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- #include "global.h"
- #if JIN_HONG_MACHINE == 1
- unsigned long CTXMSS_DOWN_TIME=0,PRV_CTXMSS_DOWN_TIME=0;
- unsigned long FIRST_HEMO_TIME=0,PRV_FIRST_HEMO_TIME=0;
- unsigned long HSLiao_OUT_TIME1=0,PRV_HSLiao_OUT_TIME1=0,HSLiao_OUT_TIME2=0,PRV_HSLiao_OUT_TIME2=0;
- unsigned long TARR_OVER_DELAY=0;
- unsigned long HSLIAO_OUT_DELAY=0,FIRST_CT_BACK_DELAY=0;
- unsigned char RUNONCEFLAG=0,RUNONCEFLAG1=0;
- unsigned long ZLT_TOTAL_TIME=0,PRV_ZLT_TOTAL_TIME=0;
- unsigned long HSLIAO_CHECK_DELAY;
- unsigned char SF_ALARM_FLAG;
- //故障报警
- void JH_CTHL_NL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag)
- {
- SetAlarmCode(JH_CTHL_NL_ALARM_ADDR,alarm_code);
- // bAlarmStop = 0;
- // if(cStopFlag)
- if(!cWULATOUCnt && !cCHULIANBAOJIN)
- {
- bAlarmStop = 1;
- }
- else
- {
- cWULATOUCnt=0;
- }
- }
- //运行状态
- void CTHL_Running_state(void)
- {
-
- user_datas[210] = JH_CTHL_NL_ZhuangLiaoStep;
- user_datas[211] = JH_CTHL_NL_CL_MotorStep;
- user_datas[212] = JH_CTHL_NL_TD_MotorStep;
- user_datas[213] = JH_CTHL_NL_AutoStep;
-
- user_datas[214] = CTXMSS_DOWN_TIME;
- user_datas[215] = FIRST_HEMO_TIME;
-
- user_datas[216] = HSLiao_OUT_TIME1;
- user_datas[217] = HSLiao_OUT_TIME2;
-
- user_datas[218] = JH_CTHL_NL_LianLengthAutoCheck;
- user_datas[219] = JH_CTHL_NL_LianLengthAutoFirst;
-
- user_datas[220] = JH_CTHL_NL_LianLengthCheck;
- user_datas[221] = JH_CTHL_NL_LianLengthCheckReal;
- memcpy(&user_datas[222],&dwXRealPos,4);
- memcpy(&user_datas[224],&dwYRealPos,4);
- //memcpy(&user_datas[226],&CTHL_FKGY_Length,4);//方块感应位置
- //memcpy(&user_datas[228],&CTHL_FKGY_STOP_Length,4);//方块停长度
- //memcpy(&user_datas[230],&CTHL_CXCD,4);//穿插销长度。CTHL_GLGY_FKDW_Length
- //memcpy(&user_datas[232],&CTHL_GLGY_FKDW_Length,4);
- user_datas[234] = GetAlarm(X_AXIS);//;master1.send_count-master1.receive_count;//GetAlarm(X_AXIS);
- user_datas[235] = GetTarr(X_AXIS);
- user_datas[236] = servo_x.alarmcode;
- user_datas[237] = servo_x.IO_TO_COM;
- }
- void JH_CTHL_NL_AlarmProtect(void)
- {
-
- }
- //自动动作
- void JH_CTHL_NL_AutoStepAction(void)
- {
-
- if(bRunning && user_datas[100] == 0)
- {
- JH_CTHL_NL_Run_DENG_VAVLE=0;
- JH_CTHL_NL_Stop_DENG_VAVLE=1;
- JH_CTHL_NL_ERROR_DENG_VAVLE=1;
-
- }
- else if(!bRunning && user_datas[100] == 0)
- {
- JH_CTHL_NL_Run_DENG_VAVLE=1;
- JH_CTHL_NL_Stop_DENG_VAVLE=0;
- JH_CTHL_NL_ERROR_DENG_VAVLE=1;
-
- }
- else if(user_datas[100] != 0)
- {
- JH_CTHL_NL_Run_DENG_VAVLE=1;
- JH_CTHL_NL_Stop_DENG_VAVLE=1;
- JH_CTHL_NL_ERROR_DENG_VAVLE=0;
-
- }
- if((GetAlarm(Y_AXIS)==1 || GetAlarm(X_AXIS)==1) && !JH_CTHL_NL_PARAM_BoardSelect &&!SF_ALARM_FLAG)
- {
-
- SF_ALARM_FLAG=1;
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SF_ALR_ALARM,0);
- }
-
- if(bRunning && !bAlarmStop)
- {
- switch(JH_CTHL_NL_AutoStep)
- {
- case 1:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_XKTD_VAVLE = 1; //Y01 斜口推带电磁阀(前码前后)
- JH_CTHL_NL_FKGD_VAVLE = 0; //方块固定关
- JH_CTHL_NL_CXSX_VAVLE = 0; //插销顶出
- JH_CTHL_NL_AutoStep = 2;
- if(GetServoComState(X_AXIS))
- {
- set_servo_postotarr_limit(X_AXIS,SERVO_PARAM_TRARR_LIMITMAX,20000,20000,SERVO_TARR_CCW);
- Set_Ctrlmode_trans(X_AXIS,POS_MODE);
- }
- if(JH_CTHL_NL_HLJJ_VAVLE)bCL_EN_FLG = 1;//Y11 合链夹具电磁阀(夹子)
- if(JH_CTHL_NL_ZhuangLiaoStep == 0)
- {
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- JH_CTHL_NL_TryCnt = 0;
- }
- }
- break;
- case 2:
- if((!JH_CTHL_NL_XKTD_Origin_IN && JH_CTHL_NL_XKTD_VAVLE)) //斜口推带原位离开
- {
- JH_CTHL_NL_AutoStep = 3;
- JH_CTHL_NL_AutoDelay = dwTickCount + 180;
-
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 3://斜口定位
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- if(GetServoComState(X_AXIS))
- {
- if(get_tarr_set(X_AXIS)!=2)//配置失败停机
- {
- SetEn(X_AXIS, MOTOR_DISEN);//设置扭矩做准备
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SERVO_CONFIG_ALARM,bRunning);//伺服转矩配置失败
- }
- }
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_AutoStep = 4;
- JH_CTHL_NL_XKDW_VAVLE = 1; //下方块钩针
- JH_CTHL_NL_AutoDelay = dwTickCount + 80;
- }
- }
- break;
- case 4:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- if(!cBanAuTo)
- {
- if(JH_CTHL_NL_cZipCnt < 1)JH_CTHL_NL_AutoDelay = dwTickCount +350;
- else JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_FKJDFZ_DELAY;
- //斜口定位速度
- AxisContinueMoveAcc(X_AXIS,JH_CTHL_NL_PARAM_XKDW_Speed,DIR_P,JH_CTHL_NL_PARAM_XKDW_Speed/2,1000,25,25);//拖带电机
- JH_CTHL_NL_bDinweiOK = 0;
- cDJzzcd=0;
- JH_CTHL_NL_AutoStep = 5;
- JH_CTHL_NL_XSavePosBuff = dwXRealPos;
-
- }
- else
- {
- if(JH_CTHL_NL_cZipCnt < 1)
- JH_CTHL_NL_AutoDelay = dwTickCount +350;
- else
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_FKJDFZ_DELAY;
- JH_CTHL_NL_AutoStep = 5;
- JH_CTHL_NL_XSavePosBuff = dwXRealPos;
-
- }
- }
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 5:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)JH_CTHL_NL_FKJD_VAVLE = 1; //方块夹带气缸输出
- if(dwXRealPos >= (JH_CTHL_NL_XSavePosBuff + JH_CTHL_NL_PARAM_QMDW_LENGTH))//延时输出前码定位
- {
- JH_CTHL_NL_XKDW_VAVLE = 1; //Y00 斜口定位电磁阀(方块勾针)
- }
- if((dwXRealPos >= JH_CTHL_NL_PARAM_WLCDSHEZHI_LENTH) && JH_CTHL_NL_PARAM_WLCDSHEZHI_LENTH)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
- }
- if(dwXRealPos > JH_CTHL_NL_LianLengthAutoCheck+2000 && JH_CTHL_NL_LianLengthAutoCheck && JH_CTHL_NL_cZipCnt>0)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
- }
- if(JH_CTHL_NL_XKSC_Limit_IN) //方块上止到位
- {
- JH_CTHL_NL_GDXM_VAVLE = 1; //固定斜码
- JH_CTHL_NL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭
- Set_Ctrlmode_trans(X_AXIS,TARR_MODE);//设置为扭矩模式。
- if(!JH_CTHL_PARAM_DCGO_LENGTH)
- {
- AxisEgmStop(X_AXIS);
- }
- else
- {
- if(!cDJzzcd)
- {
- AxisMovePosAccDec(X_AXIS,1000,JH_CTHL_PARAM_DCGO_LENGTH,800,600,10,20,0);
- cDJzzcd=1;
- }
- }
- JH_CTHL_NL_bDinweiOK = 1;
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_FKJD_VAVLE = 0; //方块夹带气缸关
- JH_CTHL_NL_AutoStep = 6;
-
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- JH_CTHL_NL_bLTCHECK_Delay = dwTickCount +0;
- JH_CTHL_NL_XKTD_VAVLE = 0; //斜口推带气缸关闭
- //电机穿入可以启动
- bCL_OK_FLG = 1; //不用穿合链的话认为已经完成
- if(bCL_EN_FLG)
- {
- bCL_OK_FLG = 0;
- JH_CTHL_NL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入
-
- JH_CTHL_NL_CL_MotorStep = 1;
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + JH_CTHL_NL_PARAM_HLJJ_CL_DELAY;
- }
- }
- }
- else if(dwXRealPos >= (JH_CTHL_NL_XSavePosBuff + 3000)) //750
- {
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_FKCXDW_ALARM,bRunning); //方块插销定位异常警告
-
- }
- break;
- case 6:
- if(JH_CTHL_NL_XKTD_Origin_IN) //斜口推带回到原位
- {
- if((JH_CTHL_NL_PARAM_FD_EN == 0) && ((JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 1) || (JH_CTHL_NL_PARAM_QianMaSelect == 1))) //尼龙的顶斜口不能输出)
- JH_CTHL_NL_FengDai_VAVLE = 1; //分带输出
- if(bZhuangLiaoOkFlg && (JH_CTHL_NL_ZhuangLiaoStep == 0)&&dwTickCount >= JH_CTHL_NL_bLTCHECK_Delay)
- {
- //单一标志//次数到停止
- if(bSingOneFlg&&bSingOneCnt==0)
- {
- JH_CTHL_NL_AutoStep = 0;
- bRunning = 0;
- }
- else
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- if(!JH_CTHL_NL_LTou_Check)
- {
- if(!JH_CTHL_NL_CTXMSS_VAVLE)JH_CTHL_NL_HeMoStep = 1; //下模的上升和下降电磁阀要配合
- JH_CTHL_NL_AutoStep = 7;
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- JH_CTHL_NL_CXSX_VAVLE = 0; //插销上下
- //单一标准有效,次数减去1
- if(bSingOneFlg&&bSingOneCnt>0)bSingOneCnt--;
- }
- else
- {
- cWULATOUCnt=1;
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_ZLT_ALARM,bRunning); // 没有拉头
- }
- }
- }
- }
- }
- else if(dwTickCount >= JH_CTHL_NL_AutoDelay && !JH_CTHL_NL_XKTD_VAVLE &&!cBanAuTo)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_XKTD_Origin_ALARM,bRunning); //斜口推带回到异常
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 7:
- if(JH_CTHL_NL_CTM_Limit_IN && JH_CTHL_NL_XKTD_Origin_IN)
- {
- PRV_ZLT_TOTAL_TIME=dwTickCount-ZLT_TOTAL_TIME;
- JH_CTHL_NL_AutoStep = 8;
- if(GetServoComState(X_AXIS))
- {
- Set_Ctrlmode_trans(X_AXIS,POS_MODE);
- set_servo_postotarr_limit(X_AXIS,SERVO_PARAM_TRARR_LIMITMIN,JH_CTHL_TRARR_FK_SPEED,JH_CTHL_TRARR_FK_SPEED,SERVO_TARR_CCW);
- }
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_DXK_DELAY;
- if((JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 1) || (JH_CTHL_NL_PARAM_QianMaSelect == 1)) //尼龙的顶斜口不能输出
- JH_CTHL_NL_XKTD_VAVLE = 1; //斜口推带气缸输出
- }
- else if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Limit_ALARM,bRunning); //穿头下模上升异常
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 8:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay) //延时顶斜口
- {
- if((JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 0) && (JH_CTHL_NL_PARAM_QianMaSelect == 0))
- JH_CTHL_NL_DXK_VAVLE = 1; //延时顶斜口
-
- JH_CTHL_NL_AutoStep = 9;
- if(JH_CTHL_NL_cZipCnt==0)
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_DXK_XKDW_Off_DELAY+50;
- else
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_DXK_XKDW_Off_DELAY;
-
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 9:
- if((dwTickCount >= JH_CTHL_NL_AutoDelay)) //顶斜口延时退斜口上止定位
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_XKDW_VAVLE = 0; //方块钩针
- JH_CTHL_NL_AutoStep = 10;
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_XK_CR_DELAY;
- }
- }
- break;
- case 10:
- if((dwTickCount >= JH_CTHL_NL_AutoDelay) && !X_DRV && (bCL_OK_FLG) )
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- if(GetServoComState(X_AXIS))
- {
- if(get_tarr_set(X_AXIS)!=2)//配置失败停机
- {
- SetEn(X_AXIS, MOTOR_DISEN);//设置扭矩做准备
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SERVO_CONFIG_ALARM,bRunning);//伺服转矩配置失败
- }
- }
- if(!cBanAuTo)
- {
- JH_CTHL_NL_TD_MotorStep = 10; //启动拖带穿入
- JH_CTHL_NL_AutoStep = 11;
- JH_CTHL_NL_bXCBackOK = 0;
- JH_CTHL_NL_AutoDelay = dwTickCount + 60;
- }
- else
- {
- JH_CTHL_NL_AutoStep = 801;
- JH_CTHL_NL_AutoDelay = dwTickCount + 1000;
-
- }
- }
- }
- break;
-
- case 801:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- bRunning=0;
- cBanAuTo=0;
- cCHULIANBAOJIN=1;
- JH_CTHL_NL_GDXM_VAVLE = 0;
- JH_CTHL_NL_XKTD_VAVLE = 0;
- JH_CTHL_NL_DXK_VAVLE=0;
- JH_CTHL_NL_AutoStep = 0;
-
- }
- break;
- case 11:
- if((JH_CTHL_NL_TD_MotorStep == 0) && bCL_OK_FLG) //穿入定位完成
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
-
- JH_CTHL_NL_XKDW_VAVLE = 0; //方块钩针
- JH_CTHL_NL_XKTD_VAVLE = 1; //斜口推带气缸输出
- JH_CTHL_NL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀
- if((JH_CTHL_NL_CL_MotorStep == 0))
- {
- if(cCXCONE)JH_CTHL_NL_FengDai_VAVLE=0;
- JH_CTHL_NL_CXQJD_VAVLE = 1;
- //Y轴启动插销
- JH_CTHL_NL_CL_MotorStep = 20; //插销定位
-
- }
- JH_CTHL_NL_AutoStep = 12;
- }
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 12:
- if(!JH_CTHL_NL_XKTD_Origin_IN)//) //插销前夹带回到原位
- {
- JH_CTHL_NL_AutoStep = 14;
- JH_CTHL_NL_AutoDelay = dwTickCount + 50;
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 14:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- if(GetServoComState(X_AXIS))
- {
- Set_Ctrlmode_trans(X_AXIS,POS_MODE);
- set_servo_postotarr_limit(X_AXIS,SERVO_PARAM_TRARR_LIMITMAX,20000,20000,SERVO_TARR_CCW);
- }
- JH_CTHL_NL_XKDW_VAVLE = 1; //方块勾针输出
- JH_CTHL_NL_AutoStep = 401;
- JH_CTHL_NL_AutoDelay = dwTickCount+20 ;
- }
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 401:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_FKGD_VAVLE = 1; //方块固定
- //AxisMovePosAccDec(X_AXIS,1200,-20,1200,1200,20,20,0);
- JH_CTHL_NL_AutoStep = 15;
- }
- }
- break;
- case 15:
- if(!JH_CTHL_NL_bXCBackOK && (JH_CTHL_NL_CL_MotorStep == 0) &&
- (JH_CTHL_NL_SF_Origin_IN ))
- {
- JH_CTHL_NL_CXQJD_VAVLE = 1;
- JH_CTHL_NL_CL_MotorStep = 20; //插销定位
- }
- if((JH_CTHL_NL_CL_MotorStep == 0) && JH_CTHL_NL_bXCBackOK) //插销定位完成
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
-
- JH_CTHL_NL_BB_VAVLE=1;
- JH_CTHL_NL_AutoStep = 16;
- JH_CTHL_NL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀
- JH_CTHL_NL_AutoDelay = dwTickCount + 35;//50; //延时插销下移
- JH_CTHL_NL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出
- }
- }
- break;
- case 16:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_AutoStep = 17;
- JH_CTHL_NL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出
- if((JH_CTHL_NL_CXSC_Limit_IN) && (JH_CTHL_NL_PARAM_CXSX_En == 0))JH_CTHL_NL_CXSX_VAVLE = 1; //Y06 插销下移电磁阀
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME; //插销下移异常时间
- }
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 17:
- JH_CTHL_NL_CXQJD_VAVLE = 0; //插销前夹带电磁阀
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关
- JH_CTHL_NL_AutoStep = 18;
- if(JH_CTHL_NL_LENTH>0 )
- {
- if(!JH_CTHL_NL_bReStart)
- JH_CTHL_NL_LENCountBuff = JH_CTHL_NL_PARAM_TDFZ_LENTH;
- else
- JH_CTHL_NL_LENCountBuff = JH_CTHL_NL_PARAM_TDFZ_LENTH/3;
-
- }
- else
- {
- if(!JH_CTHL_NL_bReStart)
- JH_CTHL_NL_LENCountBuff = JH_CTHL_NL_PARAM_TDFZ_LENTH + 300;
- else
- JH_CTHL_NL_LENCountBuff = JH_CTHL_NL_PARAM_TDFZ_LENTH/3+ 300;
- }
- AxisMovePosAccDec(X_AXIS,3000,-JH_CTHL_NL_LENCountBuff,800,600,10,20,0);
- JH_CTHL_NL_bReStart = 0;
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_CX_DELAY;//JH_CTHL_NL_PARAM_CXCR_DELAY;
- cXcxcrCnt = 0;
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 18:
- if(JH_CTHL_NL_CXSX_VAVLE) //Y06 插销下移电磁阀)
- {
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_CXSX_VAVLE = 0; //Y06 插销下移电磁阀
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_CXCR_DELAY;
- }
- }
- else
- {
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_AutoStep = 19;
- JH_CTHL_NL_CXHDW_VAVLE = 1; //插销后定位(插销穿入)
- if(cXcxcrCnt>=2)JH_CTHL_NL_AutoDelay = dwTickCount + 1000; //插销穿入到位异常时间
- else JH_CTHL_NL_AutoDelay = dwTickCount + 500; //插销穿入到位异常时间
- JH_CTHL_NL_CL_MotorStep = 50; //合链电机回原点
- }
- }
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 19:
- if(JH_CTHL_NL_CX_Limit_IN || (!JH_CTHL_NL_CXDWZ_VAVLE && JH_CTHL_NL_bTiaoShiMode))
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- bZhuangLiaoOkFlg = 0;
- JH_CTHL_NL_AutoStep = 20;
- JH_CTHL_NL_BB_VAVLE=0;
- cXcxcrCnt=0;
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_First_CL_DELAY/2;//延时一次穿入
-
- }
- JH_CTHL_NL_CXSX_VAVLE = 0; //Y06 插销下移电磁阀
- JH_CTHL_NL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀
- }
- else if((dwTickCount >= JH_CTHL_NL_AutoDelay) && JH_CTHL_NL_CXDWZ_VAVLE)
- {
- cXcxcrCnt++;
- if(cXcxcrCnt >= 3)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CX_Limit_ALARM ,bRunning);//插销穿入到位异常
- }
- else
- {
- JH_CTHL_NL_CXHJD_VAVLE=0;
- if(cXcxcrCnt== 1)
- JH_CTHL_NL_AutoStep = 190;
- else
- JH_CTHL_NL_AutoStep = 195;
- JH_CTHL_NL_AutoDelay = dwTickCount + 80;
- }
- }
- break;
- //第二次
- case 190:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_AutoStep = 191;
- JH_CTHL_NL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)
- JH_CTHL_NL_AutoDelay = dwTickCount + 80;
- }
- break;
-
- case 191:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_AutoStep = 18;
- JH_CTHL_NL_CXHJD_VAVLE=1;
- JH_CTHL_NL_AutoDelay = dwTickCount + 80;
- }
- break;
-
- //第三次
- case 195:
- JH_CTHL_NL_CXQJD_VAVLE = 1; //插销前夹带
- JH_CTHL_NL_SongDai_VAVLE = 1; //松带
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_AutoStep = 196;
- JH_CTHL_NL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)
- JH_CTHL_NL_AutoDelay = dwTickCount + 500;
- // JH_CTHL_NL_FKGD_VAVLE = 0;
- AxisMovePosAccDec(Y_AXIS,1200,40,1200,500,6,6,20);
- AxisMovePosAccDec(X_AXIS,6000,-100,800,600,6,8,0);
- }
- break;
- case 196:
- if(!Y_DRV)
- {
- JH_CTHL_NL_CXQJD_VAVLE = 0; //插销前夹带
- JH_CTHL_NL_SongDai_VAVLE = 0; //松带
- }
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_FKGD_VAVLE = 1;
- JH_CTHL_NL_CXHJD_VAVLE=1;
- if(!Y_DRV)
- {
- JH_CTHL_NL_CXQJD_VAVLE = 0; //插销前夹带
- JH_CTHL_NL_SongDai_VAVLE = 0; //松带
- JH_CTHL_NL_AutoStep = 18;
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_First_CL_DELAY/2;//延时一次穿入
-
- }
- }
- break;
- case 701:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_CXHJD_VAVLE=0;
- JH_CTHL_NL_AutoDelay = dwTickCount +30;
- JH_CTHL_NL_AutoStep = 702;
- }
- }
- break;
- case 702:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- JH_CTHL_NL_CXHJD_VAVLE=1;
- JH_CTHL_NL_AutoDelay = dwTickCount +30;
- JH_CTHL_NL_AutoStep = 20;
- }
- }
- break;
- case 20:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_FKGD_VAVLE=0;
- JH_CTHL_NL_AutoStep = 21;
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_First_CL_Timer/2; //一次穿入时间
- }
- break;
- case 21:
-
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_AutoStep = 22;
- JH_CTHL_NL_First_CT_VAVLE = 1; //一次穿入电磁阀输出
- JH_CTHL_NL_CXHJD_VAVLE = 1; //Y14 插销后夹带打开
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- break;
- case 22:
- if(!JH_CTHL_NL_First_CT_Origin_IN) //原点离开后才开始时间
- {
- JH_CTHL_NL_AutoStep = 23;
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_First_CL_Timer/2; //一次穿入时间
- }
- else if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常
- }
- break;
- case 23:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- if(JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 0)
- {
- JH_CTHL_NL_LENCountBuff = JH_CTHL_NL_LENCountBuff * 1/5;
- AxisMovePosAccDec(X_AXIS,1800,JH_CTHL_NL_LENCountBuff,800,800,6,6,0);
- }
- JH_CTHL_NL_FKJD_VAVLE = 0; //方块夹带气缸输出
- JH_CTHL_NL_AutoStep = 24;
- JH_CTHL_NL_MGuo_VAVLE = 0; //码勾退
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_PARAM_MGOff_XiaMo_DELAY;
- }
- }
- break;
- case 24:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_AutoStep = 25;
- JH_CTHL_NL_HeMoStep = 10; //下模的上升和下降电磁阀要配合
- ZLT_TOTAL_TIME=dwTickCount;
- JH_CTHL_NL_AutoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
-
- JH_CTHL_NL_XKTD_VAVLE = 1; //斜口推带气缸输出
- JH_CTHL_NL_FKGD_VAVLE = 0; //方块固定关
- JH_CTHL_NL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- break;
- case 25:
- if(!JH_CTHL_NL_CTM_Limit_IN)
- {
- JH_CTHL_NL_YaiDai_VAVLE=0;
- JH_CTHL_NL_AutoStep = 26;
- JH_CTHL_NL_AutoDelay = dwTickCount + 3; //一次穿入延时返回
- }
- else if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Limit_ALARM,bRunning);//穿头下模下降异常
- }
- break;
- case 26:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- if(GetServoComState(X_AXIS))
- {
- if(get_tarr_set(X_AXIS)!=2)//配置失败停机
- {
- SetEn(X_AXIS, MOTOR_DISEN);//设置扭矩做准备
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SERVO_CONFIG_ALARM,bRunning);//伺服转矩配置失败
- }
- }
- JH_CTHL_NL_AutoStep = 27;
- JH_CTHL_NL_AutoDelay = dwTickCount + 0;
- //退下出错警告
- JH_CTHL_NL_AutoDelay1 = dwTickCount + 65;
- //JH_CTHL_NL_AutoStep1 = 1;
- }
- break;
- case 27:
- if(dwTickCount >= JH_CTHL_NL_AutoDelay)
- {
- //调试模式
- if((!JH_CTHL_NL_bTiaoShiMode) || JH_CTHL_NL_START_IN_UP)
- {
- if(!cCXCONE)
- {
-
- JH_CTHL_NL_AutoStep = 4;
- bCL_EN_FLG = 1;
- // cXcxcrCnt=0;
- AddToTal(JH_CTHL_NL_TOTAL_ADDR);
- AddToTal(JH_CTHL_NL_WORK_TOTAL_ADDR);
- CalProSP(JH_CTHL_NL_SPEED_ADDR);
- if(JH_CTHL_NL_cZipCnt<3)
- JH_CTHL_NL_cZipCnt++;
- }
- else
- {
- bRunning=0;
- cCXCONE=0;
- JH_CTHL_NL_AutoStep = 0;
-
- }
- }
- }
- break;
- }
- JH_CTHL_NL_RunStepSave = JH_CTHL_NL_AutoStep;
- }
- //退下模后启动送拉头
- switch(JH_CTHL_NL_AutoStep1)
- {
- case 1:
- if(cStopMode==1)
- {
- cStopMode=2;
- bStop=1;
- }
- if(JH_CTHL_NL_First_CT_VAVLE)
- {
- if(dwTickCount >= JH_CTHL_NL_AutoDelay1)
- {
- JH_CTHL_NL_First_CT_VAVLE = 0; //一次穿入电磁阀关
- FIRST_HEMO_TIME=dwTickCount;
- JH_CTHL_NL_AutoDelay1 = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- }
- else
- {
- if(JH_CTHL_NL_CTM_Origin_IN && JH_CTHL_NL_First_CT_Origin_IN)
- {
- FIRST_HEMO_TIME=dwTickCount-FIRST_HEMO_TIME;
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- JH_CTHL_NL_TryCnt = 0;
- JH_CTHL_NL_AutoStep1 = 0;
- JH_CTHL_NL_MGuo_VAVLE = 0;
- JH_CTHL_NL_JLTou_VAVLE = 0;
- if(!bRunning) //在调机状态下先判断有没有料
- {
- JH_CTHL_NL_MGuo_VAVLE = 1;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 100;
- bZhuangLiaoOkFlg = 0;
- }
- }
- else if(dwTickCount >= JH_CTHL_NL_AutoDelay1)
- {
- //穿头模和一次穿入回位异常
- if(!JH_CTHL_NL_CTM_Origin_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Origin_ALARM,bRunning);
- else if(!JH_CTHL_NL_First_CT_Origin_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_First_CT_Origin_ALARM,bRunning);
- }
- }
- break;
- }
- }
- void JH_CTHL_NL_CheckStart(void)
- {
-
- if(cWULATOUCnt) // 无拉头警告后按
- {
- if(JH_CTHL_NL_START_IN_UP)
- {
- if(!bRunning)
- {
- if(JH_CTHL_NL_SafeDoor_IN)
- {
- bRunning=1;
- JH_CTHL_NL_TryCnt=0;
- cWULATOUCnt=0;
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- JH_CTHL_NL_AutoStep=6;
- bTuiLaTouOkFlg = 1;
- bZhuangLiaoOkFlg= 0;
- JH_CTHL_NL_MGuo_VAVLE = 1; //判断是否已经有料
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 150;
-
- }
- else
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SafeDoor_ALARM,0); // 安全门关上才能启动
- }
- }
- }
- }
- //启动 自动启动 单一自动
- if((JH_CTHL_NL_START_IN_UP || bStart || JH_CTHL_NL_bOnceStart) && !cWULATOUCnt)
- {
- //单一启动
- if(JH_CTHL_NL_bOnceStart)
- {
- JH_CTHL_NL_bOnceStart=0;
- bSingOneFlg=1;//一次标志
- bSingOneCnt=1;//走完一条
- }
- else
- {
- bSingOneFlg=0;
- bSingOneCnt=0;
- }
-
- if(cCHULIANBAOJIN) //无链停机启动
- {
- cCHULIANBAOJIN=0;
- bRunning=1;
- // dwXRealPos=0;
- JH_CTHL_NL_TD_MotorStep=9;
-
-
- if(GetAlarm(X_AXIS)==1 || GetAlarm(Y_AXIS)==1 )
- {
- SetEn(X_AXIS, MOTOR_DISEN);
- SetClr(Y_AXIS, MOTOR_NOALARM);
- SetClr(X_AXIS, MOTOR_NOALARM);
- JH_CTHL_NL_bSFBBAOJIN_Delay= dwTickCount + 200;
- SetAlarmCode(JH_CTHL_NL_ALARM_ADDR,JH_CTHL_NL_SF_ALR_ALARM);
- }
- JH_CTHL_NL_AutoStep = 11;
- JH_CTHL_NL_cZipCnt=0;
- JH_CTHL_NL_TD_MotorDelay = dwTickCount + 200;
- JH_CTHL_NL_AutoDelay = dwTickCount + 150;
- if(GetAlarmCode(JH_CTHL_NL_ALARM_ADDR) != 0)
- SetAlarmCode(JH_CTHL_NL_ALARM_ADDR,0);
-
- }
- if(!bRunning)
- {
- if(JH_CTHL_NL_SafeDoor_IN)
- {
- JH_CTHL_NL_CXDW_Stop = 0;
- cStopMode=0;
- bRunning = 1;
- cCXCONE=0;
- cBanAuTo=0;
- cWULATOUCnt=0;
- cCHULIANBAOJIN=0;
- JH_CTHL_NL_CL_MotorStep = 40;//Y轴回零
- bZhuangLiaoOkFlg= 0;
- if(JH_CTHL_NL_PARAM_SongDaiEn)
- JH_CTHL_NL_SongDai_Step=1;
- JH_CTHL_NL_MGuo_VAVLE = 1; //判断是否已经有料
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 180;
- JH_CTHL_NL_LianLengthCheck = 0;
- JH_CTHL_NL_LianLengthAutoCheck = 0;
- JH_CTHL_NL_cZipCnt = 0;
- bTuiLaTouOkFlg = 1;
- bCL_EN_FLG = 0;
- cStopInCnt = 0;
- JH_CTHL_NL_bReStart = 0;
- PRV_CTXMSS_DOWN_TIME=0;
- //装料启动一次,保证下模已在原位(下面)
- if((JH_CTHL_NL_ZhuangLiaoStep == 0) && !JH_CTHL_NL_CTXMSS_VAVLE && JH_CTHL_NL_CTM_Origin_IN)
- {
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- JH_CTHL_NL_TryCnt = 0;
- }
- //已经定位好,并且保持在原位
- if(JH_CTHL_NL_bDinweiOK && JH_CTHL_NL_XKSC_Limit_IN && JH_CTHL_NL_XKDW_VAVLE
- && GetEn(X_AXIS) && (JH_CTHL_NL_RunStepSave != 19))
- {
- SetPos(X_AXIS, 0);
- JH_CTHL_NL_GDXM_VAVLE = 1;
- JH_CTHL_NL_AutoStep = 5;
- JH_CTHL_NL_XSavePosBuff = 0;
-
- } //穿插销不到位停止
- else if(((JH_CTHL_NL_RunStepSave == 19) || (JH_CTHL_NL_RunStepSave == 190) || (JH_CTHL_NL_RunStepSave == 191))
- && JH_CTHL_NL_CXHJD_VAVLE && JH_CTHL_NL_CXHDW_VAVLE
- && JH_CTHL_NL_CTXMSS_VAVLE && JH_CTHL_NL_CXDWZ_VAVLE)
- {
- if(JH_CTHL_NL_CX_Limit_IN)
- {
- JH_CTHL_NL_AutoStep = 19;
- }
- else
- {
- JH_CTHL_NL_AutoStep = 16;
- JH_CTHL_NL_bReStart = 1;
- JH_CTHL_NL_AutoDelay = dwTickCount + 100;
- JH_CTHL_NL_CXHJD_VAVLE = 0;
- JH_CTHL_NL_CXHDW_VAVLE = 0;
- }
- }
- else
- {
- JH_CTHL_NL_AutoStep = 1;
- JH_CTHL_NL_AutoDelay = dwTickCount + 500;
- }
- JH_CTHL_NL_cZipCnt = 0;
-
- SetEn(X_AXIS, MOTOR_EN);
- SetEn(Y_AXIS, MOTOR_EN);
- if(GetEn(X_AXIS)== MOTOR_DISEN)
- {
- JH_CTHL_NL_AutoDelay = dwTickCount + 500;
- }
- SetAlarmCode(JH_CTHL_NL_ALARM_ADDR,0);
- SF_ALARM_FLAG=0;
-
- }
- else
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SafeDoor_ALARM,0); // 安全门关上才能启动
- }
- }
- bStart = 0;
- }
- if(bStop)
- {
- bStop=0;
- bSingOneFlg=1;
- bSingOneCnt=0;
- }
- //停止
- if(JH_CTHL_NL_STOP_IN_UP)
- {
-
- if(cStopMode < 2)
- cStopMode++;
- if(bRunning)
- {
- JH_CTHL_NL_CXDW_Stop = 0;
- cStopMode=0;
- cCXCONE=0;
- cBanAuTo=0;
- cXcxcrCnt=0;
- cWULATOUCnt=0;
- cCHULIANBAOJIN=0;
- Set_Ctrlmode_trans(X_AXIS,POS_MODE);
- if(JH_CTHL_NL_XKSC_Limit_IN)
- AxisEgmStop(X_AXIS);
- else
- AxisDecStop(X_AXIS);
- AxisEgmStop(Y_AXIS);
- JH_CTHL_NL_AutoStep = 0;
-
- if(GetAlarm(X_AXIS)==1 || GetAlarm(Y_AXIS)==1 )
- {
-
- SetClr(Y_AXIS, MOTOR_NOALARM);
- SetClr(X_AXIS, MOTOR_NOALARM);
- JH_CTHL_NL_bSFBBAOJIN_Delay= dwTickCount + 200;
- }
- JH_CTHL_NL_CL_MotorStep =0;
- JH_CTHL_NL_SongDai_Step=0;
- JH_CTHL_NL_HL_VAVLE = 0;
- JH_CTHL_NL_HLJJ_VAVLE = 0;
- JH_CTHL_NL_bCLFirst_Step=0;
- JH_CTHL_NL_FengDai_VAVLE = 0;
- if(!JH_CTHL_NL_bDinweiOK)
- JH_CTHL_NL_XKDW_VAVLE =0;
-
- SetAlarmCode(JH_CTHL_NL_ALARM_ADDR,0);
- bRunning=0;
- }
- else if(!bRunning)
- {
- bRunning=0;
- cXcxcrCnt=0;
- cStopMode=0;
- cCXCONE=0;
- cBanAuTo=0;
- cWULATOUCnt=0;
- cCHULIANBAOJIN=0;
- Set_Ctrlmode_trans(X_AXIS,POS_MODE);
- AxisEgmStop(X_AXIS);
- AxisEgmStop(Y_AXIS);
- SetEn(X_AXIS, MOTOR_DISEN);
- SetEn(Y_AXIS, MOTOR_DISEN);
- cStopMode=0;
- JH_CTHL_NL_YaiDai_VAVLE=0;
- JH_CTHL_NL_bDinweiOK = 0;
- if(JH_CTHL_NL_PARAM_BoardSelect == 1)
- {
- if(JH_CTHL_NL_SF_ALR_IN || JH_CTHL_NL_Y_SF_ALR_IN)
- {
- JH_CTHL_NL_ALARMCLR_VAVLE=1;
- JH_CTHL_NL_bSFBBAOJIN_Delay= dwTickCount + 200;
- }
- }
- else
- {
- if(GetAlarm(X_AXIS)==1 || GetAlarm(Y_AXIS)==1 )
- {
-
- SetClr(Y_AXIS, MOTOR_NOALARM);
- SetClr(X_AXIS, MOTOR_NOALARM);
- JH_CTHL_NL_bSFBBAOJIN_Delay= dwTickCount + 200;
- }
- }
- JH_CTHL_NL_TLiao_VAVLE=0;
-
- if(!JH_CTHL_NL_HSLiao_VAVLE || !JH_CTHL_NL_MGuo_VAVLE)
- JH_CTHL_NL_JLTou_VAVLE =0;
- JH_CTHL_NL_HSLiao_VAVLE =0;
- JH_CTHL_NL_XKTD_VAVLE =0;
- JH_CTHL_NL_XKDW_VAVLE =0;
- JH_CTHL_NL_DXK_VAVLE =0;
- JH_CTHL_NL_GDXM_VAVLE = 0;
- JH_CTHL_NL_CXSX_VAVLE =0;
-
- if(GetAlarm(X_AXIS)==1 || GetAlarm(Y_AXIS)==1 )
- {
-
- SetClr(Y_AXIS, MOTOR_NOALARM);
- SetClr(X_AXIS, MOTOR_NOALARM);
- JH_CTHL_NL_bSFBBAOJIN_Delay= dwTickCount + 200;
- }
- JH_CTHL_NL_First_CT_VAVLE =0;
- JH_CTHL_NL_FKGD_VAVLE =0;
- JH_CTHL_NL_CXQJD_VAVLE =0;
- JH_CTHL_NL_CXDWZ_VAVLE =0;
- JH_CTHL_NL_CXHJD_VAVLE =0;
- JH_CTHL_NL_CXHDW_VAVLE =0;
- JH_CTHL_NL_FKJD_VAVLE =0;
- JH_CTHL_NL_HLJJ_VAVLE =0;
- JH_CTHL_NL_HL_VAVLE = 0;
- JH_CTHL_NL_BB_VAVLE=0;
- //JH_CTHL_NL_CXHT_VAVLE = 0;
- JH_CTHL_NL_CXSCDW_VAVLE =0;
- JH_CTHL_NL_SongDai_VAVLE=0;
- if((JH_CTHL_NL_CTXMSS_VAVLE) || (JH_CTHL_NL_CTM_Origin_IN && !JH_CTHL_NL_CTXMSS_VAVLE))
- JH_CTHL_NL_MGuo_VAVLE =0;
- if(JH_CTHL_NL_CTXMSS_VAVLE || !JH_CTHL_NL_CTM_Origin_IN)
- {
- JH_CTHL_NL_HeMoStep = 10;
- }
- JH_CTHL_NL_FengDai_VAVLE = 0;
- JH_CTHL_NL_CTXMSS_VAVLE =0;
- JH_CTHL_NL_AutoStep = 0;
- JH_CTHL_NL_ZhuangLiaoStep=0;
- JH_CTHL_NL_TLiaoStep=0;
- JH_CTHL_NL_TD_MotorStep=0;
- JH_CTHL_NL_JiaLianStep =0;
- // JH_CTHL_NL_ZhenDongStep =0;
- JH_CTHL_NL_SongLiaoStep =0;
- JH_CTHL_NL_CL_MotorStep =0;
- JH_CTHL_NL_AutoStep1 =0;
- JH_CTHL_NL_bFKCXTDDW_Step=0;
- JH_CTHL_NL_bCXCR_Step=0;
- JH_CTHL_NL_bCLFirst_Step=0;
- JH_CTHL_NL_RunStepSave = 0;
- JH_CTHL_NL_SongDai_Step=0;
- SetAlarmCode(JH_CTHL_NL_ALARM_ADDR,0);
- SetPos(X_AXIS, 0);
- JH_CTHL_NL_TLiaoStep = 0;
- JH_CTHL_NL_AutoStep = 0;
- JH_CTHL_NL_CXDW_Stop = 0;
-
- }
- bStop=0;
- }
-
- if(bAlarmStop)
- {
- bRunning = 0;
- bAlarmStop=0;
- cStopMode=0;
- cXcxcrCnt=0;
-
- AxisDecStop(X_AXIS);
- AxisEgmStop(Y_AXIS);
- Set_Ctrlmode_trans(X_AXIS,POS_MODE);
- if(JH_CTHL_NL_CXSC_Limit_IN)
- {
- AxisEgmStop(X_AXIS);
- }
- JH_CTHL_NL_AutoStep = 0;
- JH_CTHL_NL_CL_MotorStep =0;
- JH_CTHL_NL_bCLFirst_Step=0;
- JH_CTHL_NL_SongLiaoStep =0;
- JH_CTHL_NL_ZhuangLiaoStep=0;
- JH_CTHL_NL_SongDai_Step=0;
- }
- }
- //拖带电机控制动作 X轴
- void JH_CTHL_NL_TD_Motor(void) //
- {
- #if 1
- if(X_DRV)
- {
- if(dwXRealPos >= JH_CTHL_NL_PARAM_FDOff_Pos)
- {
- JH_CTHL_NL_FengDai_VAVLE = 0;
- }
- }
- switch(JH_CTHL_NL_TD_MotorStep)
- {
- //1步开始,纯定位, 没有穿入
- case 1:
- JH_CTHL_NL_TDMotorStepSave = JH_CTHL_NL_TD_MotorStep;
- if(dwTickCount >= JH_CTHL_NL_TD_MotorDelay) //给锁轴时间
- {
- JH_CTHL_NL_bTest = 0;
- bCheckEN_FLG = 1;
- CheckInX02PosBuff= 0;
- JH_CTHL_NL_TD_MotorStep = 2;
- SetPos(X_AXIS, 0); //启动位置设为0点
- if(JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 0) //尼龙
- AxisContinueMoveAcc(X_AXIS,JH_CTHL_NL_PARAM_TD_RunSpeed*2/3,DIR_P,800,600,100,15);
- else
- AxisContinueMoveAcc(X_AXIS,JH_CTHL_NL_PARAM_TD_RunSpeed*2/3,DIR_P,800,600,100,15);
- }
- break;
- case 2://检测到过链
- JH_CTHL_NL_TDMotorStepSave = JH_CTHL_NL_TD_MotorStep;
- if(dwXRealPos > JH_CTHL_NL_PARAM_TuiDXM_Lenght)//200) //穿入2CM后退
- {
- JH_CTHL_NL_DXK_VAVLE = 0; //顶斜口气缸关
- JH_CTHL_NL_GDXM_VAVLE = 0;
- if((JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 1) || (JH_CTHL_NL_PARAM_QianMaSelect == 1))//尼龙
- JH_CTHL_NL_XKTD_VAVLE = 0; //斜口推带气缸输出
- }
- if((dwXRealPos >= JH_CTHL_NL_PARAM_WLCDSHEZHI_LENTH) && JH_CTHL_NL_PARAM_WLCDSHEZHI_LENTH)
- {
- cCHULIANBAOJIN=1;
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
- }
- if((dwXRealPos > (JH_CTHL_NL_LianLengthAutoCheck+2000)) && JH_CTHL_NL_LianLengthAutoCheck && JH_CTHL_NL_cZipCnt>1)
- {
- cCHULIANBAOJIN=1;
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WLZDTJ_ALARM,bRunning);
- //无拉链自动停机
- }
- if(JH_CTHL_NL_FK_Check)
- {
- // user_datas[122] = dwXRealPos;
- JH_CTHL_NL_DXK_VAVLE = 0; //顶斜口气缸关
- if((JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 1) || (JH_CTHL_NL_PARAM_QianMaSelect == 1)) //尼龙
- JH_CTHL_NL_XKTD_VAVLE = 0; //斜口推带气缸输出
- JH_CTHL_NL_GDXM_VAVLE = 0;
- JH_CTHL_NL_XSavePosBuff = dwXRealPos;
- JH_CTHL_NL_TD_MotorStep = 3;
- JH_CTHL_NL_TD_MotorDelay = dwTickCount + 50;
- // user_datas[123] = dwXRealPos - JH_CTHL_NL_CheckInX02PosBuff;
- if((dwXRealPos >= CheckInX02PosBuff) && CheckInX02PosBuff)
- {
- AxisMovePosAccDec(X_AXIS,JH_CTHL_NL_FK_IN_SPEED*2/3,JH_CTHL_NL_PARAM_FKDW_Length-100 - (dwXRealPos- CheckInX02PosBuff),
- JH_CTHL_NL_PARAM_FKDW_Speed,JH_CTHL_NL_PARAM_FKDW_Speed,150,150,50);
- }
- else
- AxisMovePosAccDec(X_AXIS,JH_CTHL_NL_FK_IN_SPEED*2/3,JH_CTHL_NL_PARAM_FKDW_Length-100,
- JH_CTHL_NL_PARAM_FKDW_Speed,JH_CTHL_NL_PARAM_FKDW_Speed,150,150,50);
- }
- if(JH_CTHL_NL_CXSC_Limit_IN_DW)
- {
- JH_CTHL_NL_X_CXPosBuff = dwXRealPos;
- // if(JH_CTHL_NL_PARAM_CR_MODE==0)
- // JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_XCXXCYC_ALARM,bRunning); // 小插销行程异常
- }
- break;
- case 3:
- JH_CTHL_NL_TDMotorStepSave = JH_CTHL_NL_TD_MotorStep;
- if((dwTickCount >= JH_CTHL_NL_TD_MotorDelay))JH_CTHL_NL_FKJD_VAVLE = 1;
- if(!JH_CTHL_NL_bTest && JH_CTHL_NL_CXSC_Limit_IN_UP)
- {
- JH_CTHL_NL_bTest = 1;
- JH_CTHL_NL_X_CXPosBuff = dwXRealPos;
- // user_datas[123] = JH_CTHL_NL_X_CXPosBuff;
- }
- if(!X_DRV)
- {
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_TD_MotorStep =4 ;
- JH_CTHL_NL_LianLengthAutoCheckOLD = JH_CTHL_NL_LianLengthAutoFirst;
- if(JH_CTHL_NL_cZipCnt==1)
- JH_CTHL_NL_LianLengthAutoCheck = dwXRealPos;
- JH_CTHL_NL_LianLengthAutoFirst = dwXRealPos;
- if(JH_CTHL_NL_CXSC_Limit_IN_UP)
- {
- JH_CTHL_NL_TD_MotorStep =0 ;
- }
- }
- break;
- case 4:
- JH_CTHL_NL_TDMotorStepSave = JH_CTHL_NL_TD_MotorStep;
-
- if(JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 0)
- {
-
-
- {
- JH_CTHL_NL_TD_MotorStep = 0;
- }
- }
- else
- {
- if(JH_CTHL_NL_CXSC_Limit_IN) //不能在链上
- {
- // user_datas[121] += 5;
- JH_CTHL_NL_TD_MotorStep = 0;
- // JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_XCXXCYC_ALARM,bRunning); // 小插销行程异常
-
- }
- else
- {
- JH_CTHL_NL_TD_MotorStep = 0;
- }
- }
- break;
- case 9:
- if(dwTickCount >= JH_CTHL_NL_TD_MotorDelay)
- {
- SetEn(X_AXIS, MOTOR_EN);
- JH_CTHL_NL_TD_MotorStep = 10;
- JH_CTHL_NL_TD_MotorDelay = dwTickCount + 500;
- }
- break;
- //穿拉头定位
- case 10:
- JH_CTHL_NL_TDMotorStepSave = JH_CTHL_NL_TD_MotorStep;
- if(dwTickCount >= JH_CTHL_NL_TD_MotorDelay)
- {
- JH_CTHL_NL_TD_MotorStep = 11;
- SetPos(X_AXIS, 0); //启动位置设为0点
- dwXRealPos = 0;
- AxisContinueMoveAcc(X_AXIS,JH_CTHL_NL_PARAM_CR_SPEED,DIR_P,800,1200,30,30);
- CheckInX02PosBuff= 0;
- bCheckEN_FLG = 1;
- JH_CTHL_NL_X_CXPosBuff = 0;
- JH_CTHL_NL_bTest = 0;
- JH_CTHL_NL_X_FKCheckPos = 0;
- }
- break;
- case 11:
- JH_CTHL_NL_TDMotorStepSave = JH_CTHL_NL_TD_MotorStep;
-
- if(dwXRealPos > JH_CTHL_NL_PARAM_CR_LENGTH) //穿入慢速长度
- {
- if((JH_CTHL_NL_cZipCnt < 2) || (JH_CTHL_NL_LianLengthCheck < 350))
- {
-
- AxisContinueMoveAcc(X_AXIS,JH_CTHL_NL_PARAM_TD_RunSpeed*2/3,DIR_P,3000,600,150,50);
- }
- else ////两段速度移动距离
- {
- AxisMovePosAccDecNotStop(X_AXIS,JH_CTHL_NL_PARAM_TD_RunSpeed,JH_CTHL_NL_LianLengthCheck-dwXRealPos,1500,JH_CTHL_NL_FK_IN_SPEED,150,100,JH_CTHL_NL_PARAM_FKTD_ChangeSpeedPos);
- }
- JH_CTHL_NL_TD_MotorStep = 13;
- }
- if(dwXRealPos >= JH_CTHL_NL_PARAM_FDOff_Pos)
- {
- JH_CTHL_NL_FengDai_VAVLE = 0;
- }
- if((dwXRealPos >= JH_CTHL_NL_PARAM_WLCDSHEZHI_LENTH) && JH_CTHL_NL_PARAM_WLCDSHEZHI_LENTH)
- {
- cCHULIANBAOJIN=1;
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
- }
- if((dwXRealPos > (JH_CTHL_NL_LianLengthAutoCheck+2000)) && JH_CTHL_NL_LianLengthAutoCheck && JH_CTHL_NL_cZipCnt>1)
- {
- cCHULIANBAOJIN=1;
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
-
- }
- if(JH_CTHL_NL_cZipCnt>1)
- {
- if((JH_CTHL_NL_LianLengthCheck-JH_CTHL_PARAM_YaDai_LENGTH) < dwXRealPos)
- {
- JH_CTHL_NL_YaiDai_VAVLE=1;
-
- }
- }
- //方块还没有感应之前感应到插销的话,肯定错位
- if(JH_CTHL_NL_CXSC_Limit_IN_DW)
- {
- JH_CTHL_NL_X_CXPosBuff = dwXRealPos;
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_XCXXCYC_ALARM,bRunning); // 小插销行程异常
-
- }
- break;
- case 13://检测到过链
- JH_CTHL_NL_TDMotorStepSave = JH_CTHL_NL_TD_MotorStep;
- if(JH_CTHL_NL_cZipCnt>1)
- {
- if((JH_CTHL_NL_LianLengthCheck-JH_CTHL_PARAM_YaDai_LENGTH) < dwXRealPos)
- {
- JH_CTHL_NL_YaiDai_VAVLE=1;
-
- }
- }
- if(dwXRealPos >= JH_CTHL_NL_PARAM_FDOff_Pos)
- {
- JH_CTHL_NL_FengDai_VAVLE = 0;
- }
- if(dwXRealPos > JH_CTHL_NL_PARAM_TuiDXM_Lenght)//400)
- {
- CheckInX02PosBuff= 0;
- JH_CTHL_NL_GDXM_VAVLE = 0;
- JH_CTHL_NL_DXK_VAVLE = 0; //顶斜口气缸关
- if((JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 1) || (JH_CTHL_NL_PARAM_QianMaSelect == 1)) //尼龙 或直码
- JH_CTHL_NL_XKTD_VAVLE = 0; //斜口推带气缸输出
- }
- if((dwXRealPos >= JH_CTHL_NL_PARAM_WLCDSHEZHI_LENTH) && JH_CTHL_NL_PARAM_WLCDSHEZHI_LENTH)
- {
- cCHULIANBAOJIN=1;
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
-
- }
- if((dwXRealPos > (JH_CTHL_NL_LianLengthAutoCheck + 7000)) && JH_CTHL_NL_LianLengthAutoCheck && (JH_CTHL_NL_cZipCnt > 0))
- {
- AxisEgmStop(X_AXIS);
- cCHULIANBAOJIN=1;
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WLZDTJ_ALARM,bRunning); //无拉链自动停机
- }
- //过链检测
- if(JH_CTHL_NL_FK_Check)
- {
- JH_CTHL_NL_YaiDai_VAVLE=1;
- JH_CTHL_NL_LianLengthCheckReal=dwXRealPos;
-
- if(JH_CTHL_NL_cZipCnt == 1)JH_CTHL_NL_LianLengthCheck = dwXRealPos;
- if((dwXRealPos <= JH_CTHL_NL_LianLengthCheck*0.85) && (JH_CTHL_NL_cZipCnt>1))
- {
- cHeLian=0;
- JH_CTHL_NL_cZipCnt=0;
- }
- JH_CTHL_NL_X_FKCheckPos = dwXRealPos;
- RUNONCEFLAG=0;
- JH_CTHL_NL_TD_MotorStep = 14;
-
- if(JH_CTHL_NL_cZipCnt > 1)
- {
- if(GetServoComState(X_AXIS))
- {
- AxisMovePosAccDec(X_AXIS,JH_CTHL_NL_FK_IN_SPEED,JH_CTHL_NL_PARAM_XCX_LENTH,
- 1000, JH_CTHL_LOCAL_LOW_SPEED,50,80,JH_CTHL_TRARR_RUN_LENGTH);
- }
- else
- {
- AxisMovePosAccDec(X_AXIS,JH_CTHL_NL_FK_IN_SPEED,JH_CTHL_NL_PARAM_XCX_LENTH,
- 1000, JH_CTHL_NL_PARAM_FKDW_Speed,50,150,50);
- }
- JH_CTHL_NL_TD_MotorDelay = dwTickCount + JH_CTHL_NL_PARAM_FKJD_DELAY+1;
- }
- else//前两条慢速
- {
- AxisMovePosAccDec(X_AXIS, 8000, JH_CTHL_NL_PARAM_FKDW_Length,
- 1000,JH_CTHL_NL_PARAM_FKDW_Speed,50,150,50);
- JH_CTHL_NL_TD_MotorDelay = dwTickCount + 30;
- }
- }
- else if(JH_CTHL_NL_CXSC_Limit_IN_DW)
- {
- user_datas[121] = 4;
- JH_CTHL_NL_X_CXPosBuff = dwXRealPos;
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_XCXXCYC_ALARM,bRunning); // 小插销行程异常
-
- }
- break;
- case 14:
- JH_CTHL_NL_TDMotorStepSave = JH_CTHL_NL_TD_MotorStep;
- if((dwTickCount >= JH_CTHL_NL_TD_MotorDelay) && bRunning)JH_CTHL_NL_FKJD_VAVLE = 1;
- if(JH_CTHL_NL_cZipCnt > 1&&GetServoComState(X_AXIS))
- {
- if((dwXRealPos>=JH_CTHL_NL_X_FKCheckPos+JH_CTHL_NL_PARAM_XCX_LENTH-JH_CTHL_TRARR_RUN_LENGTH)&&RUNONCEFLAG==0)
- {
- RUNONCEFLAG=1;
- Set_Ctrlmode_trans(X_AXIS,TARR_MODE);
- TARR_OVER_DELAY=dwTickCount+10;
- }
- if(GetTarr(X_AXIS)&&dwTickCount>=TARR_OVER_DELAY&&RUNONCEFLAG||!X_DRV )
- {
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_TD_MotorStep = 0;
- JH_CTHL_NL_LianLengthAutoCheckOLD = JH_CTHL_NL_LianLengthAutoFirst;
- if(JH_CTHL_NL_cZipCnt==1)
- JH_CTHL_NL_LianLengthAutoCheck = dwXRealPos;
- JH_CTHL_NL_LianLengthAutoFirst = dwXRealPos;
- if(JH_CTHL_NL_CXSC_Limit_IN_UP)
- {
- JH_CTHL_NL_TD_MotorStep = 0;
- JH_CTHL_NL_FKJD_VAVLE = 1;
- }
- }
-
- }
- else
- {
- if(!X_DRV )
- {
- AxisEgmStop(X_AXIS);
- Set_Ctrlmode_trans(X_AXIS,TARR_MODE);
- JH_CTHL_NL_TD_MotorStep = 0;
- JH_CTHL_NL_LianLengthAutoCheckOLD = JH_CTHL_NL_LianLengthAutoFirst;
- if(JH_CTHL_NL_cZipCnt==1)
- JH_CTHL_NL_LianLengthAutoCheck = dwXRealPos;
- JH_CTHL_NL_LianLengthAutoFirst = dwXRealPos;
- if(JH_CTHL_NL_CXSC_Limit_IN_UP)
- {
- JH_CTHL_NL_TD_MotorStep = 0;
- JH_CTHL_NL_FKJD_VAVLE = 1;
- }
- }
- }
- break;
- }
- #endif
- }
- //穿入电机动作,Y轴
- void JH_CTHL_NL_CL_Motor(void) //
- {
- #if 1
- //1步开始, 穿链长度开始
- //20步开始 插销定位开始
- //40步,回原点为
- switch(JH_CTHL_NL_CL_MotorStep)
- {
- //穿入长度位置
- case 1:
-
- if(dwTickCount >= JH_CTHL_NL_CL_MotorDelay)
- {
- if(JH_CTHL_NL_SF_Origin_IN)
- {
- if(cHeLian==1)
- {
- JH_CTHL_NL_cZipCnt=0;
- cHeLian=0;
- cHeLianone=1;
- }
- // (公分节判断)
- if((JH_CTHL_NL_LianLengthAutoFirst < (JH_CTHL_NL_LianLengthAutoCheck*9/10)) &&
- (JH_CTHL_NL_LianLengthAutoFirst < JH_CTHL_NL_PARAM_GFJ_Length) || cHeLianone) //
- {
- cHeLianone=0;
- JH_CTHL_NL_cZipCnt = 0;
- JH_CTHL_NL_Y_CL_Length=JH_CTHL_NL_LianLengthAutoFirst-JH_CTHL_NL_PARAM_CL_Length;
-
- if(JH_CTHL_NL_Y_CL_Length >= JH_CTHL_NL_PARAM_Y_MAX_LENTH)
- JH_CTHL_NL_Y_CL_Length = JH_CTHL_NL_PARAM_Y_MAX_LENTH-40;
- if(JH_CTHL_NL_Y_CL_Length <200)
- JH_CTHL_NL_Y_CL_Length=200;
- if(JH_CTHL_NL_cZipCnt>1)
- {
- //正常穿入
- if(JH_CTHL_NL_PARAM_GFJ_WorkMode == 0)
- {
- AxisMovePosAccDec(Y_AXIS,JH_CTHL_NL_PARAM_CL_Speed,JH_CTHL_NL_Y_CL_Length,2000,2000,50,50,150);
- }
- //停止
- else if(JH_CTHL_NL_PARAM_GFJ_WorkMode == 1)
- {
- JH_CTHL_NL_CL_MotorStep = 0;
- JH_CTHL_NL_HLJJ_VAVLE = 0;
- bCL_OK_FLG = 1;
- bSingOneFlg= 1;
- bSingOneCnt=0;
- break;
- }
- else if(JH_CTHL_NL_PARAM_GFJ_WorkMode == 2)
- {
- JH_CTHL_NL_CL_MotorStep = 0;
- JH_CTHL_NL_HLJJ_VAVLE = 0;
- bCL_OK_FLG = 1;
- break;
- }
- }
- else
- {
- AxisMovePosAccDec(Y_AXIS,JH_CTHL_NL_PARAM_CL_Speed,JH_CTHL_NL_Y_CL_Length,2000,2000,50,50,150);
-
- }
-
- }
- //穿入长度要根据检测长度减动一次穿入的3CM,反转的2CM
- else
- {
- // JH_CTHL_NL_Y_CL_Length=JH_CTHL_NL_LianLengthAutoCheck-JH_CTHL_NL_PARAM_CL_Length-200;
- if(JH_CTHL_NL_cZipCnt>1)
- JH_CTHL_NL_Y_CL_Length=JH_CTHL_NL_LianLengthAutoCheck-JH_CTHL_NL_PARAM_CL_Length-200;
- else
- JH_CTHL_NL_Y_CL_Length=JH_CTHL_NL_LianLengthAutoFirst-JH_CTHL_NL_PARAM_CL_Length;
-
- if(JH_CTHL_NL_Y_CL_Length >= JH_CTHL_NL_PARAM_Y_MAX_LENTH)
- JH_CTHL_NL_Y_CL_Length = JH_CTHL_NL_PARAM_Y_MAX_LENTH-40;
- if(JH_CTHL_NL_Y_CL_Length < 200)JH_CTHL_NL_Y_CL_Length=200;
-
- AxisMovePosAccDec(Y_AXIS,JH_CTHL_NL_PARAM_CL_Speed,JH_CTHL_NL_Y_CL_Length,2000,2000,50,50,100);
- }
- JH_CTHL_NL_CL_MotorStep = 2;
- }
- }
- break;
- case 2:
- if((dwYRealPos + 120) > JH_CTHL_NL_Y_CL_Length)
- JH_CTHL_NL_HLJJ_VAVLE = 0;
- if(!Y_DRV || dwYRealPos >= JH_CTHL_NL_Y_CL_Length)
- {
- AxisEgmStop(Y_AXIS);
- JH_CTHL_NL_HLJJ_VAVLE = 0;
- JH_CTHL_NL_CL_MotorStep = 3;
- bCL_OK_FLG = 1;
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 100; //延时数控回零点
- }
- break;
- case 3:
- if(dwTickCount >= JH_CTHL_NL_CL_MotorDelay)
- {
- JH_CTHL_NL_CL_MotorStep = 50;
-
- }
- break;
-
- //夹带插销到穿入位置
- case 20: //此处最好算好定位长度相减
- JH_CTHL_NL_LENTH = JH_CTHL_NL_PARAM_CXDW_Length;
- if((JH_CTHL_NL_LENTH > 0) )
- {
- JH_CTHL_NL_CL_MotorStep = 21;
- }
- else
- {
- JH_CTHL_NL_CL_MotorStep = 30;
- }
- if(cCXCONE)
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 300;
- else
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + JH_CTHL_NL_PARAM_CXJZ_HT_DELAY;
- break;
- case 21:
- if(dwTickCount >= JH_CTHL_NL_CL_MotorDelay)
- {
- if(JH_CTHL_NL_SF_Origin_IN)
- {
- JH_CTHL_NL_Y_CL_PosBuff = dwYRealPos;
- AxisContinueMoveAcc(Y_AXIS,6000,DIR_P,800,1200,18,10);
- JH_CTHL_NL_CL_MotorStep = 22;
- if(!JH_CTHL_PARAM_XCLD_MAX_LENGTH)
- cXCLD_MAX_LENGTH=200;
- else
- cXCLD_MAX_LENGTH=JH_CTHL_PARAM_XCLD_MAX_LENGTH;
- }
- }
- break;
- case 22:
- if(JH_CTHL_NL_CXSC_Limit_IN)//X15插稍上止感应
- {
- JH_CTHL_NL_Y_CL_PosBuff = dwYRealPos + JH_CTHL_NL_PARAM_CXDW_Length;
- JH_CTHL_NL_CL_MotorStep = 23;
- }
- else if(dwYRealPos >= JH_CTHL_NL_Y_CL_PosBuff + cXCLD_MAX_LENGTH) //插销定位异常位置
- {
- JH_CTHL_NL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀
- AxisEgmStop(Y_AXIS);
- JH_CTHL_NL_YsaveCXDWPosBuff = 0;
- JH_CTHL_NL_CXHJD_VAVLE = 1;
- if(JH_CTHL_NL_CXDW_Stop)
- {
- JH_CTHL_NL_CL_MotorStep = 24;
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 30;
- }
- else//不告警?
- {
- JH_CTHL_NL_CL_MotorStep = 0;
- JH_CTHL_NL_bXCBackOK = 1;
- }
- }
- break;
- case 23:
- if((dwYRealPos + 80) > JH_CTHL_NL_Y_CL_PosBuff)
- {
- // JH_CTHL_NL_CXHJD_VAVLE = 1;
- }
- if((dwYRealPos > JH_CTHL_NL_Y_CL_PosBuff)) //插销定位已经结束
- {
- JH_CTHL_NL_CXSCDW_VAVLE = 1; //Y21 插销上止定位电磁阀
- AxisEgmStop(Y_AXIS);
- JH_CTHL_NL_YsaveCXDWPosBuff = 0;
- JH_CTHL_NL_CXHJD_VAVLE = 1;
- if(JH_CTHL_NL_CXDW_Stop)
- {
- JH_CTHL_NL_CL_MotorStep = 24;
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 30;
- }
- else
- {
- JH_CTHL_NL_CL_MotorStep = 0;
- JH_CTHL_NL_bXCBackOK = 1;
- }
- }
- break;
- case 24:
- if(dwTickCount >= JH_CTHL_NL_CL_MotorDelay)
- {
- //JH_CTHL_NL_CXHT_VAVLE = 0;
- JH_CTHL_NL_CL_MotorStep = 0;
- if(JH_CTHL_NL_CXDW_Stop && !bRunning)
- SetEn(Y_AXIS, MOTOR_DISEN);
- JH_CTHL_NL_CXDW_Stop = 0;
- }
- break;
- case 30:
- JH_CTHL_NL_YsaveCXDWPosBuff = 0;
- JH_CTHL_NL_CL_MotorStep = 0;
- JH_CTHL_NL_bXCBackOK = 1;
- JH_CTHL_NL_CXQJD_VAVLE = 0;//YYQ
- break;
-
- //回原点开始,
- case 40:
-
- if(JH_CTHL_NL_SF_Origin_IN && (GetEn(Y_AXIS) == MOTOR_DISEN))
- {
- JH_CTHL_NL_CL_MotorStep = 41;
- SetDir(Y_AXIS, DIR_P);
- }
- else
- {
- SetDir(Y_AXIS, DIR_N);
- JH_CTHL_NL_CL_MotorStep = 46;
-
- }
- if(GetEn(Y_AXIS) == MOTOR_DISEN)
- {
- SetEn(Y_AXIS, MOTOR_EN);
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 260; //锁轴时间
-
- }
- else //已经锁轴
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 5;
-
- break;
- case 41:
- if(dwTickCount >= JH_CTHL_NL_CL_MotorDelay)
- {
- JH_CTHL_NL_CL_MotorStep = 42;
- AxisContinueMoveAcc(Y_AXIS,5000,DIR_P,1000,800,15,15);
- }
- break;
- case 42:
- if(!JH_CTHL_NL_SF_Origin_IN)
- {
- JH_CTHL_NL_CL_MotorStep = 43;
- JH_CTHL_NL_YSavePosBuff = dwYRealPos;
- }
- break;
- case 43:
- //离开原点5CM停止
- if((dwYRealPos - JH_CTHL_NL_YSavePosBuff) >= 800)
- {
- AxisEgmStop(Y_AXIS);
- JH_CTHL_NL_CL_MotorStep = 46; //留空几步备用
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 50;
- }
- break;
- case 46:
- if(dwTickCount >= JH_CTHL_NL_CL_MotorDelay)
- {
- JH_CTHL_NL_CL_MotorStep = 47; //检测回到原位
- if(!JH_CTHL_NL_SF_Origin_IN)
- AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,800,15,10);
- }
- break;
- case 47:
- if(JH_CTHL_NL_SF_Origin_IN)
- {
- JH_CTHL_NL_CL_MotorStep = 0;
- AxisEgmStop(Y_AXIS);
- SetPos(Y_AXIS, 0);
- }
- break;
- //数控回原位 (条件为自动工作,SON一直没有松开)
- case 50:
- if(!Y_DRV)
- {
- if(dwYRealPos > 150)
- { //回零速度
- JH_CTHL_NL_CL_MotorDelay=dwTickCount+5000;
- AxisMovePosAccDecNotStop(Y_AXIS,JH_CTHL_NL_PARAM_CL_Back_O_Speed,-dwYRealPos + 151,5000,2000,25,25,50);
- }
- else
- {
- JH_CTHL_NL_CL_MotorDelay=dwTickCount+10000;
- AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,1000,15,15);
- }
- JH_CTHL_NL_CL_MotorStep = 51;
- }
- break;
- case 51:
- if(JH_CTHL_NL_SF_Origin_IN)
- {
- JH_CTHL_NL_CL_MotorStep = 0;
- AxisEgmStop(Y_AXIS);
- SetPos(Y_AXIS, 0);
- }
- else if(dwTickCount>=JH_CTHL_NL_CL_MotorDelay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SF_Origin_IN,0); // 安全门关上才能启动
- }
-
- break;
- }
- #endif
- }
- void JH_CTHL_NL_HeMo(void)
- {
- static unsigned char hemoflag1=0,hemoflag2=0,hemoflag3=0,hemoflag4=0;
- switch(JH_CTHL_NL_HeMoStep)
- {
- case 1:
- if(JH_CTHL_NL_HSLiao_Origin_IN)
- {
- JH_CTHL_NL_HeMoStep = 4;
- JH_CTHL_NL_CTXMSS_VAVLE = 1;
- JH_CTHL_NL_HeMo_Time = dwTickCount + 1800;
- }
- break;
- case 4:
- if(!JH_CTHL_NL_CTM_Origin_IN)
- JH_CTHL_NL_JLTou_VAVLE = 0; //接拉头
- if(JH_CTHL_NL_CTM_Limit_IN)
- {
- JH_CTHL_NL_JLTou_VAVLE = 0; //接拉头
- JH_CTHL_NL_HeMoStep = 0;
- }
- else if((dwTickCount >= JH_CTHL_NL_HeMo_Time)&& bRunning)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Limit_ALARM,bRunning); //穿头下模上升异常
- }
- break;
- case 10:
- JH_CTHL_NL_HeMoStep = 11;
- JH_CTHL_NL_CTXMSS_VAVLE = 0;
- PRV_HSLiao_OUT_TIME1=dwTickCount;
- JH_CTHL_NL_HeMo_Time = dwTickCount + 2000;
- break;
- case 11:
- if(!JH_CTHL_NL_CTM_Limit_IN)
- {
- CTXMSS_DOWN_TIME=dwTickCount;
- JH_CTHL_NL_HeMoStep = 12;
- if(PRV_CTXMSS_DOWN_TIME)
- {
- FIRST_CT_BACK_DELAY = dwTickCount + PRV_CTXMSS_DOWN_TIME*2/5;
- HSLIAO_OUT_DELAY=dwTickCount+PRV_CTXMSS_DOWN_TIME*3/5;
- }
- hemoflag1=1;
- hemoflag2=1;
- hemoflag3=1;
- hemoflag4=1;
- }
- break;
- case 12:
- if(bRunning)
- {
- //测量时间
- if(JH_CTHL_NL_CTM_Origin_IN&&hemoflag2)
- {
- hemoflag2=0;
- CTXMSS_DOWN_TIME=dwTickCount-CTXMSS_DOWN_TIME;
- PRV_CTXMSS_DOWN_TIME=CTXMSS_DOWN_TIME;
- }
- //
- if(PRV_CTXMSS_DOWN_TIME&&(JH_CTHL_NL_cZipCnt > 1))//测量时间后的动作
- {
- if(dwTickCount >= FIRST_CT_BACK_DELAY&&hemoflag3)
- {
- hemoflag3=0;
- JH_CTHL_NL_First_CT_VAVLE=0;
- FIRST_HEMO_TIME=dwTickCount;
-
- }
- if(dwTickCount>=HSLIAO_OUT_DELAY&&hemoflag1)
- {
- hemoflag1=0;
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- JH_CTHL_NL_TryCnt = 0;
- bZhuangLiaoOkFlg = 0;
- }
- if(JH_CTHL_NL_CTM_Origin_IN&&JH_CTHL_NL_First_CT_Origin_IN)
- {
- JH_CTHL_NL_HeMoStep = 0;
- //JH_CTHL_NL_ZhuangLiaoStep = 1;
- //JH_CTHL_NL_TryCnt = 0;
- //bZhuangLiaoOkFlg = 0;
- FIRST_HEMO_TIME=dwTickCount-FIRST_HEMO_TIME;
- }
- else if(dwTickCount >= JH_CTHL_NL_HeMo_Time)
- {
- if(!JH_CTHL_NL_CTM_Origin_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Origin_ALARM,bRunning);
- else if(!JH_CTHL_NL_First_CT_Origin_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_First_CT_Origin_ALARM,bRunning);
- }
- }
- else //测量时间前的动作
- {
- if(JH_CTHL_NL_CTM_Origin_IN)//穿来头模原位
- {
- JH_CTHL_NL_HeMoStep = 13;
- JH_CTHL_NL_First_CT_VAVLE=0;
- FIRST_HEMO_TIME=dwTickCount;
- JH_CTHL_NL_HeMo_Time = dwTickCount + 2000;
- }
- else if(dwTickCount >= JH_CTHL_NL_HeMo_Time)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Origin_ALARM,bRunning);
- }
- }
- }
- else {
- if(JH_CTHL_NL_CTM_Origin_IN)JH_CTHL_NL_HeMoStep = 0;
- }
- break;
- case 13:
- if(JH_CTHL_NL_First_CT_Origin_IN)
- {
- FIRST_HEMO_TIME=dwTickCount-FIRST_HEMO_TIME;
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- JH_CTHL_NL_TryCnt = 0;
- bZhuangLiaoOkFlg = 0;
-
- JH_CTHL_NL_HeMoStep = 0;
- }
- else if(dwTickCount >= JH_CTHL_NL_HeMo_Time)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_First_CT_Origin_ALARM,bRunning);
- }
- break;
- }
- }
- //装拉头动作
- void JH_CTHL_NL_ZLT_Step(void)
- {
- switch(JH_CTHL_NL_ZhuangLiaoStep)
- {
- case 1:
-
- if(bZhuangLiaoOkFlg)
- {
- JH_CTHL_NL_ZhuangLiaoStep = 0;
- }
-
-
- if(((JH_CTHL_NL_MGuo_VAVLE && JH_CTHL_NL_LTou_Check) || (!JH_CTHL_NL_MGuo_VAVLE)) && !JH_CTHL_NL_JLiao_Limit_IN )//说明没有拉头
- {
- if(bRunning&&PRV_CTXMSS_DOWN_TIME&&JH_CTHL_NL_cZipCnt>1)
- {
- if(JH_CTHL_NL_TLiaoStep == 0)
- {
- JH_CTHL_NL_TLiaoStep = 1;
- JH_CTHL_NL_ZhuangLiaoStep = 40;
- }
- }
- else
- {
- //穿头模和一次穿入必须在原位,接料不能有输出
- if(JH_CTHL_NL_CTM_Origin_IN && !JH_CTHL_NL_CTXMSS_VAVLE)
- {
- JH_CTHL_NL_First_CT_VAVLE = 0;
- JH_CTHL_NL_JLTou_VAVLE = 0;
- JH_CTHL_NL_MGuo_VAVLE = 0;
- if(JH_CTHL_NL_TLiaoStep == 0)
- {
- JH_CTHL_NL_TLiaoStep = 1;
- JH_CTHL_NL_ZhuangLiaoStep = 2;
- }
- }
- else if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay + 500) //警告横送拉必须保证穿头模和一次穿入在原位,接料不能有输出
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Origin_ALARM,bRunning);
-
- }
- }
- }
- else if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay+150) //已经有拉头直接跳到结束
- {
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 40;
- JH_CTHL_NL_ZhuangLiaoStep = 9;
- }
-
- break;
- case 40:
- if(JH_CTHL_NL_TLiaoStep == 0) //推料已经完成
- {
- JH_CTHL_NL_HSLiao_VAVLE = 1;
- JH_CTHL_NL_ZhuangLiaoStep = 41;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- break;
- case 41:
- if(!JH_CTHL_NL_HSLiao_Origin_IN)//离开原点
- {
- PRV_HSLiao_OUT_TIME2=dwTickCount;
- JH_CTHL_NL_ZhuangLiaoStep = 42;
- HSLIAO_CHECK_DELAY=dwTickCount+HSLIAO_CHECK_TIME+1;//横送过程检测
- }
- break;
- case 42:
- if(dwTickCount>=HSLIAO_CHECK_DELAY)//兼容没有做缓冲的情况
- {
- if(JH_CTHL_NL_CTM_Origin_IN && JH_CTHL_NL_First_CT_Origin_IN)//穿头模和第一次合链在原位
- {
- JH_CTHL_NL_ZhuangLiaoStep = 3;
- HSLiao_OUT_TIME1=dwTickCount-PRV_HSLiao_OUT_TIME1;
-
- }
- else
- {
- JH_CTHL_NL_ZhuangLiaoStep = 43;
- JH_CTHL_NL_HSLiao_VAVLE = 0;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 20;
- }
- }
- break;
- case 43:
- if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay)
- {
- if(JH_CTHL_NL_CTM_Origin_IN && JH_CTHL_NL_First_CT_Origin_IN)//穿头模和第一次合链在原位
- {
- JH_CTHL_NL_ZhuangLiaoStep = 3;
- JH_CTHL_NL_HSLiao_VAVLE = 1;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- }
- break;
- case 2:
- if(JH_CTHL_NL_TLiaoStep == 0) //推料已经完成
- {
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- JH_CTHL_NL_JLTou_VAVLE = 0;
- JH_CTHL_NL_MGuo_VAVLE = 0;
- if(!JH_CTHL_NL_JLiao_Limit_IN && JH_CTHL_NL_First_CT_Origin_IN)
- {
- JH_CTHL_NL_ZhuangLiaoStep = 3;
- JH_CTHL_NL_HSLiao_VAVLE = 1;
-
- }
- }
- break;
- case 3:
- //横送到位
- if(JH_CTHL_NL_HSLiao_Limit_IN && !JH_CTHL_NL_HSLiao_Origin_IN)
- {
- HSLiao_OUT_TIME2=dwTickCount-PRV_HSLiao_OUT_TIME2;
- JH_CTHL_NL_ZhuangLiaoStep = 4;
- // JH_CTHL_NL_JLTou_VAVLE = 1; //接拉头输出,不需要时间
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 2;
- }
- else if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_HSLiao_Limit_ALARM,bRunning);
- }
- break;
- case 4:
- if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay)
- {
- JH_CTHL_NL_ZhuangLiaoStep = 5;
- JH_CTHL_NL_JLTou_VAVLE = 1; //接拉头输出,不需要时间
- JH_CTHL_NL_CTXMSS_VAVLE = 0; //Y20 穿头下模上升电磁阀
-
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- break;
- case 5:
- if(JH_CTHL_NL_JLiao_Limit_IN)
- {
- JH_CTHL_NL_ZhuangLiaoStep = 6;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_PARAM_MaGou_DELAY;
- }
- else if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay) //接拉头(接料)到们信号异常
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_JLiao_Limit_ALARM,bRunning);
- }
- break;
- case 6:
- if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay) //延时码勾
- {
- JH_CTHL_NL_MGuo_VAVLE = 1; //码勾输出
- JH_CTHL_NL_ZhuangLiaoStep = 7;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_PARAM_HSLiaoOff_DELAY;
- bTuiLaTouOkFlg = 0; //认为拉头没法带出
- }
- break;
- case 7:
- if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay)
- {
- JH_CTHL_NL_HSLiao_VAVLE = 0;
- JH_CTHL_NL_ZhuangLiaoStep = 8;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- break;
- case 8:
- if(!JH_CTHL_NL_HSLiao_Limit_IN) //
- {
- JH_CTHL_NL_ZhuangLiaoStep = 9;
- JH_CTHL_NL_TLiaoStep = 1; //推拉头
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_PARAM_CheckLT_DELAY; //也是给下模能上升的时间
- }
- else if (JH_CTHL_NL_LTou_Check) //时间内信号这说明没有拉头
- {
- //重送3次
- JH_CTHL_NL_TryCnt++;
- JH_CTHL_NL_JLTou_VAVLE = 0; //接拉头关
- JH_CTHL_NL_MGuo_VAVLE = 0; //码勾打开
- if(JH_CTHL_NL_TryCnt >= 3)
- {
- JH_CTHL_NL_TryCnt = 0;
- bZhuangLiaoOkFlg = 0;
- JH_CTHL_NL_ZhuangLiaoStep = 0;
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_ZLT_ALARM,bRunning);
- cWULATOUCnt=1;
- }
- else
- {
- JH_CTHL_NL_ZhuangLiaoStep = 20; //重新送3次
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- }
- else if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_HSLiao_Limit_ALARM,bRunning);
- if(bRunning)
- {
- JH_CTHL_NL_ZhuangLiaoStep = 0 ;
- }
- }
- break;
- case 9:
- if(JH_CTHL_NL_LTou_Check) //时间内信号这说明没有拉头
- {
- JH_CTHL_NL_TryCnt++;
- JH_CTHL_NL_JLTou_VAVLE = 0; //接拉头关
- JH_CTHL_NL_MGuo_VAVLE = 0; //码勾打开
- if(JH_CTHL_NL_TryCnt >= 3)
- {
- JH_CTHL_NL_TryCnt=0;
- bZhuangLiaoOkFlg = 0;
- JH_CTHL_NL_ZhuangLiaoStep = 0;
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_ZLT_ALARM,bRunning);
- cWULATOUCnt=1;
- }
- else
- {
- JH_CTHL_NL_ZhuangLiaoStep = 20; //重新送3次
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- }
- else if((dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay) &&JH_CTHL_NL_HSLiao_Origin_IN)
- {
- bZhuangLiaoOkFlg = 1;
- JH_CTHL_NL_ZhuangLiaoStep = 0;
- }
- break;
- //装拉头不成攻重新送拉头
- case 20:
- if(JH_CTHL_NL_HSLiao_Origin_IN)
- {
- JH_CTHL_NL_JLTou_VAVLE = 0; //接拉头关
- JH_CTHL_NL_MGuo_VAVLE = 0; //码勾打开
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 10;
- }
- else if(dwTickCount >= JH_CTHL_NL_ZhuangLiaoDelay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_HSLiao_Origin_ALARM,bRunning);
- }
- break;
- }
- }
- void JH_CTHL_NL_TLiao_Step(void)
- {
- switch(JH_CTHL_NL_TLiaoStep)
- {
- case 1:
- if(bTuiLaTouOkFlg)
- {
- JH_CTHL_NL_TLiaoStep = 0;
- }
- else
- {
- JH_CTHL_NL_TLiao_Delay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- JH_CTHL_NL_TLiaoStep = 2;
- }
- break;
- case 2: //横送料在原位
- if(JH_CTHL_NL_HSLiao_Origin_IN && !JH_CTHL_NL_HSLiao_Limit_IN && !JH_CTHL_NL_HSLiao_VAVLE)
- {
- JH_CTHL_NL_TLiao_Delay = dwTickCount + JH_CTHL_NL_PARAM_HSLYDTL_DELAY;
- JH_CTHL_NL_TLiaoStep = 21;
- }
- else if(dwTickCount >= JH_CTHL_NL_TLiao_Delay)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_HSLiao_Origin_ALARM,1);
- break;
- case 21: //横送料在原位
- if((dwTickCount >= JH_CTHL_NL_TLiao_Delay) && JH_CTHL_NL_HSLiao_Origin_IN && !JH_CTHL_NL_HSLiao_Limit_IN && !JH_CTHL_NL_HSLiao_VAVLE)
- {
- JH_CTHL_NL_TLiao_VAVLE = 1; //推料(推拉头)输出
- JH_CTHL_NL_TLiao_Delay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- JH_CTHL_NL_TLiaoStep = 3;
- }
- break;
- case 3: //推拉头到位
- if(JH_CTHL_NL_TLiao_Limit_IN)
- {
- JH_CTHL_NL_TLiao_Delay = dwTickCount + JH_CTHL_NL_PARAM_TLiao_BACKDELAY;
- JH_CTHL_NL_TLiaoStep = 4;
- }
- else if(dwTickCount >= JH_CTHL_NL_TLiao_Delay)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_TLiao_Limit_ALARM,1);
- break;
- case 4:
- if(dwTickCount >= JH_CTHL_NL_TLiao_Delay)
- {
- JH_CTHL_NL_TLiao_VAVLE = 0;
- JH_CTHL_NL_TLiao_Delay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- JH_CTHL_NL_TLiaoStep = 5;
- }
- break;
- case 5:
- if(!JH_CTHL_NL_TLiao_Limit_IN)
- {
- JH_CTHL_NL_TLiaoStep = 0;
- JH_CTHL_NL_TLiao_Delay = dwTickCount;
- bTuiLaTouOkFlg = 1;
- }
- else if(dwTickCount >= JH_CTHL_NL_TLiao_Delay)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_TLiao_Limit_ALARM,0);
- break;
- }
-
- }
- //振动盘控制
- void JH_CTHL_NL_ZhenDongAction(void)
- {
-
-
- #if 1
-
- // if(bRunning)
- // {
- if(!JH_CTHL_NL_PARAM_ZDP_AUTO)
- {
- if(JH_CTHL_NL_ZhenDongPian_OUT == 1)
- {
- if(JH_CTHL_NL_ZDP_IN)
- {
- if(dwTickCount >= JH_CTHL_NL_ZDP_Delay)
- {
- JH_CTHL_NL_ZhenDongPian_OUT = 0;
- JH_CTHL_NL_ZDP_Delay = dwTickCount + JH_CTHL_NL_PARAM_ZDP_Stop_TIME;//JH_CTHL_NL_PARAM_ZDP_Stop_TIME + 50;
- }
- }
- else
- {
- JH_CTHL_NL_ZDP_Delay = dwTickCount + JH_CTHL_NL_PARAM_ZDP_Start_TIME;//JH_CTHL_NL_PARAM_ZDP_Start_TIME;
- }
- }
- else
- {
- if(!JH_CTHL_NL_ZDP_IN)
- {
- if(dwTickCount >= JH_CTHL_NL_ZDP_Delay)
- {
- JH_CTHL_NL_ZhenDongPian_OUT = 1;
- JH_CTHL_NL_ZDP_Delay = dwTickCount + JH_CTHL_NL_PARAM_ZDP_Start_TIME;//JH_CTHL_NL_PARAM_ZDP_Start_TIME
- }
- }
- else
- JH_CTHL_NL_ZDP_Delay = dwTickCount + JH_CTHL_NL_PARAM_ZDP_Stop_TIME;//JH_CTHL_NL_PARAM_ZDP_Stop_TIME+ 50;
- }
- }
- else if (JH_CTHL_NL_PARAM_ZDP_AUTO ==1 )
- {
- JH_CTHL_NL_ZhenDongPian_OUT=0;
- JH_CTHL_NL_ZDP_Delay = dwTickCount + 0;
- }
- else if(JH_CTHL_NL_PARAM_ZDP_AUTO == 2)
- {
- JH_CTHL_NL_ZhenDongPian_OUT=1;
- JH_CTHL_NL_ZDP_Delay = dwTickCount + 0;
-
- }
- //JH_CTHL_NL_CuiQi_VAVLE = ~JH_CTHL_NL_ZhenDongPian_OUT;
- #endif
- }
- //送带控制
- void JH_CTHL_NL_SongDaiAction(void)
- {
- switch(JH_CTHL_NL_SongDai_Step)
- {
- case 1:
- if(JH_CTHL_NL_SongDai_VAVLE)
- {
- if(JH_CTHL_NL_SongDai_Limit_IN)
- {
- if(dwTickCount >= JH_CTHL_NL_SongDai_Delay)
- {
- JH_CTHL_NL_SongDai_VAVLE = 0;
- JH_CTHL_NL_SongDai_Delay = dwTickCount + JH_CTHL_NL_PARAM_SongDaiTime;//JH_CTHL_NL_PARAM_ZDP_Stop_TIME + 50;
- }
- }
- else
- {
- JH_CTHL_NL_SongDai_Delay = dwTickCount;//JH_CTHL_NL_PARAM_ZDP_Start_TIME;
- if(dwTickCount>=JH_CTHL_NL_SongDai_Delay2)
- {
- JH_CTHL_NL_SongDai_VAVLE = 0;
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SongDai_ALARM,1); //告警
- }
- }
- }
- else
- {
- if(!JH_CTHL_NL_SongDai_Limit_IN)
- {
- if(dwTickCount >= JH_CTHL_NL_SongDai_Delay)
- {
- JH_CTHL_NL_SongDai_VAVLE = 1;
- JH_CTHL_NL_SongDai_Delay = dwTickCount + JH_CTHL_NL_PARAM_SongDaiTime;//JH_CTHL_NL_PARAM_ZDP_Start_TIME
- JH_CTHL_NL_SongDai_Delay2 = dwTickCount +6000;
- }
- }
- else
- JH_CTHL_NL_SongDai_Delay = dwTickCount + JH_CTHL_NL_PARAM_SongDaiTime;//JH_CTHL_NL_PARAM_ZDP_Stop_TIME+ 50;
- }
- break;
- // case 1:
- // if(JH_CTHL_NL_SongDai_VAVLE == 1)
- // {
- //
- // JH_CTHL_NL_SongDai_Step=2;
- // JH_CTHL_NL_SongDai_Delay=dwTickCount + 3000;//JH_CTHL_NL_PARAM_SongDaiTime;
- // }
- // else
- // {
- // JH_CTHL_NL_SongDai_Step=2;
- // }
- // break;
- // case 2:
- // if(JH_CTHL_NL_SongDai_VAVLE == 1)
- // {
- // if(JH_CTHL_NL_SongDai_Limit_IN)
- // {
- // JH_CTHL_NL_SongDai_VAVLE = 0;
- // }
- // else if(dwTickCount >= JH_CTHL_NL_SongDai_Delay)
- // {
- // JH_CTHL_NL_SongDai_VAVLE = 0;
- // JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_SongDai_ALARM,1); //告警
- // }
- // }
- // else
- // {
- // if(!JH_CTHL_NL_SongDai_Limit_IN && dwTickCount >= JH_CTHL_NL_SongDai_Delay)
- // {
- // JH_CTHL_NL_SongDai_VAVLE = 1;
- // JH_CTHL_NL_SongDai_Delay=dwTickCount + 3000;//JH_CTHL_NL_PARAM_SongDaiTime;
- // }
- // else
- // {
- // JH_CTHL_NL_SongDai_Delay=dwTickCount + 20;
- // }
- // }
- // break;
- default:
- break;
- }
- }
- void JH_CTHL_NL_bFKCXTDDWStep(void)
- {
- switch(JH_CTHL_NL_bFKCXTDDW_Step)
- {
- case 1:
- if(dwTickCount >= JH_CTHL_NL_bFKCXTDDW_Delay)
- {
- JH_CTHL_NL_XKTD_VAVLE = 1; //斜口推带气缸输出
- JH_CTHL_NL_FKGD_VAVLE = 0; //方块固定关
- JH_CTHL_NL_bFKCXTDDW_Step = 2;
- }
- break;
- case 2:
- if(!JH_CTHL_NL_XKTD_Origin_IN) //斜口推带原位离开
- {
- JH_CTHL_NL_bFKCXTDDW_Step = 3;
- JH_CTHL_NL_bFKCXTDDW_Delay = dwTickCount + 20;
- }
- break;
- case 3://斜口定位
- if(dwTickCount >= JH_CTHL_NL_bFKCXTDDW_Delay)
- {
- JH_CTHL_NL_XKDW_VAVLE = 1;
- JH_CTHL_NL_bFKCXTDDW_Step = 4;
- JH_CTHL_NL_bFKCXTDDW_Delay = dwTickCount + JH_CTHL_NL_PARAM_XKDW_TD_DELAY;
- }
- break;
- case 4:
- if(dwTickCount >= JH_CTHL_NL_bFKCXTDDW_Delay)
- {
- AxisContinueMoveAcc(X_AXIS,JH_CTHL_NL_PARAM_XKDW_Speed,DIR_P,JH_CTHL_NL_PARAM_XKDW_Speed/2,JH_CTHL_NL_PARAM_XKDW_Speed/2,10,10);//拖带电机
- JH_CTHL_NL_bFKCXTDDW_Step = 5;
- JH_CTHL_NL_XSavePosBuff = dwXRealPos;
- SetPos(X_AXIS, 0); //启动位置设为0点
- dwXRealPos = 0;
- }
- break;
- case 5:
- if(JH_CTHL_NL_XKSC_Limit_IN) //方块到位
- {
- AxisEgmStop(X_AXIS);
- JH_CTHL_NL_bFKCXTDDW_Step = 6;
- JH_CTHL_NL_XKTD_VAVLE = 0; //斜口推带气缸关闭
-
- JH_CTHL_NL_bFKCXTDDW_Delay = dwTickCount + 300;
-
- }
- else if(dwXRealPos >= (JH_CTHL_NL_XSavePosBuff + 800))
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_FKCXDW_ALARM,bRunning);//方块插销定位异常警告
-
- }
- break;
- case 6:
- if(dwTickCount >= JH_CTHL_NL_bFKCXTDDW_Delay)
- {
- JH_CTHL_NL_GDXM_VAVLE=1;
- JH_CTHL_NL_bFKCXTDDW_Step = 0;
- }
- break;
- }
- }
- //插销穿入动作
- void JH_CTHL_NL_bCXCRStep(void)
- {
- switch(JH_CTHL_NL_bCXCR_Step)
- {
- case 11:
- if(!JH_CTHL_NL_CXDW_Stop)
- JH_CTHL_NL_XKTD_VAVLE = 1; //斜口推带气缸输出
- JH_CTHL_NL_FKGD_VAVLE = 0; //方块固定关
- JH_CTHL_NL_bCXCR_Step = 12;
- if(JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 1)
- JH_CTHL_NL_CXSX_VAVLE = 1; //插销上下
- break;
- case 12:
- if(!JH_CTHL_NL_XKTD_Origin_IN || JH_CTHL_NL_CXDW_Stop) //斜口推带原位离开
- {
- JH_CTHL_NL_bCXCR_Step = 13;
- JH_CTHL_NL_bCXCR_Delay = dwTickCount + 65;
- }
- break;
- case 13:
- // if(JH_CTHL_NL_PARAM_CR_MODE == 1)
- // {
- if((JH_CTHL_NL_CL_MotorStep == 0) && (JH_CTHL_NL_SF_Origin_IN) && (dwTickCount >= JH_CTHL_NL_bCXCR_Delay)) //插销前夹带回到原位
- {
- JH_CTHL_NL_bCXCR_Step = 14;
- if(!JH_CTHL_NL_CXDW_Stop)
- JH_CTHL_NL_FKGD_VAVLE = 1; //方块固定关
- JH_CTHL_NL_CXQJD_VAVLE = 1; //插销前夹带
- //JH_CTHL_NL_SongDai_VAVLE = 1; //松带
- JH_CTHL_NL_bCXCR_Delay = dwTickCount + 0;
- }
- // }//气缸穿入
- // else
- // {
- // JH_CTHL_NL_bCXCR_Step = 14;
- // if(!JH_CTHL_NL_CXDW_Stop)
- // JH_CTHL_NL_FKGD_VAVLE = 1; //方块固定关
- // JH_CTHL_NL_CXQJD_VAVLE = 1; //插销前夹带
- // //JH_CTHL_NL_SongDai_VAVLE = 1; //松带
- // JH_CTHL_NL_bCXCR_Delay = dwTickCount + 0;
- // }
- break;
- case 14:
- if(dwTickCount >= JH_CTHL_NL_bCXCR_Delay)
- {
- JH_CTHL_NL_bCXCR_Step = 15;
- if(!JH_CTHL_NL_CXDW_Stop)
- JH_CTHL_NL_FKGD_VAVLE = 1; //方块固定
- //Y轴启动插销
- JH_CTHL_NL_CL_MotorStep = 20; //插销定位
- JH_CTHL_NL_BB_VAVLE=1;
- }
- break;
- case 15:
- if(JH_CTHL_NL_CL_MotorStep == 0) //插销定位完成
- {
- if(!JH_CTHL_NL_CXDW_Stop)
- {
- JH_CTHL_NL_bCXCR_Step = 16;
- JH_CTHL_NL_CXDWZ_VAVLE = 1; //插销定位针(到位)电磁阀
- JH_CTHL_NL_bCXCR_Delay = dwTickCount + 10; //延时插销下移
- }
- else
- {
- JH_CTHL_NL_bCXCR_Step = 0;
- }
- JH_CTHL_NL_CXDW_Stop = 0;
- }
- break;
- case 16:
- if(dwTickCount >= JH_CTHL_NL_bCXCR_Delay)
- {
- JH_CTHL_NL_bCXCR_Step = 17;
- JH_CTHL_NL_CXSX_VAVLE = 0; //插销上下
- JH_CTHL_NL_bCXCR_Delay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME; //插销下移异常时间
- }
- break;
- case 17:
- // if(JH_CTHL_NL_CXJH_Limit_IN || JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT)
- {
- // if(JH_CTHL_NL_START_IN_UP)
-
-
- JH_CTHL_NL_bCXCR_Step = 18;
- if( cXcxcrCnt==0 && !X_DRV) //拖带电机反转
- {
- // SetDir(X_AXIS, DIR_N);
- AxisMovePosAccDec(X_AXIS,10000,-JH_CTHL_NL_PARAM_TDFZ_LENTH,800,600,6,6,0);
- }
- JH_CTHL_NL_CXQJD_VAVLE = 0; //插销前夹带电磁阀
- JH_CTHL_NL_CXSCDW_VAVLE = 0; //Y21 插销上止定位关
- JH_CTHL_NL_CXHJD_VAVLE = 1; //Y14 插销后夹带输出
- JH_CTHL_NL_bCXCR_Delay = dwTickCount + JH_CTHL_NL_PARAM_CXCR_DELAY;
- }
- // else if(dwTickCount >= JH_CTHL_NL_bCXCR_Delay)
- {
- // JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CXGL_Limit_ALARM,bRunning);//插销下移异常
-
- }
- break;
- case 18:
- // if(START_IN_UP)
- {
- if(dwTickCount >= JH_CTHL_NL_bCXCR_Delay)
- {
- JH_CTHL_NL_bCXCR_Step = 19;
-
- JH_CTHL_NL_CXHDW_VAVLE = 1; //插销后定位(插销穿入)
- JH_CTHL_NL_bCXCR_Delay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME +1000; //插销穿入到位异常时间
- //if(JH_CTHL_NL_PARAM_CR_MODE == 1)
- JH_CTHL_NL_CL_MotorStep = 50; //合链电机回原点
- }
- }
- break;
- case 19:
- // if( cXcxcrCnt > 1)
- {
- // JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CX_Limit_ALARM,bRunning); //插销穿入到位异常
- }
-
- if( JH_CTHL_NL_CX_Limit_IN )
- {
- cXcxcrCnt=0;
- bZhuangLiaoOkFlg = 0;
- JH_CTHL_NL_bCXCR_Step = 0;
- JH_CTHL_NL_BB_VAVLE=0;
- // JH_CTHL_NL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀
-
- }
- else if (dwTickCount >= JH_CTHL_NL_bCXCR_Delay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CX_Limit_ALARM,bRunning); //插销穿入到
- JH_CTHL_NL_bCXCR_Step = 0;
- /*
- cXcxcrCnt++;
-
- JH_CTHL_NL_CXHJD_VAVLE=0;
- JH_CTHL_NL_CXHDW_VAVLE=0;
- JH_CTHL_NL_CXDWZ_VAVLE = 0;
- JH_CTHL_NL_CXSX_VAVLE=1;
- JH_CTHL_NL_bCXCR_Step = 11;
- */
- }
-
- break;
- }
- }
- void JH_CTHL_NL_bCLFirstStep(void)
- {
- switch(JH_CTHL_NL_bCLFirst_Step)
- {
- case 19:
- JH_CTHL_NL_JLTou_VAVLE = 0; //接拉头
- bZhuangLiaoOkFlg = 0;
- JH_CTHL_NL_bCLFirst_Step = 20;
- JH_CTHL_NL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀
- JH_CTHL_NL_bCLFirst_Delay = dwTickCount + JH_CTHL_NL_PARAM_First_CL_DELAY;//延时一次穿入
- break;
- case 20:
- if(dwTickCount >= JH_CTHL_NL_bCLFirst_Delay)
- {
- JH_CTHL_NL_bCLFirst_Step = 21;
- JH_CTHL_NL_First_CT_VAVLE = 1; //一次穿入电磁阀输出
- JH_CTHL_NL_bCLFirst_Delay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- break;
- case 21:
- if(!JH_CTHL_NL_First_CT_Origin_IN) //原点离开后才开始时间
- {
- JH_CTHL_NL_bCLFirst_Step = 22;
- JH_CTHL_NL_bCLFirst_Delay = dwTickCount + JH_CTHL_NL_PARAM_First_CL_Timer; //一次穿入时间
- }
- else if(dwTickCount >= JH_CTHL_NL_bCLFirst_Delay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_YCCRYWYC_ALARM,bRunning); //一次穿入原位异常
- }
- break;
- case 22:
- if(dwTickCount >= JH_CTHL_NL_bCLFirst_Delay)
- {
- JH_CTHL_NL_bCLFirst_Step = 23;
- JH_CTHL_NL_MGuo_VAVLE = 0; //码勾退
- JH_CTHL_NL_bCLFirst_Delay = dwTickCount + JH_CTHL_NL_PARAM_MGOff_XiaMo_DELAY;
- JH_CTHL_NL_FKGD_VAVLE = 0; //方块固定退
- JH_CTHL_NL_CXHJD_VAVLE = 0; //Y14 插销后夹带打开
- // if(JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 0)
- // JH_CTHL_NL_CXSX_VAVLE = 1; //插销上下
- // else
- // JH_CTHL_NL_CXSX_VAVLE = 0; //插销顶出
- }
- break;
- case 23:
- if(dwTickCount >= JH_CTHL_NL_bCLFirst_Delay)
- {
- JH_CTHL_NL_bCLFirst_Step = 24;
- JH_CTHL_NL_CTXMSS_VAVLE = 0; //穿头下模下降
- JH_CTHL_NL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭
- JH_CTHL_NL_bCLFirst_Delay = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- }
- break;
- case 24:
- if(!JH_CTHL_NL_CTM_Limit_IN)
- {
- JH_CTHL_NL_bCLFirst_Step= 25;
- JH_CTHL_NL_bCLFirst_Delay = dwTickCount + 25; //一次穿入延时返回
- }
- else if(dwTickCount >= JH_CTHL_NL_bCLFirst_Delay)
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Origin_ALARM,bRunning); //穿头下模下降异常
- }
- break;
- case 25:
- if(dwTickCount >= JH_CTHL_NL_bCLFirst_Delay)
- {
-
- JH_CTHL_NL_bCLFirst_Step= 0;
- JH_CTHL_NL_First_CT_VAVLE = 0; //一次穿入电磁阀关
- JH_CTHL_NL_CXHDW_VAVLE = 0; //插销后定位(插销穿入)关闭
-
-
- //退下出错警告
- JH_CTHL_NL_AutoDelay1 = dwTickCount + JH_CTHL_NL_VAVLE_ERROR_TIME;
- JH_CTHL_NL_AutoStep1 = 1;
- bTuiLaTouOkFlg = 1;
- }
- break;
- }
- }
- //手动动作
- void JH_CTHL_NL_ManualAction(void)
- {
-
- //监控
- if(cBanAuTo)
- {
- JH_CTHL_NL_PARAM_XCRU=1;
- }
- else
- {
- JH_CTHL_NL_PARAM_XCRU=0;
- }
- //监控
- if(cCXCONE)
- {
- JH_CTHL_NL_PARAM_CXCR=1;
- }
- else
- {
- JH_CTHL_NL_PARAM_CXCR=0;
- }
-
- if(bRunning) // 运行灯输出
- {
- JH_CTHL_NL_Run_State=1;
- JH_CTHL_NL_Stop_State=0;
- }
- else
- {
- JH_CTHL_NL_Stop_State=1;
- JH_CTHL_NL_Run_State=0;
- }
- if(GetEn(X_AXIS)==MOTOR_EN)
- JH_CTHL_NL_X_EN_FLG=1;
- if(GetEn(Y_AXIS)==MOTOR_EN)
- JH_CTHL_NL_Y_EN_FLG=1;
-
- if(dwTickCount>JH_CTHL_NL_bSFBBAOJIN_Delay)
- {
- JH_CTHL_NL_ALARMCLR_VAVLE=0;
- SetClr(Y_AXIS,MOTOR_ALARM);
- SetClr(X_AXIS,MOTOR_ALARM);
-
- }
- if((dwYRealPos > (JH_CTHL_NL_PARAM_Y_MAX_LENTH+20)) && Y_DRV && (GetDir(Y_AXIS)==DIR_P))
- {
-
- }
-
-
- if(bRunning == 0)
- {
- //手动不用电机送带
- JH_CTHL_NL_SongDai_Step=0;
- JH_CTHL_NL_SongDai_VAVLE = 0;
-
- if(bClearTotal) //切断计数清零
- {
- bClearTotal = 0;
- ClrcToTal(QDCT_TOTAL_ADDR);
- }
- if(JH_CTHL_NL_bTLiao ) //手动推料(推拉头)
- {
- JH_CTHL_NL_bTLiao = 0;
- if(JH_CTHL_NL_TLiao_VAVLE)
- JH_CTHL_NL_TLiao_VAVLE = 0;//JH_CTHL_NL_TLiao_VAVLE;
- else if(!JH_CTHL_NL_HSLiao_VAVLE && JH_CTHL_NL_HSLiao_Origin_IN)
- {
- JH_CTHL_NL_TLiao_VAVLE = 1;
- }
- else//条件警告
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_HENSONGLIAO_ALARM,0); // 横送料不能输出
- }
-
- }
- if(JH_CTHL_NL_bHSL) //手动横送料
- {
- JH_CTHL_NL_bHSL= 0;
- if(!JH_CTHL_NL_First_CT_VAVLE)
- {
- if(JH_CTHL_NL_HSLiao_VAVLE)
- {
- JH_CTHL_NL_HSLiao_VAVLE = 0;//~JH_CTHL_NL_HSLiao_VAVLE;
- }
- else if(!JH_CTHL_NL_TLiao_VAVLE && !JH_CTHL_NL_TLiao_Limit_IN && JH_CTHL_NL_CTM_Origin_IN && !JH_CTHL_NL_JLiao_Limit_IN &&
- !JH_CTHL_NL_JLTou_VAVLE && !JH_CTHL_NL_CTXMSS_VAVLE && !JH_CTHL_NL_CXDWZ_VAVLE && (!JH_CTHL_NL_bMG || (JH_CTHL_NL_bMG && JH_CTHL_NL_LTou_Check)))
- {
- JH_CTHL_NL_HSLiao_VAVLE = 1;
- }
- else //条件警告 最后一个括号条件为已经有拉头
- {
- if(JH_CTHL_NL_TLiao_Limit_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_TLiao_Limit_ALARM,0);
- else if(!JH_CTHL_NL_CTM_Origin_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Origin_ALARM,0);
- else if(JH_CTHL_NL_JLiao_Limit_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_JLiao_Limit_ALARM,0);
- }
- }
- }
- if(JH_CTHL_NL_bJLT) //接拉头
- {
- JH_CTHL_NL_bJLT = 0;
- if(JH_CTHL_NL_JLTou_VAVLE)
- JH_CTHL_NL_JLTou_VAVLE = 0;
- else if(!JH_CTHL_NL_First_CT_VAVLE && !JH_CTHL_NL_CTXMSS_VAVLE && JH_CTHL_NL_CTM_Origin_IN && JH_CTHL_NL_First_CT_Origin_IN)
- {
- JH_CTHL_NL_MGuo_VAVLE = 0;
- JH_CTHL_NL_JLTou_VAVLE = 1;
-
- }
- else//条件警告
- {
- if(!JH_CTHL_NL_CTM_Origin_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CTM_Origin_ALARM,0);
- else if(!JH_CTHL_NL_First_CT_Origin_IN)
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_First_CT_Origin_ALARM,0);
- }
- }
- if(JH_CTHL_NL_bMG) //码勾
- {
- JH_CTHL_NL_bMG = 0;
- JH_CTHL_NL_MGuo_VAVLE = !JH_CTHL_NL_MGuo_VAVLE;
- }
- if(JH_CTHL_NL_bFKJD) //方块夹带
- {
- JH_CTHL_NL_bFKJD = 0;
- JH_CTHL_NL_FKJD_VAVLE = !JH_CTHL_NL_FKJD_VAVLE;
- }
- if(JH_CTHL_NL_bXKTD) //斜口推带
- {
- JH_CTHL_NL_bXKTD = 0;
- if(JH_CTHL_NL_XKTD_VAVLE)
- JH_CTHL_NL_XKTD_VAVLE = 0;
- else if(((!JH_CTHL_NL_DXK_VAVLE && (!JH_CTHL_NL_XKSC_Limit_IN || !JH_CTHL_NL_CTXMSS_VAVLE)) || (JH_CTHL_NL_PARAM_UP_DOWN_OUT_SELECT == 1)) || JH_CTHL_NL_PARAM_QianMaSelect)
- JH_CTHL_NL_XKTD_VAVLE = 1;
- else//条件警告
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_DXKCTXM_Origin_ALARM,0);
- }
- }
- if(JH_CTHL_NL_bXKDW) //斜口定位
- {
- JH_CTHL_NL_bXKDW = 0;
- JH_CTHL_NL_XKDW_VAVLE = ~JH_CTHL_NL_XKDW_VAVLE;
- }
- if(JH_CTHL_NL_bCTXM) //穿头下模
- {
- JH_CTHL_NL_bCTXM = 0;
- if(JH_CTHL_NL_CTXMSS_VAVLE)
- {
- JH_CTHL_NL_HeMoStep = 10;
-
- // JH_CTHL_NL_JLTou_VAVLE = 0;
- // JH_CTHL_NL_CTXMXJ_VAVLE = 0;
- JH_CTHL_NL_CTXMSS_VAVLE = 0;
- }
- else if(!JH_CTHL_NL_HSLiao_VAVLE && JH_CTHL_NL_HSLiao_Origin_IN && (!JH_CTHL_NL_XKSC_Limit_IN || !JH_CTHL_NL_XKTD_VAVLE))
- {
- // JH_CTHL_NL_MGuo_VAVLE = 1;
- JH_CTHL_NL_HeMoStep = 1;
-
- // JH_CTHL_NL_CTXMSS_VAVLE = 1;
- // JH_CTHL_NL_CTXMXJ_VAVLE = 1;
- // JH_CTHL_NL_XMXJ_Time = dwTickCount + 450;
- }
- }
- if(JH_CTHL_NL_bFD) //分带
- {
- JH_CTHL_NL_bFD = 0;
- if(JH_CTHL_NL_FengDai_VAVLE)
- JH_CTHL_NL_FengDai_VAVLE = 0;
- else
- JH_CTHL_NL_FengDai_VAVLE = 1;
- }
- if(JH_CTHL_NL_bDXK) //顶斜口
- {
- JH_CTHL_NL_bDXK = 0;
- if(JH_CTHL_NL_DXK_VAVLE)
- {
- JH_CTHL_NL_DXK_VAVLE = 0;
-
- }
- else if(!JH_CTHL_NL_XKTD_VAVLE)
- {
- JH_CTHL_NL_DXK_VAVLE = 1;
- JH_CTHL_NL_GDXM_VAVLE = 1;
- }
- else //条件警告
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_XKTD_ALARM,0);
- }
- }
- if(JH_CTHL_NL_bXKGD) //固定斜码电磁阀
- {
- JH_CTHL_NL_bXKGD = 0;
- JH_CTHL_NL_GDXM_VAVLE = ~JH_CTHL_NL_GDXM_VAVLE;
- }
- if(JH_CTHL_NL_bFKGD) //方块固定
- {
- JH_CTHL_NL_bFKGD = 0;
- JH_CTHL_NL_FKGD_VAVLE = ~JH_CTHL_NL_FKGD_VAVLE;
- }
- if(JH_CTHL_NL_bCXQJD) //插销前夹带
- {
- JH_CTHL_NL_bCXQJD = 0;
- JH_CTHL_NL_CXQJD_VAVLE = ~JH_CTHL_NL_CXQJD_VAVLE;
- }
- if(JH_CTHL_NL_bCXSY) //插销下移电磁阀
- {
- JH_CTHL_NL_bCXSY = 0;
- JH_CTHL_NL_CXSX_VAVLE = !JH_CTHL_NL_CXSX_VAVLE;
- }
- //
- if(JH_CTHL_NL_bCXHT)
- {
- JH_CTHL_NL_bCXHT = 0;
- //JH_CTHL_NL_CXHT_VAVLE = ~JH_CTHL_NL_CXHT_VAVLE;
- if(JH_CTHL_NL_CL_MotorStep == 0)
- JH_CTHL_NL_CL_MotorStep = 20;
- SetEn(Y_AXIS, MOTOR_EN);
- JH_CTHL_NL_CXDW_Stop = 1;
- }
- if(JH_CTHL_NL_bBB)
- {
- JH_CTHL_NL_bBB = 0;
- JH_CTHL_NL_BB_VAVLE = ~JH_CTHL_NL_BB_VAVLE;
- }
-
- if(JH_CTHL_NL_bCXDWZ) //Y14 插销定位针电磁阀
- {
- JH_CTHL_NL_bCXDWZ = 0;
- if(JH_CTHL_NL_CXDWZ_VAVLE)
- JH_CTHL_NL_CXDWZ_VAVLE = 0;
- else if(JH_CTHL_NL_HSLiao_Origin_IN)
- {
- JH_CTHL_NL_CXDWZ_VAVLE = 1;
- }
- else //条件警告
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_HENSONGLIAO_ALARM,0);
- }
-
- }
- if(JH_CTHL_NL_bCXHJD) //Y15 插销后夹带电磁阀
- {
- JH_CTHL_NL_bCXHJD = 0;
- JH_CTHL_NL_CXHJD_VAVLE =~JH_CTHL_NL_CXHJD_VAVLE;
- }
- if(JH_CTHL_NL_bCXHDW) //Y16 插销后定位电磁阀
- {
- JH_CTHL_NL_bCXHDW = 0;
- if(JH_CTHL_NL_CXHDW_VAVLE)
- JH_CTHL_NL_CXHDW_VAVLE = 0;
- else if(!JH_CTHL_NL_CXQJD_VAVLE)
- JH_CTHL_NL_CXHDW_VAVLE = 1;
- else//条件警告
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_CXQJD_ALARM,0);
- }
- }
- if(JH_CTHL_NL_bFirst_CT) //Y20 一次穿头电磁阀
- {
- JH_CTHL_NL_bFirst_CT = 0;
- JH_CTHL_NL_First_CT_VAVLE = ~JH_CTHL_NL_First_CT_VAVLE;
- }
- if(JH_CTHL_NL_bHLJJ) //Y21 合链夹具电磁阀
- {
- JH_CTHL_NL_bHLJJ = 0;
- JH_CTHL_NL_HLJJ_VAVLE = ~JH_CTHL_NL_HLJJ_VAVLE;
- }
- if(JH_CTHL_NL_bHL)
- {
- JH_CTHL_NL_bHL = 0;
- JH_CTHL_NL_HL_VAVLE = ~JH_CTHL_NL_HL_VAVLE;
- }
-
- if(JH_CTHL_NL_bCXSCDW) //Y23 插销上止定位电磁阀
- {
- JH_CTHL_NL_bCXSCDW = 0;
- JH_CTHL_NL_CXSCDW_VAVLE = ~JH_CTHL_NL_CXSCDW_VAVLE;
- }
- //自动装料
- if(JH_CTHL_NL_bAutoZhuangLiao)
- {
- JH_CTHL_NL_bAutoZhuangLiao = 0;
- if(JH_CTHL_NL_ZhuangLiaoStep == 0)
- {
- bTuiLaTouOkFlg = 1;
- bZhuangLiaoOkFlg = 0;
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- JH_CTHL_NL_MGuo_VAVLE = 1; //判断是否已经有料
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 150;
- }
- }
- //斜码插入
- if(JH_CTHL_NL_bBanZiDong)//前码穿入
- {
- JH_CTHL_NL_bBanZiDong=0;
- cBanAuTo=1;
- // XY_CTHL_PARAM_BanAuto_MODE=1;
- JH_CTHL_NL_ZhuangLiaoDelay = dwTickCount + 150;
- JH_CTHL_NL_MGuo_VAVLE = 1; //判断是否已经有料
- JH_CTHL_NL_ZhuangLiaoStep = 1;
- bTuiLaTouOkFlg = 1;
- JH_CTHL_NL_cZipCnt=0;
- bZhuangLiaoOkFlg= 0;
- bCL_EN_FLG=0;
- JH_CTHL_NL_AutoStep = 1;
- bRunning=1;
- }
- //小插插入
- if(JH_CTHL_NL_CXC)//穿小插
- {
- JH_CTHL_NL_CXC=0;
- cCXCONE=1;
- cBanAuTo=0;
- cCHULIANBAOJIN=0;
- bCL_OK_FLG=1;
- // XY_CTHL_PARAM_BanAuto_MODE=0;
- JH_CTHL_NL_AutoStep = 11;
- bRunning=1;
- if(GetEn(Y_AXIS) == MOTOR_DISEN)
- {
- SetEn(Y_AXIS, MOTOR_EN);
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 260; //锁轴时间
-
- }
- }
-
- //测试电机
- if(JH_CTHL_NL_bCLMotor_N)
- {
- SetEn(Y_AXIS, MOTOR_EN);
- if(!JH_CTHL_NL_SF_Origin_IN)
- {
- if(!Y_DRV)
- // Y轴 运行速度 启动速度 加速度 减速度
- AxisContinueMoveAcc(Y_AXIS,2000,DIR_N,1000,1000,15,15);
- }
- else
- {
- JH_CTHL_NL_bCLMotor_N = 0;
- }
-
- }
-
- if(JH_CTHL_NL_bCLMotor_P) //后退限位已经取消
- {
- SetEn(Y_AXIS, MOTOR_EN);
- if(!Y_DRV)
- // Y轴 运行速度 启动速度 加速度 减速度
- AxisContinueMoveAcc(Y_AXIS,2000,DIR_P,1000,1000,15,15);
- }
-
-
-
- if(!JH_CTHL_NL_bCLMotor_P && !JH_CTHL_NL_bCLMotor_N && (JH_CTHL_NL_TD_MotorStep == 0) && (JH_CTHL_NL_bFKCXTDDW_Step==0)&& (JH_CTHL_NL_CL_MotorStep == 0))
- {
- AxisEgmStop(Y_AXIS);//AxisDecStop(Y_AXIS);
- }
-
-
- if(JH_CTHL_NL_bTDMotor_N)
- {
- SetEn(X_AXIS, MOTOR_EN);
-
- if(!X_DRV)
- // Y轴 运行速度 启动速度 加速度 减速度
- AxisContinueMoveAcc(X_AXIS,2000,DIR_N,1000,1000,15,15);
-
-
-
- }
-
- if(JH_CTHL_NL_bTDMotor_P) //后退限位已经取消
- {
- SetEn(X_AXIS, MOTOR_EN);
- if(!X_DRV)
- // Y轴 运行速度 启动速度 加速度 减速度
- AxisContinueMoveAcc(X_AXIS,2000,DIR_P,1000,1000,15,15);
- }
- if(!JH_CTHL_NL_bTDMotor_P && !JH_CTHL_NL_bTDMotor_N && (JH_CTHL_NL_TD_MotorStep == 0) && (JH_CTHL_NL_bFKCXTDDW_Step==0)&& (JH_CTHL_NL_CL_MotorStep == 0))
- {
- AxisEgmStop(X_AXIS);//AxisDecStop(Y_AXIS);
- }
-
-
- /* if(JH_CTHL_NL_bCLMotor_N)
- {
- JH_CTHL_NL_bCLMotor_N=0;
- SetEn(Y_AXIS, MOTOR_EN);
-
- if(!Y_DRV)
- // Y轴 运行速度 启动速度 加速度 减速度
- AxisMovePosAccDec(Y_AXIS,JH_CTHL_NL_PARAM_CL_Speed,-JH_CTHL_NL_PARAM_CL_Length,2000,2000,50,50,50);
- }
-
- if(JH_CTHL_NL_bCLMotor_P) //后退限位已经取消
- {
- JH_CTHL_NL_bCLMotor_P=0;
- SetEn(Y_AXIS, MOTOR_EN);
- if(!Y_DRV)
- // Y轴 运行速度 启动速度 加速度 减速度
- AxisMovePosAccDec(Y_AXIS,JH_CTHL_NL_PARAM_CL_Speed,JH_CTHL_NL_PARAM_CL_Length,2000,2000,50,50,50);
- }
- */
- //合链电机返回原点
- if(JH_CTHL_NL_bCLMotor_O)
- {
- JH_CTHL_NL_bCLMotor_O = 0;
- if(JH_CTHL_NL_CL_MotorStep == 0)
- JH_CTHL_NL_CL_MotorStep = 40;
- }
-
- //拖带方块定位 ,因这步为前拖带定位, 很多电磁阀要关掉
- if(JH_CTHL_NL_bFKTDDW)
- {
- JH_CTHL_NL_bFKTDDW = 0;
- if(JH_CTHL_NL_TD_MotorStep == 0)
- {
- JH_CTHL_NL_XKDW_VAVLE = 0; //斜口定位
- JH_CTHL_NL_CXQJD_VAVLE = 0; //插销前夹带
- //JH_CTHL_NL_CXSX_VAVLE = 1; //插销下移
- JH_CTHL_NL_CXHJD_VAVLE = 0; //插销后夹带
- JH_CTHL_NL_CXHDW_VAVLE = 0; //插销后定位
- JH_CTHL_NL_CXDWZ_VAVLE = 0; //插销定位针
- JH_CTHL_NL_bHLJJ = 0; //合链夹具
- JH_CTHL_NL_FKJD_VAVLE = 0; //方块夹带
- if((GetEn(X_AXIS) == MOTOR_DISEN))
- {
- SetEn(X_AXIS, MOTOR_EN);
- JH_CTHL_NL_TD_MotorDelay = dwTickCount + 200;
- }
- else
- JH_CTHL_NL_TD_MotorDelay = dwTickCount + 50;
- JH_CTHL_NL_TD_MotorStep = 1;
- JH_CTHL_NL_FKJD_VAVLE=0;
- JH_CTHL_NL_cZipCnt = 0;
- }
- }
- //拖带方块插销定位(斜口推带,斜口定位,顶斜口)
- if(JH_CTHL_NL_bFKCXTDDW)
- {
- JH_CTHL_NL_bFKCXTDDW = 0;
- if((JH_CTHL_NL_bFKCXTDDW_Step == 0) && (JH_CTHL_NL_CL_MotorStep == 0) &&
- !JH_CTHL_NL_CTXMSS_VAVLE)
- {
- JH_CTHL_NL_bFKCXTDDW_Step = 1;
-
- if(GetEn(X_AXIS)==MOTOR_DISEN)
- {
- SetEn(X_AXIS, MOTOR_EN);
- JH_CTHL_NL_bFKCXTDDW_Delay=dwTickCount + 500;
- }
- SetEn(X_AXIS, MOTOR_EN);
- JH_CTHL_NL_CXQJD_VAVLE = 0; //插销前夹带
- //JH_CTHL_NL_CXSX_VAVLE = 1; //插销上下
- JH_CTHL_NL_CXHJD_VAVLE = 0; //插销后夹带
- JH_CTHL_NL_CXHDW_VAVLE = 0; //插销后定位
- JH_CTHL_NL_CXDWZ_VAVLE = 0; //插销定位针
- JH_CTHL_NL_HLJJ_VAVLE = 0; //合链夹具
- }
- }
- //插销穿入(包含电机前定位,插销下移,后夹,后定位)
- if(JH_CTHL_NL_bCXCR)
- {
- JH_CTHL_NL_bCXCR = 0;
- //拉头模在上面到们并且码勾输出,判断有拉头
- if(JH_CTHL_NL_CTXMSS_VAVLE && JH_CTHL_NL_MGuo_VAVLE && !JH_CTHL_NL_CXQJD_VAVLE &&
- JH_CTHL_NL_CTM_Limit_IN && !JH_CTHL_NL_LTou_Check)
- {
- if(JH_CTHL_NL_CL_MotorStep == 0)
- {
- JH_CTHL_NL_bCXCR_Step = 11;
- JH_CTHL_NL_CXSX_VAVLE = 1; //Y06 插销下移电磁阀关
- JH_CTHL_NL_CXHJD_VAVLE = 0; //插销后夹带
- JH_CTHL_NL_CXHDW_VAVLE = 0;
- JH_CTHL_NL_HL_VAVLE = 0;
-
- // if(JH_CTHL_NL_PARAM_CR_MODE==0)
- // JH_CTHL_NL_CXSCDW_VAVLE = 1;
- // if(JH_CTHL_NL_PARAM_CR_MODE == 1)
- // {
- SetEn(Y_AXIS, MOTOR_EN);
- if(!JH_CTHL_NL_SF_Origin_IN)
- JH_CTHL_NL_CL_MotorStep = 40;
- // }
- }
- }
- else //警告不能自动穿插销
- {
- JH_CTHL_NL_SetAlarmCode(JH_CTHL_NL_WFZIDONGCX_ALARM,0);
- }
- }
- //电机合链动作
- if(JH_CTHL_NL_bMotorHL)
- {
- JH_CTHL_NL_bMotorHL = 0;
- // if(JH_CTHL_NL_PARAM_CR_MODE == 1)
- // {
- if(JH_CTHL_NL_SF_Origin_IN)
- {
- if((JH_CTHL_NL_CL_MotorStep == 0) && !JH_CTHL_NL_CTXMSS_VAVLE && (!JH_CTHL_NL_CTM_Limit_IN))
- {
- bCL_OK_FLG = 0;
- JH_CTHL_NL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入
- JH_CTHL_NL_CL_MotorStep = 1;
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + JH_CTHL_NL_PARAM_HLJJ_CL_DELAY + 130;
- if((GetEn(Y_AXIS) == MOTOR_DISEN))
- {
- SetEn(Y_AXIS, MOTOR_EN);
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + 250;
- }
- if((JH_CTHL_NL_LianLengthAutoCheck ==0) || (JH_CTHL_NL_PARAM_CL_Length == 0))
- {
- JH_CTHL_NL_LianLengthAutoCheck = 1000;
- JH_CTHL_NL_PARAM_CL_Length = 1000;
- }
- }
- // }
- else
- {
- JH_CTHL_NL_bCLMotor_O = 1;
- }
- }
- else
- {
- JH_CTHL_NL_HLJJ_VAVLE = 1; //Y20 合链夹具电磁阀输出后,电机穿入
- JH_CTHL_NL_CL_MotorStep = 1;
- JH_CTHL_NL_CL_MotorDelay = dwTickCount + JH_CTHL_NL_PARAM_HLJJ_CL_DELAY;
- }
- }
- //一次穿链动作
- if(JH_CTHL_NL_bCL_First)
- {
- JH_CTHL_NL_bCL_First = 0;
- //拉头模在上面到们并且码勾输出,判断有拉头
- if(JH_CTHL_NL_CTXMSS_VAVLE && JH_CTHL_NL_MGuo_VAVLE && !JH_CTHL_NL_CXQJD_VAVLE &&
- JH_CTHL_NL_CTM_Limit_IN && !JH_CTHL_NL_LTou_Check && (JH_CTHL_NL_CL_MotorStep == 0))
- {
- JH_CTHL_NL_bCLFirst_Step = 19;
- JH_CTHL_NL_CXHJD_VAVLE = 1; //插销后夹带
- JH_CTHL_NL_CXDWZ_VAVLE = 0; //插销定位针(到位)电磁阀
- JH_CTHL_NL_CXQJD_VAVLE = 0; //插销前夹带
- }
- }
- }
- }
- //初始化动作
- void JH_CTHL_NL_InitAction(void)
- {
- float buff_pulse,buff_dist;
-
- buff_pulse = JH_CTHL_NL_PARAM_CYCLE_PULSE;
- buff_dist = JH_CTHL_NL_PARAM_CYCLE_LENGTH;
-
- XGearRatio = buff_pulse/buff_dist;
-
- buff_pulse = JH_CTHL_NL_PARAM_YCYCLE_PULSE;
- buff_dist = JH_CTHL_NL_PARAM_YCYCLE_LENGTH;
- YGearRatio = buff_pulse/buff_dist;
-
- //传递伺服齿轮比参数
- #if X_USERING_TARR==1
- set_com_servo_param(X_AXIS,JH_CTHL_NL_PARAM_CYCLE_PULSE,JH_CTHL_NL_PARAM_CYCLE_LENGTH);
- #endif
- #if Y_USERING_TARR==1
- set_com_servo_param(Y_AXIS,JH_CTHL_NL_PARAM_YCYCLE_PULSE,JH_CTHL_NL_PARAM_YCYCLE_LENGTH);
- #endif
-
- JH_CTHL_NL_bZDP= 1;
-
- bYFirstDingWeiFlg = 1;
- user_datas[121] = 0;
- user_datas[122] = 0;
- user_datas[123] = 0;
-
- if(!JH_CTHL_NL_PARAM_MOTOR_ENSelect)
- SetEnReverse(X_AXIS, 1);
- else
- SetEnReverse(X_AXIS, 0);
-
- SetEnReverse(Y_AXIS, 1);
- SetEnReverse(Z_AXIS, 0);
-
- SetDirReverse(X_AXIS, 0);
- SetDirReverse(Y_AXIS, 0);
- SetDirReverse(Z_AXIS, 0);
-
- //设置伺服告警极性,
- //伺服设置常开,则极性设置为0, 0为正常,1为告警,;
- //伺服设置为常闭,则极性设置为1,0,为正常,1位告警
- SetAlarmReverse(X_AXIS,0);
- SetAlarmReverse(Y_AXIS,1);
-
- SetServoComUse(X_AXIS,1);//X轴伺服扭矩通讯。
- SetServoComUse(Y_AXIS,0);//Y轴正常模式。
-
- SetEn(X_AXIS, MOTOR_DISEN);
- SetEn(Y_AXIS, MOTOR_DISEN);
- SetEn(Z_AXIS, MOTOR_DISEN);
- SetAlarmCode(JH_CTHL_NL_ALARM_ADDR,0); //警告要清除
- JH_CTHL_NL_bSFBBAOJIN_Delay = dwTickCount + 2000;
-
- JH_CTHL_NL_X_EN_FLG=0;
- JH_CTHL_NL_Y_EN_FLG=0;
-
- JH_CTHL_NL_PARAM_CR_MODE=1;
- SF_ALARM_FLAG=1;
-
- //JH_CTHL_NL_SongDai_Step=1;
-
- // QDCT_SZ_OUT = QDCT_MOTOR_DISEN;
- }
- void JH_CTHL_NL_Action(void)
- {
- user_datas[121] = GetAlarm(X_AXIS);
- //user_datas[122] =GetAlarm(Y_AXIS);
- user_datas[123] =GetAlarm(Y_AXIS);
- dwXRealPos = GetPos(X_AXIS);
- dwYRealPos = GetPos(Y_AXIS);
- dwZRealPos = GetPos(Z_AXIS);
- user_datas[124] = dwXRealPos;
- user_datas[125] = JH_CTHL_NL_RunStepSave;//dwYRealPos;
-
- user_datas[126] = dwYRealPos;//JH_CTHL_NL_CL_MotorStep;
- user_datas[127] = GetAlarm(X_AXIS);//JH_CTHL_NL_TD_MotorStep;
- user_datas[128] = JH_CTHL_NL_TD_MotorStep;//JH_CTHL_NL_AutoStep;
-
- JH_CTHL_NL_ZhenDongAction();
- if(JH_CTHL_NL_PARAM_SongDaiEn)
- JH_CTHL_NL_SongDaiAction();
- JH_CTHL_NL_AlarmProtect();
- JH_CTHL_NL_CheckStart();
- JH_CTHL_NL_ZLT_Step();
- JH_CTHL_NL_TLiao_Step();
-
- JH_CTHL_NL_TD_Motor();
- JH_CTHL_NL_CL_Motor();
- JH_CTHL_NL_bFKCXTDDWStep();
- JH_CTHL_NL_bCXCRStep();
- JH_CTHL_NL_bCLFirstStep();
- JH_CTHL_NL_HeMo();
- JH_CTHL_NL_ManualAction();
-
- JH_CTHL_NL_AutoStepAction();
- servo_com_run();
- CTHL_Running_state();
-
- }
- #endif
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