GC23005/Machine/JinHongMachine/JHJinShuDinCun.c

#include "global.h"

#if JIN_HONG_MACHINE

void JSDC_CheckStart(void);
void JSDC_Motor(void);
void JSDC_XiaChong(void);
void JSDC_FenZhen(void);
void JSDC_ChuiQi(void);
void JSDC_SD(void);
void JSDC_ManualAction(void);
void JSDC_AutoAction(void);
unsigned char JSDC_CheckPos(void);

unsigned long JSDC_cZipperLength[2];
unsigned char JSDC_cCheckLengthOk=0;
unsigned char JSDC_STOP_IN_FLAG,JSDC_STOP_IN_FLAG_OLD,JSDC_STOP_FILTER;
unsigned char JSDC_SingOneFlag = 0,JSDC_FirstFlg = 0;
unsigned char JSDC_cAlarmStopFlg = 0;
long JSDC_dwEncPos = 0;
long JSDC_SaveLength = 0;
unsigned short JSDC_cRFengTimer,JSDC_cLFengTimer;
//故障报警
void JSDC_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(JSDC_ALARM_ADDR,alarm_code);
    JSDC_bAlarmStop = 1;
    JSDC_cAlarmStopFlg  = 1;
}

//高速输入X20外部色标信号中断
void JSDC_ExtiActionX20(void)
{

}

void JSDC_InitAction(void)
{
    float length_buff,pulse_buff;
    
    CalFreqTab_X_Free(25);
    length_buff = JSDC_PARAM_DAILUN_LENGTH;
    pulse_buff  = JSDC_PARAM_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff;
    
    length_buff = JSDC_BM_LENGTH;
    pulse_buff  = 1000;
    BMGearRatio  = pulse_buff/length_buff;
    
    JSDC_SZ_OUT = JSDC_SERVER_DISEN;				 
    
    JSDC_STOP_IN_FLAG = STOP_IN;
    JSDC_STOP_IN_FLAG_OLD = JSDC_STOP_IN_FLAG;
    JSDC_SaveLength = 0;
}

void JSDC_Action(void)
{
    JSDC_CheckStart();  //启动
    JSDC_FenZhen();     //左分针
    JSDC_XiaChong();   //下冲
    JSDC_ChuiQi();
    JSDC_SD();
    JSDC_Motor();			//拖带控制
    JSDC_ManualAction();
    JSDC_AutoAction();	
}

void JSDC_ManualAction(void)
{
      long i;
      short *len_buff;
      //清总产量
      if(JSDC_bClear)         //清总产量
      {
          JSDC_bClear = 0;
          ClrcToTal(JSDC_TOTAL_ADDR);
          JSDC_bSaveWorkData = 1;
      }

      //当长度改变时，生产总量自动清零
      if(JSDC_bChangeLength)
      {
          JSDC_bChangeLength = 0;
          JSDC_SaveLength = 0;
          JSDC_bClear = 1;
      }
      //加10
      if(JSDC_bAddLength)
      {
          JSDC_bAddLength = 0;
          i = JSDC_SET_ALL_LENGTH;
          i += 10;
          SetData32bits(20,i);
          SetData32bits(22,CalInch(JSDC_SET_ALL_LENGTH));
      }
      //减10
      if(JSDC_bDecLength)
      {
          JSDC_bDecLength = 0;
          i = JSDC_SET_ALL_LENGTH;
          i -= 10;
          SetData32bits(20,i);
          SetData32bits(22,CalInch(JSDC_SET_ALL_LENGTH));	
      }
      //工作方式选择(数控定寸和勾针定寸)　
      if(JSDC_bSetDCMode)
      {
          JSDC_bSetDCMode = 0;
          JSDC_SaveLength = 0;
          if(JSDC_DC_MODE != 0)	
          {
              JSDC_GouZhen_VAVLE = 1;	
              JSDC_cGouZhenTime  = 300;
          }
          
          if(JSDC_DC_MODE == JSDC_DC_SF_MODE)
          {
              MV_Set_Command_Pos_CPU(X_AXIS,0);
          }
      }

      if(JSDC_bSetLength)
      {
          JSDC_bSetLength = 0;
          SetData32bits(18,CalInch(JSDC_SET_ZIPPER_LENGTH));        
          JSDC_PARAM_KONG_WEI_LENGTH_INCH = CalInch(JSDC_PARAM_KONG_WEI_LENGTH);
          SetData32bits(20,JSDC_SET_ZIPPER_LENGTH+JSDC_PARAM_KONG_WEI_LENGTH);
          SetData32bits(22,CalInch(JSDC_SET_ZIPPER_LENGTH+JSDC_PARAM_KONG_WEI_LENGTH));
          JSDC_SaveLength = 0;
      }
    
      if((JSDC_bRunning) == 0) ////手动 
      {        
          if(JSDC_bXiaChong || JSDC_Man_XiaChong_IN_UP)   
          {
              JSDC_bXiaChong = 0;
              JSDC_SaveLength = 0;
              if(JSDC_cXiaChongStep == 0)JSDC_cXiaChongStep = 1;
          }
          
          if(JSDC_bLeftFenZhen)
          {
              JSDC_bLeftFenZhen      = 0;
              
              if(JSDC_cXiaChongStep == 0) JSDC_LeftFenZhen_VAVLE = ~JSDC_LeftFenZhen_VAVLE;
             
          }
          
          if(JSDC_bChuiQi)
          {
              JSDC_bChuiQi = 0;
              if(JSDC_cChuiQiStep == 0)JSDC_cChuiQiStep = 1;
          }
          
          if(JSDC_bYD)
          {
              JSDC_bYD = 0;
              JSDC_YD_VAVLE = ~JSDC_YD_VAVLE;
          }
          if(JSDC_bRightFenZhen)
          {
              JSDC_bRightFenZhen      = 0;
              
              if(JSDC_cXiaChongStep == 0) JSDC_RightFenZhen_VAVLE = ~JSDC_RightFenZhen_VAVLE;
             
          }
          
          if(JSDC_bLeftSongDai)
          {
              JSDC_bLeftSongDai = 0;
              JSDC_Left_SD   = ~JSDC_Left_SD;
          }
                    //点动下冲
          if((JSDC_bDotXiaChong))
          {
              JSDC_bDotXiaChong = 0;
              if(JSDC_cXiaChongStep == 0)JSDC_cXiaChongStep = 20;
          }
          if(JSDC_bGouZhen)
          {
              JSDC_bGouZhen = 0;
              JSDC_cGouZhenTime  = dwTickCount + 300;
              JSDC_GouZhen_VAVLE = ~JSDC_GouZhen_VAVLE;			
          }
            
          if(JSDC_DC_MODE != JSDC_DC_GZ_MODE)   
          {      
              JSDC_GouZhen_VAVLE = 1;
          }
          else
          {
              if(dwTickCount >= JSDC_cGouZhenTime) JSDC_GouZhen_VAVLE = 0;
          }
          
        if(JSDC_bTestMotor)
        {
            if(!X_DRV && JSDC_CheckPos())
            {
                MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P, 10,1,5,5);  
                if(JSDC_cSDStep == 0)JSDC_cSDStep = 1;
            }
        }
        else 
        {
            if(X_DRV)
            {
                AxisDecStop(X_AXIS);  
                JSDC_cSDStep = 0;
            }
        }
      }
}

void JSDC_AutoAction(void)
{
    if(JSDC_bRunning)
    {   
        switch(JSDC_cAutoStep)
        {
            case 0:
                    break;
            case 1:
                    if(dwTickCount >= JSDC_cAutoDelay)
                    {

                         JSDC_cAutoStep = 2;
                    }
                    break;
            case 2:
                    //左右分针要退到位，过链到位要离开
                    if(dwTickCount >= JSDC_cAutoDelay)
                    {
                        JSDC_cAutoStep = 3;
                        switch(JSDC_DC_MODE)
                        {
                            case JSDC_DC_SF_MODE:JSDC_cMotorStep = 20; break;        //伺服
                            case JSDC_DC_BMQ_MODE:JSDC_cMotorStep = 60; break;        //编码器
                            default:JSDC_cMotorStep = 1;   //启动拖带 ;//勾针
                        }
                        
                    }     			
                    break;
            case 3:
                    //拖带已经完成
                    if(JSDC_cMotorStep == 0)
                    {
                        {
                            JSDC_cAutoStep = 4;
                        }
                    }
                    break;	
            case 4:
                        JSDC_cAutoStep = 5;
                    break;
            case 5:
                    if(JSDC_cXiaChongStep == 0)
                    {
                        JSDC_cXiaChongStep = 1;   //下冲电机启动
                        JSDC_cAutoStep = 6;	
                    }
                    break;
            case 6:  //下冲已完成
                    if(JSDC_cXiaChongStep == 0)
                    {
                        if(JSDC_DC_MODE == JSDC_DC_BMQ_MODE)
                        {
                            JSDC_SaveLength += JSDC_PARAM_DAOKOU_LENGTH;         
                            if(JSDC_SaveLength >= JSDC_PARAM_KONG_WEI_LENGTH)
                            {
                                dwZipCnt++;
                                JSDC_SaveLength  = 0;
                                AddToTal(JSDC_TOTAL_ADDR);	 //计数增加和保存
                                CalProSP(JSDC_PROSPEED_ADDR);
                                JSDC_cAutoStep = 7;                            
                            }   
                            else
                            {
                                if((JSDC_PARAM_KONG_WEI_LENGTH - JSDC_SaveLength) >= JSDC_PARAM_DAOKOU_LENGTH)
                                {
                                    JSDC_cAutoStep = 2; 
                                }
                                else
                                {
                                    JSDC_SaveLength = JSDC_PARAM_KONG_WEI_LENGTH - JSDC_PARAM_DAOKOU_LENGTH;
                                    JSDC_cAutoStep = 2; 
                                }
                            }                        
                        }
                        else
                        {
                              dwZipCnt++;
                              JSDC_SaveLength  = 0;
                              AddToTal(JSDC_TOTAL_ADDR);	 //计数增加和保存
                              CalProSP(JSDC_PROSPEED_ADDR);
                              JSDC_cAutoStep = 7;                            
                        }
                    }
                    break;		
            case 7:  
                        if(!JSDC_GouZhen_IN)
                        {
                            if(GetTotal(JSDC_TOTAL_ADDR) >= JSDC_SET_TOTAL)JSDC_SetAlarmCode(JSDC_TOTAL_ALARM);                      
                            JSDC_cAutoStep = 8;
                        }
                    break;	
            case 8:
                        JSDC_cAutoDelay = dwTickCount + JSDC_PARAM_MOTOR_DELAY;    
                        JSDC_cAutoStep = 1;	
                        if(JSDC_SingOneFlag)
                        {
                            dwZipCnt   = 0;
                            JSDC_SingOneFlag = 0;
                            JSDC_cAutoStep = 0;
                            JSDC_bRunning = 0;
                        }
                        
                    break;		                     
        }		         
    }
}

void JSDC_SD(void)
{

}

// 检测是否踏了脚踏开关
void JSDC_CheckStart(void)
{
    //  停止键        不能在工作,手动,停止过程中                                
    if((JSDC_bRunning == 0) && (START_IN_UP || JSDC_bStart || JSDC_bNext))
    {
        if(GetTotal(JSDC_TOTAL_ADDR) >= JSDC_SET_TOTAL)JSDC_SetAlarmCode(JSDC_TOTAL_ALARM);
        else if((JSDC_PARAM_SEBIAO_DW_LENGTH > JSDC_SET_ZIPPER_LENGTH) && (JSDC_DC_MODE==2))JSDC_SetAlarmCode(JSDC_SEBIAO_ZIPPER_LENGTH_ALARM);
        else if(JSDC_KaDai_IN)JSDC_SetAlarmCode(JSDC_KA_DAI_ALARM);
        else
    	{
            if(JSDC_bNext)
            {
               JSDC_SingOneFlag = 1;   
               JSDC_bNext  = 0;
            }
            JSDC_bRunning = 1;
            JSDC_cAutoStep = 1;	 
            if(JSDC_cSDStep == 0)JSDC_cSDStep = 1;
            JSDC_cGouZhenTime = 1;   
            JSDC_cCheckLengthOk = 0;
            JSDC_cZipperLength[0] = 0;			
            JSDC_cZipperLength[1] = 0;
            dwZipCnt = 0;
            JSDC_cAutoDelay = dwTickCount;
            JSDC_cMotorDelay = dwTickCount;
            JSDC_cXiaChongDelay = dwTickCount;
            if(GetAlarmCode(JSDC_ALARM_ADDR) != 0)SetAlarmCode(JSDC_ALARM_ADDR,0);
    	}
    	JSDC_bStart = 0;
    }

	//卡带感应
    if(JSDC_KaDai_IN)
        JSDC_SetAlarmCode(JSDC_KA_DAI_ALARM);      
    else
    {        
        if(GetAlarmCode(JSDC_ALARM_ADDR) == JSDC_KA_DAI_ALARM)SetAlarmCode(JSDC_ALARM_ADDR,0);
    }
  
    if(JSDC_KaDai_IN_UP)
    {
        if(JSDC_cChuiQiStep == 0)JSDC_cChuiQiStep = 1;
    }		
 //停止
   JSDC_STOP_IN_FLAG_OLD = JSDC_STOP_IN_FLAG;
    
   if(STOP_IN)
   {
       if(JSDC_STOP_FILTER < 50)
       {
           JSDC_STOP_FILTER++;
       }
       else
           JSDC_STOP_IN_FLAG = 1;
   }
   else if(JSDC_STOP_FILTER > 25)
   {
       JSDC_STOP_FILTER--;
   }
   else
       JSDC_STOP_IN_FLAG = 0;
   
    if(JSDC_bStop)
    {
        JSDC_bStop = 0;
        if(JSDC_bRunning)JSDC_SingOneFlag = 1;
    }
    
    
   
    if(((JSDC_STOP_IN_FLAG && !JSDC_STOP_IN_FLAG_OLD)))
    { 
        JSDC_bStop = 0;
        if(JSDC_bRunning)
        {
           if(JSDC_cXiaChongStep==0)
           {
              if(JSDC_cChuiQiStep == 0)JSDC_cChuiQiStep = 1;
              
             // if(!JSDC_XiaChong_MOTOR)JSDC_XC_SongZhou = JSDC_SERVER_DISEN;           
           }
           
            JSDC_bRunning = 0;  
            JSDC_cAutoStep = 0;
            JSDC_cMotorStep = 0;
            JSDC_cSDStep    = 0;
            JSDC_cSDStep = 0;
            JSDC_SD_MOTOR          = 0;
            AxisEgmStop(X_AXIS);   
            JSDC_cJiaoDaoStep = 0;
            JSDC_SingOneFlag    = 0;
        }
        else
        {
            JSDC_bRunning = 0;                  
            JSDC_cAutoStep = 0;
            JSDC_cMotorStep = 0;
            JSDC_cXiaChongStep = 0;
            JSDC_cLeftFenZhenStep = 0;
            JSDC_cRightFenZhenStep = 0;
            JSDC_cJiaoDaoStep = 0;
            JSDC_cSDStep = 0;
            JSDC_SD_MOTOR          = 0;
            JSDC_LeftFenZhen_VAVLE = 0;
            JSDC_RightFenZhen_VAVLE = 0;
            JSDC_XiaChong_MOTOR = 0;
            JSDC_YD_VAVLE    = 0;
            JSDC_Left_SD     = 0;
            JSDC_SingOneFlag = 0;
           
           if((JSDC_cChuiQiStep == 0) &&(JSDC_cXiaChongStep==0))JSDC_cChuiQiStep = 1;      
           AxisEgmStop(X_AXIS);   
           SetAlarmCode(JSDC_ALARM_ADDR,JSDC_NO_ALARM);
        }
    }
    
    if(JSDC_bAlarmStop)
    {
        JSDC_bAlarmStop = 0;
        JSDC_bRunning = 0;
        JSDC_cAutoStep = 0;
        JSDC_cMotorStep = 0;
        JSDC_cLeftFenZhenStep = 0;
        JSDC_cRightFenZhenStep = 0;
        JSDC_LeftFenZhen_VAVLE = 0;
        JSDC_RightFenZhen_VAVLE = 0;
        JSDC_SingOneFlag        = 0;
        JSDC_cSDStep = 0;
        JSDC_SD_MOTOR          = 0;
        AxisEgmStop(X_AXIS);       
    }
}   


void JSDC_ChuiQi(void)
{	
      //吹气
    if(JSDC_XiaChong_IN_UP)
    {
        if(JSDC_cChuiQiStep == 0)JSDC_cChuiQiStep = 1;
    }
    
    switch(JSDC_cChuiQiStep)
    {
        case 1:
            JSDC_cChuiQiStep = 2;
            if(JSDC_bRunning)JSDC_cChuiQiDelay = dwTickCount+JSDC_PARAM_DELAY_CHUIQI_TIME;            
        break;
        case 2:
            if(dwTickCount >= JSDC_cChuiQiDelay)
            {
                JSDC_cChuiQiDelay = dwTickCount + JSDC_PARAM_CHUIQI_TIME;	
                JSDC_ChuiQi_VAVLE = 1;//
                JSDC_cChuiQiStep = 3;                
            }
        break;
        case 3:
            if(dwTickCount >= JSDC_cChuiQiDelay)
            {
                JSDC_ChuiQi_VAVLE = 0;//
                JSDC_cChuiQiStep = 0;
            }
        break;
    }
}

unsigned char JSDC_ComPareLength(void)
{
    if((JSDC_cZipperLength[0] != 0) && (JSDC_cZipperLength[1] != 0))
    {
		if(JSDC_cZipperLength[0] > JSDC_cZipperLength[1])
		{
		    if((JSDC_cZipperLength[0] - JSDC_cZipperLength[1]) > 200)
			{
			    return 0;
			}
			else 
			    return 1;
		}
		else
	    {
		    if((JSDC_cZipperLength[1] - JSDC_cZipperLength[0]) > 200)
			{
			    return 0;	
			}
			else
			    return 1;
		}
	}
	else 
	    return 0;
}

unsigned char JSDC_CheckPos(void)
{
      unsigned long zipper_length;
      short *revise_buff;
      if(JSDC_DC_MODE == JSDC_DC_GZ_MODE)
      {
          if(JSDC_GouZhen_IN)
              return 0;
          else
              return 1;
      }
      else
      {
          revise_buff = &user_datas[17];
          zipper_length =  JSDC_SET_ZIPPER_LENGTH + (*revise_buff) + JSDC_PARAM_DAOKOU_LENGTH;
          if(JSDC_dwEncPos >= zipper_length)return 0;
          else
             return 1;
      }
}

void  JSDC_Motor(void)
{
        static long save_buff,gou_zhen_buff,zipper_length_buff;
	static unsigned long zipper_length;
        short *revise_buff;
    DISPLAY_DATA0 = JSDC_cAutoStep;
    DISPLAY_DATA1 = JSDC_cMotorStep;
    DISPLAY_DATA2 = JSDC_cLeftFenZhenStep;
    DISPLAY_DATA3 = JSDC_cRightFenZhenStep;
    DISPLAY_DATA4 = JSDC_cXiaChongStep;
    DISPLAY_DATA5 = dwRealPos;
    DISPLAY_DATA6 = JSDC_dwEncPos;
//    DISPLAY_DATA7 = user_datas[100];
        dwRealPos = GetPos(X_AXIS);
        JSDC_dwEncPos  = GetEncodePos();
        
        if(JSDC_DC_MODE == JSDC_DC_BMQ_MODE)
            SetData32bits(JSDC_NOW_POS_ADDR,JSDC_dwEncPos);
        else
            SetData32bits(JSDC_NOW_POS_ADDR,dwRealPos);
        
        if(!JSDC_bRunning)
        {
            if(JSDC_CheckPos() == 0)AxisEgmStop(X_AXIS);  
        }
        
	switch(JSDC_cMotorStep)
	{
		case 0:
                break;
                case 1:
                    if(JSDC_SZ_OUT == JSDC_SERVER_DISEN)
                    {
                        JSDC_SZ_OUT = JSDC_SERVER_EN;
                        JSDC_cMotorDelay = dwTickCount + 50;   //先锁轴              
                    }
                    JSDC_cMotorStep = 2;
                break;
		case 2://勾针模式
                if(dwTickCount >= JSDC_cMotorDelay)                 
                {
                     save_buff  = dwRealPos;       
                     if(JSDC_cCheckLengthOk)
                     {
                         MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_SET_SPEED,1,5,1);                            
                     }
                     else
                     {
                          if(JSDC_cCheckLengthOk == 0)
                          {
                              JSDC_cZipperLength[0] = JSDC_cZipperLength[1];			
                              JSDC_cZipperLength[1] = dwRealPos - zipper_length_buff;
                              zipper_length_buff = dwRealPos;
                              if(JSDC_ComPareLength())
                              {
                                  JSDC_cCheckLengthOk = 1;
                              }
                          }

                         if(JSDC_cCheckLengthOk)zipper_length =  JSDC_cZipperLength[1];
                         MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_FIRST_SPEED,1,5,1);                                
                     }
                     JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;  
                     JSDC_cGouZhenTime = dwTickCount + 300;
                     JSDC_cMotorStep = 3;
                }	
                break;	
		case 3:
                        if(((dwTickCount >= JSDC_cGouZhenTime)&&(JSDC_PARAM_GZ_RESET_MODE==0)) || (JSDC_cCheckLengthOk == 0))JSDC_GouZhen_VAVLE = 0;

                        if(JSDC_cCheckLengthOk)
                        {
                            if(((dwRealPos - save_buff) >= (zipper_length - JSDC_PARAM_GZ_LENGTH))&&JSDC_PARAM_GZ_RESET_MODE)JSDC_GouZhen_VAVLE = 0;
                            
                            if((dwRealPos - save_buff) >= (zipper_length - JSDC_PARAM_LOWSPEED_LENGTH))
                            {    
                                AxisChangeSpeed(X_AXIS,JSDC_PARAM_LOW_SPEED);
                                JSDC_cMotorStep = 4; 
                            }    
                        }
                        else
                        {
                             if(JSDC_GouZhen_IN)
                            {
                                JSDC_GouZhen_VAVLE = 0;
                                JSDC_cMotorStep = 5;
                                AxisEgmStop(X_AXIS);     
                            }  
                            else
                            {
                                if(dwTickCount >= JSDC_cGouZhenTime)JSDC_GouZhen_VAVLE = 0;
                                 JSDC_cMotorStep = 4; 
                            }                                    	
                        }
     
                        if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;	
		case 4:    
                        if(((dwTickCount >= JSDC_cGouZhenTime)&&(JSDC_PARAM_GZ_RESET_MODE==0)) || (JSDC_cCheckLengthOk == 0))JSDC_GouZhen_VAVLE = 0;

                        if(((dwRealPos - save_buff) >= (zipper_length - JSDC_PARAM_GZ_LENGTH))&&JSDC_PARAM_GZ_RESET_MODE &&JSDC_cCheckLengthOk)JSDC_GouZhen_VAVLE = 0;
                        
                        if(JSDC_GouZhen_IN)
                        {
                            JSDC_GouZhen_VAVLE = 0;
                            JSDC_cMotorStep = 5;
                            AxisEgmStop(X_AXIS);     
                        }   
                        
                        if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;
		case 5:	
                        if(((dwTickCount >= JSDC_cGouZhenTime)&&(JSDC_PARAM_GZ_RESET_MODE==0)) || (JSDC_cCheckLengthOk == 0))JSDC_GouZhen_VAVLE = 0;
                        if(!X_DRV)
                        {
                            JSDC_cMotorStep = 0;     
                            JSDC_cMotorDelay = dwTickCount;
                        }
                        else if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;		
                case 20:
                        if(JSDC_SZ_OUT == JSDC_SERVER_DISEN)
                        {
                            JSDC_SZ_OUT = JSDC_SERVER_EN;
                            JSDC_cMotorDelay = dwTickCount + 50;   //先锁轴   
                        }
                        JSDC_cMotorStep = 21;
                        break;
                case 21: 
                        if(dwTickCount >= JSDC_cMotorDelay)   //电机定寸模式
                        {                                                    
                            if(JSDC_cAlarmStopFlg)
                            {
                                zipper_length = JSDC_SET_ALL_LENGTH - JSDC_PARAM_KONG_WEI_LENGTH + JSDC_PARAM_DAOKOU_LENGTH;
                                JSDC_cAlarmStopFlg = 0;
                            }
                            else
                            {  
                                zipper_length = JSDC_SET_ALL_LENGTH - JSDC_PARAM_KONG_WEI_LENGTH + JSDC_PARAM_DAOKOU_LENGTH;
                                if((0 - dwRealPos) > zipper_length)
                                    zipper_length = JSDC_SET_ALL_LENGTH - JSDC_PARAM_KONG_WEI_LENGTH + JSDC_PARAM_DAOKOU_LENGTH;
                                else
                                    zipper_length = JSDC_SET_ALL_LENGTH - JSDC_PARAM_KONG_WEI_LENGTH + JSDC_PARAM_DAOKOU_LENGTH - (0 - dwRealPos);
                            }

                            AxisMovePosAccDec(X_AXIS,JSDC_PARAM_SET_SPEED,zipper_length,1,5,1);
                            JSDC_GouZhen_VAVLE = 1;			 //定位(活动勾针)电磁阀
                            JSDC_cMotorStep = 22;
                            JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;   
                        }
                break;
 		case 22:
                        if(!X_DRV)
                        {
                            MV_Set_Command_Pos_CPU(X_AXIS,0);
                            JSDC_cMotorStep = 0;
                            JSDC_cMotorDelay = dwTickCount;
                        }
                        else if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);                
                        break;
                case 60:
                    if(JSDC_SZ_OUT == JSDC_SERVER_DISEN)
                    {
                        JSDC_SZ_OUT = JSDC_SERVER_EN;
                        JSDC_cMotorDelay = dwTickCount + 50;   //先锁轴  
                    }
                    JSDC_cMotorStep = 61;
                break;
		case 61:
                if(dwTickCount >= JSDC_cMotorDelay)                 
                {
                     save_buff  = JSDC_dwEncPos;                          
                     zipper_length =  JSDC_SET_ALL_LENGTH - JSDC_PARAM_KONG_WEI_LENGTH + JSDC_PARAM_DAOKOU_LENGTH + JSDC_SaveLength;      
                     MoveAction_Const_AccDec(X_AXIS,JSDC_DIR_P,JSDC_PARAM_SET_SPEED,JSDC_PARAM_START_SPEED,JSDC_PARAM_ACC,JSDC_PARAM_DEC);                              
                     JSDC_cMotorDelay = dwTickCount + JSDC_PARAM_MOTOR_ALARM_TIME;   
                     JSDC_cMotorStep = 62;
                }	
                break;	
		case 62:                                   
                        if((JSDC_dwEncPos) >= (zipper_length - JSDC_PARAM_LOWSPEED_LENGTH))
                        {    
                            AxisChangeSpeed(X_AXIS,JSDC_PARAM_LOW_SPEED);
                            JSDC_cMotorStep = 63; 
                        }                            
                        else if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;	
		case 63:   
                        if((JSDC_dwEncPos) >= zipper_length)
                        {
                            JSDC_cMotorStep = 64;
                            AxisEgmStop(X_AXIS);     
                        }                         
                        else if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;
		case 64:	
                        if(!X_DRV)
                        {
                            JSDC_cMotorStep = 0;    
                            JSDC_cMotorDelay = dwTickCount;
                        }
                        else if(dwTickCount >= JSDC_cMotorDelay)JSDC_SetAlarmCode(JSDC_LONG_TIME_NO_ZIPPER_ALARM);
                        break;		
	}
}
//下冲
void  JSDC_XiaChong(void)
{     
    switch(JSDC_cXiaChongStep)
    { 
    case 0:
            return;
            break;
    case 1:
            JSDC_XC_ShaChe   = JSDC_SC_DISEN;
            JSDC_cRightFenZhenStep  = 1;
            JSDC_cXiaChongStep = 2;
            break;
    case 2:
           if((JSDC_cLeftFenZhenStep==0) && (JSDC_cRightFenZhenStep == 0))
           {
                JSDC_cXiaChongStep = 3;
                if(JSDC_bRunning)JSDC_cXiaChongDelay = dwTickCount + JSDC_PARAM_DELAY_XC;
           }
            break;
    case 3:
            if(dwTickCount >= JSDC_cXiaChongDelay)
            {
                    
                    JSDC_cXiaChongStep = 4;	
                    JSDC_XiaChong_MOTOR = 1;  //下冲电机                      
                    JSDC_cXiaChongDelay = dwTickCount + (unsigned long)JSDC_ERRORTIME;   //下冲最长时间   	

                    if(JSDC_XiaChongMotorMode == 1)
                    {
                            AxisMoveTwoPos(Y_AXIS,JSDC_XiaChongSpeed,2000,JSDC_XiaChongLowSpeed,9999999,0);
                    }	
             }
    break;
    case 4:  //碰到右大微动,延时停
            if(JSDC_XiaChong_IN_UP)
            {
                  JSDC_cXiaChongDelay = dwTickCount + JSDC_PARAM_XC_DELAY;
                  JSDC_cSDDelay       = dwTickCount + JSDC_DELAY_LSD_BACK;
                  JSDC_cXiaChongStep = 5;
                  JSDC_LeftFenZhen_VAVLE = 0;  	//退左分针	
                  JSDC_RightFenZhen_VAVLE = 0;
                  JSDC_YD_VAVLE          = 0;
                  SetEncodePos(0);
                  if(JSDC_bRunning)
                  {
                      JSDC_GouZhen_VAVLE = 1;
                      JSDC_cGouZhenTime  = dwTickCount + 300;
                  }
            }
            else if(dwTickCount >= JSDC_cXiaChongDelay) //自动停机
            {	
                  JSDC_cXiaChongStep = 0;
                  JSDC_XiaChong_MOTOR = 0;// 	//下冲电机
                  JSDC_SetAlarmCode(JSDC_XC_ALARM);
            }
            
            break;
    case 5:	
            if(dwTickCount >= JSDC_cSDDelay)JSDC_Left_SD = 0;
            if(dwTickCount >= JSDC_cXiaChongDelay)	
            {                  
                    AxisEgmStop(Y_AXIS);
                    JSDC_XiaChong_MOTOR = 0;      //延时刹车
                    if(JSDC_PARAM_SC_MODE)
                    {
                        JSDC_cXiaChongStep = 0;
                    }
                    else
                    {
                        JSDC_cXiaChongStep = 6;
                    }			
            }
            break;
    case 6:	
            {
                    if(dwTickCount >= JSDC_cSDDelay)JSDC_Left_SD = 0;
                    JSDC_cXiaChongStep = 7;
                    JSDC_cXiaChongDelay = dwTickCount + JSDC_PARAM_SC_DELAY;		
            }
            break;
    case 7:
            if(dwTickCount >= JSDC_cSDDelay)JSDC_Left_SD = 0;
            if((dwTickCount >= JSDC_cXiaChongDelay))
            {
                    JSDC_cXiaChongStep = 8;
                    JSDC_cXiaChongDelay = dwTickCount+ 150;
 //                   JSDC_XC_SongZhou = JSDC_SERVER_DISEN;  
                    JSDC_XC_ShaChe   = JSDC_SC_EN;
            }	
            break;
    case 8:   
            if((dwTickCount >= JSDC_cXiaChongDelay) && (dwTickCount >= JSDC_cSDDelay))
            {
                    JSDC_Left_SD = 0;
                    JSDC_cXiaChongStep = 0;
                    if(!JSDC_bRunning)MV_Set_Command_Pos_CPU(X_AXIS,0);
 //                   JSDC_XC_SongZhou = JSDC_SERVER_DISEN;  
                    JSDC_XC_ShaChe   = JSDC_SC_DISEN;
            }	
            break;
    case 20:                      // 点动普通下冲动作
  //              JSDC_XC_SongZhou = JSDC_SERVER_EN;
                JSDC_XC_ShaChe   = JSDC_SC_DISEN;
                JSDC_cXiaChongDelay = dwTickCount + 50;	
                JSDC_cXiaChongStep = 21;
            break;
    case 21:   
               if((dwTickCount >= JSDC_cXiaChongDelay))
               {
                    JSDC_XiaChong_MOTOR = 1;
                    JSDC_cXiaChongDelay = dwTickCount + 50;	
                    JSDC_cXiaChongStep = 22;
               }
            break;
    case 22:   
               if((dwTickCount >= JSDC_cXiaChongDelay))
               {
                    JSDC_XiaChong_MOTOR = 0;
              //      JSDC_XC_SongZhou    = JSDC_SERVER_EN;
                    
                    if(JSDC_XiaChongMotorMode)
                        JSDC_cXiaChongStep = 0;
                    else
                    {
                        JSDC_XC_ShaChe   = JSDC_SC_EN;
                        JSDC_cXiaChongDelay = dwTickCount + 150;	
                        JSDC_cXiaChongStep = 23;
                    }
               }
            break;
    case 23:   
               if((dwTickCount >= JSDC_cXiaChongDelay))
               {
                    //JSDC_XC_SongZhou    = JSDC_SERVER_DISEN;   
                    JSDC_XC_ShaChe   = JSDC_SC_DISEN;
                    JSDC_cXiaChongStep  = 0;
               }
            break;
    case 40:                      // 点动电机下冲动作
                //JSDC_XC_SongZhou = JSDC_SERVER_EN;
                JSDC_cXiaChongDelay = dwTickCount + 50;	
                JSDC_cXiaChongStep = 41;
            break;
    case 41:   
                if(!Y_DRV)AxisMovePos(Y_AXIS,20,10);
                JSDC_cXiaChongStep = 42;
            break;
    case 42:   
           if(!Y_DRV)
           { 
                JSDC_cXiaChongStep = 0;
           }
            break;
    }
}

 //分针
void  JSDC_FenZhen(void)
{	
        if(JSDC_FZ_SELECT)
        {
        
        }
        else
        {
            JSDC_cRightFenZhenStep = 0;
            JSDC_cLeftFenZhenStep = 0;
        }
	//右分针
	switch(JSDC_cRightFenZhenStep)
	{ 
            case 0:
                    break;
            case 1:
                        JSDC_cFenZhenRightDelay = JSDC_PARAM_R_FZ_DELAY+dwTickCount;
                        JSDC_cRightFenZhenStep  = 2;
                    break;
            case 2:
                    if(dwTickCount >= JSDC_cFenZhenRightDelay)
                    {
                        JSDC_cRightFenZhenStep = 3;
                        JSDC_RightFenZhen_VAVLE = 1;//右分针电磁阀
                        JSDC_cFenZhenRightDelay = dwTickCount + JSDC_FenZhengErrorTime;      	
                    }	
            break;
            case 3:  //碰到右大微动,延时停
                        JSDC_cFenZhenRightDelay = dwTickCount + JSDC_FenZhengErrorTime;
                        JSDC_cRightFenZhenStep = 4;
                    break;
            case 4:	
                    if(JSDC_RightFenZhen_IN)  //插针到位
                    {
                        JSDC_cRightFenZhenStep = 0;
                        JSDC_YD_VAVLE          = 1;
                        JSDC_cLeftFenZhenStep = 1;   //左分针延时启动
                    }
                    else if(dwTickCount >= JSDC_cFenZhenRightDelay)
                    {
                        JSDC_SetAlarmCode(JSDC_RFZ_LIMIT_ALARM);		
                    }
                    break;
	}
	//左分针
	switch(JSDC_cLeftFenZhenStep)
	{ 
		case 0:
			break;
                case 1:
                        JSDC_cFenZhenLeftDelay = JSDC_PARAM_L_FZ_DELAY+dwTickCount;
                        JSDC_cLeftFenZhenStep = 2;
                        break;
		case 2:
			if(dwTickCount >= JSDC_cFenZhenLeftDelay)
			{
                            JSDC_cLeftFenZhenStep = 3;
                            JSDC_LeftFenZhen_VAVLE = 1; //左分针电磁阀
                            JSDC_cFenZhenLeftDelay = dwTickCount + JSDC_FenZhengErrorTime;      	
 			}	
        	break;
		case 3:  //离开左分针原点
			{
                            JSDC_cFenZhenLeftDelay = dwTickCount + JSDC_FenZhengErrorTime;
                            JSDC_cLeftFenZhenStep = 4;
			}
			break;
		case 4:	
			if(JSDC_LeftFenZhen_IN)  //插针到位
                        {
				JSDC_cLeftFenZhenStep = 0;
                                JSDC_Left_SD          = 1;
                        }
			else if(dwTickCount >= JSDC_cFenZhenLeftDelay)
			{				
                                  JSDC_SetAlarmCode(JSDC_LFZ_LIMIT_ALARM);	
			}
			break;
	}
}



#endif