增加按压时间设定

更换断线检测传感器检测机制。

EMBOS/Users/App/user/optical/optical.c

@@ -279,7 +279,9 @@ void OpticalAsyncTask(void)
 {
 	int rslt;
 	rslt = ERR_NONE;
-
+#if(SCAN_TIMEINTERVAL == 1)
+	isEmptyMaterialSta(0);
+#endif
 #if (MODULE_LOOSE == 1)			// 松料电机装置
 	if (((g_workCtrl.cursta.workStatus & WORK_STA_SIMULATE) == 0) &&
 			1 )		//  松料允许;非模拟状态
@@ -308,6 +310,9 @@ int SendOpticalTask(void)		//
 		if ((IsOptStoringLow2() == SENSOR_ON) ||
 				  0)
 		{
+#if(FEEDINGBACK_ADJUST == 1)
+			g_optWorkCtrl.feedingOpit = 1;
+#endif
 			LooseMotorRevOn();   //松料电机   转动
 
 			//printf("LooseMotor run %d\r\n");
@@ -318,13 +323,39 @@ int SendOpticalTask(void)		//
 			if((IsOptStoringLow1() == SENSOR_ON) ||
 				 0)
 			{
+#if(FEEDINGBACK_ADJUST == 1)
+				if(g_optWorkCtrl.feedingOpit == 1)
+				{
+#endif
 					LooseMotorRevOff();		// 松料电机  停止
-			}
+#if(FEEDINGBACK_ADJUST == 1)
-
+					g_optWorkCtrl.feedingOpit = 0;
 				}
 			}
-	//工作中，光纤储料低位1没触发且送料电机转动时，启动松料电机，
+			else
-
+			{
+				if(g_optWorkCtrl.collectingOpit == 1)
+				{
+					LooseMotorOff();
+					g_optWorkCtrl.collectingOpit = 0;
+				}
+#endif
+			}
+		}
+	}
+#if(FEEDINGBACK_ADJUST == 1)
+	//工作中
+	if((g_workCtrl.cursta.workStatus & WORK_STA_WORKING) != 0 ||
+//			(g_workCtrl.cursta.workStatus & WORK_STA_BUSY) != 0 ||
+			0)
+	{
+		if(IsOptStoringLow1() == SENSOR_ON)
+		{
+			g_optWorkCtrl.collectingOpit = 1;
+			LooseMotorOn();
+		}
+	}
+#endif
 
    return err;
 }
@@ -333,7 +364,7 @@ int SendOpticalTask(void)		//
 void OpticalTimerTask(void)
 {
 	SendStatus(1);	// 发送状态
-	OperatorTaskWhenRun(0);
+//	OperatorTaskWhenRun(0);
 }
 
 int OpticalCloseAll(void)
@@ -357,11 +388,17 @@ int sendOpticalTaskWhenRun(void)		//
 	//光纤储料低位1/2触发：开始松料
 
 	int err = ERR_NONE;
-
+#if(FEEDINGBACK_ADJUST == 1)
+	if(g_optWorkCtrl.pointOpit == 1)
+	{
+#endif
 		if ((IsOptStoringLow2() == SENSOR_ON) ||
 			(IsOptStoringLow1() != SENSOR_ON) ||
 				  0)
 		{
+#if(FEEDINGBACK_ADJUST == 1)
+			g_optWorkCtrl.feedingOpit = 1;
+#endif
 			LooseMotorRevOn();   //松料电机   转动
 
 			//printf("LooseMotor run %d\r\n");
@@ -373,11 +410,52 @@ int sendOpticalTaskWhenRun(void)		//
 				 0)
 			{
 				LooseMotorRevOff();		// 松料电机  停止
+#if(FEEDINGBACK_ADJUST == 1)
+				g_optWorkCtrl.feedingOpit = 0;
+#endif
 			}
 
 		}
-	//工作中，光纤储料低位1没触发且送料电机转动时，启动松料电机，
+#if(FEEDINGBACK_ADJUST == 1)
+	}
+	else
+	{
+		if ((IsOptStoringLow2() == SENSOR_ON) ||
+				  0)
+		{
+			g_optWorkCtrl.feedingOpit = 1;
+			LooseMotorRevOn();   //松料电机   转动
 
+			//printf("LooseMotor run %d\r\n");
+			//DelayRef(300);
+		}
+		else
+		{
+			if((IsOptStoringLow1() == SENSOR_ON) ||
+				 0)
+			{
+				if(g_optWorkCtrl.feedingOpit == 1)
+				{
+					LooseMotorRevOff();		// 松料电机  停止
+					g_optWorkCtrl.feedingOpit = 0;
+				}
+				else
+				{
+					g_optWorkCtrl.collectingOpit = 1;
+					LooseMotorOn();
+				}
+			}
+			else
+			{
+				if(g_optWorkCtrl.collectingOpit == 1)
+				{
+					LooseMotorOff();
+					g_optWorkCtrl.collectingOpit = 0;
+				}
+			}
+		}
+	}
+#endif
 	return err;
 }
 #if(MATERIAL_SCAN == 1)
@@ -388,6 +466,7 @@ int isEmptyMaterialSta(u16 len)//
 	{
 		if(g_optWorkCtrl.IsNoMaterialEn == 1)
 		{
+#if(SCAN_TIMEINTERVAL == 0)
 	//		//情况1
 	//		if(IsEmptyMaterial() == SENSOR_ON)
 	//		{
@@ -407,7 +486,6 @@ int isEmptyMaterialSta(u16 len)//
 				g_optWorkCtrl.IsNoMaterialScanLen = g_pOpticalMcPara->materialFreeScanNum;//断线检测扫描次数复位
 				g_optWorkCtrl.IsNoMaterialFlag = 2;
 			}
-
 			//情况3
 			if((IsEmptyMaterial() != SENSOR_ON))
 			{
@@ -435,8 +513,48 @@ int isEmptyMaterialSta(u16 len)//
 				g_optWorkCtrl.IsNoMaterialFlag = 2;
 				return STA_NORMAL_STOP;
 			}
+#else
+
+			if(g_optWorkCtrl.IsNoMaterialStart == 0)
+			{
+				g_optWorkCtrl.IsNoMaterialScanTime = GetMsSoftTimer();
+				g_optWorkCtrl.IsNoMaterialStart = 1;
+			}
+			if((IsEmptyMaterial() != SENSOR_ON))
+			{
+				g_optWorkCtrl.IsNoMaterialTime = 0;
+				g_optWorkCtrl.IsNoMaterialScanTime = GetMsSoftTimer();
+			}
+			u32 materTimer = GetMsSoftTimer();
+			if((materTimer - g_optWorkCtrl.IsNoMaterialScanTime + g_optWorkCtrl.IsNoMaterialTime) > 20000)
+			{
+				printf("curtime=%d,IsNoMaterialScanTime=%d, IsNoMaterialTime=%d\r\n",materTimer,g_optWorkCtrl.IsNoMaterialScanTime,g_optWorkCtrl.IsNoMaterialTime);
+				ReportError(ERR_NO_MATERIAL_ERROR);
+				g_optWorkCtrl.IsNoMaterialTime = 0;
+				g_optWorkCtrl.IsNoMaterialStart = 0;
+				g_optWorkCtrl.opticalSta = 1;//断线检测报警
+				return STA_NORMAL_STOP;
+			}
+
+#endif
+		}
+#if(SCAN_TIMEINTERVAL == 1)
+		else
+		{
+			if(g_optWorkCtrl.IsNoMaterialStart == 1)
+			{
+				g_optWorkCtrl.IsNoMaterialTime = GetMsSoftTimer() - g_optWorkCtrl.IsNoMaterialScanTime;
+				printf("IsNoMaterialTime=%d\r\n",g_optWorkCtrl.IsNoMaterialTime);
+				g_optWorkCtrl.IsNoMaterialStart = 0;
 			}
 		}
+		if(g_optWorkCtrl.opticalSta == 1)//断线检测报警
+		{
+			return ERR_NO_MATERIAL_ERROR;
+		}
+#endif
+	}
+
 	return 0;
 }
 #endif
@@ -3798,7 +3916,7 @@ int MoveMTS1BHStop_a(u32 para1,u32 para2)		// ֹͣ
 
 int MTP_1PulseToP1Pulse(s32 Pulse)
 {
-	Pulse *= 8.488;//    8.488p/mm
+	Pulse *= 8.488;//    8.488p/mm	电机每圈400脉冲，外径15
 	return Pulse;
 }
 
@@ -4769,8 +4887,11 @@ int MoveXYRS1P1ToWorkPos(DataItem * pCurDat, MotoSpd *pSpd, int rToSpinPosFlag,i
 
 		err = MoveXYR1S1P1ToPos(posx, posy, posr1, poss1, posp1, &spd, s1MotoRunFlag);
 
+		if(err == ERR_NONE)
+		{
 			g_optWorkCtrl.IsNoMaterialEn = 1;
 		}
+	}
 	return err;
 }
 
@@ -4791,7 +4912,7 @@ int MoveXYRS1P1SToWorkPos(DataItem * pCurDat, int uh)       //
 		posr1 = PitkToRpp(g_workCtrl.workPos[MTR1_IDX]);
 		poss1 = g_workCtrl.workPos[MTS1_IDX];
 		posp1 = g_workCtrl.workPos[MTP1_IDX];
-
+		printf("work pos x:%d, y:%d\r\n",posx, posy);
 		g_optWorkCtrl.IsNoMaterialEn = 0;
 
 		if (uh != 0)
@@ -4815,8 +4936,11 @@ int MoveXYRS1P1SToWorkPos(DataItem * pCurDat, int uh)       //
 			err = MoveXYR1S1P1ToPos(posx, posy, posr1, poss1, posp1, NULL, 0);
 		}
 
+		if(err == ERR_NONE)
+		{
 			g_optWorkCtrl.IsNoMaterialEn = 1;
 		}
+	}
 	return err;
 }
 
@@ -5452,9 +5576,13 @@ int GetWorkPosFromIndex(void)
 			break;		// 结束
 		}
 		ChangeWorkPos(&sewStep, 1);
+#if(0)
+		printf("idx: %d\tposx = %d\tposy = %d\r\n",idx, g_workCtrl.workPos[MTX_IDX], g_workCtrl.workPos[MTY_IDX]);
+		DelayRef(10);
+#endif
 	}
 	g_workCtrl.workAvaible = DATA_VALID;		// 工作坐标有效标志
-
+	printf("start x:%d,y:%d \r\n",g_workCtrl.workPos[MTX_IDX],g_workCtrl.workPos[MTY_IDX]);
 	return 0;
 }
 
@@ -5892,8 +6020,8 @@ int OpticalRefreshDat(u32 para1, u32 para2)
 										diry += g_optWorkCtrl.yCompenAfterTurn;
 										g_optWorkCtrl.compenFlag1 = 0;
 
-										g_optWorkCtrl.oldXCompenAfterTurn = g_optWorkCtrl.xCompenAfterTurn;
+//										g_optWorkCtrl.oldXCompenAfterTurn = g_optWorkCtrl.xCompenAfterTurn;
-										g_optWorkCtrl.oldYCompenAfterTurn = g_optWorkCtrl.yCompenAfterTurn;
+//										g_optWorkCtrl.oldYCompenAfterTurn = g_optWorkCtrl.yCompenAfterTurn;
 									}
 
 //									printf("rPos = %d, xPos = %d, yPos = %d,\r\n",g_motosPara.motosPos[MTR1_IDX],g_motosPara.motosPos[MTX_IDX],g_motosPara.motosPos[MTY_IDX]);
@@ -5990,6 +6118,7 @@ int OpticalRefreshDat(u32 para1, u32 para2)
 								}
 								else if(pFlCtrl->dtype == DATA_OPTI)	    // 吐丝数据
 								{
+
 //									//速度匹配
 //									if(IsOptStoringHigh2() == SENSOR_ON )
 //									{
@@ -6227,8 +6356,12 @@ int OpticalRefreshDat(u32 para1, u32 para2)
 }
 
 #if(AFTERTURN_COMPEN == 1)
+
 void XYCompenCalcuAfterTurning(DataItem datItem)
 {
+	s32 turnr;
+	s32 abposr;
+	DataItem tempDat;
 	if(((datItem.dx != 0) || (datItem.dy != 0)) && (datItem.attr != DATA_PRESSURE))
 	{
 		if((datItem.dr == 0) && (g_optWorkCtrl.runSteps1 == 0))//先直线
@@ -6237,15 +6370,139 @@ void XYCompenCalcuAfterTurning(DataItem datItem)
 		}
 		else if((datItem.dr != 0) && (g_optWorkCtrl.runSteps1 == 10))//后拐弯
 		{
-			g_optWorkCtrl.begainRBeforeWiring = g_workCtrl.workPos[MTR1_IDX];//用来计算补偿
+			ReadAndFreshMotosPos();
+			// 转化为 -180--180度之间的数
+
+			abposr = g_motosPara.motosPos[MTR1_IDX];
+			ChangeRotToNP180(&abposr);
+			if(abposr < 0)
+			{
+				abposr += 10000;
+			}
+
+			g_optWorkCtrl.begainXBeforeWiring = g_workCtrl.workPos[MTX_IDX];
+			g_optWorkCtrl.begainYBeforeWiring = g_workCtrl.workPos[MTY_IDX];
+			g_optWorkCtrl.begainRBeforeWiring = abposr;
 			g_optWorkCtrl.runSteps1 = 20;
+			printf("begin %d\r\n",g_optWorkCtrl.begainRBeforeWiring);
 		}
 		else if((datItem.dr == 0) && (g_optWorkCtrl.runSteps1 == 20))//拐弯之后
 		{
-			g_optWorkCtrl.xCompenAfterTurn = g_pOpticalMcPara->rkMatThickness/100*cos(g_optWorkCtrl.begainRBeforeWiring/10000) - g_optWorkCtrl.oldXCompenAfterTurn;
+			for(int i = 1; i < 6; i++)
-			g_optWorkCtrl.yCompenAfterTurn = g_pOpticalMcPara->rkMatThickness/100*sin(g_optWorkCtrl.begainRBeforeWiring/10000) - g_optWorkCtrl.oldYCompenAfterTurn;
+			{
+				if(GetADataItem(0, (GetDatIndex() + i), &tempDat) == 0)
+				{
+					if(tempDat.dr != 0)
+					{
+						return;
+					}
+				}
+				else
+				{
+					return;
+				}
+			}
+			ReadAndFreshMotosPos();
+			// 转化为 -180--180度之间的数
+
+			abposr = g_motosPara.motosPos[MTR1_IDX];
+			ChangeRotToNP180(&abposr);
+
+			if(abposr <= 0)
+			{
+				abposr += 10000;
+			}
+
+			turnr = abposr - g_optWorkCtrl.begainRBeforeWiring;
+			printf("turn %d, begin %d,end %d\r\n",turnr,g_optWorkCtrl.begainRBeforeWiring,abposr);
+
+			if(g_optWorkCtrl.begainRBeforeWiring > 4900 && 		//角度是180，做80的区间近似值
+					g_optWorkCtrl.begainRBeforeWiring < 5100 &&
+					1)
+			{
+				if(((turnr > -2600) && (turnr < -2400)) ||
+						((turnr > 2400) && (turnr < 2600))	)	//直角转弯，X做补偿
+				{
+					g_optWorkCtrl.xCompenAfterTurn = g_pOpticalMcPara->xGapCorrect;
+					g_optWorkCtrl.yCompenAfterTurn = 0;
 					g_optWorkCtrl.compenFlag1 = 1;
+					printf("xCompen\r\n");
+				}
+				else if(turnr >= 100 && turnr<= 2400)
+				{
+					g_optWorkCtrl.xCompenAfterTurn = 0;
+					g_optWorkCtrl.yCompenAfterTurn = g_pOpticalMcPara->yGapCorrect;
+					g_optWorkCtrl.compenFlag1 = 1;
+					printf("yCompen\r\n");
+				}
+				else
+				{
+					g_optWorkCtrl.xCompenAfterTurn = 0;
+					g_optWorkCtrl.yCompenAfterTurn = 0;
+					g_optWorkCtrl.compenFlag1 = 0;
+				}
+
+			}
+			else if(g_optWorkCtrl.begainRBeforeWiring > 7400 && 		//角度是270，做100的区间近似值
+					g_optWorkCtrl.begainRBeforeWiring < 7600 &&
+					1)
+			{
+				if(((turnr > -2600) && (turnr < -2400)) ||
+						((turnr > 2400) && (turnr < 2600))	)	//直角转弯，Y做补偿
+				{
+					g_optWorkCtrl.xCompenAfterTurn = 0;
+					g_optWorkCtrl.yCompenAfterTurn = g_pOpticalMcPara->yGapCorrect;
+					g_optWorkCtrl.compenFlag1 = 1;
+					printf("yCompen\r\n");
+
+				}
+				else if(turnr >= -2400 && turnr <= -100)		//还是原方向，反向x补偿
+				{
+					g_optWorkCtrl.xCompenAfterTurn = g_pOpticalMcPara->xGapCorrect;
+					g_optWorkCtrl.yCompenAfterTurn = 0;
+					g_optWorkCtrl.compenFlag1 = 1;
+					printf("xCompen\r\n");
+				}
+				else
+				{
+					g_optWorkCtrl.xCompenAfterTurn = 0;
+					g_optWorkCtrl.yCompenAfterTurn = 0;
+					g_optWorkCtrl.compenFlag1 = 0;
+				}
+
+			}
+			else if(g_optWorkCtrl.begainRBeforeWiring > 2400 && 		//角度是90，做100的区间近似值
+					g_optWorkCtrl.begainRBeforeWiring < 2600 )
+			{
+				if(turnr >= 30 && turnr<= 2400)		//还是原方向，反向x补偿
+				{
+					g_optWorkCtrl.xCompenAfterTurn = g_pOpticalMcPara->xGapCorrect;
+					g_optWorkCtrl.yCompenAfterTurn = 0;
+					g_optWorkCtrl.compenFlag1 = 1;
+					printf("xCompen\r\n");
+				}
+			}
+			else if((g_optWorkCtrl.begainRBeforeWiring > (-100) && g_optWorkCtrl.begainRBeforeWiring < 100) ||
+					(g_optWorkCtrl.begainRBeforeWiring > 9900 && g_optWorkCtrl.begainRBeforeWiring < 10100))
+			{
+				if(turnr >= -2400 && turnr <= -30)		//还是原方向，反向y补偿
+				{
+					g_optWorkCtrl.xCompenAfterTurn = 0;
+					g_optWorkCtrl.yCompenAfterTurn = g_pOpticalMcPara->yGapCorrect;
+					g_optWorkCtrl.compenFlag1 = 1;
+					printf("yCompen\r\n");
+				}
+			}
+
+//			if((abs(g_workCtrl.workPos[MTR1_IDX] - g_optWorkCtrl.begainRBeforeWiring) < 2000) &&
+//					(g_optWorkCtrl.compenFlag1 == 0)	)
+//			{
+//				g_optWorkCtrl.runSteps1 = 20;
+//			}
+//			else
+//			{
 			g_optWorkCtrl.runSteps1 = 0;
+//			}
 		}
 	}
 }
@@ -6339,6 +6596,9 @@ int OpticalWork(int mode)
 		g_optWorkCtrl.IsNoMaterialFlag = 2;
 		g_optWorkCtrl.IsNoMaterialScanLen = g_pOpticalMcPara->materialFreeScanNum;
 		g_optWorkCtrl.IsNoMaterialEn = 1;
+#if(FEEDINGBACK_ADJUST == 1)
+		g_optWorkCtrl.pointOpit = 0;
+#endif
 		err = OpticalCloseAll();
 		// 打开吸风
 		FanMotosOn();		// 吸风开
@@ -6402,20 +6662,16 @@ int OpticalWork(int mode)
 			err = MoveU1ToPos(g_pOpticalMcPara->rkHighPos, NULL);//抬起机头
 
 			ReadMotosPos();
-			if(g_workCtrl.workPos[MTX_IDX] <= g_motosPara.motosPos[MTX_IDX])
+			if(g_workCtrl.workPos[MTX_IDX] <= (g_motosPara.motosPos[MTX_IDX] + 200))
 			{
 				g_workCtrl.workPos[MTX_IDX] -= g_pOpticalMcPara->startPosoffx;
 				g_optWorkCtrl.usecomx = 1;
 			}
-			if(g_workCtrl.workPos[MTY_IDX] <= g_motosPara.motosPos[MTY_IDX])
+			if(g_workCtrl.workPos[MTY_IDX] <= (g_motosPara.motosPos[MTY_IDX] + 200))
 			{
 				g_workCtrl.workPos[MTY_IDX] -= g_pOpticalMcPara->startPosoffy;
 				g_optWorkCtrl.usecomy = 1;
 			}
-/*			if (err == ERR_NONE)
-			{
-				err = MoveXYToPos(-1100, -6000, NULL);
-			}*/
 			if (err == ERR_NONE)
 			{
 				err = MoveXYRS1P1ToWorkPos(&curDat, NULL, 1, 0);
@@ -6426,11 +6682,13 @@ int OpticalWork(int mode)
 			{
 				if(g_optWorkCtrl.usecomx == 1)
 				{
+//					printf("usecomx \r\n");
 					g_workCtrl.workPos[MTX_IDX] += g_pOpticalMcPara->startPosoffx;
 					g_optWorkCtrl.usecomx = 0;
 				}
 				if(g_optWorkCtrl.usecomy == 1)
 				{
+//					printf("usecomy \r\n");
 					g_workCtrl.workPos[MTY_IDX] += g_pOpticalMcPara->startPosoffy;
 					g_optWorkCtrl.usecomy = 0;
 				}
@@ -6554,6 +6812,9 @@ int OpticalWork(int mode)
 		if(curDat.ctrl == DATA_OPTI)
 		{
 			curDat.ctrl = DATA_DRAWING;
+#if(FEEDINGBACK_ADJUST == 1)
+			g_optWorkCtrl.pointOpit = 1;
+#endif
 		}
 
 		if (GetDatIndex() < GetFileItemNums())
@@ -6590,6 +6851,9 @@ int OpticalWork(int mode)
 			//布线结束后的动作
 			if((oldDat.ctrl == DATA_DRAWING || oldDat.ctrl == DATA_PRESSURE) && g_optWorkCtrl.motopreFlag == 1)
 			{
+#if(FEEDINGBACK_ADJUST == 1)
+				g_optWorkCtrl.pointOpit = 0;
+#endif
 				FixMatCylinderOff();//顶料松开
 				DelayRef(300);
 				UpClipMatClipCylinderOff();//上夹料松开
@@ -6684,6 +6948,10 @@ int OpticalWork(int mode)
 			// 吐丝数据动作处理
 			if (curDat.ctrl == DATA_OPTI)
 			{
+#if(FEEDINGBACK_ADJUST == 1)
+				g_optWorkCtrl.pointOpit = 1;
+#endif
+//				g_optWorkCtrl.runSteps1 = 0;
 				g_optWorkCtrl.motoRunFlag = 1;
 				err = MoveR1ToPos(2500, NULL);//旋转到吐丝位置:90°
 
@@ -6754,8 +7022,8 @@ int OpticalWork(int mode)
 			{
 				g_optWorkCtrl.IsNoMaterialScanLen = g_pOpticalMcPara->materialFreeScanNum;
 
-				g_optWorkCtrl.oldXCompenAfterTurn = 0;
+//				g_optWorkCtrl.oldXCompenAfterTurn = 0;
-				g_optWorkCtrl.oldYCompenAfterTurn = 0;
+//				g_optWorkCtrl.oldYCompenAfterTurn = 0;
 
 				if(err == ERR_NONE)
 				{
@@ -6771,9 +7039,9 @@ int OpticalWork(int mode)
 					{
 						err = MoveU1ToPos(g_pOpticalMcPara->rkLowPos, NULL);//机头下降
 						PreMatCylinderOn();//压料
-						DelayRef(200);
+						DelayRef(g_pOpticalMcPara->PreWaitTime);
 						PreMatCylinderOff();//压料松开
-						DelayRef(300);
+						DelayRef(100);
 						UpClipMatClipCylinderOn();//上夹料夹料
 					}
 					if(err == ERR_NONE)
@@ -7028,7 +7296,7 @@ int OpticalWork(int mode)
 			//布线结束后偏移到吐丝位置（判定：偏移数据前是布线数据，后是吐丝数据）
 			if((oldDataForOffset == DATA_DRAWING || oldDataForOffset == DATA_PRESSURE) && tmpDat.ctrl == DATA_OPTI)
 			{
-				if(g_optWorkCtrl.useGapCorx == 1)
+/*				if(g_optWorkCtrl.useGapCorx == 1)
 				{
 					g_workCtrl.workPos[MTX_IDX] -= g_pOpticalMcPara->xGapCorrect;
 					g_optWorkCtrl.useGapCorx = 0;
@@ -7037,7 +7305,7 @@ int OpticalWork(int mode)
 				{
 					g_workCtrl.workPos[MTY_IDX] -= g_pOpticalMcPara->yGapCorrect;
 					g_optWorkCtrl.useGapCory = 0;
-				}
+				}*/
 				spinLenForOffset = GetSyntheticLength(datx2 - datx1,daty2 - daty1);
 				g_optWorkCtrl.isEndOfSpinFlag = 1;
 				g_optWorkCtrl.cutingFlag = 1;
@@ -7161,26 +7429,14 @@ int OpticalWork(int mode)
 			//前一根布线结束移到下一根布线起始（判定：偏移数据前是吐丝数据，后是吐丝数据）
 			else if(oldDataForOffset == DATA_OPTI  && tmpDat.ctrl == DATA_OPTI)
 			{
-
-//				MoveXYToPos(-1100, -6000, NULL);
-
-/*				if(g_workCtrl.workPos[MTX_IDX] > 65000 ||
-						g_workCtrl.workPos[MTY_IDX] > 44000)
-				{
-					MoveXYToPos(70700, 64000, NULL);
-				}
-				else
-				{
-					MoveXYToPos(-1100, -6000, NULL);
-				}*/
 				err = MoveU1ToPos(g_pOpticalMcPara->rkHighPos, NULL);//抬起机头
 				ReadMotosPos();
-				if(g_workCtrl.workPos[MTX_IDX] <= g_motosPara.motosPos[MTX_IDX])
+				if(g_workCtrl.workPos[MTX_IDX] <= (g_motosPara.motosPos[MTX_IDX] + 200))
 				{
 					g_workCtrl.workPos[MTX_IDX] -= g_pOpticalMcPara->startPosoffx;
 					g_optWorkCtrl.usecomx = 1;
 				}
-				if(g_workCtrl.workPos[MTY_IDX] <= g_motosPara.motosPos[MTY_IDX])
+				if(g_workCtrl.workPos[MTY_IDX] <= (g_motosPara.motosPos[MTY_IDX] + 200))
 				{
 					g_workCtrl.workPos[MTY_IDX] -= g_pOpticalMcPara->startPosoffy;
 					g_optWorkCtrl.usecomy = 1;
@@ -7195,11 +7451,13 @@ int OpticalWork(int mode)
 				{
 					if(g_optWorkCtrl.usecomx == 1)
 					{
+//						printf("usecomx \r\n");
 						g_workCtrl.workPos[MTX_IDX] += g_pOpticalMcPara->startPosoffx;
 						g_optWorkCtrl.usecomx = 0;
 					}
 					if(g_optWorkCtrl.usecomy == 1)
 					{
+//						printf("usecomy \r\n");
 						g_workCtrl.workPos[MTY_IDX] += g_pOpticalMcPara->startPosoffy;
 						g_optWorkCtrl.usecomy = 0;
 					}
@@ -7221,7 +7479,7 @@ int OpticalWork(int mode)
 			{
 				FixMatCylinderOn();//顶料顶料
 				DelayRef(200);
-				ReadMotosPos();		//起始点到偏移的位置和移动到起始点反向增加间隙补偿
+/*				ReadMotosPos();		//起始点到偏移的位置和移动到起始点反向增加间隙补偿
 
 				if(g_workCtrl.workPos[MTX_IDX] < g_motosPara.motosPos[MTX_IDX])
 				{
@@ -7232,7 +7490,7 @@ int OpticalWork(int mode)
 				{
 					g_workCtrl.workPos[MTY_IDX] += g_pOpticalMcPara->yGapCorrect;
 					g_optWorkCtrl.useGapCory = 1;
-				}
+				}*/
 				err = MoveR1ToPos(PitkToRpp(g_workCtrl.workPos[MTR1_IDX]),NULL);
 
 				if (err == ERR_NONE)
@@ -7345,7 +7603,6 @@ int OpticalWork(int mode)
 			if(g_optWorkCtrl.opticalSta == 1)//断线检测报警
 			{
 				err = ERR_NO_MATERIAL_ERROR;
-				g_optWorkCtrl.opticalSta = 0;
 			}
 
 			ReportError(err);
@@ -7380,9 +7637,9 @@ int OpticalWork(int mode)
 		if(g_optWorkCtrl.opticalSta == 1)//断线检测报警
 		{
 			err = ERR_NO_MATERIAL_ERROR;
+			g_optWorkCtrl.IsNoMaterialEn = 0;
 			g_optWorkCtrl.opticalSta = 0;
 		}
-
 		OpticalCloseAll();
 		UpClipMatClipCylinderOn();			// 上夹料开
 
@@ -7442,9 +7699,11 @@ int OpticalWork(int mode)
 	{
 		OpticalCloseAll();
 		SetDatIdxToStart();
+		Fan1MotoOff();
 		err = OpticalGotoFinishPos();
 	}
 
+	g_optWorkCtrl.IsNoMaterialEn = 0;
 
 	g_workCtrl.cursta.workStatus &= ~(WORK_STA_BUSY|WORK_STA_WORKING);		// 清除正在忙标志
 
@@ -7562,6 +7821,7 @@ void AllToReset(void)
 	g_optWorkCtrl.motopreFlag = 0;	             // 已经压料标志
 //	g_optWorkCtrl.lowingFlag = 1;				 // 需要下降机头标志
 
+	Fan1MotoOff();
 	err = MoveU1ToPos(g_pOpticalMcPara->rkHighPos, NULL);//抬起机头
 
 	if (err == ERR_NONE)
@@ -7949,11 +8209,11 @@ int FastJump(u32 idx)
 			{
 				err = STA_WORK_OVER;	// 结束
 			}
-			else
+/*			else
 			{
 				err = MoveXYRS1P1ToWorkPos(&curDat, NULL, 0, 0);
 			}
-			printf("after move to work\r\n");
+			printf("after move to work\r\n");*/
 		}
 	}
 
@@ -8023,7 +8283,7 @@ int OpticalStartWork(void)
 
 
    ReportError(err);
-   ReportError(ERR_NONE);
+//   ReportError(ERR_NONE);
    return err;
 }
 
@@ -8306,6 +8566,19 @@ void OutputByHand(u16 obj, u16 act, u16 para)
 			}
 			break;
 		}
+		case OT_FIXMAT:		//顶料
+		{
+			if (act == UP_OPEN_ON)
+			{
+				FixMatCylinderOff();			// 顶料气缸
+			}
+			else                	// 关闭
+			{
+				FixMatCylinderOn();			// 顶料气缸
+			}
+			break;
+		}
+
 		case OT_BLOWING:			// 放料
 		{
 			if (act == UP_OPEN_ON)

EMBOS/Users/App/user/optical/optical.h

@@ -19,6 +19,52 @@
 #include "shell.h"
 #include "opticalpara.h"
 #include "workctrl.h"
+
+//-------------------------------功能模块配置------------------------------------------
+
+#if (1)
+
+#define	MATERIAL_SCAN		1		// 无料检测（断线检测）
+#define SCAN_TIMEINTERVAL	1		// 使用时间间隔检测传感器
+
+#define FEEDINGBACK_ADJUST	1		// 使用送料电机反转调整
+#define	AFTERTURN_COMPEN	1		// 拐角补偿
+
+#define XY_GAP_CONVERT		0		// 间隙补偿
+
+#define	MODULE_X			1		// X电机模块
+#define X_FINDZERO_DIR		1		// = -1, X向负方向找零位传感器;		= 1, X向正方向找零位传感器;
+
+
+#define	MODULE_Y			1		// Y电机模块
+
+#define	MODULE_FEED_LL		0		// 进料模块
+
+#define MOTO_LIFT			0		// 电机升降
+#define LIFT_U1				1		// 提升1模块
+#define LIFT_U2				0		// 提升2模块
+#define LIFT_U3				0		// 提升3模块
+
+#define AIR_LIFT			0		// 气动升降
+
+#define MOTO_TURN			1		// 电机旋转跟踪
+#define TURN_R1				1		// 旋转1模块
+#define TURN_R2				0		// 旋转2模块
+#define TURN_R3				0		// 旋转3模块
+
+#define	MODULE_SEND			1		//送料电机模块
+#define	MODULE_PULL			1		//拉料电机模块
+#define	MODULE_LOOSE        1       //松料电机模块
+
+#define	MODULE_PUSH      	0       //推料
+
+#define	POS_EN_NONE		0x0000
+#define	POS_EN_X		0x0001
+#define	POS_EN_Y		0x0002
+#define	POS_EN_XY		0x0003
+
+#endif
+//---------------------------------------------------------------------------------------------------
 //----------------------------------------工作控制参数定义------------------------------------
 
 typedef struct
@@ -45,11 +91,14 @@ typedef struct
 
 	//补偿
 	u8 runSteps1;				//
+	u8 drZeroNum;				//直线段数
 	s16 oldXCompenAfterTurn;		// oldX拐弯之后的补偿
 	s16 oldYCompenAfterTurn;		// oldY拐弯之后的补偿
 	s16 xCompenAfterTurn;		// x拐弯之后的补偿
 	s16 yCompenAfterTurn;		// y拐弯之后的补偿
 	s32 begainRBeforeWiring;	// 布线起始角度
+	s32 begainXBeforeWiring;	// 布线起始位置X
+	s32 begainYBeforeWiring;	// 布线起始位置Y
 	u8 compenFlag1;				// 可以补偿标志
 
 	//-----------------------
@@ -59,6 +108,11 @@ typedef struct
 	s32 IsNoMaterialScanLen;	// 断线检测扫描长度
 	u8 IsNoMaterialFlag;		// 断线标志 =0断线
 	u8 IsNoMaterialEn;			// 断线检测扫描启动
+#if(SCAN_TIMEINTERVAL == 1)
+	u32 IsNoMaterialStart;		// 断线检测扫描启动
+	u32 IsNoMaterialScanTime;	// 断线检测扫描时间
+	u32 IsNoMaterialTime;		// 断线检测已扫描时间
+#endif
 	//-----------------------
 	s32	encoder1Vale;			// 编码器1值
 	s32	encoder2Vale;			// 编码器2值
@@ -73,10 +127,14 @@ typedef struct
 
 	u8 usecomx;					// 使用反向运行补偿
 	u8 usecomy;					// 使用反向运行补偿
-	u8 useGapCorx;				// 使用反向对接间隙补偿
+//	u8 useGapCorx;				// 使用反向对接间隙补偿
-	u8 useGapCory;				// 使用反向对接间隙补偿
+//	u8 useGapCory;				// 使用反向对接间隙补偿
 	int spinLenOffset;			// 偏移长度
-
+#if(FEEDINGBACK_ADJUST == 1)
+	u8 feedingOpit;					// 送光纤
+	u8 collectingOpit;				// 收光纤
+	u8 pointOpit;					// 布线中
+#endif
 }OptWorkCtrl;
 
 OptWorkCtrl		g_optWorkCtrl;
@@ -96,51 +154,23 @@ typedef struct
 OptBorder		g_optBorder;
 //----------------------------------------------------------------------------
 
-
+#define FUNC_BIT0		0x01
-
+#define FUNC_BIT1		0x02
-//-------------------------------功能模块配置------------------------------------------
+#define FUNC_BIT2		0x04
-
+#define FUNC_BIT3		0x08
-#if (1)
+#define FUNC_BIT4		0x10
-
+#define FUNC_BIT5		0x20
-#define	MATERIAL_SCAN		1		// 无料检测（断线检测）
+#define FUNC_BIT6		0x40
-
+#define FUNC_BIT7		0x80
-#define	AFTERTURN_COMPEN	0		// 拐角补偿
+#define FUNC_BIT8		0x100
-
+#define FUNC_BIT9		0x200
-#define XY_GAP_CONVERT		0		// 间隙补偿
+#define FUNC_BIT10		0x400
-
+#define FUNC_BIT11		0x800
-#define	MODULE_X			1		// X电机模块
+#define FUNC_BIT12		0x1000
-#define X_FINDZERO_DIR		1		// = -1, X向负方向找零位传感器;		= 1, X向正方向找零位传感器;
+#define FUNC_BIT13		0x2000
-
+#define FUNC_BIT14		0x4000
-
+#define FUNC_BIT15		0x8000
-#define	MODULE_Y			1		// Y电机模块
+#define FUNC_BIT16		0x10000
-
-#define	MODULE_FEED_LL		0		// 进料模块
-
-#define MOTO_LIFT			1		// 电机升降
-#define LIFT_U1				1		// 提升1模块
-#define LIFT_U2				0		// 提升2模块
-#define LIFT_U3				0		// 提升3模块
-
-#define AIR_LIFT			0		// 气动升降
-
-#define MOTO_TURN			1		// 电机旋转跟踪
-#define TURN_R1				1		// 旋转1模块
-#define TURN_R2				0		// 旋转2模块
-#define TURN_R3				0		// 旋转3模块
-
-#define	MODULE_SEND			1		//送料电机模块
-#define	MODULE_PULL			1		//拉料电机模块
-#define	MODULE_LOOSE        1       //松料电机模块
-
-
-#define	POS_EN_NONE		0x0000
-#define	POS_EN_X		0x0001
-#define	POS_EN_Y		0x0002
-#define	POS_EN_XY		0x0003
-
-#endif
-//---------------------------------------------------------------------------------------------------
-
 
 
 //-------------------------------------------输入输出信号---------------------------------------------
@@ -210,10 +240,15 @@ OptBorder		g_optBorder;
 #define CORE_INPUT16_IDX			DSS_DEF_IDX
 #define CORE_INPUT16_BIT			DSS_DEF_BIT
 
-// J16
+#if(AIR_LIFT == 1)
-#define IsBlowingCylinderPlaceOn()	GetExInput(1)
+#define IN_ADJUST_LIFT_HIGH		FUNC_BIT0				// 机头升降上位
-#define CORE_INPUT17_IDX			DSS_DEF_IDX
+#define IN_ADJUST_LIFT_LOW		FUNC_BIT1				// 机头升降下位
-#define CORE_INPUT17_BIT			DSS_DEF_BIT
+#endif
+
+#if(MODULE_PUSH == 1)
+#define IN_ADJUST_PUSH_ON		FUNC_BIT2				// 推料出位
+#define IN_ADJUST_PUSH_OFF		FUNC_BIT3				// 推料回位
+#endif
 
 //输出信号
 	// H1
@@ -238,8 +273,26 @@ OptBorder		g_optBorder;
 #define	Fan1MotoOn		   		    Output7On			// 风机正转开
 #define	Fan1MotoOff				    Output7Off			// 风机正转关
 
+#define	LooseMotorOn				Output8On			// 松料电机反转开
+#define	LooseMotorOff				Output8Off			// 松料电机反转关
+
+#if(MAX_SUPPORT_EXTIO >= 1)
+#define FixMatCylinderOn()			do{SetExtOutputOn(1,FUNC_BIT0);}while(0)//顶料气缸开
+#define FixMatCylinderOff()			do{SetExtOutputOff(1,FUNC_BIT0);}while(0)//顶料气缸关
+#else
 #define FixMatCylinderOn()			do{SetExOutput(1,0);}while(0)//顶料气缸开
 #define FixMatCylinderOff()			do{SetExOutput(1,1);}while(0)//顶料气缸关
+#endif
+
+#if(AIR_LIFT == 1)
+#define HeadLiftUp()				do{SetExtOutputOn(1,FUNC_BIT1);}while(0)//机头升降上升
+#define HeadLiftDown()				do{SetExtOutputOff(1,FUNC_BIT1);}while(0)//机头升降下降
+#endif
+
+#if(MODULE_PUSH == 1)
+#define PushMatCylinderOn()			do{SetExtOutputOn(1,FUNC_BIT2);}while(0)//推料气缸开
+#define PushMatCylinderOff()		do{SetExtOutputOff(1,FUNC_BIT2);}while(0)//推料气缸开
+#endif
 //输入输出信号名称
 static const char g_opticalInputName[INPUT_NUM][INPUT_STR_LEN] =
 {
@@ -453,8 +506,8 @@ static const char g_opticalOutputName[OUTPUT_NUM][OUTPUT_STR_LEN] =
 #define	OT_OWNCLIP    			0x0110	// 下夹料气缸控制   开/关
 #define	OT_UPCLIP		        0x0111	// 上夹料气缸控制   开/关
 #define	OT_HEAD_SPIN			0x0112	// 机头旋转控制
+#define OT_FIXMAT   		    0x0113  // 顶料气缸控制	开/关
 
-#define OT_RESERVE1   		    0x0113  // 预留1
 #define	OT_RESERVE2			    0x0114  // 预留2
 
 #define	OT_HEAD_UPDOWN			0x0119	// 机头升降控制

EMBOS/Users/App/user/optical/opticalpara.h

@@ -113,7 +113,7 @@ typedef struct
 	u32 rkLiftAng;			// 加工抬刀角度，范围 0--18000，单位0.01度
 	s32 opitEndPosOffset;	// 吐丝结束位置偏移， 范围：0--2000，单位0.01mm
 //155
-	u32 rev156;
+	u32 PreWaitTime;		// 压料延时时间，范围 0--5000，单位ms
 	u32 rev157;
 	u32 rev158;
 	u32 rev159;
@@ -360,7 +360,7 @@ static const char * g_opticalMcParastrlist[PARA_NUM] =
 	"加工抬刀角度",
 	"吐丝结束位置偏移",
 // 155
-	"",
+	"压料延时时间",
 	"",
 	"",
 	"",
@@ -675,7 +675,7 @@ static const u32 g_defOpticalMcParaList[PARA_NUM][4] =
 	{PTYPE_U,	0,	18000,	0},	//	u32 rkLiftAng;			// 加工抬刀角度，范围 0--18000，单位0.01度
 	{PTYPE_S,	0,	2000,1000},	// s32 opitEndPosOffset;	// 吐丝结束位置偏移， 范围：0--2000，单位0.01mm
 // 155
-	{PTYPE_U,	0,	0,	0},	//
+	{PTYPE_U,	0,	5000,	200},	// u32 PreWaitTime;		// 压料延时时间，范围 0--5000，单位ms
 	{PTYPE_U,	0,	0,	0},	//
 	{PTYPE_U,	0,	0,	0},	//
 	{PTYPE_U,	0,	0,	0},	//