GC23005/Machine/JinHongMachine/JHQueduanChuantou.c

#include "global.h"

#if JIN_HONG_MACHINE==1

unsigned short cTaiMiamMotor;
unsigned long cSlowPusle;

unsigned char  bDecEn,cXiaMo_En,cHemo_OK,cQTltOK,cHTltOk,cQHsltOK,cHHsltOK,cSL_En;
unsigned char  bStartOnceTime,bOnceProcess,cBackLimitCheck_EN;
unsigned short cWorkCnt;

unsigned char QTryCnt = 0, HTryCnt = 0;
unsigned short cZhaCnt = 0;
unsigned char QZhuangLiaoOkFlg = 0,HZhuangLiaoOkFlg = 0;
unsigned char QTuiLaTouOkFlg  = 0,HTuiLaTouOkFlg = 0;
unsigned char ManFlg;
unsigned char cStopFlg = 0, cResetOrigin_Flag= 0,cCheck_Go_In_Flag;
unsigned char cFirstQStartFlg = 0,cFirstHStartFlg = 0;
unsigned char cCountFlg      = 0,cQDCT_TuiLianOKFlag = 0;
short *qdct_length_buff;
long save_limit_pos, cDinWeiPos;
unsigned char cTuiLianStep,cChuan_LianCheckOK = 0,cChuan_Lian_ErrorNum,cSongLaTouEn = 0,cCheckDinWei;

unsigned char KaDaiFlag = 0;
long KaDaiSaveLen,KaDaiSaveLenY;
unsigned char LengthType;
unsigned long CutRemainLength;
long temppos;

void QDCT_ManualAction(void);
void QDCT_JiaLianAction(void);
void QDCT_AutoStepAction(void);
void QDCT_QZhenDongAction(void);
void QDCT_HZhenDongAction(void);
void QDCT_TableAction(void);
void QDCT_Motor(void);
void QDCT_CheckStart(void);
void QDCT_QTuiLT_Step(void);
void QDCT_HTuiLT_Step(void);
void QDCT_XiaQieAction(void);
void QDCT_AlarmProtect(void);
void QDCT_QZLT_Step(void);
void QDCT_HZLT_Step(void);
void QDCT_TuiLian(void);
void QDCT_TuiLianAction(void);

void QDCT_HeMo_Step(void);//装拉头完成合模动作
void QDCT_TestMotor(void);

void QDCT_ExtiActionX31(void)
{
    
    
}

void QDCT_SeBiaoAction(void)
{
    if(QDCT_SEBIAO_IN_DW)
    {
        if(cSeBiaoEn && !cSeBiaoOk)
        {
            cSeBiaoEn = 0;
            cSeBiaoOk = 1;
            if(QDCT_XM_OUT)
            {
                AxisChangeSpeedDirect(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED);
            }
            //user_datas[126] = dwXRealPos;
            cDinWeiPos = dwXRealPos;  
        }
    }
}

//故障报警
void QDCT_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(QDCT_ALARM_ADDR,alarm_code);
    if(alarm_code != QDCT_KD_ALARM)
        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;
    
    buff_pulse  = QDCT_PARAM_YLCYCLE_PULSE;
    buff_dist   = QDCT_PARAM_YLCYCLE_LENGTH;
    YGearRatio  =  buff_pulse/buff_dist;
    
    //QDCT_SZ_OUT = QDCT_MOTOR_DISEN;
    SetEnReverse(X_AXIS, 0);
    SetEn(X_AXIS, QDCT_MOTOR_DISEN);
    SetEn(Y_AXIS, QDCT_MOTOR_DISEN);
    QDCT_QZDPStep= 1;  
    QDCT_HZDPStep= 1;  
    QDCT_TLPStep  = 1;
    cWorkCnt = 0;
    cZhaCnt = 0;
    dwZipCnt = 0;
    cBackLimitCheck_EN = 1;
    if(QDCT_PARAM_MAX_BACK_LENGTH < 13000) QDCT_PARAM_MAX_BACK_LENGTH = 25000;
    SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);
    SetDirReverse(X_AXIS, 0);
    
    //设置加减速模式
    //axis_set_parameter(axis_x, AXIS_ACCDEC_MODE,QDCT_SEBIAO_LOW_SPEED);
}

void QDCT_Action(void)
{
    //设置加减速模式
    //axis_set_parameter(axis_x, AXIS_ACCDEC_MODE,QDCT_SEBIAO_LOW_SPEED);
    //InputPinConfig();
    QDCT_SeBiaoAction();
    QDCT_TuiLian();
    QDCT_AlarmProtect();
    QDCT_QZhenDongAction();
    QDCT_HZhenDongAction();
    QDCT_CheckStart();
    QDCT_QZLT_Step();
    QDCT_HZLT_Step();
    QDCT_TableAction();
    QDCT_QTuiLT_Step();
    QDCT_HTuiLT_Step();
    QDCT_JiaLianAction();
    QDCT_XiaQieAction();	
    QDCT_Motor();
    QDCT_ManualAction();
    QDCT_AutoStepAction();  
    QDCT_HeMo_Step();
    QDCT_TestMotor();
    //OutputPinConfig();
}
unsigned char cTestMotorStep;
unsigned long cTesttime;
void QDCT_TestMotor(void)
{
    switch(cTestMotorStep)
    {
        //1到10步为回到原点
    case 1:
        //QDCT_SZ_OUT   = QDCT_MOTOR_EN;      //锁轴
        SetEn(X_AXIS, QDCT_MOTOR_EN);
        QDCT_TestMotorDelay = dwTickCount + 50;
        cTestMotorStep = 2;
        break;
    case 2:
        if(dwTickCount >= QDCT_TestMotorDelay)//锁轴时间到
        {
            AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED, QDCT_DIR_N,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,10,10);
            cTestMotorStep= 3;
        }  
        break;
    case 3:    //回到原点     
        if(QDCT_GO_LIMIT_IN)        //最前点感应
        {
            AxisEgmStop(X_AXIS);
            QDCT_TestMotorDelay = dwTickCount + 50;
            cTestMotorStep= 4;
            SetPos(X_AXIS, 0);               
        }  
        break;
    case 4:            
        if(!X_DRV)
        {
            QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
            cTestMotorStep= 5;            
        }
        break;
    case 5:   
        if(dwTickCount >= QDCT_TestMotorDelay)
        {  
            if(1)//QDCT_bTest)
            {
                QDCT_bTest = 0;
                cTestMotorStep= 6;  
                
                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH,
                                  QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                  QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,100);
                //  AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short acc_pulse,unsigned short dec_pulse)
                //    AxisMovePoint(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-QDCT_PARAM_SET_ZIPPER_LENGTH);
                cTesttime = dwTickCount;
            }
        }
        break;
    case 6:    
        if(!X_DRV)
        {
            QDCT_TestMotorDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
            cTestMotorStep= 7; 
        }
        break;
    case 7:    
        if(dwTickCount >= QDCT_TestMotorDelay)
        { 
            if(1)//QDCT_bTest)
            {
                QDCT_bTest = 0;
                cTestMotorStep= 8; 
                //              MoveAction_Pulse2_AccDec(X_AXIS,PosToPulse(X_AXIS,-(QDCT_PARAM_SET_ZIPPER_LENGTH)),PosToPulse(X_AXIS,-QDCT_PARAM_SET_ZIPPER_LENGTH/2),PosToPulse(X_AXIS,-QDCT_PARAM_SET_ZIPPER_LENGTH/2),5,5,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                //   AxisMove(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(QDCT_PARAM_SET_ZIPPER_LENGTH-600),QDCT_PARAM_JJGO_SPEED/2,-600,QDCT_DIR
                //                  AxisMovePos(X_AXIS,QDCT_PARAM_JJGO_SPEED,QDCT_PARAM_SET_ZIPPER_LENGTH);
                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,-QDCT_PARAM_SET_ZIPPER_LENGTH,
                                  QDCT_PARAM_START_SPEED,QDCT_PARAM_GO_LOWSPEED,
                                  QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,500);
                //  AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short acc_pulse,unsigned short dec_pulse)
                // AxisMovePoint(X_AXIS,QDCT_PARAM_JJGO_SPEED,0);
                cTesttime = dwTickCount;
            }  
        }
        break;   
    case 8:
        if(!X_DRV)
        {
            //                if(dwXRealPos <= (QDCT_PARAM_SET_ZIPPER_LENGTH/2))
            //                {
            //                     MoveChangSpeed(X_AXIS,5);
            cTestMotorStep= 4;     
            //                }  
        }
        break;
    }      
}
//
void QDCT_TuiLian(void)
{
    
    if(cQDCT_TuiLianOKFlag && (QDCT_YD_OUT && QDCT_SL_OUT))
    {  
        QDCT_TuiLianStep = 0;
        return;
    }    
    switch(QDCT_TuiLianStep) 
    {
    case 0:
        break;
    case 1:
        QDCT_TuiLianStep = 2;
        QDCT_YD_OUT = 1;
        break;
    case 2:   
        QDCT_TLDelay     = dwTickCount+QDCT_PARAM_DELAY_SL;
        QDCT_TuiLianStep = 3;
        break;
    case 3:
        if(dwTickCount >= QDCT_TLDelay)
        {   
            if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 1;
            QDCT_TLDelay     = dwTickCount;
            QDCT_TuiLianStep = 4;
            cQDCT_TuiLianOKFlag = 1;
        }
        break;
    case 4:
        if(dwTickCount >= QDCT_TLDelay)
        {
            QDCT_TuiLianStep = 0;
        }
        break;
    }
}

//前振动
void QDCT_QZhenDongAction(void)
{
    switch(QDCT_QZDPStep)
    {  
    case 1:
        if((dwTickCount >= QDCT_QZhenDongDelay))
        {
            if(!QDCT_PARAM_QLT_ON && bRunning)
            {
                QDCT_QZDP_OUT = 0;
                QDCT_QZDPStep = 0;
            }
            else
            {
                if(!QDCT_QZDP_IN)
                {
                    QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK;
                    QDCT_QZDPStep = 2;
                }
                else
                {
                    QDCT_QZDP_OUT = 0;
                }
            }
        }
        break;
    case 2:    
        if((dwTickCount >= QDCT_QZhenDongDelay))
        {
            QDCT_QZDP_OUT = 1;
            if(QDCT_QZDP_IN)
            {
                QDCT_QZDPStep = 3;
                QDCT_QZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;
                
            }
        }
        break;
    case 3:    
        if((QDCT_QZDPStep == 3) && (dwTickCount >= QDCT_QZhenDongDelay))
        {
            if(QDCT_QZDP_IN)
            {
                QDCT_QZDPStep = 1;           
                QDCT_QZDP_OUT = 0;
            }
            else
            { 
                QDCT_QZDPStep = 2;           
            }
        }
        break;
    }       
    //打拉片,两个共用一个盘
    if((QDCT_TLPStep == 1)  && (dwTickCount >= QDCT_TLPDelay))
    {
        if((QDCT_QZDP_OUT | QDCT_HZDP_OUT) && QDCT_PARAM_TLP_ENABLE)
        {
            QDCT_TLPStep = 2;
            QDCT_TLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME;
            QDCT_TLP_OUT  = 1;
        }
    }
    else if((QDCT_TLPStep == 2) && (dwTickCount >= QDCT_TLPDelay))
    {
        QDCT_TLPStep = 1;
        QDCT_TLPDelay = dwTickCount + QDCT_PARAM_TLP_TIME;
        QDCT_TLP_OUT  = 0;       
    }
    
    if(QDCT_QZDP_OUT || QDCT_HZDP_OUT)
    {
        QDCT_ZDPCQ_OUT = 1;
    }
    else
    {
        QDCT_ZDPCQ_OUT = 0;
    }
}
//后振动盘
void QDCT_HZhenDongAction(void)
{
    switch(QDCT_HZDPStep)
    {  
    case 1:
        if((dwTickCount >= QDCT_HZhenDongDelay))
        {
            //后拉头使能
            if(!QDCT_PARAM_HLT_ON && bRunning)
            {
                QDCT_HZDP_OUT = 0;
                QDCT_HZDPStep = 0;
            }
            else
            {
                if(!QDCT_HZDP_IN)
                {
                    QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_DELAY_WORK;
                    QDCT_HZDPStep = 2;
                }
                else
                {
                    QDCT_HZDP_OUT = 0;
                }
            }
        }
        break;
    case 2:    
        if((dwTickCount >= QDCT_HZhenDongDelay))
        {
            QDCT_HZDP_OUT = 1;
            if(QDCT_HZDP_IN)
            {
                QDCT_HZDPStep = 3;
                QDCT_HZhenDongDelay = dwTickCount + QDCT_PARAM_ZD_WORK_TIME;    
            }
        }
        break;
    case 3:    
        if((dwTickCount >= QDCT_HZhenDongDelay))
        {
            if(QDCT_HZDP_IN)
            {
                QDCT_HZDPStep = 1;
                QDCT_HZDP_OUT = 0;
            }
            else
            {
                QDCT_HZDPStep = 2;
            }       
        }
        break;
    }
}
void QDCT_AlarmProtect(void)
{ 
    static unsigned short ka_dai_cnt;
    dwXRealPos = GetPos(X_AXIS);
    dwYRealPos = GetPos(Y_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);
                    user_datas[128] = 1;
                }
            }
        }
        else
        {
            if(QDCT_BACK_LIMIT_IN)
            {
                if((dwTickCount >= QDCT_MotorBackLimitDelay) && cBackLimitCheck_EN && X_DRV)
                {
                    AxisEgmStop(X_AXIS); 
                    
                    QDCT_JD_OUT = 0;
                    QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
                }
            }
            else
            {
                QDCT_MotorBackLimitDelay = dwTickCount + 30;
            }  
        }
    }
    else  //软件限位
    {   
        
    }
    
    if(QDCT_KA_DAI_IN)
    {
        if(ka_dai_cnt < 110)ka_dai_cnt++;
    }
    else
    {
        ka_dai_cnt = 0;
        //     if(GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_KD_ALARM)QDCT_SetAlarmCode(QDCT_NO_ALARM); 
    }
    if(ka_dai_cnt > 100)      
    {
        QDCT_YD_OUT = 0;
        if(bRunning)
        {
            QDCT_SetAlarmCode(QDCT_KD_ALARM);
            if(KaDaiFlag==0)
            {
                KaDaiSaveLen = dwXRealPos;
                KaDaiSaveLenY = dwYRealPos;
                KaDaiFlag = 1;
            }
        }
    }  
    
}

void QDCT_JiaLianAction(void)
{
    switch(QDCT_JiaLianStep)
    {  
    case 1:   
        QDCT_JD_Delay = dwTickCount + QDCT_PARAM_JD_DELAY;
        QDCT_JiaLianStep  = 2;
        break;
    case 2:
        if(dwTickCount >= QDCT_JD_Delay)
        {
            QDCT_JD_OUT        = 1;
            QDCT_JD_Delay = dwTickCount + QDCT_PARAM_DELAY_KL;
            QDCT_JiaLianStep  = 3;
        }
        break;
    case 3:    
        if((dwTickCount >= QDCT_JD_Delay))
        {
            if(!QDCT_PARAM_QLT_ON && !QDCT_PARAM_HLT_ON)
            {
                QDCT_JD_Delay = dwTickCount;
                QDCT_YD_OUT = 0;
                QDCT_JiaLianStep  = 4;
            }
            else
            {
                    QDCT_CQ_OUT = 1;
                    //QDCT_KL_OUT = 1; 
                    QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
                    QDCT_JD_Delay = dwTickCount;                    
                    QDCT_JiaLianStep  = 4;                              
            }  
        }
        break;
    case 4:        
        if(dwTickCount >= QDCT_JD_Delay)
        {
            //QDCT_KL_OUT = 0;        
            QDCT_JiaLianStep  = 0;
        }
        break;
    }
}

unsigned char QDCT_CheckLength(void)
{
    //无限长度
    if(QDCT_LONG_LENGTH_USE)
    {
        if(QDCT_PARAM_SET_ZIPPER_LENGTH > QDCT_PARAM_TRANS_LENGTH)
            return 1;
        else 
            return 0;
    }
    else
        return 0;
}


//自动动作
void QDCT_AutoStepAction(void)
{  
    static unsigned char jz_over; 
    
    if(bRunning)
    {     
        switch(QDCT_AutoStep)
        {  
        case 1:
            jz_over = 0;
            QTryCnt = 0;
            cChuan_Lian_ErrorNum = 0;
            QDCT_AutoStep = 2;
            if(QDCT_QZDPStep == 0 && !QZDPAutoDisable)
                QDCT_QZDPStep = 1;
            if(QDCT_HZDPStep == 0 && !HZDPAutoDisable)
                QDCT_HZDPStep = 1;
            QDCT_AutoDelay = dwTickCount + 5;
            if(!QZhuangLiaoOkFlg)
                QDCT_QZhuangLiaoStep = 1;//前装料
            if(!HZhuangLiaoOkFlg)
                QDCT_HZhuangLiaoStep = 1;//后装料     
            cSL_En = 2;    //第一条可不受限制横送料
            
            break;
        case 2:
            if((QDCT_MotorStep  == 0))
            {       
                cSL_En = 2;    //第一条可不受限制横送料
                if(dwTickCount >= QDCT_AutoDelay)
                {  
                    QDCT_AutoStep = 3;    
                    SetAlarmCode(QDCT_ALARM_ADDR,0);
                } 
                user_datas[122]=0;
            }
            break;
        case 3:            
            if(QDCT_MotorStep  == 0)
            {
                QDCT_MotorStep = 61;    //前进定位好后自动夹链和开链
                
                QDCT_AutoStep = 4;
                cBackLimitCheck_EN = 0;
            }
            break;
        case 4:
            //考虑第一条电机在前点要退出来，第二条后也不可能在前点,不能合模
            if(!QDCT_GO_LIMIT_IN || QDCT_JD_OUT)   
                QDCT_AutoStep = 9;
            break;
        case 5:  
            QDCT_AutoStep = 9; 
            break;
        case 6:
            QDCT_AutoStep = 7;
            break;
        case 7:
            QDCT_AutoStep = 8;  
            break;
        case 9:   
            if(((QDCT_GO_LIMIT_IN || dwZipCnt) && !QDCT_PARAM_HM_MODE)
                || ((QDCT_MotorStep == 68 || QDCT_MotorStep == 0) && QDCT_PARAM_HM_MODE))  //第一条要到前限位才能合模
            {
                if((cCheckDinWei == 0) && (QDCT_PARAM_QLT_ON || QDCT_PARAM_HLT_ON))
                {
                    QDCT_HeMoStep = 1;
                    QDCT_HeMoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                }
                QTryCnt = 0;
                QDCT_AutoStep = 10;
            }                
            break;
        case 10:
            if((QDCT_MotorStep  == 0) && (QDCT_HeMoStep == 0))   //前定位完成,QDCT_GO_LIMIT_IN也肯定有信号
            {
                cXiaMo_En = 0;
                QDCT_AutoStep = 11;
                cCheck_Go_In_Flag = 1;                    
            } 
            break;
            
        case 11:      
            if((QDCT_MotorStep  == 0))  //开始后拉穿入
            {              
                cBackLimitCheck_EN = 1;
                if(QDCT_SEBIAO_MODE)    //色标模式
                {
                    QDCT_MotorStep = 1;
                }
                else
                {
                    QDCT_MotorStep = 30;//穿入启动   
                }
                cSL_En = 0;    //不受限制横送料
                cChuan_LianCheckOK = 0;
                QDCT_AutoStep = 12;
            } 
            break;
            
        case 12:       
            
            if(((QDCT_MotorStep  == 0) || (QDCT_MotorStep  == 40)) && !X_DRV)
            {   
                QDCT_AutoStep = 13;
                
            }                
            break;
            
        case 13:
            
            if(QDCT_CheckLength())    //判断长度转换压轮电机拖带
            {
                QDCT_AutoStep = 50;
            }
            else
            {
                if(LengthType==0)
                    QDCT_AutoStep = 14;
                else
                    QDCT_AutoStep = 15;
            }
            break;
        case 14:                
            if((QDCT_XiaQieStep  == 0))
            {
                QDCT_XiaQieStep = 1;
                cSL_En = 0;    //下切时只横送不能锁紧拉头
                QDCT_AutoStep = 15;                        
            }  
            break;               
        case 15://拖带完成
            if(!X_DRV && !Y_DRV)
            {
                if(((QDCT_XiaQieStep  == 0) || (QDCT_XiaQieStep  == 7)) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
                {
                    if(QDCT_MotorStep  == 0)
                    {                           
                        if(jz_over)//无限长方式由压轮带出拉链
                        {
                            jz_over = 0;
                            QDCT_MotorStepY = 160;
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_YL_SL_DELAY;
                        }
                        else
                            QDCT_MotorStep = 80;
                        QDCT_AutoStep = 16;
                    } 
                }  
            }
            break;
            /**/
        case 16:    
            if((QDCT_MotorStep  == 0) && (QDCT_CheckLength()==0 || QDCT_MotorStepY==0 || QDCT_MotorStepY==162 || QDCT_MotorStepY==163))
            {     
                cXiaMo_En= 1;
                cSL_En = 2;    //横送料打开
                if(bStartOnceTime)
                {
                    bStartOnceTime = 0;
                    SingOneFlg = 1;
                }
                if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || (!QDCT_PARAM_QLT_ON && !QDCT_PARAM_HLT_ON) || cChuan_LianCheckOK)
                {  
                    CalProSP(QDCT_SPEED_ADDR);	  //计算生产速度
                    if(cCheckDinWei == 0)
                    {  
                        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++;
                        cZhaCnt++;                            
                        
                        QDCT_PARAM_TB_CNT1++;
                        QDCT_PARAM_TB_CNT2++;
                        cChuan_Lian_ErrorNum = 0;
                        if(GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_CLOK_ALARM)
                            SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM); 
                    }
                    else
                    {
                        SingOneFlg = 1;
                    }
                    cCheckDinWei = 0;
                    if(dwZipCnt < 3)
                        dwZipCnt++;
                }
                else
                {
                    cChuan_Lian_ErrorNum++;
                    
                    if(cChuan_Lian_ErrorNum >= 1)
                    {
                        SetAlarmCode(QDCT_ALARM_ADDR,QDCT_CLOK_ALARM);
                        if(cChuan_Lian_ErrorNum >= 2)
                            SingOneFlg = 1;
                    }  
                }    
                if(QDCT_PARAM_TB_CNT1 >= QDCT_PARAM_TABLE_NUM)
                {
                    QDCT_TB_OUT = 1;
                    QDCT_PARAM_TB_CNT1      = 0;
                    //QDCT_PARAM_TB_CNT2     = 0;
                    QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME;
                }            
                if((GetTotal(QDCT_TOTAL_ADDR) >= GetTotal(QDCT_SETTOTAL_ADDR)) && (GetTotal(QDCT_SETTOTAL_ADDR) != 0))
                {            
                    SetAlarmCode(QDCT_ALARM_ADDR,QDCT_TOTAL_ALARM);
                    SingOneFlg = 1;
                    QDCT_AutoStep = 17;	
                }
                else
                {   
                    QDCT_AutoStep = 17;	
                }                    
            }
            break;              
        case 17:
            if(GetTotal(QDCT_NOWTOTAL_ADDR) >= QDCT_ZHA_NO) //扎数到
            {
                
                //扎数到了，台面输出
                QDCT_TB_OUT = 1;
                QDCT_PARAM_TB_CNT1      = 0;
                QDCT_TableDelay = dwTickCount + QDCT_PARAM_TABLE_TIME2;                     
                
                ClrcToTal(QDCT_NOWTOTAL_ADDR);
                
                QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY;
                if(( QDCT_ZHA_STOP_TIME > 0)) //扎数不能为0
                { 
                    if(QDCT_ZHA_NO > 0)
                    {
                        QDCT_AutoDelay = dwTickCount + QDCT_ZHA_STOP_TIME;
                        dwZipCnt = 0;
                        SetAlarmCode(QDCT_ALARM_ADDR,QDCT_ZHA_ALARM);
                    }      
                }  
                else
                {
                    SetAlarmCode(QDCT_ALARM_ADDR,QDCT_ZHA_ALARM);
                    SingOneFlg = 1; 
                } 
                if(SingOneFlg)
                {
                    SingOneFlg = 0;
                    QDCT_AutoStep = 0; 
                    bRunning = 0;
                    //QDCT_HHSL_OUT   = 0;
                }
                else
                    QDCT_AutoStep = 2;                       
            }
            else
            {                  
                QDCT_AutoDelay = dwTickCount + QDCT_PARAM_CYCLE_DELAY;
                //单条停止
                if(SingOneFlg)
                {
                    SingOneFlg = 0;
                    QDCT_AutoStep = 0; 
                    bRunning = 0;
                    //QDCT_HHSL_OUT   = 0;
                }
                else
                    QDCT_AutoStep = 2;                   
            }      
            break; 
        case 50: 
            if(GetEn(Y_AXIS) == QDCT_MOTOR_DISEN)
            {
                SetEn(Y_AXIS, QDCT_MOTOR_EN);
            }
            if(QDCT_SYL_OUT && !QDCT_SYL_ORIGIN_IN)
            {
                QDCT_AutoDelay = dwTickCount + 1;
                QDCT_AutoStep = 52;  
            }
            else
            {
                QDCT_SYL_OUT = 1;  
                QDCT_AutoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_AutoStep = 51; 
            }
            break;
        case 51:       
            if(!QDCT_SYL_ORIGIN_IN)
            {
                QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_DELAY;
                QDCT_AutoStep = 52;  
            }
            else if(dwTickCount >= QDCT_AutoDelay)
                QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM);
            break;
        case 52:
            if(dwTickCount >= QDCT_AutoDelay)
            {
              QDCT_YL_OUT = 1;
              QDCT_AutoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
              QDCT_AutoStep = 53; 
            }
            break;
        case 53:
            if(QDCT_YL_LIMIT_IN)
            {
                QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_DELAY;
                QDCT_AutoStep = 54;  
            }
            else if(dwTickCount >= QDCT_AutoDelay)
                QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
            break;
        case 54:   
            if((dwTickCount >= QDCT_AutoDelay) && (QDCT_MotorStep == 0))   
            {
                //QDCT_YL_DIR = QDCT_YL_DIR_N;
                jz_over = 1;
                QDCT_MotorStep = 150;   //走松夹子
                if(!Y_DRV)//压轮电机动作
                    AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH-QDCT_PARAM_TRANS_LENGTH),
                                      QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_YL_SPEED/400,QDCT_PARAM_YL_SPEED/400,0);
                QDCT_AutoStep = 55;  
            }
            break;
        case 55:
            if((dwTickCount >= QDCT_AutoDelay))
            {
                if(!Y_DRV && KaDaiFlag==0)
                {
                    QDCT_AutoStep = 56;  
                    //QDCT_YL_DIR = QDCT_YL_DIR_P;
                    QDCT_AutoDelay = dwTickCount + QDCT_PARAM_YL_FZ_DELAY;
                } 
                //卡带处理，停止后可再次启动
                if(KaDaiFlag==1)
                {
                    if(Y_DRV)
                        AxisDecStop(Y_AXIS);
                    else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
                    {
                        QDCT_bOnceStart=0;
                        bStartOnceTime = 1;
                        KaDaiFlag=0;
                        AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH-QDCT_PARAM_TRANS_LENGTH-KaDaiSaveLenY),
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_YL_SPEED/400,QDCT_PARAM_YL_SPEED/400,0);
                    }
                    else
                    {
                        KaDaiSaveLenY=dwYRealPos;
                    }
                }
            }
            break;
        case 56:    
            if((dwTickCount >= QDCT_AutoDelay))
            {
                if(!Y_DRV)AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SPEED,(-QDCT_PARAM_FZ_LENGTH),
                                            QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,10,10,0);
                QDCT_AutoStep = 14;  
            }
            break;
            //检测到拉链没有穿进去
        case 70:
            if((dwTickCount >= QDCT_AutoDelay))  //张开夹子
            {
                //检测到拉链没有穿入,进到第一个拉头处夹住出不计数
                QDCT_MotorStep = 200;  
                QDCT_AutoStep = 71; 
            }
            break;
        case 71:
            if(QDCT_MotorStep == 0)
            {
                QDCT_XM_OUT = 0;    //下模退
                QDCT_QJLT_OUT = 0;  //前后夹拉头退
                QDCT_HJLT_OUT = 0;
                QDCT_AutoDelay = dwTickCount + 40;
                QDCT_AutoStep = 72;  
            }  
            break;      
        case 72:
            if((dwTickCount >= QDCT_AutoDelay))  //延时下切
            {
                if(cChuan_Lian_ErrorNum == 0)
                    QDCT_AutoStep = 14; 
                else
                    QDCT_SetAlarmCode(QDCT_CLOK_ALARM);
            }
            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)
{
    static unsigned char long_stop_flg = 0,yd_back_flg,sl_flg;
    static unsigned long long_time_delay,yd_back_delay,sl_delay,sl_delayStart,dw_Stop_In_Delay;
    
    
    
    
    QDCT_STATE_RUN = bRunning;
    if(GetAlarmCode(QDCT_ALARM_ADDR) == 0)
        QDCT_STATE_ERROR = 0;
    else
        QDCT_STATE_ERROR = 1;
    
    //启动    自动启动 单一自动	 			
    if((QDCT_START_IN_UP || bStart || (QDCT_bOnceStart && !KaDaiFlag) || QDCT_bCheckDinWei))
    {      
        if((dwTickCount >= sl_delayStart) && !bRunning)
        {  
            if(QDCT_bOnceStart)
            {
                QDCT_bOnceStart     = 0;
                bStartOnceTime = 1;
            	dwZipCnt    = 0;
            }
            bStart     = 0;
            
            if(!QDCT_NO_ZIPPER_CHECK_IN)QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
            else if(QDCT_PARAM_SET_ZIPPER_LENGTH <500)QDCT_SetAlarmCode(QDCT_ZIPPER_LENGTH_ALARM);
            else if((QDCT_QLTCZ_IN || QDCT_HLTCZ_IN) && !QDCT_XM_OUT)QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM);
            else if(!QDCT_QHSL_ORIGIN_IN || !QDCT_HHSL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_GL_ORIGIN_ALARM);
            else if(QDCT_HHSL_LIMIT_IN || QDCT_QHSL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_START_SL_LIMIT_ALARM);
            //else if(!QDCT_XQ_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_XQ_ORIGIN_ALARM);
            else if(!QDCT_XM_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_START_SM_ORIGIN_ALARM);
            else if(QDCT_XQ_LIMIT_IN && !QDCT_PARAM_XM_MODE)QDCT_SetAlarmCode(QDCT_XQ_LIMIT_ALARM);
            else if(QDCT_SQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);   
            else if(QDCT_YL_LIMIT_IN)QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);  
            else if(!QDCT_SYL_ORIGIN_IN)QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM);
            else if(QDCT_KA_DAI_IN)QDCT_SetAlarmCode(QDCT_KD_ALARM);  
            else if(QDCT_GO_LIMIT_IN && (QDCT_YD_OUT && ((QDCT_SL_OUT && QDCT_PARAM_XM_MODE) || !QDCT_PARAM_XM_MODE) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM)))
            {
                if(((GetAlarmCode(QDCT_ALARM_ADDR) == 0) || (GetAlarmCode(QDCT_ALARM_ADDR) == QDCT_ZLT_ALARM)))
                {
                    AxisEgmStop(X_AXIS);
                    cCheckDinWei = QDCT_bCheckDinWei;
                    bRunning   = 1;
                    cTuiLianStep = 0;
                    yd_back_flg = 0;
                    QDCT_AutoStep  = 4;
                    SetAlarmCode(QDCT_ALARM_ADDR,0);
                    sl_flg = 0;
                    QDCT_MotorStep = 66;
                    cWorkCnt   = 0;    
                    QTryCnt     = 0;
                    HTryCnt     = 0;
                    QTuiLaTouOkFlg = 1;
                    HTuiLaTouOkFlg = 1; 
                    if(QDCT_QJLT_OUT)// 前夹拉头关 
                    {
                        QZhuangLiaoOkFlg = 1;
                    }
                    else
                    {
                        QZhuangLiaoOkFlg = 0; 
                        QDCT_QZhuangLiaoStep = 1;
                        
                    }  
                    if(QDCT_HJLT_OUT)      
                    {       
                        HZhuangLiaoOkFlg = 1; 
                    }   
                    else
                    {
                        HZhuangLiaoOkFlg = 0; 
                        QDCT_HZhuangLiaoStep = 1;
                    }
                    HTuiLaTouOkFlg = 1;
                    dwZipCnt    = 0;
                    cFirstQStartFlg  = 1;
                    cFirstHStartFlg  = 1;
                    if(!QZDPAutoDisable)
                        QDCT_QZDPStep = 1;
                    if(!HZDPAutoDisable)
                        QDCT_HZDPStep = 1;
                    QDCT_TLPStep  = 1;
                    
                    SingOneFlg = 0;
                    cCheck_Go_In_Flag = 1;
                    cSL_En = 2;
                    cXiaMo_En = 1;
                    SetPos(X_AXIS, 0); 
                    cBackLimitCheck_EN = 1;
                    if(QDCT_TB_OUT)
                        QDCT_TableDelay = dwTickCount + 300;
                    KaDaiFlag = 0;
                    KaDaiSaveLen=0;
                    KaDaiSaveLenY=0;
                }        
            }
            else
            {
                if((GetAlarmCode(QDCT_ALARM_ADDR) == 0))
                {
                    AxisEgmStop(X_AXIS);
                    cCheckDinWei = QDCT_bCheckDinWei;
                    cBackLimitCheck_EN = 1;
                    bRunning   = 1;
                    yd_back_flg = 0;
                    QDCT_AutoStep  = 1;
                    cWorkCnt   = 0;    
                    QTryCnt     = 0;
                    HTryCnt     = 0;
                    QTuiLaTouOkFlg = 1;
                    HTuiLaTouOkFlg = 1;
                    dwZipCnt    = 0;
                    cFirstQStartFlg   = 1;
                    cFirstHStartFlg   = 1;
                    if(QDCT_QJLT_OUT)// 前夹拉头关 
                    {
                        QZhuangLiaoOkFlg = 1;
                    }
                    else
                    {
                        QZhuangLiaoOkFlg = 0; 
                        QDCT_QZhuangLiaoStep = 1;
                        
                    }  
                    if(QDCT_HJLT_OUT)      
                    {       
                        HZhuangLiaoOkFlg = 1; 
                    }   
                    else
                    {
                        HZhuangLiaoOkFlg = 0; 
                        QDCT_HZhuangLiaoStep = 1;
                    }
                    if(!QZDPAutoDisable)
                        QDCT_QZDPStep = 1;
                    if(!HZDPAutoDisable)
                        QDCT_HZDPStep = 1;
                    QDCT_TLPStep  = 1;
                    SingOneFlg = 0;
                    cCheck_Go_In_Flag = 1;
                    cSL_En = 2;
                    cXiaMo_En = 1;
                    if(QDCT_TB_OUT)
                        QDCT_TableDelay = dwTickCount + 300;
                    KaDaiFlag = 0;
                    KaDaiSaveLen=0;
                    KaDaiSaveLenY=0;
                }
            }            
        }
        QDCT_bCheckDinWei= 0;
    }
    
    if(cStopFlg == 1)
    {
        if(!X_DRV)  cStopFlg = 0; 
    }    
    
    if(bStop)
    {
        SingOneFlg = 1;
        bStop = 0;
    }
    //停止
    if(QDCT_STOP_IN_UP && (dwTickCount >= dw_Stop_In_Delay))
    {	
        //               
        SingOneFlg = 0;
        if(bRunning)
        {
            dw_Stop_In_Delay = dwTickCount +50;
            //SetDecTime(X_AXIS,12) ;
            //SetDecTime(Y_AXIS,12) ;
            AxisDecStop(X_AXIS);
            AxisDecStop(Y_AXIS);
            bRunning = 0;
            QDCT_bOnceStart = 0;
            bStartOnceTime = 0;
            bStop = 0; 		           
            QDCT_AutoStep = 0;
            //QDCT_QZhuangLiaoStep = 0;
            //QDCT_HZhuangLiaoStep = 0;
            QDCT_HeMoStep = 0;
            QDCT_MotorStep    = 0;
            QDCT_JiaLianStep  = 0;
            if(!QDCT_PARAM_CS_ENABLE)QDCT_XiaQieStep   = 0;
            QDCT_ZhenDongStep = 0;
            QDCT_QTLTStep = 0;  
            QDCT_HTLTStep = 0;  
            ManFlg = 0;
            cBackLimitCheck_EN = 1;
            QDCT_MotorStepY = 0;
            QDCT_YL_OUT   = 0;
            QDCT_SYL_OUT   = 0;
        }
        else
        {
            if(!X_DRV)
                //QDCT_SZ_OUT = QDCT_MOTOR_DISEN;
                SetEn(X_AXIS, QDCT_MOTOR_DISEN);
            if(!Y_DRV)
                SetEn(Y_AXIS, QDCT_MOTOR_DISEN);
            
            //SetDecTime(X_AXIS,12) ;
            //SetDecTime(Y_AXIS,12) ;
            AxisDecStop(X_AXIS);
            AxisDecStop(Y_AXIS);
            bRunning = 0;
            QDCT_bOnceStart = 0;
            bStop = 0; 		
            bStartOnceTime = 0;   
            QDCT_AutoStep = 0;
            QDCT_QZhuangLiaoStep = 0;
            QDCT_HZhuangLiaoStep = 0;
            QDCT_MotorStep    = 0;
            QDCT_JiaLianStep  = 0;
            QDCT_XiaQieStep   = 0;
            QDCT_ZhenDongStep = 0;
            QDCT_HeMoStep = 0;
            
            QDCT_QTLTStep = 0;
            QDCT_HTLTStep = 0;
            QDCT_SQ_OUT = 0;
            if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 0;
            
            QDCT_XM_OUT = 0;
            QDCT_JD_OUT = 0;   
            QDCT_QTLT_OUT = 0;
            QDCT_HTLT_OUT = 0;
            QDCT_QHSL_OUT = 0;
            //QDCT_KL_OUT = 0;
            QDCT_YL_OUT   = 0;
            QDCT_SYL_OUT   = 0;
            QDCT_CS_OUT   = 0;
            KaDaiFlag = 0;
            KaDaiSaveLen=0;
            KaDaiSaveLenY=0;	
            
            long_stop_flg = 1;
            long_time_delay = dwTickCount+1500;
            
            QDCT_HHSL_OUT= 0;
            
            SetAlarmCode(QDCT_ALARM_ADDR,QDCT_NO_ALARM);   
            ManFlg = 0;
            cSL_En = 2;
            cXiaMo_En = 1;
            cBackLimitCheck_EN = 1;
            if((dwTickCount - QDCT_TableDelay) >= 1000)
                QDCT_TableDelay = dwTickCount + 300;
            QDCT_MotorStepSave=0;
            QDCT_MotorStepY = 0;
        }
        //测试停止
        cTestMotorStep = 0;
    }
    
    if(sl_flg)
    {
        if(dwTickCount >= sl_delay)
        {
            sl_flg = 0;
            if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT = 0;
            sl_delayStart = dwTickCount+500;
        }
    }
    
    if(long_stop_flg)
    {
        if(dwTickCount >= long_time_delay)
        {
            if(QDCT_STOP_IN)
            {
                QDCT_QJLT_OUT = 0;
                QDCT_HJLT_OUT = 0;     
                QDCT_YD_OUT   = 0;
                if(QDCT_PARAM_XM_MODE) QDCT_SL_OUT   = 0;
                
            }
        }
        else if(!QDCT_STOP_IN)
        {
            long_stop_flg = 0;
        }
    }
    
    
    if(QDCT_bAlarmStop)
    {   
        
        bRunning         = 0;
        QDCT_bOnceStart = 0;
        QDCT_bAlarmStop = 0;
        bStartOnceTime = 0;  
        AxisDecStop(X_AXIS);
        AxisDecStop(Y_AXIS);
        QDCT_AutoStep = 0;
        QDCT_QZhuangLiaoStep = 0;
        QDCT_HZhuangLiaoStep = 0;
        QDCT_MotorStep    = 0;
        QDCT_MotorStepY    = 0;
        QDCT_JiaLianStep  = 0;
        QDCT_ZhenDongStep = 0;
        if(!QDCT_QTLT_OUT)
            QDCT_QTLTStep = 0;
        if(!QDCT_HTLT_OUT)
            QDCT_HTLTStep = 0;
        ManFlg = 0;        
        KaDaiFlag = 0;
        KaDaiSaveLen=0;
        KaDaiSaveLenY=0;
        if(GetAlarmCode(QDCT_ALARM_ADDR) != QDCT_ZLT_ALARM && !QDCT_JD_OUT)
        {
            if(QDCT_SL_OUT && QDCT_PARAM_XM_MODE)
            {
                QDCT_YD_OUT   = 1;
                sl_flg        = 1;
                sl_delay      = dwTickCount+1000;
            }
        }       
    }
}   

unsigned long GetLength(long dist0,long dist1)
{
    if(dist0 < dist1)
        return (dist1-dist0);
    else
        return (dist0-dist1);
}
//电机控制动作
void QDCT_Motor(void)	 //
{   
    /*
    1~5步追色标
    30步开始后拉
    61  前进定位
    80步开始为切断后后拉松夹子
    200步,进去一定位置夹废料
    */
    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,xm_delay_back;
    unsigned short start_speed;
    
    user_datas[127] = length_buff;
    qdct_length_buff = (short *)&QDCT_PARAM_OFFSET_LENGTH;
    
    if(!QDCT_NO_ZIPPER_CHECK_IN && bRunning)
    {
        QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
    }
    switch(QDCT_MotorStepY)//走链
    {
    case 160:
        if((dwTickCount >= QDCT_MotorYDelay) && !Y_DRV)
        {
            if(!Y_DRV)
            {
                AxisMovePosAccDec(Y_AXIS,QDCT_PARAM_YL_SL_SPEED,QDCT_PARAM_YL_SL_LENGTH,
                                        QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_YL_SL_SPEED/400,QDCT_PARAM_YL_SL_SPEED/400,0);
                //user_datas[123]++;
            }
            QDCT_MotorYDelay =    dwTickCount + QDCT_PARAM_YL_BACK_DELAY;
            QDCT_MotorStepY   = 161;
        }break;
    case 161:
        if(dwTickCount >= QDCT_MotorYDelay)QDCT_YL_OUT = 0;
        if(!Y_DRV)
        {
            QDCT_YL_OUT = 0;
            QDCT_MotorYDelay =    dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_MotorStepY   = 162;
        }
        break;
    case 162:
        if(!QDCT_YL_LIMIT_IN)  
        {
            QDCT_SYL_OUT=0;//送压轮退
            QDCT_MotorYDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_MotorStepY = 163;
        }
        else if(dwTickCount >= QDCT_MotorYDelay)
            QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
        break;
    case 163:
        if(QDCT_SYL_ORIGIN_IN)  
        {
           QDCT_MotorStepY = 0;
           SetEn(Y_AXIS, QDCT_MOTOR_DISEN);
        }
        else if(dwTickCount >= QDCT_MotorYDelay)
            QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM);
        break;               
    }
    switch(QDCT_MotorStep)
    {
    case 1:
        QDCT_MotorDelay  =    dwTickCount + QDCT_PARAM_DELAY_BACK;
        QDCT_MotorStep   = 2;
        QDCT_YD_OUT      = 0;
        LengthType = 0;
        break;
    case 2:
        cSeBiaoOk = 0;
        cSeBiaoEn = 0;
        SetPos(X_AXIS,0); 
        if(dwTickCount >= QDCT_MotorDelay)
        {
            back_buff     = dwXRealPos;
            back_dec_buff = dwXRealPos;
            cSeBiaoOk = 0;
            cSeBiaoEn = 0;
            cChuan_LianCheckOK = 0;  
            if(dwZipCnt>=1)
            {  
                //夹子运动到模具位置时变为穿入速度  
                if( QDCT_PARAM_Mold_Distance > 120)
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,
                                             QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,50);
                else    
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance+10,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,
                                             QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
            }
            else//第一条测长度
            {
                AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P,
                                    QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            QDCT_MotorStep = 3; 
            if(QDCT_PARAM_XM_MODE)
                QDCT_SL_OUT = 0;//送带退
        }
        break;
    case 3:   
        //到拉链空位 
        if((!KaDaiFlag && QDCT_SEBIAO_IN_UP) || (dwXRealPos >=  (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) &&  dwZipCnt>=1))  //空位变慢
        {
            AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
            cSeBiaoOk = 0;
            cSeBiaoEn = 1;   
            QDCT_MotorStep   = 7;
            break;
        }
        
        if(QDCT_CHUAN_LIAN_OK)
            cChuan_LianCheckOK = 1;
        //如果穿入长度到
        if((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
        {
            QDCT_MotorStep   = 5;
            if(QDCT_PARAM_MODE)   //反穿停电机
            {  
                AxisEgmStop(X_AXIS);
                QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;  
            }
            else
            {
                QDCT_MotorDelay = dwTickCount;
            }
            QDCT_XM_OUT      = 0;
            if(cCheckDinWei == 0)
                QDCT_QJLT_OUT = 0; 
            if(QDCT_PARAM_XM_MODE)
                QDCT_SL_OUT = 0;//送带退
            if(QDCT_PARAM_HLT_ON )
            {
                QDCT_HJLT_OUT     = 0;
            } 
            break;
        }  
        else if((dwXRealPos + 100) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
        {
            if(QDCT_PARAM_HLT_ON )
            {
                QDCT_HJLT_OUT     = 0;
            }  
        }  
        
        if(dwZipCnt>=1)
        {
            //如果慢速长度到，
            if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))                       
            {           
                //拉链长度大于(模具长度 + 穿入长度）说明穿入部分还有拉链加速      
                if(length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH > QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH)
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH,
                                             QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0);  
                else
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH-dwXRealPos,
                                             QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0);  
            }
            QDCT_MotorStep = 4; 
        }
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        }                            
        
        //行程超限
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 4;
        }                       
        
        break;
    case 4: 
        //到拉链空位 
        if((!KaDaiFlag && QDCT_SEBIAO_IN_UP) || (dwXRealPos >=  (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) &&  dwZipCnt>=1))  //空位变慢
        {
            AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
            cSeBiaoOk = 0;
            cSeBiaoEn = 1;   
            QDCT_MotorStep   = 7;
            break;
        }
        
        if(QDCT_CHUAN_LIAN_OK)
            cChuan_LianCheckOK = 1;
        //如果穿入长度到
        if((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
        {
            QDCT_MotorStep   = 5;
            if(QDCT_PARAM_MODE)   //反穿停电机
            {  
                AxisEgmStop(X_AXIS);
                QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;  
            }
            else
            {
                QDCT_MotorDelay = dwTickCount;
            }
            QDCT_XM_OUT      = 0;
            if(cCheckDinWei == 0)
                QDCT_QJLT_OUT = 0; 
            if(QDCT_PARAM_XM_MODE)
                QDCT_SL_OUT = 0;//送带退
            if(QDCT_PARAM_HLT_ON )
            {
                QDCT_HJLT_OUT     = 0;
            } 
            break;
        }  
        else if((dwXRealPos + 100) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
        {
            if(QDCT_PARAM_HLT_ON )
            {
                QDCT_HJLT_OUT     = 0;
            }  
        }  
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        }                            
        
        //行程超限
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 4;
        }                       
        break;
    case 5:     
        if((!KaDaiFlag && QDCT_SEBIAO_IN_UP)  || (dwXRealPos >=  (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) &&  dwZipCnt>=1) )  //空位变慢
        {
            AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
            cSeBiaoOk = 0;
            cSeBiaoEn = 1;   
            QDCT_MotorStep   = 7;
            break;                            
        }
        //                          //到达穿入长度位置
        if(dwTickCount>= QDCT_MotorDelay)
        {                          
            if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
            {   
                if(cCheckDinWei == 0)
                {
                    if(QDCT_PARAM_QLT_ON )//&& !QDCT_GO_LIMIT_IN)
                    {
                        QDCT_QJLT_OUT     = 0;                                
                    }
                }                    
                if(dwZipCnt>=1)
                {
                    if(dwXRealPos+QDCT_SEBIAO_BACK_LSPEED_LENGTH+QDCT_SEBIAO_LENGTH+50 < length_buff)
                        AxisMovePosAccDecNotStop(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,length_buff-dwXRealPos-QDCT_SEBIAO_BACK_LSPEED_LENGTH-QDCT_SEBIAO_LENGTH,
                                                 QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE+10,QDCT_PARAM_DEC_PULSE+10,0);
                    else
                        AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
                }
                else
                {
                    if(!X_DRV)//反穿轴停的情况，要重新启动后拉
                        AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P,
                                            QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                            QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                }
                QDCT_MotorStep   = 6;
            }         
        }
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        }                                 
        
        //行程超限
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 4;
        }   
        break;
    case 6:                    
        if((!KaDaiFlag && QDCT_SEBIAO_IN_UP)  || (dwXRealPos >=  (length_buff -QDCT_SEBIAO_LENGTH - QDCT_SEBIAO_BACK_LSPEED_LENGTH) &&  dwZipCnt>=1) )  //空位变慢
        {
            AxisChangeSpeedDirect(X_AXIS,QDCT_SEBIAO_LOW_SPEED);
            cSeBiaoOk = 0;
            cSeBiaoEn = 1;   
            QDCT_MotorStep   = 7;
            user_datas[129] = dwXRealPos;
            break;                            
        }
        
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        }                                 
        
        //行程超限
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 4;
        }   
        break;
    case 7:   
        
        if((cCheckDinWei == 0))
        {        
            if(QDCT_XM_OUT)
            {    
                if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))                  
                {                                  
                    if(QDCT_PARAM_HLT_ON )
                        QDCT_HJLT_OUT     = 0;
                    if(QDCT_PARAM_MODE)   //反穿停电机
                    {  
                        AxisEgmStop(X_AXIS);
                        QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;  
                    }
                    else
                    {
                        QDCT_MotorDelay = dwTickCount;
                    }     
                    QDCT_XM_OUT = 0;
                    QDCT_QJLT_OUT     = 0;                            
                }
                else if((dwXRealPos + 100) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
                {
                    if(QDCT_PARAM_HLT_ON )
                    {
                        QDCT_HJLT_OUT     = 0;                                      
                    }                             
                }
            }
            else 
            {
                if(dwTickCount >= QDCT_MotorDelay)
                {  
                    
                    if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                    {                                         
                        if(QDCT_PARAM_QLT_ON )
                        {
                            QDCT_QJLT_OUT     = 0;                                
                        } 
                        if(!X_DRV && !KaDaiFlag)//反穿轴停的情况，要重新启动后拉
                            AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED,QDCT_DIR_P,
                                                QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                                QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
                    }   
                }                                
            }   
        }
        
        if(cSeBiaoOk)
        {
            if(cCheckDinWei == 0)
            { 
                if(QDCT_XM_OUT)
                {    
                    if((dwXRealPos + 300) >= (cDinWeiPos + QDCT_SEBIAO_LENGTH ))                  
                    {                                  
                        if(QDCT_PARAM_HLT_ON )
                            QDCT_HJLT_OUT     = 0;
                        if(QDCT_PARAM_MODE)   //反穿停电机
                        {  
                            AxisEgmStop(X_AXIS);
                            QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;  
                        }
                        else
                        {
                            QDCT_MotorDelay = dwTickCount;
                        }      
                        QDCT_XM_OUT = 0;
                        if(cCheckDinWei == 0)
                            QDCT_QJLT_OUT = 0;        
                    }
                    else if((dwXRealPos + 400) >=  (cDinWeiPos + QDCT_SEBIAO_LENGTH ))
                    {
                        if(QDCT_PARAM_HLT_ON )
                        {
                            QDCT_HJLT_OUT     = 0;                                      
                        }                             
                    }
                }
                else 
                {  
                    
                    if(dwTickCount >= QDCT_MotorDelay) 
                    {                                            
                        if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                        {                                         
                            if(QDCT_PARAM_QLT_ON )
                            {
                                QDCT_QJLT_OUT     = 0;                                
                            }  
                            AxisMovePosAccDec(X_AXIS,QDCT_SEBIAO_HIGH_SPEED,cDinWeiPos + QDCT_SEBIAO_LENGTH-dwXRealPos,
                                              QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
                            QDCT_MotorStep = 8; 
                        }
                        
                    } 
                    
                }   
                
            }
        }
        if(((dwXRealPos >= (cDinWeiPos + QDCT_SEBIAO_LENGTH )))&& cSeBiaoOk)
        {         
            AxisEgmStop(X_AXIS);
            if(cCheckDinWei == 0)
            {
                if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                {                                         
                    if(QDCT_PARAM_QLT_ON )
                    {
                        QDCT_QJLT_OUT     = 0;                                
                    }                                          
                    
                }   
            }     
            if((dwZipCnt >= 1) && QDCT_SEBIAO_ERROR_LENGHT && (((dwXRealPos > (length_buff  + QDCT_SEBIAO_ERROR_LENGHT))
                                                                || dwXRealPos < (length_buff  - QDCT_SEBIAO_ERROR_LENGHT))))
            {
                QDCT_SetAlarmCode(QDCT_SE_BIAO_ALARM);
            }
            else 
            {
                QDCT_MotorStep = 9; 
                //第一条保存长度
                if(dwZipCnt==0) length_buff = dwXRealPos;
            }
        }
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        }                         
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 3;
        }
        break;
    case 8:
        if(((dwXRealPos >= (cDinWeiPos + QDCT_SEBIAO_LENGTH )))&& cSeBiaoOk || (!X_DRV && !KaDaiFlag))
        {         
            AxisEgmStop(X_AXIS);
            if(cCheckDinWei == 0)
            {
                if(((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
                {                                         
                    if(QDCT_PARAM_QLT_ON )
                    {
                        QDCT_QJLT_OUT     = 0;                                
                    }                                          
                    
                }   
            }     
            if(QDCT_SEBIAO_ERROR_LENGHT && (((dwXRealPos > (QDCT_PARAM_SET_ZIPPER_LENGTH  + QDCT_SEBIAO_ERROR_LENGHT))
                                             || dwXRealPos < (QDCT_PARAM_SET_ZIPPER_LENGTH  - QDCT_SEBIAO_ERROR_LENGHT))))
            {
                QDCT_SetAlarmCode(QDCT_SE_BIAO_ALARM);
            }
            else 
            {
                QDCT_MotorStep = 9; 
                //第一条保存长度
                if(dwZipCnt==0) length_buff = dwXRealPos;
            }
        }
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                AxisContinueMoveAcc(X_AXIS,QDCT_SEBIAO_LOW_SPEED, QDCT_DIR_P,QDCT_SEBIAO_LOW_SPEED,QDCT_SEBIAO_LOW_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        }                         
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 3;
        }
        break;
    case 9:
        QDCT_MotorStep = 0;
        break;
        
    case 30:
        QDCT_MotorDelay  =  dwTickCount + QDCT_PARAM_DELAY_BACK;
        if(GetEn(X_AXIS) == QDCT_MOTOR_DISEN)
        {
            //QDCT_SZ_OUT   = QDCT_MOTOR_EN;
            SetEn(X_AXIS, QDCT_MOTOR_EN);
            if(QDCT_PARAM_DELAY_BACK < 50)
                QDCT_MotorDelay = dwTickCount + 50;
        }      
        QDCT_YD_OUT      = 0;   //压带
        QDCT_MotorStep   = 31;     
        cCheck_Go_In_Flag = 0;
        cChuan_LianCheckOK = 0;
        SetPos(X_AXIS,0); 
        break;
    case 31:	                                       
        if(dwTickCount >= QDCT_MotorDelay)
        {   
            gou_zhen_buff = dwXRealPos;
            save_buff = dwXRealPos;
            back_buff = dwXRealPos;
            if((*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH) < 0)
                *qdct_length_buff = 0;                                               
            
            //拉链长度小于刀口到模具距离加穿入长度，需要在切断后继续穿入
            if((*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH < QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH))
            {
                CutRemainLength = QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH - (*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH);
                LengthType = 1;
            }
            else
            {
                LengthType = 0;
            }
            if(QDCT_PARAM_PUTIN_LOW_SPEED < QDCT_PARAM_START_SPEED)
                start_speed = QDCT_PARAM_PUTIN_LOW_SPEED;
            else 
                start_speed = QDCT_PARAM_START_SPEED;
            
            if(LengthType == 0)
            {
                if( QDCT_PARAM_Mold_Distance > 120)
                    //夹子运动到模具位置时变为穿入速度
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED*2,QDCT_PARAM_Mold_Distance,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,
                                             10,10,50);
                else    
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_Mold_Distance+10,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,
                                             10,10,0); 
                QDCT_MotorStep   = 33;
            }
            else//超短链
            {
                //拉链长度小于刀口到模具距离，走到拉链长度停
                if(*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH < QDCT_PARAM_Mold_Distance)
                {
                    AxisMovePosAccDec(X_AXIS,start_speed*3,*qdct_length_buff+QDCT_PARAM_SET_ZIPPER_LENGTH,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,10,10,0);
                }
                else
                {
                    AxisMovePosAccDecNotStop(X_AXIS,start_speed*3,QDCT_PARAM_Mold_Distance,start_speed,QDCT_PARAM_PUTIN_LOW_SPEED,10,10,0);
                }
                QDCT_MotorStep   = 433;
            }
            cChuan_LianCheckOK = 0;
        }
        break; 
        
    case 33:
        if(QDCT_CHUAN_LIAN_OK)
            cChuan_LianCheckOK = 1;
        //下切刀提前输出
        if(!QDCT_GO_LIMIT_IN && !QDCT_PARAM_XM_MODE && !QDCT_PARAM_CS_ENABLE && (dwXRealPos >= QDCT_PARAM_Mold_Distance))
            QDCT_XQ_OUT = 1;
        //如果当前长度到达拉链长，最优先停
        if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
        { 
            QDCT_MotorStep   = 35;
            break;
        }
        //如果穿入长度到也停止，开模
        if((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
        {
            QDCT_MotorStep   = 35;
            break;
        }  
        //如果慢速长度到，
        if(dwXRealPos >= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH))                       
        {  
            if(QDCT_PARAM_XM_MODE)
                QDCT_SL_OUT = 0;//送带退
            //穿入长度大于穿入慢速
            
            if(QDCT_PARAM_PUTIN_LENGTH > QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH)
                AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJBACK_SPEED,QDCT_PARAM_PUTIN_LENGTH - QDCT_PARAM_PUTIN_LOW_SPEED_LENGTH,
                                         QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_START_SPEED,
                                         QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);  
            QDCT_MotorStep   = 34;   
            
        } 
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        } 
        //行程超限
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 4;
        }
        break;
    case 34:
        if(QDCT_CHUAN_LIAN_OK)
            cChuan_LianCheckOK = 1;
        //到达拉链长度要停止
        if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
        {
            QDCT_MotorStep   = 35; 
            break;
        }
        //如果穿入长度到也停止，开模
        if((dwXRealPos + 8) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
        {
            QDCT_MotorStep   = 35;  
            break;
        } 
        else if((dwXRealPos + 80) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH ))
        {
            if(QDCT_PARAM_HLT_ON && (cChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)) && !QDCT_GO_LIMIT_IN)
            {
                QDCT_HJLT_OUT     = 0;    
            }                             
        }
        
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                    QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE);
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        } 
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 5;
        }
        break;
    case 35:
        if(QDCT_PARAM_MODE)//反穿停
        {
            AxisEgmStop(X_AXIS);
            if(QDCT_PARAM_QLT_ON)
            {
                QDCT_QJLT_OUT     = 0;   
            } 
        }
        else
        {
            AxisChangeSpeedDirect(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED/3);
        }
        if(QDCT_PARAM_HLT_ON && (cChuan_LianCheckOK || (QDCT_CHUAN_LIAN_CHECK_SELECT == 0)) && !QDCT_GO_LIMIT_IN)
        {
            QDCT_HJLT_OUT     = 0;                           
        }  
        QDCT_XM_OUT = 0;
        if(QDCT_PARAM_XM_MODE)
            QDCT_SL_OUT = 0;//送带退
        QDCT_MotorDelay = dwTickCount + QDCT_PARAM_BACK_DELAY;
        QDCT_MotorStep   = 37;
        break;
    case 36:     
        break;
    case 37:   
        //两路顶针离开
        if(!QDCT_XM_OUT && ((!QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (!QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) ))
        {
            if(QDCT_PARAM_QLT_ON )
            {
                QDCT_QJLT_OUT     = 0;   
            }
            
            if(dwTickCount >= QDCT_MotorDelay)
            {    
                if(dwXRealPos < QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)
                {   
                    if(QDCT_CheckLength())//无限长
                    {
                        if((QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff-dwXRealPos),
                                              QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); 
                        else
                            AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff-dwXRealPos),
                                              QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); 
                    }
                    else//普通长
                    {
                        if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos),
                                              QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); 
                        else
                            AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos),
                                              QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);  
                    }
                }       
                QDCT_MotorStep   = 38;
            }
        } 
        else if(dwTickCount >= QDCT_MotorDelay+2000)
        {
            if((QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON) || (QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON))
                QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM);
                
        }
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 6;
        }
        break;
    case 38:            
        if(((dwXRealPos) >=  (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH + 400)) && (QDCT_PARAM_SET_ZIPPER_LENGTH > (dwXRealPos + 4000)))
        {
            cSL_En = 2;     
        }
        if(QDCT_CheckLength() && !QDCT_YL_LIMIT_IN && !QDCT_GO_LIMIT_IN && dwXRealPos>=4000)
        {
            QDCT_SYL_OUT=1;//送压轮
        }

        if((!X_DRV && !KaDaiFlag) || (dwXRealPos>= QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
        {
            AxisEgmStop(X_AXIS);
            if(!QDCT_CheckLength())
            {
                QDCT_YD_OUT   = 1;
            }
            QDCT_MotorStep   = 390;    
            QDCT_MotorDelay = dwTickCount+10;  
        }
        
        //卡带处理，停止后可再次启动
        if(KaDaiFlag==1)
        {
            if(X_DRV)
                AxisDecStop(X_AXIS);
            else if(QDCT_bOnceStart && !QDCT_KA_DAI_IN)  
            {
                QDCT_bOnceStart=0;
                bStartOnceTime = 1;
                KaDaiFlag=0;
                if(dwXRealPos < QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff)
                {      
                    if(QDCT_CheckLength())//无限长
                    {
                        if((QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff-dwXRealPos),
                                              QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); 
                        else
                            AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_TRANS_LENGTH + *qdct_length_buff-dwXRealPos),
                                              QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0); 
                    }
                    else//普通长
                    {
                        if((QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff) > (dwXRealPos+QDCT_PARAM_LOWSPEED_LENGTH))
                            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJBACK_SPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos),
                                              QDCT_PARAM_START_SPEED,QDCT_BACK_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,QDCT_PARAM_LOWSPEED_LENGTH); 
                        else
                            AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,(QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff-dwXRealPos),
                                              QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);  
                    }
                } 
            }
            else
            {
                KaDaiSaveLen=dwXRealPos;
            }
        }                        
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 6;
        }                      
        break;
    case 390:
        if(dwTickCount >= QDCT_MotorDelay)
        {
            if(QDCT_PARAM_FZ_LENGTH != 0)   //反转长度
            {
                AxisMovePosAccDec(X_AXIS,QDCT_BACK_LOWSPEED,-QDCT_PARAM_FZ_LENGTH,
                                  QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,10,10,0);                   
            }
            QDCT_MotorStep = 39;      
        }
        break;  
    case 39:    
        
        if(!X_DRV)
        {
            if(!QDCT_CheckLength())
            {
                QDCT_YD_OUT   = 1;
            }
            QDCT_MotorStep   = 40;                        
            if(bRunning)
            {
                if(!QDCT_NO_ZIPPER_CHECK_IN)
                    QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
            } 
        }
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 7;
        }
        break;
    case 40:
        QDCT_MotorStep = 0;
        break;
        
        //超短链
    case 433:
        
        //如果当前长度到达拉链长，最优先停
        if(dwXRealPos >= (QDCT_PARAM_SET_ZIPPER_LENGTH + *qdct_length_buff))
        { 
            AxisEgmStop(X_AXIS);
            QDCT_MotorStep   = 434;
            QDCT_MotorDelay = dwTickCount + 50;
            if(QDCT_PARAM_XM_MODE)
            {
                QDCT_SL_OUT = 0;//送带退
            }    
        }                       
        //行程超限
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 8;
        }
        break;
    case 434:
        if(dwTickCount >= QDCT_MotorDelay)
        {
            //下切
            if((QDCT_XiaQieStep  == 0) && (QDCT_SL_ORIGIN_IN || !QDCT_PARAM_XM_MODE))
            {
                QDCT_XiaQieStep = 1;
                cSL_En = 0;    //下切时只横送不能锁紧拉头   
                QDCT_MotorStep   = 435;
                QDCT_MotorDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            } 
        }
        break;
    case 435:
        //下切完
        if(QDCT_XiaQieStep==0)
        {
            QDCT_YD_OUT = 0;   //压带
            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED,CutRemainLength,QDCT_PARAM_PUTIN_LOW_SPEED,QDCT_PARAM_PUTIN_LOW_SPEED,10,10,0);
            QDCT_MotorStep   = 436;
        }
        else if(dwTickCount >= QDCT_MotorDelay)
        {
            QDCT_SetAlarmCode(QDCT_XQ_ALARM);
        }
        break;
    case 436:
        if(dwXRealPos>= (QDCT_PARAM_Mold_Distance + QDCT_PARAM_PUTIN_LENGTH) || !X_DRV)
        {
            AxisEgmStop(X_AXIS);  
            //下模和夹拉头打开
            QDCT_QJLT_OUT = 0;  //夹拉头
            QDCT_HJLT_OUT = 0;  //夹拉头
            QDCT_XM_OUT = 0;    //拉头下模
            QDCT_MotorStep   = 437; 
            QDCT_MotorDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            if(QDCT_CHUAN_LIAN_OK)
                cChuan_LianCheckOK = 1;     
        }
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 10;
        }
        break;
    case 437:
        
        if(QDCT_CHUAN_LIAN_OK)
            cChuan_LianCheckOK = 1;
        //两路顶针离开
        if(!QDCT_XM_OUT && (!QDCT_QLTCZ_IN || !QDCT_PARAM_QLT_ON) && (!QDCT_HLTCZ_IN || !QDCT_PARAM_HLT_ON))
        { 
            //结束
            QDCT_MotorStep   = 40;
            
        } 
        else if(dwTickCount >= QDCT_MotorDelay)
        {
            QDCT_SetAlarmCode(QDCT_START_LTCZ_ALARM);
        }
        if(bRunning)
        {
            if(!QDCT_NO_ZIPPER_CHECK_IN)
                QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
        } 
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 10;
        }
        break;
    case 80:
        jz_buff = dwXRealPos;
        if(QDCT_PARAM_SJZ_LENGTH == 0)
        {
            QDCT_JD_OUT = 0;
        }
        QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME;                                
        QDCT_MotorStep   = 81;
        break;
    case 81:
        if(!QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay))
        {
            if((QDCT_CHUAN_LIAN_CHECK_SELECT == 0) || cChuan_LianCheckOK)
                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,(QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),
                                  QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,15,15,50);
            else
                AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,(1000 + QDCT_PARAM_SJZ_LENGTH + QDCT_PARAM_CUT_BACK_LENGTH),
                                  QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,15,15,50);
            QDCT_MotorStep   = 82;
        }
        break;
    case 82:	
        //松夹子长度
        if(((QDCT_PARAM_SJZ_LENGTH) <= (dwXRealPos - jz_buff)))
        {
            QDCT_JD_OUT = 0;
            QDCT_MotorStep   = 83;
        }
        else if(!X_DRV)
        {
            QDCT_JD_OUT = 0;
            QDCT_MotorStep   = 83;
        }
        
        if(!QDCT_JD_OUT || (500 <= (dwXRealPos - jz_buff))) 
        {
            cSL_En = 2;
        }
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 13;
        }
        break;
    case 83:	                           // 切断完成后拉电机动作
        if(!X_DRV)
        {
            QDCT_MotorStep   = 0;   
            QDCT_MotorDelay  =    dwTickCount;
        }     
        
        if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos)    
        {
            QDCT_JD_OUT = 0;
            QDCT_SetAlarmCode(QDCT_BACK_LIMIT_ALARM);
            user_datas[128] = 14;
        }
        break;   
    case 61: // 前点定位数控模式
        QDCT_MotorDelay = dwTickCount; 
        if((QDCT_JD_OUT && (!QDCT_GO_LIMIT_IN)) || (GetEn(X_AXIS) == QDCT_MOTOR_DISEN))
        {
            if(!QDCT_GO_LIMIT_IN)
                QDCT_JD_OUT   = 0;  
            
            if((GetEn(X_AXIS) == QDCT_MOTOR_DISEN))
                QDCT_MotorDelay = dwTickCount + 40;            
        }
        //下模不动时要推链
        if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !QDCT_JD_OUT)
            QDCT_TuiLianStep = 1;
        //QDCT_SZ_OUT   = QDCT_MOTOR_EN;
        SetEn(X_AXIS, QDCT_MOTOR_EN);
        QDCT_MotorStep = 62;
        break;
    case 62://电机锁轴时间到
        if(dwTickCount >= QDCT_MotorDelay)
        {
            //已经夹住并且在前点的条件,认为布带已经夹好
            if(QDCT_JD_OUT && QDCT_GO_LIMIT_IN)
            {
                QDCT_MotorStep   = 67;
            }
            else{                                      
                //前点亮的情况下要先后退离开
                if(QDCT_GO_LIMIT_IN )
                {
                    //后退离开长度
                    AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_START_SPEED, QDCT_DIR_P,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                        10,10);                                           
                    QDCT_MotorDelay = dwTickCount + 500;
                    QDCT_MotorStep = 620; 
                }
                else
                {
                    QDCT_MotorStep = 63;
                    QDCT_MotorDelay = dwTickCount;
                }     
                QDCT_JD_OUT = 0;  
            }
        }
        break;
    case 620:
        if(QDCT_GO_LIMIT_IN)
        {
            SetPos(X_AXIS, 0);
        }
        else //后退离开长度    
        {
            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_START_SPEED,500,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                              10,10,0); 
            QDCT_MotorStep = 63;    
            QDCT_MotorDelay = dwTickCount + 500;
        }   
        break;
    case 63:// 前进
        if(!X_DRV && !QDCT_GO_LIMIT_IN && (dwTickCount >= QDCT_MotorDelay) && QDCT_SYL_ORIGIN_IN)
        {
            go_buff  = dwXRealPos;                       
            
            //不是第一次
            if(dwZipCnt > 0)
            {
                                                                                        
                if(dwZipCnt == 5)  //扎数到的启动
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED/2,-(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH),
                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,0); 
                //                                      AxisMoveTwoPosNoStop(X_AXIS,QDCT_PARAM_JJGO_SPEED/2,(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH),
                //                                                             QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_GO_LOWSPEED_LENGTH-100,QDCT_DIR_N,
                //                                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10);
                else
                    AxisMovePosAccDecNotStop(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH),
                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_ACC_PULSE+30,QDCT_PARAM_DEC_PULSE,0);
                //                                        AxisMoveTwoPosNoStop(X_AXIS,QDCT_PARAM_JJGO_SPEED,(dwXRealPos-QDCT_PARAM_GO_LOWSPEED_LENGTH-QDCT_PARAM_JJDINGWEI_LENGTH),
                //                                                             QDCT_PARAM_GO_LOWSPEED,QDCT_PARAM_GO_LOWSPEED_LENGTH-100,QDCT_DIR_N,
                //                                                             QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE+20,QDCT_PARAM_DEC_PULSE+10);
                QDCT_MotorStep  = 65;
                QDCT_MotorDelay =  dwTickCount + QDCT_MOTOR_ALARM_TIME;                                  
            }//第一次
            else
            {
                AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_GO_LOWSPEED,QDCT_DIR_N,QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                    15,15);
                QDCT_MotorDelay =    dwTickCount + QDCT_MOTOR_ALARM_TIME;
                QDCT_MotorStep  = 65;
            }
        } 
        else if(dwTickCount >= QDCT_MotorDelay+3000)
        {
            if(!QDCT_SYL_ORIGIN_IN)
                QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM);    
        }

        break;
    case 65:
        //碰到前点限位停止
        if(QDCT_GO_LIMIT_IN)
        {
            SetPos(X_AXIS, QDCT_PARAM_JJDINGWEI_LENGTH);
            QDCT_MotorStep   = 66;                   
            dwXRealPos = GetPos(X_AXIS);
            user_datas[125]=GetCurSpeed(X_AXIS);
            AxisMovePosAccDec(X_AXIS,3000,-QDCT_PARAM_JJDINGWEI_LENGTH,
                              QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,5,5,0); 
        }
        else if(dwTickCount >= QDCT_MotorDelay)
            QDCT_SetAlarmCode(QDCT_NO_ZIPPER_ALARM);
        break;
    case 66:
        if(dwXRealPos <= 0 || !X_DRV)   //位置到零点后停止
        {
            AxisEgmStop(X_AXIS);
            SetPos(X_AXIS, 0); 
            QDCT_MotorStep   = 67;
        }     
        break;
    case 67:       
        if(!X_DRV)  //电机已经
        {   
            QDCT_MotorDelay =    dwTickCount;
            QDCT_MotorStep   = 68;
        }
        break;   
    case 68:
        if(dwTickCount >= QDCT_MotorDelay)
        {
            if(QDCT_JiaLianStep == 0)
            {
                QDCT_JiaLianStep = 1;
                QDCT_MotorStep   = 69;
            }
        }
        break;
    case 69:
        if(QDCT_JiaLianStep == 0)
        {
            
            QDCT_MotorStep   = 0;
            if(bRunning == 0)
            {
                SetEn(X_AXIS, QDCT_MOTOR_DISEN);   //手动下松轴方便手拉               
                QDCT_YD_OUT = 0;
            }
        }
        break;
        
    case 150:
        jz_buff = dwXRealPos;
        QDCT_JD_OUT = 0;
        QDCT_MotorDelay = dwTickCount + QDCT_PARAN_SJ_TIME;                                
        QDCT_MotorStep   = 151;
        break;
    case 151:
        if(QDCT_JD_OUT || (dwTickCount >= QDCT_MotorDelay))
        {
            if(QDCT_PARAM_MAX_BACK_LENGTH < dwXRealPos+QDCT_PARAM_CUT_BACK_LENGTH)
            {
                temppos = QDCT_PARAM_MAX_BACK_LENGTH-dwXRealPos-200;
            }
            else
            {
                temppos = QDCT_PARAM_CUT_BACK_LENGTH;
            }
            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_CUTBACK_SPEED,temppos,
                              QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,15,15,0);
            QDCT_MotorStep   = 152;
        }
        break;
    case 152:
        if(!X_DRV) 
        {
            QDCT_MotorStep   = 153;
            QDCT_MotorDelay = dwTickCount + 30; 
        } 
        break;
    case 153:      
        if(dwTickCount >= QDCT_MotorDelay)
        {
            jz_buff = dwXRealPos;
            AxisMovePosAccDec(X_AXIS,QDCT_PARAM_JJGO_SPEED,-(QDCT_PARAM_TRANS_LENGTH + temppos-3500),
                              QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);                              
            QDCT_MotorStep   = 154;                         
        }
        break;
    case 154:      
        
        if((!X_DRV))
        {
            AxisEgmStop(X_AXIS);
            QDCT_MotorStep   = 0; 
        }
        break;
        //以下为夹子进去夹废料
    case 200:                        
        //QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
        AxisMovePosAccDec(X_AXIS,QDCT_PARAM_GO_LOWSPEED,dwXRealPos-350,
                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE,0);
        QDCT_MotorStep  = 201;
        break;
    case 201:
        if(!X_DRV)
        {    
            QDCT_JD_OUT        = 1;
            QDCT_MotorStep   = 202;   
            QDCT_MotorDelay = dwTickCount + 50;
        }
        break;
        
    case 202:
        if(dwTickCount >= QDCT_MotorDelay)
        {
            QDCT_MotorStep   = 0;
        }
        break;                          
    }
}



//切断动作
void QDCT_XiaQieAction(void)	 
{
    dwXRealPos = GetPos(X_AXIS);
    dwYRealPos = GetPos(Y_AXIS);

    user_datas[121] = dwXRealPos;// GetPos(Y_AXIS);//QDCT_HZhuangLiaoStep;//QDCT_AutoStep;
    //user_datas[122] = dwYRealPos;
    if(user_datas[122]<GetCurSpeed(X_AXIS))
        user_datas[122] = GetCurSpeed(X_AXIS);
    user_datas[123] = QDCT_MotorStep;
    user_datas[124] = QDCT_AutoStep ;
    //user_datas[125] = QZhuangLiaoOkFlg;//QDCT_XiaQieStep;//cChuan_LianCheckOK;
    user_datas[126] = GetCurSpeed(X_AXIS);
    //user_datas[127] = QDCT_HZhuangLiaoStep;
    //user_datas[128] = QDCT_MotorStepSave;//HZhuangLiaoOkFlg;//QDCT_HeMoStep;//tXAxisStepper.cPmovPulse;
    
#if 1    
    
    switch(QDCT_XiaQieStep)
    {  
    case 1:
        if(bRunning)
        {
            if(!QDCT_NO_ZIPPER_CHECK_IN)
            {
                QDCT_SetAlarmCode(QDCT_START_NO_ZIPPER_ALARM);
            }
        }        
        if(QDCT_GO_LIMIT_IN )
        {
            
            QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM);
            QDCT_XiaQieStep   = 0;           
        }
        else
        {
            QDCT_XiaQieStep = 2;       
            QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUT_DELAY;
        }
        
        break;
    case 2:
        if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_XiaQieStep = 3; 
            QDCT_YD_OUT     = 1;
            QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            if(!QDCT_PARAM_XM_MODE)// && !QDCT_PARAM_CS_ENABLE)
            {
                QDCT_XQ_OUT = 1; 
            }
        }
        break;
    case 3:        
        if(QDCT_XQ_LIMIT_IN || QDCT_PARAM_CS_ENABLE)//|| QDCT_PARAM_XM_MODE )//|| QDCT_PARAM_CS_ENABLE)
        {
            QDCT_XiaQieDelay = dwTickCount;
            QDCT_XiaQieStep = 4;   
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_SetAlarmCode(QDCT_XQ_ALARM);
            QDCT_XiaQieStep = 0;
        }
        break;
    case 4:
        if(dwTickCount >= QDCT_XiaQieDelay)
        {
            if(!QDCT_SL_ORIGIN_IN && QDCT_PARAM_XM_MODE)
                QDCT_SetAlarmCode(QDCT_SL_ORIGIN_ALARM);
            else
            {
                QDCT_SQ_OUT = 1;   //上切刀输出
                if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 1;
                QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_XiaQieStep = 5; 
            }            	
        }
        break;
    case 5:   
        
        //上下切刀到位
        if(QDCT_SQ_LIMIT_IN && (QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
        {    
            cQDCT_TuiLianOKFlag = 0;
            if(QDCT_PARAM_CS_ENABLE)
            {
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_DELAY;
                QDCT_XiaQieStep = 50;         //跳到超声处理   
            }
            else
            {
                QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CUTBACK_DELAY;
                QDCT_XiaQieStep = 6;  
            }
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            if(!QDCT_SQ_LIMIT_IN)
            {
                QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM);
                QDCT_XiaQieStep = 0;
            }
            else if(QDCT_PARAM_XM_MODE== 0)  // 下模动才警告下模
            {
                QDCT_SetAlarmCode(QDCT_XQ_ALARM);
                QDCT_XiaQieStep = 0;
            }
        } 
        break;
    case 6:
        if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_SQ_OUT = 0;
            if(!QDCT_PARAM_XM_MODE)QDCT_XQ_OUT = 0;
            QDCT_XiaQieDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_XiaQieStep = 7;             
        }
        break;
    case 7:
        if(!QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE))
        {
            //下模动
            if(QDCT_PARAM_XM_MODE && !QDCT_SL_OUT && !bRunning)
                QDCT_TuiLianStep = 1;
            QDCT_XiaQieStep = 0;   
        }
        else if(dwTickCount >= QDCT_XiaQieDelay)
        {
            QDCT_XiaQieStep  = 0;
            if(QDCT_SQ_LIMIT_IN) QDCT_SetAlarmCode(QDCT_SQ_ORIGIN_ALARM);
            else if(QDCT_XQ_LIMIT_IN)QDCT_SetAlarmCode(QDCT_XQ_ALARM);
        }
        break;
    case 50:
        if(dwTickCount >= QDCT_XiaQieDelay)
        {
            //               if(QDCT_PARAM_CS_CONTROL)
            QDCT_CS_OUT = 1;
            QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_TIME;
            QDCT_XiaQieStep = 51;             
        }
        break;
    case 51:   
        if((dwTickCount >= QDCT_XiaQieDelay))
        {
            QDCT_CS_OUT = 0;
            QDCT_XiaQieDelay = dwTickCount + QDCT_PARAM_CS_COLD_TIME;
            QDCT_XiaQieStep = 6;             
        }
        break;
    }       
#endif
}
//装拉头完成合模动作
void QDCT_HeMo_Step(void)
{
    switch(QDCT_HeMoStep)
    {
    case 0:
        break; 
    case 1:
        if(QZhuangLiaoOkFlg && HZhuangLiaoOkFlg && (QDCT_QZhuangLiaoStep == 0) && (QDCT_HZhuangLiaoStep == 0))
        {
            //          前横送输出       前限位           前横送输出      前夹拉头     后横送输出      后夹拉头
            if(!QDCT_QHSL_OUT && (QDCT_GO_LIMIT_IN || cXiaMo_En)&& QDCT_QJLT_IN && !QDCT_HHSL_OUT && QDCT_HJLT_IN)
            {
                QDCT_XM_OUT   = 1;     //下模输出 
                QDCT_HeMoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
                QDCT_HeMoStep = 2;     
                QDCT_QZhuangLiaoStep = 0;
                QDCT_HZhuangLiaoStep = 0;
            }   
            else if(dwTickCount >= QDCT_HeMoDelay)
            {
                if(!QDCT_HJLT_IN)
                {
                    QDCT_SetAlarmCode(QDCT_HJLT_ALARM);
                }
                else if(!QDCT_QJLT_IN)
                {
                    QDCT_SetAlarmCode(QDCT_JLT_ALARM);
                }
                else if(!QDCT_GO_LIMIT_IN)
                {
                    QDCT_SetAlarmCode(QDCT_GO_LIMIT_ALARM);
                }
                else if(QDCT_QHSL_OUT || QDCT_HHSL_OUT)
                {
                    QDCT_SetAlarmCode(QDCT_HSL_ORIGIN_ALARM);
                }
            }          
        } 
        break;
    case 2:
        if(QDCT_XM_LIMIT_IN)  //下模到位
        {
            QDCT_HeMoStep = 3; 
            QDCT_HeMoDelay = dwTickCount + 100;                          
        }
        else if(dwTickCount >= QDCT_HeMoDelay)
        {
            QDCT_SetAlarmCode(QDCT_XM_LIMIT_ALARM); 
        }
        break;
    case 3:
        //两个顶针信号或调试模式
        if((QDCT_QLTCZ_IN || (!QDCT_PARAM_QLT_ON))  && (QDCT_HLTCZ_IN || (!QDCT_PARAM_HLT_ON)) )
        {
            QTryCnt = 0;
            HTryCnt = 0;
            cHemo_OK = 1;
            QDCT_HeMoStep = 0;
        }
        else if(dwTickCount >= QDCT_HeMoDelay)
        {
            if(bRunning)
            {        
                QTryCnt++;
                QDCT_HeMoStep = 4;
                if(QTryCnt >= 4)
                {
                    SetAlarmCode(QDCT_ALARM_ADDR,QDCT_ZLT_ALARM);  
                    cHemo_OK = 0;  
                    if(!QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON)
                    {
                        QZhuangLiaoOkFlg = 0;
                        QDCT_QJLT_OUT = 0;
                    }    
                    if(!QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON)
                    {
                        HZhuangLiaoOkFlg = 0;
                        QDCT_HJLT_OUT = 0;
                    }    
                }
                else
                { 
                    if(!QDCT_QLTCZ_IN && QDCT_PARAM_QLT_ON)
                        QZhuangLiaoOkFlg = 0;
                    if(!QDCT_HLTCZ_IN && QDCT_PARAM_HLT_ON)
                        HZhuangLiaoOkFlg = 0;
                }
            }     
        }
        break;
    case 4:  
        if(QDCT_GO_LIMIT_IN || (dwXRealPos > 1600) || ((dwXRealPos > 1200) && !X_DRV))
        {
            QDCT_XM_OUT  = 0; 
            QDCT_HeMoDelay = dwTickCount + 600; 
            if(QTryCnt >= 4)
            {
                QDCT_HeMoStep = 0;
                QDCT_SetAlarmCode(QDCT_ZLT_ALARM);  
            } 
            else 
                QDCT_HeMoStep = 5;
        }
        break;  
    case 5:
        if(!QDCT_XM_LIMIT_IN)  //下模下到位
        {
            QDCT_HeMoDelay = dwTickCount + 250; 
            QDCT_HeMoStep = 6;                 
        }
        else if(dwTickCount >= QDCT_HeMoDelay)
        {
            QDCT_HeMoStep = 0; 
            QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
        } 
        break; 
    case 6:
        if(dwTickCount >= QDCT_HeMoDelay)
        {
            QDCT_HeMoStep = 1; 
            QDCT_HeMoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            
            if((QZhuangLiaoOkFlg == 0)&& QDCT_PARAM_QLT_ON)
            {  
                QDCT_QJLT_OUT = 0;
                QDCT_QZhuangLiaoStep = 1;
            }    
            if((HZhuangLiaoOkFlg== 0 )&& QDCT_PARAM_HLT_ON)
            {
                QDCT_HJLT_OUT = 0;
                QDCT_HZhuangLiaoStep = 1;
            }   
            
        } 
        break;
    }
    if(bRunning && (QDCT_HeMoStep == 0) && (QDCT_XM_ORIGIN_IN_UP) && (QTryCnt < 3) && !QDCT_XM_OUT)
    {  
        if((!QDCT_QJLT_OUT) && (QDCT_QZhuangLiaoStep == 0) && QDCT_PARAM_QLT_ON)
        {
            QZhuangLiaoOkFlg = 0;
            QDCT_QZhuangLiaoStep = 1; 
        }
        if(!QDCT_HJLT_OUT &&(QDCT_HZhuangLiaoStep == 0) && QDCT_PARAM_HLT_ON)
        {
            HZhuangLiaoOkFlg = 0;                   
            QDCT_HZhuangLiaoStep = 1;
        }                            
    }
}



//前装拉头动作(横送拉头)
void QDCT_QZLT_Step(void)
{
    switch(QDCT_QZhuangLiaoStep)
    {
    case 1: 
        if(!QDCT_PARAM_QLT_ON)  //不打开
        {
            QZhuangLiaoOkFlg = 1;
            QDCT_QJLT_OUT    = 1;
        }
        if(QZhuangLiaoOkFlg)
        {
            QDCT_QZhuangLiaoStep = 0;
        }
        else
        {
            if(cFirstQStartFlg && QDCT_QJLT_IN && QDCT_QJLT_OUT)
            {
                QZhuangLiaoOkFlg = 1;
                QDCT_QZhuangLiaoStep = 0;
                cFirstQStartFlg = 0;
            }
            else
            {
                cFirstQStartFlg = 0;
                if(QDCT_QTLTStep == 0)   
                {
                    QDCT_QTLTStep = 1;    //推拉头开始  当QTuiLaTouOkFlg = 1 时动作自动清零                           
                }
                QDCT_QZhuangLiaoStep = 2; 
            }
        }
        break;
    case 2: //推拉头完成
        if(QDCT_QTLTStep == 0)
        {
            QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_QZhuangLiaoStep = 3;   
        }
        break;
    case 3:    //横送料原点  下模原点
        if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN )   //
        {
            if((cSL_En >= 1) || (!bRunning))
            {
                QDCT_QZhuangLiaoStep = 4;
                QDCT_QZhuangLiaoDelay = dwTickCount + 0;//QDCT_PARAM_HSL_DELAY;
            }  
        }
        else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
        {
            if(!QDCT_XM_ORIGIN_IN)
                QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
        }
        break;
    case 4: //横送输出
        if((dwTickCount >= QDCT_QZhuangLiaoDelay))
        {
            QDCT_QHSL_OUT = 1;      //前横送输出
            QDCT_QJLT_OUT = 0;      // 前夹拉头关 
            QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_QZhuangLiaoStep = 5;      
        }
        break;
    case 5: //横送到位   
        if(QDCT_QHSL_LIMIT_IN)
        {
            QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT;
            QDCT_QZhuangLiaoStep = 6;   
        }
        else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
        {
            if(QDCT_QHSL_OUT) //在自动程序运行结束时关闭了横送的情况，不报横送故障
                QDCT_SetAlarmCode(QDCT_HSL_LIMIT_ALARM);
            QDCT_QHSL_OUT   = 0;
        }
        break;
    case 6://延时夹拉头
        if((dwTickCount >= QDCT_QZhuangLiaoDelay)/* && ((cSL_En >= 2) || (!bRunning))*/)
        {
            QDCT_QJLT_OUT = 1; 
            
            QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_QZhuangLiaoStep = 7;   
        }
        break;
    case 7://夹拉头到位   
        if(QDCT_QJLT_IN)
        { //
            QTuiLaTouOkFlg = 0;
            QDCT_QTLTStep = 1;  //横送料退回时启动推拉头 
            QDCT_QZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK;
            QDCT_QZhuangLiaoStep = 8;
        }
        else if(dwTickCount >= QDCT_QZhuangLiaoDelay)
        {
            QDCT_SetAlarmCode(QDCT_JLT_ALARM);
            QDCT_QHSL_OUT   = 0;
        }
        break;
    case 8:
        if(dwTickCount >= QDCT_QZhuangLiaoDelay)
        {
            QDCT_QHSL_OUT   = 0;
            QZhuangLiaoOkFlg = 1;
            QDCT_QZhuangLiaoStep = 9;
        }
        break;
    case 9:   
        if(!QDCT_QHSL_LIMIT_IN)
        {
            QDCT_QZhuangLiaoStep = 10;
            QDCT_QZhuangLiaoDelay = dwTickCount + 30;
        }
        break;
    case 10:
        if((dwTickCount >= QDCT_QZhuangLiaoDelay) || QDCT_QHSL_ORIGIN_IN)
        {
            QDCT_QZhuangLiaoStep = 0;
        }  
        break;
    }
}

//后装拉头动作
void QDCT_HZLT_Step(void)
{
    switch(QDCT_HZhuangLiaoStep)   
    {
    case 1:   
        if(!QDCT_PARAM_HLT_ON)
        {
            HZhuangLiaoOkFlg = 1;
            QDCT_HJLT_OUT    = 1;
        }
        if(HZhuangLiaoOkFlg)
        {
            QDCT_HZhuangLiaoStep = 0;
        }
        else
        {
            if(cFirstHStartFlg && QDCT_HJLT_IN && QDCT_HJLT_OUT)
            {
                HZhuangLiaoOkFlg = 1;
                cFirstHStartFlg = 0;
                QDCT_HZhuangLiaoStep = 0;
            }
            else
            {
                cFirstHStartFlg = 0;
                if(QDCT_HTLTStep == 0)
                {
                    QDCT_HTLTStep = 1;                                
                }
                QDCT_HZhuangLiaoStep = 2; 
            }
        }
        break;
    case 2:  
        if(QDCT_HTLTStep == 0)//后推拉头完成
        {
            QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_HZhuangLiaoStep = 3;   
        }
        break;
    case 3:
        if(!QDCT_XM_OUT && QDCT_XM_ORIGIN_IN )   //
        {
            if((cSL_En >= 1) || (!bRunning))
            {
                QDCT_HZhuangLiaoDelay = dwTickCount + 0;//QDCT_PARAM_HSL_DELAY;
                QDCT_HZhuangLiaoStep = 4;  
            }
        }
        else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
        {
            if(!QDCT_XM_ORIGIN_IN)
                QDCT_SetAlarmCode(QDCT_XM_ORIGIN_ALARM);
        }
        break;
    case 4: 
        if(dwTickCount >= QDCT_HZhuangLiaoDelay)
        {
            QDCT_HHSL_OUT = 1;  //横送料输出
            QDCT_HJLT_OUT = 0; 
            QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_HZhuangLiaoStep = 5;   
        }
        break;
    case 5:     
        if(QDCT_HHSL_LIMIT_IN)  //横送到位
        {
            QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_DELAY_JLT;
            QDCT_HZhuangLiaoStep = 6;   
        }
        else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
        {
            if(QDCT_HHSL_OUT) //在自动程序运行结束时关闭了横送的情况，不报横送故障
                QDCT_SetAlarmCode(QDCT_HHSL_LIMIT_ALARM);
            QDCT_HHSL_OUT   = 0;
        }
        break;
    case 6:        //延时夹拉头
        if((dwTickCount >= QDCT_HZhuangLiaoDelay)/* && ((cSL_En >= 2) || (!bRunning))*/)
        {
            QDCT_HJLT_OUT = 1; 
            QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_HZhuangLiaoStep = 7;   
        }
        break;
    case 7://夹拉头到位
        if(QDCT_HJLT_IN)
        {
            HTuiLaTouOkFlg = 0;
            QDCT_HTLTStep = 1;  //横送料退回时启动推拉头 
            QDCT_HZhuangLiaoDelay = dwTickCount + QDCT_PARAM_HSL_DELAY_BACK;
            QDCT_HZhuangLiaoStep = 8;
        }
        else if(dwTickCount >= QDCT_HZhuangLiaoDelay)
        {
            QDCT_SetAlarmCode(QDCT_HJLT_ALARM);
            QDCT_HHSL_OUT   = 0;
        }
        break;
    case 8: //延时退横送料
        if((dwTickCount >= QDCT_HZhuangLiaoDelay))
        {
            QDCT_HHSL_OUT   = 0;
            HZhuangLiaoOkFlg = 1;                
            QDCT_HZhuangLiaoStep = 9;
        }
        break;
    case 9:   
        if(!QDCT_HHSL_LIMIT_IN)
        {
            QDCT_HZhuangLiaoStep = 10;
            QDCT_HZhuangLiaoDelay = dwTickCount + 30;
        }
        break;
    case 10:
        if((dwTickCount >= QDCT_HZhuangLiaoDelay) || QDCT_HHSL_ORIGIN_IN)
        {
            QDCT_HZhuangLiaoStep = 0;
        }  
        break;
    }
}
//前推拉头动作
void QDCT_QTuiLT_Step(void)
{
    static unsigned long q_dlp_delay;
    
    if(QDCT_QDLP_OUT && (dwTickCount >= q_dlp_delay))
        QDCT_QDLP_OUT = 0;
    switch(QDCT_QTLTStep)
    {  
    case 1:
        //前拉头使能
        if(!QDCT_PARAM_QLT_ON)
        {
            QTuiLaTouOkFlg = 1;
        }
        if(QTuiLaTouOkFlg)
        {
            QDCT_QTLTStep = 0; 
        }
        else
        {
            QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_QTLTStep = 2;
        }
        break;
    case 2:
        if(QDCT_QHSL_ORIGIN_IN && !QDCT_QHSL_LIMIT_IN)
        {
            QDCT_QTLT_OUT = 1;
            if(QTryCnt<= QDCT_PARAM_TRY_TIMES)
                QDCT_QDLP_OUT       = 1;
            q_dlp_delay = dwTickCount + QDCT_PARAM_DLP_TIME;
            QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_QTLTStep = 3;
        }          
        break;
    case 3:
        if(QDCT_QTLT_LIMIT_IN)
        { 
            QDCT_QTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
            QDCT_QTLTStep = 4;
        }
        else if(dwTickCount >= QDCT_QTLT_Delay) 
        {
            QDCT_SetAlarmCode(QDCT_SL_ALARM);        
            QDCT_QTLT_OUT=0;    
        }
        break;
    case 4:
        if((dwTickCount >= QDCT_QTLT_Delay))
        {
            QDCT_QTLT_OUT       = 0;
            QDCT_QTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
            QDCT_QTLTStep = 5;
            QTuiLaTouOkFlg    = 1;
        }
        break;
    case 5:    
        if(!QDCT_QTLT_LIMIT_IN)
        {
            QDCT_QTLTStep = 0;
            QDCT_QTLT_Delay = dwTickCount;                
        }
        else if(dwTickCount >= QDCT_QTLT_Delay) 
            QDCT_SetAlarmCode(QDCT_SL_ALARM); 
        break;
    }
}

//后推拉头动作
void QDCT_HTuiLT_Step(void)
{
    static unsigned long h_dlp_delay;
    //    static unsigned short dlp_flg = 0;
    if(QDCT_HDLP_OUT && (dwTickCount >= h_dlp_delay))
        QDCT_HDLP_OUT = 0;
    switch(QDCT_HTLTStep)
    {
    case 1:
        if(!QDCT_PARAM_HLT_ON)
        {
            HTuiLaTouOkFlg = 1;
        }
        if(HTuiLaTouOkFlg)
        {
            QDCT_HTLTStep = 0; 
        }
        else
        {
            QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_HTLTStep = 2;
        }
        break;
    case 2:
        if(QDCT_HHSL_ORIGIN_IN && !QDCT_HHSL_LIMIT_IN)
        {
            QDCT_HTLT_OUT       = 1;
            if(QTryCnt<= QDCT_PARAM_TRY_TIMES)
                QDCT_HDLP_OUT = 1; 
            h_dlp_delay = dwTickCount + QDCT_PARAM_DLP_TIME;
            QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME;
            QDCT_HTLTStep = 3;
        }
        break;
    case 3:    
        if(QDCT_HTLT_LIMIT_IN)
        { 
            QDCT_HTLT_Delay = dwTickCount + QDCT_PARAM_SL_BACKDELAY;
            QDCT_HTLTStep = 4;
        }
        else if(dwTickCount >= QDCT_HTLT_Delay) 
        {
            QDCT_SetAlarmCode(QDCT_SL_ALARM);        
            QDCT_HTLT_OUT=0;
        }
        break;
    case 4:
        if((dwTickCount >= QDCT_HTLT_Delay))
        {
            QDCT_HTLT_OUT       = 0;
            QDCT_HTLT_Delay = dwTickCount + QDCT_VAVLE_ERROR_TIME; 
            QDCT_HTLTStep = 5;
            HTuiLaTouOkFlg    = 1;
        }
        break;
    case 5:  
        if(!QDCT_HTLT_LIMIT_IN)
        {
            QDCT_HTLTStep = 0;
            QDCT_HTLT_Delay = dwTickCount;
            
            
        }
        else if(dwTickCount >= QDCT_HTLT_Delay) 
            QDCT_SetAlarmCode(QDCT_SL_ALARM);    
        break;
    }
}
//手动动作
void QDCT_ManualAction(void)
{ 
    static unsigned char cs_flg;
    static long cs_delay;
    
    //轴使能状态，供屏显示
    if(GetEn(X_AXIS)==QDCT_MOTOR_DISEN)
    {
        
        QDCT_AxisEn_status=0;
    }
    else
    {
        QDCT_AxisEn_status=1;
    }
    //轴使能状态，供屏显示
    if(GetEn(Y_AXIS)==QDCT_MOTOR_DISEN)
    {
        
        QDCT_YAxisEn_status=0;
    }
    else
    {
        QDCT_YAxisEn_status=1;
    }
    
    //前振动盘
    if(QDCT_bManQZD)
    {
        QDCT_bManQZD = 0;
        if(QDCT_QZDPStep)
        {
            QDCT_QZDP_OUT = 0;
            QDCT_QZDPStep = 0;
            QZDPAutoDisable=1;
        }
        else
        {
            QDCT_QZDP_OUT = 1;
            QDCT_QZDPStep = 2;
            if(QDCT_TLPStep==0)QDCT_TLPStep  = 1;
            QZDPAutoDisable=0;
        }
    }
    //后振动盘
    if(QDCT_bManHZD)
    {
        QDCT_bManHZD = 0;
        if(QDCT_HZDPStep)
        {
            QDCT_HZDP_OUT = 0;
            QDCT_HZDPStep = 0;
            HZDPAutoDisable=1;
        }
        else
        {
            QDCT_HZDP_OUT = 1;
            QDCT_HZDPStep = 2;
            HZDPAutoDisable=0;
        }
    }   
    
    if(bRunning == 0)  
    {   
        if(bClearTotal) //切断计数清零
        {
            bClearTotal       = 0;
            ClrcToTal(QDCT_TOTAL_ADDR);
        }
        
        if(QDCT_bClerNowTotal)
        {
            QDCT_bClerNowTotal = 0;
            QDCT_PARAM_TB_CNT1 = 0;
            QDCT_PARAM_TB_CNT2 = 0;
            ClrcToTal(QDCT_NOWTOTAL_ADDR);
        }		
	//切断	
        if(QDCT_bQieDuan)
        {
            QDCT_bQieDuan = 0;
            if(QDCT_XiaQieStep == 0)
            {
                if(QDCT_PARAM_XM_MODE)      //下模不动
                {
                    if(QDCT_SL_ORIGIN_IN )
                        QDCT_XiaQieStep = 1;
                    else
                        QDCT_SetAlarmCode(QDCT_SL_ORIGIN_ALARM);
                }
                else
                {
                    QDCT_XiaQieStep = 1;
                }
            }
        }
        //测试行程
        if(QDCT_bReset_Origin)
        {
            QDCT_bReset_Origin = 0;
            cTestMotorStep = 1;
        } 
        //前点定位
        if(QDCT_bQianDianDW)
        {
            QDCT_bQianDianDW = 0;
            if((QDCT_MotorStep == 0) && !QDCT_SQ_LIMIT_IN && (!QDCT_XQ_LIMIT_IN || QDCT_PARAM_XM_MODE) && QDCT_SYL_ORIGIN_IN && !QDCT_YL_LIMIT_IN)
            {
                QDCT_MotorStep = 61;
                dwZipCnt      = 0;
            }
            else if(QDCT_SQ_LIMIT_IN)
            {
                QDCT_SetAlarmCode(QDCT_SQ_LIMIT_ALARM); 
            }
            else if(!QDCT_SYL_ORIGIN_IN)
            {
                QDCT_SetAlarmCode(QDCT_SYL_ORIGIN_ALARM);
            }
            else if(QDCT_YL_LIMIT_IN)
            {
                QDCT_SetAlarmCode(QDCT_YL_LIMIT_ALARM);
            }
        }
        //下模
        if(QDCT_bManXM)
        {
            QDCT_bManXM = 0;
            QDCT_XM_OUT = ~QDCT_XM_OUT;
            
            if(QDCT_QHSL_OUT || QDCT_HHSL_OUT)QDCT_XM_OUT = 0;
        }
        //上切刀       
        if(QDCT_bManSQ)
        {
            QDCT_bManSQ = 0;
            
            if(QDCT_SQ_OUT) 
                QDCT_SQ_OUT = 0;
            //         送料原点              下模动                                  //下模不动
            else if((QDCT_SL_ORIGIN_IN && (QDCT_PARAM_XM_MODE != 0))||(QDCT_PARAM_XM_MODE == 0))
            {    
                QDCT_SQ_OUT = 1;
                cQDCT_TuiLianOKFlag = 0;
            }
        }
        //下切刀
        if(QDCT_bManXQ)
        {
            QDCT_bManXQ = 0;
            
            if(!QDCT_PARAM_XM_MODE) //有下刀
            {
                QDCT_XQ_OUT = ~QDCT_XQ_OUT;
                //QDCT_SL_OUT = 0;
            }
            else
            {
                QDCT_SL_OUT = ~QDCT_SL_OUT;
                //QDCT_XQ_OUT = 0;
            }
            cQDCT_TuiLianOKFlag = 0;
            if(QDCT_GO_LIMIT_IN)
            {
                QDCT_XQ_OUT = 0;
                QDCT_SL_OUT=0;
            }
        }
        //夹带 
        if(QDCT_bManJD)
        {
            QDCT_bManJD = 0;
            QDCT_JD_OUT = ~QDCT_JD_OUT;
        }
        //前推拉头
        if(QDCT_bManQTLT)
        {
            QDCT_bManQTLT = 0;
            if(QDCT_QHSL_ORIGIN_IN)
            {
                if(QDCT_QTLTStep == 0)
                {
                    QDCT_QTLTStep = 1;
                    QTuiLaTouOkFlg    = 0;
                    QTryCnt = 0;
                }
                else
                {
                    QDCT_QTLT_OUT       = 0;
                }  
            }
        }
        //后推拉头
        if(QDCT_bManHTLT)
        {
            QDCT_bManHTLT = 0;
            if(QDCT_HHSL_ORIGIN_IN)
            {
                if(QDCT_HTLTStep == 0)
                {
                    QDCT_HTLTStep  = 1;
                    HTuiLaTouOkFlg = 0;
                    QTryCnt = 0;
                }
                else     //后推拉头
                    QDCT_HTLT_OUT       = 0;
            }
        }
        //前横送料
        if(QDCT_bManQHSL)
        {
            QDCT_bManQHSL = 0;
            QDCT_QHSL_OUT = ~QDCT_QHSL_OUT; 
            if(QDCT_XM_OUT || QDCT_QTLT_LIMIT_IN) QDCT_QHSL_OUT = 0;
            if(QDCT_QHSL_OUT && QDCT_QJLT_OUT) QDCT_QJLT_OUT=0;           
        }
        
        if(QDCT_bManHHSL)
        {
            QDCT_bManHHSL = 0;
            QDCT_HHSL_OUT = ~QDCT_HHSL_OUT;
            
            if(QDCT_XM_OUT || QDCT_HTLT_LIMIT_IN)QDCT_HHSL_OUT = 0;
            if(QDCT_HHSL_OUT && QDCT_HJLT_OUT) QDCT_HJLT_OUT=0;
        }
        /*        
        //前振动盘
        if(QDCT_bManQZD)
        {
        QDCT_bManQZD = 0;
        if(QDCT_QZDPStep)
        {
        QDCT_QZDP_OUT = 0;
        QDCT_QZDPStep = 0;
    }
        else
        {
        QDCT_QZDP_OUT = 1;
        QDCT_QZDPStep = 2;
        if(QDCT_TLPStep==0)QDCT_TLPStep  = 1;
    }
    }
        //后振动盘
        if(QDCT_bManHZD)
        {
        QDCT_bManHZD = 0;
        if(QDCT_HZDPStep)
        {
        QDCT_HZDP_OUT = 0;
        QDCT_HZDPStep = 0;
    }
        else
        {
        QDCT_HZDP_OUT = 1;
        QDCT_HZDPStep = 2;
    }
    }
        */        
        //前夹拉头
        if(QDCT_bManQJLT)
        {
            QDCT_bManQJLT = 0;
            QDCT_QJLT_OUT = ~QDCT_QJLT_OUT;
            if(!QDCT_QJLT_OUT)
                QZhuangLiaoOkFlg = 0;
        }
        //后夹拉头
        if(QDCT_bManHJLT)
        {
            QDCT_bManHJLT = 0;
            QDCT_HJLT_OUT = ~QDCT_HJLT_OUT;
            if(!QDCT_HJLT_OUT)
                HZhuangLiaoOkFlg = 0;
        }
        //台面电机
        if(QDCT_bTable)
        {
            QDCT_bTable = 0;
            
            QDCT_TB_OUT = ~QDCT_TB_OUT;
            if(QDCT_TB_OUT)
                QDCT_TableDelay = dwTickCount+100000;
            else
                QDCT_TableDelay = dwTickCount+100; 
        }
        //前装料
        if(QDCT_bQZuangLT)
        {
            QDCT_bQZuangLT = 0;
            if(QDCT_QZhuangLiaoStep == 0)
            {
                QTryCnt              = 0;
                QTuiLaTouOkFlg      = 1;
                QDCT_QZhuangLiaoStep = 3;
                cFirstQStartFlg      = 0;
            }
        }
        //后装料
        if(QDCT_bHZuangLT)
        {
            QDCT_bHZuangLT = 0;
            if(QDCT_HZhuangLiaoStep == 0)
            {
                QTryCnt              = 0;
                HTuiLaTouOkFlg      = 1;
                QDCT_HZhuangLiaoStep = 3;
                cFirstHStartFlg      = 0;
            }
        }
        //压带
        if(QDCT_bManYD)
        {
            QDCT_bManYD = 0;
            QDCT_YD_OUT = ~QDCT_YD_OUT;
        }
        //吹气
        if(QDCT_bManCQ)
        {
            QDCT_bManCQ = 0;
            QDCT_CQ_OUT = 1;//~QDCT_CQ_OUT;  //吹气
            QDCT_CQDelay = dwTickCount + QDCT_PARAM_CQ_TIME;
        }
        //推拉片
        if(QDCT_bManDLP)
        {
            QDCT_bManDLP = 0;
            QDCT_TLP_OUT = ~QDCT_TLP_OUT;
        }
        //穿拉头
        if(QDCT_bChuanLT)
        {
            QDCT_bChuanLT = 0;
            if(!QDCT_BACK_LIMIT_IN)
            {
                if(QDCT_MotorStep == 0)QDCT_MotorStep = 30;
            }
        }
        //电机松轴
        if(QDCT_bManSZ)
        {
            QDCT_bManSZ = 0;
            if(GetEn(X_AXIS)==QDCT_MOTOR_DISEN)
            {
                SetEn(X_AXIS, QDCT_MOTOR_EN);
            }
            else
            {
                SetEn(X_AXIS, QDCT_MOTOR_DISEN);
            }
        }
        //电机控制        
        if(QDCT_bMotorGo && !QDCT_GO_LIMIT_IN && !QDCT_SQ_LIMIT_IN)
        {           
            QDCT_JD_OUT   = 0;
            //QDCT_JJ_DIR   = QDCT_JJ_DIR_P;
            //QDCT_SZ_OUT   = QDCT_MOTOR_EN;
            SetEn(X_AXIS, QDCT_MOTOR_EN);
            cBackLimitCheck_EN= 0;
            if(!X_DRV)AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_N,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); 
        }
        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;
            SetEn(X_AXIS, QDCT_MOTOR_EN);
            //QDCT_JJ_DIR   = QDCT_JJ_DIR_N;
            cBackLimitCheck_EN = 1;
            if(!X_DRV)AxisContinueMoveAcc(X_AXIS,QDCT_PARAM_PUTIN_LOW_SPEED, QDCT_DIR_P,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); 
        }
        
        if(!QDCT_bMotorGo && !QDCT_bMotorBack && (QDCT_MotorStep == 0) && (cStopFlg == 0) && (cTestMotorStep == 0))
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(QDCT_GO_LIMIT_IN && (QDCT_MotorStep == 0) && !QDCT_bMotorBack &&(QDCT_AutoStep == 0) && (cStopFlg == 0) && (cStopFlg == 0) && (cTestMotorStep == 0))
        {
            if(X_DRV)AxisEgmStop(X_AXIS);
        }
        
        if(QDCT_bYLGO)
        {   
            SetEn(Y_AXIS, QDCT_MOTOR_EN);
            //QDCT_YL_DIR = QDCT_YL_DIR_P;
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_START_SPEED, QDCT_YL_DIR_P,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); 
        }
        
        if(QDCT_bYLBACK)
        {      
            SetEn(Y_AXIS, QDCT_MOTOR_EN);
            //QDCT_YL_DIR = QDCT_YL_DIR_N;
            if(!Y_DRV)AxisContinueMoveAcc(Y_AXIS,QDCT_PARAM_START_SPEED, QDCT_YL_DIR_N,
                                          QDCT_PARAM_START_SPEED,QDCT_PARAM_START_SPEED,
                                          QDCT_PARAM_ACC_PULSE,QDCT_PARAM_DEC_PULSE); 
        }
        
        if(!QDCT_bYLGO && !QDCT_bYLBACK && (QDCT_MotorStepY == 0) && (QDCT_AutoStep == 0))
        {
            if(Y_DRV)AxisDecStop(Y_AXIS);
        }
        
        if(QDCT_bYL)
        {
            QDCT_bYL = 0;
            QDCT_YL_OUT = ~QDCT_YL_OUT;
        }
        if(QDCT_bSYL)
        {
            QDCT_bSYL = 0;
            QDCT_SYL_OUT = ~QDCT_SYL_OUT;
        }
        //Y电机松轴
        if(QDCT_bManSZ_Y)
        {
            QDCT_bManSZ_Y = 0;
            if(GetEn(Y_AXIS)==QDCT_MOTOR_DISEN)
            {
                SetEn(Y_AXIS, QDCT_MOTOR_EN);
            }
            else
            {
                SetEn(Y_AXIS, QDCT_MOTOR_DISEN);
            }
        }        
        
        if(QDCT_bManKL)
        {
            QDCT_bManKL = 0;
            //QDCT_KL_OUT = ~QDCT_KL_OUT;
            //   QDCT_JiaLianStep = 3;
        }
        
        if(QDCT_bManCS)
        {
            QDCT_bManCS = 0;
            cs_delay = dwTickCount + QDCT_PARAM_CS_TIME;
            QDCT_CS_OUT = 1;
            cs_flg  = 1;
        }    
    }
    if(cs_flg)
    {
        if(QDCT_CS_OUT && (dwTickCount >= cs_delay))
        {
            QDCT_CS_OUT = 0;
            cs_flg  = 0;
        }
    } 
    //这里特殊改动
    //   if(QDCT_PARAM_XM_MODE!== 0)
    //  {
    
    if(QDCT_CQ_OUT && (dwTickCount >= QDCT_CQDelay)) QDCT_CQ_OUT = 0;
    //   }
}


#endif