diff --git a/Common_FAST.NUM.mlpe b/Common_FAST.NUM.mlpe
index fcf0891..26344aa 100644
--- a/Common_FAST.NUM.mlpe
+++ b/Common_FAST.NUM.mlpe
@@ -1501,28 +1501,10 @@ function PreparePostRotation( sCmd)
    elseif Cmd[1] == '11' then
       local sMsg = 'PY' .. ' ' .. Cmd[2]
       table.insert( EMT.AUXCMD, sMsg)
-      local bPrevEA76 = ( #EMT.AUXSTR > 0 and EMT.AUXSTR[#EMT.AUXSTR]:find( 'EA76', 1, true))
-      if #EMT.AUXSTR > 0 and not bPrevEA76 then
-         local sVal = ' EB11' .. CalcCharStatus( Cmd[2])
-         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
-         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
-      end
-      if not bPrevEA76 then
-         EMT.SA = ' EA11' .. CalcCharStatus( Cmd[2])
-      end
       EMT.SB = ' EB11' .. CalcCharStatus( Cmd[2])
-      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE1', ' EE2')
    elseif Cmd[1] == '12' then
       local sMsg = 'PV' .. ' ' .. Cmd[2]
       table.insert( EMT.AUXCMD, sMsg)
-      if #EMT.AUXSTR > 0 then
-         local sVal = ' ED14' .. CalcCharStatus( Cmd[2])
-         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
-         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
-      end
-      EMT.SC = ' EC14' .. CalcCharStatus( Cmd[2])
-      EMT.SD = ' ED14' .. CalcCharStatus( Cmd[2])
-      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE2', ' EE1')
    elseif Cmd[1] == '21' then
       local nYDelta = tonumber( Cmd[2])
       local nVDelta = tonumber( Cmd[3])
@@ -1535,10 +1517,13 @@ function PreparePostRotation( sCmd)
       elseif nVDelta > 0 then
          EMT.YDELTA = nil
          EMT.VDELTA = nVDelta
-     end
-     local sYLoad = ' Y'..EmtLenToString( LoadT)
-     local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
-     table.insert( EMT.AUXSTR, sOut)
+      end
+      local sYLoad = ' Y'..EmtLenToString( LoadT)
+      local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
+      table.insert( EMT.AUXSTR, sOut)
+      -- setto parametri di pinzaggio reali
+      EMT.SA = ' EA110'
+      EMT.SE = ' EE1'
    end
 end
 
diff --git a/Common_FAST.NUM_PLUS.mlpe b/Common_FAST.NUM_PLUS.mlpe
index b12fda4..1e19f86 100644
--- a/Common_FAST.NUM_PLUS.mlpe
+++ b/Common_FAST.NUM_PLUS.mlpe
@@ -1588,28 +1588,10 @@ function PreparePostRotation( sCmd)
    elseif Cmd[1] == '11' then
       local sMsg = 'PY' .. ' ' .. Cmd[2]
       table.insert( EMT.AUXCMD, sMsg)
-      local bPrevEA76 = ( #EMT.AUXSTR > 0 and EMT.AUXSTR[#EMT.AUXSTR]:find( 'EA76', 1, true))
-      if #EMT.AUXSTR > 0 and not bPrevEA76 then
-         local sVal = ' EB11' .. CalcCharStatus( Cmd[2])
-         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
-         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
-      end
-      if not bPrevEA76 then
-         EMT.SA = ' EA11' .. CalcCharStatus( Cmd[2])
-      end
       EMT.SB = ' EB11' .. CalcCharStatus( Cmd[2])
-      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE1', ' EE2')
    elseif Cmd[1] == '12' then
       local sMsg = 'PV' .. ' ' .. Cmd[2]
       table.insert( EMT.AUXCMD, sMsg)
-      if #EMT.AUXSTR > 0 then
-         local sVal = ' ED14' .. CalcCharStatus( Cmd[2])
-         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
-         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
-      end
-      EMT.SC = ' EC14' .. CalcCharStatus( Cmd[2])
-      EMT.SD = ' ED14' .. CalcCharStatus( Cmd[2])
-      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE2', ' EE1')
    elseif Cmd[1] == '21' then
       local nYDelta = tonumber( Cmd[2])
       local nVDelta = tonumber( Cmd[3])
@@ -1622,10 +1604,13 @@ function PreparePostRotation( sCmd)
       elseif nVDelta > 0 then
          EMT.YDELTA = nil
          EMT.VDELTA = nVDelta
-     end
-     local sYLoad = ' Y'..EmtLenToString( LoadT)
-     local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
-     table.insert( EMT.AUXSTR, sOut)
+      end
+      local sYLoad = ' Y'..EmtLenToString( LoadT)
+      local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
+      table.insert( EMT.AUXSTR, sOut)
+      -- setto parametri di pinzaggio reali
+      EMT.SA = ' EA110'
+      EMT.SE = ' EE1'
    end
 end
 
diff --git a/Common_FAST.TPA.mlpe b/Common_FAST.TPA.mlpe
index bafd237..7feadb2 100644
--- a/Common_FAST.TPA.mlpe
+++ b/Common_FAST.TPA.mlpe
@@ -1610,25 +1610,10 @@ function PreparePostRotation( sCmd)
    elseif Cmd[1] == '11' then
       local sMsg = 'PY' .. ' ' .. Cmd[2]
       table.insert( EMT.AUXCMD, sMsg)
-      if #EMT.AUXSTR > 0 then
-         local sVal = ' P5=11' .. CalcCharStatus( Cmd[2])
-         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
-         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
-      end
-      EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2])
       EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2])
-      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
    elseif Cmd[1] == '12' then
       local sMsg = 'PV' .. ' ' .. Cmd[2]
       table.insert( EMT.AUXCMD, sMsg)
-      if #EMT.AUXSTR > 0 then
-         local sVal = ' P7=14' .. CalcCharStatus( Cmd[2])
-         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
-         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
-      end
-      EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2])
-      EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2])
-      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
    elseif Cmd[1] == '21' then
       local nYDelta = tonumber( Cmd[2])
       local nVDelta = tonumber( Cmd[3])
@@ -1641,10 +1626,13 @@ function PreparePostRotation( sCmd)
       elseif nVDelta > 0 then
          EMT.YDELTA = nil
          EMT.VDELTA = nVDelta
-     end
-     local sYLoad = ' P2='..EmtLenToString( LoadT)
-     local sOut = 'M111 P1=11'..sYLoad..' P4=76'..EMT.SB..' P8=0 P9='..GetFmaxClamp()
-     table.insert( EMT.AUXSTR, sOut)
+      end
+      local sYLoad = ' P2='..EmtLenToString( LoadT)
+      local sOut = 'M111 P1=11'..sYLoad..' P4=76'..EMT.SB..' P8=0 P9='..GetFmaxClamp()
+      table.insert( EMT.AUXSTR, sOut)
+      -- setto parametri di pinzaggio reali
+      EMT.SA = ' P4=110'
+      EMT.SE = ' P8=1'
    end
 end
 
diff --git a/Common_FAST.mlse b/Common_FAST.mlse
index fce734c..f6756ef 100644
--- a/Common_FAST.mlse
+++ b/Common_FAST.mlse
@@ -1917,10 +1917,10 @@ function SpecAdjustCarriages( vCmd, dTPosI, dYDeltaI, dVDeltaI, dTPosF, dYDeltaF
             -- recupero una corsa massima e l'altra solo di quello che serve
             elseif abs( dYDeltaI - dYDeltaF) > dMaxMovePilgrimStepSingleClampV then
                -- suddivido il movimento su entrambe le morse
-               local dTotMove = ( dYDeltaF - dYDeltaI) / 2
+               local dTotMove = ( ( dYDeltaF + dVDeltaF) / 2  +  ( dYDeltaI + dVDeltaI) / 2) / 2
                -- morsa Y arriva in posizione finale
-               dVPosA = MaxV - dTotMove
-               dTPosA = dTPosI - dVPosI + MaxV - dTotMove
+               dVPosA = EgtClamp( MaxV - dTotMove, MaxV, MinV)
+               dTPosA = dTPosI - dVPosI + dVPosA
                dYPosA = dYDeltaF + dTPosA
                table.insert( vCmd, { 3, 'Y', dYPosA , 'T', dTPosA, 'V', dVPosA})
                table.insert( vCmd, { 11, CalcCharStatus( 'Y', dYDeltaF)})
@@ -2024,10 +2024,10 @@ function SpecAdjustCarriages( vCmd, dTPosI, dYDeltaI, dVDeltaI, dTPosF, dYDeltaF
             -- recupero una corsa massima e l'altra solo di quello che serve
             elseif abs( dVDeltaI - dVDeltaF) > dMaxMovePilgrimStepSingleClampY then
                -- suddivido il movimento su entrambe le morse
-               local dTotMove = ( dVDeltaI - dVDeltaF) / 2
+               local dTotMove = ( ( dYDeltaF + dVDeltaF) / 2  +  ( dYDeltaI + dVDeltaI) / 2) / 2
                -- morsa V arriva in posizione finale
-               dYPosA = MinY + dTotMove
-               dTPosA = dTPosI + ( MinY - dYPosI) + dTotMove
+               dYPosA = EgtClamp( MinY + dTotMove, MinY, MaxY)
+               dTPosA = dTPosI - dYPosI + dYPosA
                dVPosA = dVDeltaF + dTPosA
                table.insert( vCmd, { 3, 'Y', dYPosA , 'T', dTPosA, 'V', dVPosA})
                table.insert( vCmd, { 12, CalcCharStatus( 'V', dVDeltaF)})
diff --git a/UpdateLog.txt b/UpdateLog.txt
index 10c20ee..dc18f55 100644
--- a/UpdateLog.txt
+++ b/UpdateLog.txt
@@ -1,7 +1,8 @@
            ==== Common_FAST Update Log ====
 
-Versione 3.1-- (--/--/2026)
+Versione 3.1d2 (22/04/2026)
 - (GEN) Corretta generazione del PreparePostRotation (in tutti i CN) ora salva lo stato della pinza per lo spostamento successivo. Ticket#2933
+- (SIM-GEN) Corretto pinzaggio in caso di passo del pellegrino con recupero completo di una sola pinza
 
 Versione 3.1d1 (14/04/2026)
 - (SIM-GEN) Aggiorna lo step totale del PilgrimStep e lo step Y con il valore di MyMinY, di modo che tenga conto del AGG_LOAD quando c'è. Ticket#2919