GC23005/Machine/YuWenXuanMachine/YWXChuanTouJi.c

#include "global.h"

#if YU_WEN_XUAN_MACHINE

extern char ReadTimeData(unsigned short ReadMode);
/**************************************
** 函数名称：void ChuanTouJi(void)
** 函数功能：穿头机动作函数
** 穿头机输入输出说明：

全自动步进穿头机  C02

X00	起动(全自动)				M48
X01	停止						M49
X02	手动分带(半自动)			M50
X03	穿入特短链选择（先不用接）	M51
X04	故障输入					M52
X05	分带磁感					M53
X06	顶针(有料感应)				M54
X07	下模(下止模)感应			M55
X10	送料复位(后)感应			M56
X11 送料到位(前)感应			M57
X12	护链磁感					M58
X13	护链选择					M59
X14 振动盘						M60
X15 过链感应					M61
X16 推料						M62
X17 钩针定位					M63
X20 单次动作					M64
X21 过链杆下限位				M65

输出	
Y11	振动盘						M41
Y10	停止灯						M40
Y07	计数器输出(运行)			M39
Y06	夹链电磁阀(勾针旁)（警告灯）M38
Y05	打片电磁阀（伸缩杠）		M37
Y04	护链电磁阀					M36
Y03	勾针电磁阀    				M35
Y02	送料电磁阀(给料) 			M34
Y01	下模电磁阀(送料电磁)  		M33
Y00	分带电磁阀   				M32

PU+ 步进脉冲+
PU- 步进脉冲-
DR+ 松步进+
DR- 松步进-

P00     穿入后速度        （6）
P01     加速度             （12）
P02     起动速度           （10）
P03     最高速度            （35）
P04     空位速度            （6）
P05     延时下勾针         （50）
P06     延时拖带          （4）
P07     延时退护链        （3）
P08     延时退下模(先退分带模式)或延时退分带(先退下模方式)   （50）
P09     给料到位延时返回       （2）
P10     分带下模分开方式(0 先退分带，1先退下模)   （0）
P11     振动盘延时停                  （100）
P12     振动盘重启动个数             （6）
P13     延时分带                    （3）
P14		0 拖带延时退护链(护下止),1 分带后延时退护链(合链功能)   （0）
P15		伸缩杆的时间间隔
P16     延时给料         （3）
P17     延时夹链        （4）
P18     合链时间       （10）
P19     拉链长度(不为0时高速走链长度)   （0）

P20     启动开关方式（0　拔动式，1  按钮式）
P21		勾针选择（0 不用，1　有勾`针）
P22     护链磁感选择（0 不用　1　要有磁感）不用磁感时X12用作定位用
P23     护链选择（0 用　1　不用护链）  只是在用触摸屏通信才有效,用屏的情况下X13接电源的GND
P24     Y06用途（0 夹链　1　停止指示灯)只是在用触摸屏通信才有效
P25     振动盘自动停选择(0 只有满料才停　1　两分钟内没料到也停止)
P26     伸缩杆的工作方式(0 不停止的动作，1给料一次输出一次)（）
P30     拖带的最长脉冲
P31     0, 分带正常退,  1,有合链时穿入后就退     （0）
P32		穿拉头的最高速
P33     联机方式（1，联机，其它,单机）
P34     重送拉头次数
P35     
P36     
P37     Y10的用途()
P38     钢片动作时间
P39     空位延时停止
P40     0  无下止合链，  1   有下止合链
P60		定位长度      （100）
P61     穿入长度     （）
P63     3                         （7）
P64     超声时间参数方式选择，，0老款拔码，1编码,2内部按键设(或通信设定），3　输入点方式 新编码采集方式      （1）

M00 手动给料
M01 手动并链
M02 手动钩针
M03 振动盘
M04 手动分带
M06 手动下模
M07 手动合模动作
M08 手动拖带

M09 启动
M10 自动启动
M11 单次启动

M13   停止
M14  产量清零


M16  给料启动条件不满足
M17  合模启动条件不满足
M18  拖带启动条件不满足
M19  启动条件不满足
M20 给料不到位置
M21 分带不到位
M22 下模送料不到位
M23  接头故障输入
M24  没拉链警告


E01
E02
E03
E04	 给料不到位置       M20
E05	 分带不到位    		M21
E06	 下模送料不到位  	M22
E07	 接头故障输入   	M23
E08	 没拉链警告			M24
E09
E10
E11
E12

E30	 启动条件不满足	   		M19
E31  手动给料条件不满足 	M16
E32  手动下模条件不满足 送料退回开关要亮    M17
E33  勾针不起来不能启动电机					M18
***************************************/

#define BoDong   0
#define AnNiu    1

void ZhenDongCTR(unsigned char flag); 
void HeMo(void);
extern unsigned char ManualMotor;

unsigned char CT_cOneTimes,CT_bRunning,CT_bStop;
unsigned long CT_cAutoStopTime;
long CT_cDinWeiTime;
unsigned short CT_cLaTuoNum;
static long save_dist_buff;
//清警告   
void Clr_Warning(unsigned char W_Page)
{
	user_datas[75] = W_Page;
	user_datas[100] = 0;      	//检查过链接近开关或没有拉链
	user_datas[101] = 0;		
}

void ChuanTou_InitAction(void)
{
    XGearRatio = 1;
    ZhenDongCTR(1);
    if(user_datas[15] < 35)user_datas[15] = 35;
    user_datas[100] = 0;
    user_datas[101] = 0;
    user_datas[75] = 0;
}

void ChuanTou_Action(void)
{
   static unsigned long GuZhangInputTime;
   static unsigned char cJiaLian = 0;

   unsigned short ch, j;	
   {
        user_datas[121] = dwRealPos;
        user_datas[122] = cStepMByte;
        user_datas[123] = cStepMByte1;
        user_datas[124] = cStepMByte2;
        user_datas[125] = cStepMByte3;
        user_datas[126] = cStepMByte4;
	
        dwRealPos = GetPos(X_AXIS);
        //输出运行状态
        if(user_datas[100])
        {
            if(user_datas[24] == 1)
                    Y06 = 1;
            if(user_datas[35] == 0)	
                    Y07 = 0;
            if(user_datas[37] == 0)	
                    Y10 = 0;	
        }
        else if(CT_bRunning)
        {
            if(user_datas[24] == 1)
                    Y06 = 0;
            if(user_datas[35] == 0)		
                    Y07 = 1;
            if(user_datas[37] == 0)	
                    Y10 = 0;				
        }
        else
        {
            if(user_datas[24] == 1)
                    Y06 = 0;
            if(user_datas[35] == 0)		
                    Y07 = 0;
            if(user_datas[37] == 0)	
                    Y10 = 1;		
        }

        HeMo();	
        ZhenDongCTR(0);
        if(M14)	//产量清零
        {
            M14 = 0;
            ClrcToTal(76);  
        }
      	if(X15)   //空位时的自动停机时间
        {
            if(user_datas[39] == 0)
                CT_cAutoStopTime = dwTickCount + 3500;
            else	
                CT_cAutoStopTime = dwTickCount + (unsigned long) 100 * user_datas[39];
        }	
      //停止    故障输入           //拔动式开关
        if (X01 || X04  || M13 || (X00_DW && (user_datas[20] == BoDong) && (dwTickCount >= cDelayTime5)) || ((dwTickCount >= CT_cAutoStopTime) && (!X15) && X_DRV)) 
      	{
            M10 = 0;
            M12 = 0;
            if(X04) 
            {
                M23 = 1;
                user_datas[100] = 7;
            }
            else if ((dwTickCount >= CT_cAutoStopTime) && X_DRV && !X15) 
            {
                M24 = 1; 
                user_datas[100] = 8;	
            }
            else if(X01)
            {
                M16 = 0;
                M17 = 0;
                M18 = 0;
                M19 = 0;
                M20 = 0;
                M21 = 0;
                M22 = 0;
                M23 = 0;
                M24 = 0;
                M25 = 0;
                Clr_Warning(1);	
                if(X01_UP && !CT_bRunning) Y03 = 1;   //勾针	
            }
            if(CT_bRunning)ZhenDongCTR(1);	
            if(!M13 || !CT_bRunning)
            {
                AxisEgmStop(X_AXIS);  
                cStepMByte = 0;
                cStepMByte1 = 0;
                cStepMByte2 = 0;
                cStepMByte3 = 0;
                cStepMByte4 = 0;
                if(user_datas[24] == 0)Y06	= 0; //夹链电磁阀(勾针旁)
                        
                Y04	= 0; //护链电磁阀
                Y02 = 0;    //	拉头定位电磁阀(给料)
                Y01 = 0;    //	下模电磁阀
                Y00 = 0;    //	分带电磁阀
                cDelayTime5  = dwTickCount + 60;
                if(user_datas[37] == 1)Y10 = 0;
                SETDR();  //松电机
                CT_bRunning = 0;
            }
            else
            {
                CT_cOneTimes = 1;	
            }
            M13 = 0;
      	}
      //手动
        if ((CT_bRunning == 0) && !X01) 
        {
         //起动
        	if ((X00_UP || M09 || M11 || (X20_UP && (user_datas[64] != 3)) || (X00 && X06_UP)) && (dwTickCount >= cDelayTime5) && (CT_bRunning == 0)) 
		{
            //过链感应 送料后  送料前 故障输入
            	    if (X15 && X10 && !X11 &&  !X04) 
	            {
               //第一条认为给料已完成
               		CLRDR(); //	松步进
               		CT_bRunning = 1;
               		CT_cOneTimes = 0;
                        M03 = 0;
                        M16 = 0;
                        M17 = 0;
                        M18 = 0;
                        M19 = 0;
                        M20 = 0;
                        M21 = 0;
                        M22 = 0;
                        M23 = 0;
                        M24 = 0;
                        M25 = 0;
                        Clr_Warning(1);
               		if(M11 || (X20 && (user_datas[64] != 3))) 
			{ //单次动作
                            CT_cOneTimes = 1;
                            M12 = 1;
               		}	
	 		else //自动动作
			{    
                  	    M10 = 1;
               		}

               		cStepMByte1 = 0;
               		cStepMByte2 = 10;   //给料已经完成
			cStepMByte4 = 0;
               		CT_cAutoStopTime = dwTickCount + 12000;
               		CT_bStop = 0;
			if(user_datas[24] == 0)Y06 = 1;     //夹紧(勾针旁)
                        
               		if((!X13) || ((user_datas[23] == 0) && (user_datas[40] == 0))) Y04 = 1; //护链
                                  //延时分带
               		cStepMByte = 4;
               		cDelayTime5  = dwTickCount + 60;
               		cDelayTime1  = dwTickCount + (unsigned long)user_datas[13]*10 + 60;
			ZhenDongCTR(1);	
            	     } 
		     else 
		     {
               		if (X00_UP || M09 || M11 || (X00 && X06_UP) || (X20_UP && (user_datas[64] != 3))) 
			{
                  	//启动条件不满足报警
					
			    if(!X15)
                            {
                                M19 = 1;
                                user_datas[100] = 30;
                            }
                            else if(!X10)
                            {
                                M19 = 1;
                                user_datas[100] = 34;							
                            }
                            else if(X11)
                            {
                                M19 = 1;
                                user_datas[100] = 35;							
                            }
                            else if(X04)
                            {
                                M19 = 1;
                                user_datas[100] = 36;							
                            }
                            else
                            {
                                M19 = 1;
                                user_datas[100] = 37;							
                            }			
               		}
                     }
                      M09 = 0;M11 = 0;
         	}
         	
                //手动分带（半自动）
            	if(X02_UP) 
                {
                      if (X10  && !X11 && !Y02 && !M30) //给料不能有输出
                      {
                          cStepMByte4 = 1;	//合模变为单独动作
                      }
                      else 
                      {    //条件不满足警告
                           M17 = 1;
                           user_datas[100] = 32;
                      }
            	}
		else if(X02_DW) //半自动放开
		{    
                      if(user_datas[24] == 0)Y06 = 0;        //夹紧
                      Y04 = 0;        //护链
                      Y01 = 0;        //下模
                      Y00 = 0;        //分带
                      cStepMByte4 = 0;
                }

                 //手动给料 
                if(M00)
                {
                    M00 = 0; 
                    if(Y02)
                    {
                        Y02 = 0;
                        M30 = 0;
                        if(user_datas[37] == 1)Y10 = 0;
                    }	
                    else if(!Y01 && X07)
                    {
                        if(user_datas[37] == 0)Y02 = 1;
                        else
                        {	
                            Y10 = 1;
                            M30 = 1;
                            cDelayTime9 = dwTickCount + (unsigned long)user_datas[38] + 20;
                        }
                    }	
                    else //条件不满足警告
                    {    
                        M16 = 1;
                        user_datas[100] = 31;
                    }			
                }  
                if(M30 && (dwTickCount >= cDelayTime9))
                {
                    Y02 = 1;	
                    M30 = 0;
                }
                //手动拼链
                if(M01)
                {
                    M01 = 0;
                    if(Y04)
                        Y04 = 0;
                    else
                        Y04 = 1;	
                }
                //手动分带和下模动作
                if(M04) 
                {
                    M04 = 0;    
                    Y00 = ~Y00; //分带输出
                                    
                    if(!Y00)cStepMByte4 = 0;
            	}
            	if(M06)	
		{
                    M06 = 0;
                    if (Y01) 
                    {
                            Y01 = 0;
                            cStepMByte4 = 0;
                    }	
                            //  给料后限位	前限位
                    else if (X10  && !X11 && !(Y02 && !M30)) //给料不能有输出
                    {   
                            Y01 = 1;
                    } 
                    else 
                    {    //条件不满足警告
                            M17 = 1; 
                            user_datas[100] = 32;
                    }
            	}

                if(M07)
                {
                    M07 = 0;	 
                    if(cStepMByte4 != 0)
                    {
                        if(user_datas[24] == 0)Y06 = 0;        //夹紧
                        Y04 = 0;        //护链
                        Y01 = 0;        //下模
                        Y00 = 0;        //分带
                        cStepMByte4 = 0;
                    }
                    else
                        cStepMByte4 = 1;
                }
   		if(!X04)GuZhangInputTime = dwTickCount + (unsigned long)120 * 10;
                
         	//顶针	  故障开关
               if (X06 || (X04 && (dwTickCount >= GuZhangInputTime)))Y03 = 1;   //勾针
               else if (X15_UP || M02) 	//过链
	       {
	            if(M02) 
		    {
	               Y03 = ~Y03;
	               M02 = 0; 
	            }
		    else
                    {	
                      Y03 = 0;
                      cJiaLian = 1;
                    }
					
         	}
                else if(X15_DW)
                {
                    cDelayTime1 = dwTickCount + (unsigned long)user_datas[17];	   	
                }
                if(cJiaLian && dwTickCount >= cDelayTime1) 
                {
                    cJiaLian = 0;
                    if(user_datas[24] == 0)Y06 = 1;        //夹紧		
                }
                 //手动拖带
                if (M08 || (X12_UP && (user_datas[22] == 0))) 
		{ //             勾针选择
			M08 = 0;
                        if(!X_DRV && !Y00 && !Y01)
			{
                            Y03 = 1;
                            cJiaLian = 0;
                            CLRDR();
                            CT_cDinWeiTime = user_datas[60];
                            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,CT_DIR_P,user_datas[3],user_datas[4],15,5);  

               
                             cDelayTime8 = dwTickCount + (unsigned long)650 * 10;        //160ms
                             CT_cAutoStopTime = dwTickCount + 14000;
                             Y04 = 0;
                              if(user_datas[24] == 0) Y06	= 0; //夹链电磁阀(勾针旁)	                //夹紧	
               	         }
                }
  		if (X15_DW) cDelayTime3 = dwTickCount + 2;
			  

                if(X_DRV) 
		{          
                    //判断过链是不是真的松开
                    if(!X15) //计数器
                    {					                                  
                         AxisChangeSpeed(X_AXIS,user_datas[4]);	
                         cDelayTime8 = dwTickCount + (unsigned long)35 * 10;        //160ms
                    }
                    if(X15_UP)
                    { 
                        Y03 = 0;
                        if(user_datas[24] == 0)Y06	= 1; //夹链电磁阀(勾针旁)	                //夹紧	
                    }
                } 
  		else if((dwTickCount >= cDelayTime8) && (CT_bRunning == 0)) 
		{
                    SETDR();	 //松电机
                }
          }  
	  else if (CT_bRunning) 
	  { //					      
		 switch (cStepMByte)
                 { 			 
	           case 2: //过链检测
                    if((dwRealPos+180) >= (user_datas[61]))AxisChangeSpeed(X_AXIS,user_datas[4]);	
                   
                    if((user_datas[33] != 1) && (user_datas[35] == 1));
				//判断过链是不是真的松开
	            else if(!X15 && (user_datas[19] <= 300))	                 
		    {
	               cStepMByte = 30;
	                                //夹紧
	               Y04 = 0;
	               AxisChangeSpeed(X_AXIS,user_datas[4]);	
		       cDelayTime1 = dwTickCount + (unsigned long)user_datas[17];
				   
	            }   
	   	    else
                    {
                            
                        if(user_datas[30] > 80)
                        {
                            if(dwRealPos > (user_datas[30] * 20))
                            {
                                    M13 = 1;
                                    CT_bRunning = 0;
                                    AxisEgmStop(X_AXIS);  		
                            }
                        }
                    }			
	            break;
                 case 30:
                                    // 勾针选择
                        if((dwRealPos - save_dist_buff) >= user_datas[5]) 
                        { 
                            if(user_datas[21] == 1)Y03 = 0;
                        }
                        if(dwTickCount >= cDelayTime1)
                        {
                            if(user_datas[24] == 0)Y06	= 1; //夹链电磁阀(勾针旁)	
                        }
                        
                       if(X15_UP)
                       {
                           save_dist_buff = dwRealPos;
                           cStepMByte = 31;
                       }
                    break;
                 case 31:
                        if((dwRealPos - save_dist_buff) >= user_datas[5]) 
                        { 
                            if(user_datas[21] == 1)Y03 = 0;
                        }
                        if(dwTickCount >= cDelayTime1)
                        {
                            if(user_datas[24] == 0)Y06	= 1; //夹链电磁阀(勾针旁)	
                        }
                       if((dwRealPos - save_dist_buff) >= CT_cDinWeiTime)
                       {
                           cStepMByte = 3;
                           AxisEgmStop(X_AXIS);     
                       }
                    break;
	         case 3:
	            // 勾针选择
	            if((dwRealPos - save_dist_buff) >= user_datas[5]) 
		    { 
		        if(user_datas[21] == 1)Y03 = 0;
	            }
                    if(dwTickCount >= cDelayTime1)
                    {
                        if(user_datas[24] == 0)Y06	= 1; //夹链电磁阀(勾针旁)	
                    }	
	            if (!X_DRV)	
	            {
			if(user_datas[24] == 0)Y06 = 1;        //夹牙	
                        
	               	cStepMByte = 4;
	               	if (user_datas[21] == 1)Y03 = 0;     //勾针
                        
	               	if ((X02 && (user_datas[20] == BoDong)) || (CT_cOneTimes != 0)) 
			{   //单条停止
		                cStepMByte = 3;
		                CT_cAutoStopTime = dwTickCount + 250;
		                if ((cStepMByte2 == 10)) 
				{
                                    cDelayTime8 = dwTickCount + (unsigned long)30 * 10;   //延时松电机     //300ms
		              	    cStepMByte = 0;
		                    CT_bRunning = 0;
		                    CT_bStop = 0;
		                    CT_cOneTimes = 0;
				    M10 = 0;
                                    M12 = 0; 
	                  	    ZhenDongCTR(1);	
				}
	               	} 
			else 
			{
				if(user_datas[24] == 0)Y06 = 1;        //夹牙                                 带下止合链选择
	                  	if((!X13) ||((user_datas[23] == 0) && (user_datas[40] == 0)))  
				{        //护链选择
	                     	    cStepMByte3 = 0;							
				    Y04 = 1;    //护链输出
	                                 //延时分带
                                    if (user_datas[22] == 0)  //不用磁感
                                        cDelayTime1 = dwTickCount + (unsigned long)user_datas[13]*10 + 60;
                                    else 
                                        cDelayTime1 = dwTickCount;
	                  	}
		 		else 	//不用护带
				    cDelayTime1 = dwTickCount;
	               }
	            }
	            break;
	         case 4: //在过链     不用护链或不用磁感 　　　　　　延时分带	                                                                   　给料
	            if (X15 && ((( ((user_datas[23] == 1) || (user_datas[40] == 1))|| (user_datas[22] == 0)) && (dwTickCount >= cDelayTime1)) || (X12 && (user_datas[22] == 1)))
	                //给料   //给料到位
	                && !Y02 && !X11 && (cStepMByte2 == 10))
		    {
	               cStepMByte = 5;
	               Y00 = 1;    //分带输出
	               cDelayTime1 = dwTickCount + (unsigned long)2000;    //给料到位的最长时间				}
	            }
                    else if(X01 || M13) 
                    {
                        if(cStepMByte2 == 10)
                        {
                            cDelayTime8 = dwTickCount + (unsigned long)30 * 10;   //延时松电机     //300ms
                            cStepMByte = 0;
                            CT_bRunning = 0;
                            CT_bStop = 0;
                            CT_cOneTimes = 0;
                            M10 = 0;
                            M12 = 0;
                            ZhenDongCTR(1);	
                        }	
                    }
	            break;
	            //判断分带到位
	         case 5: //分带到位  给料已给完成                                                送料前 送料后
	            if(X05) 
                    {
	               if ((cStepMByte2 == 10) && !X11 && X10 && !Y02) 
                       {
	                  cStepMByte = 6;
	                  cStepMByte2 = 0;
	                  cDelayTime1 = dwTickCount + (unsigned long)5;       //25ms
	               }
	            } 
                    else if (dwTickCount >= cDelayTime1) //加上分带不到位警告代码
		    { 
		       ZhenDongCTR(1);	
	               CT_bRunning = 0;
	               M21 = 1; 
		       M10 = 0; 
                       M12 = 0; 
		       user_datas[100] = 5;
	            }
	            break;
	         case 6:
	            if (dwTickCount >= cDelayTime1) 
		    {
	               cStepMByte = 7;
	               Y01 = 1;     //下模输出
	               cDelayTime1 = dwTickCount + (unsigned long)600;        //2.5s
	            }
	            break;
	            //下模气缸上到位
	         case 7:
	            if (!X07)     	//下模感应
	            {   
                        if(X06) 	//送料到
                        {  
                            cStepMByte = 8;						
                            //延时退勾针
                            cDelayTime1 = dwTickCount + (unsigned long)2;       //50ms
                            if(user_datas[24] == 0)Y06 = 1;     //夹紧(护牙)
	               	} 
                        else if ((dwTickCount >= cDelayTime1))     // 一定时间不到位就看作没料或卡住
                        {  
                            if(++CT_cLaTuoNum >= user_datas[34])
                            {
                                CT_cLaTuoNum = 0;
                                ZhenDongCTR(1);	 
                                CT_bRunning = 0;
                                Y00 = 0;    //下模下去
                                Y01 = 0;    //分带
                                M22 = 1;
                                M10 = 0; 
                                M12 = 0;
                                M13 = 1;        
                                user_datas[100] = 6;
                            }
                            else
                            {
                                cStepMByte = 4;	
                                cStepMByte2 = 1;	
                                Y00 = 0;    //分针下去
                                Y01 = 0;     //下模输出
                            }
                        }
	            }
	            break;
	            // 延时松勾针
	         case 8:
	            if(dwTickCount >= cDelayTime1) 
                    {
		       CT_cLaTuoNum = 0;
	               cStepMByte = 9;
	               Y03 = 1;     // 勾针退
	               cDelayTime1 = dwTickCount + (unsigned long)user_datas[6] * 10;     //70ms
	            }
	            break;
	            // 延时穿入
	         case 9:
	            if(dwTickCount >= cDelayTime1) 
                    {
	               	cStepMByte = 2;    //回到空位检测
			MV_Set_Command_Pos_CPU(X_AXIS,0);

		        CT_cDinWeiTime = user_datas[60];
                                
                        if(X03) 
                            MoveAction_Const_AccDec(X_AXIS,CT_DIR_P,user_datas[32],user_datas[0],user_datas[1],user_datas[1]/2);  
                        else
                            MoveAction_Const_AccDec(X_AXIS,CT_DIR_P,user_datas[32],user_datas[2],user_datas[1],user_datas[1]/2);  


                        cStepMByte1 = 1;   //延时松分带 和 延时松下模动作
                        if(user_datas[24] == 0)                      //夹牙退
                        {
                            cStepMByte5 = 1;    //延时退护链
                            cDelayTime4 = dwTickCount + (unsigned long)user_datas[7] * 3;
                        }	
                        if(user_datas[14] == 0)
                        {
                            cStepMByte3 = 1;    //延时退护链
                            cDelayTime6 = dwTickCount + (unsigned long)user_datas[7] * 3;
                        }
                        cStepMByte2 = 0;
                        AddToTal(76);	
                        CalProSP(78);
	            }
	            break;
	         }  
	  		 //延时退夹链                               退护链的脉冲数
	         if(cStepMByte5 && (Y06) && (dwTickCount >= cDelayTime4)) 
                 {  
	            cStepMByte5 = 0;
	            Y06 = 0;
	         }
	         //延时退护链                               退护链的脉冲数
	         if(cStepMByte3 && (dwTickCount >= cDelayTime6)) 
                 { 
	            cStepMByte3 = 0;
	            Y04 = 0;
	         }
	         //延时松分带 和 延时松下模动作
	         switch (cStepMByte1) 
                 {
		         case 1:
		            if(user_datas[10] == 0) 
                            {
                                    cStepMByte1 = 2;
                                    if(user_datas[40] == 1)cDelayTime6 = dwTickCount + (unsigned long)user_datas[7];	
                            }	
		            else 
                                    cStepMByte1 = 10;
		            break;
		            //先退分带
		         case 2:
                            if(user_datas[40] == 1)
                            {
                                    if((cStepMByte3 == 0) && (dwTickCount >= cDelayTime6))
                                    {
                                            Y04 = 1; 	
                                    }	
                            }
                            if((user_datas[31] == 1) && (user_datas[23] == 0))
                            {
                                    if(dwRealPos >= 60)Y00 = 0;
                            }
		            if((dwRealPos >= user_datas[61]) || (cStepMByte == 31))	
			    {
		               //退分带
		                Y00 = 0;
		                cStepMByte1 = 3;
		               //70ms  合链功能
                                if(user_datas[14] != 0)
                                {
                                    cStepMByte3 = 1;    //延时退护链
                                    cDelayTime6 = dwTickCount + (unsigned long)user_datas[18];
                                }
                                else
                                {
                                     Y04 = 0;		               
                                     cStepMByte3 = 0;
                                }
		            }
		            break;
		         case 3:
		               cDelayTime2 = dwTickCount + (unsigned long)user_datas[8];
		               cStepMByte1 = 4;
		            break;
		         case 4:
		            if ((dwTickCount >= cDelayTime2)) 
                            {
		               Y01 = 0;
		               cStepMByte1 = 5;		               
		            }
		            break;
		         case 5:
		            if(!X06 && !Y00 && !Y01)
                            {
                              cStepMByte1 = 6;
                              cDelayTime2 = dwTickCount + (unsigned long)25;     //70ms
                               if(user_datas[14] != 0)cDelayTime2 = dwTickCount + (unsigned long)user_datas[50];
                            }
                            break;
                         case 6:								
                            if(dwTickCount >= cDelayTime2)
                            {
                                cStepMByte1 = 0;
                                cStepMByte2 = 1;
		               	cDelayTime3 = dwTickCount + (unsigned long)4 * 10;	
		               //没有长度之前检测到下一条链
		               if((cStepMByte == 9) || (cStepMByte == 2)) 
                                {
                                    AxisChangeSpeed(X_AXIS,user_datas[3]);	  //最高速
                                    if(user_datas[19] > 300)
                                    {	
/*                                        (unsigned long)2000 * user_datas[19]/300  
                                            if(cWorkPulseNum > dwRealPos)
                                            {
                                                    cWorkPulseNum -= dwRealPos;
                                                    cStepMByte1 = 7;	
                                                    cStepMode = 4;

                                            }	*/
                                    }
		               	}   
		            }
		            break;
                          case 7: 
                                  if(dwRealPos >= ((unsigned long)2000 * user_datas[19]/300))
                                  {
                                          cStepMByte1 = 0;
                                         
                                  }
                                  break;	
		            //先退下模
		         case 10:
		            if ((dwRealPos >= ((unsigned long)2000 * user_datas[19]/300)) || (cStepMByte == 31))	
                            {
		               //退下模
		               	Y01 = 0;
		               	cStepMByte1 = 11;
		               	cDelayTime2 = dwTickCount + (unsigned long)user_datas[8];        //70ms
                                Y07 = 0;        //退夹链
                                if(user_datas[14] != 0)
                                {
                                    cStepMByte3 = 1;    //延时退护链
                                    cDelayTime6 = dwTickCount + (unsigned long)user_datas[18];
                                }
                                else
                                {
                                    Y04 = 0;        //退护链	               
                                    cStepMByte3 = 0;
                                }
		                cDelayTime3 = dwTickCount + (unsigned long)3 * 100;   //没法开模
		            }
		            break;
		         case 11:
		            if((dwTickCount >= cDelayTime2) || !X06) 
                            {
		               Y00 = 0;  //退分带
		               cStepMByte1 = 12;
		               cDelayTime2 = dwTickCount + (unsigned long)250;     //70ms
		            }
		            break;
		         case 12:
		            if (!X05 && !Y00 && !Y01) 
                            {
		               cDelayTime2 = dwTickCount + (unsigned long)15;
		               cStepMByte1 = 13;
		            }
		            break;
		         case 13:
		            if (dwTickCount >= cDelayTime2) 
                            {
		               //没有长度之前检测到下一条链
/*		               if ((cStepMode == 4) || (cStepMode == 0)) 
                               {
		                  cStepMode = 1;
		                  cLowSpeadLimit = user_datas[4];
		               }*/
		               cStepMByte2 = 1;    //给料启动
		               cStepMByte1 = 0;
		            }
		            break;
					
	         }

	         //给料动作
	         switch (cStepMByte2) 
                 {
		         case 1:
		            //分带感应  有料感应  下模感应        分带   下模
		            if (!X05 && !X06 && X07 && !Y00 && !Y01) 
                            {
		               cStepMByte2 = 2;
		               cDelayTime3 = dwTickCount + (unsigned long)10 * (4 + user_datas[16]);
                               if(user_datas[37] == 1)
                               {
                                    Y10 = 1;
                                    cDelayTime3 = dwTickCount + (unsigned long)user_datas[38] + 20;
                               }	
		            }
		            break;
		         case 2:  //延时给料
		            if ((dwTickCount >= cDelayTime3) && X07) 
                            {
		               Y02 = 1;   //给料输出
		               cStepMByte2 = 3;
		               //不知道加多少时候才够，只能定成1秒
		               cDelayTime3 = dwTickCount + 2000;
		            }
		            break;
		         case 3:   //判断给料到位
		            if(X11)
                            {
		               cStepMByte2 = 4;
		               cDelayTime3 = dwTickCount + user_datas[9];   //给料到位延时返回
		            } 
                            else if ((dwTickCount >= cDelayTime3) && X07) 
                            {  //下模上升超时
                               ZhenDongCTR(1);	
		               CT_bRunning = 0;
		               M20 = 1;
                               M10 = 0;
                               M12 = 0;
                               user_datas[100] = 4;
                            }
		            break;
		         case 4:
		            if (dwTickCount >= cDelayTime3) 
                            {
		               Y02 = 0;   //给料关
		               cStepMByte2 = 5;   
		            }
		            break;
		         case 5:
		            if (!X11) 
                            {
		               cStepMByte2 = 6;
		               cDelayTime3 = dwTickCount + 30; //给料到位延时返回
                               if(user_datas[37] == 1)Y10 = 0;
		            }
		            break;
		         case 6:
		            if (X10 && (dwTickCount >= cDelayTime3)) cStepMByte2 = 10;		       
		            break;
	         }
      }
   }
}

//合模动作
void HeMo(void)
{
    switch(cStepMByte4)
    {
        case 0:
                return;
        case 1:
                if(user_datas[24] == 0)Y06 = 1;    ////夹紧
                            //护链选择
                if(!X13 ||(user_datas[23] == 0))    Y04 = 1;    //护链输出 
                
                cDelayTime7 = dwTickCount + (unsigned long)user_datas[13]*10 + 60;        //160ms
                cStepMByte4 = 2;
                if(user_datas[37] == 1)Y10 = 0;
                break;
        case 2:	//护链输出后分带输出
                if(X10 && !X11 && (Y06 || (user_datas[24] == 1)))  
                {
                   //护链磁感     不用护链磁感时用延时
                    if ((((X12 && (user_datas[22] == 1))) || ((user_datas[23] == 1) && (dwTickCount >= cDelayTime7)) ||
                                    //												护链磁感选择
                        (!X13 && (dwTickCount >= cDelayTime7) && (user_datas[22] == 0)))   //要护链　不用磁感

                       && !Y00 && !X05) //分带电磁阀　分带到位
                    {   
                            Y00 = 1;    //分带
                            cDelayTime7 = dwTickCount + (unsigned long)10 * 10;       //160ms
                    }
                    if(X05_UP && Y00) Y01 = 1;    //下模输出
                      //分带到位  分带电磁阀　

                    //有料感应　下模输出
                    if (X06 && Y01)Y03 = 1;	
                }		
    }		
}
//振盘控制
void ZhenDongCTR(unsigned char flag) 
{
   static unsigned long cStopZDTime, cTuiPianTime,cSongLiaoQianTime;
   static unsigned short cStartTimes;
   	if(flag == 1)
   	{
		if(!X14)
		{
			Y11 = 1;
			cStopZDTime = dwTickCount + (unsigned long)1000 * 120;   
		}
   	}
	else
	{
		//振动盘        振动检测    手动给料
	   if(Y11)
	   {
	    	if((X14_UP || ((user_datas[25] == 0) && !X14)) && !M15)  // || (X03_DW))  
		{
		    	cStopZDTime = dwTickCount + (unsigned long)1000 * user_datas[11];
		} 
		else if (M15 || ((X14 || (!CT_bRunning && (user_datas[25] == 1))) && (dwTickCount >= cStopZDTime))) 
                { 
                        M15 = 0;
                        Y11 = 0;
                        cStartTimes = 0;
                }
                else if(X14_DW)
                {
                        cStopZDTime = dwTickCount + (unsigned long)1000 * 40;
                } 
	   }
	   else if ((!Y11) && (((cStartTimes >= user_datas[12]) && (!X14))|| M15)) 
	   {
		  M15 = 0;
                  Y11 = 1;
		  cStopZDTime = dwTickCount + (unsigned long)1000 * 40; 
		  if(X14)cStopZDTime = dwTickCount + (unsigned long)1000 * 4; 	
		  cStartTimes = 0;
	   }
	}
   // 送料前
   if (X11_UP && (dwTickCount >= cSongLiaoQianTime)) 
   {
      cStartTimes++;
      cSongLiaoQianTime = dwTickCount + 100;
   }
   //拉头检测
   if (X14) cStartTimes = 0;
   //推拉片动作（弹簧头）
    if(flag == 0)
    {
            if((user_datas[26] == 0) || M03)
            {
                    if(Y11 && !X04 && (M03 || CT_bRunning)) 
                    {
                        if (dwTickCount >= cTuiPianTime) 
                        {
                                cTuiPianTime = dwTickCount + (unsigned long)10 * user_datas[15];
                                Y05 = ~Y05;
                        }
                    } 
                    else Y05 = 0;
            }
            else if(Y11 && !X04)
                    Y05 = Y02;
    }
}


#endif