diff --git a/EXE_MachMgr.cpp b/EXE_MachMgr.cpp
index 111f097..e9c1654 100644
--- a/EXE_MachMgr.cpp
+++ b/EXE_MachMgr.cpp
@@ -3480,6 +3480,17 @@ ExeGetCalcPositions( const Point3d& ptP, const DBLVECTOR& vAng,
    return pMachMgr->GetCalcPositions( ptP, vAng, nStat, dX, dY, dZ) ;
 }
 
+//-----------------------------------------------------------------------------
+bool
+ExeGetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vector3d& vtDirA,
+                   DBLVECTOR& vAng1, DBLVECTOR& vAng2)
+{
+   IMachMgr* pMachMgr = GetCurrMachMgr() ;
+   VERIFY_MACHMGR( pMachMgr, false)
+  // calcolo gli angoli macchina dalle direzioni fresa e ausiliaria passate
+   return pMachMgr->GetRobotAngles( ptP, vtDirT, vtDirA, vAng1, vAng2) ;
+}
+
 //-----------------------------------------------------------------------------
 bool
 ExeGetCalcTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,
diff --git a/EgtExecutor.rc b/EgtExecutor.rc
index 1ac373f..a76695f 100644
Binary files a/EgtExecutor.rc and b/EgtExecutor.rc differ
diff --git a/LUA_MachMgr.cpp b/LUA_MachMgr.cpp
index 6e1e133..92c2136 100644
--- a/LUA_MachMgr.cpp
+++ b/LUA_MachMgr.cpp
@@ -3686,7 +3686,7 @@ LuaGetCalcPositions( lua_State* L)
          break ;
    }
    LuaClearStack( L) ;
-  // imposto la tavola corrente per il calcolo
+  // calcolo gli assi lineari dalla posizione e dagli angoli
    int  nStat ; double dX ; double dY ; double dZ ;
    bool bOk = ExeGetCalcPositions( ptP, vAng, nStat, dX, dY, dZ) ;
   // restituisco il risultato
@@ -3704,6 +3704,34 @@ LuaGetCalcPositions( lua_State* L)
    }
 }
 
+//-------------------------------------------------------------------------------
+static int
+LuaGetRobotAngles( lua_State* L)
+{
+  // da 3 parametri : ptP, vtTool, vtAux
+   Point3d ptP ;
+   LuaCheckParam( L, 1, ptP)
+   Vector3d vtTool ;
+   LuaCheckParam( L, 2, vtTool)
+   Vector3d vtAux ;
+   LuaCheckParam( L, 3, vtAux)
+   LuaClearStack( L) ;
+  // imposto la tavola corrente per il calcolo
+   DBLVECTOR vAng1, vAng2 ;
+   bool bOk = ExeGetRobotAngles( ptP, vtTool, vtAux, vAng1, vAng2) ;
+  // restituisco il risultato
+   if ( bOk) {
+      LuaSetParam( L, bOk) ;
+      LuaSetParam( L, vAng1) ;
+      LuaSetParam( L, vAng2) ;
+      return 3 ;
+   }
+   else {
+      LuaSetParam( L, bOk) ;
+      return 1 ;
+   }
+}
+
 //-------------------------------------------------------------------------------
 static int
 LuaGetCalcTipFromPositions( lua_State* L)
@@ -4556,6 +4584,7 @@ LuaInstallMachMgr( LuaMgr& luaMgr)
    bOk = bOk && luaMgr.RegisterFunction( "EgtGetRotAxisBlocked", LuaGetRotAxisBlocked) ;
    bOk = bOk && luaMgr.RegisterFunction( "EgtGetCalcAngles", LuaGetCalcAngles) ;
    bOk = bOk && luaMgr.RegisterFunction( "EgtGetCalcPositions", LuaGetCalcPositions) ;
+   bOk = bOk && luaMgr.RegisterFunction( "EgtGetRobotAngles", LuaGetRobotAngles) ;
    bOk = bOk && luaMgr.RegisterFunction( "EgtGetCalcTipFromPositions", LuaGetCalcTipFromPositions) ;
    bOk = bOk && luaMgr.RegisterFunction( "EgtGetCalcToolDirFromAngles", LuaGetCalcToolDirFromAngles) ;
    bOk = bOk && luaMgr.RegisterFunction( "EgtGetCalcAuxDirFromAngles", LuaGetCalcAuxDirFromAngles) ;