GC23005/Machine/JinHongMachine/JHChuantou_NL_HeLian.c

#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