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Migliorata gestione movimenti speciali in caso di motosega

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This commit is contained in:
andrea.villa
2025-07-21 13:09:49 +02:00
parent e5442d976a
commit 1f358ce1e1
4 changed files with 36 additions and 22 deletions
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Common_FAST.NUM.mlpe
+12 -8
View File
@@ -496,6 +496,7 @@ function OnMachiningEnd()
EMT.U_STD = nil
EMT.PREVTOOL = EMT.TOOL
EMT.PREVHEAD = EMT.HEAD
EMT.PREVET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
end
---------------------------------------------------------------------
@@ -626,9 +627,11 @@ function OnRapid()
end
end
local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
local bGoToHome = false
-- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio
if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25) then
if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and sET == EMT.PREVET and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25) then
bGoToHome = true
end
@@ -654,21 +657,22 @@ function OnRapid()
local sEE = ' EE' .. EgtIf( bZmax, '3', '4')
local sEL = ' EL' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TLEN, ( EMT.TDIST or ChSawLen)), 3)
local sER = ' ER' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TDIAM / 2, EMT.TLEN), 3)
local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
local sES = ' ES'..EgtNumToString( EMT.S, 0)
-- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
if not EMT.LOAD and ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and
( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350) or bGoToHome) and EMT.FLAG2 == 1 then
local sEEPreMove = ' EE' .. EgtIf( bZmax, '3', '4')
local sEEPreMove = ' EE' .. EgtIf( bZmax, '3', '4')
local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
local sOutPreMove
if EMT.HEAD == 'H3' and bGoToHome then
sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1pp, 3) .. sEE .. sEL .. sER .. sET .. sES
EmtOutput( sOutPreMove)
local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
EmtOutput( sOutPreMove)
sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
EmtOutput( sOutPreMove)
local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
EmtOutput( sOutPreMove)
end
sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
' B' .. EgtNumToString( EMT.R2, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
EmtOutput( sOutPreMove)
EmtOutput( 'G101 ET1001')
Common_FAST.NUM_PLUS.mlpe
+12 -7
View File
@@ -544,6 +544,7 @@ function OnMachiningEnd()
EMT.PREVTOOL = EMT.TOOL
EMT.PREVHEAD = EMT.HEAD
EMT.PREVR3 = EMT.R3
EMT.PREVET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
end
---------------------------------------------------------------------
@@ -675,9 +676,11 @@ function OnRapid()
end
end
local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
local bGoToHome = false
-- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio
if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25) then
if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and sET == EMT.PREVET and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25) then
bGoToHome = true
end
@@ -726,20 +729,22 @@ function OnRapid()
sER = sER..EmtLenToString( EMT.TDIAM / 2, 3)
end
local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
local sES = ' ES'..EgtNumToString( EMT.S, 0)
-- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
if not EMT.LOAD and ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and
( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350) or bGoToHome) and EMT.FLAG2 == 1 then
local sEEPreMove = ' EE' .. EgtIf( bZmax, '3', '4')
local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
local sOutPreMove
if EMT.HEAD == 'H3' and bGoToHome then
sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1pp, 3) .. sEE .. sEL .. sER .. sET .. sES
EmtOutput( sOutPreMove)
local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
EmtOutput( sOutPreMove)
sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
EmtOutput( sOutPreMove)
local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
EmtOutput( sOutPreMove)
end
sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
' B' .. EgtNumToString( EMT.R2, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
EmtOutput( sOutPreMove)
EmtOutput( 'G101 ET1001')
Common_FAST.TPA.mlpe
+8 -5
View File
@@ -661,7 +661,7 @@ function OnRapid()
local bGoToHome = false
-- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio
if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25) then
if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and EMT.TCPOS == EMT.PREVTCPOS and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25) then
bGoToHome = true
end
@@ -687,16 +687,19 @@ function OnRapid()
-- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
if not EMT.LOAD and ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and
( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350) or bGoToHome) and EMT.FLAG2 == 1 then
local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
local sOutPreMove
if EMT.HEAD == 'H3' and bGoToHome then
sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
' P4=' .. EgtNumToString( 0, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1pp, EMT.DECMACRO) ..
' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
EmtOutput( sOutPreMove)
sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
EmtOutput( sOutPreMove)
sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
' P4=' .. EgtNumToString( 0, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1, EMT.DECMACRO) ..
' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
EmtOutput( sOutPreMove)
EmtOutput( sOutPreMove)
end
sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
' P4=' .. EgtNumToString( EMT.R2, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1, EMT.DECMACRO) ..
' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
Common_FAST.mlpe
+4 -2
View File
@@ -788,7 +788,7 @@ function OnSimulMoveStart()
local bGoToHome = false
-- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio
if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and ( abs( EMT.R2p - EMT.R2) > 25 or abs( EMT.R1p - EMT.R1) > 25) then
if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and EMT.TOOL == EMT.PREVTOOL and abs( EMT.R3p - EMT.R3) < 100 * GEO.EPS_SMALL and ( abs( EMT.R2p - EMT.R2) > 25 or abs( EMT.R1p - EMT.R1) > 25) then
bGoToHome = true
end
@@ -798,11 +798,13 @@ function OnSimulMoveStart()
-- con pezzi alti aggiorno gli assi rotanti prima di muovermi sopra il pezzo
if not EMT.LOAD and EMT.MOVE == 0 and ( EMT.HB > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TOTLEN > 350) or bGoToHome) and EMT.FLAG2 == 1 then
-- se motosega mi muovo a X di sicurezza per ruotare, prima si raddrizza B e poi C in posizione
if ( EMT.HEAD == 'H3' or ( bZmax and EMT.TOTLEN > 200)) then
if EMT.HEAD == 'H3' and bGoToHome then
SimulMoveAxis( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID)
SimulMoveAxis( 'B', 0, MCH_SIM_STEP.COLLROT)
SimulMoveAxis( 'C', EMT.R1, MCH_SIM_STEP.COLLROT)
SimulMoveAxis( 'B', EMT.R2, MCH_SIM_STEP.COLLROT)
elseif ( EMT.HEAD == 'H3' or ( bZmax and EMT.TOTLEN > 200)) then
SimulMoveAxes( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID, 'C', EMT.R1, MCH_SIM_STEP.COLLROT, 'B', EMT.R2, MCH_SIM_STEP.COLLROT)
end
end
EMT.POSTROT = nil