GC23005/Machine/FuXiaoWeiMachine/FXWQueDuanJi_Bi.c

#include "global.h"


#if FU_XIAO_WEI_MACHINE == 1

void Bi_QueDuan_AlarmProtect(void);
void Bi_QueDuan_ManualAction(void);
void Bi_QueDuan_AutoAction(void);
void Bi_QueDuan_StepCheckStart(void);
void Bi_QueDuan_XiaQue(void);
void Bi_QueDuan_SecondXiaQue(void);
void Bi_QueDuan_Motor(void);
void Bi_QueDuan_YuanDianAction(void);
void Bi_QueDuan_ExtiActionX31(void);
void Bi_QueDuan_BingLian(void);
void Bi_QueDuan_TuiLianAction(void);
void Bi_StopCode(void);
void Bi_Motor_SZ(unsigned char En);
void Bi_QueDuan_CheckLength(void);
void Bi_QueDuan_YMotor(void);
void Bi_QueDuan_ZMotor(void);

//夹子松带返回长链电机处
void Bi_QueDuan_ReBack(void);

short  *Bi_QD_length_buffer;

void Bi_QueDuan_ExtiActionX31(void)
{
    //   cCheckLianFlg = 1;
}
void Bi_QD_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(Bi_QD_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void Bi_StopCode(void)
{
#if 1   
    switch(Bi_QD_StopStep)
    {
    case 1:            
        Bi_QD_StopStep=2;
        if(X_DRV)
        {
            AxisChangeSpeedDirect(X_AXIS,GetCurSpeed(X_AXIS) * 2/3);      
            AxisDecStop(X_AXIS);
        }
        if(Y_DRV)
        {
            AxisChangeSpeedDirect(Y_AXIS,GetCurSpeed(Y_AXIS) * 2/3);                    
            AxisDecStop(Y_AXIS);
        }
        break;
    case 2:    
        if((!X_DRV || (dwXRealPos < 10)))
        {
            AxisEgmStop(X_AXIS);
        }    
            
        if(!Y_DRV || (GetCurSpeed(Y_AXIS) < 3000))
        {
           
            
            AxisEgmStop(Y_AXIS);
        }  
        
        if(!X_DRV && !Y_DRV)
        {
             Bi_QD_StopCodeDelay=dwTickCount+350;
            Bi_QD_StopStep = 3;
        }    
        break;
    case 3:
        if(dwTickCount >= Bi_QD_StopCodeDelay)
        {
            if(!Bi_QD_cSTOPONE)
            {                
                Bi_QD_StopStep=0;                    
            }
            else
            {        
                Bi_QD_SetAlarmCode(Bi_QD_PARAM_ANQUANMEN_ALARM);
                Bi_QD_StopStep=0;
                Bi_QD_cSTOPONE=0;
            }
            AxisEgmStop(X_AXIS);
            AxisEgmStop(Y_AXIS);
            SetEn(X_AXIS, MOTOR_DISEN); //电机松轴
            SetEn(Y_AXIS, MOTOR_DISEN); //电机松轴  
        }
        break;
    }
#endif    
}

//电机松轴
//void Bi_Motor_SZ(unsigned char En)
//{

//}

void Bi_QueDuan_InitAction(void)
{
#if 1
    float Bi_QD_length_buff,pulse_buff;
    
    //X轴
    Bi_QD_length_buff = Bi_QD_PARAM_CYCLE_LENGTH;
    pulse_buff  = Bi_QD_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/Bi_QD_length_buff;  
    //Y轴长链压轮
    Bi_QD_length_buff = Bi_QD_PARAM_YMOTOR_CYCLE_LENGTH;
    pulse_buff  = 2000;   
    YGearRatio  = pulse_buff/Bi_QD_length_buff; 
    //Z轴丝杆
    Bi_QD_length_buff = Bi_QD_PARAM_ECMOTOR_CYCLE_LENGTH;
    pulse_buff  = 2000;
    
    ZGearRatio  = pulse_buff/Bi_QD_length_buff;    
    
    SetEnReverse(X_AXIS, 0);
    SetEnReverse(Y_AXIS, 0);
    SetEnReverse(Z_AXIS, 0);
    
    SetDirReverse(X_AXIS, 0);
    SetDirReverse(Y_AXIS, 1);
    SetDirReverse(Z_AXIS, 1);
    
    SetPos(X_AXIS, 0);  //启动位置设为0点    
    SetPos(Y_AXIS, 0);  //启动位置设为0点 
    SetPos(Z_AXIS, 0);  //启动位置设为0点     
    
    SetEn(X_AXIS, MOTOR_DISEN);
    SetEn(Y_AXIS, MOTOR_DISEN);
    SetEn(Z_AXIS, MOTOR_EN);
    
    Bi_QD_TMSZ_OUT = 1;
    Bi_QD_ORIGIN_Over = 0;
    Bi_QD_ZMotorStep = 1;      //回零点
    SetAlarmCode(Bi_QD_ALARM_ADDR,0);
#endif    
}

void Bi_QueDuan_Action(void)
{
#if 1    
    // InputPinConfig();    
    Bi_QueDuan_AlarmProtect();
    Bi_QueDuan_Motor();
    Bi_QueDuan_YMotor();
    Bi_QueDuan_ZMotor();
    Bi_StopCode();
    Bi_QueDuan_XiaQue();
    Bi_QueDuan_ManualAction();
    Bi_QueDuan_TuiLianAction();
    Bi_QueDuan_BingLian();
    Bi_QueDuan_SecondXiaQue();
    Bi_QueDuan_AutoAction();
    Bi_QueDuan_CheckLength();
    Bi_QueDuan_ReBack();
    Bi_QueDuan_StepCheckStart();   // 调用脚踏开关检测程序 
    //温度控制
    Bi_QD_KAI_WD_OUT = Bi_QD_CLTD_KAI_WD_IN && (!Bi_QD_PARAM_ECQ_DJ_SELECT || (!Bi_QD_PARAM_YCQ_DJ_SELECT && Bi_QD_PARAM_ECQ_MODE)); 
    Bi_QD_BI_WD_OUT = Bi_QD_CLTD_BI_WD_IN && (Bi_QD_PARAM_ECQ_DJ_SELECT || (Bi_QD_PARAM_YCQ_DJ_SELECT && Bi_QD_PARAM_ECQ_MODE));
    //运行
    // OutputPinConfig();
#endif   
}

//手动动作
void Bi_QueDuan_ManualAction(void)
{  
#if 1  
    if(Bi_QD_PARAM_TABLE_MODE)
    {
        Bi_QD_TABLE_VAVLE=0;
    }
    if(Bi_QD_PARAM_ECQ_MODE)
    {
        
    }
    if(Bi_QD_LDHXW_IN)
    {
        AxisEgmStop(X_AXIS);
        Bi_QD_SetAlarmCode(Bi_QD_LDHXW_ALARM);
    }
   
    if(bRunning == 0)  
    {   
        if(user_datas[Bi_QD_ALARM_ADDR] != 0)
            Bi_QD_ALR_STATE = 1;
        else
            Bi_QD_ALR_STATE = 0;
        Bi_QD_RUN_STATE = 0;   //运行灯关
            
        Bi_QD_cGoLimitEn = 0;
        if(Bi_QD_bClearTotal) //切断计数清零
        {
            Bi_QD_bClearTotal       = 0;
            ClrcToTal(Bi_QD_TOTAL_ADDR);
        }
        
        if(Bi_QD_bClearNowTotal)
        {
            Bi_QD_bClearNowTotal = 0;
            Bi_QD_PARAM_NOW_CNT = 0;
        }        
        if(Bi_QD_bXiaQie)
        {
            Bi_QD_bXiaQie = 0;
            if((Bi_QD_XiaQieStep == 0) && !Bi_QD_TL_VAVLE)
            {
                Bi_QD_YD_VAVLE=1;
                Bi_QD_XiaQieStep = 1;
            }  
        }        
        if(Bi_QD_bQianDianDW)
        {
            Bi_QD_bQianDianDW = 0;
            if(Bi_QD_MotorStep == 0)
            {
                Bi_QD_MotorStep = 61;
                Bi_QD_cZipCnt      = 0;
                
                SetEn(X_AXIS, MOTOR_EN); //电机锁轴
                Bi_QD_MotorDelay = dwTickCount + 150;
            }
        }        
        if(Bi_QD_bTL)
        {  
            Bi_QD_bTL = 0;
            if(Bi_QD_TL_VAVLE)
            {
                Bi_QD_TL_VAVLE = 0;
            } 
            else if(!Bi_QD_GZ_VAVLE && !Bi_QD_SM_VAVLE)
            {
                Bi_QD_TL_VAVLE = ~Bi_QD_TL_VAVLE;
            }
        }
        if(Bi_QD_XiaQieStep == 0)
        {
            if(Bi_QD_PARAM_ECTMACHINE_MODE)
            {
                if(Bi_QD_ZMotorStep == 0)
                {
                    if(Bi_QD_bFIRST_POS)
                    {    
                        Bi_QD_bFIRST_POS = 0;
                        Bi_QD_ZMotorStep = 10; 
                    }    
                    else if(Bi_QD_bSECOND_POS)   
                    {
                        Bi_QD_bSECOND_POS = 0;
                        Bi_QD_ZMotorStep = 20;
                    }
                    if(Bi_QD_QD_GO)              //切刀进
                    {
                        AxisContinueMoveAcc(Z_AXIS,5000,Bi_QD_DIR_P,2000,2000,25,15); 
                    }    
                    if(Bi_QD_QD_BACK && !Bi_QD_ECTD_ORIGIN_IN)                //切刀退
                    {
                        AxisContinueMoveAcc(Z_AXIS,5000,Bi_QD_DIR_N,2000,2000,25,15);
                    }                         
                }               
                if(Bi_QD_QD_BACK && Bi_QD_ECTD_ORIGIN_IN)                //切刀退
                {
                     AxisEgmStop(Z_AXIS);
                     Bi_QD_QD_BACK = 0;
                }
            }
            else
            {
                Bi_QD_bFIRST_POS = 0;
                Bi_QD_bSECOND_POS = 0;
            }    
        } 
            //电机停止
         if((Bi_QD_ZMotorStep == 0) && !Bi_QD_QD_GO && !Bi_QD_QD_BACK) 
         {
            AxisEgmStop(Z_AXIS);
         }    
        if(Bi_QD_bYD)
        {
            Bi_QD_bYD = 0;
            Bi_QD_YD_VAVLE = ~Bi_QD_YD_VAVLE;
        }
        
        if(Bi_QD_bGZ)
        {
            Bi_QD_bGZ = 0;
            Bi_QD_GZ_VAVLE = ~Bi_QD_GZ_VAVLE;
        }
        
        if(Bi_QD_bJD)
        {
            Bi_QD_bJD = 0;
            Bi_QD_JD_VAVLE = ~Bi_QD_JD_VAVLE;
        }
        
        if(Bi_QD_bXM)
        {
            Bi_QD_bXM = 0;
                       
                    if(Bi_QD_XM_VAVLE)
                    {
                        Bi_QD_XM_VAVLE = 0;
                    }
                    else
                    {
                        Bi_QD_XM_VAVLE = 1; 
                        
                    }  

        }
        if(Bi_QD_bKKD)       //开口刀
        {
            Bi_QD_bKKD = 0;
            if(!Bi_QD_SM_VAVLE && !Bi_QD_SHANG_MU_LIMIT_IN)
                Bi_QD_KAI_XM_VAVLE =~Bi_QD_KAI_XM_VAVLE;
        }    
        if(Bi_QD_bHBD)       //花边刀 
        {
            Bi_QD_bHBD = 0;
            if(!Bi_QD_SM_VAVLE && !Bi_QD_SHANG_MU_LIMIT_IN)
                Bi_QD_BI_XM_VAVLE = ~Bi_QD_BI_XM_VAVLE;
        }    
        
        if(Bi_QD_bECT)
        {
            Bi_QD_bECT = 0;
            Bi_QD_ECT_VAVLE = ~Bi_QD_ECT_VAVLE;
        }
        if(Bi_QD_bDL)
        {
            Bi_QD_bDL = 0;
            //          Bi_QD_DL_VAVLE = ~Bi_QD_DL_VAVLE;
        }
        if(Bi_QD_bCHUIQI)
        {
            Bi_QD_bCHUIQI = 0;
            Bi_QD_ECQ_CUIQI_VAVLE = 1;
            Bi_QD_CHUIQIDelay = dwTickCount+Bi_QD_PARAM_CHUIQI_TIME;
        }
        if(Bi_QD_bJL)
        {
            Bi_QD_bJL = 0;
            //           Bi_QD_JIALIAN_VAVLE = ~Bi_QD_JIALIAN_VAVLE;
        }  
        
        if(Bi_QD_bSM)
        {
            Bi_QD_bSM = 0;
            if(Bi_QD_SM_VAVLE)
            { 
                Bi_QD_CS_OUT = 0;
                Bi_QD_SM_VAVLE = 0;
            }    
            else if(!Bi_QD_TL_VAVLE)
                Bi_QD_SM_VAVLE = 1;
        }
        //推方块
        if(Bi_QD_bTFK)
        {
            Bi_QD_bTFK = 0;            
            if(Bi_QD_TFK_VAVLE)
            {
                Bi_QD_YD_VAVLE=0;
                Bi_QD_TFK_VAVLE=0;
            }
            else
            {
                Bi_QD_YD_VAVLE=1;
                Bi_QD_TFK_VAVLE=1;
            }          
        }
        
        if(Bi_QD_bSD)
        {
            Bi_QD_bSD = 0;
            Bi_QD_SD_VAVLE = ~Bi_QD_SD_VAVLE;
        }
        if(Bi_QD_bZY)
        {   
            Bi_QD_bZY = 0;
            if(Bi_QD_SM_VAVLE && !Bi_QD_CS_OUT)
                
                Bi_QD_CS_OUT =1;
            else if(Bi_QD_CS_OUT)
                Bi_QD_CS_OUT=0;
        }
        if(Bi_QD_bDGLG)
        {
            Bi_QD_bDGLG = 0;
            Bi_QD_DGLG_VAVLE = ~Bi_QD_DGLG_VAVLE;
        }
        //台面电机
        if(Bi_QD_bTB)
        {
            Bi_QD_bTB = 0;           
            Bi_QD_TABLE_VAVLE = ~Bi_QD_TABLE_VAVLE;
            Bi_QD_TMFZ_OUT = 0;
            Bi_QD_TMSZ_OUT = ~Bi_QD_TABLE_VAVLE;
        }
        //台面电机反转
        if(Bi_QD_bTBFZ)
        {
            Bi_QD_bTB = 0;           
            Bi_QD_TABLE_VAVLE = 0;
            Bi_QD_TMFZ_OUT = ~Bi_QD_TMFZ_OUT;
            Bi_QD_TMSZ_OUT = ~Bi_QD_TMFZ_OUT;
        }
        if(Bi_QD_bTestCS)
        {
            Bi_QD_bTestCS = 0;
            Bi_QD_CS_OUT  = 1;
            Bi_QD_CSDelay = dwTickCount + Bi_QD_PARAM_CS_TIME;
        }
        
        if(Bi_QD_bBL)//合链
        {
            Bi_QD_bBL = 0;
            Bi_QD_BL_VAVLE = ~Bi_QD_BL_VAVLE;
        }
        
        if(Bi_QD_bHL)  //护链,双开用
        {
            Bi_QD_bHL = 0;
            //            Bi_QD_HL_VAVLE = ~Bi_QD_HL_VAVLE;
        }
        
        if(Bi_QD_bYX)
        {
            Bi_QD_bYX = 0;
            //            Bi_QD_YX_VAVLE = ~Bi_QD_YX_VAVLE;
        }

        if(Bi_QD_bCLTD_JT)       //长链拉带进退电磁阀Y20
        {
            Bi_QD_bCLTD_JT= 0;
            if(Bi_QD_CLTD_JT_VAVLE)
                Bi_QD_CLTD_JT_VAVLE = 0;
            else if(!Bi_QD_QIAN_LIMIT_IN)
                Bi_QD_CLTD_JT_VAVLE = 1;
        }
        if(Bi_QD_bCLTD_YL)   //长链拉带压轮电磁阀Y21
        {
            Bi_QD_bCLTD_YL= 0;
            Bi_QD_CLTD_YL_VAVLE = ~Bi_QD_CLTD_YL_VAVLE;
        }
        //电机控制        
        if(Bi_QD_bGoMotor)
        {           
            if(!Bi_QD_QIAN_LIMIT_IN)
            {    
                SetEn(X_AXIS, MOTOR_EN);//电机锁轴
                if(Bi_QD_PARAM_ECTMACHINE_MODE)
                {       
                    if(!Bi_QD_PARAM_ECTGY_MODE)
                    { 
                        if(!Bi_QD_ZJL_ORIGIN_IN)SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_ZJLYW_ALARM); //  Bi_QD_SetAlarmCode(Bi_QD_ZJLYW_ALARM);
                        else if(!Bi_QD_YJL_ORIGIN_IN)SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_YJLYW_ALARM); //  Bi_QD_SetAlarmCode(Bi_QD_YJLYW_ALARM);  
                        
                        else if(!X_DRV)
                        {
                            
                            //                  X轴       运行速度                    启动速度        加速度  减速度
                            AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_PARAM_GO_LOW_SPEED,10,12);
                        }
                    }
                    else if(!X_DRV)
                    {
                        
                        //                  X轴       运行速度                    启动速度        加速度  减速度
                        AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_PARAM_GO_LOW_SPEED,10,12);
                    }
                    
                }
                else  if(!X_DRV)
                {
                    
                    //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_PARAM_GO_LOW_SPEED,10,12);
                }            
            }
            else if(!X_DRV)
            {
                SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_QIAN_LIMIT_HAND_ALARM); 
            }    
        }
        
        if(Bi_QD_bBackMotor && !Bi_QD_LDHXW_IN)  //后退限位已经取消
        {
            SetEn(X_AXIS, MOTOR_EN); //电机锁轴
            if(!X_DRV)
                //                  X轴       运行速度                    启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_P,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_PARAM_GO_LOW_SPEED,10,12);
        }
        
        if(!Bi_QD_bGoMotor && !Bi_QD_bBackMotor && (Bi_QD_MotorStep == 0) && (Bi_QD_StopStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS); 
        }
        
        if(Bi_QD_QIAN_LIMIT_IN && (Bi_QD_MotorStep == 0) && !Bi_QD_bBackMotor &&(Bi_QD_AutoStep == 0))
        {
            if(X_DRV)
            {    
                Bi_QD_bGoMotor = 0;
                AxisEgmStop(X_AXIS);
            }    
        }  
        if(Bi_QD_bCLTD_P)
        {
            SetEn(Y_AXIS, MOTOR_EN); //电机锁轴
            if(!Y_DRV)
                AxisContinueMoveAcc(Y_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_P,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_PARAM_GO_LOW_SPEED,10,12); 
        }  
        if(Bi_QD_bCLTD_N)
        {
            SetEn(Y_AXIS, MOTOR_EN); //电机锁轴
            if(!Y_DRV)
                AxisContinueMoveAcc(Y_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_PARAM_GO_LOW_SPEED,10,12);
        }
        if((Bi_QD_YMotorStep == 0) && !Bi_QD_bCLTD_P && !Bi_QD_bCLTD_N && (Bi_QD_StopStep == 0))
        {
            if(Y_DRV)AxisEgmStop(Y_AXIS);
        }
        
    }
#endif    
}




void Bi_QueDuan_AlarmProtect(void)
{ 
#if 1
    dwXRealPos = GetPos(X_AXIS);
    dwYRealPos = GetPos(Y_AXIS);
    dwZRealPos = GetPos(Z_AXIS);
    if(!bRunning)
    {
        ;
        
    }
    else
    {
        if(Bi_QD_PARAM_RUN_LENGTH < 5000)
            Bi_QD_PARAM_RUN_LENGTH= 5000;
        if((dwXRealPos > Bi_QD_PARAM_RUN_LENGTH) && (Bi_QD_cGoLimitEn != 0))  //第一条手动时不保护
        { 
            Bi_QD_JD_VAVLE = 0;
            Bi_QD_StopStep=1;
            Bi_QD_SetAlarmCode(Bi_QD_BACK_ALARM);
        }
    }
#endif   
}


void Bi_QueDuan_AutoAction(void)
{ 
#if 1 
    if(Bi_QD_cTABLETIME)
    {
        if(Bi_QD_cTABLETOTAL)
        {
            Bi_QD_cTABLETOTAL=0;
            if(Bi_QD_PARAM_LIAN_SELECT == 0)
                Bi_QD_TABLE_VAVLE = 1;
            Bi_QD_TableDelay=dwTickCount + 2000;
            
        }
        if(dwTickCount >= Bi_QD_TableDelay)
        {
            Bi_QD_TABLE_VAVLE = 0;
            Bi_QD_cTABLETIME = 0;            
        }
    }
    if(bRunning)
    {//台面电机定时关掉
        if(!Bi_QD_cTABLETIME)
        {
            if(dwTickCount >= Bi_QD_TBDelay)
                Bi_QD_TABLE_VAVLE = 0;
        }
        switch(Bi_QD_AutoStep)
        {
            case 1:
                if((dwTickCount >= Bi_QD_AutoDelay) && ((Bi_QD_PARAM_ECTMACHINE_MODE == 0) || (Bi_QD_ORIGIN_Over && (Bi_QD_ZMotorStep == 0))) && (Bi_QD_XiaQieStep == 0))
                {	
                    if(Bi_QD_XiaQieStep==0)
                        Bi_QD_AutoStep = 2;	    
                    if(Bi_QD_MotorStep == 0 )
                    {
 //                       if(Bi_QD_cZipCnt == 0)
 //                       {    
                            Bi_QD_MotorStep = 61;   //前点定位
 //                       }
 //                       else
 //                           Bi_QD_MotorStep = 81;   //前点定位
                        Bi_QD_MotorDelay  =    dwTickCount;
                    }
                    Bi_QD_cGoLimitEn = 0;
                }	
                break;	
            case 2:	 
                if((Bi_QD_MotorStep == 0) && (!Bi_bTiaoShiMode || (Bi_QD_START_IN_UP)))
                {   
                    if(Bi_QD_PARAM_LIAN_SELECT == 0)
                    {    
                        Bi_QD_MotorStep = 30;     //后拉拖带定位
                        Bi_QD_YMotorStep = 0;
                    }    
                    else
                        Bi_QD_YMotorStep = 30;     //长链
                    Bi_QD_AutoStep = 3;	
                    Bi_QD_cGoLimitEn = 1;
                }
                break;	
            case 3:	//后面两步为延时反转步
                if(((Bi_QD_MotorStep == 0) && (Bi_QD_YMotorStep == 0))  && (!Bi_bTiaoShiMode || (Bi_QD_START_IN_UP)))
                {   
                    if(Bi_QD_SAFE_IN)
                    {
                        bStop = 1;
                    }
                    else 
                    {                      
                        Bi_QD_XiaQueOver = 0;
                        if(Bi_QD_XiaQieStep == 0)
                            Bi_QD_XiaQieStep = 1;                 
                        Bi_QD_AutoStep = 4;
                         Bi_QD_MotorStep = 390;  //反转
                    }
                }              
                break;
            case 4:
                //                                  闭口
                if(((Bi_QD_XiaQieStep == 0) || Bi_QD_XiaQueOver))
                {
                    Bi_QD_XiaQueOver = 0;
                    //拉直要区分长链的短链（0短链，1 长链）
                    if((Bi_QD_PARAM_LIAN_SELECT == 0) && (Bi_QD_PARAM_ECQ_MODE == 0))   
                    {  
                        if(Bi_QD_MotorStep == 0) 
                        {
                           
                            Bi_QD_MotorStep = 40;     //切完后退             
                        }
                    }                
                    Bi_QD_AutoStep = 5;
                }
                break;
            case 5:
                if((Bi_QD_MotorStep == 0))   //不管那种模式，说明松夹已经完成
                {
                    if(Bi_QD_NQDJGNUNMBER==0)
                        Bi_QD_AutoStep = 6;
                    else if(Bi_QD_NQDJGNUNMBER==1)
                        Bi_QD_SetAlarmCode(Bi_QD_LENGTH_LONG_ALARM);
                    else if(Bi_QD_NQDJGNUNMBER==2)
                        Bi_QD_SetAlarmCode(Bi_QD_LENGTH_SHORT_ALARM);
                }
                break;
            case 6:	 
                if(((Bi_QD_MotorStep == 0)) && (!Bi_bTiaoShiMode || (Bi_QD_START_IN_UP)))
                {
                    Bi_QD_cZipCnt++;
                    Bi_QD_PARAM_NOW_CNT++;
                    Bi_QD_cTableCnt++;
                    AddToTal(Bi_QD_TOTAL_ADDR);
                    AddToTal(Bi_QD_WORKTOTAL_ADDR);
                    CalProSP(Bi_QD_PROSPEED_ADDR);
                    
                    if(Bi_QD_cTableCnt >= Bi_QD_PARAM_TABLE_NUM)
                    {
                        Bi_QD_cTableCnt = 0;
                        if(Bi_QD_PARAM_LIAN_SELECT == 0)
                            Bi_QD_TABLE_VAVLE = 1;
                        Bi_QD_TBDelay = dwTickCount + Bi_QD_PARAM_TB_TIME;
                    }
                    
                    if(/*(GetTotal(Bi_QD_TOTAL_ADDR) >= Bi_QD_PARAM_SET_TOTAL) ||*/ SingOneFlg)
                    {
                        /*
                        if((Bi_QD_PARAM_SET_TOTAL == 0) && !SingOneFlg)
                        {
                        Bi_QD_AutoDelay = dwTickCount + Bi_QD_PARAM_CYCLE_DELAY;
                        Bi_QD_AutoStep = 1; 
                    }
                              else
                        */
                        {
                            bRunning = 0;
                            Bi_QD_AutoStep = 0; 
                            SingOneFlg = 0;
                            
                        }
                        
                        //                         if(GetTotal(Bi_QD_TOTAL_ADDR) >= Bi_QD_PARAM_SET_TOTAL) Bi_QD_SetAlarmCode(Bi_QD_TOTAL_ALARM);
                    }
                    else
                    {
                        Bi_QD_AutoStep = 1; 
                        
                        if((Bi_QD_PARAM_NOW_CNT >= Bi_QD_PARAM_ZHA_SHU) && (Bi_QD_PARAM_ZHA_SHU > 0))   
                        {
                            Bi_QD_AutoDelay = dwTickCount + Bi_QD_PARAM_ZS_STOP_TIME;
                            Bi_QD_PARAM_NOW_CNT = 0;
                            Bi_QD_cTABLETIME = 1;
                            Bi_QD_cTABLETOTAL= 1;
                            if(Bi_QD_PARAM_ZS_STOP_TIME == 0)
                            {
                                bRunning = 0;
                                Bi_QD_AutoStep = 0; 
                                SingOneFlg = 0;
                                Bi_QD_cTABLETIME = 1;
                                Bi_QD_cTABLETOTAL= 1;
                                Bi_QD_SetAlarmCode(Bi_QD_TOTAL_ALARM);
                            }
                        }
                        else
                        {  
                            if(!X_DRV)   //电机没有停止
                                Bi_QD_AutoDelay = dwTickCount + Bi_QD_PARAM_CYCLE_DELAY;
                            else
                                Bi_QD_AutoDelay = dwTickCount;
                        }    
                    }
                }
                break;
        }	
    }
#endif   
}

void Bi_QueDuan_StepCheckStart(void)
{
#if 1 
    //		启动      			
    if((Bi_QD_START_IN_UP) || bStart || Bi_QD_bSingle) 
    {
        bStart = 0;           
        if(!bRunning && (Bi_QD_AutoStep == 0) && Bi_QD_ORIGIN_Over&& (Bi_QD_XiaQieStep == 0))
        {
            if((Bi_QD_XIA_MU_LIMIT_IN) && !Bi_QD_PARAM_XM_ENABLE)Bi_QD_SetAlarmCode(Bi_QD_XM_DAOWEI);
            else if(Bi_QD_SM_VAVLE)Bi_QD_SetAlarmCode(Bi_QD_SM_ALARM);   
            
            else
            {
                Bi_QD_RUN_STATE = 1;   //运行灯开
                Bi_QD_TMSZ_OUT = 0;   //台面电机锁轴
                Bi_QD_ALR_STATE = 0;  //警告灯
                bRunning    = 1;
                Bi_QD_AutoStep = 1;
                if(Bi_QD_bSingle) 
                    SingOneFlg= 1;
                Bi_QD_cZipCnt      = 0;
                Bi_QD_cTuiFangKuaiCnt = 0;
                Bi_QD_cTABLETIME = 0;
                Bi_QD_cTABLETOTAL= 0;
                Bi_QD_NQDJGNUNMBER = 0;
                
                Bi_QD_CLTD_JT_VAVLE = 0;
                Bi_QD_CLTD_YL_VAVLE = 0;
                Bi_QD_ECT_VAVLE=1;
                Bi_QD_BL_VAVLE = 0;    //并链关
                Bi_QD_DGLG_VAVLE = 0;  //顶过链杆关
                SetAlarmCode(Bi_QD_ALARM_ADDR,0); 
                SetEn(X_AXIS, MOTOR_EN); //电机锁轴
                SetEn(Y_AXIS, MOTOR_EN); //电机锁轴
                Bi_QD_AutoDelay = dwTickCount + 400; 
                if((Bi_QD_PARAM_ECTMACHINE_MODE))
                {
                    if(!Bi_QD_PARAM_ECQ_MODE )
                        Bi_QD_ZMotorStep = 10; 
                    else
                        //切二次
                      Bi_QD_ZMotorStep = 20;  //移动到第二次切位置 
                       
                } 
                Bi_QD_TuiLianStep = 1;
                Bi_QD_YD_VAVLE = 1;   
/*                
                if(Bi_QD_PARAM_ECTMACHINE_MODE)
                {
                    if(Bi_QD_ECTD_ORIGIN_IN)
                        Bi_QD_SetAlarmCode(Bi_QD_ECTDYW_ALARM);
                    if(!Bi_QD_PARAM_ECTGY_MODE)
                    {
                        if(!Bi_QD_HL_ORIGIN)Bi_QD_SetAlarmCode(Bi_QD_DLYW_ALARM);
                        else if(!Bi_QD_ZJL_ORIGIN_IN)
                            Bi_QD_SetAlarmCode(Bi_QD_ZJLYW_ALARM);
                        else if(!Bi_QD_YJL_ORIGIN_IN)
                            Bi_QD_SetAlarmCode(Bi_QD_YJLYW_ALARM);  
                    }
                } 
*/
            }
        }
        Bi_QD_bSingle = 0;
    }
    //停止
    if(Bi_QD_STOP_IN_UP || bStop)
    {
        bStop = 0;       
        if(bRunning)
        {
            Bi_QD_AutoDelay   = dwTickCount;
            Bi_QD_MotorDelay = dwTickCount;
            Bi_QD_YMotorDelay = dwTickCount;
            Bi_QD_XiaQieDelay  = dwTickCount;
            Bi_QD_KaDaiDelay   = dwTickCount;
            Bi_QD_CSDelay = dwTickCount;
            Bi_QD_TBDelay  = dwTickCount;
            Bi_QD_TFKDelay  = dwTickCount;
            Bi_QD_TLDelay     = dwTickCount;
            dwTickCount = Bi_QD_TBDelay;
            Bi_QD_NQDJGNUNMBER = 0;
            Bi_QD_SecondXiaQueStep=0;
            Bi_QD_cTABLETIME = 0;
            Bi_QD_cTABLETOTAL= 0;
            SingOneFlg  = 0; 
            Bi_QD_JD_VAVLE = 0;
            Bi_QD_SM_VAVLE = 0;
            Bi_QD_XM_VAVLE = 0;
            Bi_QD_YD_VAVLE = 0;
            Bi_QD_TFK_VAVLE= 0;
            Bi_QD_TL_VAVLE      = 0;
            //           Bi_QD_HL_VAVLE  = 0;
            Bi_QD_CS_OUT   = 0;
            
            Bi_QD_XiaQieStep = 0;
            Bi_QD_MotorStep  = 0;
            Bi_QD_YMotorStep  = 0;
            Bi_QD_TuiLianStep = 0;
            Bi_QD_GZ_VAVLE    = 0;
            Bi_QD_TABLE_VAVLE   = 0;
            Bi_QD_TMFZ_OUT = 0;
            Bi_QD_TMSZ_OUT = 1;
            Bi_QD_DGLG_VAVLE = 0;  //顶过链杆关
            if((Bi_QD_StopStep == 0) && (X_DRV || Y_DRV))
                Bi_QD_StopStep = 1;           
            //AxisDecStop(X_AXIS);    
            Bi_QD_BinLianStep  = 0;
            Bi_QD_BL_VAVLE    = 0;
            user_datas[121] = 0;
            user_datas[122] = 0;
            //            Bi_QD_CLTD_JT_VAVLE = 0;
            Bi_QD_CLTD_YL_VAVLE = 0;
            Bi_QD_KAI_XM_VAVLE = 0;    //开口下刀电磁阀
            Bi_QD_BI_XM_VAVLE = 0;     //闭口下刀电磁阀            
            SetAlarmCode(Bi_QD_ALARM_ADDR,0);       
//            AxisEgmStop(Z_AXIS);
        }
        else
        {
            Bi_QD_AutoDelay   = dwTickCount;
            Bi_QD_MotorDelay = dwTickCount;
            Bi_QD_XiaQieDelay  = dwTickCount;
            Bi_QD_KaDaiDelay   = dwTickCount;
            Bi_QD_CSDelay = dwTickCount;
            Bi_QD_TBDelay  = dwTickCount;
            Bi_QD_TFKDelay = dwTickCount;
            Bi_QD_TLDelay  = dwTickCount;
            dwTickCount = Bi_QD_TBDelay;
            Bi_QD_NQDJGNUNMBER = 0;
            SingOneFlg  = 0; 
            Bi_QD_JD_VAVLE = 0;
            Bi_QD_SM_VAVLE = 0;
            Bi_QD_XM_VAVLE = 0;
            Bi_QD_XM_VAVLE = 0;
            Bi_QD_YD_VAVLE = 0;
            Bi_QD_TFK_VAVLE= 0;
            if(!Bi_QD_PARAM_ECQ_MODE)
                Bi_QD_ECT_VAVLE=1;
            else
                Bi_QD_ECT_VAVLE=0;
            
            //          Bi_QD_YX_VAVLE = 0;
            //          Bi_QD_HL_VAVLE  = 0;
            Bi_QD_TL_VAVLE      = 0;
            Bi_QD_DGLG_VAVLE = 0;  //顶过链杆关
            Bi_QD_GZ_VAVLE = 0;
            Bi_QD_SD_VAVLE=0;
            Bi_QD_CS_OUT   = 0;
            Bi_QD_XiaQieStep = 0;
            Bi_QD_MotorStep = 0;
            Bi_QD_TuiLianStep = 0;
            Bi_QD_TABLE_VAVLE = 0;
            Bi_QD_cTABLETIME = 0;
            Bi_QD_TMFZ_OUT = 0;
            Bi_QD_TMSZ_OUT = 1;
            Bi_QD_cTABLETOTAL= 0;
            if((Bi_QD_StopStep == 0))
            {
                Bi_QD_cSTOPONE = 0;
                AxisEgmStop(X_AXIS);   
                SetEn(X_AXIS, MOTOR_DISEN); //电机松轴
                AxisEgmStop(Y_AXIS);   
                SetEn(Y_AXIS, MOTOR_DISEN); //电机松轴
            }   
            Bi_QD_SecondXiaQueStep=0;            
            Bi_QD_BinLianStep  = 0;
            Bi_QD_BL_VAVLE    = 0;
            Bi_QD_CLTD_JT_VAVLE = 0;
            Bi_QD_CLTD_YL_VAVLE = 0;
            SetAlarmCode(Bi_QD_ALARM_ADDR,0);

 //           AxisEgmStop(Z_AXIS);
            
            Bi_QD_KAI_XM_VAVLE = 0;    //开口下刀电磁阀
            Bi_QD_BI_XM_VAVLE = 0;     //闭口下刀电磁阀
            if(Bi_QD_PARAM_ECTMACHINE_MODE)  //二次切选择的话先移动到第一刀
            {    
//                if(Bi_QD_PARAM_ECQ_MODE )
                    Bi_QD_ZMotorStep = 10; 
//                else
//                    Bi_QD_ZMotorStep = 20; 
            }   
        }
        bRunning   = 0;
        Bi_QD_XiaQieStep = 0;
        Bi_QD_AutoStep   = 0;
        Bi_QD_MotorStep  = 0;
        Bi_QD_TuiLianStep = 0;
//        Bi_QD_ZMotorStep  = 0;
    }    
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        Bi_QD_XiaQieStep = 0;
        Bi_QD_AutoStep   = 0;
        Bi_QD_MotorStep  = 0;
        Bi_QD_StopStep=0;
        Bi_QD_TuiLianStep = 0;
        Bi_QD_NQDJGNUNMBER = 0;
        Bi_QD_XiaQieStep = 0;
        Bi_QD_MotorStep  = 0;
        
        Bi_QD_SecondXiaQueStep=0;
        Bi_QD_AutoDelay   = dwTickCount;
        Bi_QD_MotorDelay = dwTickCount;
        Bi_QD_XiaQieDelay  = dwTickCount;
        Bi_QD_KaDaiDelay   = dwTickCount;
        Bi_QD_CSDelay = dwTickCount;
        Bi_QD_TBDelay  = dwTickCount;
        Bi_QD_TFKDelay  = dwTickCount;
        Bi_QD_TLDelay     = dwTickCount;
        SingOneFlg  = 0; 
        bRunning   = 0;   
        Bi_QD_StopStep=1;
        //     AxisEgmStop(X_AXIS);       
        //    AxisEgmStop(X_AXIS); 
        dwTickCount = Bi_QD_TBDelay;
        Bi_QD_TABLE_VAVLE = 0;
        Bi_QD_JD_VAVLE=0;
        Bi_QD_GZ_VAVLE=0;
    }
#endif    
}   
//记忆长度模式误差检测
void Bi_QueDuan_CheckLength(void)
{
 #if 1   
    static long start_dist;
    
    switch(Bi_QD_CheckLengthStep)
    {
        case 0:break;
        case 1:
            start_dist = dwXRealPos;
            Bi_QD_dwWorkLength = 0;
            Bi_QD_CheckLengthStep = 2;
            break;
        case 2:
            if(Bi_QD_GUO_LIAN_IN_DW)
            {  
                Bi_QD_dwWorkLength = dwXRealPos - start_dist;              
            }
            break;         
    }  
#endif   
}

void Bi_QueDuan_BingLian(void)
{
#if 1
    static long bl_pos_buff;
    
    switch(Bi_QD_BinLianStep)
    {
        case 0:break;
        case 1:
            bl_pos_buff = dwXRealPos;
            Bi_QD_BinLianStep = 2;
            break;       
        case 2:
            if((dwXRealPos - bl_pos_buff) >= Bi_QD_PARAM_DELAY_HL_LENGTH)
            {
                Bi_QD_BL_VAVLE = 1;   
                Bi_QD_BinLianStep = 3;
            }            
            break;
        case 3://有过链检测
            if(Bi_QD_GUO_LIAN_IN_DW || ((dwXRealPos - bl_pos_buff) >= (Bi_QD_PARAM_ZIPPER_LENGTH - Bi_QD_PARAM_HL_DELAY_BACK)))  
            {
                Bi_QD_BL_VAVLE = 0;
                Bi_QD_BinLianStep = 0;   
            }
            break;
        case 10:
            bl_pos_buff = dwXRealPos;
            Bi_QD_BinLianStep = 11;
            break;       
        case 11:
            if((dwXRealPos - bl_pos_buff) >= Bi_QD_PARAM_DELAY_HL_LENGTH)
            {
                Bi_QD_BL_VAVLE = 1;   
                Bi_QD_BinLianStep = 12;
            }            
            break;
        case 12://有过链检测
            if(Bi_QD_GUO_LIAN_IN_DW)  
            {
                Bi_QD_BL_VAVLE = 0;
                Bi_QD_BinLianStep = 0;   
            }
            break;
            //这是长链模式的合链
        case 20:
            bl_pos_buff = dwXRealPos;
            Bi_QD_BinLianStep = 21;
            break;       
        case 21:
            if((dwXRealPos - bl_pos_buff) >= Bi_QD_PARAM_DELAY_HL_LENGTH)
            {
                Bi_QD_BL_VAVLE = 1;   
                Bi_QD_BinLianStep = 22;
            }            
            break;
        case 22://有过链检测
            if((Bi_QD_GUO_LIAN_IN_DW && ((dwYRealPos + Bi_QD_PARAM_CL_JZ_TD_LENGTH) >= (Bi_QD_PARAM_ZIPPER_LENGTH - 1200))) || ((dwYRealPos + Bi_QD_PARAM_CL_JZ_TD_LENGTH + 300) >= (Bi_QD_PARAM_ZIPPER_LENGTH - Bi_QD_PARAM_HL_DELAY_BACK)))  
            {
                Bi_QD_BL_VAVLE = 0;
                Bi_QD_BinLianStep = 0;   
            }
            break;            
        default:
            break;
    }
#endif    
}
//电机动作

//作闭口专用程序,也有四种模式
//不带过链感应长度输入电机长度  闭口有勾针到位 ，夹子电机
void Bi_QueDuan_Motor(void)
{
#if 1     
    static long Bi_QD_jz_buff;

    unsigned  short ch,kk;
              
    user_datas[121] = dwXRealPos;
    user_datas[122] = dwYRealPos;
    user_datas[123] = dwZRealPos;
    user_datas[124] = Bi_QD_ZMotorStep;
    user_datas[125] = Bi_QD_TuiLianStep;//Bi_QD_ReBack_Step;//Bi_QD_YMotorStep;
    user_datas[126] = Bi_QD_XiaQieStep;
    user_datas[127] = Bi_QD_AutoStep;//Bi_QD_gou_zhen_buff;
    user_datas[128] = Bi_QD_SecondXiaQueStep;//;
    
    switch(Bi_QD_MotorStep)
    {
    case 30:
        switch(Bi_QD_PARAM_BACK_MODE)  //开口分四种模式 
        {
        case 0: //单数控模式
            Bi_QD_MotorStep   = 310;  //每种模式留20步
            Bi_QD_DGLG_VAVLE = 1;  //顶过链杆关
            break;
        case 1://单感应模式
            Bi_QD_MotorStep   = 330;  //每种模式留20步
            
            break;
        case 2: //先感应后数控模式+检测
            Bi_QD_MotorStep   = 350;  //每种模式留20步
            break;
        default:  //数控模式+过链检测长度
            Bi_QD_MotorStep   = 370;  //每种模式留20步
            break;
        }        
        SetPos(X_AXIS, 0);   //开始拖带处为0点
        
        Bi_QD_MotorDelay  =    dwTickCount + 0; 
        Bi_QD_YD_VAVLE = 0;
        //已经定位原点后好，定位到第一刀
       if((Bi_QD_PARAM_ECTMACHINE_MODE) && Bi_QD_ORIGIN_Over)
       {
           
                Bi_QD_ZMotorStep = 10;  //移动到第一次切位置

        }    
        break;
        //310步到315步为数控模式                    
    case 310:
        Bi_QD_MotorStep   = 311;    
        if(Bi_QD_PARAM_BL_ENABLE)
            Bi_QD_BinLianStep = 1;  //并链起动
        break;
    case 311:                  
        if(dwTickCount >= Bi_QD_MotorDelay)
        {   
            Bi_QD_length_buffer = (short *)(&Bi_QD_PARAM_OFFSET_LENGTH);
            if(Bi_QD_PARAM_ECQ_MODE)
                Bi_QD_ECT_VAVLE=0;
            //自动匹配减速时间
            Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ Bi_QD_PARAM_BACK_SPEED/500;          
            //两段速度移动距离
            
            AxisMovePosAccDecNotStop(X_AXIS,Bi_QD_PARAM_BACK_SPEED,Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer), Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_BACK_LOW_SPEED,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH);            
            Bi_QD_MotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
            Bi_QD_MotorStep   = 312;
        }
        break;   
    case 312:
        //电机走动后再退送链，减少起动拉链的阻力
        if(dwXRealPos >= 50)
        {
            Bi_QD_TL_VAVLE = 0;
            Bi_QD_SD_VAVLE = 0;
        }   
        //提前压带
        if(dwXRealPos >((Bi_QD_PARAM_ZIPPER_LENGTH+ (*Bi_QD_length_buffer))-Bi_QD_PARAM_YDCNC_LENGTH))
        {
            Bi_QD_YD_VAVLE=1;  
        }     
        if(dwXRealPos >= (Bi_QD_PARAM_ZIPPER_LENGTH+(*Bi_QD_length_buffer) - Bi_QD_PARAM_SY_LENGTH))
        {
            if(Bi_QD_LTGY_IN_UP)
                Bi_QD_SetAlarmCode(Bi_QD_LTWZYC_ALARM);                       
        }
        
        //勾针提前输出
        if(!Bi_QD_GZ_VAVLE && ((dwXRealPos + Bi_QD_PARAM_GOUZHEN_LENGTH) >= (Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer))))
        {  
            Bi_QD_GZ_VAVLE = 1;
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }
        }
        
        if((dwXRealPos) >= (Bi_QD_PARAM_ZIPPER_LENGTH  + (*Bi_QD_length_buffer) - Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH)) //- (*Bi_QD_length_buffer) - (Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(Bi_QD_PARAM_BACK_SPEED,Bi_QD_PARAM_BACK_LOW_SPEED,Bi_QD_PARAM_DCC)))))
        {           
            Bi_QD_MotorDelay  = dwTickCount + 1500; //钩针未到位延时警告
            Bi_QD_MotorStep   = 313;                                 
        }               
        break;
    case 313: 
        //数控提前压带
        if((dwXRealPos + Bi_QD_PARAM_YDCNC_LENGTH) >= ((Bi_QD_PARAM_ZIPPER_LENGTH+ (*Bi_QD_length_buffer))))
        {
            Bi_QD_YD_VAVLE=1;  
        }
        
        if((dwXRealPos + Bi_QD_PARAM_SY_LENGTH) >= (Bi_QD_PARAM_ZIPPER_LENGTH+(*Bi_QD_length_buffer)))
        {
            if(Bi_QD_LTGY_IN_UP)
                Bi_QD_SetAlarmCode(Bi_QD_LTWZYC_ALARM);
            
        }       
        //勾针提前输出
        if(!Bi_QD_GZ_VAVLE && ((dwXRealPos + Bi_QD_PARAM_GOUZHEN_LENGTH) >= (Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer))))
        {  
            Bi_QD_GZ_VAVLE = 1;
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }
        }
        
        if(Bi_QD_GOUZHEN_IN)
        {                      
            AxisEgmStop(X_AXIS);
            Bi_QD_MotorDelay  =    dwTickCount + 0;
            Bi_QD_YD_VAVLE = 1;
             Bi_QD_SD_VAVLE = 1;
            Bi_QD_MotorStep   = 314;
            Bi_QD_BL_VAVLE = 0;  //停止时并链一定要打开
            
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }
        }  
        else if((dwXRealPos >= (Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer) + Bi_QD_PARAM_ERROR_LENGTH)) && Bi_QD_PARAM_ERROR_LENGTH)
        {
            AxisEgmStop(X_AXIS);
            if(dwTickCount >= Bi_QD_MotorDelay)                            
                Bi_QD_SetAlarmCode(Bi_QD_GZ_ALARM);
        }         
        break;                     
    case 314:        
        if((dwTickCount >= Bi_QD_MotorDelay))
        {    
            Bi_QD_MotorDelay  =    dwTickCount + VAVLE_ALARM_TIME;
            Bi_QD_YD_VAVLE = 1;//压带                       
            Bi_QD_SD_VAVLE=1;
            Bi_QD_MotorStep   = 315;
        }   
        break;
    case 315:    
        if(Bi_QD_cZipCnt == 0)  //第一条把误差到正负9MM
        {
            ch = Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer)-90; 
            kk = Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer)+90;
        }   
        else
        {
            if(Bi_QD_PARAM_BACK_MODE == 2)   //先感应后数控模式+检测 
            { 
                ch = Bi_QD_gou_zhen_buff - Bi_QD_PARAM_SKCDWC_LENGTH;                            
                kk = Bi_QD_gou_zhen_buff + Bi_QD_PARAM_SKCDWC_LENGTH;         
            }
            else//纯数控模式
            {
                ch = Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer)-Bi_QD_PARAM_SKCDWC_LENGTH;                            
                kk = Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer)+Bi_QD_PARAM_SKCDWC_LENGTH;        
            }
            
        }
        if(Bi_QD_PARAM_BACK_MODE == 2)   //先感应后数控模式+检测  只能检测过链的位置
        {
            if(((Bi_QD_dwWorkLength) < (ch)))  //拉链变短
            { 
                SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_LENGTH_SHORT_ALARM);   
                if(dwTickCount >= Bi_QD_MotorDelay)
                    bAlarmStop = 1;
            }          
            else if((Bi_QD_dwWorkLength > kk))//拉链变长//(Bi_QD_PARAM_ERROR_LENGTH - 200 + (*Bi_QD_length_buffer)+50)))
            {
                SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_LENGTH_LONG_ALARM);   
                if(dwTickCount >= Bi_QD_MotorDelay)
                    bAlarmStop = 1;
            }     
            else
            {                                                              
                Bi_QD_MotorStep   = 0;//  //延时反转步
            }                          
        }
        else
        {  
            if(((dwXRealPos) < (ch)))  //拉链变短
            { 
                SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_LENGTH_SHORT_ALARM);   
                if(dwTickCount >= Bi_QD_MotorDelay)
                    bAlarmStop = 1;
            }          
            else if((dwXRealPos > kk))//拉链变长//(Bi_QD_PARAM_ERROR_LENGTH - 200 + (*Bi_QD_length_buffer)+50)))
            {
                SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_LENGTH_LONG_ALARM);   
                if(dwTickCount >= Bi_QD_MotorDelay)
                    bAlarmStop = 1;
            }     
            else
            {                                                              
                Bi_QD_MotorStep   = 0; //延时反转步
            }   
        }                     
        break;
        //330步到349步单感应模式   
    case  330:                     
        Bi_QD_MotorStep   = 331;                    
        break;
    case 331:  
        if(dwTickCount >= Bi_QD_MotorDelay)
        {   
            Bi_QD_length_buffer =(short *)( &Bi_QD_PARAM_OFFSET_LENGTH);
            if(Bi_QD_PARAM_ECQ_MODE)
                Bi_QD_ECT_VAVLE=0;
            Bi_QD_MotorStep   = 332; 
            if(Bi_QD_cZipCnt < 2)
            {
                if(Bi_QD_PARAM_BL_ENABLE)
                    Bi_QD_BinLianStep = 10;  //并链起动
                
                //第一条都是过链感应，后拉速度减半//原来Bi_QD_PARAM_CHECK_BACK_HSPEED/2
                //                  X轴       运行速度                    启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_FIRST_BACK_SPEED,Bi_QD_DIR_P,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_LSPEED,15,20);                           
                //               轴     第一段速度  第一段长度  第二段速度 第二段长度  方向
                // AxisMoveTwoPos(X_AXIS,Bi_QD_PARAM_BACK_SPEED,Bi_QD_PARAM_ZIPPER_LENGTH + (*Bi_QD_length_buffer)-Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH,Bi_QD_PARAM_BACK_LOW_SPEED,Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH,Bi_QD_DIR_P); 
                
            }   
            else
            {  
                Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ Bi_QD_PARAM_CHECK_BACK_HSPEED/500;   
                if(Bi_QD_PARAM_BL_ENABLE)
                    Bi_QD_BinLianStep = 1;  //并链起动
                //因为每条都是过链感应，所以直接运行检测模式后拉速度
                //                  X轴       运行速度                    启动速度        加速度  减速度
                //                            AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_BACK_SPEED,Bi_QD_DIR_P,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_LSPEED,Bi_QD_PARAM_ACC,80);       
                AxisMovePosAccDecNotStop(X_AXIS,Bi_QD_PARAM_CHECK_BACK_HSPEED,Bi_QD_PARAM_ZIPPER_LENGTH , Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_LSPEED*9/5,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH + 500);                                
            }
        }
        break;
    case 332:
        //电机走动后再退送链，减少起动拉链的阻力
        if(dwXRealPos >= 50)
        {
            Bi_QD_TL_VAVLE = 0;
           
            Bi_QD_MotorStep   = 333;  //到检测定位
        }  
        break;
    case 333:    
        if(Bi_QD_cZipCnt > 1)  //第三条开始数控降速
        { 
            if(dwXRealPos >= Bi_QD_PARAM_ZIPPER_LENGTH+(*Bi_QD_length_buffer)-Bi_QD_PARAM_SY_LENGTH)
            {
                if(Bi_QD_LTGY_IN_UP)
                    Bi_QD_SetAlarmCode(Bi_QD_LTWZYC_ALARM);                         
            }
            if(Bi_QD_GUO_LIAN_IN)  //重新到空位上
            {
                Bi_QD_MotorStep   = 334;  //到检测定位    
                if(!Bi_QD_PARAM_LTJC_MODE)  //有拉头模式
                    Bi_QD_MotorDelay  = dwTickCount + Bi_QD_PARAM_FD_TIME;//Bi_QD_PARAM_DELAY_XM;   防抖时间
                else//无拉头模式
                    Bi_QD_MotorDelay  = dwTickCount + 3;//Bi_QD_PARAM_DELAY_XM;
            }
        }  
        else   //第一条工作
        {       
            Bi_QD_GZ_VAVLE = 0;  
            if(Bi_QD_GUO_LIAN_IN_UP)
            {                             
                //第一条，速度比较慢防抖动时间可以不要
               
                Bi_QD_MotorDelay  = dwTickCount + 2;//Bi_QD_PARAM_DELAY_XM;
                Bi_QD_MotorStep   = 334;
            }                        
        }                             
        break;
    case 334:  //此步为前两条运行
        
        if(Bi_QD_cZipCnt>1)
        {
            if(dwXRealPos >= Bi_QD_PARAM_ZIPPER_LENGTH+(*Bi_QD_length_buffer)-Bi_QD_PARAM_SY_LENGTH)
            {
                if(Bi_QD_LTGY_IN_UP)
                    Bi_QD_SetAlarmCode(Bi_QD_LTWZYC_ALARM);
                
            }
        }
        if(Bi_QD_GUO_LIAN_IN_DW)
        {
            Bi_QD_gou_zhen_buff = dwXRealPos; 
            
        }
        if(dwTickCount >= Bi_QD_MotorDelay)
        {
            if(Bi_QD_GUO_LIAN_IN)   //还在空位上
            {       
                if(Bi_QD_cZipCnt < 2)  //前面两条速度不高，可以立即降速
                {
                    AxisChangeSpeedDirect(X_AXIS,Bi_QD_PARAM_CHECK_BACK_LSPEED * 6/5);
                }
                else//变速
                {                                                   
                    if(!Bi_QD_PARAM_LTJC_MODE)  //有拉头模式
                    { 
                        Bi_QD_DCC_TIME_BL = 10+GetCurSpeed(X_AXIS)/500; 
                        AxisContinueMoveChangeSpeed(X_AXIS,Bi_QD_PARAM_CHECK_BACK_LSPEED * 6/5,Bi_QD_PARAM_CHECK_BACK_LSPEED * 6/5,25,Bi_QD_DCC_TIME_BL); 
                    }   
                    else
                    {  
                        AxisChangeSpeedDirect(X_AXIS,Bi_QD_PARAM_CHECK_BACK_LSPEED * 6/5); 
                    }   
                }                               
                Bi_QD_MotorStep   = 335;
            }
        }
        else
        {
            if(!Bi_QD_GUO_LIAN_IN)
            {
                Bi_QD_MotorStep   = 333;  
            }
        }                 
        break;   
    case 335:   
        if(Bi_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {                        
            Bi_QD_gou_zhen_buff = dwXRealPos;
            Bi_QD_MotorStep   = 336;
            
            Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ GetCurSpeed(X_AXIS)/500; 
            
            AxisMovePosAccDecNotStop(X_AXIS,GetCurSpeed(X_AXIS),350 + Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH, GetCurSpeed(X_AXIS),Bi_QD_PARAM_BACK_LOW_SPEED,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH); 
        }  
               
        if(Bi_QD_cZipCnt > 1)  //第三条开始要长度误差
        {  
            if(dwXRealPos >= (Bi_QD_length_buff + Bi_QD_PARAM_ERROR_LENGTH))
            {                    
                Bi_QD_SetAlarmCode(Bi_QD_LENGTH_LONG_ALARM);
            } 
            if(dwXRealPos >= Bi_QD_PARAM_ZIPPER_LENGTH+(*Bi_QD_length_buffer)-Bi_QD_PARAM_SY_LENGTH)
            {
                if(Bi_QD_LTGY_IN_UP)
                    Bi_QD_SetAlarmCode(Bi_QD_LTWZYC_ALARM);                         
            } 
        }  
        
        
        break;
    case 336:     
        if(Bi_QD_cZipCnt>1)
        {
            if(dwXRealPos >= Bi_QD_PARAM_ZIPPER_LENGTH+(*Bi_QD_length_buffer)-Bi_QD_PARAM_SY_LENGTH)
            {
                if(Bi_QD_LTGY_IN_UP)
                    Bi_QD_SetAlarmCode(Bi_QD_LTWZYC_ALARM);                        
            }
        }
        
        
        if(Bi_QD_GUO_LIAN_IN_DW)
        {
            Bi_QD_gou_zhen_buff = dwXRealPos; 
            
        }
        //在空们都把延时清零    
        if(Bi_QD_GUO_LIAN_IN)
        {
            //在定位过程中又到空位，重新检测定位
            Bi_QD_gou_zhen_buff = dwXRealPos; 
            Bi_QD_GZ_VAVLE = 0;
            if(!Bi_QD_PARAM_XM_ENABLE)
                Bi_QD_XM_VAVLE=0;
             Bi_QD_KAI_XM_VAVLE = 0; 
            Bi_QD_BI_XM_VAVLE = 0;
            AxisContinueMoveChangeSpeed(X_AXIS,(Bi_QD_PARAM_CHECK_BACK_LSPEED* 6/5),1000,15,15); 
            Bi_QD_MotorStep   = 335;  
            break;
        }    
        
        if((dwXRealPos >= (Bi_QD_gou_zhen_buff +Bi_QD_PARAM_GZ_DELAY)) && !Bi_QD_GUO_LIAN_IN)
        {                      
            Bi_QD_GZ_VAVLE = 1;
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }
            
        }         
        //定位停止
        if(Bi_QD_GOUZHEN_IN)
        {                                   
            AxisEgmStop(X_AXIS);   
            Bi_QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
            Bi_QD_MotorStep   = 337;
            Bi_QD_GZ_VAVLE = 1;
            Bi_QD_SD_VAVLE=1;
            Bi_QD_YD_VAVLE = 1;
            Bi_QD_BL_VAVLE = 0;  //停止时并链一定要打开
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }
        } 
        else
        {
            if(Bi_QD_cZipCnt > 1)  //2 条后才有长度误差
            {
                if(dwXRealPos >= (Bi_QD_PARAM_ZIPPER_LENGTH + Bi_QD_PARAM_ERROR_LENGTH))
                {
                    AxisEgmStop(X_AXIS);
                    
                    if(dwTickCount >= Bi_QD_MotorDelay)                            
                        Bi_QD_SetAlarmCode(Bi_QD_GZ_ALARM);
                }
            }  
        }              
        break;                    
        
        
    case 337:                                              
        if(Bi_QD_cZipCnt > 1)  //长度检测
        {
            ch = Bi_QD_PARAM_ZIPPER_LENGTH;                                                                         
            user_datas[127] = ch;
            if(((dwXRealPos + Bi_QD_PARAM_ERROR_LENGTH) < (ch)) && Bi_QD_PARAM_ERROR_LENGTH) 
            { 
                Bi_QD_NQDJGNUNMBER =1;
                
                if(dwTickCount >= Bi_QD_MotorDelay)
                    bAlarmStop = 1;
            }          
            else if((dwXRealPos > (ch + Bi_QD_PARAM_ERROR_LENGTH)) && Bi_QD_PARAM_ERROR_LENGTH)//(Bi_QD_PARAM_ERROR_LENGTH - 200 + (*Bi_QD_length_buffer)+50)))
            {
                
                Bi_QD_NQDJGNUNMBER = 2;
                if(dwTickCount >= Bi_QD_MotorDelay)
                    bAlarmStop = 1;
            }  
            else
            {
                Bi_QD_MotorStep   = 338;
            }
        }
        else 
        {  
            if(Bi_QD_cZipCnt == 1)
            {
                Bi_QD_length_buff = dwXRealPos;
                SetData32bits(Bi_QD_PARAM_ZIPPER_LENGTH_ADDR,Bi_QD_length_buff);  //测量记录长度
            }     
            Bi_QD_MotorStep   = 338;
        } 
        break;                    
    case 338:   
        Bi_QD_MotorStep   = 0;
        break;
        //350步到369步先感应后数控  
    case  350:                          
        Bi_QD_MotorStep   = 351;   
        break;
    case 351:  
        if(dwTickCount >= Bi_QD_MotorDelay)
        {   
            if(Bi_QD_PARAM_ECQ_MODE)
                Bi_QD_ECT_VAVLE=0;
            Bi_QD_MotorStep   = 352; 
            Bi_QD_CheckLengthStep = 0;
            //第一,二条都是过链感应，测量长度
            if(Bi_QD_cZipCnt < 2)
            {
                if(Bi_QD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
                    Bi_QD_BinLianStep = 10;  //并链起动
                Bi_QD_DGLG_VAVLE = 0;  //顶过链杆关
                //                  X轴       运行速度                    启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_FIRST_BACK_SPEED,Bi_QD_DIR_P,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_LSPEED,15,20);                             
            }   
            else  //先感应后数控+检测
            {  
                if(Bi_QD_PARAM_BL_ENABLE)
                    Bi_QD_BinLianStep = 1;  //并链起动
                //                            Bi_QD_DGLG_VAVLE = 1;  //顶过链杆关
                Bi_QD_CheckLengthStep = 1;    //长度检测,第3条才有对比
                //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
                Bi_QD_MotorStep   = 311; 
            }  
        }
        break;
    case 352:     
        //电机走动后再退送链，减少起动拉链的阻力
        //电机走动后再退送链，减少起动拉链的阻力
        if(dwXRealPos >= 50)
        {
            Bi_QD_TL_VAVLE = 0;
            Bi_QD_SD_VAVLE = 0;
            Bi_QD_MotorStep   = 353;  //到检测定位
        }  
        break;
    case 353:      
        if(Bi_QD_GUO_LIAN_IN_DW)  //重新到链上
        {
            AxisChangeSpeedDirect(X_AXIS,Bi_QD_PARAM_BACK_LOW_SPEED);
            Bi_QD_gou_zhen_buff = dwXRealPos;
            Bi_QD_MotorStep   = 355;  //到检测定位               
        }
        
        //前两条都按最低速度工作
        if(Bi_QD_GUO_LIAN_IN_UP)  //空位上
        {                                             
            Bi_QD_MotorDelay  = dwTickCount + 3;//Bi_QD_PARAM_DELAY_XM;
            Bi_QD_MotorStep   = 354;     
        }  
        
        break;
    case 354:                 
        if(Bi_QD_GUO_LIAN_IN_DW)
        {
            Bi_QD_gou_zhen_buff = dwXRealPos;             
        }
        if(dwTickCount >= Bi_QD_MotorDelay)
        {
            if(Bi_QD_GUO_LIAN_IN)
            {
                
                AxisChangeSpeedDirect(X_AXIS,Bi_QD_PARAM_CHECK_BACK_LSPEED * 6/5);                               
                Bi_QD_MotorStep   = 355;
            }
        }
        else
        {
            if(!Bi_QD_GUO_LIAN_IN)
            {
                Bi_QD_MotorStep   = 353;
                
            }
        }        
        
        break;   
    case 355:
        if(Bi_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {                                       
            Bi_QD_gou_zhen_buff = dwXRealPos;
            Bi_QD_MotorStep   = 356;                    
        }
        break;
    case 356:                   
        if(Bi_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {      
            
            Bi_QD_gou_zhen_buff = dwXRealPos;
            
        }
        //在空们都把延时清零    
        if(Bi_QD_GUO_LIAN_IN)
        {
            //在定位过程中又到空位，重新检测定位
            Bi_QD_gou_zhen_buff = dwXRealPos; 
            Bi_QD_GZ_VAVLE = 0;
            if(!Bi_QD_PARAM_XM_ENABLE)
                Bi_QD_XM_VAVLE=0;
             Bi_QD_KAI_XM_VAVLE = 0; 
            Bi_QD_BI_XM_VAVLE = 0;
            AxisContinueMoveChangeSpeed(X_AXIS,(Bi_QD_PARAM_CHECK_BACK_LSPEED* 6/5),1000,15,15); 
            Bi_QD_MotorStep   = 355;  
            break;
        }    
        
        if((dwXRealPos >= (Bi_QD_gou_zhen_buff +Bi_QD_PARAM_GZ_DELAY)) && !Bi_QD_GUO_LIAN_IN)
        {          
            
            Bi_QD_GZ_VAVLE = 1;
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }           
        }                       
        //定位停止
        if(Bi_QD_GOUZHEN_IN)
        {                                   
            AxisEgmStop(X_AXIS);   
            Bi_QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
            Bi_QD_MotorStep   = 357;
            Bi_QD_GZ_VAVLE = 1;
            Bi_QD_SD_VAVLE=1;
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }
        }                                  
        break;
    case 357:                                              
        if(Bi_QD_cZipCnt == 1)
        {
            Bi_QD_length_buff = dwXRealPos;
            SetData32bits(Bi_QD_PARAM_ZIPPER_LENGTH_ADDR,Bi_QD_length_buff);  //测量记录长度
        }     
        Bi_QD_MotorStep   = 358;        
        break;                    
    case 358:
        Bi_QD_MotorStep   = 0;   //延时反转步
        break;
        
        //370步到389步为先感应后数控 无检测                
        
    case  370:                          
        Bi_QD_MotorStep   = 371;   
        break;
    case 371:  
        if(dwTickCount >= Bi_QD_MotorDelay)
        {   
            if(Bi_QD_PARAM_ECQ_MODE)
                Bi_QD_ECT_VAVLE=0;
            Bi_QD_MotorStep   = 372; 
            //第一,二条都是过链感应，测量长度
            if(Bi_QD_cZipCnt < 2)
            {
                if(Bi_QD_PARAM_BL_ENABLE)  //因为长度未知,只能通过过链退合链
                    Bi_QD_BinLianStep = 10;  //并链起动
                Bi_QD_DGLG_VAVLE = 0;  //顶过链杆关
                //                  X轴       运行速度       启动速度        加速度  减速度
                AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_FIRST_BACK_SPEED,Bi_QD_DIR_P,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_BACK_LOW_SPEED,15,12);                          
            }   
            else
            {  
                if(Bi_QD_PARAM_BL_ENABLE)
                    Bi_QD_BinLianStep = 1;  //并链起动
                Bi_QD_DGLG_VAVLE = 1;  //顶过链杆关
                //                           Bi_QD_CheckLengthStep = 1;    //长度检测,第3条才有对比
                //走数控方式,因第二条中已经测量出来拉链长度，可以直接按长度数控方式走
                Bi_QD_MotorStep   = 311; 
            }  
        }
        break;
    case 372:       
        //电机走动后再退送链，减少起动拉链的阻力
        //电机走动后再退送链，减少起动拉链的阻力
        if(dwXRealPos >= 50)
        {
            Bi_QD_TL_VAVLE = 0;
            Bi_QD_TFK_VAVLE = 0;
            Bi_QD_SD_VAVLE = 0;
            Bi_QD_MotorStep   = 373;  //到检测定位
        }  
        break;
    case 373:      
        if(Bi_QD_GUO_LIAN_IN_DW)  //重新到链上
        {
            AxisChangeSpeedDirect(X_AXIS,Bi_QD_PARAM_BACK_LOW_SPEED);
            Bi_QD_gou_zhen_buff = dwXRealPos;
            Bi_QD_MotorStep   = 376;  //到检测定位    
            
        }
        
        //前两条都按最低速度工作
        if(Bi_QD_GUO_LIAN_IN_UP)  //空位上
        {                                 
            
            
 //           if(!Bi_QD_PARAM_LTJC_MODE)
 //               Bi_QD_MotorDelay  = dwTickCount + Bi_QD_PARAM_FD_TIME;//Bi_QD_PARAM_DELAY_XM;
 //           else
                Bi_QD_MotorDelay  = dwTickCount + 3;//Bi_QD_PARAM_DELAY_XM;
            Bi_QD_MotorStep   = 374;     
        }  
        
        break;
    case 374:                 
        if(Bi_QD_GUO_LIAN_IN_DW)
        {
            Bi_QD_gou_zhen_buff = dwXRealPos; 
            
        }
        if(dwTickCount >= Bi_QD_MotorDelay)
        {
            if(Bi_QD_GUO_LIAN_IN)
            {               
                AxisChangeSpeedDirect(X_AXIS,Bi_QD_PARAM_CHECK_BACK_LSPEED * 6/5);                               
                Bi_QD_MotorStep   = 375;
            }
        }
        else
        {
            if(!Bi_QD_GUO_LIAN_IN)
            {
                Bi_QD_MotorStep   = 373;               
            }
        }                
        break;   
    case 375:
        if(Bi_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {                                       
            Bi_QD_gou_zhen_buff = dwXRealPos;
            Bi_QD_MotorStep   = 376;                    
        }
        break;
    case 376:                   
        if(Bi_QD_GUO_LIAN_IN_DW)  //下降沿,定位长度
        {      
            
            Bi_QD_gou_zhen_buff = dwXRealPos;
            
        }
        //在空们都把延时清零    
        if(Bi_QD_GUO_LIAN_IN)
        {
            //在定位过程中又到空位，重新检测定位
            Bi_QD_gou_zhen_buff = dwXRealPos; 
            Bi_QD_GZ_VAVLE = 0;
            if(!Bi_QD_PARAM_XM_ENABLE)
                Bi_QD_XM_VAVLE=0;
            Bi_QD_KAI_XM_VAVLE = 0; 
            Bi_QD_BI_XM_VAVLE = 0;
            AxisContinueMoveChangeSpeed(X_AXIS,(Bi_QD_PARAM_CHECK_BACK_LSPEED* 6/5),1000,15,15); 
            Bi_QD_MotorStep   = 375;  
            break;
        }    
        
        if((dwXRealPos >= (Bi_QD_gou_zhen_buff +Bi_QD_PARAM_GZ_DELAY)) && !Bi_QD_GUO_LIAN_IN)
        {          
            
            Bi_QD_GZ_VAVLE = 1;
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }            
        }                       
        //定位停止
        //定位停止
        if(Bi_QD_GOUZHEN_IN)
        {                                   
            AxisEgmStop(X_AXIS);   
            Bi_QD_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
            Bi_QD_MotorStep   = 377;
            Bi_QD_GZ_VAVLE = 1;
            Bi_QD_SD_VAVLE=1;
            if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
            {              
                if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
                {
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }
                else
                {    
                    //一次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1;                           
                    }
                    else   //切刀选择闭口刀
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    } 
                }                   
            }    
            else    
            {    
                if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                    Bi_QD_XM_VAVLE=1;
            }
        }                                  
        break;
    case 377:                                              
        if(Bi_QD_cZipCnt == 1)
        {
            Bi_QD_length_buff = dwXRealPos;
            SetData32bits(Bi_QD_PARAM_ZIPPER_LENGTH_ADDR,Bi_QD_length_buff);  //测量记录长度
        }     
        Bi_QD_MotorStep   = 378;
        
        break;                    
    case 378:
        Bi_QD_MotorStep   = 0;   //延时反转步
        break;           //此两步为到位后反转步
    case 390:                    
        Bi_QD_MotorDelay  =    dwTickCount + 37;
        Bi_QD_MotorStep   = 391; 
        break;
    case 391:    
        if(dwTickCount >= Bi_QD_MotorDelay) 
        {
            AxisMovePosAccDec(X_AXIS,2200,-Bi_QD_PARAM_FZ_LENGTH,2200,2200,5,5,00);                                               
            Bi_QD_MotorStep   = 0;
        }
        break;
        
    case 40:
        //切完延时后拉带松夹子
        if(Bi_QD_PARAM_SJZ_LENGTH == 0)
        {
            Bi_QD_MotorDelay  = dwTickCount + Bi_QD_PARAM_TDYS_DELAY;
            Bi_QD_MotorStep   = 43;
            Bi_QD_JD_VAVLE = 0;             
        }
        else
        {
            Bi_QD_jz_buff = dwXRealPos;
            Bi_QD_MotorStep   = 41;            
        }
        break; 
    case 41:
        if((Bi_QD_YMotorStep == 0) && (Bi_QD_ReBack_Step == 0))   //在夹子转换时不能退
            Bi_QD_GZ_VAVLE=0;
        AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_CUT_BACK_SPEED,Bi_QD_PARAM_SJZ_LENGTH + Bi_QD_PARAM_BACK_LENGTH,2000,2000,25,25,40);
        Bi_QD_MotorStep   = 42;
        break;  
        
    case 42:	 
        if(Bi_QD_PARAM_SJZ_LENGTH <= (dwXRealPos - Bi_QD_jz_buff))
            Bi_QD_JD_VAVLE = 0;  
        if(!X_DRV)
        {
            Bi_QD_MotorStep   = 0;
        }
        break;
        
    case 43:
        if(dwTickCount >= Bi_QD_MotorDelay)
        {
            if((Bi_QD_YMotorStep == 0) && (Bi_QD_ReBack_Step == 0))   //在夹子转换时不能退
                Bi_QD_GZ_VAVLE=0; //延时退勾针有助于切断带丝情况
            AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_CUT_BACK_SPEED,Bi_QD_PARAM_BACK_LENGTH,2500,2000,15,15,30);
            Bi_QD_MotorStep   = 44;     
        }               
        break;
    case 44:	                           // 切断完成后拉电机动作
        if(!X_DRV)
        {
            Bi_QD_MotorStep   = 0;            
            Bi_QD_MotorDelay  =    dwTickCount;
        }
        break;       
    case 61: // 前点定位数控模式
        Bi_QD_BL_VAVLE = 0;//并链也要打开
        if(dwTickCount >= Bi_QD_MotorDelay)
        {                          
            if(!Bi_QD_TL_VAVLE && Bi_QD_cZipCnt && (Bi_QD_TuiLianStep == 0) && (Bi_QD_XiaQieStep == 0))  //没送链情况下主动送链
            {
                if(!Bi_QD_SHANG_MU_LIMIT_IN)
                {
                    Bi_QD_TuiLianStep = 1;
                    Bi_QD_MotorStep = 62;
                }                          
            }
            else
                Bi_QD_MotorStep = 62;
            if(Bi_QD_PARAM_LIAN_SELECT)
            {
                Bi_QD_CLTD_JT_VAVLE = 0;
                Bi_QD_CLTD_YL_VAVLE = 0;
            }
            Bi_QD_JD_VAVLE = 0;  
        }
        break;
    case 62:
        if((dwTickCount >= Bi_QD_MotorDelay) &&((Bi_QD_PARAM_LIAN_SELECT == 0) || Bi_QD_CLTD_ORIGIN_IN) ) 
        {        
            
            if(Bi_QD_QIAN_LIMIT_IN)
            {
                //前点亮的情况下先后退离开信号后再前进定位 ,10公分
                AxisMovePosAccDec(X_AXIS,3000,1000,2000,2000,10,10,30);                        
                Bi_QD_MotorDelay = dwTickCount + 300;
            }
            Bi_QD_MotorStep = 63;                                        
        }
        break;
    case 63:    //说明夹子已经离开原点
        if(dwTickCount >= Bi_QD_MotorDelay)
        {    
            if(!Bi_QD_QIAN_LIMIT_IN)// && !Bi_QD_SHANG_MU_LIMIT_IN)
            {
                Bi_QD_YD_VAVLE = 1;
                //在自动情况下安全门
                if(Bi_QD_ANQUANMEN_LIMIT_IN && bRunning)
                {
                    if(dwTickCount >= Bi_QD_ANQUANMEN_Time)
                    {    
                        Bi_QD_StopStep=1;
                        Bi_QD_cSTOPONE=1;
                    }
                }
                else
                {
                    Bi_QD_ANQUANMEN_Time = dwTickCount + 100;
                }    
                if(Bi_QD_cZipCnt > 0)
                {
                    
                    if(dwXRealPos > (Bi_QD_PARAM_GO_LOW_SPEED_LENGTH))   
                    {   
                        //自动匹配减速时间
                        Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC + Bi_QD_PARAM_GO_HIGH_SPEED/500;
                        AxisMovePosAccDecNotStop(X_AXIS,Bi_QD_PARAM_GO_HIGH_SPEED,-dwXRealPos,
                                                 Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,
                                                 Bi_QD_PARAM_GO_LOW_SPEED_LENGTH + Bi_QD_PARAM_GO_DW_LENGTH);                   
                    } 
                    else
                    {
                        //                  X轴       运行速度                    启动速度        加速度  减速度
                        AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED/3,Bi_QD_PARAM_GO_LOW_SPEED,15,15);       
                        //   MoveAction_Const_AccDec(X_AXIS, Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED_LENGTH,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_ACC,Bi_QD_PARAM_DCC);
                    }
                    
                }
                else
                {
                    //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED/3,Bi_QD_PARAM_GO_LOW_SPEED,15,15);
                    // MoveAction_Const_AccDec(X_AXIS, Bi_QD_DIR_N,Bi_QD_PARAM_FIRST_GO_HIGHSPEED,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_ACC,Bi_QD_PARAM_DCC);//
                }                            
                Bi_QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                Bi_QD_MotorStep   = 64;
                Bi_QD_ReBack_Step = 0;
            }  
            else  //后走10公分都没有离开前信号的话，说明信号有故障
            {
                Bi_QD_SetAlarmCode(Bi_QD_QIAN_LIMIT_ALARM); 

            }                  
        }
        break;
    case 64:
        //在自动情况下安全门
        if(Bi_QD_ANQUANMEN_LIMIT_IN && bRunning)
        {
            if(dwTickCount >= Bi_QD_ANQUANMEN_Time)
            {    
                Bi_QD_StopStep=1;
                Bi_QD_cSTOPONE=1;
            }
        }
        else
        {
            Bi_QD_ANQUANMEN_Time = dwTickCount + 100;
        }    
        if(Bi_QD_cZipCnt > 0)
        {                         
            
            if(Bi_QD_QIAN_LIMIT_IN)  //前点限位
            {
                if(Bi_QD_PARAM_GO_DW_LENGTH)
                {    
                    SetPos(X_AXIS, Bi_QD_PARAM_GO_DW_LENGTH);
                    AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,-Bi_QD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                }
                else
                    AxisEgmStop(X_AXIS);
                Bi_QD_MotorStep   = 66;                            
            }
            if(dwXRealPos < -800)  //小于8公分前感应异常
                    Bi_QD_SetAlarmCode(Bi_QD_QIAN_LIMIT_ALARM); 
            
        }
        else
        {                            
            if(Bi_QD_QIAN_LIMIT_IN)  //前点限位
            {
                if(Bi_QD_PARAM_GO_DW_LENGTH)
                {    
                    SetPos(X_AXIS, Bi_QD_PARAM_GO_DW_LENGTH);
                    AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,-Bi_QD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);   //前点定位
                }
                else
                    AxisEgmStop(X_AXIS);
                Bi_QD_MotorStep   = 66;                            
            }
            //第一次不知道当前位置，只能按轨道长度限位
            if(dwXRealPos < -(Bi_QD_PARAM_RUN_LENGTH+800))  
                    Bi_QD_SetAlarmCode(Bi_QD_QIAN_LIMIT_ALARM); 
        }       
        break;        
    case 66:
        if(!X_DRV || (dwXRealPos <= 0))
        {   
            SetPos(X_AXIS, 0);
            AxisEgmStop(X_AXIS);
            Bi_QD_MotorDelay =    dwTickCount + 5;
            Bi_QD_MotorStep   = 67;
        }
        break;   
    case 67:  //等推链完成后,
        if((dwTickCount >= Bi_QD_MotorDelay) && (Bi_QD_TuiLianStep == 0))
        {
            if(bRunning)
            {
                if(!Bi_bTiaoShiMode || (Bi_QD_START_IN_UP))
                {
                    Bi_QD_JD_VAVLE = 1;    //夹带
                    if(Bi_QD_PARAM_JZGY_MODE)
                    {
                        if(Bi_QD_JDQXW_IN)
                            Bi_QD_MotorDelay =    dwTickCount + Bi_QD_PARAM_DELAY_BACK;
                        Bi_QD_MotorStep   = 68;
                    }
                    else
                    {
                        Bi_QD_MotorDelay =    dwTickCount + Bi_QD_PARAM_DELAY_BACK;
                        Bi_QD_MotorStep   = 68;
                    }
                }
            }
            else  
                Bi_QD_MotorStep   = 68;
        }
        break;
    case 68:
        if(dwTickCount >= Bi_QD_MotorDelay)
        {
            Bi_QD_YD_VAVLE = 0;
            Bi_QD_MotorStep   = 0;
            Bi_QD_MotorDelay  = dwTickCount;
        }
        break;
   //二次切的返回   
    case 81: // 前点定位数控模式
        Bi_QD_BL_VAVLE = 0;//并链也要打开
        if(dwTickCount >= Bi_QD_MotorDelay)
        {                                    
             Bi_QD_MotorStep = 82;
            if(Bi_QD_PARAM_LIAN_SELECT)
            {
                Bi_QD_CLTD_JT_VAVLE = 0;
                Bi_QD_CLTD_YL_VAVLE = 0;
            }
            Bi_QD_JD_VAVLE = 0;  
        }
        break;
    case 82:
        if((dwTickCount >= Bi_QD_MotorDelay) &&((Bi_QD_PARAM_LIAN_SELECT == 0) || Bi_QD_CLTD_ORIGIN_IN)) 
        {                                       
            Bi_QD_MotorStep = 83;                                        
        }
        break;
    case 83:    //说明夹子已经离开原点
        if(dwTickCount >= Bi_QD_MotorDelay)
        {    
            if(!Bi_QD_QIAN_LIMIT_IN)// && !Bi_QD_SHANG_MU_LIMIT_IN)
            {
                Bi_QD_YD_VAVLE = 1;
                //在自动情况下安全门
                if(Bi_QD_ANQUANMEN_LIMIT_IN && bRunning)
                {
                    if(dwTickCount >= Bi_QD_ANQUANMEN_Time)
                    {    
                        Bi_QD_StopStep=1;
                        Bi_QD_cSTOPONE=1;
                    }
                }
                else
                {
                    Bi_QD_ANQUANMEN_Time = dwTickCount + 100;
                }    
                if(Bi_QD_cZipCnt > 0)
                {
                    
                    if(dwXRealPos > (Bi_QD_PARAM_GO_LOW_SPEED_LENGTH))   
                    {   
                        //自动匹配减速时间
                        Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC + Bi_QD_PARAM_GO_HIGH_SPEED/500;
                        
                        
                        AxisMovePosAccDecNotStop(X_AXIS,Bi_QD_PARAM_GO_HIGH_SPEED,-dwXRealPos,
                                                 Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,
                                                 Bi_QD_PARAM_GO_LOW_SPEED_LENGTH + Bi_QD_PARAM_GO_DW_LENGTH);                   
                    } 
                    else
                    {
                        //                  X轴       运行速度                    启动速度        加速度  减速度
                        AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED/3,Bi_QD_PARAM_GO_LOW_SPEED,15,15);       
                        //   MoveAction_Const_AccDec(X_AXIS, Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED_LENGTH,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_ACC,Bi_QD_PARAM_DCC);
                    }
                    
                }
                else
                {
                    //                  X轴       运行速度                    启动速度        加速度  减速度
                    AxisContinueMoveAcc(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,Bi_QD_DIR_N,Bi_QD_PARAM_GO_LOW_SPEED/3,Bi_QD_PARAM_GO_LOW_SPEED,15,15);
                    // MoveAction_Const_AccDec(X_AXIS, Bi_QD_DIR_N,Bi_QD_PARAM_FIRST_GO_HIGHSPEED,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_ACC,Bi_QD_PARAM_DCC);//
                }                            
                Bi_QD_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                Bi_QD_MotorStep   = 64;
                Bi_QD_ReBack_Step = 0;
            }  
            else  //后走10公分都没有离开前信号的话，说明信号有故障
            {
                Bi_QD_SetAlarmCode(Bi_QD_QIAN_LIMIT_ALARM); 

            }                  
        }
        break;
    case 84:
        //在自动情况下安全门
        if(Bi_QD_ANQUANMEN_LIMIT_IN && bRunning)
        {
            if(dwTickCount >= Bi_QD_ANQUANMEN_Time)
            {    
                Bi_QD_StopStep=1;
                Bi_QD_cSTOPONE=1;
            }
        }
        else
        {
            Bi_QD_ANQUANMEN_Time = dwTickCount + 100;
        }    
        if(Bi_QD_cZipCnt > 0)
        {                         
            
            if(Bi_QD_QIAN_LIMIT_IN)  //前点限位
            {
                if(Bi_QD_PARAM_GO_DW_LENGTH)
                {    
                    SetPos(X_AXIS, Bi_QD_PARAM_GO_DW_LENGTH);
                    AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,-Bi_QD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);
                }
                else
                    AxisEgmStop(X_AXIS);
                Bi_QD_MotorStep   = 66;                            
            }
            if(dwXRealPos < -800)  //小于8公分前感应异常
                    Bi_QD_SetAlarmCode(Bi_QD_QIAN_LIMIT_ALARM); 
            
        }
        else
        {                            
            if(Bi_QD_QIAN_LIMIT_IN)  //前点限位
            {
                if(Bi_QD_PARAM_GO_DW_LENGTH)
                {    
                    SetPos(X_AXIS, Bi_QD_PARAM_GO_DW_LENGTH);
                    AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_GO_LOW_SPEED,-Bi_QD_PARAM_GO_DW_LENGTH,1200,1000,5,5,00);   //前点定位
                }
                else
                    AxisEgmStop(X_AXIS);
                Bi_QD_MotorStep   = 66;                            
            }
            //第一次不知道当前位置，只能按轨道长度限位
            if(dwXRealPos < -(Bi_QD_PARAM_RUN_LENGTH+800))  
                    Bi_QD_SetAlarmCode(Bi_QD_QIAN_LIMIT_ALARM); 
        }       
        break;        
    case 86:
        if(!X_DRV || (dwXRealPos <= 0))
        {   
            SetPos(X_AXIS, 0);
            AxisEgmStop(X_AXIS);
            Bi_QD_MotorDelay =    dwTickCount + 5;
            Bi_QD_MotorStep   = 67;
        }
        break;   
    case 87:  //等推链完成后,
        if((dwTickCount >= Bi_QD_MotorDelay) && (Bi_QD_TuiLianStep == 0))
        {
            if(bRunning)
            {
                Bi_QD_JD_VAVLE = 1;    //夹带
                if(Bi_QD_PARAM_JZGY_MODE)
                {
                    if(Bi_QD_JDQXW_IN)
                        Bi_QD_MotorDelay =    dwTickCount + Bi_QD_PARAM_DELAY_BACK;
                    Bi_QD_MotorStep   = 68;
                }
                else
                {
                    Bi_QD_MotorDelay =    dwTickCount + Bi_QD_PARAM_DELAY_BACK;
                    Bi_QD_MotorStep   = 68;
                }
            }
            else  
                Bi_QD_MotorStep   = 68;
        }
        break;
    case 88:
        if(dwTickCount >= Bi_QD_MotorDelay)
        {
            Bi_QD_YD_VAVLE = 0;
            Bi_QD_MotorStep   = 0;
            Bi_QD_MotorDelay  = dwTickCount;
        }
        break;
        
        
    }
#endif        
}
//夹子松带返回长链电机处,只有拉链长度大于一定长度才启用 ，也为切断后拉出拉链用
//辅助Y轴电机动作用
void Bi_QueDuan_ReBack(void)
{
#if 1   
    switch(Bi_QD_ReBack_Step)
    {  
    case 1:
        if(Bi_QD_PARAM_LIAN_SELECT)
        {
            if(dwYRealPos >= 2500)  //到20公分位置启动松带
            {
                Bi_QD_ReBack_Step = 2;
                Bi_QD_MotorStep = 40;  //夹子松开
            }
        }
        else  //短链有二次切情况下才先回到原位
        {
            if(dwXRealPos >= 1000)  //到20公分位置启动松带
            {
                Bi_QD_ReBack_Step = 2;
                Bi_QD_MotorStep = 40;  //夹子松开
            }
        }    
        break;
    case 2:
        if(Bi_QD_MotorStep == 0)
        {  
            Bi_QD_ReBack_Step = 3;
            Bi_QD_ReBackDelay = dwTickCount + 40; 
        }
        break;
    case 3:
        if(dwTickCount >= Bi_QD_ReBackDelay)
        {
            Bi_QD_ReBack_Step = 4;
            //自动匹配减速时间
            Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ Bi_QD_PARAM_GO_HIGH_SPEED/500 + 10; 
            if(Bi_QD_PARAM_LIAN_SELECT)
            {     
                //因为是长链模式，夹子走回到压轮前位置
                AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_GO_HIGH_SPEED,-(dwXRealPos-Bi_QD_PARAM_JZ_STOP_POS), 
                                  Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_GO_LOW_SPEED/3,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,
                                  100); 
            }
            else
            {
                //因为是短链模式，有二次切夹子走回到前点6公分位置
                AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_GO_HIGH_SPEED,-(dwXRealPos-600), 
                                  Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_GO_LOW_SPEED/3,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,
                                  100); 
            }    
        }
        break;
    case 4:
        if(!X_DRV)
        {
            Bi_QD_ReBack_Step = 0;
        }
        break;
        //切断后长链电机拉带出去
    case 10:
        //长链切断后由长链电机
        AxisMovePosAccDec(Y_AXIS,Bi_QD_PARAM_BACK_SPEED*2/3,2000, 
                          Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_GO_LOW_SPEED/3,30,30, 260); 
        Bi_QD_YPOS_buff = dwYRealPos;
        Bi_QD_ReBack_Step = 11;
        break;
    case 11:
        if(dwYRealPos >= (Bi_QD_YPOS_buff + 1000))
        {
            Bi_QD_ReBack_Step = 12;
            Bi_QD_CLTD_YL_VAVLE = 0;
            if(Bi_QD_JD_VAVLE && (Bi_QD_MotorStep == 0)) //夹子没有张开的话，说明拉链比较短
                Bi_QD_MotorStep = 40;  //夹子松开
        }
        break;   
    case 12:
        if((!Y_DRV || Bi_QD_CLTD_YL_ORIGIN_IN))
        {
            Bi_QD_CLTD_JT_VAVLE = 0;   //长链电机进退电磁
            Bi_QD_ReBack_Step = 2;
        }
        break;    
    }
#endif    
}
//

//Y电机动作

//长链轮子电机
//不带过链感应长度输入电机长度  闭口有勾针到位 ，夹子电机
void Bi_QueDuan_YMotor(void)
{
#if 1
    unsigned  short ch,kk;       
        
    switch(Bi_QD_YMotorStep)
    {
    case 30:
        //                    switch(Bi_QD_PARAM_BACK_MODE)  //开口分四种模式 
        //                    {
        //                        case 0: //单数控模式
    Bi_QD_YMotorStep   = 310;  //每种模式留20步
    SetPos(X_AXIS, 0);   //开始拖带处为0点
    SetPos(Y_AXIS, 0);   //开始拖带处为0点
    Bi_QD_YMotorDelay  =    dwTickCount + 0; 
    Bi_QD_YD_VAVLE = 0;
    
    break;
    //310步到315步为数控模式                    
case 310:
    Bi_QD_YMotorStep   = 311;    
    if(Bi_QD_PARAM_BL_ENABLE)
        Bi_QD_BinLianStep = 20;  //并链起动
    break;
case 311:   
    if(dwTickCount >= Bi_QD_YMotorDelay)
    {   
        Bi_QD_length_buffer = (short*)(&Bi_QD_PARAM_OFFSET_LENGTH);
        if(Bi_QD_PARAM_ECQ_MODE)
            Bi_QD_ECT_VAVLE=0;
        //自动匹配减速时间                        
        Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ Bi_QD_PARAM_BACK_SPEED/500;          
        //因为是长链模式，夹走到转换位置
        AxisMovePosAccDec(X_AXIS,Bi_QD_PARAM_BACK_SPEED,Bi_QD_PARAM_CL_JZ_TD_LENGTH, Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_BACK_LOW_SPEED,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,Bi_QD_PARAM_BACK_LOW_SPEED_LENGTH);            
        Bi_QD_YMotorDelay  =    dwTickCount + MOTOR_ALARM_TIME;
        if(!Bi_QD_CLTD_JT_VAVLE)
            Bi_QD_CLTD_YL_VAVLE = 0;
        Bi_QD_YMotorStep   = 312;
    }
    break;   
case 312:
    //电机走动后再退送链，减少起动拉链的阻力
    if(dwXRealPos >= 50)
    {
        Bi_QD_TL_VAVLE = 0;
        Bi_QD_SD_VAVLE = 0;
    }   
    //电机到达夹子和压轮错开点
    if(dwXRealPos >= Bi_QD_PARAM_JZ_STOP_POS)
    {
        Bi_QD_CLTD_JT_VAVLE = 1;
    }  
    //剩下三公分开始压轮
    if(((dwXRealPos + 300) >= Bi_QD_PARAM_CL_JZ_TD_LENGTH) && Bi_QD_CLTD_JT_VAVLE && Bi_QD_CLTD_LIMIT_IN && !Bi_QD_CLTD_YL_VAVLE)
    {
        Bi_QD_CLTD_YL_VAVLE = 1;  //压轮
        Bi_QD_YMotorDelay  =    dwTickCount + Bi_QD_PARAM_YL_TIME;
    }  
    //
    if(!Bi_QD_CLTD_YL_VAVLE || Bi_QD_CLTD_YL_ORIGIN_IN)
        Bi_QD_YMotorDelay  =    dwTickCount + Bi_QD_PARAM_YL_TIME;
    //夹子电机已停止，压轮电机进到位,压轮时间到
    if((!X_DRV && Bi_QD_CLTD_LIMIT_IN && !Bi_QD_CLTD_ORIGIN_IN && !Bi_QD_CLTD_YL_ORIGIN_IN && (dwTickCount >= Bi_QD_YMotorDelay) && Bi_QD_CLTD_YL_VAVLE)
       && (!Bi_bTiaoShiMode || (Bi_QD_START_IN_UP)))  
    {          
        //要
        if(Bi_QD_PARAM_ZIPPER_LENGTH >= (Bi_QD_PARAM_CL_JZ_TD_LENGTH+ 3000))
        {
            Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ Bi_QD_PARAM_CHECK_BACK_CL_HSPEED/500; 
            //因为是长链模式，夹走到转换位置//
            AxisMovePosAccDecNotStop(Y_AXIS,Bi_QD_PARAM_CHECK_BACK_CL_HSPEED,(Bi_QD_PARAM_ZIPPER_LENGTH - Bi_QD_PARAM_CL_JZ_TD_LENGTH - 3000),
                                     Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_CL_SPEED,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,60);  
            
        }
        else if(Bi_QD_PARAM_ZIPPER_LENGTH > Bi_QD_PARAM_CL_JZ_TD_LENGTH)
        {
            Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ Bi_QD_PARAM_CHECK_BACK_CL_SPEED/500; 
            //因为是长链模式，夹走到转换位置//
            AxisMovePosAccDecNotStop(Y_AXIS,Bi_QD_PARAM_CHECK_BACK_CL_SPEED,Bi_QD_PARAM_ZIPPER_LENGTH - Bi_QD_PARAM_CL_JZ_TD_LENGTH,
                                     Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_CL_SPEED,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,60);
            
        } 
        else 
        {       
            
            if(Bi_QD_PARAM_LTJC_MODE == 0)  //有拉头
            {
                AxisContinueMoveAcc(Y_AXIS,Bi_QD_PARAM_CHECK_BACK_CL_SPEED*8/5,Bi_QD_DIR_P,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_LSPEED,35,30);   
            }
            else  //没有拉头
            {
                //因为是长链模式，夹走到转换位置//
                AxisContinueMoveAcc(Y_AXIS,Bi_QD_PARAM_CHECK_BACK_CL_SPEED,Bi_QD_DIR_P,Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_LSPEED,25,30); 
            }  
        }  
        Bi_QD_YMotorStep   = 313; 
        //拉链长度大于此长度后才提前自动返回
        if(Bi_QD_PARAM_ZIPPER_LENGTH > Bi_QD_PARAM_AUTO_REBACK_LENGTH)
            Bi_QD_ReBack_Step = 1;
    }
    break;
case 313: 
    if(Bi_QD_PARAM_ZIPPER_LENGTH < (Bi_QD_PARAM_CL_JZ_TD_LENGTH))
    {
        //有拉头,没有拉头情况下拉带速度本来就比较慢
        if(Bi_QD_GUO_LIAN_IN_UP && (Bi_QD_PARAM_LTJC_MODE == 0))
        {                            
            AxisContinueMoveChangeSpeed(Y_AXIS,(Bi_QD_PARAM_CHECK_BACK_CL_SPEED),1000,15,15); 
        } 
        if(Bi_QD_GUO_LIAN_IN_DW) 
        {
            Bi_QD_gou_zhen_buff = dwYRealPos;
            Bi_QD_YMotorStep   = 314;                        
            Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ GetCurSpeed(X_AXIS)/500;                             
            AxisMovePosAccDecNotStop(Y_AXIS,GetCurSpeed(Y_AXIS),Bi_QD_PARAM_MOTOR_DINWEI_LENGTH, GetCurSpeed(Y_AXIS),Bi_QD_PARAM_BACK_LOW_SPEED/3,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,80);
        }    
    }  
    else
    {
        if(Bi_QD_GUO_LIAN_IN_DW && ((dwYRealPos + Bi_QD_PARAM_CL_JZ_TD_LENGTH + 1500) >= Bi_QD_PARAM_ZIPPER_LENGTH ))
        {
            Bi_QD_gou_zhen_buff = dwYRealPos;
            Bi_QD_YMotorStep   = 314;                        
            Bi_QD_DCC_TIME_BL = Bi_QD_PARAM_DCC+ GetCurSpeed(X_AXIS)/500;                             
            AxisMovePosAccDecNotStop(Y_AXIS,GetCurSpeed(Y_AXIS),Bi_QD_PARAM_MOTOR_DINWEI_LENGTH, GetCurSpeed(Y_AXIS),Bi_QD_PARAM_BACK_LOW_SPEED/3,Bi_QD_PARAM_ACC,Bi_QD_DCC_TIME_BL,80);
        }            
    }    
    
    break;
case 314:      //             
    if(!Bi_QD_GZ_VAVLE && ((dwYRealPos) >= (Bi_QD_gou_zhen_buff +  Bi_QD_PARAM_GZ_DELAY)))
    {
        Bi_QD_GZ_VAVLE = 1;
    } 
    //实为滤波用,定位到之前又到空位的话重新检测
    if(Bi_QD_GUO_LIAN_IN_UP)
    {
        Bi_QD_YMotorStep   = 313;
        //                           Bi_QD_GZ_VAVLE = 0; 
        if(Y_DRV)
            AxisContinueMoveChangeSpeed(Y_AXIS,Bi_QD_PARAM_CHECK_BACK_CL_SPEED,1000,25,15);      
        else
            AxisMovePosAccDecNotStop(Y_AXIS,Bi_QD_PARAM_CHECK_BACK_CL_SPEED,3000,
                                     Bi_QD_PARAM_START_SPEED,Bi_QD_PARAM_CHECK_BACK_CL_SPEED,Bi_QD_PARAM_ACC,30,60); 
    } //定位停止 
    else if(Bi_QD_GOUZHEN_IN)
    {                                   
        AxisEgmStop(Y_AXIS);   
        Bi_QD_YMotorStep   = 0;   //长链没法长度
        Bi_QD_GZ_VAVLE = 1;
        Bi_QD_SD_VAVLE=1;
        if(Bi_QD_cZipCnt < 2)
        {
            Bi_QD_length_buff = dwYRealPos + Bi_QD_PARAM_CL_JZ_TD_LENGTH;
            SetData32bits(Bi_QD_PARAM_ZIPPER_LENGTH_ADDR,Bi_QD_length_buff);  //测量记录长度
        }  
        if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
        {              
            if(Bi_QD_PARAM_ECQ_MODE)   //二次切功能
            {
                //一次切刀选择
                if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                {
                    Bi_QD_KAI_XM_VAVLE = 1;                           
                }
                else   //切刀选择闭口刀
                {
                    Bi_QD_BI_XM_VAVLE = 1;
                } 
            }
            else
            {    
                //一次切刀选择
                if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                {
                    Bi_QD_KAI_XM_VAVLE = 1;                           
                }
                else   //切刀选择闭口刀
                {
                    Bi_QD_BI_XM_VAVLE = 1;
                } 
            }                   
        }    
        else    
        {    
            if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                Bi_QD_XM_VAVLE=1;
        }
    }                        
    break;   
case 315:    
    if(dwTickCount >= Bi_QD_YMotorDelay)
    {
        
        Bi_QD_YMotorStep   = 317;
    }  
    //实为滤波用,定位到之前又到空位的话重新检测
    if(Bi_QD_GUO_LIAN_IN_UP)
    {
        Bi_QD_YMotorStep   = 314;
        Bi_QD_GZ_VAVLE = 0; 
        AxisContinueMoveChangeSpeed(X_AXIS,Bi_QD_PARAM_CHECK_BACK_CL_SPEED,GetCurSpeed(X_AXIS),25,15);                              
    }  
    else if(!Y_DRV)  //定位完成
    {
        Bi_QD_YMotorStep   = 316;
    }
    break;
case 316:        
    
    if(Bi_QD_PARAM_BACK_MODE == 2)   //纯数控模式
    { 
        ch = Bi_QD_gou_zhen_buff + Bi_QD_PARAM_CL_JZ_TD_LENGTH - Bi_QD_PARAM_SKCDWC_LENGTH;                            
        kk = Bi_QD_gou_zhen_buff + Bi_QD_PARAM_CL_JZ_TD_LENGTH+ Bi_QD_PARAM_SKCDWC_LENGTH;         
    }
    
    if(Bi_QD_PARAM_BACK_MODE == 2)   //先感应后数控模式+检测  只能检测过链的位置
    {
        if(((Bi_QD_dwWorkLength) < (ch)))  //拉链变短
        { 
            SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_LENGTH_SHORT_ALARM);   
            if(dwTickCount >= Bi_QD_YMotorDelay)
                bAlarmStop = 1;
        }          
        else if((Bi_QD_dwWorkLength > kk))//拉链变长//(Bi_QD_PARAM_ERROR_LENGTH - 200 + (*Bi_QD_length_buffer)+50)))
        {
            SetAlarmCode(Bi_QD_ALARM_ADDR,Bi_QD_LENGTH_LONG_ALARM);   
            if(dwTickCount >= Bi_QD_YMotorDelay)
                bAlarmStop = 1;
        }     
        else
        {                                                              
            Bi_QD_YMotorStep   = 0;//390;  //延时反转步
        }    
    } 
    break;      
}

#endif        
}

//Z电机动作

//切刀位置电机
//主要是回零，定位刀的位置
//1步开始为回零点
void Bi_QueDuan_ZMotor(void)
{    
#if 1    
    if(Bi_QD_PARAM_ECTMACHINE_MODE)  
    {           
        switch(Bi_QD_ZMotorStep)
        {        
            case 1:
                Bi_QD_ZMotorStep = 4;
                if(Bi_QD_ECTD_ORIGIN_IN)
                {
                    AxisContinueMoveAcc(Z_AXIS,6000,Bi_QD_DIR_P,2000,2000,25,15);                    
                    Bi_QD_ZMotorStep = 2;
                }
                else
                {
                    AxisContinueMoveAcc(Z_AXIS,10000,Bi_QD_DIR_N,2000,2000,25,15);
                }    
                break;
            case 2:
                if(!Bi_QD_ECTD_ORIGIN_IN)
                {
                    AxisMovePosAccDec(Z_AXIS,3000,30,2000,2000,10,10,30); 
                    Bi_QD_ZMotorStep = 3;
                }
                else if(dwZRealPos >= 400) // 大于4CM 后都没离开说明信号异常 警告
                {
                     Bi_QD_SetAlarmCode(Bi_QD_Z_ORIGIN_IN_ALARM); 
                     Bi_QD_ZMotorStep = 0;
                }    
                break;
            case 3:
                if(!Z_DRV)
                {
                    Bi_QD_ZMotorStep = 7;   
                    AxisEgmStop(Z_AXIS);
                    Bi_QD_ZMotorDelay = dwTickCount + 5;
                }
                break;
                
            case 4:   
                if(Bi_QD_ECTD_ORIGIN_IN)
                {
                    AxisEgmStop(Z_AXIS);
                    Bi_QD_ZMotorStep = 5; 
                   SetPos(Z_AXIS, 0);   //开始拖带处为0点
                    Bi_QD_ZMotorDelay = dwTickCount + 5;
                }
                else if(dwZRealPos <= -1300) // 大于4CM 后都没离开说明信号异常 警告
                {
                     Bi_QD_SetAlarmCode(Bi_QD_Z_ORIGIN_IN_ALARM);  
                     Bi_QD_ZMotorStep = 0;
                }    
                break;
            case 5:   
                if(dwTickCount >= Bi_QD_ZMotorDelay)
                {
                    if(1)
                    {
                        AxisContinueMoveAcc(Z_AXIS,4000,Bi_QD_DIR_P,2000,2000,25,25);
                        Bi_QD_ZMotorStep = 2; 
                    }
                }
                break;
            case 7:  
                if(dwTickCount >= Bi_QD_ZMotorDelay)
                {
                    if(1)
                    {
                    AxisContinueMoveAcc(Z_AXIS,2000,Bi_QD_DIR_N,2000,2000,25,15);
                    Bi_QD_ZMotorStep = 8; 
                    }
                }
                break;
            case 8:    
                if(Bi_QD_ECTD_ORIGIN_IN)
                {
                    Bi_QD_ORIGIN_Over = 1; 
                    AxisEgmStop(Z_AXIS);

                    Bi_QD_ZMotorStep = 9;     
                    SetPos(Z_AXIS, 0);   //开始拖带处为0点
                    Bi_QD_ZMotorDelay = dwTickCount + 0;
                }
                else if(dwZRealPos <= -300) // 大于4CM 后都没离开说明信号异常 警告
                {
                     Bi_QD_SetAlarmCode(Bi_QD_Z_ORIGIN_IN_ALARM); 
                     Bi_QD_ZMotorStep = 0;
                     AxisEgmStop(Z_AXIS);
                }   
                break;
            case 9:   
                if(dwTickCount >= Bi_QD_ZMotorDelay)
                {
 //                   if(Bi_QD_PARAM_ECQ_MODE)  //二次切选择的话先移动到第一刀
                        Bi_QD_ZMotorStep = 10; 
//                    else
//                        Bi_QD_ZMotorStep = 20; 
                }
                break;
                //到达一次切位置
            case 10:
                Bi_QD_ZMotorDelay = dwTickCount + 20;
                Bi_QD_ZMotorStep = 11;
                break;
            case 11:    
                if(dwTickCount >= Bi_QD_ZMotorDelay)
                {                    
                    //一次切刀选择
                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                    {                        
                        //二次切机型而选择单次切情况下
                        if(!Bi_QD_PARAM_ECQ_MODE && Bi_QD_PARAM_ECTMACHINE_MODE) 
                        {
                            if(Bi_QD_PARAM_DAOKOU_LENGTH < 100)
                                Bi_QD_PARAM_DAOKOU_LENGTH = 100;      
                          //预留的位置不能超出一字刀位置
                            if((Bi_QD_PARAM_YZD_POS + Bi_QD_PARAM_BI_POS) >= Bi_QD_PARAM_DAOKOU_LENGTH)
                            {                                
                                AxisMovePosAccDec(Z_AXIS,Bi_QD_PARAM_ECQ_MOTOR_SPEED,(Bi_QD_PARAM_YZD_POS + Bi_QD_PARAM_BI_POS - Bi_QD_PARAM_DAOKOU_LENGTH) - dwZRealPos,2000,2000,30,30,10);
                                Bi_QD_ZMotorStep = 12; 
                            }
                            else   //超出位置警告
                            {
                                Bi_QD_ZMotorStep  = 0;
                                Bi_QD_SetAlarmCode(Bi_QD_Z_POS_OVER_ALARM);                                
                            }   
                        }    
                        else
                        {
                            if(Bi_QD_PARAM_LLDK_LENGTH < 100)
                                Bi_QD_PARAM_LLDK_LENGTH = 100;  
                            //预留的位置不能超出一字刀位置
                            if((Bi_QD_PARAM_YZD_POS + Bi_QD_PARAM_FIRST_POS) >= Bi_QD_PARAM_LLDK_LENGTH)
                            {                                
                                AxisMovePosAccDec(Z_AXIS,Bi_QD_PARAM_ECQ_MOTOR_SPEED,(Bi_QD_PARAM_YZD_POS + Bi_QD_PARAM_FIRST_POS - Bi_QD_PARAM_LLDK_LENGTH) - dwZRealPos,2000,2000,30,30,10);
                                Bi_QD_ZMotorStep = 12; 
                            }
                            else   //超出位置警告
                            {
                                Bi_QD_ZMotorStep  = 0;
                                Bi_QD_SetAlarmCode(Bi_QD_Z_POS_OVER_ALARM);                                 
                            }
                        }
                    }
                    else
                    {    
                        //二次切机型而选择单次切情况下
                        if(!Bi_QD_PARAM_ECQ_MODE && Bi_QD_PARAM_ECTMACHINE_MODE) 
                        {
                             if(Bi_QD_PARAM_DAOKOU_LENGTH < 100)
                                Bi_QD_PARAM_DAOKOU_LENGTH = 100;      
                          //预留的位置不能超出一字刀位置
                            if((Bi_QD_PARAM_HBD_POS + Bi_QD_PARAM_BI_POS) >= Bi_QD_PARAM_DAOKOU_LENGTH)
                            {                               
                                AxisMovePosAccDec(Z_AXIS,Bi_QD_PARAM_ECQ_MOTOR_SPEED,(Bi_QD_PARAM_HBD_POS + Bi_QD_PARAM_BI_POS - Bi_QD_PARAM_DAOKOU_LENGTH) - dwZRealPos,2000,2000,30,30,10);
                                Bi_QD_ZMotorStep = 12; 
                            }
                            else   //超出位置警告
                            {
                                Bi_QD_ZMotorStep  = 0;
                                Bi_QD_SetAlarmCode(Bi_QD_Z_POS_OVER_ALARM);                              
                            }   
                        }    
                        else
                        {
                            if(Bi_QD_PARAM_LLDK_LENGTH < 100)
                                Bi_QD_PARAM_LLDK_LENGTH = 100;  
                            //预留的位置不能超出位置
                            if((Bi_QD_PARAM_HBD_POS + Bi_QD_PARAM_FIRST_POS) >= Bi_QD_PARAM_LLDK_LENGTH)
                            {                              
                                AxisMovePosAccDec(Z_AXIS,Bi_QD_PARAM_ECQ_MOTOR_SPEED,((Bi_QD_PARAM_HBD_POS + Bi_QD_PARAM_FIRST_POS) - Bi_QD_PARAM_LLDK_LENGTH) - dwZRealPos,2000,2000,30,35,10);
                                Bi_QD_ZMotorStep = 12; 
                            }
                            else   //超出位置警告
                            {
                                Bi_QD_ZMotorStep  = 0;
                                Bi_QD_SetAlarmCode(Bi_QD_Z_POS_OVER_ALARM);                                
                            }
                        }
                    }
                }
                break; 
            case 12:
                if(!Z_DRV)
                {
                    Bi_QD_ZMotorStep = 0; 
                    Bi_QD_CUR_QDSelect = 0;
                }    
                break;
                //到达二次切位置
            case 20:
                 Bi_QD_ZMotorDelay = dwTickCount + 20;
                Bi_QD_ZMotorStep = 21;
                break;
            case 21: 
                if(dwTickCount >= Bi_QD_ZMotorDelay)
                {                
                    if(Bi_QD_PARAM_LLDK_LENGTH < 100)
                        Bi_QD_PARAM_LLDK_LENGTH = 100;
                     //二次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0)  //切刀选择开口切
                        AxisMovePosAccDec(Z_AXIS,Bi_QD_PARAM_ECQ_MOTOR_SPEED,(Bi_QD_PARAM_YZD_POS) - Bi_QD_PARAM_SECOND_POS- dwZRealPos,2000,2000,30,35,10);
                    else
                        AxisMovePosAccDec(Z_AXIS,Bi_QD_PARAM_ECQ_MOTOR_SPEED,(Bi_QD_PARAM_HBD_POS) - Bi_QD_PARAM_SECOND_POS - dwZRealPos,2000,2000,30,35,10);
                    Bi_QD_ZMotorStep = 22;   
                    Bi_QD_CUR_QDSelect = 1;
                }
                break;
             case 22:
                if(!Z_DRV)
                {
                    Bi_QD_ZMotorStep = 0; 
                    
                }    
                break;   
        }
    }
    else
    {
        Bi_QD_ZMotorStep = 0;
        Bi_QD_ORIGIN_Over = 1; 
    }  
#endif    
}
void Bi_QueDuan_TuiLianAction(void)
{
    
#if 1
    if((Bi_QD_PARAM_XM_ENABLE == 0))// && (Bi_QD_PARAM_ECTMACHINE_MODE == 0))
    {
        Bi_QD_TuiLianStep = 0;
    }
    else
    {  
        switch(Bi_QD_TuiLianStep) 
        {
            case 1:
                Bi_QD_TuiLianStep = 2;
                break;
            case 2:
                Bi_QD_TLDelay     = dwTickCount + Bi_QD_PARAM_YD_DELAY;
                Bi_QD_TuiLianStep = 3;
                //说明已送出去
                if(Bi_QD_TL_VAVLE)
                {
                    Bi_QD_TuiLianStep = 0;
                }    
                break;
            case 3:
                if(dwTickCount >= Bi_QD_TLDelay) 
                {
                    if(!Bi_QD_SM_VAVLE && !Bi_QD_SHANG_MU_LIMIT_IN )
                    {                           
                        Bi_QD_TL_VAVLE    = 1;
                        //  Bi_QD_TFK_VAVLE  = 1;
                        //if(!bRunning)Bi_QD_TFK_VAVLE = 1;
                        Bi_QD_TLDelay     = dwTickCount + Bi_QD_PARAM_TL_DELAY;
                        Bi_QD_TuiLianStep = 4;
                    }
                }
                break;
            case 4:
                if(dwTickCount >= Bi_QD_TLDelay)
                {
                    Bi_QD_TuiLianStep = 0;
                }
                break;
            case 10:                
                Bi_QD_TuiLianStep = 11;
                break;
            case 11:
                if(!Y_DRV)
                {
                    Bi_QD_TuiLianStep = 0;
                }
                break;
        }
    }
#endif    
}

#if 1
//闭口专用
void Bi_QueDuan_XiaQue(void)
{
    
    switch(Bi_QD_XiaQieStep) 
    {
    case 0:
        break;
    case 1:
        if(!bRunning)
        {
            if(Bi_QD_CUR_QDSelect) 
            {
                Bi_QD_XiaQieStep = 3;  
                Bi_QD_YD_VAVLE = 1;
            }
            else
            {    
                Bi_QD_GZ_VAVLE = 1;  //勾针                
                Bi_QD_XiaQieStep = 2;                                             
            }
            Bi_QD_XiaQieDelay = dwTickCount + 30;
        }
        else
        {
            Bi_QD_YD_VAVLE = 1;
            Bi_QD_XiaQieDelay = dwTickCount + Bi_QD_PARAM_CUT_DELAY;
            Bi_QD_XiaQieStep = 2;  
        }
        break;
    case 2:
        if((dwTickCount >= Bi_QD_XiaQieDelay ) && Bi_QD_GOUZHEN_IN)
        {
            Bi_QD_YD_VAVLE = 1;
            Bi_QD_XiaQieStep = 3;  
            Bi_QD_XiaQieDelay = dwTickCount;
            Bi_QD_XiaMoOut = 0;
        }
        break;
    case 3:
        if(dwTickCount >= Bi_QD_XiaQieDelay)
        {      
             if(!Bi_bTiaoShiMode || (Bi_QD_START_IN_UP))
                {    
                    
                    if(Bi_QD_PARAM_ECTMACHINE_MODE != 0)  //二次切机器
                    {
                        if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                        {    
                            if(!Bi_QD_XiaMoOut)   //主要是做下模输出到位超时
                            {    
                                Bi_QD_XiaMoOut = 1;
                                Bi_QD_KAI_XM_VAVLE = 0;
                                Bi_QD_BI_XM_VAVLE = 0;
                                if(!Bi_QD_CUR_QDSelect)//在一次切位置
                                {
                                    //一次切刀选择
                                    if(Bi_QD_PARAM_YCQ_DJ_SELECT == 0)  //切刀选择开口切
                                    {
                                        Bi_QD_KAI_XM_VAVLE = 1;                           
                                    }
                                    else   //二次切刀
                                    {
                                        Bi_QD_BI_XM_VAVLE = 1;
                                    }                                
                                }
                                else
                                {
                                    //二次切刀选择
                                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0) //切刀选择开口切
                                    {
                                        Bi_QD_KAI_XM_VAVLE = 1; 
                                    } 
                                    else
                                    {
                                        Bi_QD_BI_XM_VAVLE = 1;
                                    }    
                                }  
                                Bi_QD_XM_DW_ErrorTime = dwTickCount + VAVLE_ALARM_TIME;
                            }
                        }
                        if(Bi_QD_XIA_MU_LIMIT_IN || Bi_QD_KK_XM_LIMIT_IN || Bi_QD_PARAM_XM_ENABLE)
                        {
                            Bi_QD_SM_VAVLE = 1;
                            Bi_QD_XiaQieStep = 4;  
                            Bi_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                        //开口只有长链才需要反转一点
                            if(Bi_QD_PARAM_LIAN_SELECT)
                                AxisMovePosAccDec(Y_AXIS,2200,-Bi_QD_PARAM_FZ_LENGTH,2200,2200,5,5,00);  
                        }
                        else if(dwTickCount  >= Bi_QD_XM_DW_ErrorTime)
                        {
                            Bi_QD_SetAlarmCode(Bi_QD_XM_DAOWEI);
                        }    
                            
                    }    
                    else    
                    {    
                        if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                            Bi_QD_XM_VAVLE=1; 
                        Bi_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;
                        Bi_QD_XiaQieStep = 4;   
                        //开口只有长链才需要反转一点
                        if(Bi_QD_PARAM_LIAN_SELECT)
                            AxisMovePosAccDec(Y_AXIS,2200,-Bi_QD_PARAM_FZ_LENGTH,2200,2200,5,5,00);  
                    }
                   
                }
        }
        break;
    case 4:   
        if(Bi_QD_SHANG_MU_LIMIT_IN && (Bi_QD_XIA_MU_LIMIT_IN || Bi_QD_KK_XM_LIMIT_IN || Bi_QD_PARAM_XM_ENABLE))
        {          
            
            if(!Bi_QD_PARAM_CS_MODE)  //气切
            {
                Bi_QD_XiaQieDelay = dwTickCount + Bi_QD_PARAM_DELAYBACK_SM;       // 
                Bi_QD_XiaQieStep = 5;      
            }
            else
            {
                Bi_QD_XiaQieDelay = dwTickCount + Bi_QD_PARAM_DELAY_CS;       // 
                Bi_QD_XiaQieStep = 10;                      
            }      // 
        }
        else if(dwTickCount >= Bi_QD_XiaQieDelay)
        {
            if(!Bi_QD_SHANG_MU_LIMIT_IN)
                Bi_QD_SetAlarmCode(Bi_QD_SM_DAOWEI);
            else
                Bi_QD_SetAlarmCode(Bi_QD_XM_DAOWEI);
        }  
        break;
    case 5:
        if(dwTickCount >= Bi_QD_XiaQieDelay)	
        {
            Bi_QD_GZ_VAVLE   = 0;
            Bi_QD_SM_VAVLE   = 0; 
            Bi_QD_XM_VAVLE   = 0;

               //                                                               在二次切位置
            if((Bi_QD_PARAM_ECQ_MODE) && (Bi_QD_PARAM_ECTMACHINE_MODE != 0) && !Bi_QD_CUR_QDSelect)
            {
                Bi_QD_XiaQieStep = 20;
                Bi_QD_XiaQieDelay = dwTickCount + Bi_QD_PARAM_YSECT_DELAY;  
                if(bRunning)
                    Bi_QD_ReBack_Step = 1;
            }
            else
            {
                Bi_QD_XiaQieStep = 6;	
                Bi_QD_KAI_XM_VAVLE = 0;
                Bi_QD_BI_XM_VAVLE = 0;
                Bi_QD_XiaQieDelay = dwTickCount + VAVLE_ALARM_TIME;       //       
                Bi_QD_XiaQueOver = 1;
            } 
        }
        break;
    case 6:
        if(!Bi_QD_SHANG_MU_LIMIT_IN && ((!Bi_QD_XIA_MU_LIMIT_IN && !Bi_QD_KK_XM_LIMIT_IN)))  //下模不动就不用判断	
        {   
            
            if(!Bi_QD_PARAM_LDHTGZ_MODE || !bRunning)
                Bi_QD_GZ_VAVLE   = 0;
            if(Bi_QD_TuiLianStep == 0)
                Bi_QD_TuiLianStep = 1;
            
            if(!bRunning)
                Bi_QD_JD_VAVLE = 0;
            Bi_QD_XiaQieStep = 0;                                          
        }
        else if(dwTickCount >= Bi_QD_XiaQieDelay)	
        {
            Bi_QD_SetAlarmCode(Bi_QD_SM_YUANWEI);
        }       
        
        break;
        //10~11步为超声
    case 10:
        if(dwTickCount >= Bi_QD_XiaQieDelay)	
        {
            Bi_QD_CS_OUT = 1;           
            Bi_QD_XiaQieDelay = dwTickCount + Bi_QD_PARAM_CS_TIME;       // 
            Bi_QD_XiaQieStep = 11;      
        }
        break;
    case 11:
        if(dwTickCount >= Bi_QD_XiaQieDelay)	
        {
            Bi_QD_CS_OUT = 0;
            Bi_QD_XiaQieDelay = dwTickCount + Bi_QD_PARAM_CS_COLD_TIME;       // 
            Bi_QD_XiaQieStep = 5;	
        }
        break;
//二次切动作   
    case 20:
        
        if((!Bi_QD_SHANG_MU_LIMIT_IN) &&  (!Bi_bTiaoShiMode || (Bi_QD_START_IN_UP)))
        {
            Bi_QD_XiaQueOver = 1;
            //二次切延时送带
            Bi_QD_XiaQieDelay = dwTickCount + Bi_QD_PARAM_YSECT_DELAY;  
            Bi_QD_XiaQieStep = 21; 
            Bi_QD_KAI_XM_VAVLE = 0;                //开口下刀电磁阀
            Bi_QD_BI_XM_VAVLE = 0;                 //闭口下刀电磁阀   
            if(!Bi_QD_PARAM_XM_ENABLE)
            {
            //二次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0) //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1; 
                    } 
                    else
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    }   
            }  
            
        }  
        break;
    case 21:
        
        if(dwTickCount >= Bi_QD_XiaQieDelay)
        {
            Bi_QD_ZMotorStep = 20;  //电机移动到二次切位置
            Bi_QD_XiaQieStep = 22; 
            Bi_QD_XiaQieDelay = dwTickCount + Bi_QD_PARAM_ECTL_TIME;
        }
        break;
    case 22:
        if(((Bi_QD_ZMotorStep == 0) && (!Z_DRV)  && (!Bi_bTiaoShiMode || (Bi_QD_START_IN_UP))))
        {
            Bi_QD_SecondXiaQueStep = 1;
            Bi_QD_XiaQieStep = 23; 
            Bi_QD_ErrorDelay = dwTickCount + VAVLE_ALARM_TIME;
                 
        }       
        break;
    case 23:
        if(Bi_QD_SecondXiaQueStep == 0) 
        {
            Bi_QD_SM_VAVLE   = 0;
            
            if(Bi_QD_PARAM_XM_ENABLE == 0)   //配置下模动
                Bi_QD_XM_VAVLE=0;  
             
            if(Bi_QD_TuiLianStep == 0)
                Bi_QD_TuiLianStep = 1;
            
            Bi_QD_XiaQieDelay = dwTickCount + 2;  
            Bi_QD_XiaQieStep = 24;   
            Bi_QD_CuiQiStep = 1;
            
        }
        break;   
    case 24:
        if((X_DRV && (dwXRealPos >= 1500)) || Bi_QD_SHANG_MU_ORIGIN)
        {    
            //            if(Bi_QD_TuiLianStep == 0)
            //                Bi_QD_TuiLianStep = 1;
            
            Bi_QD_XiaQieDelay = dwTickCount + 2;  
            Bi_QD_XiaQieStep = 0;   
            
        }
        break;
    }
    switch(Bi_QD_CuiQiStep)
    {
        case 1:
            if((Bi_QD_XIA_MU_LIMIT_IN && Bi_QD_KK_XM_LIMIT_IN) || Bi_QD_PARAM_XM_ENABLE)
            {
                Bi_QD_CHUIQIDelay = dwTickCount + 0; 
                Bi_QD_CuiQiStep = 2;
                Bi_QD_KAI_XM_VAVLE = 0;                //开口下刀电磁阀
                Bi_QD_BI_XM_VAVLE = 0;                 //闭口下刀电磁阀
            }
            break;
        case 2:
            if((!Bi_QD_XIA_MU_LIMIT_IN && !Bi_QD_KK_XM_LIMIT_IN) || Bi_QD_PARAM_XM_ENABLE)
            {
                Bi_QD_CHUIQIDelay = dwTickCount + 0; 
                Bi_QD_CuiQiStep = 3;
            }    
            break;
    case 3:
            if(dwTickCount >= Bi_QD_CHUIQIDelay)
            {
                Bi_QD_CuiQiStep = 0;
                Bi_QD_ECQ_CUIQI_VAVLE = 1;
                Bi_QD_CHUIQIDelay= dwTickCount+Bi_QD_PARAM_CHUIQI_TIME;   
            }
            break;
    }        
    if(Bi_QD_ECQ_CUIQI_VAVLE && (dwTickCount >= Bi_QD_CHUIQIDelay))
    {
        Bi_QD_ECQ_CUIQI_VAVLE= 0;
    }  
    
}
#endif


//第二刀下切步骤
void Bi_QueDuan_SecondXiaQue(void)
{
#if 1
    if(Bi_QD_PARAM_ECQ_MODE)
    {
        switch(Bi_QD_SecondXiaQueStep) 
        {
        case 0:
            break;
        case 1://上下模同时输出
            if((dwTickCount >= Bi_QD_SecondXQDelay)  && !Bi_QD_TL_VAVLE && (Bi_QD_XIA_MU_LIMIT_IN || Bi_QD_KK_XM_LIMIT_IN || Bi_QD_PARAM_XM_ENABLE))
            {
                Bi_QD_SM_VAVLE = 1;
                Bi_QD_KAI_XM_VAVLE = 0;
                Bi_QD_BI_XM_VAVLE = 0;
                if(Bi_QD_PARAM_XM_ENABLE == 0)
                {    
                        //二次切刀选择
                    if(Bi_QD_PARAM_ECQ_DJ_SELECT == 0) //切刀选择开口切
                    {
                        Bi_QD_KAI_XM_VAVLE = 1; 
                    } 
                    else
                    {
                        Bi_QD_BI_XM_VAVLE = 1;
                    }    
                }
                Bi_QD_SecondXQDelay = dwTickCount + VAVLE_ALARM_TIME;
                Bi_QD_SecondXiaQueStep = 2;   
            }
            else if(dwTickCount >= Bi_QD_ErrorDelay)
            {
                Bi_QD_SetAlarmCode(Bi_QD_GZ_ALARM);
            }
            break;
            
        case 2://上下模到位，调试模下的话，等按下一步按键     下模不动
            if(Bi_QD_SHANG_MU_LIMIT_IN && (Bi_QD_PARAM_XM_ENABLE|| Bi_QD_XIA_MU_LIMIT_IN || Bi_QD_KK_XM_LIMIT_IN))
            {
                if(!Bi_QD_PARAM_CS_MODE)   //无超声配置
                {
                    Bi_QD_SecondXQDelay = dwTickCount + Bi_QD_PARAM_DELAYBACK_SM;  
                    Bi_QD_SecondXiaQueStep = 4;  
                    
                }
                else
                {
                    Bi_QD_SecondXQDelay = dwTickCount + Bi_QD_PARAM_DELAY_CS;       // 
                    Bi_QD_SecondXiaQueStep = 3;                        
                }
            }
            else if(dwTickCount >= Bi_QD_SecondXQDelay)
            {
                if(!Bi_QD_SHANG_MU_LIMIT_IN)Bi_QD_SetAlarmCode(Bi_QD_SM_DAOWEI);
                else Bi_QD_SetAlarmCode(Bi_QD_XM_DAOWEI);
            }
            break;
        case 3:
            if(dwTickCount >= Bi_QD_SecondXQDelay)	
            {
                
                Bi_QD_CS_OUT = 1;
                Bi_QD_SecondXQDelay = dwTickCount + Bi_QD_PARAM_CS_TIME;       // 
                Bi_QD_SecondXiaQueStep = 4;      
            }
            break;
        case 4:
            if(dwTickCount >= Bi_QD_SecondXQDelay)	
            {
                Bi_QD_CS_OUT = 0;
                Bi_QD_SM_VAVLE = 0;
                Bi_QD_CuiQiStep = 1;
                Bi_QD_SecondXiaQueStep = 5;	
            }
            break;
            case 5:
//                if(Bi_QD_PARAM_XM_ENABLE == 0)
//                    Bi_QD_BI_XM_VAVLE = 0;                 //闭口下刀电磁阀
                if(!Bi_QD_SHANG_MU_LIMIT_IN)
                {              
                    Bi_QD_SecondXiaQueStep = 0;	
                }
            
            break;
        }
    }
#endif
}





#endif