 6: if ((dwTickCount >= TBJ_FJ_Delay) && (!X_DRV || TBJ_GUO_LIAN_IN_UP)) { TBJ_SJ_FJ_Step = 7; TBJ_QJ_Step=1; TBJ_FJ_VAVLE = 0; //关分胶 //TBJ_JJ_VAVLE = 0; //关夹胶 TBJ_JJ_VAVLE=1;//2024-0903 TBJ_FJ_Delay = dwTickCount + 10; TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME; } break; case 7: if (!TBJ_FJ_LIMIT_IN && (dwTickCount >= TBJ_FJ_Delay) ) { TBJ_SJ_FJ_Step = 8; if (TBJ_PARAM_SongJiaoMode == 0)TBJ_SJ_VAVLE = 0; //气缸送胶先退，滚轮送胶先不退或是触摸屏手动退送胶 TBJ_SJ_ErrorTime = dwTickCount + ERRORTIME; } else if (dwTickCount >= TBJ_SJ_ErrorTime) { TBJ_SetAlarmCode(6); //E06 退分胶不到位警告或 X13分胶后感应异常 } break; case 8: if ((TBJ_PARAM_SongJiaoMode)||(!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN)) { TBJ_SJ_FJ_Step = 0; TBJ_JJ_VAVLE=0;//2024-0903 } else if (dwTickCount >= TBJ_SJ_ErrorTime) { TBJ_SetAlarmCode(5); //E05 退胶不到位警告 或 X16、X17送胶前后感应异常 } break; //手动送胶 case 20://手动送胶 TBJ_JJ_VAVLE = 0; //压胶阀输出 TBJ_SJ_Delay = dwTickCount + 70; //延迟70ms输出送胶阀 TBJ_SJ_FJ_Step = 21; break; case 21: if (dwTickCount >= TBJ_SJ_Delay) { TBJ_SJ_VAVLE = 1; //压胶阀输出 TBJ_SJ_FJ_Step = 22; } break; case 22: if (TBJ_SJ_LIMIT_IN) { //TBJ_JJ_VAVLE = 1; //压胶阀输出 TBJ_SJ_FJ_Step = 23; TBJ_FJ_Delay = dwTickCount + 100; } break; case 23: if (dwTickCount>=TBJ_FJ_Delay) { TBJ_JJ_VAVLE = 1; //压胶阀输出 TBJ_SJ_FJ_Step = 0; TBJ_FJ_Delay = dwTickCount + 50; } break; case 25://手动退送胶 TBJ_JJ_VAVLE = 1; //压胶阀输出 TBJ_SJ_Delay = dwTickCount + 50; //延迟120ms退回送胶阀 TBJ_SJ_FJ_Step = 26; break; case 26: if (dwTickCount >= TBJ_SJ_Delay) { TBJ_SJ_VAVLE = 0; //压胶阀输出 TBJ_SJ_FJ_Step = 27; TBJ_QJ_Step=1; } break; case 27: if (TBJ_SJ_ORIGIN_IN) { //判断是否使用切胶 //TBJ_YD_VAVLE = 0; //压胶阀输出 //TBJ_SJ_FJ_Step = 0; //TBJ_QJ_Step=1; TBJ_SJ_FJ_Step = 28; TBJ_SJ_Delay = dwTickCount + 50; //延迟120ms退回送胶阀 } break; case 28: if (TBJ_QJ_Step==0&& (dwTickCount >= TBJ_SJ_Delay)) { TBJ_JJ_VAVLE = 0; TBJ_SJ_FJ_Step = 0; } break; } #endif } //切胶处理 void TBJ_QieJiao_Proc(void) { switch (TBJ_QJ_Step) { case 1: if(TBJ_SJ_ORIGIN_IN) { TBJ_QJ_Step=2; TBJ_QJ_VAVLE=1; TBJ_QieJiao_Delay=dwTickCount+ERRORTIME; } break; case 2: if(TBJ_QJ_LIMIT_IN) { TBJ_QJ_Step=3; TBJ_QJCQ_Start(); TBJ_QieJiao_Delay=dwTickCount+10; } else if(dwTickCount>=TBJ_QieJiao_Delay) { TBJ_SetAlarmCode(TBJ_QJLIMIT_ALARM); //E15 切胶到位异常，检查X11 } break; case 3: TBJ_QJ_Step=0; TBJ_QJ_VAVLE=0; break; } } //合模超声动作 void TBJ_ChaoShengHeMo(void) { #if 1 unsigned short cs_time; switch (TBJ_HMCS_Step) { case 0: break; case 1: if (!TBJ_FJ_VAVLE && (!TBJ_SJ_VAVLE || TBJ_PARAM_SongJiaoMode) //输出阀判断 && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN //分胶阀位置判断 && (!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || (TBJ_PARAM_SongJiaoMode == 1)) //送胶阀位置判断 && (TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN))) //钩针阀判断 { TBJ_SM_VAVLE = 1; // 下冲 TBJ_SFHM_Step=1; if ((TBJ_PARAM_XiaMo_Mode == 0) && (TBJ_PARAM_SGZSelect != 0)) TBJ_XM_VAVLE = 1; TBJ_HMCS_Step = 2; TBJ_SM_ErrorTime = dwTickCount + (unsigned long)ERRORTIME; //上模下冲容错时间 } else if (!TBJ_bRunning) TBJ_HMCS_Step = 0; break; case 2: if (TBJ_SM_LIMIT_IN && ((TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)) || TBJ_PARAM_XiaMo_Mode)) //1 下模不动 { TBJ_CS_Delay = dwTickCount + TBJ_PARAM_CS_DELAY; //延时超声 TBJ_HMCS_Step = 3; if (TBJ_PARAM_TuiGouZhen_Mode == 1) //0　先超声后下勾针，1　先下勾针后超声 TBJ_GZ_VAVLE = 0; } else if ((dwTickCount >= TBJ_SM_ErrorTime) && !TBJ_SM_LIMIT_IN) { TBJ_SetAlarmCode(26); //E26 超声停止，合模不到位或 X03下冲到位感应异常 } else if ((dwTickCount >= TBJ_SM_ErrorTime) && (TBJ_GZ_LIMIT_IN)) { TBJ_SetAlarmCode(27); //E27 超声停止，钩针不到位或 TBJ_GZ_ORIGIN_IN钩针复位感应异常 } break; case 3: if (dwTickCount >= TBJ_CS_Delay) { TBJ_bCS = 0; TBJ_CS_OUT = 1; //超声打开 cs_time = TBJ_Choose_CSTime(); if (cs_time > 1500) cs_time = 1500; //超声时间上限为1.5 S TBJ_CS_Delay = dwTickCount + cs_time; TBJ_HMCS_Step = 4; } TBJ_SJ_VAVLE = 0; break; case 4: if (dwTickCount >= TBJ_CS_Delay) { TBJ_HMCS_Step = 5; TBJ_CS_OUT = 0; TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime() / 3); //固化一半时间 } break; case 5: if (dwTickCount >= TBJ_CS_Delay) { TBJ_HMCS_Step = 6; TBJ_ChuiQi(); TBJ_GZ_VAVLE = 0; TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime()*2 / 3); } break; case 6: if (dwTickCount >= TBJ_CS_Delay) { if (TBJ_PARAM_HONGWAI_GanYin != 0) { //重新算温度 cs_time = user_datas[55]; if (user_datas[39] == 0) user_datas[39] = 1; //测温值 降时间阀值 if ((cs_time >= user_datas[37]) && (cs_time >= user_datas[58])) { cs_time = (cs_time - user_datas[58]) / user_datas[39]; cs_time *= user_datas[38]; if (cs_time > 3) cs_time = 3; if ((user_datas[59] + cs_time) < 4) user_datas[59] += cs_time; else if (user_datas[59] < 4) { cs_time = 3 - user_datas[59]; user_datas[59] = 3; } else cs_time = 0; } else cs_time = 0; user_datas[57] = TBJ_Choose_CSTime(); user_datas[57] -= cs_time; TBJ_ResetCsTime(); } user_datas[56] = user_datas[55]; if (user_datas[56] > user_datas[58]) user_datas[58] = user_datas[55]; TBJ_SM_VAVLE = 0; TBJ_XM_VAVLE = 0; TBJ_HMCS_Step = 0; TBJ_CS_Delay = dwTickCount + 350; } break; } #endif } //合模超声动作,伺服合模 void TBJ_ChaoShengHeMo_SF(void) { #if 1 unsigned short cs_time; static unsigned char JLXL_flag=0,JLXL_flag1=0; switch (TBJ_HMCS_Step) { case 0: break; case 1://走位置 if (!TBJ_FJ_VAVLE && (!TBJ_SJ_VAVLE || TBJ_PARAM_SongJiaoMode) //输出阀判断 && !TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN //分胶阀位置判断 && (!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN || (TBJ_PARAM_SongJiaoMode == 1)) //送胶阀位置判断 ) //钩针阀判断 { if(TBJ_PARAM_TuiGouZhen_Mode)//先下钩针 { TBJ_GZ_VAVLE=0; TBJ_CS_Delay = dwTickCount + TBJ_PARAM_GZREBACK_TIME; TBJ_HMCS_Step = 2; } else//先超声 { TBJ_HMCS_Step = 3; TBJ_CS_Delay = dwTickCount + 0; } } else if (!TBJ_bRunning) TBJ_HMCS_Step = 0; break; case 2://转扭矩 if(dwTickCount>=TBJ_CS_Delay) { TBJ_DZ_VAVLE=0; TBJ_HMCS_Step = 3; TBJ_CS_Delay = dwTickCount+10; } break; case 3://转扭矩 if(dwTickCount>=TBJ_CS_Delay) { if(TBJ_PARAM_SFXC_MODE&&TEST1<1) //自适应模式第一条走扭矩 { TBJ_LENTH=100-dwYRealPos; AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, TBJ_LENTH, 1000, 1000, 20, 20, 10); } else { TBJ_LENTH=TBJ_PARAM_Y_Work_Local-dwYRealPos; AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, TBJ_LENTH, 1000, 1000, 20, 20, 10); } TBJ_HMCS_Step = 4; } break; case 4://转扭矩 if (!Y_DRV) { TBJ_HMCS_Step = 5; Set_Ctrlmode_trans(Y_AXIS,TARR_MODE); TBJ_CS_Delay = dwTickCount + 10; if (TBJ_PARAM_TuiGouZhen_Mode == 1)TBJ_GZ_VAVLE = 0;//0　先超声后下勾针，1　先下勾针后超声 } break; case 5://扭矩到达 if (!GetTarr(Y_AXIS)) { if(dwTickCount >= TBJ_CS_Delay) { TBJ_HMCS_Step = 6; TBJ_CS_Delay = dwTickCount + 10; } } else { TBJ_CS_Delay = dwTickCount + 10; } break; case 6://扭矩到达并维持10ms if (!GetTarr(Y_AXIS)&&(dwTickCount >= TBJ_CS_Delay)) { //获取Y轴位置 if(TBJ_PARAM_SFXC_MODE&&TEST1<1) TBJ_CS_Delay = dwTickCount + 200; //延时超声 else TBJ_CS_Delay = dwTickCount + TBJ_PARAM_CS_DELAY; //延时超声 TBJ_HMCS_Step = 7; } break; case 7: if (dwTickCount >= TBJ_CS_Delay) { TBJ_CS_Y_Local=dwYRealPos_com; if(TEST1<=1)TBJ_FIRST_CS_Y_LOCAL=dwYRealPos_com; if(abs(TBJ_FIRST_CS_Y_LOCAL-TBJ_CS_Y_Local)<=3) { TBJ_bCS = 0; TBJ_CS_OUT = 1; //超声打开 cs_time = TBJ_Choose_CSTime(); if (cs_time > 1500) cs_time = 1500; //超声时间上限为1.5 S TBJ_CS_Delay = dwTickCount + cs_time; if(TBJ_PARAM_CS_MODE) TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_JL_BD_DELAY; else TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_JL_TM_DELAY; JLXL_flag=1; TBJ_HMCS_Step = 8; } else { TBJ_HMCS_Step = 10; TBJ_CS_Delay = dwTickCount + 100; } } break; case 8: if(dwTickCount>=TBJ_HeMo_JLXL_Delay&&JLXL_flag) { JLXL_flag=0; JLXL_flag1=1; if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMAX; else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMAX; set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW); if(TBJ_PARAM_CS_MODE) TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_XL_BD_DELAY; else TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_XL_TM_DELAY; } if(dwTickCount>=TBJ_HeMo_JLXL_Delay&&JLXL_flag1) { JLXL_flag1=0; if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN; else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN; set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW); } if (dwTickCount >= TBJ_CS_Delay) { TBJ_HMCS_Step = 9; TBJ_GH_Y_Local=dwYRealPos_com; TBJ_CS_OUT = 0; TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime() / 3); //固化一半时间 if(JLXL_flag) { if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMAX; else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMAX; set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW); if(TBJ_PARAM_CS_MODE) TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_XL_BD_DELAY; else TBJ_HeMo_JLXL_Delay=dwTickCount+TBJ_PARAM_XL_TM_DELAY; JLXL_flag1=1; } } break; case 9: if(dwTickCount>=TBJ_HeMo_JLXL_Delay&&JLXL_flag1) { JLXL_flag1=0; if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN; else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN; set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW); } if (dwTickCount >= TBJ_CS_Delay) { TBJ_HMCS_Step = 10; TBJ_ChuiQi(); TBJ_GZ_VAVLE = 0; TBJ_CS_Delay = dwTickCount + (TBJ_Choose_COLDTime()*2 / 3); } break; case 10: if(dwTickCount>=TBJ_HeMo_JLXL_Delay&&JLXL_flag1) { JLXL_flag1=0; if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN; else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN; set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW); } if (dwTickCount >= TBJ_CS_Delay) { TBJ_XM_VAVLE = 0; TBJ_HMCS_Step = 11; SetPos(Y_AXIS,dwYRealPos_com); Set_Ctrlmode_trans(Y_AXIS,POS_MODE); TBJ_XC_CS_LOCAL=dwYRealPos_com; if(TEST1<1) { TBJ_PARAM_Y_Work_Local= dwYRealPos_com-25; TBJ_PARAM_Y_SOFT_PLIMIT=dwYRealPos_com-15; AxisEnableSoftwarelmt(Y_AXIS,TBJ_PARAM_Y_SOFT_PLIMIT,0); } TBJ_CS_Delay = dwTickCount + 10; } break; case 11: if (dwTickCount >= TBJ_CS_Delay) { TBJ_LENTH=dwYRealPos-0; TBJ_CS_Delay = dwTickCount+1500; AxisMovePosAccDec(Y_AXIS, TBJ_PARAM_Y_HIGH_SPEED, -TBJ_LENTH, 1000, 1000, 20, 20, 10); TBJ_HMCS_Step = 12; } break; case 12: if (TBJ_Y_ORIGIN_IN) { TBJ_GZ_VAVLE=0; TBJ_YD_VAVLE=0; TBJ_DZ_VAVLE=0; TBJ_HMCS_Step = 0; TBJ_bSC_FLAG=0; } else if(dwTickCount >= TBJ_CS_Delay) { TBJ_SetAlarmCode(TBJ_NO_YORIGIN_ALARM);//E19 超声结束后伺服未复位到原点 } break; } #endif } //启动停止故障停止动作 void TBJ_StartStopAction(void) { #if 1 //告警灯 if(GetAlarmCode(TBJ_ALARM_ADDR)==0) { TBJ_LED_R_OUT=0; TBJ_LED_Y_OUT=0; TBJ_LED_G_OUT=0; if(TBJ_bRunning)TBJ_LED_G_OUT=1; else TBJ_LED_Y_OUT=1; } else { TBJ_LED_R_OUT=1; TBJ_LED_Y_OUT=0; TBJ_LED_G_OUT=0; } //卡带感应 if(TBJ_KADAI_IN) { TBJ_SetAlarmCode(TBJ_KADAI_ALARM); } else { if(GetAlarmCode(TBJ_ALARM_ADDR) == TBJ_KADAI_ALARM)SetAlarmCode(TBJ_ALARM_ADDR,0); } if(GetAlarm(Y_AXIS)==1) { TBJ_SetAlarmCode(TBJ_SERVO_ALARM); } else { if(GetAlarmCode(TBJ_ALARM_ADDR) == TBJ_SERVO_ALARM)SetAlarmCode(TBJ_ALARM_ADDR,0); } if ((TBJ_START_IN_UP || TBJ_bStart||TBJ_bSingle||TBJ_HandWork) && !TBJ_bRunning && (TBJ_Auto_Step == 0)) { if (GetTotal(TBJ_TOTAL_ADDR) >= TBJ_SET_TOTAL) TBJ_SetAlarmCode(TBJ_TOTAL_ALARM); else if(!(GetServoComState(Y_AXIS))) TBJ_SetAlarmCode(TBJ_SERVO_COM_ALARM); else { if(TBJ_XC_Reset_flag||!TBJ_Y_ORIGIN_IN) { TBJ_bXCRest=0; TBJ_bXCResting=1; TBJ_XC_RstStep=1; SetEn(Y_AXIS, TBJ_MOTOR_EN); Set_Ctrlmode_trans(Y_AXIS,POS_MODE); set_servo_postotarr_limit(Y_AXIS,SERVO_PARAM_TRARR_BD_LIMITMIN, TBJ_PARAM_SFZSY_SPEED,TBJ_PARAM_SFZSY_SPEED,SERVO_TARR_CW); } SetEn(X_AXIS, TBJ_MOTOR_EN); TBJ_Auto_Delay = dwTickCount + 100; TBJ_Auto_Step = 1; TBJ_bRunning = 1; TBJ_Auto_Delay = 0; TBJ_PARAM_SQJCOUNT=0; TBJ_PARAM_XQJCOUNT=0; TBJ_SD_VAVLE=1; TBJ_GZ_VAVLE = 0;//钩针 TBJ_FJ_VAVLE = 0; //分胶 TBJ_DZ_VAVLE=0;//顶针 TBJ_SJ_VAVLE=0;//送胶 TBJ_YD_VAVLE=0; if(TBJ_bSingle)TBJ_bSingleOne=1; if(TBJ_HandWork) { TBJ_HandWorking=1; TBJ_bSingleOne=1; } } TBJ_HandWork=0; TBJ_bStart = 0; TBJ_bSingle=0; TBJ_bSC_FLAG=0; TBJ_LLPL_flag=0; } if (TBJ_STOP_IN_UP || TBJ_bStop) { /*当自动步骤达到4，已完成送胶动作，将本次贴胶动作做完*/ if (TBJ_bRunning && !TBJ_bSingleOne) { TBJ_bStop = 0; TBJ_bSingleOne = 1; } else { TBJ_bStart = 0; TBJ_bRunning = 0; TBJ_bSingleOne=0; TBJ_HandWorking=0; TBJ_bAlarmStop = 0; TBJ_bStop = 0; TBJ_HMCS_Step = 0; TBJ_Auto_Step = 0; TBJ_SJ_FJ_Step = 0; TBJ_Motor_Step = 0; TBJ_bXCResting=0; TBJ_XC_RstStep=0; TBJ_QJ_Step=0; TBJ_HeMo_Step=0; TBJ_QJ_Step=0; AxisEgmStop(X_AXIS); //刹停电机 SetEn(X_AXIS, TBJ_MOTOR_DISEN); //松轴 AxisEgmStop(Y_AXIS); //刹停电机 if(GetAlarm(Y_AXIS)==1)SetClr(Y_AXIS, 1); //SetEn(Y_AXIS, TBJ_MOTOR_DISEN); //松轴 TBJ_GZ_VAVLE = 0; //Y01钩针 TBJ_FJ_VAVLE = 0; //Y02分胶 TBJ_SM_VAVLE = 0; //Y03上模（下冲） TBJ_CS_OUT = 0; //Y10超声 TBJ_MOTOR_OUT = 0; //Y11拖带电机 TBJ_XM_VAVLE = 0; //Y12下模 TBJ_DZ_VAVLE=0; TBJ_YD_VAVLE=0; //TBJ_SD_VAVLE=0; if (TBJ_PARAM_SHENGJIAO == 1) TBJ_STOP_Step = 1; //停机节省布胶动作 else { TBJ_JJ_VAVLE = 0; //Y05压带 TBJ_SJ_VAVLE = 0; //Y04送胶退回 } TBJ_bSC_FLAG=0; TBJ_XC_RstStep=0; TBJ_bXCResting=0; } } if (TBJ_bAlarmStop) { TBJ_bAlarmStop = 0; AxisEgmStop(X_AXIS); TBJ_Auto_Step = 0; TBJ_HMCS_Step = 0; TBJ_Motor_Step = 0; TBJ_SJ_FJ_Step = 0; TBJ_bRunning = 0; SingOneFlg = 0; SetEn(X_AXIS, TBJ_MOTOR_DISEN); //松轴 } #endif } void TBJ_STOP_Action(void) { #if 1 switch (TBJ_STOP_Step) { case 0: break; case 1: { TBJ_JJ_VAVLE = 0; TBJ_STOP_Delay = dwTickCount + 50; TBJ_STOP_Step = 2; } break; case 2: if (dwTickCount >= TBJ_STOP_Delay) { TBJ_SJ_VAVLE = 0; TBJ_STOP_Step = 3; } break; case 3: if (TBJ_SJ_ORIGIN_IN) { TBJ_JJ_VAVLE = 0; TBJ_STOP_Step = 0; } break; } #endif } //电机动作 void TBJ_Motor(void) // { #if 1 switch (TBJ_Motor_Step) { case 0: //AxisDecStop(X_AXIS); //上钩针后减速停，保证拉链到位 break; case 1: TBJ_Motor_Step = 2; SetPos(X_AXIS, 0); TBJ_DJ_ErrorTime = dwTickCount + TBJ_PARAM_DJ_AUTO_STOP_TIME; //电机容错时间 if(TBJ_PARAM_DEC_MODE) { if (TEST1 > 1 ) { //第三条，开始走数控长度 AxisMovePosAccDecNotStop(X_AXIS, TBJ_PARAM_HIGH_SPEED, TBJ_SAVE_POS - TNJ_PARAM_TD_LENGTH - 200, TBJ_PARAM_MOTOR_START_SPEED, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_MOTOR_ADD, TBJ_PARAM_MOTOR_ADD, 0); } else { AxisContinueMoveAcc(X_AXIS, TBJ_PARAM_HIGH_SPEED*2/3, TBJ_DIR_P, TBJ_PARAM_MOTOR_START_SPEED, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_MOTOR_ADD, TBJ_PARAM_MOTOR_ADD); } } else { AxisContinueMoveAcc(X_AXIS, TBJ_PARAM_HIGH_SPEED, TBJ_DIR_P, TBJ_PARAM_MOTOR_START_SPEED, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_MOTOR_ADD, TBJ_PARAM_MOTOR_ADD); } break; case 2: if (TEST1 > 1 && TBJ_PARAM_DEC_MODE) { if (!TBJ_GUO_LIAN_IN) { TBJ_Motor_Step = 3; TBJ_Motor_Delay = dwTickCount + 10; //防震时间 TBJ_DJ_ErrorTime = dwTickCount + ERRORTIME; if(dwXRealPos<(TBJ_SAVE_POS - TNJ_PARAM_TD_LENGTH - 600)) AxisContinueMoveChangeSpeed(X_AXIS,TBJ_PARAM_NULL_SPEED,1000,20,20); } if ((TBJ_PARAM_LL_PRETECT_LENGTH > 0) && (GetPos(X_AXIS) >= TBJ_SAVE_POS + TBJ_PARAM_LL_PRETECT_LENGTH)) { TBJ_SetAlarmCode(8); //E8 拉链长度异常，超过拉链保护长度 } } else { if (!TBJ_GUO_LIAN_IN ) { TBJ_Motor_Step = 3; TBJ_Motor_Delay = dwTickCount + 10; //防震时间 TBJ_DJ_ErrorTime = dwTickCount + ERRORTIME; AxisContinueMoveChangeSpeed(X_AXIS,TBJ_PARAM_NULL_SPEED,1000,20,20); } } if ((dwTickCount > TBJ_DJ_ErrorTime) && (TBJ_PARAM_DJ_AUTO_STOP_TIME )) { TBJ_SetAlarmCode(24); //E24 拉拉链时间过长，可能由以下原因：①超出保护时间，请检查保护时间是否设置过短②电机是否启动，速度是否过慢③拉链过紧，电机没拉动 } break; case 3: //防震 if (TBJ_GUO_LIAN_IN) { TBJ_Motor_Step = 2; } if (dwTickCount >= TBJ_Motor_Delay) { TBJ_Motor_Step = 4; } break; case 4: if (TBJ_GUO_LIAN_IN || (TBJ_TEST_MODE && (dwTickCount > TBJ_TEST_TIME))) //过链上升沿 { if (TBJ_PARAM_TWOTD_SELECT == 0) { TBJ_Motor_Step = 5; TBJ_DJ_ErrorTime = dwTickCount + 5000; //电机容错时间 AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TNJ_PARAM_TD_LENGTH, TBJ_PARAM_NULL_SPEED, 1000, 50, 50, 20); //普通拖带，根据脉冲走一定距离 TBJ_GZ_Delay = dwTickCount + TBJ_PARAM_GZ_DELAY; //钩针延时输出 } else//二次拖带是，双钩针带缺口，防止撞送带增加的，要等送胶到位后，才能下钩针 { AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_TWOTD_LENGTH, TBJ_PARAM_NULL_SPEED, 1000,50, 50, 0); //二次拖带，根据脉冲走不同距离 TBJ_Motor_Step = 40; } } else if (dwTickCount > TBJ_DJ_ErrorTime) //一直处于空位，没拉链警告 { TBJ_SetAlarmCode(1); //E01 没拉链警告 请检查 X15 过链接近开关 } break; case 40: if (!X_DRV) //轴停 { TBJ_GZ_VAVLE = 1; //输出钩针 if (!TBJ_SJ_VAVLE&&TBJ_SJ_LIMIT_IN) //分胶送胶已完成 { TBJ_Motor_Delay = dwTickCount + 10; //二次拖带电机延时输出 TBJ_Motor_Step = 41; } } break; case 41: if (dwTickCount > TBJ_Motor_Delay) //二次拖带电机延时已过 { TBJ_Motor_Step = 5; TBJ_DJ_ErrorTime = dwTickCount + 500; //电机容错时间 AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, TNJ_PARAM_TD_LENGTH, 1000, 1000, 20, 20, 0); //根据脉冲走一定距离 } break; case 5: if (dwTickCount > TBJ_GZ_Delay) { TBJ_GZ_VAVLE = 1; //上钩针 } if(TBJ_PARAM_SGZSelect==0)//双钩针模式 { if(TBJ_GZ_LIMIT_IN) { TBJ_LLPL_flag=0; AxisEgmStop(X_AXIS); //急停电机 TBJ_Motor_Step = 6; TBJ_DZ_VAVLE=1; TBJ_Motor_Delay = dwTickCount + 10; //延时压带 if(GetAlarmCode(TBJ_ALARM_ADDR)==TBJ_LLPL_ALARM) SetAlarmCode(TBJ_ALARM_ADDR, 0); } else if (dwTickCount >= TBJ_DJ_ErrorTime) { if(TEST1<2||TBJ_LLPL_flag) { TBJ_SetAlarmCode(25); //E25 钩针未到位或 TBJ_TD_LIMIT_IN 钩针到位感应异常警告，电机停止 } else { TBJ_LLPL_flag++; SetAlarmCode(TBJ_ALARM_ADDR, TBJ_LLPL_ALARM); } } } else //单钩针模式 { if(!X_DRV) { TBJ_GZ_VAVLE = 1; //上钩针 TBJ_Motor_Step = 0; //单钩针方式便完成电机动作 } else if (dwTickCount >= TBJ_DJ_ErrorTime) { TBJ_SetAlarmCode(25); //E25 钩针未到位或 TBJ_TD_LIMIT_IN 钩针到位感应异常警告，电机停止 } } break; /*以下为双钩针模式进行*/ case 6: if (dwTickCount > TBJ_Motor_Delay) { TBJ_Motor_Step = 7; TBJ_YD_VAVLE = 1; //压带输出 TBJ_Motor_Delay = dwTickCount + TBJ_PARAM_YD_TIME; //压带输出延时退勾针 } break; case 7: if (dwTickCount > TBJ_Motor_Delay) //过了钩针延时 { //TBJ_GZ_VAVLE = 0; //钩针退出 TBJ_Motor_Step = 0; TBJ_DJ_ErrorTime = dwTickCount + ERRORTIME; //钩针退回容错时间 } break; case 8: if (!TBJ_GZ_LIMIT_IN) //钩针返回原位感应 { TBJ_Motor_Step = 0; //完成双钩针模式 } else if (dwTickCount > TBJ_DJ_ErrorTime) //钩针长时间不退回 { TBJ_SetAlarmCode(2); //E02 退勾针不到位或 TBJ_GZ_ORIGIN_IN 钩针复位感应异常，当前程序处于电机第七步 } break; //电机退链 case 20: //SetEn(X_AXIS, TBJ_MOTOR_EN); //锁轴 //SetPos(X_AXIS, 0); //设当前位置pos为0 TBJ_Motor_Step = 21; TBJ_Motor_Delay = dwTickCount + 5; //电机延时启动，等待锁轴 if (TBJ_PARAM_DJ_FANZHUAN == 0) //电机如果没有选择反转退链，则关闭该步骤 TBJ_Motor_Step = 0; break; case 21: if (dwTickCount > TBJ_Motor_Delay) //锁轴完成 { TBJ_Motor_Step = 22; AxisMovePosAccDec(X_AXIS, TBJ_PARAM_NULL_SPEED, -TBJ_TUILIAN_LENGTH, TBJ_PARAM_NULL_SPEED, TBJ_PARAM_NULL_SPEED, 20, 20, 0); //根据脉冲走一定距离 } break; case 22: //if (!X_DRV) //电机移动到退链长度 { TBJ_Motor_Step = 0; if (TBJ_FJBACKMode) TBJ_FJ_VAVLE = 0; //二次拖带退分胶 } break; } #endif } int TBJ_QieJiao_Check(void) { switch(TBJ_PARAM_QJCheck_MODE) { case 0://不检测 return 1; break; case 1://信号检测 if(TBJ_XQJGY_IN) { TBJ_SetAlarmCode(TBJ_NoJiao_W); return 0; } else { return 1; } break; case 2://码盘检测 if((TEST1>5)&&((TBJ_PARAM_SQJCOUNT TBJ_Auto_Delay)) { TBJ_Auto_Step = 2; TBJ_Auto_Delay = dwTickCount + 1; TEST1 = 0; //当前为第一条拉链 TBJ_SAVE_POS = 0; //用来保存第二条长度，置零 } break; case 2: //第一条时 if (dwTickCount > TBJ_Auto_Delay&&TBJ_Y_ORIGIN_IN) { if(TBJ_PARAM_CS_MODE)TBJ_NJ_SEL=SERVO_PARAM_TRARR_BD_LIMITMIN; else TBJ_NJ_SEL=SERVO_PARAM_TRARR_TM_LIMITMIN; set_servo_postotarr_limit(Y_AXIS,TBJ_NJ_SEL,TBJ_PARAM_Y_LOW_SPEED,TBJ_PARAM_Y_LOW_SPEED,SERVO_TARR_CW); Set_Ctrlmode_trans(Y_AXIS,POS_MODE); if(TBJ_QieJiao_Check())//缺胶检测 { TBJ_Auto_Step = 3; TBJ_SJ_FJ_Step = 1; //开始分胶送胶，送胶分胶需电机动作完成后才能完成 SetPos(X_AXIS, 0); if(!TBJ_HandWorking) { if(TBJ_PARAM_SGZSelect)//单钩针 { if (!TBJ_GZ_VAVLE)TBJ_Motor_Step = 1; //开始电机动作 else TBJ_SetAlarmCode(QD_GZOut_W); //E18 钩针阀未退回，无法启动 } else//双钩针 { if(!TBJ_GZ_LIMIT_IN)TBJ_Motor_Step = 1; //开始电机动作 else TBJ_SetAlarmCode(QD_GZOut_W); //E18 钩针阀未退回，无法启动 } } } } break; case 3: if ((TBJ_SJ_FJ_Step == 0) && (TBJ_Motor_Step == 0)) { TBJ_Auto_Step = 4; if (TEST1 == 1) //第二条拉链 TBJ_SAVE_POS = GetPos(X_AXIS); //保存第二条拉链的长度数据 if (TBJ_PARAM_DJ_FANZHUAN == 1&&!TBJ_HandWorking) TBJ_Motor_Step = 20; if(TBJ_HandWorking) { TBJ_GZ_VAVLE=1; } TBJ_Auto_Delay = dwTickCount + 1000; //延迟执行超声合模动作 } break; case 4: if ((!TBJ_FJ_LIMIT_IN && TBJ_FJ_ORIGIN_IN) //分胶没输出 到位没感应 原位有感应 没有分胶阀则不考虑前面条件 && ((!TBJ_SJ_LIMIT_IN && TBJ_SJ_ORIGIN_IN) || TBJ_PARAM_SongJiaoMode) //送胶没输出 到位没感应 原位有感应 滚轮送胶则不考虑前面条件 && (TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&TBJ_GZ_LIMIT_IN))) //双钩针模式需要考虑钩针退回原位 拖带到位感应不亮 单钩针模式不考虑 { if (TBJ_Motor_Step == 0) //反转完成 { TBJ_Auto_Step = 5; TBJ_HMCS_Step = 1; //执行合模超声动作 } } else if (dwTickCount >= TBJ_Auto_Delay&&!TBJ_HandWorking) { if (TBJ_FJ_LIMIT_IN) TBJ_SetAlarmCode(29); //E29 自动停止，分胶未退位或分胶前感应异常 else if (!TBJ_FJ_ORIGIN_IN ) TBJ_SetAlarmCode(30); //E30 自动停止，分胶未退位或分胶后感应异常 else if (TBJ_SJ_LIMIT_IN && !TBJ_PARAM_SongJiaoMode) TBJ_SetAlarmCode(32); //E32 自动停止，送胶未退位或送胶前感应异常 else if (!TBJ_SJ_ORIGIN_IN && !TBJ_PARAM_SongJiaoMode) TBJ_SetAlarmCode(33); //E33 自动停止，送胶未退位或送胶后感应异常 else if(!(TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&TBJ_GZ_LIMIT_IN))) { TBJ_SetAlarmCode(QD_GZDaoWei_W); //E03 钩针未退位或 X20 钩针到位感应异常警告，无法启动 } } break; case 5: if (TBJ_HMCS_Step == 0) { TBJ_Auto_Step = 6; TBJ_GZ_VAVLE = 0; //退钩针 CalProSP(TBJ_SPEED_ADDR); //计算生产速度 AddToTal(TBJ_TOTAL_ADDR); //产量增加 } break; case 6: if (TBJ_Y_ORIGIN_IN && //上模已离开 ((TBJ_PARAM_SGZSelect || ((TBJ_PARAM_SGZSelect == 0) &&!TBJ_GZ_LIMIT_IN)) //双钩针模式，钩针已回到原位，拖带到位感应不亮（该感应需要上钩针配合，不亮代表无钩针配合） || ((TBJ_PARAM_XiaMo_Mode == 0) && !TBJ_GZ_LIMIT_IN) //下模不动模式，钩针与上下模位置错开，不相互影响，不需要回到原位 || ((TBJ_PARAM_XiaMo_Mode == 1) && TBJ_PARAM_SGZSelect))) //下模活动模式，单钩针模式，钩针与上下模位置错开 { TBJ_Auto_Step = 7; TBJ_CQ_VAVLE = 1; TBJ_CQ_Delay = dwTickCount + 100; TBJ_Auto_Delay = dwTickCount + TBJ_PARAM_KAIMO_TD_DELAY + 20; //开模后延时拖带，45为下限时间 } break; case 7: if (dwTickCount > TBJ_Auto_Delay) { if (GetTotal(TBJ_TOTAL_ADDR) >= TBJ_SET_TOTAL) { TBJ_SetAlarmCode(TBJ_TOTAL_ALARM); TBJ_Auto_Step = 0; TBJ_bRunning = 0; TBJ_bSingleOne=0; TBJ_HandWorking=0; } else if(TBJ_bSingleOne||TBJ_HandWorking) { TBJ_bSingleOne=0; TBJ_HandWorking=0; TBJ_Auto_Step = 0; TBJ_bRunning = 0; } else { TBJ_Auto_Step = 2; } TEST1++; if (TEST1 > 10) TEST1 = 10; } break; } } #endif } #endif