GC23005/Machine/JiaChengWeiYeMachine/JCWYChuanTouJi.c

#include "global.h"

#if 0


void ChuanTou_AlarmProtect(void);
void ChuanTou_ManualAction(void);
void ChuanTou_AutoAction(void);
void ChuanTou_StepCheckStart(void);
void ChuanTou_Motor(void);
void ChuanTou_SongLiaoAction(void);

static unsigned cSongLiaoOk = 0;


void CT_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(CT_ALARM_ADDR,alarm_code);
    bAlarmStop = 1;
}

void ChuanTou_InitAction(void)
{
    float length_buff,pulse_buff;
    save_limit_pos = CT_SAVE_POS;
    axis_x->speed_unit = 500;
    length_buff = CT_PARAM_CYCLE_LENGTH;
    pulse_buff  = CT_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;
}

void ChuanTou_Action(void)
{
    ChuanTou_AlarmProtect();
    ChuanTou_Motor();
    ChuanTou_ManualAction();
    ChuanTou_AutoAction();
    ChuanTou_SongLiaoAction();
    ChuanTou_StepCheckStart();   // 调用脚踏开关检测程序
}

//手动动作
void ChuanTou_ManualAction(void)
{  
    if(bRunning == 0)  
    {   
        if(bClearTotal) //切断计数清零
        {
            bClearTotal       = 0;
            ClrcToTal(CT_TOTAL_ADDR);
        }
       
        if(CT_bGZ)
        {
            CT_bGZ = 0;
            CT_GZ_VAVLE = ~CT_GZ_VAVLE;
        }
        
        if(CT_bHL)
        {
            CT_bHL = 0;
            CT_HL_VAVLE = ~CT_HL_VAVLE;
        }
        
        if(CT_bJL)
        {
            CT_bJL = 0;
            CT_JL_VAVLE = ~CT_JL_VAVLE;
        }
        
        if(CT_bSL)
        {
            CT_bSL = 0;
            CT_SL_VAVEL = ~CT_SL_VAVEL;
        }
        
        if(CT_bHSL)
        {
            CT_bHSL = 0;
            CT_HSL_VAVLE = ~CT_HSL_VAVLE;
        }
        
        if(CT_bZL)
        {
            CT_bZL = 0;
        }
        
        if(CT_bGJ)
        {
            CT_bGJ = 0;
            CT_GJ_VAVLE = ~CT_GJ_VAVLE;
        }
        
        if(CT_bFZ)
        {
            CT_bFZ = 0;
            CT_FD_VAVLE = ~CT_FD_VAVLE;
        }
        
        if(CT_bCT_XM)
        {
            CT_bCT_XM = 0;
        }
        
        if(CT_bDW)
        {
            CT_bDW = 0;
        }
        
        if(CT_bAuto_ZL)
        {
            CT_bAuto_ZL = 0;
        }
        
        if(CT_bHM)
        {
            CT_bHM = 0;
        }
    }
}


void ChuanTou_AlarmProtect(void)
{ 

}

void ChuanTou_HeMu_Action(void)
{
    switch (CT_HeMuStep)
    {
        case 1:
            CT_HeMuStep = 2;
        break;
        case 2:
            CT_HeMuStep = 3;
        break;
        case 3:
            CT_HeMuStep = 4;
        break;
    }
}


//送料
void ChuanTou_SongLiaoAction(void)
{
   switch(CT_SL_Step)
   {
       case 1:
       {
           if(cSongLiaoOk)
           {
                CT_SL_Step = 0;
           }
           else
           {
               if(CT_HSL_ORIGIN_IN && CT_SONG_LIAO_ORIGIN_IN)
               {
                   CT_SL_VAVEL = 1;
                   CT_SL_Delay = dwTickCount + VAVLE_ALARM_TIME;
                   CT_SL_Step  = 2;
               }
           }
       }break;
       case 2:
       {
           if(CT_SONG_LIAO_LIMIT_IN)
           {
               CT_SL_Step  = 3;
               CT_SL_Delay = dwTickCount + CT_PARAM_SL_DELAY_BACK;
           }
           else if(dwTickCount >= CT_SL_Delay)
           {
               CT_SetAlarmCode(CT_SL_LIMIT_ALARM);
           }
       }break;
       case 3:
       {
           if(dwTickCount >= CT_SL_Delay)
           {
               CT_SL_VAVEL  = 0; 
               CT_SL_Delay = dwTickCount + VAVLE_ALARM_TIME;
               CT_SL_Step  = 4;  
           }
       }break;
       case 4:
       {
           if(CT_SONG_LIAO_ORIGIN_IN)
           {
               cSongLiaoOk = 1;
               CT_SL_Step  = 0;
           }
           else if(dwTickCount >= CT_SL_Delay)
           {
               CT_SetAlarmCode(CT_SL_ORIGIN_ALARM);
           }       
       }
       break;
   }
}


//横送料
void ChuanTou_HengSongLiao_Action(void)
{
    switch(CT_HSL_Step)   
    {
        case 1:
        {
            if(CT_SONG_LIAO_ORIGIN_IN && CT_HSL_ORIGIN_IN && CT_XIA_MU_IN && cSongLiaoOk)
            {
                CT_GJ_VAVLE = 0;
                CT_HSL_Step = 2;
            }
            else if(!bRunning)
            {
                CT_HSL_Step = 0;
            }
        }
        break;
        case 2:
        {
            CT_HSL_VAVLE = 1;
            cSongLiaoOk  = 0;
            CT_HSL_Delay = dwTickCount + VAVLE_ALARM_TIME;
            CT_HSL_Step = 3;
        }
        break;
        case 3:
        {
            if(CT_HSL_LIMIT_IN)
            {
                CT_ZL_XM_VAVLE = 1;
                CT_HSL_Delay = dwTickCount + VAVLE_ALARM_TIME;
                CT_HSL_Step = 4;
            }
            else if(dwTickCount >= CT_HSL_Delay)
            {
                CT_SetAlarmCode(CT_HSL_LIMIT_ALARM);
            }
        }
        break;
        case 4: 
        { 
            if(CT_ZHUANG_LIAO_IN)
            {
                CT_HSL_Delay = dwTickCount + CT_PARAM_LOCK_TIME;
                CT_HSL_Step = 5;
            }
            else if(dwTickCount >= CT_HSL_Delay)
            {
                CT_SetAlarmCode(CT_ZL_LIMIT_ALARM);
            }            
        }
        break;
        case 5:
        if(dwTickCount >= CT_HSL_Delay)
        {
            CT_GJ_VAVLE = 1;
            CT_HSL_Delay = dwTickCount + CT_PARAM_GJ_TIME;
            CT_HSL_Step = 6;
        }
        break;
        case 6:
            CT_HSL_VAVLE = 0;
            CT_HSL_Delay = dwTickCount + VAVLE_ALARM_TIME;
            CT_HSL_Step = 7;             
        break;
        case 7:
            if(CT_HSL_ORIGIN_IN)
            {
                CT_ZL_XM_VAVLE = 0;
                CT_HSL_Step = 8;       
            }
            else if(dwTickCount >= CT_HSL_Delay)
            {
                CT_SetAlarmCode(CT_HSL_ORIGIN_ALARM);
            }
        break;
        case 8:
            CT_HSL_Step = 0;
            CT_SL_Step =  1;
        break;
    }
}

void ChuanTou_AutoAction(void)
{  
    if(bRunning)
    {
        switch(CT_AutoStep)
        {
            case 1:
                  if(dwTickCount >= CT_AutoDelay)
                  {	
                      CT_AutoStep = 2;	    
                      if(CT_MotorStep == 0)
                      {
                          CT_MotorStep = 61;   //前点定位
                        //  else CT_MotorStep = 1;
                      }
                  }	
                  break;	
            case 2:	 
                  if(CT_MotorStep == 0)
                  {   
                      if(CT_PARAM_DC_MODE == 0)
                         CT_MotorStep = 20;                       //后退到位
                      else
                         CT_MotorStep = 30;  

                      CT_AutoStep = 3;	    
                  }
                  break;	
            case 3:	
                  if(CT_MotorStep == 0)
                  {   
                      if(CT_XiaQieStep == 0)CT_XiaQieStep = 1;                 
                      CT_AutoStep = 4;	    
                  }              
                  break;
            case 4:

                  break;
            case 5:	 
                  if(CT_MotorStep == 0)
                  {
                      cZipCnt++;
                      CT_PARAM_NOW_CNT++;
                      cTableCnt++;
                      AddToTal(CT_TOTAL_ADDR);
                      CalProSP(CT_PROSPEED_ADDR);
                      
                      if(cTableCnt >= CT_PARAM_TABLE_NUM)
                      {
                          cTableCnt = 0;
                          CT_TABLE_VAVLE = 1;
                          CT_TBDelay = dwTickCount + CT_PARAM_TB_TIME;
                      }
                      
                      if((GetTotal(CT_TOTAL_ADDR) >= CT_PARAM_SET_TOTAL) || SingOneFlg)
                      {
                          bRunning = 0;
                          CT_AutoStep = 0; 
                          SingOneFlg = 0;
                          
                          if(GetTotal(CT_TOTAL_ADDR) >= CT_PARAM_SET_TOTAL) CT_SetAlarmCode(CT_TOTAL_ALARM);
                      }
                      else
                      {
                          CT_AutoStep = 1; 
                          
                          if(CT_PARAM_NOW_CNT >= CT_PARAM_ZHA_SHU)    
                          {
                              CT_AutoDelay = dwTickCount + CT_PARAM_ZS_STOP_TIME + 50;
                              CT_PARAM_NOW_CNT = 0;
                          }
                          else
                              CT_AutoDelay = dwTickCount + CT_PARAM_CYCLE_DELAY;
                      }
                  }
                  break;
        }	
    }
}

void ChuanTou_StepCheckStart(void)
{
//		启动      			
    if((START_IN_UP) || bStart || CT_bSingle)
    {
        bStart = 0;
        
        if(!bRunning && (CT_AutoStep == 0))
        {
            if(!CT_SHANG_MU_ORIGIN_IN)CT_SetAlarmCode(CT_SM_YUANWEI);
            else if(CT_XIA_MU_LIMIT_IN)CT_SetAlarmCode(CT_XM_DAOWEI);
            else if(GetAlarmCode(CT_ALARM_ADDR) != 0);
            else if(GetTotal(CT_TOTAL_ADDR) >= CT_PARAM_SET_TOTAL) CT_SetAlarmCode(CT_TOTAL_ALARM);
            else if(CT_BL_VAVLE)CT_SetAlarmCode(CT_BL_ALARM);
            else if(CT_SM_VAVLE)CT_SetAlarmCode(CT_SM_ALARM);
            else
            {
                bRunning    = 1;
                CT_AutoStep = 1;
                if(CT_bSingle) SingOneFlg= 1;
                cZhuangLiaoOk = 0; 
                dwZipCnt      = 0;
            }
        }
        CT_bSingle = 0;
    }


    //停止
   if(STOP_IN_UP || bStop)
   {
        bStop = 0;
        user_datas[127] = 0;
        
        if(bRunning)
        {
            bRunning   = 0;
            CT_AutoStep   = 0;
            CT_MotorStep  = 0;
            CT_AutoDelay   = dwTickCount;
            CT_MotorDelay = dwTickCount;
            SingOneFlg  = 0; 
            if(GetAlarmCode(CT_ALARM_ADDR) != 0)SetAlarmCode(CT_ALARM_ADDR,0);        
        }
        else
        {
            bRunning   = 0;
            CT_AutoStep   = 0;
            CT_MotorStep  = 0;
            CT_AutoDelay   = dwTickCount;
            CT_MotorDelay = dwTickCount;
            SingOneFlg  = 0; 
            AxisDecStop(X_AXIS);  
            if(GetAlarmCode(CT_ALARM_ADDR) != 0)SetAlarmCode(CT_ALARM_ADDR,0);
        }
    }
    
    if(bAlarmStop)
    {
        bAlarmStop = 0;
        bRunning   = 0;
        CT_AutoStep   = 0;
        CT_MotorStep  = 0;
        CT_AutoDelay   = dwTickCount;
        CT_MotorDelay = dwTickCount;
        SingOneFlg  = 0; 
        AxisDecStop(X_AXIS); 
    }
    
}   


//电机动作
void ChuanTou_Motor(void)	 //
{
        static long save_buff,length_buff,gou_zhen_buff,checkdelay_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff;
        user_datas[124]= CT_MotorStep;
 //       user_datas[125]= go_length_buff;
//        user_datas[123] = length_buff;
        user_datas[127] = cRealPos;
        user_datas[126] = go_buff - cRealPos;
        user_datas[121]  = CT_PARAM_GOUZHEN_LENGTH;
        if(CT_GUO_LIAN_IN_DW)user_datas[122]++;
	switch(CT_MotorStep)
	{
		case 0:
			break;
                case 1: // 前点定位数控模式
                        if(CT_SZ_OUT)
                        {
                            CT_SZ_OUT   = 0;                       
                            CT_MotorDelay = dwTickCount + 50;
                        }
                        if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_DIR_N;
                        if((CT_TuiLianStep == 0) && !CT_TL_VAVLE  && !CT_PARAM_TL_MODE)CT_TuiLianStep = 1;
                        CT_MotorStep = 2;
                        break;
                case 2:
                        if(dwTickCount >= CT_MotorDelay)
                        {
                            if(CT_QIAN_LIMIT_IN)
                            {
                                if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_DIR_P;
                                MV_Set_Acc_CPU(X_AXIS, 10);
                                AxisMovePos(X_AXIS,CT_PARAM_GO_HIGH_SPEED,CT_PARAM_ON_BACK_LENGTH);                           
                                CT_MotorDelay = dwTickCount + 1000;
                            }
                            CT_MotorStep = 3;            
                            CT_JD_VAVEL = 0;  
                        }
			break;
		case 3:
                        if(!X_DRV && !CT_QIAN_LIMIT_IN && (dwTickCount >= CT_MotorDelay))
                        {
                            if(cZipCnt == 0)
                            {
                                if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_DIR_N;
                                AxisContinueMove(X_AXIS,CT_PARAM_FIRST_SPEED,CT_DIR_P);         //第一条走低速
                            }
                            else 
                            {  
                                if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_DIR_N;                              
                                AxisMoveTwoPos(X_AXIS,CT_PARAM_GO_HIGH_SPEED,(length_buff - CT_PARAM_Go_LOW_SPEED_LENGTH + CT_PARAM_BACK_LENGTH +CT_PARAM_SJZ_LENGTH),CT_PARAM_GO_LOW_SPEED,0xFFFFFF,CT_DIR_P);//第二条开始走两段速
                            }
                            CT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            CT_MotorStep   = 4;
                        }  
			break;
		case 4:
                        if(CT_QIAN_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS);
                            CT_MotorStep   = 5;
                        }
                        else if(dwTickCount >= CT_MotorDelay)CT_SetAlarmCode(CT_NO_ZIPPER_ALARM);
                        else if(CT_JD_ORIGIN_IN)CT_SetAlarmCode(CT_JD_ORIGIN_ALARM);
                     
			break;
		case 5:
                        if(!X_DRV)
                        {   
                            CT_MotorDelay =    dwTickCount;
                            CT_MotorStep   = 6;
                        }
			break;   
		case 6:
                        if((dwTickCount >= CT_MotorDelay) && (CT_TuiLianStep == 0))
                        {
                            if(bRunning)
                            {
                                CT_JD_VAVEL = 1;
                            }
                            CT_MotorStep   = 7;
                            CT_MotorDelay  =    dwTickCount + 100;
                        }
			break;
                case 7:
                        if(dwTickCount >= CT_MotorDelay)
                        {
                            CT_YBD_VAVLE   = 0;
                            CT_TL_VAVLE    = 0;
                            CT_MotorStep   = 0;
                        }
                        break;
		case 20:// 后退使用电机定长
                        CT_MotorDelay  =    dwTickCount + CT_PARAM_DELAY_BACK;
                        CT_MotorStep   = 21;
                        break;
                case 21:                 
                        if(dwTickCount >= CT_MotorDelay)
                        {
                            if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_DIR_N;
                            AxisMovePos(X_AXIS,CT_PARAM_BACK_SPEED,-CT_PARAM_ZIPPER_LENGTH);
                            CT_MotorStep   = 22;
                        }
			break;
		case 22:	
                        if(!X_DRV)
                        {
                            CT_MotorDelay =    dwTickCount +  CT_PARAM_DELAY_FZ;
                            CT_MotorStep   = 23;
                        }
			break;
		case 23:	
                        if(dwTickCount >= CT_MotorDelay)
                        {
                            if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_DIR_P;
                            AxisMovePos(X_AXIS,CT_PARAM_GO_LOW_SPEED,CT_PARAM_FZ_LENGTH);
                            CT_MotorStep   = 24;
                        }
			break;
                case 24:	
                        if(!X_DRV)
                        {
                            CT_MotorStep   = 0;
                            CT_MotorDelay  =    dwTickCount;
                        }
                        break;
                case 30:
                        CT_MotorDelay  =    dwTickCount + CT_PARAM_DELAY_BACK;
                        CT_MotorStep   = 31;
                        
                        if(CT_PARAM_BL_ENABLE)CT_BinLianStep = 1;
                        break;
                case 31:	                                       // 后退使用钩针定长
                        if(dwTickCount >= CT_MotorDelay)
                        {   
                            save_buff = cRealPos;
                            back_buff = cRealPos;
                            SetAccTime(X_AXIS,5);
                            SetDecTime(X_AXIS,5);
                            
                      
                            if(CT_PARAM_DEC_MODE == 0)
                            {
                                if(CT_PARAM_BACK_MODE)
                                {
                                    if(cZipCnt < 2)
                                    {
                                        AxisContinueMove(X_AXIS,CT_PARAM_FIRST_SPEED,CT_DIR_P);  
                                        CT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                        CT_MotorStep   = 32;                                      
                                    }
                                    else
                                    {
                                        if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_YDIR_P;    
                                        AxisContinueMove(X_AXIS,CT_PARAM_BACK_SPEED,CT_DIR_P);                
                                        CT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                        CT_MotorStep   = 32;                                      
                                    }
                                }
                                else
                                {
                                    if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_YDIR_P;    
                                    AxisContinueMove(X_AXIS,CT_PARAM_BACK_SPEED,CT_DIR_P);                
                                    CT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    CT_MotorStep   = 32;  
                                }
                            }
                            else
                            {
                                if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_YDIR_P;  
                                if(cZipCnt < 2)
                                {
                                    CT_XHG_VAVLE = 0;
                                    AxisContinueMove(X_AXIS,CT_PARAM_FIRST_SPEED,CT_DIR_P);  
                                    CT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    CT_MotorStep   = 32;
                                }
                                else
                                {
                                    gouzhen_buff = cRealPos;
                                     CT_XHG_VAVLE = 1;
                                    //AxisMoveTwoPos(X_AXIS,CT_PARAM_BACK_SPEED,(length_buff - CT_PARAM_Back_LOW_SPEED_LENGTH),CT_PARAM_GO_LOW_SPEED,CT_PARAM_Back_LOW_SPEED_LENGTH,CT_DIR_N);
                                    MV_Set_Acc_CPU(X_AXIS, 10);
                                    AxisMovePos(X_AXIS,CT_PARAM_BACK_SPEED,-length_buff);   
                                    MoveChangSpeedPos(X_AXIS, CT_PARAM_BACK_LOW_SPEED,(PosToPulse(X_AXIS,CT_PARAM_Back_LOW_SPEED_LENGTH) + MV_Cal_Dec_pulse(CT_PARAM_BACK_SPEED,CT_PARAM_BACK_LOW_SPEED,10)));  
                                    CT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                                    CT_MotorStep   = 33;
                                }
  
                               // AxisContinueMove(X_AXIS,CT_PARAM_BACK_SPEED,CT_DIR_N);         

                            }
                        }
			break; 
		case 32:
                        if(CT_PARAM_DEC_MODE)
                        {
                            if(cZipCnt < 2)
                            {
                                if(CT_GUO_LIAN_IN_UP)
                                {                                 
                                    checkdelay_buff = cRealPos;
                                    CT_MotorDelay =    dwTickCount; 
                                    if(X_DRV)MoveChangSpeed(X_AXIS,CT_PARAM_BACK_LOW_SPEED);
                                    CT_MotorStep   = 33;
                                }  
                                else if(dwTickCount >= CT_MotorDelay)
                                {
                                    CT_SetAlarmCode(CT_NO_ZIPPER_ALARM);
                                }                          
                            }
                            else
                            {
                              CT_MotorStep   = 36;
                            }
                        }
                        else
                        {  
                             if(CT_PARAM_BACK_MODE)
                             {
                                if(cZipCnt < 2)
                                {
                                    if(CT_GUO_LIAN_IN_UP)
                                    {                                 
                                        checkdelay_buff = cRealPos;
                                        CT_MotorDelay =    dwTickCount; 
                                        if(X_DRV)MoveChangSpeed(X_AXIS,CT_PARAM_BACK_LOW_SPEED);
                                        CT_MotorStep   = 33;
                                    }  
                                    else if(dwTickCount >= CT_MotorDelay)
                                    {
                                        CT_SetAlarmCode(CT_NO_ZIPPER_ALARM);
                                    }                          
                                }
                                else                               
                                {
                                     if((cRealPos - back_buff) > (length_buff - (CT_PARAM_Back_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(CT_PARAM_BACK_SPEED,CT_PARAM_BACK_LOW_SPEED,10)))))
                                     {
                                         if(X_DRV)MoveChangSpeed(X_AXIS,CT_PARAM_BACK_LOW_SPEED); 
                                     }
                                    if(CT_GUO_LIAN_IN_UP)
                                    {                                 
                                        checkdelay_buff = cRealPos;
                                        CT_MotorDelay =    dwTickCount; 
                                        if(X_DRV)MoveChangSpeed(X_AXIS,CT_PARAM_BACK_LOW_SPEED);
                                        CT_MotorStep   = 33;
                                    }  
                                    else if(dwTickCount >= CT_MotorDelay)
                                    {
                                        CT_SetAlarmCode(CT_NO_ZIPPER_ALARM);
                                    }                                     
                                }
                             }
                             else
                             {
                               
                                 if(CT_GUO_LIAN_IN_UP)
                                {                                 
                                    checkdelay_buff = cRealPos;
                                    if(X_DRV)MoveChangSpeed(X_AXIS,CT_PARAM_BACK_LOW_SPEED);
                                    CT_MotorDelay  = dwTickCount;
                                    CT_MotorStep   = 33;
                                }  
                                else if(dwTickCount >= CT_MotorDelay)
                                {
                                    CT_SetAlarmCode(CT_NO_ZIPPER_ALARM);
                                }
                             }
                        }
			break;
                case 33:
                         if((cZipCnt < 2) || (CT_PARAM_DEC_MODE == 0))
                         {
                             if((cRealPos - checkdelay_buff) >= CT_PARAM_DELAY_CHECK)
                             {
                                 if(CT_PARAM_GOUZHEN_LENGTH != 0)CT_GZ_VAVLE = 1;
                                 CT_MotorStep   = 34; 
                             }
                         }
                         else
                         {
                             if((cRealPos - back_buff) > (length_buff - CT_PARAM_Back_LOW_SPEED_LENGTH))
                             {
                                 
                                 if(X_DRV)MoveChangSpeed(X_AXIS,CT_PARAM_BACK_LOW_SPEED);    
                                 CT_MotorStep   = 34;
                             }
                         }
                        break;
                case 34:
                        if((cZipCnt < 2) || (CT_PARAM_DEC_MODE == 0))
                        {
                            if(CT_GUO_LIAN_IN_DW)
                            {                  
                                gou_zhen_buff = cRealPos;
                                CT_MotorStep   = 35;
                            }                   
                        }
                        else
                        {
                            if(CT_PARAM_GOUZHEN_LENGTH != 0)
                            {
                                if((cRealPos - gouzhen_buff) >= (length_buff - CT_PARAM_GOUZHEN_LENGTH))
                                {
                                    if(CT_PARAM_GOUZHEN_LENGTH != 0)CT_GZ_VAVLE = 1;
                                    CT_MotorStep   = 36;
                                }    
                            }
                            else
                            {
                                CT_MotorStep   = 36;
                            }
                        }
                        break;
		case 35:	                      
                        if(CT_GUO_LIAN_IN_DW)
                        {
                            gou_zhen_buff = cRealPos; 
                        }
                        
                        if(CT_GUO_LIAN_IN_UP)
                        {
                            gou_zhen_buff = cRealPos; 
                        }
                        if((cRealPos - gou_zhen_buff) >= CT_PARAM_MOTOR_DELAY_LENGTH)
                        {                         
                            AxisEgmStop(X_AXIS);   
                            CT_MotorDelay =    dwTickCount +  VAVLE_ALARM_TIME;
                            CT_MotorStep   = 36;
                        }   
			break;
                case 36:                                                   
                        if(!X_DRV && ((CT_PARAM_TIAOSHI_MODE && CT_bTS) || (CT_PARAM_TIAOSHI_MODE == 0)))
                        {         
                            if(CT_PARAM_GOUZHEN_LENGTH == 0)CT_GZ_VAVLE = 1;
                            if(CT_PARAM_DEC_MODE == 0)CT_GZ_VAVLE = 1;
                            if(!CT_PARAM_TL_MODE)CT_YBD_VAVLE = 1;
                            CT_MotorDelay = dwTickCount + CT_PARAM_TFK_DELAY;
                            CT_MotorStep   = 37;
                        }
                        break;
                case 37:  
                        if(dwTickCount >= CT_MotorDelay)
                        {
                           CT_TFK_VAVEL = 1;
                           CT_MotorDelay =    dwTickCount +  1000;
                           CT_MotorStep   = 38;
                        }
                        break;
                case 38:
                        if(CT_GOUZHEN_IN && !X_DRV && ((CT_PARAM_TIAOSHI_MODE && CT_bTS) || (CT_PARAM_TIAOSHI_MODE == 0)))
                        {
                            if(CT_PARAM_TL_MODE)CT_YBD_VAVLE = 1;         
                            
                            if(cZipCnt == 1)
                            {
                                length_buff = cRealPos - save_buff - CT_PARAM_OFFSET_LENGTH;
                            }
                            if(cZipCnt == 0)
                            {
                               go_length_buff = cRealPos - save_buff;
                            }
                            cTuiFangKuaiCnt = 0;
                            CT_MotorStep   = 0;
                        }
                        else if(dwTickCount >= CT_MotorDelay)
                        {
                            if(cTuiFangKuaiCnt == 0)
                            {
                                 CT_MotorStep   = 100;
                                 CT_TFK_VAVEL   = 0;
                                 cTuiFangKuaiCnt++;
                                 CT_MotorDelay =    dwTickCount +  1000;
                            }
                            else 
                               CT_SetAlarmCode(CT_GZ_ALARM);
                        }
                        break;
                case 100:
                        if(dwTickCount >= CT_MotorDelay)
                        {                         
                            CT_MotorStep   = 37;
                        }
                        break;
		case 40:
                           if(dwTickCount >= CT_MotorDelay)
                           {
                                AxisMovePos(X_AXIS,CT_PARAM_CUT_BACK_SPEED,-(CT_PARAM_SJZ_LENGTH));
                                CT_MotorStep   = 41;
                           }
                            break;
                case 41:
                           if(!X_DRV)
                           {
                                CT_JD_VAVEL = 0;
                                CT_MotorDelay =    dwTickCount +  5;
                                CT_MotorStep   = 42;
                           }
                           break;
                case 42:
                            if(dwTickCount >= CT_MotorDelay)
                            {
                               save_buff = cRealPos;
                                                         
                              if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_YDIR_P;
                              MV_Set_Acc_CPU(X_AXIS, 10);
                              AxisMovePos(X_AXIS,CT_PARAM_CUT_BACK_SPEED,-(CT_PARAM_BACK_LENGTH));
                              CT_MotorStep   = 44;
                            }
          
                        break;
                        
		case 43:	                           // 切断完成后拉电机动作
                            if(((CT_PARAM_SJZ_LENGTH) <= (cRealPos - save_buff)))
                            {
                                CT_JD_VAVEL = 0;
                                CT_MotorStep   = 44;
                            }
                            else if(!X_DRV)
                            {
                                CT_JD_VAVEL = 0;
                                CT_MotorStep   = 44;
                            }
                        break;
                case 44:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                CT_MotorStep   = 0;
                                CT_MotorDelay  =    dwTickCount;
                            }
                        
                        break;   
                case 61: // 前点定位数控模式
                        if(CT_SZ_OUT)
                        {
                            CT_SZ_OUT   = 0;                       
                            CT_MotorDelay = dwTickCount + 50;
                        }
                        
                        
                        if(CT_PARAM_TL_MODE)
                        {
                //           if(CT_TuiLianStep == 0)CT_TuiLianStep = 1;
                        }
                        else
                        {
                             if((CT_TuiLianStep == 0) && !CT_TL_VAVLE)CT_TuiLianStep = 1;
                        }
                        CT_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= CT_MotorDelay)
                        {
                            if(CT_QIAN_LIMIT_IN)
                            {
                                if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_YDIR_P;
                                MV_Set_Acc_CPU(X_AXIS, 10);
                                AxisMovePos(X_AXIS,CT_PARAM_FIRST_SPEED,-CT_PARAM_ON_BACK_LENGTH);                           
                                CT_MotorDelay = dwTickCount + 1000;
                            }
                            CT_MotorStep = 63;            
                            CT_JD_VAVEL = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !CT_QIAN_LIMIT_IN && (dwTickCount >= CT_MotorDelay))
                        {
                            if(CT_PARAM_TL_MODE)CT_JZ_DIR = CT_YDIR_N;
                            go_buff  = cRealPos;
                            if(cZipCnt > 0)
                            {
                                 MoveAction_Const_Stop(X_AXIS, CT_DIR_N,CT_PARAM_GO_HIGH_SPEED);//
                            }
                            else
                            {
                                 MoveAction_Const_Stop(X_AXIS, CT_DIR_N,CT_PARAM_GO_LOW_SPEED);
                            }
                       //     MoveAction_Const_Stop(X_AXIS, CT_DIR_P,CT_PARAM_GO_HIGH_SPEED);//
                        //      AxisContinueMove(X_AXIS,CT_PARAM_GO_HIGH_SPEED,CT_DIR_P);         //第一条走低速

                            CT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            CT_MotorStep   =64;
                        }  
			break;
                case 64:
                        if(CT_PARAM_GO_MODE)
                        {
                             if(cZipCnt > 0)
                             {
           
                                  if((go_buff - cRealPos) > (go_length_buff - (CT_PARAM_Go_LOW_SPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(CT_PARAM_BACK_SPEED,CT_PARAM_BACK_LOW_SPEED,10))) + CT_PARAM_BACK_LENGTH + CT_PARAM_SJZ_LENGTH))
                                  {
                                      
                                      MoveChangSpeed(X_AXIS,CT_PARAM_GO_LOW_SPEED);
                                      CT_MotorStep   =65;
                                  }
                             }
                             else
                             {
                              //     if(CT_QIAN_DEC_IN)
                                  {
                                 //     if(X_DRV)MoveChangSpeed(X_AXIS,CT_PARAM_GO_LOW_SPEED);//AxisChangeSpeed(X_AXIS,CT_PARAM_GO_LOW_SPEED);
                                      CT_MotorStep   =65;
                                  }                               
                             }
                        }
                        else 
                        {
                          //   if(CT_QIAN_DEC_IN)
                            {
                             //   if(X_DRV)MoveChangSpeed(X_AXIS,CT_PARAM_GO_LOW_SPEED);//AxisChangeSpeed(X_AXIS,CT_PARAM_GO_LOW_SPEED);
                                CT_MotorStep   =65;
                            }                       
                        }

                        break;
		case 65:
                        if(CT_QIAN_LIMIT_IN_UP)
                        {
                            if(CT_PARAM_DAO_MODE)
                            {
                                 dandao_buff = cRealPos;
                                 CT_MotorStep   = 70; 
                            }
                            else
                            {
                                AxisEgmStop(X_AXIS);
                                CT_MotorStep   = 66;                            
                            }
                        }
                        else if(dwTickCount >= CT_MotorDelay)CT_SetAlarmCode(CT_NO_ZIPPER_ALARM);
                        else if(CT_JD_ORIGIN_IN)CT_SetAlarmCode(CT_JD_ORIGIN_ALARM);
                        break;
                case 70:   
                       if((dandao_buff - cRealPos) >= CT_PARAM_DANDAO_MODE_LENGTH)    
                       {
                            AxisEgmStop(X_AXIS);
                            CT_MotorStep   = 66;                            
                       }
			break;
		case 66:
                        if(!X_DRV)
                        {   
                            CT_MotorDelay =    dwTickCount;
                            CT_MotorStep   = 67;
                        }
			break;   
		case 67:
                        if((dwTickCount >= CT_MotorDelay) && (CT_TuiLianStep == 0) && ((CT_PARAM_TIAOSHI_MODE && CT_bTS) || (CT_PARAM_TIAOSHI_MODE == 0)) )
                        {
                            if(bRunning)
                            {
                                CT_JD_VAVEL = 1;
                            }
                            CT_MotorStep   = 68;
                            CT_MotorDelay  =    dwTickCount + CT_PARAM_DELAY_BACK;
                        }
			break;
                case 68:
                        if(dwTickCount >= CT_MotorDelay)
                        {
                            CT_YBD_VAVLE   = 0;
                            CT_TL_VAVLE    = 0;
                            CT_MotorStep   = 0;
                        }
                        break;
               
	}
}



#endif