- corretto Compile

Beam/BeamDataNew.lua

@@ -175,87 +175,6 @@ local function GetSCC( vtToolDirection, vtEdgeDirection, vtNFace)
    return nSCC
 end
 
----------------------------------------------------------------------
--- sAxis può essere AB, C, Z; restituisce direzioni, profondità di estrusione e punti per il controllo precollisione
-local function GetPreCollisionData( sAxis, vtC, vtHead)
-
-   local PreCollisionData = {}
-
-   -- Pivot uguale per tutti; non c'è aggregato quindi non dipende da SCC
-   -- riferimento vtPivot
---    - vtHead (Z): asse rotazione utensile, guarda il mandrino
---    - vtToolSCC (X): direzione asse C o aggregato
---    - vtEdge (Y): direzione lato, verso in base a X e Z
---    - punto di applicazione: naso mandrino o aggregato
-   PreCollisionData.vtMovePivot = Vector3d( 0, 0, -MldeParameters.SawOffs)
-
-   -- carro Z
-   if sAxis == 'Z' then
-
-      PreCollisionData.Directions = { vtDirectionX = X_AX(), vtDirectionY = Z_AX(), vtDirectionZ = -Y_AX()}
-      PreCollisionData.bSurfTmByRevolve = true
-      PreCollisionData.Points = {
-         Point3d( 0, 523, 0),
-         Point3d( 109.556, 523, 0),
-         Point3d( 109.556, 583, 0),
-         Point3d( 143.113, 583, 0),
-         Point3d( 143.113, 2533, 0),
-         Point3d( 0, 2533, 0)
-      }
-
-   -- motore (asse A o B)
-   elseif sAxis == 'AB' then
-
-      PreCollisionData.Directions = { vtDirectionX = vtC, vtDirectionY = -vtHead, vtDirectionZ = vtC ^ -vtHead}
-      PreCollisionData.dExtrusionDepth = 180
-      PreCollisionData.Points = {
-         Point3d( 100,-122,0),
-         Point3d( 100, -232.5, 0),
-         Point3d( -90, -232.5, 0),
-         Point3d( -90, 204.505, 0),
-         Point3d( -77.5, 216.55, 0),
-         Point3d( -89, 234.05, 0),
-         Point3d( -89, 242.55, 0),
-         Point3d( 89, 242.55, 0),
-         Point3d( 89, 234.05, 0),
-         Point3d( 77.5, 216.55, 0),
-         Point3d( 90, 204.505, 0),
-         Point3d( 90, 93, 0),
-         Point3d( 125, 93, 0),
-         Point3d( 125, -122, 0),
-         Point3d( 100, -122, 0)
-      }
-
-   -- asse C
-   elseif sAxis == 'C' then
-
-      PreCollisionData.Directions = { vtDirectionX = vtC, vtDirectionY = Z_AX(), vtDirectionZ = vtC ^ Z_AX()}
-      PreCollisionData.dExtrusionDepth = 200
-      PreCollisionData.Points = {
-         Point3d( 125, -92.752, 0),
-         Point3d( 203.5, -92.752, 0),
-         Point3d( 203.5, -100, 0),
-         Point3d( 400, -100, 0),
-         Point3d( 450, -50, 0),
-         Point3d( 450, 400, 0),
-         Point3d( 360, 490, 0),
-         Point3d( 170, 490, 0),
-         Point3d( 170, 523, 0),
-         Point3d( EgtIf( MldeParameters.NewTopC, -110, -175), 523, 0),
-         Point3d( EgtIf( MldeParameters.NewTopC, -110, -175), 400, 0),
-         Point3d( 230.858, 400, 0),
-         Point3d( 325, 305.858, 0),
-         Point3d( 325, 146, 0),
-         Point3d( 203.5, 146, 0),
-         Point3d( 203.5, 93, 0),
-         Point3d( 125, 93, 0),
-         Point3d( 125, -92.752, 0)
-      }
-   end
-
-   return PreCollisionData
-end
-
 ---------------------------------------------------------------------
 local function GetSetupInfo( sHead)
    local SetupInfo = {}
@@ -265,21 +184,18 @@ local function GetSetupInfo( sHead)
    SetupInfo.dCAxisEncumbrance = 180
    SetupInfo.dCAxisSideEncumbrance = 200
    SetupInfo.bToolOnAggregate = false
-   SetupInfo.vtRotationAxisC = EgtGetAxisDir( 'C')
-   SetupInfo.vtRotationAxisAB = EgtGetAxisDir( 'B')
 
    -- testa 5 assi da sopra
    if sHead == 'H1' then
       SetupInfo.HeadType = { bTop = true, bBottom = false}
       SetupInfo.PreferredSide = {}
       SetupInfo.dPivot = MldeParameters.MillOffs -- per uscita fresa, diverso da uscita lama
-      SetupInfo.GetMinNz = function() return sin( -45) end
+      SetupInfo.GetMinNz = function() return sin( -25) end
    -- lama su testa 5 assi da sopra
    elseif sHead == 'H2' then
       SetupInfo.HeadType = { bTop = true, bBottom = false}
       SetupInfo.PreferredSide = {}
       SetupInfo.GetMinNz = function() return sin( -45) end
-      SetupInfo.GetPreCollisionData = GetPreCollisionData
       SetupInfo.GetSCC = GetSCC
    -- motosega
    elseif sHead == 'H3' then

Common_FAST.NUM.mlpe

@@ -510,6 +510,7 @@ function OnPathStart()
    -- salvo precedenti rotanti
    EMT.R1pp = EMT.R1p
    EMT.R2pp = EMT.R2p
+   EMT.R3pp = EMT.R3p
 
    -- reset valori precedenti (per forzare emissione di tutti gli assi del 1° movimento)
    EmtResetPrev()
@@ -634,7 +635,7 @@ 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 sET == EMT.PREVET 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 or abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25)  then
          bGoToHome = true
       end
 
@@ -646,12 +647,14 @@ function OnRapid()
 
       -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
       if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.FLAG2 == 1 then
+         -- se ho ancora motosega, si setta già asse C, altrimenti asse C per andare in home
          local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                        ' B' .. EmtLenToString( EMT.R2pp, 3) .. ' C' .. EmtLenToString( EMT.R1pp, 3) .. 
                                        ' EE' .. EgtIf( bZmax, '3', '4') .. EMT.PREVsEL .. EMT.PREVsER .. EMT.PREVsET .. EMT.PREVsES
          EmtOutput( sOutPreMove)
          sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
-                                       ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1pp, 3) .. sEE .. sEL .. sER .. sET .. sES
+                                 ' B' .. EmtLenToString( 0, 3) .. ' C' .. EmtLenToString( EMT.R1pp, 3) .. 
+                                 ' EE' .. EgtIf( bZmax, '3', '4') .. EMT.PREVsEL .. EMT.PREVsER .. EMT.PREVsET .. EMT.PREVsES
          EmtOutput( sOutPreMove)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
@@ -663,24 +666,26 @@ function OnRapid()
       end
 
       -- 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
+      if EMT.HEAD == 'H3' and  EMT.PREVHEAD ~= 'H3' then
+         local 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)
+         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')
+         EmtOutput( 'G101 ET2001')
+      -- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
+      elseif 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
          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
+                                    ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
-            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)
-         elseif EMT.HEAD == 'H3' and  EMT.PREVHEAD ~= 'H3' then
-            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)
          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
+                                 ' B' .. EgtNumToString( EMT.R2, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
          EmtOutput( sOutPreMove)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
@@ -1343,7 +1348,7 @@ function PrepareUnload( sCmd)
       table.insert( EMT.AUXCMD, sMsg)
       if Cmd[2] == 'V' then
          -- se non è ultima fase c'è una barra sulla pinza Y (1)
-         local sEE = EgtIf( EMT.PHASE == EgtGetPhaseCount(), '0', '1')
+         local sEE = EgtIf( EMT.PHASE == EgtGetPhaseCount() or IsEnd2Phase( EMT.PHASE), '0', '1')
          local sOut = 'G111 '..Cmd[2]..Cmd[3]..' EC141 ED83 EE'..sEE..' EF'..GetFmaxClamp()
          table.insert( EMT.AUXSTR, sOut)
       end
@@ -1352,7 +1357,7 @@ function PrepareUnload( sCmd)
       table.insert( EMT.AUXCMD, sMsg)
       if Cmd[4] == 'V' then
           -- se non è ultima fase c'è una barra sulla pinza Y (1)
-         local sEAB = EgtIf( EMT.PHASE == EgtGetPhaseCount(), '111', '112')
+         local sEAB = EgtIf( EMT.PHASE == EgtGetPhaseCount() or IsEnd2Phase( EMT.PHASE), '111', '112')
          local sOut = 'G111 '..Cmd[4]..Cmd[5]..' EA'..sEAB..' EB'..sEAB..' EC142 ED141 EE2 EF'..GetFmaxClamp()
          table.insert( EMT.AUXSTR, sOut)
          EMT.U_STD = true
@@ -1512,10 +1517,13 @@ function PreparePostRotation( sCmd)
       elseif nVDelta > 0 then
          EMT.YDELTA = nil
          EMT.VDELTA = nVDelta
-     end
+      end
-     local sYLoad = ' Y'..EmtLenToString( LoadT)
+      local sYLoad = ' Y'..EmtLenToString( LoadT)
-     local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
+      local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
-     table.insert( EMT.AUXSTR, sOut)
+      table.insert( EMT.AUXSTR, sOut)
+      -- setto parametri di pinzaggio reali
+      EMT.SA = ' EA110'
+      EMT.SE = ' EE1'
    end
 end
 

Common_FAST.NUM_PLUS.mlpe

@@ -558,6 +558,7 @@ function OnPathStart()
    -- salvo precedenti rotanti
    EMT.R1pp = EMT.R1p
    EMT.R2pp = EMT.R2p
+   EMT.R3pp = EMT.R3p
 
    -- reset valori precedenti (per forzare emissione di tutti gli assi del 1° movimento)
    EmtResetPrev()
@@ -683,7 +684,7 @@ 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 sET == EMT.PREVET 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 or abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25)  then
          bGoToHome = true
       end
 
@@ -718,13 +719,15 @@ function OnRapid()
 
       -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
       if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.FLAG2 == 1 then
+         -- se ho ancora motosega, si setta già asse C, altrimenti asse C per andare in home
          local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                        ' B' .. EmtLenToString( EMT.R2pp, 3) .. ' C' .. EmtLenToString( EMT.R1pp, 3) .. 
                                        ' EE' .. EgtIf( bZmax, '3', '4') .. EMT.PREVsEL .. EMT.PREVsER .. EMT.PREVsET .. EMT.PREVsES
          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
+                                       ' B' .. EmtLenToString( 0, 3) .. ' C' .. EmtLenToString( EMT.R1pp, 3) .. 
-         EmtOutput( sOutPreMove)
+                                       ' EE' .. EgtIf( bZmax, '3', '4') .. EMT.PREVsEL .. EMT.PREVsER .. EMT.PREVsET .. EMT.PREVsES
+         EmtOutput( sOutPreMove)  
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
       end
@@ -735,24 +738,26 @@ function OnRapid()
       end
 
       -- 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 
+      if EMT.HEAD == 'H3' and  EMT.PREVHEAD ~= 'H3' then
+         local 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)
+         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')
+         EmtOutput( 'G101 ET2001')
+      -- ruoto in zona sicura prima di approcciare la lavorazione
+      elseif 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
          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
+                                    ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
-            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)
-         elseif EMT.HEAD == 'H3' and  EMT.PREVHEAD ~= 'H3' then
-            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)
          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
+                                 ' B' .. EgtNumToString( EMT.R2, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
          EmtOutput( sOutPreMove)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
@@ -1430,7 +1435,7 @@ function PrepareUnload( sCmd)
       table.insert( EMT.AUXCMD, sMsg)
       if Cmd[2] == 'V' then
          -- se non è ultima fase c'è una barra sulla pinza Y (1)
-         local sEE = EgtIf( EMT.PHASE == EgtGetPhaseCount(), '0', '1')
+         local sEE = EgtIf( EMT.PHASE == EgtGetPhaseCount() or IsEnd2Phase( EMT.PHASE), '0', '1')
          local sOut = 'G111 '..Cmd[2]..Cmd[3]..' EC141 ED83 EE'..sEE..' EF'..GetFmaxClamp()
          table.insert( EMT.AUXSTR, sOut)
       end
@@ -1439,7 +1444,7 @@ function PrepareUnload( sCmd)
       table.insert( EMT.AUXCMD, sMsg)
       if Cmd[4] == 'V' then
           -- se non è ultima fase c'è una barra sulla pinza Y (1)
-         local sEAB = EgtIf( EMT.PHASE == EgtGetPhaseCount(), '111', '112')
+         local sEAB = EgtIf( EMT.PHASE == EgtGetPhaseCount() or IsEnd2Phase( EMT.PHASE), '111', '112')
          local sOut = 'G111 '..Cmd[4]..Cmd[5]..' EA'..sEAB..' EB'..sEAB..' EC142 ED141 EE2 EF'..GetFmaxClamp()
          table.insert( EMT.AUXSTR, sOut)
          EMT.U_STD = true
@@ -1599,10 +1604,13 @@ function PreparePostRotation( sCmd)
       elseif nVDelta > 0 then
          EMT.YDELTA = nil
          EMT.VDELTA = nVDelta
-     end
+      end
-     local sYLoad = ' Y'..EmtLenToString( LoadT)
+      local sYLoad = ' Y'..EmtLenToString( LoadT)
-     local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
+      local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
-     table.insert( EMT.AUXSTR, sOut)
+      table.insert( EMT.AUXSTR, sOut)
+      -- setto parametri di pinzaggio reali
+      EMT.SA = ' EA110'
+      EMT.SE = ' EE1'
    end
 end
 

Common_FAST.TPA.mlpe

@@ -525,6 +525,9 @@ function OnMachiningEnd()
    EMT.PREVTOOL = EMT.TOOL
    EMT.PREVHEAD = EMT.HEAD
    EMT.PREVS = EMT.S
+   -- salvo posizione
+   EMT.PREVTCPOS = AdjustTcPos( false)
+
 end
 
 ---------------------------------------------------------------------
@@ -539,6 +542,7 @@ function OnPathStart()
    -- salvo precedenti rotanti
    EMT.R1pp = EMT.R1p
    EMT.R2pp = EMT.R2p
+   EMT.R3pp = EMT.R3p
 
    -- reset valori precedenti (per forzare emissione di tutti gli assi del 1° movimento)
    EmtResetPrev()
@@ -659,9 +663,11 @@ function OnRapid()
          end
       end
 
+      local sTcPosReal = AdjustTcPos( false)
+
       local bGoToHome = false
       -- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio 
-      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
+      if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and ( sTcPosReal ~= EMT.PREVTCPOS or abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25)  then
          bGoToHome = true
       end
    
@@ -676,9 +682,9 @@ function OnRapid()
                                  ' 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) ..
-                                 ' P4=' .. EgtNumToString( 0, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1pp, EMT.DECMACRO) .. 
+                           ' P4=' .. EgtNumToString( 0, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1pp, EMT.DECMACRO) .. 
-                                 ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
+                           ' P6=' .. EgtNumToString( EMT.PREVTCPOS, EMT.DECMACRO) .. ' P7=' .. EgtNumToString( EMT.PREVS, 0) ..
-                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
+                           ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
          EmtOutput( sOutPreMove)
          EmtOutput( 'M101 P1=2')
          EmtOutput( 'M101 P1=3')
@@ -690,21 +696,33 @@ function OnRapid()
       end
 
       -- 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 
+      if EMT.HEAD == 'H3' and  EMT.PREVHEAD ~= 'H3' then
-         ( 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) ..
                                  ' 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')
+         if EMT.LOAD then
+            ParkLine( sOutPreMove)
+         else
             EmtOutput( sOutPreMove)
-         elseif EMT.HEAD == 'H3' and  EMT.PREVHEAD ~= 'H3' then
+         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) ..
+                           ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
+         if EMT.LOAD then
+            ParkLine( sOutPreMove)
+            ParkLine( 'M101 P1=2')
+            ParkLine( 'M101 P1=3')
+         else
+            EmtOutput( sOutPreMove)
+            EmtOutput( 'M101 P1=2')
+            EmtOutput( 'M101 P1=3')
+         end
+      elseif 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
+         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.R1, EMT.DECMACRO) .. 
                                  ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
@@ -1608,10 +1626,13 @@ function PreparePostRotation( sCmd)
       elseif nVDelta > 0 then
          EMT.YDELTA = nil
          EMT.VDELTA = nVDelta
-     end
+      end
-     local sYLoad = ' P2='..EmtLenToString( LoadT)
+      local sYLoad = ' P2='..EmtLenToString( LoadT)
-     local sOut = 'M111 P1=11'..sYLoad..' P4=76'..EMT.SB..' P8=0 P9='..GetFmaxClamp()
+      local sOut = 'M111 P1=11'..sYLoad..' P4=76'..EMT.SB..' P8=0 P9='..GetFmaxClamp()
-     table.insert( EMT.AUXSTR, sOut)
+      table.insert( EMT.AUXSTR, sOut)
+      -- setto parametri di pinzaggio reali
+      EMT.SA = ' P4=110'
+      EMT.SE = ' P8=1'
    end
 end
 
@@ -1760,8 +1781,6 @@ function AdjustTcPos( bLen3)
          sPos = '0' .. sPos
       end
    end
-   -- salvo posizione
-   EMT.PREVTCPOS = sPos
    return sPos
 end
 

Common_FAST.mlpe

@@ -560,9 +560,8 @@ function OnSimulToolSelect( dPosA)
          end
          -- imposto il valore di A
          EgtSetAxisPos( 'A', dPosA)
-         if abs( dPosA) < 0.1 then
+         local dHomeC = GetChainSawCHomeFromVirtualAxis( dPosA)
-            EgtSetAxisPos( 'C', EgtIf( BD.RIGHT_LOAD, 180, 0))
+         EgtSetAxisPos( 'C', dHomeC)
-         end
          EgtSetAxisPos( 'B', 0)
       -- se aggregato per fresa tipo blockhaus
       elseif EMT.HEAD == 'H7' then
@@ -607,12 +606,7 @@ function OnSimulToolDeselect()
          SimulMoveAxis( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID)
          -- raddrizzo asse B prima di ruotare il C
          SimulMoveAxis( 'B', 0, MCH_SIM_STEP.COLLROT)
-         local dPosA = EgtGetAxisPos( 'A')
+         SimulMoveAxis( 'C', 0, MCH_SIM_STEP.COLLROT)
-         if abs( dPosA) < 0.1 then
-            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, -180, 0), MCH_SIM_STEP.COLLROT)
-         else
-            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, 270), MCH_SIM_STEP.COLLROT)
-         end
          SimulMoveAxis( 'X', 0, MCH_SIM_STEP.RAPID)
       -- movimento scarico rinvio
       elseif EMT.HEAD == 'H5' or EMT.HEAD == 'H6' then
@@ -655,12 +649,7 @@ function OnSimulToolDeselect()
          SimulMoveAxes( 'B', EgtIf( GetTCSet( EMT.TCPOS) == 1, 90, -90), MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.RAPROT)
       else
          if EMT.NEXTHEAD == 'H3' then
-            local dPosA = EgtGetAxisPos( 'A')
+            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.RAPROT, 'C', 0, MCH_SIM_STEP.RAPROT)
-            if abs( dPosA) < 0.1 then
-               SimulMoveAxes( 'B', 0, MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, 270), MCH_SIM_STEP.RAPROT)
-            else
-               SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, -180, 0), MCH_SIM_STEP.COLLROT)
-            end
          else
             SimulMoveAxes( 'B', 0, MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.RAPROT)
          end
@@ -851,10 +840,15 @@ function OnSimulMoveStart()
       EMT.MCHFIRST = false
       local bZmax = ( EMT.TOOL ~= EMT.PREVTOOL  or EMT.L3 > -1)
       -- con pezzi alti aggiorno gli assi rotanti prima di muovermi sopra il pezzo
-      if not EMT.LOAD and EMT.MOVE == 0 and ( EMT.HEAD == 'H3' or ( bZmax and EMT.TOTLEN > 200)) and 
+      if EMT.HEAD == 'H3' and  EMT.PREVHEAD ~= 'H3' 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 not EMT.LOAD and EMT.MOVE == 0 and ( EMT.HEAD == 'H3' or ( bZmax and EMT.TOTLEN > 200)) and 
          ( EMT.HT > 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 bGoToHome 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)

Common_FAST.mlse

@@ -1572,8 +1572,8 @@ function SpecAdjustCarriages( vCmd, dTPosI, dYDeltaI, dVDeltaI, dTPosF, dYDeltaF
          dMaxMovePilgrimStepSingleClampY = MaxY - dYPosI
          dMaxMovePilgrimStepSingleClampV = - MinV + dVPosI
       else
-         dMaxMovePilgrimStepDoubleClamp = MaxY - MinY - MinV + MaxV
+         dMaxMovePilgrimStepDoubleClamp = MaxY - MyMinY - MinV + MaxV
-         dMaxMovePilgrimStepSingleClampY = MaxY - MinY
+         dMaxMovePilgrimStepSingleClampY = MaxY - MyMinY
          dMaxMovePilgrimStepSingleClampV = - MinV + MaxV
       end
 
@@ -1863,8 +1863,8 @@ function SpecAdjustCarriages( vCmd, dTPosI, dYDeltaI, dVDeltaI, dTPosF, dYDeltaF
             dTPosI = dTPosA
             dYPosI = dYPosA
             dVPosI = dVPosA
-            dMaxMovePilgrimStepDoubleClamp = MaxY - MinY - MinV + MaxV
+            dMaxMovePilgrimStepDoubleClamp = MaxY - MyMinY - MinV + MaxV
-            dMaxMovePilgrimStepSingleClampY = MaxY - MinY
+            dMaxMovePilgrimStepSingleClampY = MaxY - MyMinY
             dMaxMovePilgrimStepSingleClampV = - MinV + MaxV
          end
 
@@ -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
+               dVPosA = EgtClamp( MaxV - dTotMove, MaxV, MinV)
-               dTPosA = dTPosI - dVPosI + MaxV - dTotMove
+               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
+               dYPosA = EgtClamp( MinY + dTotMove, MinY, MaxY)
-               dTPosA = dTPosI + ( MinY - dYPosI) + dTotMove
+               dTPosA = dTPosI - dYPosI + dYPosA
                dVPosA = dVDeltaF + dTPosA
                table.insert( vCmd, { 3, 'Y', dYPosA , 'T', dTPosA, 'V', dVPosA})
                table.insert( vCmd, { 12, CalcCharStatus( 'V', dVDeltaF)})

Compile.bat

@@ -25,11 +25,11 @@ REM copio i sorgenti nel percorso temporaneo per i compilati
 ROBOCOPY . %fullPathSource%\bin\%machineName%\ /E /XF "Compile.bat" /XF ".gitignore" /XD ".git" /XF "UpdateLog.txt"
 
 REM copio i file compilati nel percorso temporaneo per i compilati
-\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common-FAST.mlpe     		 	          -s Common-FAST.mlpe
+\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common_FAST.mlpe     		 	          -s Common_FAST.mlpe
-\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common-FAST.mlse                        -s Common-FAST.mlse
+\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common_FAST.mlse                        -s Common_FAST.mlse
-\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common-FAST.NUM.mlpe                    -s Common-FAST.NUM.mlpe
+\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common_FAST.NUM.mlpe                    -s Common_FAST.NUM.mlpe
-\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common-FAST.NUM_PLUS.mlpe               -s Common-FAST.NUM_PLUS.mlpe
+\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common_FAST.NUM_PLUS.mlpe               -s Common_FAST.NUM_PLUS.mlpe
-\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common-FAST.TPA.mlpe                    -s Common-FAST.TPA.mlpe
+\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Common_FAST.TPA.mlpe                    -s Common_FAST.TPA.mlpe
 
 REM comprimo i file compilati in uno zip pronto per essere distribuito
 tar.exe acvf %fullPathZip%\%machineName%.zip -C %fullPathSource%\bin\ %machineName%\*.*

Essetre-FAST.mlde

@@ -24,8 +24,8 @@
 require( 'EmtGenerator')
 EgtEnableDebug( false)
 
-PP_VER = '3.1c3'
+PP_VER = '3.1d2'
-PP_NVER = '3.1.3.3'
+PP_NVER = '3.1.4.2'
 MIN_MACH_VER = '2.7j1'
 MACH_NAME =  EgtGetCurrMachineName()
 
@@ -70,8 +70,6 @@ SawOffs = -242.68
 SawBOffs = 0
 SawCOffs = 0
 ChSawLen = 90.0
-ParkCSawC = -90   -- Parcheggio sega a catena A90
-ParkCSaw0C = 0   -- Parcheggio sega a catena A0
 AngTr1Offs = 170
 AngTr1Len = 150
 AngTrBHOffs = 154.5
@@ -732,10 +730,10 @@ end
 function GetChainSawCHomeFromVirtualAxis( dPosA)
    -- se A=0 -> T111 -> HomeC = 0
    if abs( dPosA) < 0.1 then
-      return EgtIf( BD.RIGHT_LOAD, 180, ParkCSaw0C)
+      return EgtIf( BD.RIGHT_LOAD, -180, 0)
    -- altrimenti A=90 -> T114 -> HomeC = -90
    else
-      return EgtIf( BD.RIGHT_LOAD, 90, ParkCSawC)
+      return EgtIf( BD.RIGHT_LOAD, 90, 270)
    end
 end
 

UpdateLog.txt

@@ -1,5 +1,16 @@
            ==== Common_FAST Update Log ====
 
+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
+- (GEN) Per NUM, si lascia aperta la pinza di carico in caso di END2. TPA era già corretto. Ticket#2869
+
+Versione 3.1c2 (30/03/2026)
+- (SIM-GEN) Corretti moviemnti con motosega. Ora si ruota la C con B sempre a zero, anche alla posizione X di sicurezza. Ticket#2866
+
 Versione 3.1c1 (27/03/2026)
 - (SIM-GEN) FASTCLAMPING = true  : si suddivide il movimento metà tirando e metà spingendo con altra pinza. Così si aumenta la velocità.
 -           FASTCLAMPING = false : una pinza resta ferma e si fa il movimento tutto con una pinza. Così si limita lo scivolamento del pezzo.

Version.lua

@@ -3,7 +3,7 @@
 
 local InfoCommon_STD_PP = {
    NAME = 'Common_FAST',            -- nome script PP standard
-   VERSION = '3.1c1',                 -- versione script
+   VERSION = '3.1d2',                 -- versione script
    MIN_MACH_VER_PP_COMMON = '2.5k1'   -- versione minima kernel
 }