GC23005/Machine/XinYeMachine/XYChuanTouJi.c

#include "global.h"

#if 0//XIN_YE_MACHINE


void ChuanTou_AlarmProtect(void);
void ChuanTou_ManualAction(void);
void ChuanTou_AutoAction(void);
void ChuanTou_StepCheckStart(void);
void ChuanTou_Motor(void);
void ChuanTou_SongLiaoAction(void);
void ChuanTou_ZhuangLiaoStep(void);
void ChuanTou_CLT_Step(void);
void CT_ZhenDongCTR(unsigned char flag);
void CT_HeMo(void);

static unsigned char cOneTimes,cJiaLian,bMotorUPStopCT,cLaTuoNum,CT_bRunning;
static unsigned long cAutoStopTime;
static unsigned long GuZhangInputTime,cDinWeiTime,CT_MotorDelay,cTuiPianTime,cWorkPulseNum,cPulseStepADD,cPulseStepDEC;


//清警告   
void Clr_Warning(unsigned char W_Page)
{
	user_datas[75] = W_Page;
	user_datas[100] = 0;      	//检查过链接近开关或没有拉链
	user_datas[101] = 0;		
}

void ChuanTou_InitAction(void)
{
    XGearRatio  =1;
    CalFreqTab_X_Free(14);
    SetEn(X_AXIS,0);
    Clr_Warning(1);
    MV_Set_Command_Pos_CPU(X_AXIS, 0);   //实时位置清零
    if(user_datas[15] < 35)user_datas[15] = 35;	
}

void ChuanTou_Action(void)
{
    if(user_datas[100])
    {
            if(user_datas[24] == 1)
                    Y06 = 1;
            if(user_datas[35] == 0)	
                    Y07 = 0;
            if(user_datas[37] == 0)	
                    Y10 = 0;	
    }
    else if(CT_bRunning)
    {
            if(user_datas[24] == 1)
                    Y06 = 0;
            if(user_datas[35] == 0)		
                    Y07 = 1;
            if(user_datas[37] == 0)	
                    Y10 = 0;				
    }
    else
    {
            if(user_datas[24] == 1)
                    Y06 = 0;
            if(user_datas[35] == 0)		
                    Y07 = 0;
            if(user_datas[37] == 0)	
                    Y10 = 1;		
    }
    CT_HeMo();	
    CT_ZhenDongCTR(0);
    ChuanTou_ManualAction();
    ChuanTou_Motor();
    ChuanTou_StepCheckStart();
    ChuanTou_AutoAction();
}

//手动动作
void ChuanTou_ManualAction(void)
{  
    if(M14)	//产量清零
    {
            M14 = 0;
            ClrcToTal(76);  
    }
    if(X15)   //空位时的自动停机时间
    {
      if(user_datas[39] == 0)
          cAutoStopTime = dwTickCount + 3500;
      else	
          cAutoStopTime = dwTickCount + (unsigned long) 100 * user_datas[39];
    }	
    
    if((CT_bRunning == 1) && X20)
    {
        if(user_datas[100] == 0)user_datas[100] = 12;
        M13 = 1;
    }
      //手动
    if ((CT_bRunning == 0) && !X01) 
    {
         //起动
         if ((X00_UP || M09 || M11 || (X20_UP && (user_datas[64] != 3)) || (X00 && X06_UP)) && (dwTickCount >= cDelayTime5) && (CT_bRunning == 0)) 
	 {
            //过链感应 送料后  送料前 故障输入
            	if (X15 && X10 && !X11 &&  !X04 && !X20) 
		{
               //第一条认为给料已完成
               		SetEn(X_AXIS,1);   //步进电机松	
               		CT_bRunning = 1;
               		cOneTimes = 0;
                        M03 = 0;
                        M16 = 0;
                        M17 = 0;
                        M18 = 0;
                        M19 = 0;
                        M20 = 0;
                        M21 = 0;
                        M22 = 0;
                        M23 = 0;
                        M24 = 0;
                        M25 = 0;
                        Clr_Warning(1);
               		if(M11) 
			{ //单次动作
                            cOneTimes = 1;
                            M12 = 1;
               		}	
	 		else //自动动作
			{    
                            M10 = 1;
               		}

               		cStepMByte1 = 0;
               		cStepMByte2 = 10; 
                        //给料已经完成
			cStepMByte4 = 0;
               		cAutoStopTime = dwTickCount + 12000;
               		CT_bStop = 0;
			if(user_datas[24] == 0)Y06 = 1;     //夹紧(勾针旁)
                        
               		if((!X13) || (user_datas[23] == 0)) Y04 = 1; //护链
                                  //延时分带
               		cStepMByte = 4;
               		cDelayTime5  = dwTickCount + 60;
               		cDelayTime1  = dwTickCount + (unsigned long)user_datas[13]*10 + 60;
			CT_ZhenDongCTR(1);	
            	} 
                else 
                {
                        if(X20)
                        {
                             M19 = 1;
                             user_datas[100] = 12;
                        }
               		else if (X00_UP || M09 || M11 || (X00 && X06_UP)) 
			{
                  	//启动条件不满足报警
                  		M19 = 1;
				user_datas[100] = 30;
               		}
            	}
            	M09 = 0;
                M11 = 0;
        }
         	
                                //手动分带（半自动）
        if(X02_UP) 
	{
            if (X10  && !X11 && !Y02 && !M30) //给料不能有输出
            {
                 cStepMByte4 = 1;	//合模变为单独动作
            }
            else 
            {    //条件不满足警告
                 M17 = 1;
                 user_datas[100] = 32;
            }
         }
	else if(X02_DW) //半自动放开
	{    
	    if(user_datas[24] == 0) Y06 = 0;        //夹紧
            Y04 = 0;        //护链
            Y01 = 0;        //下模
            Y00 = 0;        //分带
	    cStepMByte4 = 0;
	}

        //手动给料 
        if(M00)
        {
                M00 = 0;
                if(Y02)
                {
                        Y02 = 0;
                        M30 = 0;
                        if(user_datas[37] == 1)Y10 = 0;
                }	
                else if(!Y01 && X07)
                {
                        if(user_datas[37] == 0)Y02 = 1;
                        else
                        {	
                                Y10 = 1;
                                M30 = 1;
                                cDelayTime9 = dwTickCount + (unsigned long)user_datas[38] + 20;
                        }
                }	
                else //条件不满足警告
                {    
                        M16 = 1;
                        user_datas[100] = 31;
                }			
        }  

        if(M30 && (dwTickCount >= cDelayTime9))
        {
                Y02 = 1;	
                M30 = 0;
        }
        //手动拼链
        if(M01)
        {
                M01 = 0;
                if(Y04)
                      Y04 = 0;
                else
                      Y04 = 1;	
        }
          //手动分带和下模动作
        if(M04) 
        {
            M04 = 0;
            Y00 = ~Y00;                 //分带输出
            
            //夹牙
            if(!Y00)  cStepMByte4 = 0;
        }
        if(M06)	
        {
            M06 = 0;
            if (Y01) 
            {
                    Y01 = 0;
                    cStepMByte4 = 0;
            }	
                    //  给料后限位	前限位
            else if (X10  && !X11 && !(Y02 && !M30)) //给料不能有输出
            {   
                    Y01 = 1;
            } 
            else 
            {    //条件不满足警告
                    M17 = 1;
                    user_datas[100] = 32;
            }
        }
//
        if(M07)
        {
                M07 = 0;	
                if(cStepMByte4 != 0)
                {
                        if(user_datas[24] == 0)Y06 = 0;        //夹紧
                        Y04 = 0;        //护链
                        Y01 = 0;        //下模
                        Y00 = 0;        //分带
                        cStepMByte4 = 0;
                }
                else
                        cStepMByte4 = 1;
        }

   	if(!X04)GuZhangInputTime = dwTickCount + (unsigned long)120 * 10;
         	//顶针	  故障开关
	if (X06 || (X04 && (dwTickCount >= GuZhangInputTime))) 
	{
	       Y03 = 1;   //勾针
	}
         	//过链
        else if (X15_UP || M02) 
	{
              if(M02) 
              {
                 Y03 = ~Y03;
                 M02 = 0;
              }
              else
              {	
                      Y03 = 0;
                      cJiaLian = 1;
              }
	}
        else if(X15_DW)
        {
               cDelayTime1 = dwTickCount + (unsigned long)user_datas[17];		   	
        }
        if(cJiaLian && dwTickCount >= cDelayTime1) 
        {
                cJiaLian = 0;
                if(user_datas[24] == 0)Y06 = 1;        //夹紧		
        }
         //手动拖带
        if (M08 || (X12_UP && (user_datas[22] == 0))) 
	{ //             勾针选择
		M08 = 0;
               	if((!X_DRV) && !Y00 && !Y01)
		{
                        Y03 = 1;
                        cJiaLian = 0;
                         Y04 = 0;
                         if(user_datas[24] == 0)Y06	= 0; //夹链电磁阀(勾针旁)	                //夹紧      
                         CT_MotorStep = 1;
                         if(!X15)
                           cAutoStopTime = dwTickCount + 3500;
               	}
        }
        if (X15_DW) 
        {
              cDelayTime3 = dwTickCount + 2;			  
        }
    } 
}





void ChuanTou_AutoAction(void)
{  
     static long save_dist;
     long dist_buff;

     
     if (CT_bRunning) 
     { //
          if(user_datas[33] == 1)
          {
                if(X16)	//前台机器卡带(贴布机)
                {
                        bMotorUPStopCT = 1;
                }
                if(X21)			//过链杆下限位	
                {
                        bMotorUPStopCT = 0;
                }
          }
          else 
                bMotorUPStopCT = 0;		
			      
		 switch (cStepMByte)
                 {			 
	           case 2: //过链检测	            
                          if((user_datas[33] != 1) && (user_datas[35] == 1))
                          {
                                                  
                          }
				//判断过链是不是真的松开
	                  else if(!X15 )//&& ((user_datas[19] <= 300)))	         //?           
			  {
                             CT_MotorDelay = dwTickCount + 14000;
                             CT_MotorStep = 3;
                             
                             cStepMByte = 3;
                             Y04 = 0;
                             cDelayTime1 = dwTickCount + (unsigned long)user_datas[17];   
                          } 
                          else
                          {                                
                              if(user_datas[30] > 80)
                              {
                                      if((save_dist - dwRealPos) > (user_datas[30] * 20))
                                      {
                                              M13 = 1;
                                              CT_bRunning = 0;
                                              AxisEgmStop(X_AXIS);	
                                      }
                              }
                          }				
	            break;
	         case 3:
	            //                                                              勾针选择

                    if(dwTickCount >= cDelayTime1)
                    {
                        if(user_datas[24] == 0)Y06	= 1; //夹链电磁阀(勾针旁)	
                    }	
	
	            if (CT_MotorStep == 0)	
		    {
			if(user_datas[24] == 0)Y06 = 1;        //夹牙	
	               	cStepMByte = 4;
	               	if (user_datas[21] == 1)Y03 = 0;     //勾针
	               	if ((X02 && (user_datas[20] == BoDong))|| (cOneTimes != 0)) 
			{   //单条停止
		                cStepMByte = 3;
		                cAutoStopTime = dwTickCount + 250;
		                if ((cStepMByte2 == 10)) 
				{
				    cDelayTime8 = dwTickCount + (unsigned long)30 * 10;   //延时松电机     //300ms
		              	    cStepMByte = 0;
		                    CT_bRunning = 0;
		                    CT_bStop = 0;
		                    cOneTimes = 0;
				    M10 = 0; 
                                    M12 = 0;
	                  	    CT_ZhenDongCTR(1);	
				}
	               	} 
			else 
			{
			    if(user_datas[24] == 0)Y06 = 1;        //夹牙
	                    if((!X13) || (user_datas[23] == 0))  
			    {        //护链选择
	                     	cStepMByte3 = 0;
				Y04 = 1;    //护链输出
	                                 //延时分带
	                     	if (user_datas[22] == 0)  //不用磁感
	                        	cDelayTime1 = dwTickCount + (unsigned long)user_datas[13]*10 + 60;
	                     	else 
					cDelayTime1 = dwTickCount;
	                    }
		 	    else 	//不用护带
				cDelayTime1 = dwTickCount;
	                }
	            }
	         break;
	         case 4: //在过链     不用护链或不用磁感 　　　　　　延时分带	                                                                   　给料
	            if (X15 && ((( (user_datas[22] == 0)) && (dwTickCount >= cDelayTime1)) || (X12&& (user_datas[22] == 1))) && !Y02 && !X11 && (cStepMByte2 == 10) && !bMotorUPStopCT) 
                    {
                         cStepMByte = 5;
                         Y00 = 1;    //分带输出
                         cDelayTime1 = dwTickCount + (unsigned long)2000;    //给料到位的最长时间						}
	            }
                    else if(X01 || M13) 
                    {
                        if(cStepMByte2 == 10)
                        {
                            cDelayTime8 = dwTickCount + (unsigned long)30 * 10;   //延时松电机     //300ms
                            cStepMByte = 0;
                            CT_bRunning = 0;
                            CT_bStop = 0;
                            cOneTimes = 0;
                            M10 = 0;
                            M12 = 0;
                            CT_ZhenDongCTR(1);	
                        }	
                    }
	         break;
	            //判断分带到位
	         case 5: //分带到位  给料已给完成                                                送料前 送料后
	            if(X05) 
		    {
	               if ((cStepMByte2 == 10) && !X11 && X10 && !Y02) 
		       {
	                  cStepMByte = 6;
	                  cStepMByte2 = 0;
	                  cDelayTime1 = dwTickCount + (unsigned long)5;       //25ms
	               }
	            } 
                    else if (dwTickCount >= cDelayTime1) //加上分带不到位警告代码
                    { 
			CT_ZhenDongCTR(1);	
	                CT_bRunning = 0;
	                M21 = 1;
                        M10 = 0;
                        M12 = 0;
                        user_datas[100] = 5;
	            }
	            break;
	         case 6:
	            if (dwTickCount >= cDelayTime1) 
		    {
	               cStepMByte = 7;
	               Y01 = 1;     //下模输出
	               cDelayTime1 = dwTickCount + (unsigned long)600;        //2.5s
	            }
	            break;
	            //下模气缸上到位
	         case 7:
	            if (!X07)     	//下模感应
	            {   
                        if(X06) 	//送料到
                        {  
	                  	cStepMByte = 8;						
	                  	//延时退勾针
	                  	cDelayTime1 = dwTickCount + (unsigned long)2;       //50ms
				if(user_datas[24] == 0)Y06 = 1;     //夹紧(护牙)
	               	} 
                        else if ((dwTickCount >= cDelayTime1))     // 一定时间不到位就看作没料或卡住
                        {  
                                if(++cLaTuoNum >= user_datas[34])
                                {
                                    cLaTuoNum = 0;
                                    CT_ZhenDongCTR(1);	 
                                    CT_bRunning = 0;
                                    Y00 = 0;    //下模下去
                                    Y01 = 0;    //分带
                                    M22 = 1;
                                    M10 = 0; 
                                    M12 = 0;
                                    M13 = 1;
                                    user_datas[100] = 6;
                                }
                                else
                                {
                                    cStepMByte = 4;	
                                    cStepMByte2 = 1;	
                                    Y00 = 0;    //分针下去
                                    Y01 = 0;     //下模输出
                                }
                        }
	            }
	            break;
	            // 延时松勾针
	         case 8:
	            if(dwTickCount >= cDelayTime1) 
                    {
		       cLaTuoNum = 0;
	               cStepMByte = 9;
	               Y03 = 1;     // 勾针退
	               cDelayTime1 = dwTickCount + (unsigned long)user_datas[6] * 10;     //70ms
	            }
	            break;
	            // 延时穿入
	         case 9:
	            if(dwTickCount >= cDelayTime1) 
		    {
	               	cStepMByte = 2;    //回到空位检测
			cWorkPulseNum = user_datas[61];    //昌盛的不用乘5
                        MV_Set_Command_Pos_CPU(X_AXIS, 0);   //实时位置可以清零
                        dwRealPos = 0;
                        save_dist = 0;
                        cPulseStepADD = cWorkPulseNum * 2 / 3;
                        cPulseStepDEC = cWorkPulseNum / 3;
		        if (cPulseStepDEC >= 230) cPulseStepDEC = 230;
                     
                        MoveAction_Const_AccDec(X_AXIS,1,user_datas[32],user_datas[2],user_datas[1],user_datas[1]/2);  
                        cStepMByte1 = 1;   //延时松分带 和 延时松下模动作
                        if(user_datas[24] == 0)                      //夹牙退
                        {
                            cStepMByte5 = 1;    //延时退护链
                            cDelayTime4 = dwTickCount + (unsigned long)user_datas[7] * 3;
                        }	
                        if(user_datas[14] == 0)
                        {
                            cStepMByte3 = 1;    //延时退护链
                            cDelayTime6 = dwTickCount + (unsigned long)user_datas[7] * 3;
                        }
                        cStepMByte2 = 0;

                        AddToTal(76);
                        CalProSP(78);
	            }
	            break;
	         }
  
	  		 //延时退夹链                               退护链的脉冲数
	         if(cStepMByte5 && (Y06) && (dwTickCount >= cDelayTime4)) 
                 {
	            cStepMByte5 = 0;
	            Y06 = 0;
	         }
	         //延时退护链                               退护链的脉冲数
	         if(cStepMByte3 && (dwTickCount >= cDelayTime6)) 
                 { 
	            cStepMByte3 = 0;
	            Y04 = 0;
	         }
                 dist_buff = (dwRealPos);
	         //延时松分带 和 延时松下模动作
	         switch (cStepMByte1) 
                 {
		         case 1:
//		            if (user_datas[10] == 0) 
						cStepMByte1 = 2;
//		            else 
//						cStepMByte1 = 10;
		            break;
		            //先退分带
		         case 2:
                           
                            //退分带方式
                            if((user_datas[31] == 1) && (user_datas[23] == 0))
                            {
                                    if((dist_buff + user_datas[61]) >=  (cWorkPulseNum+60))Y00 = 0;
                            }
                            if(CT_MotorStep == 0)
                            {
                                if(dwRealPos  >= (cWorkPulseNum - cPulseStepDEC))
                                {
                                  AxisChangeSpeed(X_AXIS,user_datas[0]);
                                }  
                            }    
		            if((dwRealPos >= cWorkPulseNum) || (CT_MotorStep == 5))//穿入长度到或要定位条件下
			    {
		               //退分带
		                Y00 = 0;
		                cStepMByte1 = 3;

                                if(user_datas[14] != 0)
                                {
                                     cStepMByte3 = 1;    //延时退护链
                                     cDelayTime6 = dwTickCount + (unsigned long)user_datas[18];
                                }
                                else
                                {
                                     Y04 = 0;		               
                                     cStepMByte3 = 0;
                                }
		            }
		            break;
		         case 3:
		               cDelayTime2 = dwTickCount + (unsigned long)user_datas[8];
		               cStepMByte1 = 4;
		            break;
		         case 4:
		            if ((dwTickCount >= cDelayTime2)) 
			    {
		               Y01 = 0;
		               cStepMByte1 = 5;
		               
		            }
		            break;
		         case 5:
		            if(!X06 && !Y00 && !Y01)
                            {
                                cStepMByte1 = 6;
                                cDelayTime2 = dwTickCount + (unsigned long)25;     //70ms
                                if(user_datas[14] != 0)cDelayTime2 = dwTickCount + (unsigned long)user_datas[50];       //合链情况延时加速
                            }
                            break;
			 case 6:								
                            if(dwTickCount >= cDelayTime2)
                            {
                                cStepMByte1 = 0;
                                cStepMByte2 = 1;
		               	cDelayTime3 = dwTickCount + (unsigned long)4 * 10;	
		               //没有长度之前检测到下一条链
		               if (CT_MotorStep == 0)   //还没到空位前才能加速
			       {
                                        AxisChangeSpeed(X_AXIS,user_datas[3]);

                                        
                                     /*   if(user_datas[19] > 300)
                                        {	
                                                cWorkPulseNum = (unsigned long)2000 * user_datas[19]/300;//1200(细分) * user_datas[49](拉链长度)/ (user_datas[31](皮带轮齿数) *50)
                                                user_datas[129] = cWorkPulseNum;	
                                                if(cWorkPulseNum > cEncodePulse)
                                                {
                                                        cWorkPulseNum -= cEncodePulse;
                                                        cStepMByte1 = 7;
                                                        cSPAdd_Correction = 0;
//										cSPAdd = 2;	
                                                        cStepMode = 4;
                                                        cLowSpeadLimit = cStepSet - 3;//user_datas[4];
                                                        cStepSet += 30;  //最高速
                                                        if(cStepSet >= 72)
                                                                cStepSet = 72;

                                                        ch = (unsigned long)(cStepSet - cStepNum)/2 + 2;  //平均加速度
                                                        ch = (unsigned long)5 * 30;//(cStepSet - cStepNum);   //加减速长度
                                                        if(cWorkPulseNum > (ch*2)) 
                                                        {
                                                                cPulseStepDEC = (unsigned long)ch + 50;
                                                        }
                                                        else
                                                        {
                                                                cPulseStepDEC = (unsigned long)cWorkPulseNum/2 +30;		
                                                        }
                                                }	
                                        }*/	
		               	}   
		            }
		            break;
/*			case 7: 
                            if((cWorkPulseNum == 0) || (cStepMode == 2))
                            {
                                    cStepMByte1 = 0;
                                    cLowSpeadLimit = user_datas[4];
                                    cSPAdd_Correction = 0;
                            }
                            break;*/	
		            //先退下模
		         case 10:
		            if ((dist_buff >= cWorkPulseNum) || (CT_MotorStep == 5))	
			    {
		               //退下模
		               	Y01 = 0;
		               	cStepMByte1 = 11;
		               	cDelayTime2 = dwTickCount + (unsigned long)user_datas[8];        //70ms
                                Y07 = 0;        //退夹链
                                if(user_datas[14] != 0)
                                {
                                    cStepMByte3 = 1;    //延时退护链
                                    cDelayTime6 = dwTickCount + (unsigned long)user_datas[18];
                                }
                                else
                                {
                                    Y04 = 0;        //退护链	               
                                    cStepMByte3 = 0;
                                }
		                cDelayTime3 = dwTickCount + (unsigned long)3 * 100;   //没法开模
		            }
		            break;
		         case 11:
		            if((dwTickCount >= cDelayTime2) || !X06) 
			    {
		               Y00 = 0;  //退分带
		               cStepMByte1 = 12;
		               cDelayTime2 = dwTickCount + (unsigned long)250;     //70ms
		            }
		            break;
		         case 12:
		            if (!X05 && !Y00 && !Y01) 
                            {
		               cDelayTime2 = dwTickCount + (unsigned long)15;
		               cStepMByte1 = 13;
		            }
		            break;
		         case 13:
		            if (dwTickCount >= cDelayTime2) 
                            {
		               //没有长度之前检测到下一条链
		               if (CT_MotorStep == 3) 
                               {
		                   AxisChangeSpeed(X_AXIS,user_datas[4]);
		               }
		               cStepMByte2 = 1;    //给料启动
		               cStepMByte1 = 0;
		            }
		            break;
					
	         }

	         //给料动作
	         switch (cStepMByte2) 
                 {
		         case 1:
		            //分带感应  有料感应  下模感应        分带   下模
		            if (!X05 && !X06 && X07 && !Y00 && !Y01) 
                            {
		               cStepMByte2 = 2;
		               cDelayTime3 = dwTickCount + (unsigned long)10 * (4 + user_datas[16]);
			       if(user_datas[37] == 1)Y10 = 1;
		            }
		            break;
		         case 2:  //延时给料
		            if ((dwTickCount >= cDelayTime3) && X07) 
                            {
		               Y02 = 1;   //给料输出
		               cStepMByte2 = 3;
		               //不知道加多少时候才够，只能定成1秒
		               cDelayTime3 = dwTickCount + 2000;
		            }
		            break;
		         case 3:   //判断给料到位
		            if(X11)
                            {
		               cStepMByte2 = 4;
		               cDelayTime3 = dwTickCount + user_datas[9];   //给料到位延时返回
		            } 
			    else if ((dwTickCount >= cDelayTime3) && X07) 
			    {  //下模上升超时
			       CT_ZhenDongCTR(1);	
		               CT_bRunning = 0;
		               M20 = 1;
			       M10 = 0;
                               M12 = 0;
			       user_datas[100] = 4;
			    }
		            break;
		         case 4:
		            if (dwTickCount >= cDelayTime3) 
                            {
		               Y02 = 0;   //给料关
		               cStepMByte2 = 5;                              
		            }
		            break;
		         case 5:
		            if (!X11) 
                            {
		               cStepMByte2 = 6;
		               cDelayTime3 = dwTickCount + 30; //给料到位延时返回
			       if(user_datas[37] == 1)Y10 = 0;
		            }
		            break;
		         case 6:
		            if (X10 && (dwTickCount >= cDelayTime3)) 
			    {
		               cStepMByte2 = 10;
		            }
		            break;
	         }
      }
}


void ChuanTou_StepCheckStart(void)
{
          //停止    故障输入
    if (X01 || X04  || M13 || (X00_DW && (user_datas[20] == BoDong) && (dwTickCount >= cDelayTime5)) || ((dwTickCount >= cAutoStopTime) && (!X15) && X_DRV)) 
    {
        M10 = 0;
        M12 = 0;
        if(X04) 
        {
            M23 = 1;
            user_datas[100] = 7;
        }
        else if ((dwTickCount >= cAutoStopTime) && X_DRV && !X15) 
        {
            M24 = 1;
            user_datas[100] = 8;	
        }
        else if(X01)
        {
              M16 = 0;
              M17 = 0;
              M18 = 0;
              M19 = 0;
              M20 = 0;
              M21 = 0;
              M22 = 0;
              M23 = 0;
              M24 = 0;
              M25 = 0;
              Clr_Warning(1);	
              if(X01_UP && !CT_bRunning)
              {
                   Y03 = 1;   //勾针	
              }
        }
        if(CT_bRunning)CT_ZhenDongCTR(1);	
        if(!M13 || !CT_bRunning)
        {
            AxisEgmStop(X_AXIS);
            cStepMByte = 0;
            cStepMByte1 = 0;
            cStepMByte2 = 0;
            cStepMByte3 = 0;
            cStepMByte4 = 0;
            CT_MotorStep = 0;
            if(user_datas[24] == 0)Y06	= 0; //夹链电磁阀(勾针旁)
                    
            Y04	= 0; //护链电磁阀
            Y02 = 0;    //	拉头定位电磁阀(给料)
            Y01 = 0;    //	下模电磁阀
            Y00 = 0;    //	分带电磁阀
            cDelayTime5  = dwTickCount + 60;
            if(user_datas[37] == 1)
                            Y10 = 0;
           SetEn(X_AXIS,0);
          
                    CT_bRunning = 0;
        }
        else
        {
            cOneTimes = 1;	
        }
        M13 = 0;
    }
}   


//电机动作
void ChuanTou_Motor(void)	 //
{
       static long back_buff,save_buff;
        static long check_buff;
        
        dwRealPos = MV_Get_Command_Pos_CPU(X_AXIS);
        user_datas[121] = dwRealPos;
        user_datas[122] = CT_MotorStep;
	switch(CT_MotorStep)
	{
		case 0:
			break;
                case 1:
                       // if(GetEn(X_AXIS) == 0)
                        {
                            SetEn(X_AXIS,1);
                            CT_MotorDelay = dwTickCount + 150;
                        }
                        
                        CT_MotorStep = 2;
                        break;
                case 2: 
                        if(dwTickCount >= CT_MotorDelay)
                        {
                            MoveAction_Const_AccDec(X_AXIS,0,user_datas[3],user_datas[2],15,5);  
                    
                            CT_MotorDelay = dwTickCount + 14000;
                            CT_MotorStep = 3;
                        }
                        break;
                case 3:
                        if(!X15)
                        {
                            AxisChangeSpeed(X_AXIS,user_datas[4]);
                            CT_MotorDelay = dwTickCount + 3500;
                            back_buff  = dwRealPos;
                            CT_MotorStep = 4;
                        }
                        else if(dwTickCount >= CT_MotorDelay)
                        {
                            CT_MotorStep = 0;
                            AxisEgmStop(X_AXIS);
                        }
			break;
		case 4:
                        if(((dwRealPos - back_buff) >= user_datas[5]) && CT_bRunning)   //延时长度下勾针
                        {
                            if(user_datas[21] == 1)Y03 = 0;
                        }
                        if(X15_UP)
                        {
                            save_buff  = dwRealPos;
                            Y03 = 0;
                            if(user_datas[24] == 0)Y06	= 1; //夹链电磁阀(勾针旁)	                //夹紧
                            CT_MotorStep = 5;
                        }
                        else if(dwTickCount >= CT_MotorDelay)
                        {
                            CT_MotorStep = 0;
                            AxisEgmStop(X_AXIS);
                        }
			break;
		case 5:
                        if((dwRealPos-save_buff) >= user_datas[60])
                        {
                            AxisEgmStop(X_AXIS);
                            if(!CT_bRunning)
                            {  
                              CT_MotorStep   = 6;
                              
                              CT_MotorDelay = dwTickCount + 2;
                            }
                            else
                                  CT_MotorStep   = 0;
                        }
			break;
		case 6:
                        if(dwTickCount >= CT_MotorDelay)        //延时松轴
                        {         
//                            SetEn(X_AXIS,0);
                            CT_MotorStep   = 0;
                        }
			break;    
 
	}
}

//合模动作
void CT_HeMo(void)
{
	switch(cStepMByte4)
	{
		case 0:
			return;
		case 1:
			if(user_datas[24] == 0)Y06 = 1;    ////夹紧
                        if((!X13) || (user_datas[23] == 0))   Y04 = 1;    //护链输出 
                        cDelayTime7 = dwTickCount + (unsigned long)user_datas[13]*10 + 60;        //160ms
			cStepMByte4 = 2;
                        
			if(user_datas[37] == 1)
                          Y10 = 0;		
                break;
		case 2:	//护链输出后分带输出
  			if (X10 && !X11 && (Y06 || (user_datas[24] == 1)))  
                        {
               //护链磁感     不用护链磁感时用延时
            	             if ((((X12 && (user_datas[22] == 1))) || ((user_datas[23] == 1) && (dwTickCount >= cDelayTime7)) ||
				//												护链磁感选择
                             ((!X13 || (user_datas[23] == 0)) && (dwTickCount >= cDelayTime7) && (user_datas[22] == 0))) && !Y00 && !X05) //分带电磁阀　分带到位
			     {   
                                Y00 = 1;    //分带
                                cDelayTime7 = dwTickCount + (unsigned long)10 * 10;       //160ms
                             }
                              if(X05_UP && Y00) 
                              {   //分带到位  分带电磁阀　
                                      Y01 = 1;    //下模输出
                              }
                              //有料感应　下模输出
                              if (X06 && Y01)
                              { 
                                 Y03 = 1;	
                              }
			}
                break;
	}		
}
//振盘控制
void CT_ZhenDongCTR(unsigned char flag) 
{
   static unsigned long cStopZDTime, cTuiPianTime,cSongLiaoQianTime;
   static unsigned short cStartTimes;
   	if(flag == 1)
   	{
		if(!X14)
		{
			Y11 = 1;
			cStopZDTime = dwTickCount + (unsigned long)1000 * 120;   
		}
   	}
	else
	{
		//振动盘        振动检测    手动给料
	   if(Y11)
	   {
	    	if((X14_UP || ((user_datas[25] == 0) && !X14)) && !M15)  // || (X03_DW))  
		   	{
		    	cStopZDTime = dwTickCount + (unsigned long)1000 * user_datas[11];
		   	} 
		   	else if (M15 || ((X14 || (!CT_bRunning && (user_datas[25] == 1))) && (dwTickCount >= cStopZDTime))) 
		   	{ // && (!X03))
		      	M15 = 0;
				Y11 = 0;
				cStartTimes = 0;
		   	}
			else if(X14_DW)
			{
				cStopZDTime = dwTickCount + (unsigned long)1000 * 40;
			} 
	   }
	   else if ((!Y11) && (((cStartTimes >= user_datas[12]) && (!X14))|| M15)) 
	   {
		  M15 = 0;
	      Y11 = 1;
		  cStopZDTime = dwTickCount + (unsigned long)1000 * 40; 
		  if(X14)
		  	cStopZDTime = dwTickCount + (unsigned long)1000 * 4; 	
		  cStartTimes = 0;
	   }
	}
   // 送料前
   if (X11_UP && (dwTickCount >= cSongLiaoQianTime)) 
   {
      cStartTimes++;
      cSongLiaoQianTime = dwTickCount + 100;
   }
   if (X14)  //拉头检测
      cStartTimes = 0;
   //推拉片动作（弹簧头）
	if(flag == 0)
	{
		if((user_datas[26] == 0) || M03)
		{
			if(Y11 && !X04 && (M03 || CT_bRunning)) 
		   	{
		      	if (dwTickCount >= cTuiPianTime) 
			  	{
		        	cTuiPianTime = dwTickCount + (unsigned long)10 * user_datas[15];
		         	Y05 = ~Y05;
		      	}
		   	} 
		   	else Y05 = 0;
		}
		else if(Y11 && !X04)
			Y05 = Y02;
	}
}



#endif