GC23005/Machine/LongYiMachine/LYQueduanChuantou.c

#include "global.h"

#if XIN_YE_MACHINE


unsigned long cSlowPusle;

unsigned char  bStartOnceTime,bOnceProcess;

unsigned short cWorkCnt;
unsigned char TryCnt = 0;
unsigned short cTbCnt  = 0;

unsigned char ZhuangLiaoOkFlg = 0;
unsigned char SongLaTouOkFlg  = 0;
unsigned char FirstStartFlg   = 0;
unsigned char cBackFlg        = 0;

static long save_limit_pos;

void QDCT_ManualAction(void);
void QDCT_JiaLianAction(void);
void QDCT_AutoStepAction(void);
void QDCT_TableAction(void);
void QDCT_Motor(void);
void QDCT_CheckStart(void);
void QDCT_SL_Step(void);
void QDCT_XiaQieAction(void);
void QDCT_AlarmProtect(void);
void QDCT_ZLT_Step(void);
void QDCT_TuiLian(void);

void QDCT_ExtiActionX31(void)
{
    if(cSeBiaoEn && !cSeBiaoOk)
    {
        cSeBiaoEn = 0;
        cSeBiaoOk = 1;
        SetRemainLength(X_AXIS,QDCT_SEBIAO_LENGTH,10);
    }
}


//故障报警
void QDCT_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QDCT_ALARM_ADDR,alarm_code);
    QDCT_bAlarmStop = 1;
}

//初始化动作
void QDCT_InitAction(void)
{
    float buff_pulse,buff_dist;
   
    buff_pulse  = QDCT_PARAM_CYCLE_PULSE;
    buff_dist   = QDCT_PARAM_CYCLE_LENGTH;
    XGearRatio  =  buff_pulse/buff_dist; 
    QDCT_SZ_OUT   = QDCT_MOTOR_DISEN;
}

void QDCT_Action(void)
{ 
    QDCT_AlarmProtect();
    QDCT_CheckStart();
    QDCT_TuiLian();
    QDCT_ZLT_Step();
    QDCT_TableAction();
    QDCT_SL_Step();
    QDCT_JiaLianAction();
    QDCT_XiaQieAction();	
    QDCT_Motor();
    QDCT_ManualAction();
    QDCT_AutoStepAction();  
}

void QDCT_AlarmProtect(void)
{ 
    dwXRealPos = GetPos(X_AXIS);

    if(QDCT_PARAM_BACK_ALARM_MODE)    
    {                              //感应后限模式
        if(!bRunning)
        {
            if(QDCT_BACK_LIMIT_IN_UP)
            {
                if(X_DRV && (QDCT_bMotorBack) || (QDCT_MotorStep != 0))        //到后限不能再后退但可以点前进
                {
                    QDCT_bMotorBack = 0;
                    
                    AxisEgmStop(X_AXIS); 
                    QDCT_JD_OUT   = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                }
            }
        }
        else
        {
            if(QDCT_BACK_LIMIT_IN_UP)
            {
                AxisEgmStop(X_AXIS); 
   
                QDCT_JD_OUT = 0;
                QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            }
        }
    }
    else
    {   
        if(QDCT_GO_LIMIT_IN_UP)      //数控后限模式
        {
            save_limit_pos = dwXRealPos;
            SetData32bits(200,save_limit_pos);
        }
        
        if(QDCT_PARAM_MAX_BACK_LENGTH < (dwXRealPos - save_limit_pos)) 
        {
            if(!bRunning)
            {
                if((QDCT_MotorStep == 0) && X_DRV && QDCT_bMotorBack)        //到后限不能再后退但可以点前进
                {
                    QDCT_bMotorBack = 0;
                    AxisDecStop(X_AXIS);   
                    QDCT_JD_OUT   = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                    
                }
            }
            else
            {
                AxisDecStop(X_AXIS);   
                QDCT_JD_OUT = 0;
                QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            }
        } 
        
     }
    
 
     if(bRunning)
     {
         if(!QDCT_NO_ZIPPER_CHECK_IN)QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
     }
}

void QDCT_JiaLianAction(void)
{
    if(QDCT_JZ_IN_UP && QDCT_GO_LIMIT_IN)
    {
        QDCT_YD_OUT    = 0;
        QDCT_TL_OUT    = 0;
    }
    
    if(QDCT_JiaLianStep == 1)
    {
        QDCT_JD_Delay = dwTickCount + QDCT_PARAM_JD_DELAY;
        QDCT_JiaLianStep  = 2;
    }
    else if((QDCT_JiaLianStep == 2) && (dwTickCount >= QDCT_JD_Delay))
    {
        QDCT_JD_OUT        = 1;
        QDCT_JD_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        QDCT_JiaLianStep  = 3;
    }
    else if(QDCT_JiaLianStep == 3)
    {
        if(QDCT_JZ_IN)
        {
            QDCT_JD_Delay = dwTickCount + QDCT_PARAM_KL_DELAY;
            QDCT_TL_OUT    = 0;
            QDCT_YD_OUT    = 0;
            QDCT_JiaLianStep = 4;
        }
        else if(dwTickCount >= QDCT_JD_Delay)
        {
            QDCT_SetAlarmCode(QDCT_JD_ALARM);
        }  
    }
    else if(QDCT_JiaLianStep == 4)
    {      
        if(QDCT_PARAM_KL_TIME)
        {
            QDCT_JiaLianStep = 5;
        }
        else
        {
            QDCT_JiaLianStep = 7;
        }
    }
    else if((QDCT_JiaLianStep == 5) && (dwTickCount >= QDCT_JD_Delay))
    {   
        QDCT_KL_OUT       = 1;
        QDCT_JiaLianStep = 6;
        QDCT_JD_Delay = dwTickCount + QDCT_PARAM_KL_TIME;        
    }
    else if((QDCT_JiaLianStep == 6) && (dwTickCount >= QDCT_JD_Delay))
    {
        QDCT_KL_OUT       = 0;
        QDCT_JiaLianStep = 7;
    }
    else if((QDCT_JiaLianStep == 7))
    {
        QDCT_JiaLianStep = 0;
    }
}


//自动动作
void QDCT_AutoStepAction(void)
{  
    
    if(bRunning)
    {
        if(QDCT_AutoStep == 1)
        {
            QDCT_AutoStep = 2;
            QDCT_ZhenDongStep = 1;
            if(QDCT_ZhuangLiaoStep  == 0)QDCT_ZhuangLiaoStep = 1;
        }
        else if((QDCT_AutoStep == 2) && (dwTickCount >= QDCT_AutoDelay))
        {
            QDCT_AutoStep = 3;
        }
        else if(QDCT_AutoStep == 3)
        {
             if(QDCT_MotorStep  == 0)
            {
                QDCT_MotorStep = 61;
                ZhuangLiaoOkFlg = 0;
                QDCT_AutoStep = 4;
            } 
        }
        else if(QDCT_AutoStep == 4)
        {
            QDCT_AutoStep = 5;
        }
        else if(QDCT_AutoStep == 5)
        {
            if(QDCT_ZhuangLiaoStep  == 0)QDCT_ZhuangLiaoStep = 1;
            QDCT_AutoStep = 6;    
        }
        else if(QDCT_AutoStep == 6)
        {
            if(QDCT_ZhuangLiaoStep == 0)
            {
                QDCT_AutoStep = 7;
            }   
        }
        else if(QDCT_AutoStep == 7)
        {
            QDCT_AutoStep = 8;       				  
        }
        else if(QDCT_AutoStep == 8)
        {   
            QDCT_AutoStep = 9;   
        }
        else if(QDCT_AutoStep == 9)
        {
            if(QDCT_MotorStep  == 0)
            {
                QDCT_AutoStep = 10;
            }        				  
        }
        else if(QDCT_AutoStep == 10)
        {
            QDCT_AutoStep = 11;       				  
        }
        else if(QDCT_AutoStep == 11)
        {
            if((QDCT_MotorStep  == 0) && (QDCT_ZhuangLiaoStep  == 0))  //
            {
                if(QDCT_SEBIAO_MODE)
                    QDCT_MotorStep = 1;
                else
                    QDCT_MotorStep = 30;
                QDCT_AutoStep = 12;
            }       				  
        }
        else if(QDCT_AutoStep == 12)
        {
             if(QDCT_MotorStep  == 0)
            {
                ZhuangLiaoOkFlg = 0;
                if(QDCT_ZhuangLiaoStep  == 0)QDCT_ZhuangLiaoStep = 1;
                QDCT_AutoStep = 13;
            }              
        }
        else if(QDCT_AutoStep == 13)
        {
             QDCT_AutoStep = 14;
        }
        else if(QDCT_AutoStep == 14)
        {
            if(bStartOnceTime)
            {
                bStartOnceTime = 0;
                cBackFlg       = 1;
                QDCT_AutoStep = 0;
                bRunning  = 0;
            }
            else
            {
                if(QDCT_XiaQieStep  == 0)
                {
                    QDCT_XiaQieStep = 1;
                    QDCT_AutoStep = 15;
                }  
            }
        }
        else if(QDCT_AutoStep == 15)
        {
            if(((QDCT_XiaQieStep  == 0) || (QDCT_XiaQieStep  == 6)) && !QDCT_SQ_LIMIT_IN)
            {
                 if(QDCT_MotorStep  == 0)
                {
                    QDCT_MotorStep = 40;
                    QDCT_AutoStep = 16;
                } 
            }  
        }
        else if((QDCT_AutoStep == 16) && (QDCT_MotorStep  == 0))
        {                
            CalProSP(QDCT_SPEED_ADDR);	  //计算生产速度
            AddToTal(QDCT_TOTAL_ADDR);	//生产总量加1并保存
            AddToTal(QDCT_NOWTOTAL_ADDR);	//生产总量加1并保存
            cWorkCnt++;
            dwZipCnt++;
            cTbCnt++;
            if(cTbCnt >= QDCT_PARAM_TABLE_NUM)
            {
                QDCT_TB_OUT = 1;
                cTbCnt      = 0;
                QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME;
            }
            
            if(QDCT_ZHA_STOP_TIME == 0)
            {
                if(GetTotal(QDCT_NOWTOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR))
                {            
                   bStartOnceTime = 0;
                   QDCT_SetAlarmCode(QDCT_TOTAL_ALARM);
                }
                else
                {
                   QDCT_AutoStep = 17;	
                }
            }
            else
            {
                 if(GetTotal(QDCT_NOWTOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR))
                 {
                     ClrcToTal(QDCT_NOWTOTAL_ADDR);
                     QDCT_AutoDelay = dwTickCount + QDCT_ZHA_STOP_TIME;
                     QDCT_AutoStep = 17;  
                 }
                 else
                 {
                     QDCT_AutoDelay = dwTickCount;
                     QDCT_AutoStep = 17;                   
                 }
            }
        }
        else if((QDCT_AutoStep == 17) && (dwTickCount >= QDCT_AutoDelay))   
        {
             {
                 QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY;
                 QDCT_AutoStep = 2;              
             }
             

        }    
    }
}


void QDCT_TuiLian(void)
{
    switch(QDCT_TuiLianStep) 
    {
        case 0:
        break;
        case 1:
            QDCT_TuiLianStep = 2;
        break;
        case 2:      
            if(QDCT_SQ_LIMIT_IN)
              QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);
            else
            {
              if(!QDCT_YD_OUT)QDCT_TLDelay = dwTickCount + QDCT_PARAM_TL_DELAY;
              else
                  QDCT_TLDelay     = dwTickCount;
              QDCT_YD_OUT    = 1;
              QDCT_TuiLianStep = 3;
            }
        break;
        case 3:
            if(dwTickCount >= QDCT_TLDelay)
            {   
                  QDCT_TL_OUT    = 1;
                  QDCT_TLDelay     = dwTickCount;
                  QDCT_TuiLianStep = 4;
            }
        break;
        case 4:
            if(dwTickCount >= QDCT_TLDelay)
            {
                QDCT_TuiLianStep = 0;
            }
        break;
    }
}

//台面电机动作

void QDCT_TableAction(void)
{
    if(QDCT_TB_OUT && (dwTickCount >= QDCT_TableDelay))QDCT_TB_OUT = 0;
}

void QDCT_CheckStart(void)
{
     if(bRunning)
         QDCT_PARAM_RUN_STATE = 1;
     else
         QDCT_PARAM_RUN_STATE = 0;
       //启动    自动启动 单一自动	 			
    if(START_IN_UP || bStart || QDCT_bOnceStart)
    {
        if(QDCT_bOnceStart)
        {
            QDCT_bOnceStart     = 0;
            bStartOnceTime = 1;
            dwZipCnt    = 0;
        }
        bStart     = 0;
        
        if(!QDCT_NO_ZIPPER_CHECK_IN)QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
        else if(QDCT_LTCZ_IN)QDCT_SetAlarmCode(QDCT_LTCZ_ALARM);
        else if(!QDCT_HSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);
        else if(QDCT_HSL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
        else if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
        else if(QDCT_SQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);      
        else if(QDCT_GO_LIMIT_IN && QDCT_JZ_IN && QDCT_HSL_ORIGIN_IN && !QDCT_SL_LIMIT_IN)
        {
            if(!bRunning && (QDCT_AutoStep == 0) && (GetAlarmCode(QDCT_ALARM_ADDR) == 0))
            {
                bRunning   = 1;
                QDCT_AutoStep  = 4;
                cWorkCnt   = 0;    
                TryCnt     = 0;
                SongLaTouOkFlg = 1;
                dwZipCnt    = 0;
                 FirstStartFlg = 0;
                 cBackFlg      = 0;
            }        
        }
        else
        {
            if(!bRunning && (QDCT_AutoStep == 0) && (GetAlarmCode(QDCT_ALARM_ADDR) == 0))
            {
                bRunning   = 1;
                QDCT_AutoStep  = 1;
                cWorkCnt   = 0;    
                TryCnt     = 0;
                SongLaTouOkFlg = 1;
                dwZipCnt    = 0;
                FirstStartFlg = 1;
                cBackFlg      = 0;
            }
        }
    }
    
     if(bStop)
     {
        bStop          = 0;
        if(bRunning)bStartOnceTime = 1;
     }
    //停止
    if(STOP_IN_UP)
    {	
       {
          AxisDecStop(X_AXIS);
          bRunning = 0;
          QDCT_bOnceStart = 0;
          bStop = 0; 		
          bStartOnceTime = 0;   
          QDCT_AutoStep = 0;
          QDCT_ZhuangLiaoStep = 0;
          QDCT_MotorStep    = 0;
          QDCT_JiaLianStep  = 0;
          QDCT_XiaQieStep   = 0;
          QDCT_ZhenDongStep = 0;
          QDCT_SongLiaoStep = 0;
          QDCT_TuiLianStep =0;
          QDCT_CS_OUT = 0;
          QDCT_SQ_OUT = 0;
          QDCT_XM_OUT = 0;
          QDCT_JD_OUT = 0;   
          QDCT_SL_OUT = 0;
          QDCT_JLT_OUT= 0;
          QDCT_HSL_OUT = 0;
          QDCT_KL_OUT = 0;
          QDCT_TL_OUT = 0;
          QDCT_YD_OUT = 0;
          cBackFlg    = 0;
          QDCT_SZ_OUT = QDCT_MOTOR_DISEN;   
          if(GetAlarmCode(QDCT_ALARM_ADDR) != 0)QDCT_SetAlarmCode(QDCT_NO_ALARM);    
          
          if(!X_DRV && (QDCT_GO_DEC_IN) && !bRunning && (QDCT_MotorStep == 0))
          {
             QDCT_MotorStep = 20;       
          } 
          
       }

    }
    
    
    if(QDCT_bAlarmStop)
    {   
        bRunning         = 0;
        QDCT_bOnceStart = 0;
        QDCT_bAlarmStop = 0;
        bStartOnceTime = 0;  
        AxisDecStop(X_AXIS);
        QDCT_AutoStep = 0;
        QDCT_ZhuangLiaoStep = 0;
        QDCT_MotorStep    = 0;
        QDCT_JiaLianStep  = 0;
        QDCT_XiaQieStep   = 0;
        QDCT_ZhenDongStep = 0;
        QDCT_SongLiaoStep = 0;
        QDCT_CS_OUT = 0;
        QDCT_SQ_OUT = 0;
    }
}   

//电机控制动作
void QDCT_Motor(void)	 //
{   
        static long save_buff,length_buff,gou_zhen_buff,back_dec_buff,dandao_buff,back_buff,gouzhen_buff,go_buff,go_length_buff,jz_buff;

        switch(QDCT_MotorStep)
	{
                case 1:
                        QDCT_MotorDelay  =    dwTickCount + QD_PARAM_DELAY_BACK;
                        QDCT_MotorStep   = 2;
                        break;
                case 2:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            back_dec_buff = dwXRealPos;
                            if(dwZipCnt == 0)
                            {
                                 cSeBiaoOk = 0;
                                 cSeBiaoEn = 1;
                                 AxisContinueMove(X_AXIS,20,QDCT_DIR_P);  
                            }
                            else 
                            {
                                 AxisContinueMove(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_DIR_P);  
                            }     
                            QDCT_MotorStep   = 3;
                        }
                        break;
                case 3:
                        if(dwZipCnt != 0)
                        {
                            if(QDCT_PARAM_SET_ZIPPER_LENGTH >= (QDCT_SEBIAO_LENGTH + QDCT_REMAIN_CHECK_LENGTH))
                            {
                                cSeBiaoOk = 0;
                                cSeBiaoEn = 1;                            
                            }
                            else
                            {                      
                               if((dwXRealPos - back_dec_buff) >= (QDCT_PARAM_SET_ZIPPER_LENGTH - QDCT_SEBIAO_LENGTH - QDCT_REMAIN_CHECK_LENGTH))
                               {
                                   cSeBiaoOk = 0;
                                   cSeBiaoEn = 1;                                 
                               }
                            }
                        }
                        if((dwXRealPos - back_dec_buff) > (QDCT_PARAM_SET_ZIPPER_LENGTH - (QDCT_BACK_LOWSPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QDCT_PARAM_JJBACK_SPEED,20,30)))))
                        {                 
                            if(X_DRV)MoveChangSpeed(X_AXIS,20);                       
                        }
                        
                        if(cSeBiaoOk)
                        { 
                            cSeBiaoOk = 0;
                            cSeBiaoEn = 0;
                            QDCT_MotorStep   = 4;
                        }
                          
                        break;
                case 4:
                        if(!X_DRV)
                        {
                            QDCT_MotorStep   = 0;    
                        }
                        break;
                 case 20:
                        {            
                            if(QDCT_SZ_OUT == QDCT_MOTOR_DISEN)
                            {
                                QDCT_SZ_OUT   = QDCT_MOTOR_EN;
                                QDCT_MotorDelay = dwTickCount + 50;
                            } 
                            
                            QDCT_MotorStep   = 21;    
                        }
                        break;
                 case 21:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {            
                            AxisMovePos(X_AXIS,20,-QDCT_PARAM_ON_BACK_LENGTH); 
                            QDCT_MotorStep   = 22;    
                        }
                        break;
                case 22:
                        if(!X_DRV)
                        {
                            QDCT_MotorStep   = 0;    
                        }
                        break;
                case 30:
                        if(QDCT_SZ_OUT == QDCT_MOTOR_DISEN)
                        {
                            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
                            QDCT_MotorDelay = dwTickCount + 50;
                        }
                        QDCT_MotorDelay  =    dwTickCount + QDCT_PARAM_DELAY_BACK;
                        QDCT_MotorStep   = 31;                   
                        break;
                case 31:	                                       
                        if(dwTickCount >= QDCT_MotorDelay)
                        {   
                            gou_zhen_buff = dwXRealPos;
                            save_buff = dwXRealPos;
                            QDCT_MotorDelay  =    dwTickCount + QDCT_PARAM_XM_START_TIME;

                            MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,QDCT_PARAM_SET_ZIPPER_LENGTH),PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_SPEED_LENGTH),PosToPulse(X_AXIS,0),QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_SPEED,1, 5,10);

                            QDCT_MotorStep   = 32;
                        }
			break; 
                case 32:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            back_buff = dwXRealPos;
                            QDCT_MotorStep   = 33;
                        } 
                        break;
		case 33:
                        if((dwXRealPos - back_buff) >= (QDCT_PARAM_PUTIN_LENGTH))
                        {
                           QDCT_JLT_OUT     = 1;
                           QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                           QDCT_MotorStep   = 34;
                        }
                        else if(!X_DRV)
                        {
                           QDCT_JLT_OUT     = 1;
                           QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                           QDCT_MotorStep   = 34;                           
                        }
			break;
                case 34:
                        if(!QDCT_JLT_IN)
                        {
                            QDCT_XM_OUT      = 0;
                            if(QDCT_SongLiaoStep == 0)QDCT_SongLiaoStep = 1;  
                            QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                            QDCT_MotorStep   = 35;
                        }
                        else if(!X_DRV && !QDCT_JLT_IN)
                        {
                            QDCT_XM_OUT      = 0;
                            QDCT_MotorDelay  =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
                            QDCT_MotorStep   = 35;                        
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_JLT_ALARM);
                        break;
                case 35:
                       if(!X_DRV && QDCT_XM_ORIGIN_IN && QDCT_XM_ORIGIN_IN)
                       {
                            if(QDCT_SongLiaoStep == 0)QDCT_SongLiaoStep = 1;
                            QDCT_MotorStep   = 36;
                       }
                       else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
                        break;
		case 36:	
                       if(!X_DRV)
                       {
                            if(QDCT_SongLiaoStep == 0)
                                QDCT_SongLiaoStep = 1;
                            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_FZ_LENGTH,1,1,10,10,0);
                            QDCT_MotorStep   = 37;                          
                       }
			break;
                case 37:       
                      if(!X_DRV)
                      {
                            if(QDCT_SongLiaoStep == 0)QDCT_SongLiaoStep = 1;  
                            QDCT_MotorStep   = 0;
                      }
                        break;
		case 40:
                     //     if(dwTickCount >= QDCT_MotorDelay)
                           {
                                jz_buff = dwXRealPos;
                                
                                if(QDCT_PARAM_SJZ_LENGTH == 0)
                                {
                                    QDCT_JD_OUT = 0;
                                }
                                QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME;                                
                                QDCT_MotorStep   = 41;
                           }
                            break;
                case 41:
                           if(QDCT_JD_OUT && (dwTickCount >= QDCT_MotorDelay))
                           {
                                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,-(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),1,1,10,10,0);
                                QDCT_MotorStep   = 42;
                           }
                           break;
                case 42:	                           // 切断完成后拉电机动作
                            if(((QDCT_PARAM_SJZ_LENGTH) <= (dwXRealPos - jz_buff)))
                            {
                                QDCT_JD_OUT = 0;
                                QDCT_MotorStep   = 43;
                            }
                            else if(!X_DRV)
                            {
                                QDCT_JD_OUT = 0;
                                QDCT_MotorStep   = 43;
                            }
                        break;
                case 43:	                           // 切断完成后拉电机动作
                            if(!X_DRV)
                            {
                                QDCT_MotorStep   = 0;
                                QDCT_MotorDelay  =    dwTickCount;
                            }                      
                        break;   
                case 61: // 前点定位数控模式
                        if(QDCT_JD_OUT || (QDCT_SZ_OUT == QDCT_MOTOR_DISEN))
                        {
                            QDCT_JD_OUT   = 0;    
                            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
                            QDCT_MotorDelay = dwTickCount + 50;
                        }
                        
                            if((QDCT_TuiLianStep == 0) && !QDCT_TL_OUT)QDCT_TuiLianStep = 1;
                            QDCT_MotorStep = 62;
                        break;
                case 62:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(QDCT_GO_LIMIT_IN || QDCT_GO_DEC_IN)
                            {
                                AxisMovePos(X_AXIS,20,-QDCT_PARAM_ON_BACK_LENGTH);                           
                                QDCT_MotorDelay = dwTickCount + 1000;
                            }
                            QDCT_MotorStep = 63;            
                            QDCT_JD_OUT = 0;  
                        }
			break;
		case 63:
                        if(!X_DRV && !QDCT_GO_LIMIT_IN && (dwTickCount >= QDCT_MotorDelay))
                        {
                            go_buff  = dwXRealPos;
                            if(dwZipCnt > 0)
                            {
                                MoveAction_Const_Stop_AccDec(X_AXIS,QDCT_DIR_P,QDCT_PARAM_JJGO_SPEED,1,5,10);
                            }
                            else
                            {
                                MoveAction_Const_Stop_AccDec(X_AXIS,QDCT_DIR_P,QDCT_PARAM_FIRSTSPEED,1,5,10);
                            }
                      
                            QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                            QDCT_MotorStep  = 64;
                        }  
			break;
                case 64:
                        if(dwZipCnt > 0)
                        {
                          if(((go_buff - dwXRealPos) > ((QDCT_PARAM_SET_ZIPPER_LENGTH - QDCT_PARAM_OFFSET_LENGTH) - (QDCT_PARAM_GO_LOWSPEED_LENGTH + PulseToPos(X_AXIS,MV_Cal_Dec_pulse(QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_GO_LOWSPEED,5))) + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH)) || QDCT_GO_DEC_IN_UP)
                          {                   
                              MoveChangSpeed(X_AXIS,QDCT_PARAM_GO_LOWSPEED);
                              QDCT_MotorStep   = 66;
                              QDCT_MotorDelay =    dwTickCount + MOTOR_ALARM_TIME;
                          }
                          else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
                        }
                        else
                        {
                            QDCT_MotorStep  = 66;
                        }
                          break;
		case 65:
                        if(QDCT_GO_LIMIT_IN_UP)
                        {
                            AxisEgmStop(X_AXIS); 
                            QDCT_MotorStep   = 66;                            
                        }
                        else if(dwTickCount >= QDCT_MotorDelay)QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
                        break;
		case 66:
                        if(!X_DRV)
                        {   
                            QDCT_MotorDelay =    dwTickCount;
                            QDCT_MotorStep   = 67;
                        }
			break;   
		case 67:
                        if(dwTickCount >= QDCT_MotorDelay)
                        {
                            if(QDCT_JiaLianStep == 0)
                            {
                                QDCT_JiaLianStep = 1;
                                QDCT_MotorStep   = 68;
                            }
                        }
			break;
                case 68:
                        if(QDCT_JiaLianStep == 0)
                        {
                            QDCT_MotorStep   = 0;
                        }
                        break;
                case 100:
                        if((dwTickCount >= QDCT_MotorDelay) && !X_DRV)
                        {
                            AxisMovePos(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-(QDCT_PARAM_SET_ZIPPER_LENGTH));
                            QDCT_MotorStep   = 101;
                            QDCT_MotorDelay =    dwTickCount + 1000;
                        }
                        break;
                case 101:
                        if((dwTickCount >= QDCT_MotorDelay) && !X_DRV)
                        {
                                QDCT_MotorStep   = 102;
                        }
                        break;
                case 102:
                        AxisMovePos(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH));
                        QDCT_MotorStep   = 100;
                        QDCT_MotorDelay =    dwTickCount + 1000;
                        break;              
	}
}



//切断动作
void QDCT_XiaQieAction(void)	 
{
    user_datas[121] = QDCT_AutoStep;
    user_datas[122] = QDCT_ZhuangLiaoStep;
    user_datas[123] = QDCT_TuiLianStep;
    user_datas[124] = QDCT_MotorStep;
    user_datas[125] = QDCT_JiaLianStep;
//    user_datas[126] = QDCT_XiaQieStep;
//    user_datas[127] = PosToPulse(X_AXIS,QDCT_PARAM_PUTIN_SPEED_LENGTH);


    if(QDCT_XiaQieStep == 1) 
    {
        if(QDCT_GO_LIMIT_IN)
        {
            QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM);
        }
        else if(!QDCT_TL_ORIGIN_IN)
            QDCT_SetAlarmCode(QDCT_TL_ORIGIN_ALARM);
        else
        {
            QDCT_XiaQieStep = 2;       
        }
    }
    else if(QDCT_XiaQieStep == 2) 
    {
       QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUT_DELAY;
       QDCT_XiaQieStep = 3;   
    }
    else if((QDCT_XiaQieStep == 3) && (dwTickCount >= QDCT_XiaQieDelay)) 
    {
        QDCT_SQ_OUT = 1;
        QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;

        QDCT_XiaQieStep = 4;         	
    }	
    else if(QDCT_XiaQieStep == 4) 
    {
       if(QDCT_SQ_LIMIT_IN)
       {     
           QDCT_XiaQieStep = 5;  
           QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_DELAY_CS;
       }
       else if(dwTickCount >= QDCT_XiaQieDelay)
       {
           QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);
       }    
    }
    else if((QDCT_XiaQieStep == 5) && (dwTickCount >= QDCT_XiaQieDelay))
    {
           QDCT_XiaQieStep = 6;  
           if(QDCT_PARAM_CS_ENABLE)QDCT_CS_OUT = 1;
           QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_TIME;    
    }
    else if((QDCT_XiaQieStep == 6) && (dwTickCount >= QDCT_XiaQieDelay))
    {
           QDCT_CS_OUT = 0;
           QDCT_XiaQieStep = 7;  
           QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_COLD_TIME;    
    }
    else if((QDCT_XiaQieStep == 7) && (dwTickCount >= QDCT_XiaQieDelay))
    {
        QDCT_SQ_OUT = 0;
        QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        QDCT_XiaQieStep = 8;             
    }	
    else if(QDCT_XiaQieStep == 8) 
    {
        if(!QDCT_SQ_LIMIT_IN)
        {
            QDCT_XiaQieStep = 0; 
            if(cBackFlg)
            {
                cBackFlg    = 0;
                if(QDCT_MotorStep==0)QDCT_MotorStep = 40;
            }
            QDCT_YD_OUT     = 1;
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
             QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);
        }
    }
}


//装拉头动作
void QDCT_ZLT_Step(void)
{
    if(QDCT_ZhuangLiaoStep == 1)
    {
         if(ZhuangLiaoOkFlg)
         {
              QDCT_ZhuangLiaoStep = 0;
         }
         else
         {
               if(FirstStartFlg && QDCT_JLT_IN)
               {
                   QDCT_ZhuangLiaoStep = 7;
               }
               else
               {
                   FirstStartFlg = 0;
                   if(QDCT_SongLiaoStep == 0)
                   {
                       QDCT_SongLiaoStep = 1;        
                       QDCT_ZhuangLiaoStep = 2; 
                   }
               }
         }
    }
    else if(QDCT_ZhuangLiaoStep == 2)
    {
        if(QDCT_SongLiaoStep == 0)
        {
            QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            if(QDCT_JLT_IN)QDCT_JLT_OUT     = 1;
            QDCT_ZhuangLiaoStep = 3;   
        }
    }
    else if(QDCT_ZhuangLiaoStep == 3)
    {
        if(QDCT_HSL_ORIGIN_IN && QDCT_XM_ORIGIN_IN && !QDCT_JLT_IN  && (QDCT_XiaQieStep == 0))
        {
            QDCT_HSL_OUT = 1;
            QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_ZhuangLiaoStep = 4;   
        }
        else if(dwTickCount >= QDCT_ZhuangLiaoDelay)
        {
            if(!QDCT_HSL_ORIGIN_IN)
                QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);
            else
                QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
        }
    }
    else if(QDCT_ZhuangLiaoStep == 4)
    {
        if(QDCT_HSL_LIMIT_IN)
        {
            QDCT_JLT_OUT = 0; 
            QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_ZhuangLiaoStep = 5;   
        }
        else if(dwTickCount >= QDCT_ZhuangLiaoDelay)
        {
            QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
        }
    }
    else if(QDCT_ZhuangLiaoStep == 5)
    {
        if(QDCT_JLT_IN)
        {
            QDCT_ZhuangLiaoStep = 6;
        }
        else if(dwTickCount >= QDCT_ZhuangLiaoDelay)
        {
            QDCT_SetAlarmCode(QDCT_JLT_ALARM);
        }
    }
    else if(QDCT_ZhuangLiaoStep == 6)
    {
        
        QDCT_HSL_OUT   = 0;
        QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        
        if(!bRunning)
        {
            QDCT_ZhuangLiaoStep = 0;
            SongLaTouOkFlg = 0;
            if(QDCT_SongLiaoStep == 0)QDCT_SongLiaoStep = 1; 
        }
        else
          QDCT_ZhuangLiaoStep = 7;
    }
    else if(QDCT_ZhuangLiaoStep == 7) 
    {
        if(!QDCT_HSL_LIMIT_IN && QDCT_GO_LIMIT_IN)
        {
            QDCT_XM_OUT   = 1;    
            if(FirstStartFlg)
            {
                FirstStartFlg  = 0;
            }
            else
                SongLaTouOkFlg = 0;
            if(QDCT_SongLiaoStep == 0)QDCT_SongLiaoStep = 1;  
            QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_ZhuangLiaoStep = 8;        
        }
        else if(dwTickCount >= QDCT_ZhuangLiaoDelay)
        {
            if(QDCT_HSL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);   
        }          
    }
    else if(QDCT_ZhuangLiaoStep == 8) 
    {
        if(!QDCT_XM_ORIGIN_IN)
        {
            QDCT_ZhuangLiaoStep = 9; 
            QDCT_ZhuangLiaoDelay = dwTickCount + 1000;
                      
        }
        else if(dwTickCount >= QDCT_ZhuangLiaoDelay)
        {
            QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); 
        }
    }
    else if(QDCT_ZhuangLiaoStep == 9) 
    {
        if(QDCT_LTCZ_IN)
        {
            QDCT_ZhuangLiaoStep  = 0; 
            ZhuangLiaoOkFlg = 1;
            TryCnt           = 0;
        }
        else if(dwTickCount >= QDCT_ZhuangLiaoDelay)
        {
            if(bRunning)
            {
                TryCnt++;
                if(TryCnt > 4)
                {
                    QDCT_SetAlarmCode(QDCT_LTCZ_ALARM); 
                    QDCT_JLT_OUT = 1;
                    QDCT_XM_OUT  = 0;                 
                }
                else
                {
                    QDCT_ZhuangLiaoStep = 10; 
                }  
            }
            else
            {
                QDCT_ZhuangLiaoStep  = 0; 
                QDCT_ZhuangLiaoDelay = dwTickCount;
            }
        }
        
    }
    else if(QDCT_ZhuangLiaoStep == 10)     //装拉头失败重复装几次拉头
    {
        QDCT_XM_OUT          = 0;
        QDCT_JLT_OUT         = 0;
        QDCT_ZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
        QDCT_ZhuangLiaoStep = 11; 
    }
    else if(QDCT_ZhuangLiaoStep == 11) 
    {
        if(QDCT_XM_ORIGIN_IN)
        {
            QDCT_ZhuangLiaoStep = 12; 
        }
        else if(dwTickCount >= QDCT_ZhuangLiaoDelay)
        {
            QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
        }     
    }
    else if(QDCT_ZhuangLiaoStep == 12)
    {
        QDCT_ZhuangLiaoStep = 1;
    }
}

void QDCT_SL_Step(void)
{
    if(QDCT_SongLiaoStep == 1)
    {
        if(SongLaTouOkFlg)
        {
            QDCT_SongLiaoStep = 0; 
        }
        else
        {
            QDCT_SL_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_SongLiaoStep = 2;
        }
    }
    else if(QDCT_SongLiaoStep == 2)
    {
        if(QDCT_HSL_ORIGIN_IN && !QDCT_HSL_LIMIT_IN)
        {
            QDCT_SL_OUT       = 1;
            QDCT_SL_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_SongLiaoStep = 3;
        }
        else if(dwTickCount >= QDCT_SL_Delay) 
          QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);          
    }
    else if(QDCT_SongLiaoStep == 3)
    {
        if(QDCT_SL_LIMIT_IN)
        { 
            QDCT_SL_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
            QDCT_SongLiaoStep = 4;
        }
        else if(dwTickCount >= QDCT_SL_Delay) 
          QDCT_SetAlarmCode(QDCT_SL_ALARM);        
       
    }
    else if((QDCT_SongLiaoStep == 4) && (dwTickCount >= QDCT_SL_Delay))
    {
            QDCT_SL_OUT       = 0;
            QDCT_SL_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
            QDCT_SongLiaoStep = 5;
    }
    else if(QDCT_SongLiaoStep == 5)
    {
        if(!QDCT_SL_LIMIT_IN)
        {
            QDCT_SongLiaoStep = 0;
            QDCT_SL_Delay = dwTickCount;
            SongLaTouOkFlg    = 1;
        }
        else if(dwTickCount >= QDCT_SL_Delay) 
          QDCT_SetAlarmCode(QDCT_SL_ALARM);         
    }
}


//手动动作
void QDCT_ManualAction(void)
{ 
    if(bRunning == 0)  
    {   
        if(bClearTotal) //切断计数清零
        {
            bClearTotal       = 0;
            ClrcToTal(QDCT_TOTAL_ADDR);
        }
        
        if(QDCT_bClerNowTotal)
        {
            QDCT_bClerNowTotal = 0;
            cTbCnt             = 0;
            ClrcToTal(QDCT_NOWTOTAL_ADDR);
        }
		
		
        if(QDCT_bQieDuan)
        {
            QDCT_bQieDuan = 0;
            if(QDCT_XiaQieStep == 0)QDCT_XiaQieStep = 1;
        }
        
        if(QDCT_bQianDianDW)
        {
            QDCT_bQianDianDW = 0;
            if((QDCT_MotorStep == 0) && !QDCT_SQ_LIMIT_IN)
            {
                QDCT_MotorStep = 61;
                dwZipCnt      = 0;
            }
            else if(QDCT_SQ_LIMIT_IN)
                QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);  
        }
        
        if(QDCT_bManXM)
        {
            QDCT_bManXM = 0;
            QDCT_XM_OUT = ~QDCT_XM_OUT;
            
            if(QDCT_HSL_OUT == 1)QDCT_XM_OUT = 0;
        }
        
        if(QDCT_bManSQ)
        {
            QDCT_bManSQ = 0;
            QDCT_SQ_OUT = ~QDCT_SQ_OUT;
            if(QDCT_GO_LIMIT_IN) QDCT_SQ_OUT = 0;
        }

        
        if(QDCT_bManJD)
        {
            QDCT_bManJD = 0;
            QDCT_JD_OUT = ~QDCT_JD_OUT;
        }
        
        if(QDCT_bManSL)
        {
           QDCT_bManSL = 0;
           QDCT_SL_OUT = ~QDCT_SL_OUT;
            
           if(!QDCT_HSL_ORIGIN_IN)QDCT_SL_OUT = 0;
        }
        
        if(QDCT_bManHSL)
        {
           QDCT_bManHSL = 0;
           QDCT_HSL_OUT = ~QDCT_HSL_OUT;
           
           if(QDCT_JLT_IN)QDCT_JLT_OUT = 1;
           if(QDCT_XM_OUT || QDCT_SL_LIMIT_IN)QDCT_HSL_OUT = 0;
          
        }
        
        if(QDCT_bManZD)
        {
           QDCT_bManZD = 0;
           QDCT_ZDP_OUT = ~QDCT_ZDP_OUT;
        }
        
        if(QDCT_bManKL)
        {
           QDCT_bManKL = 0;
           QDCT_KL_OUT = ~QDCT_KL_OUT; 
        }
        
        
        if(QDCT_bManJLT)
        {
            QDCT_bManJLT = 0;
            QDCT_JLT_OUT = ~QDCT_JLT_OUT;
        }
        
        if(QDCT_bManYD)
        {
            QDCT_bManYD = 0;
            QDCT_YD_OUT = ~QDCT_YD_OUT;
        }
        
        if(QDCT_bManTL)
        {
            QDCT_bManTL = 0;
            
            if(QDCT_TL_OUT)
            {
                QDCT_TL_OUT = 0;
                QDCT_YD_OUT = 0;
            }
            else
            {
               if(QDCT_TuiLianStep==0)QDCT_TuiLianStep=1;
            }
        }
        if(QDCT_bZhuangLiao)
        {
            QDCT_bZhuangLiao = 0;
            if(QDCT_ZhuangLiaoStep == 0)
            {
                TryCnt              = 0;
                SongLaTouOkFlg      = 1;
                QDCT_ZhuangLiaoStep = 1;
                FirstStartFlg       = 0;
            }
        }
        
        if(QDCT_bSongLT)
        {
            QDCT_bSongLT = 0;
            if(QDCT_SongLiaoStep == 0)
            {
                QDCT_SongLiaoStep = 1;
                SongLaTouOkFlg    = 0;
            }
        }
        
        if(QDCT_bChuanLT)
        {
            QDCT_bChuanLT = 0;
            if(!QDCT_BACK_LIMIT_IN)
            {
                if(QDCT_MotorStep == 0)QDCT_MotorStep = 30;
            }
        }
        
        if(QDCT_bManSZ)
        {
            QDCT_bManSZ = 0;
            QDCT_SZ_OUT = ~QDCT_SZ_OUT;
        }
//电机控制        
        if(QDCT_bMotorGo && !QDCT_GO_LIMIT_IN && !QDCT_SQ_LIMIT_IN)
        {           
            QDCT_JD_OUT   = 0;
            QDCT_SZ_OUT   = QDCT_MOTOR_EN;
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QDCT_DIR_P, 5,5,10,10);
        }
        else if(QDCT_bMotorGo && QDCT_SQ_LIMIT_IN)
            QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);      
        
        if(QDCT_bMotorBack && !QDCT_BACK_LIMIT_IN)
        {
            QDCT_JD_OUT   = 0;
            QDCT_SZ_OUT   = QDCT_MOTOR_EN; 
            if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, QDCT_DIR_N, 5,5,10,10);    
        }
        
        if(!QDCT_bMotorGo && !QDCT_bMotorBack && (QDCT_MotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QDCT_GO_LIMIT_IN && (QDCT_MotorStep == 0) && !QDCT_bMotorBack &&(QDCT_AutoStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }       
    }    
    if(QDCT_PARAM_ZD_ENABLE)QDCT_ZDP_OUT = 1;
    else QDCT_ZDP_OUT = 0;
        
}

#endif