diff --git a/EgtMachKernel.rc b/EgtMachKernel.rc
index 0db982c..e63ad00 100644
Binary files a/EgtMachKernel.rc and b/EgtMachKernel.rc differ
diff --git a/MachineCalc.cpp b/MachineCalc.cpp
index 07f57a6..a598dd0 100644
--- a/MachineCalc.cpp
+++ b/MachineCalc.cpp
@@ -1702,39 +1702,47 @@ Machine::VerifyOutstroke( double dX, double dY, double dZ, const DBLVECTOR& vAng
    DBLVECTOR vLin( 3) ; vLin[0] = dX ; vLin[1] = dY ; vLin[2] = dZ ;
    for ( size_t i = 0 ; i < m_vCalcLinAx.size()  &&  i < vLin.size() ; ++ i) {
       if ( vLin[i] < m_vCalcLinAx[i].stroke.Min) {
+         if ( nStat == 0) {
+            m_OutstrokeInfo.sAxName = GetAxis( m_vCalcLinAx[i].nGrpId)->GetName() ;
+            m_OutstrokeInfo.sAxToken = GetAxis( m_vCalcLinAx[i].nGrpId)->GetToken() ;
+            m_OutstrokeInfo.bLinear = true ;
+            m_OutstrokeInfo.dExtra = vLin[i] - m_vCalcLinAx[i].stroke.Min ;
+            m_OutstrokeInfo.sAuxInfo = " (L" + ToString( int(i) + 1) + "-) " ;
+         }
          nStat += ( 1 << ( 2 * i)) ;
-         m_OutstrokeInfo.sAxName = GetAxis( m_vCalcLinAx[i].nGrpId)->GetName() ;
-         m_OutstrokeInfo.sAxToken = GetAxis( m_vCalcLinAx[i].nGrpId)->GetToken() ;
-         m_OutstrokeInfo.bLinear = true ;
-         m_OutstrokeInfo.dExtra = vLin[i] - m_vCalcLinAx[i].stroke.Min ;
-         m_OutstrokeInfo.sAuxInfo = " (L" + ToString( int(i) + 1) + "-) " ;
       }
-      else if( vLin[i] > m_vCalcLinAx[i].stroke.Max) {
+      else if ( vLin[i] > m_vCalcLinAx[i].stroke.Max) {
+         if ( nStat == 0) {
+            m_OutstrokeInfo.sAxName = GetAxis( m_vCalcLinAx[i].nGrpId)->GetName() ;
+            m_OutstrokeInfo.sAxToken = GetAxis( m_vCalcLinAx[i].nGrpId)->GetToken() ;
+            m_OutstrokeInfo.bLinear = true ;
+            m_OutstrokeInfo.dExtra = vLin[i] - m_vCalcLinAx[i].stroke.Max ;
+            m_OutstrokeInfo.sAuxInfo = " (L" + ToString( int(i) + 1) + "+) " ;
+         }
          nStat += ( 2 << ( 2 * i)) ;
-         m_OutstrokeInfo.sAxName = GetAxis( m_vCalcLinAx[i].nGrpId)->GetName() ;
-         m_OutstrokeInfo.sAxToken = GetAxis( m_vCalcLinAx[i].nGrpId)->GetToken() ;
-         m_OutstrokeInfo.bLinear = true ;
-         m_OutstrokeInfo.dExtra = vLin[i] - m_vCalcLinAx[i].stroke.Max ;
-         m_OutstrokeInfo.sAuxInfo = " (L" + ToString( int(i) + 1) + "+) " ;
       }
    }
   // verifica degli assi rotanti
    for ( size_t i = 0 ; i < m_vCalcRotAx.size()  &&  i < vAng.size() ; ++ i) {
       if ( vAng[i] < m_vCalcRotAx[i].stroke.Min) {
+         if ( nStat == 0) {
+            m_OutstrokeInfo.sAxName = GetAxis( m_vCalcRotAx[i].nGrpId)->GetName() ;
+            m_OutstrokeInfo.sAxToken = GetAxis( m_vCalcRotAx[i].nGrpId)->GetToken() ;
+            m_OutstrokeInfo.bLinear = false ;
+            m_OutstrokeInfo.dExtra = vAng[i] - m_vCalcRotAx[i].stroke.Min ;
+            m_OutstrokeInfo.sAuxInfo = " (R" + ToString( int(i) + 1) + "-) " ;
+         }
          nStat += ( 64 << ( 2 * i)) ;
-         m_OutstrokeInfo.sAxName = GetAxis( m_vCalcRotAx[i].nGrpId)->GetName() ;
-         m_OutstrokeInfo.sAxToken = GetAxis( m_vCalcRotAx[i].nGrpId)->GetToken() ;
-         m_OutstrokeInfo.bLinear = false ;
-         m_OutstrokeInfo.dExtra = vAng[i] - m_vCalcRotAx[i].stroke.Min ;
-         m_OutstrokeInfo.sAuxInfo = " (R" + ToString( int(i) + 1) + "-) " ;
       }
-      else if( vAng[i] > m_vCalcRotAx[i].stroke.Max) {
+      else if ( vAng[i] > m_vCalcRotAx[i].stroke.Max) {
+         if ( nStat == 0) {
+            m_OutstrokeInfo.sAxName = GetAxis( m_vCalcRotAx[i].nGrpId)->GetName() ;
+            m_OutstrokeInfo.sAxToken = GetAxis( m_vCalcRotAx[i].nGrpId)->GetToken() ;
+            m_OutstrokeInfo.bLinear = false ;
+            m_OutstrokeInfo.dExtra = vAng[i] - m_vCalcRotAx[i].stroke.Max ;
+            m_OutstrokeInfo.sAuxInfo = " (R" + ToString( int(i) + 1) + "+) " ;
+         }
          nStat += ( 128 << ( 2 * i)) ;
-         m_OutstrokeInfo.sAxName = GetAxis( m_vCalcRotAx[i].nGrpId)->GetName() ;
-         m_OutstrokeInfo.sAxToken = GetAxis( m_vCalcRotAx[i].nGrpId)->GetToken() ;
-         m_OutstrokeInfo.bLinear = false ;
-         m_OutstrokeInfo.dExtra = vAng[i] - m_vCalcRotAx[i].stroke.Max ;
-         m_OutstrokeInfo.sAuxInfo = " (R" + ToString( int(i) + 1) + "+) " ;
       }
    }
   // verifica delle aree protette
@@ -1856,9 +1864,9 @@ Machine::GetOutstrokeInfo( bool bMM) const
    if ( m_OutstrokeInfo.sAxName == AXIS_NAME_PROTECTEDAREAS)
       return m_OutstrokeInfo.sAuxInfo ;
    else if ( bMM  ||  ! m_OutstrokeInfo.bLinear)
-      return m_OutstrokeInfo.sAxToken + "=" + ToString( m_OutstrokeInfo.dExtra, 1) + m_OutstrokeInfo.sAuxInfo ;
+      return m_OutstrokeInfo.sAxToken + "=" + ToString( m_OutstrokeInfo.dExtra, 2) + m_OutstrokeInfo.sAuxInfo ;
    else
-      return m_OutstrokeInfo.sAxToken + "=" + ToString( m_OutstrokeInfo.dExtra / ONEINCH, 2) + m_OutstrokeInfo.sAuxInfo ;
+      return m_OutstrokeInfo.sAxToken + "=" + ToString( m_OutstrokeInfo.dExtra / ONEINCH, 3) + m_OutstrokeInfo.sAuxInfo ;
 }
 
 //----------------------------------------------------------------------------
diff --git a/Operation.cpp b/Operation.cpp
index 86bc624..7b312a8 100644
--- a/Operation.cpp
+++ b/Operation.cpp
@@ -1849,11 +1849,14 @@ Operation::CalculateAxesValues( const string& sHint, bool bRotContOnNext, bool b
    for ( int i = 0 ; i < nRotAxes ; ++ i)
       vAxRotHome[i] = vAxHome[nLinAxes + i] ;
 
+  // Verifico se nei suggerimenti viene richiesta Home per gli assi
+   bool bHintHome = ( sHint.find( "Home") != string::npos) ;
+
   // Assegno gli angoli iniziali
    DBLVECTOR vAxRotPrec( nRotAxes, 0.) ;
    DBLVECTOR vAxVal ;
   // se non richiesti angoli Home e utensile non cambiato, uso gli angoli finali della lavorazione precedente
-   if ( GetUserNotesZmax() != 2  &&  ! sPrevTool.empty()  &&  ! ToolChangeNeeded( *pPrevOp, *this)  &&
+   if ( ! bHintHome  &&  GetUserNotesZmax() != 2  &&  ! sPrevTool.empty()  &&  ! ToolChangeNeeded( *pPrevOp, *this)  &&
         pPrevOp->GetFinalAxesValues( true, vAxVal)) {
       for ( int i = 0 ; i < nRotAxes ; ++ i)
          vAxRotPrec[i] = vAxVal[nLinAxes + i] ;
@@ -1863,7 +1866,7 @@ Operation::CalculateAxesValues( const string& sHint, bool bRotContOnNext, bool b
       vAxRotPrec = vAxRotHome ;
    }
   // se ci sono suggerimenti validi per gli assi rotanti, li applico
-   if ( ! sHint.empty()) {
+   if ( ! bHintHome  &&  ! sHint.empty()) {
       STRVECTOR vsTok ;
       Tokenize( sHint, ",;", vsTok) ;
       for ( const auto& sTok : vsTok) {
@@ -2763,8 +2766,16 @@ Operation::CalculateRobotAxesValues( bool bFirst, const Point3d& ptP, const Vect
       }
    }
   // Scelgo la soluzione più vicina
+   // se esiste solo la prima
+   if ( vAng2.empty())
+      vAxVal = vAng1 ;
+   // evito passaggio per lo zero di R5 (per evitare passaggio attraverso direzione singolare)
+   else if ( vAng1[4] * vAxRotPrec[4] >= 0  &&  vAng2[4] * vAxRotPrec[4] < 0)
+      vAxVal = vAng1 ;
+   else if ( vAng1[4] * vAxRotPrec[4] < 0  &&  vAng2[4] * vAxRotPrec[4] >= 0)
+      vAxVal = vAng2 ;
    // minimizzo rotazione polso
-   if ( vAng2.empty()  ||  abs( vAng1[3] - vAxRotPrec[3]) < abs( vAng2[3] - vAxRotPrec[3]) + 10 * EPS_ANG_SMALL)
+   else if ( abs( vAng1[3] - vAxRotPrec[3]) < abs( vAng2[3] - vAxRotPrec[3]) + 10 * EPS_ANG_SMALL)
       vAxVal = vAng1 ;
    else
       vAxVal = vAng2 ; 
@@ -2822,8 +2833,10 @@ Operation::VerifyRobotLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDir
       dLinTol = max( dLinTol, 2 * EPS_SMALL) ;
    bool bInTol = ( dDist <= dLinTol) ;
    if ( ExeGetDebugLevel() >= 5) {
-      string sOut = "Midpoint dist = " + ToString( dDist, -4) +
+      string sOut = "Midpoint dist=" + ToString( dDist, -4) +
                     ( nMoveType == 0 ? " (G0" : " (G1") + " Cnt=" + ToString( nCnt) + ") " + ( bInTol ? "Ok" : "Split") ;
+      if ( ! bInTol)
+         sOut += " - Ap=" + ToString( vAxPrec, -2) + " An=" + ToString( vAxVal, -2) ;
       LOG_INFO( GetEMkLogger(), sOut.c_str())
    }
 
@@ -2887,13 +2900,11 @@ Operation::VerifyRobotLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDir
    pMidCamData->SetFlag2( -1) ;
    pMidCamData->SetToolShow( bToolShow  &&  nCnt < 4) ;
   // calcolo gli assi per il punto medio
-   DBLVECTOR vAxRotHome( vAxVal.size()) ;
-   DBLVECTOR vAxRotPrec( vAxVal.size()) ;
-   for ( int i = 0 ; i < int( vAxVal.size()) ; ++ i)
-      vAxRotPrec[i] = vAxVal[i] ;
+   DBLVECTOR vAxRotHome( vAxMid.size()) ;
+   DBLVECTOR vAxRotPrec( vAxMid) ;
    if ( ! CalculateRobotAxesValues( false, ptMid, vtDirMid, vtAuxMid,
                                     true, INFINITO, vAxRotHome, vAxRotPrec, vAxMid)) {
-      pMidCamData->SetAxes( CamData::AS_ERR, vAxVal) ;
+      pMidCamData->SetAxes( CamData::AS_ERR, vAxMid) ;
       return false ;
    }
   // verifico di essere nelle corse degli assi
diff --git a/SimulatorMP.cpp b/SimulatorMP.cpp
index 0db5b69..acea9ca 100644
--- a/SimulatorMP.cpp
+++ b/SimulatorMP.cpp
@@ -1111,11 +1111,17 @@ SimulatorMP::ManageSingleMove( int& nStatus, double& dMove)
       break ;
    case CamData::AS_OUTSTROKE : {
       DBLVECTOR OutAxes = pCamData->GetAxesVal() ;
-      for ( size_t i = OutAxes.size() ; i < 5 ; ++ i)
-         OutAxes.emplace_back( 0) ;
-      DBLVECTOR vAng( OutAxes.begin() + 3, OutAxes.end()) ;
-      int nStat ;
-      m_pMachine->VerifyOutstroke( OutAxes[0], OutAxes[1], OutAxes[2], vAng, true, nStat) ;
+      if ( ! m_pMchMgr->GetCurrIsRobot()) {
+         for ( size_t i = OutAxes.size() ; i < 5 ; ++ i)
+            OutAxes.emplace_back( 0) ;
+         DBLVECTOR vAng( OutAxes.begin() + 3, OutAxes.end()) ;
+         int nStat ;
+         m_pMachine->VerifyOutstroke( OutAxes[0], OutAxes[1], OutAxes[2], vAng, true, nStat) ;
+      }
+      else {
+         int nStat ;
+         m_pMachine->VerifyOutstroke( 0, 0, 0, OutAxes, true, nStat) ;
+      }
       nStatus = MCH_SIM_OUTSTROKE ;
       return false ; }
    case CamData::AS_DIR_ERR :
diff --git a/SimulatorSP.cpp b/SimulatorSP.cpp
index f514882..6010ebd 100644
--- a/SimulatorSP.cpp
+++ b/SimulatorSP.cpp
@@ -1054,11 +1054,17 @@ SimulatorSP::ManageSingleMove( int& nStatus, double& dMove)
       break ;
    case CamData::AS_OUTSTROKE : {
       DBLVECTOR OutAxes = pCamData->GetAxesVal() ;
-      for ( size_t i = OutAxes.size() ; i < 5 ; ++ i)
-         OutAxes.emplace_back( 0) ;
-      DBLVECTOR vAng( OutAxes.begin() + 3, OutAxes.end()) ;
-      int nStat ;
-      m_pMachine->VerifyOutstroke( OutAxes[0], OutAxes[1], OutAxes[2], vAng, true, nStat) ;
+      if ( ! m_pMchMgr->GetCurrIsRobot()) {
+         for ( size_t i = OutAxes.size() ; i < 5 ; ++ i)
+            OutAxes.emplace_back( 0) ;
+         DBLVECTOR vAng( OutAxes.begin() + 3, OutAxes.end()) ;
+         int nStat ;
+         m_pMachine->VerifyOutstroke( OutAxes[0], OutAxes[1], OutAxes[2], vAng, true, nStat) ;
+      }
+      else {
+         int nStat ;
+         m_pMachine->VerifyOutstroke( 0, 0, 0, OutAxes, true, nStat) ;
+      }
       nStatus = MCH_SIM_OUTSTROKE ;
       return false ; }
    case CamData::AS_DIR_ERR :