diff --git a/MachMgr.h b/MachMgr.h
index c765090..8b5d271 100644
--- a/MachMgr.h
+++ b/MachMgr.h
@@ -184,6 +184,8 @@ class MachMgr : public IMachMgr
                                   int& nStat, double& dAngA1, double& dAngB1, double& dAngA2, double& dAngB2) ;
       virtual bool GetCalcPositions( const Point3d& ptP, double dAngA, double dAngB,
                                      int& nStat, double& dX, double& dY, double& dZ) ;
+      virtual bool GetCalcTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,
+                                            bool bBottom, Point3d& ptTip) ;
       virtual bool GetNearestAngleInStroke( int nId, double dAngRef, double& dAng) ;
       virtual bool VerifyOutOfStroke( double dX, double dY, double dZ, double dAngA, double dAngB, int& nStat) ;
      // Machine Move
diff --git a/MachMgrMachines.cpp b/MachMgrMachines.cpp
index a5654e4..db8d0df 100644
--- a/MachMgrMachines.cpp
+++ b/MachMgrMachines.cpp
@@ -309,6 +309,18 @@ MachMgr::GetCalcPositions( const Point3d& ptP, double dAngA, double dAngB,
    return m_vMachines[m_nCurrMch].pMachine->GetPositions( ptP, dAngA, dAngB, nStat, dX, dY, dZ) ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::GetCalcTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,
+                                  bool bBottom, Point3d& ptTip)
+{
+   if ( m_nCurrMch < 0  ||  m_nCurrMch >= int( m_vMachines.size())  ||
+        m_vMachines[m_nCurrMch].pMachine == nullptr)
+      return false ;
+   return m_vMachines[m_nCurrMch].pMachine->GetTipFromPositions( dX, dY, dZ, dAngA, dAngB, bBottom, ptTip) ;
+
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::GetNearestAngleInStroke( int nId, double dAngRef, double& dAng)
diff --git a/Machine.h b/Machine.h
index e462fad..d757b68 100644
--- a/Machine.h
+++ b/Machine.h
@@ -64,6 +64,8 @@ class Machine
                       int& nStat, double& dAngA1, double& dAngB1, double& dAngA2, double& dAngB2) ;
       bool GetPositions( const Point3d& ptP, double dA, double dB,
                          int& nStat, double& dX, double& dY, double& dZ) ;
+      bool GetTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,
+                                bool bBottom, Point3d& ptTip) ;
       bool GetNearestAngleInStroke( int nId, double dAngRef, double& dAng) ;
       bool VerifyOutOfStroke( double dX, double dY, double dZ, double dAngA, double dAngB, int& nStat) ;
       bool LuaCallFunction( const std::string& sFun) ;
@@ -110,6 +112,7 @@ class Machine
       bool CreateExitGroups( int nLay, const MUEXITVECTOR& vMuExit) ;
       bool CalculateKinematicChain( void) ;
       bool AddKinematicAxis( bool bOnHead, int nId) ;
+      bool GetDirection( const Vector3d& vtDir, double dAngA, double dAngB, Vector3d& vtNew) ;
       bool VerifyScc( const Vector3d& vtDirI, const Vector3d& vtDirA, int nSolCh) ;
       bool AdjustAngleInStroke( int nId, double& dAng) ;
       bool LuaInit( const std::string& sMachineName) ;
@@ -139,6 +142,7 @@ class Machine
       Vector3d      m_vtCalcDir ;            // direzione utensile a riposo per calcoli
       Vector3d      m_vtCalcADir ;           // direzione ausiliaria a riposo per calcoli
       double        m_dCalcTLen ;            // lunghezza utensile corrente per calcoli
+      double        m_dCalcTRad ;            // raggio utensile corrente per calcoli
       KINAXISVECTOR m_vCalcLinAx ;           // vettore assi lineari attivi per calcoli
       KINAXISVECTOR m_vCalcRotAx ;           // vettore assi rotanti attivi per calcoli
 
diff --git a/MachineCalc.cpp b/MachineCalc.cpp
index a09fefb..6a45a11 100644
--- a/MachineCalc.cpp
+++ b/MachineCalc.cpp
@@ -78,6 +78,7 @@ Machine::SetCurrTool( const string& sTool, const string& sHead, int nExit)
    m_dCalcRot1W = 1 ;
    m_nCalcSolCh = MCH_SCC_NONE ;
    m_dCalcTLen = 0 ;
+   m_dCalcTRad = 0 ;
   // recupero il gruppo della testa
    int nHeadId = GetGroup( sHead) ;
   // recupero i dati della testa
@@ -98,7 +99,10 @@ Machine::SetCurrTool( const string& sTool, const string& sHead, int nExit)
    if ( nToolId == GDB_ID_NULL  ||  m_pGeomDB->GetGdbType( nToolId) != GDB_TY_GROUP)
       return false ;
    double dTLen = 0 ;
-   if ( ! m_pMchMgr->TdbSetCurrTool( sTool)  ||  ! m_pMchMgr->TdbGetCurrToolParam( TPA_LEN, dTLen))
+   double dTDiam = 0 ;
+   if ( ! m_pMchMgr->TdbSetCurrTool( sTool)  ||
+        ! m_pMchMgr->TdbGetCurrToolParam( TPA_LEN, dTLen)  ||
+        ! m_pMchMgr->TdbGetCurrToolParam( TPA_DIAM, dTDiam))
       return false ;
   // assegno tutti i dati
    m_nCalcHeadId = nHeadId ;
@@ -110,6 +114,7 @@ Machine::SetCurrTool( const string& sTool, const string& sHead, int nExit)
    m_vtCalcDir = pExit->GetTDir() ;
    m_vtCalcADir = pHead->GetADir() ;
    m_dCalcTLen = dTLen ;
+   m_dCalcTRad = dTDiam / 2 ;
   // determino la catena cinematica
    return CalculateKinematicChain() ;
 }
@@ -433,7 +438,7 @@ Machine::GetPositions( const Point3d& ptP, double dAngA, double dAngB,
                        int& nStat, double& dX, double& dY, double& dZ)
 {
   // la posizione deve essere espressa rispetto allo ZERO MACCHINA
-  // per ora gestisco solo gli assi di testa
+  // per ora gestisco solo gli assi rotanti di testa
 
   // posizione e direzione fresa su testa a riposo
    Point3d  ptPosH = m_ptCalcPos ;
@@ -478,6 +483,68 @@ Machine::GetPositions( const Point3d& ptP, double dAngA, double dAngB,
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+Machine::GetDirection( const Vector3d& vtDir, double dAngA, double dAngB, Vector3d& vtNew)
+{
+  // per ora gestisco solo gli assi rotanti di testa
+
+  // direzione a riposo
+   vtNew = vtDir ;
+
+  // se c'č secondo asse rotante di testa
+   if ( m_vCalcRotAx.size() >= 2  &&  m_vCalcRotAx[1].bHead) {
+     // posizione e direzione primo asse rotante
+      Point3d  ptAx2 = m_vCalcRotAx[1].ptPos ;
+      Vector3d vtAx2 = m_vCalcRotAx[1].vtDir ;
+     // ruoto dati a riposo
+      vtNew.Rotate( vtAx2, dAngB) ;
+   }
+
+  // se c'č primo asse rotante di testa
+   if ( m_vCalcRotAx.size() >= 1  &&  m_vCalcRotAx[0].bHead) {
+     // posizione e direzione primo asse rotante
+      Point3d  ptAx1 = m_vCalcRotAx[0].ptPos ;
+      Vector3d vtAx1 = m_vCalcRotAx[0].vtDir ;
+     // ruoto dati a riposo
+      vtNew.Rotate( vtAx1, dAngA) ;
+   }
+   return true ;
+}
+
+//----------------------------------------------------------------------------
+bool
+Machine::GetTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,
+                              bool bBottom, Point3d& ptTip)
+{
+  // la posizione deve essere espressa rispetto allo ZERO MACCHINA
+  // per ora gestisco solo gli assi rotanti di testa
+
+  // Calcoli recuperi della testa e lunghezza utensile per orientamento
+   int nStat ;
+   double dRecX, dRecY, dRecZ ;
+   if ( ! GetPositions( ORIG, dAngA, dAngB, nStat, dRecX, dRecY, dRecZ))
+      return false ;
+   ptTip.Set( dX - dRecX, dY - dRecY, dZ - dRecZ) ;
+
+  // Se richiesto punto sotto del tip utensile
+   if ( bBottom) {
+     // calcolo la direzione fresa
+      Vector3d vtDirT ;
+      if ( ! GetDirection( m_vtCalcDir, dAngA, dAngB, vtDirT))
+         return false ;
+     // se direzione fresa non esattamente verticale, esiste un punto pių basso del'utensile
+      if ( ! vtDirT.IsZplus()  &&  ! vtDirT.IsZminus()) {
+        // calcolo la direzione perpendicolare pių verticale possibile
+         Vector3d vtCorr = FromUprightOrtho( vtDirT) ;
+        // correggo il tip
+         ptTip -= vtCorr * m_dCalcTRad ;
+      }
+   }
+
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Machine::VerifyScc( const Vector3d& vtDirI, const Vector3d& vtDirA, int nSolCh)