Corretto disegno porta utensile

- Nuovo porta-utensile

.gitignore

@@ -1,6 +1,7 @@
 /Tools
 /Machinings
 /SetUp
+/Beam/AISetup
 /Beam/Ts3Data.bak
 /Beam/CutData.lua
 /Beam/DrillData.lua

Beam/BeamData.lua

@@ -6,9 +6,9 @@ EgtOutLog( ' FAST-BeamData started', 1)
 
 -- Tabella per definizione modulo
 local BeamData = {
-   RIGHT_LOAD = true,                       -- flag carico da destra
    SIMUL_VIEW_DIR = 1,                      -- direzione di vista predefinita per la simulazione (1=NW, 2=SW, 3=NE, 4=SE)
    GO_FAST = 0,                             -- flag abilitazione modalità veloce (0=no, 1=carrelli, 2=anche cambio utensili)
+   RIGHT_LOAD = true,                       -- flag carico da destra
    ROT90 = false,                           -- flag abilitazione rotazione 90 gradi
    ROT180 = true,                           -- flag abilitazione rotazione 180 gradi
    NEWCLAMPING = false,                     -- flag abilitazione nuovo metodo riposizionamento carrelli
@@ -108,6 +108,8 @@ if EgtExistsFile( sData) then
          BeamData.LEN_VERY_SHORT_PART = Machine.Offsets.LEN_VERY_SHORT_PART or BeamData.LEN_VERY_SHORT_PART
          BeamData.LEN_SHORT_PART = Machine.Offsets.LEN_SHORT_PART or BeamData.LEN_SHORT_PART
          BeamData.MAX_DIM_HTCUT_HBEAM = Machine.Offsets.MAX_DIM_HTCUT_HBEAM or BeamData.MAX_DIM_HTCUT_HBEAM
+         BeamData.MAX_HEIGHT2 = Machine.Offsets.MAX_HEIGHT2 or BeamData.MAX_HEIGHT2
+         BeamData.OVM_MID = Machine.Offsets.OVM_MID or BeamData.OVM_MID
          if Machine.Offsets.PRECUT_HEAD_DISABLE then BeamData.PRECUT_HEAD = ( Machine.Offsets.PRECUT_HEAD_DISABLE == 0) end
          if Machine.Offsets.PRECUT_TAIL_DISABLE then BeamData.PRECUT_TAIL = ( Machine.Offsets.PRECUT_TAIL_DISABLE == 0) end
          if Machine.Offsets.MIN_HEIGHT_ADDED_CUTS then BeamData.MIN_HEIGHT_ADDED_CUTS = min( Machine.Offsets.MIN_HEIGHT_ADDED_CUTS, BeamData.MIN_HEIGHT_ADDED_CUTS) end
@@ -115,6 +117,8 @@ if EgtExistsFile( sData) then
          if Machine.Offsets.FASTCLAMPING ~= nil then BeamData.FASTCLAMPING = ( Machine.Offsets.FASTCLAMPING == 1) end
          if Machine.Offsets.ROT90 ~= nil then BeamData.ROT90 = ( Machine.Offsets.ROT90 == 1) end
          if Machine.Offsets.ROT180 ~= nil then BeamData.ROT180 = ( Machine.Offsets.ROT180 == 1) end
+         if Machine.Offsets.CUT_SIC then BeamData.CUT_SIC = EgtClamp( Machine.Offsets.CUT_SIC, 15, 50) end
+         
       end
       if Machine.Trave then
          BeamData.MIN_WIDTH = Machine.Trave.XMIN or BeamData.MIN_WIDTH

Beam/MachiningTypes.ini

@@ -4,9 +4,11 @@
 
 [Drill]
 1=Drill
-2=Pocket
-3=AngleDrill
-4=Predrill
+2=Drill_AT
+3=Pocket
+4=Pocket_AT
+5=AngleDrill
+6=Predrill
 
 [Milling]
 1=Prof
@@ -14,25 +16,33 @@
 3=Tenon
 4=DtTenon
 5=DtMortise
-6=BirdsMouth
-7=Chamfer
-8=Mark
-9=Text
-10=Decor01
-11=Long2Cut
-12=Long2CutDown
-13=LongSmallCut
-14=BHSideMill
-15=CleanCorner
-16=ProfTCone
-17=Long2CutSide
-18=SmallToolContour
-19=AntiSplintMillCut
+6=DtMortise_AT
+7=BirdsMouth
+8=Chamfer
+9=Mark
+10=Text
+11=Text_AT
+12=Decor01
+13=Long2Cut
+14=Long2CutDown
+15=LongSmallCut
+16=BHSideMill
+17=CleanCorner
+18=ProfTCone
+19=Long2CutSide
+20=SmallToolContour
+21=AntiSplintMillCut
+22=Prof_end
+23=SideMillAsBlade
+24=FloatingAggregate
 
 [Pocketing]
 1=Pocket
-2=OpenPocket
-3=Mortise
+2=Pocket_AT
+3=OpenPocket
+4=OpenPocket_AT
+5=Mortise
+6=Mortise_AT
 
 [Sawing]
 1=Sawing

Common_FAST.NUM.mlpe

@@ -27,7 +27,9 @@ function OnStart()
    --EMT.LINEINC = 1        -- incremento numerazione linee
    --EMT.Ft = 'F'           -- token per feed
    --EMT.St = 'S'           -- token per speed
-   EMT.FMAXPINZE = 154000 -- feed massima pinze
+   EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
+   EMT.MAXACC = MaxAcc or ( EMT.FMAXPINZE / ( 60 * 0.3))  -- accelerazione massima pinze
+   EMT.MINACC = MinAcc or ( EMT.FMAXPINZE / ( 60 * 4))    -- accelerazione minima pinze
 end
 
 ---------------------------------------------------------------------
@@ -183,16 +185,12 @@ function OnDispositionEnd()
       local STrave = EMT.ST
       local HOverM = EMT.HOVM
       -- calcolo dati pinze
-      local MinAccPinze = 0.3
-      local MaxAccPinze = 4
       local KgMtCubo= WoodDensity or 550           -- densità legno in Kg / metro cubo
       local Massa = ( HTrave * STrave * LBarra * KgMtCubo ) / 1000000000
       local FMaxPinze = EMT.FMAXPINZE
       local ForzaAtrito = 700 / 2   -- Serve per regolare P32 (700 valore reale pistone)
       local TempoAcc = ( ( Massa * FMaxPinze) / ( 60 * ForzaAtrito) / 1000)
-      if ( TempoAcc < MinAccPinze) then TempoAcc = MinAccPinze end
-      if ( TempoAcc > MaxAccPinze) then TempoAcc = MaxAccPinze end
-      local AccPinze = FMaxPinze / ( 60 * TempoAcc)
+      local AccPinze = EgtClamp( FMaxPinze / ( 60 * TempoAcc), EMT.MINACC, EMT.MAXACC)
       local RidFeed = 100 / Massa * 100
       if ( RidFeed > 100) then RidFeed = 100 end
       if IdTrave >= 0 then
@@ -498,6 +496,7 @@ function OnMachiningEnd()
    EMT.U_STD = nil
    EMT.PREVTOOL = EMT.TOOL
    EMT.PREVHEAD = EMT.HEAD
+   EMT.PREVET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
 end
 
 ---------------------------------------------------------------------
@@ -628,15 +627,32 @@ function OnRapid()
          end
       end
 
+      local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
+
+      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
+         bGoToHome = true
+      end
+
+      -- ricavo i dati per la lavorazione
+      local sEE = ' EE' .. EgtIf( bZmax, '3', '4')
+      local sEL = ' EL' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TLEN, ( EMT.TDIST or ChSawLen)), 3)
+      local sER = ' ER' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TDIAM / 2, EMT.TLEN), 3)
+      local sES = ' ES'..EgtNumToString( EMT.S, 0)
+
       -- primo posizionamento
       local MyZHome = EgtGetAxisHomePos( 'Z')
       local bZmax = ( #EMT.AUXSTR > 0  or  EMT.TOOL ~= EMT.PREVTOOL  or  EMT.L3 > -1)
       -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
-      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.FLAG2 == 1 then
          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
+         EmtOutput( sOutPreMove)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
       end
@@ -646,19 +662,21 @@ function OnRapid()
          EmtOutput( '( *** ' .. sOut .. ' *** )')
       end
 
-      -- ricavo i dati per la lavorazione
-      local sEE = ' EE' .. EgtIf( bZmax, '3', '4')
-      local sEL = ' EL' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TLEN, ( EMT.TDIST or ChSawLen)), 3)
-      local sER = ' ER' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TDIAM / 2, EMT.TLEN), 3)
-      local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
-      local sES = ' ES'..EgtNumToString( EMT.S, 0)
-
       -- 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 
-         ( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350)) and EMT.FLAG2 == 1 then
+      if 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 = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
-                                       EmtGetAxis( 'R2') .. EmtGetAxis( 'R1') .. sEE .. sEL .. sER .. sET .. sES
+         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
+            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)
+         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
          EmtOutput( sOutPreMove)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
@@ -848,13 +866,13 @@ function OnRapid()
          local sER = ' ER' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TDIAM / 2, EMT.TLEN), 3)
          local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
          local sES = ' ES'..EgtNumToString( EMT.S, 0)
-         local sOut = 'G101' .. EmtGetAxis( 'L2') .. EmtGetAxis( 'L3') ..' B=' .. EgtNumToString( dBAxis, 3) ..
-                      ' C=' .. EgtNumToString( dCAxis, 3) .. sEE .. sEL .. sER .. sET .. sES
+         local sOut = 'G101' .. EmtGetAxis( 'L2') .. EmtGetAxis( 'L3') ..' B' .. EgtNumToString( dBAxis, 3) ..
+                      ' C' .. EgtNumToString( dCAxis, 3) .. sEE .. sEL .. sER .. sET .. sES
          EmtOutput( sOut)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
-         sOut = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. EmtGetAxis( 'L3') ..' B=' .. EgtNumToString( dBAxis, 3) ..
-                ' C=' .. EgtNumToString( dCAxis, 3) .. sEE .. sEL .. sER .. sET .. sES
+         sOut = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. EmtGetAxis( 'L3') ..' B' .. EgtNumToString( dBAxis, 3) ..
+                ' C' .. EgtNumToString( dCAxis, 3) .. sEE .. sEL .. sER .. sET .. sES
          EmtOutput( sOut)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')

Common_FAST.NUM_PLUS.mlpe

@@ -27,7 +27,9 @@ function OnStart()
    --EMT.LINEINC = 1        -- incremento numerazione linee
    --EMT.Ft = 'F'           -- token per feed
    --EMT.St = 'S'           -- token per speed
-   EMT.FMAXPINZE = 154000 -- feed massima pinze
+   EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
+   EMT.MAXACC = MaxAcc or ( EMT.FMAXPINZE / ( 60 * 0.3))  -- accelerazione massima pinze
+   EMT.MINACC = MinAcc or ( EMT.FMAXPINZE / ( 60 * 4))    -- accelerazione minima pinze
 end
 
 ---------------------------------------------------------------------
@@ -205,9 +207,9 @@ function OnDispositionEnd()
       local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
       local nLoad90 = EgtGetInfo( BtlInfoId, 'LOAD90', 'i') or 0
       -- calcolo dati pinze
-      local AccPinze, AccMaxPinze, RidFeed, TempoAcc = CalcDinamicaPinze( HTrave, STrave, LBarra)
-      local AccPinz1, AccMaxPinz1, RidFeed1, TempoAcc1 = CalcDinamicaPinze( HTrave, STrave, LBarra - LTrave)
-      local AccPinz2, AccMaxPinz2, RidFeed2, TempoAcc2 = CalcDinamicaPinze( HTrave, STrave, LTrave)
+      local AccPinze, AccMaxPinze, RidFeed, TempoAcc = CalcDinamicaPinze_NUM( HTrave, STrave, LBarra)
+      local AccPinz1, AccMaxPinz1, RidFeed1, TempoAcc1 = CalcDinamicaPinze_NUM( HTrave, STrave, LBarra - LTrave)
+      local AccPinz2, AccMaxPinz2, RidFeed2, TempoAcc2 = CalcDinamicaPinze_NUM( HTrave, STrave, LTrave)
       if IdTrave >= 0 then
          local sOut = '( SN='..IdTrave..' LBarra='..EmtLenToString( LBarra, 3)..' L='..EmtLenToString( LTrave, 3)..
                       ' H='..EmtLenToString( HTrave, 3)..' S='..EmtLenToString( STrave, 3)..' Acc='..EgtNumToString( TempoAcc, 1)..
@@ -542,6 +544,7 @@ function OnMachiningEnd()
    EMT.PREVTOOL = EMT.TOOL
    EMT.PREVHEAD = EMT.HEAD
    EMT.PREVR3 = EMT.R3
+   EMT.PREVET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
 end
 
 ---------------------------------------------------------------------
@@ -673,22 +676,12 @@ function OnRapid()
          end
       end
 
-      -- primo posizionamento
-      local MyZHome = EgtGetAxisHomePos( 'Z')
-      local bZmax = ( #EMT.AUXSTR > 0  or  EMT.TOOL ~= EMT.PREVTOOL  or  EMT.L3 > -1)
-      -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
-      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
-         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)
-         EmtOutput( 'G101 ET1001')
-         EmtOutput( 'G101 ET2001')
-      end
+      local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
 
-      if not EMT.LOAD then
-         local sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '-'), '%)', '-')
-         EmtOutput( '( *** ' .. sOut .. ' *** )')
+      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
+         bGoToHome = true
       end
 
       -- ricavo i dati per la lavorazione
@@ -718,15 +711,44 @@ function OnRapid()
          sER = sER..EmtLenToString( EMT.TDIAM / 2, 3)
       end
 
-      local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
       local sES = ' ES'..EgtNumToString( EMT.S, 0)
 
+      -- primo posizionamento
+      local MyZHome = EgtGetAxisHomePos( 'Z')
+      local bZmax = ( #EMT.AUXSTR > 0  or  EMT.TOOL ~= EMT.PREVTOOL  or  EMT.L3 > -1)
+      -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
+      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.FLAG2 == 1 then
+         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
+         EmtOutput( sOutPreMove)
+         EmtOutput( 'G101 ET1001')
+         EmtOutput( 'G101 ET2001')
+      end
+
+      if not EMT.LOAD then
+         local sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '-'), '%)', '-')
+         EmtOutput( '( *** ' .. sOut .. ' *** )')
+      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 
-         ( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350)) and EMT.FLAG2 == 1 then
+         ( 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 = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
-                                       EmtGetAxis( 'R2') .. EmtGetAxis( 'R1') .. sEE .. sEL .. sER .. sET .. sES
+         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
+            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)
+         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
          EmtOutput( sOutPreMove)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
@@ -926,13 +948,13 @@ function OnRapid()
          local sER = ' ER' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TDIAM / 2, EMT.TLEN), 3)
          local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
          local sES = ' ES'..EgtNumToString( EMT.S, 0)
-         local sOut = 'G101' .. EmtGetAxis( 'L2') .. EmtGetAxis( 'L3') ..' B=' .. EgtNumToString( dBAxis, 3) ..
-                      ' C=' .. EgtNumToString( dCAxis, 3) .. sEE .. sEL .. sER .. sET .. sES
+         local sOut = 'G101' .. EmtGetAxis( 'L2') .. EmtGetAxis( 'L3') ..' B' .. EgtNumToString( dBAxis, 3) ..
+                      ' C' .. EgtNumToString( dCAxis, 3) .. sEE .. sEL .. sER .. sET .. sES
          EmtOutput( sOut)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
-         sOut = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. EmtGetAxis( 'L3') ..' B=' .. EgtNumToString( dBAxis, 3) ..
-                ' C=' .. EgtNumToString( dCAxis, 3) .. sEE .. sEL .. sER .. sET .. sES
+         sOut = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. EmtGetAxis( 'L3') ..' B' .. EgtNumToString( dBAxis, 3) ..
+                ' C' .. EgtNumToString( dCAxis, 3) .. sEE .. sEL .. sER .. sET .. sES
          EmtOutput( sOut)
          EmtOutput( 'G101 ET1001')
          EmtOutput( 'G101 ET2001')
@@ -1094,28 +1116,6 @@ function FindNextTool()
    return sTool, sHead, sTcPos
 end
 
----------------------------------------------------------------------
-function CalcDinamicaPinze( dH, dS, dL)
-   local MinTempoAcc = 0.3                         -- [s]
-   local MaxTempoAcc = 4.0                         -- [s]
-   local KgMtCubo= WoodDensity or 550              -- densità legno [Kg / metro cubo]
-   local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
-   local FMaxPinze = EMT.FMAXPINZE                 -- Feed massima pinze [mm/min]
-   local ForzaAttrito = 350 * 9.8 * 0.2            -- Forza chiusura pinze [Kgf] * g * Coeff_Attrito -> [N]
-   local TempoAcc = ( ( Massa * FMaxPinze) / ( 60 * ForzaAttrito) / 1000)
-   if ( TempoAcc < MinTempoAcc) then TempoAcc = MinTempoAcc end
-   if ( TempoAcc > MaxTempoAcc) then TempoAcc = MaxTempoAcc end
-   local AccMaxPinze = FMaxPinze / ( 60 * MinTempoAcc)
-   local AccPinze = FMaxPinze / ( 60 * TempoAcc)
-   local RidFeed = 100 / Massa * 100
-   if RidFeed > 100 then
-      RidFeed = 100
-   elseif RidFeed < 10 then
-      RidFeed = 10
-   end
-   return AccPinze, AccMaxPinze, RidFeed, TempoAcc
-end
-
 ---------------------------------------------------------------------
 function CalcCharStatus( sCmd, bSkipPress)
    -- aperto

Common_FAST.TPA.mlpe

@@ -31,7 +31,9 @@ function OnStart()
    --EMT.LINEINC = 1      -- incremento numerazione linee
    --EMT.Ft = 'F'         -- token per feed
    --EMT.St = 'S'         -- token per speed
-   EMT.FMAXPINZE = 154000 -- feed massima pinze
+   EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
+   EMT.MAXACC = MaxAcc or 4000    -- accelerazione massima pinze. In realtà è il tempo in millisecondi, quindi MAXACC corrisponde al tempo massimo per raggiungere la velocità desiderata
+   EMT.MINACC = MinAcc or 300     -- accelerazione minima pinze. In realtà è il tempo in millisecondi, quindi MINACC corrisponde al tempo massimo per raggiungere la velocità desiderata
 end
 
 ---------------------------------------------------------------------
@@ -223,9 +225,9 @@ function OnDispositionEnd()
       local HOverM = EMT.HOVM
 
       -- calcolo dati pinze
-      local TempAccPinze, TempMinAccPinze, RidFeed = CalcDinamicaPinze( HTrave, STrave, LBarra)
-      local TempAccPinz1, TempMinAccPinz1, RidFeed1 = CalcDinamicaPinze( HTrave, STrave, LBarra - LTrave)
-      local TempAccPinz2, TempMinAccPinz2, RidFeed2 = CalcDinamicaPinze( HTrave, STrave, LTrave)
+      local TempAccPinze, TempMinAccPinze, RidFeed = CalcDinamicaPinze_TPA( HTrave, STrave, LBarra)
+      local TempAccPinz1, TempMinAccPinz1, RidFeed1 = CalcDinamicaPinze_TPA( HTrave, STrave, LBarra - LTrave)
+      local TempAccPinz2, TempMinAccPinz2, RidFeed2 = CalcDinamicaPinze_TPA( HTrave, STrave, LTrave)
 
       if IdTrave >= 0 then
          local sPrt = '( *** Part '.. EgtNumToString( IdTrave, 0) ..' ***)'
@@ -656,16 +658,28 @@ function OnRapid()
             bHeadFirst = false
          end
       end
+
+      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
+         bGoToHome = true
+      end
+   
       -- primo posizionamento
       local MyZHome = EgtGetAxisHomePos( 'Z')
       local bZmax = ( #EMT.AUXSTR > 0  or  EMT.TOOL ~= EMT.PREVTOOL  or EMT.L3 > -1)
       -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
-      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.FLAG2 == 1 then
          local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
                                  ' P4=' .. EgtNumToString( EMT.R2pp, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1pp, EMT.DECMACRO) .. 
                                  ' P6=' .. EgtNumToString( EMT.PREVTCPOS, EMT.DECMACRO) .. ' P7=' .. EgtNumToString( EMT.PREVS, 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.R1pp, EMT.DECMACRO) .. 
+                                 ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
+                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
+         EmtOutput( sOutPreMove)
          EmtOutput( 'M101 P1=2')
          EmtOutput( 'M101 P1=3')
       end
@@ -677,8 +691,21 @@ function OnRapid()
 
       -- 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 
-         ( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350)) and EMT.FLAG2 == 1 then
-         local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
+         ( 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.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')
+            EmtOutput( sOutPreMove)
+         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')
@@ -1054,28 +1081,6 @@ function FindNextTool()
    return sTool, sHead, sTcPos
 end
 
----------------------------------------------------------------------
-function CalcDinamicaPinze( dH, dS, dL)
-   local MinTempoAcc = 0.3                         -- [s]
-   local MaxTempoAcc = 4.0                         -- [s]
-   local KgMtCubo= WoodDensity or 550              -- densità legno [Kg / metro cubo]
-   local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
-   local FMaxPinze = EMT.FMAXPINZE                 -- Feed massima pinze [mm/min]
-   local ForzaAttrito = 350 * 9.8 * 0.2            -- Forza chiusura pinze [Kgf] * g * Coeff_Attrito -> [N]
-   local TempoAcc = ( ( Massa * FMaxPinze) / ( 60 * ForzaAttrito) / 1000)
-   if ( TempoAcc < MinTempoAcc) then TempoAcc = MinTempoAcc end
-   if ( TempoAcc > MaxTempoAcc) then TempoAcc = MaxTempoAcc end
-   local AccMaxPinze = FMaxPinze / ( 60 * MinTempoAcc)
-   local AccPinze = FMaxPinze / ( 60 * TempoAcc)
-   local RidFeed = 100 / Massa * 100
-   if RidFeed > 100 then
-      RidFeed = 100
-   elseif RidFeed < 10 then
-      RidFeed = 10
-   end
-   return TempoAcc * 1000, MinTempoAcc * 1000, RidFeed
-end
-
 ---------------------------------------------------------------------
 function CalcCharStatus( sCmd, bSkipPress)
    -- aperto

Common_FAST.mlpe

@@ -7,9 +7,6 @@ EgtEnableDebug( false)
 -- carico librerie
 local BD = require( 'BeamData')
 
-LONG_TOOL_MINLEN = 221
-BIG_TOOL_DIAM = 300
-
 ---------------------------------------------------------------------
 -- *** GENERATION ***
 ---------------------------------------------------------------------
@@ -82,6 +79,14 @@ function OnSimulStart()
          for j = 1, #( vTools or {}) do
             if vTools[j] ~= '' then
                EgtLoadTool( vTcPos[i], j, vTools[j])
+               -- Aggiunto controllo lunghezza lama minima * 0.9 per ricavare la tolleranza del VMILL
+               if EgtTdbSetCurrTool(vTools[j]) then -- set utensile corrente
+                  if EgtTdbGetCurrToolParam( MCH_TP.TYPE) == MCH_TY.SAW_STD or EgtTdbGetCurrToolParam( MCH_TP.TYPE) == MCH_TY.SAW_FLAT then -- controllo tipo utensile sega
+                     local dCurrSawLen = EgtTdbGetCurrToolParam( MCH_TP.LEN) * 0.9
+                     -- se non definito o minore del valore precedente aggiorna la tolleranza
+                     EMT.VMILLTOL = EgtIf( not EMT.VMILLTOL or dCurrSawLen < EMT.VMILLTOL, dCurrSawLen, EMT.VMILLTOL) 
+                  end
+               end
             end
          end
          ShowToolInTcPos( vTcPos[i], true)
@@ -118,7 +123,8 @@ function OnSimulStart()
                      { Grp = 'V', Sub = 'COLLISION', Name = 'VOL2'},
                      { Grp = 'PV', Sub = 'COLLISION', Name = 'VOL'},
                      { Grp = 'Base', Sub = 'COLLISION', Name = 'SIDE1'},
-                     { Grp = 'Base', Sub = 'COLLISION', Name = 'SIDE2'}}
+                     { Grp = 'Base', Sub = 'COLLISION', Name = 'SIDE2'},
+                     { Grp = 'C', Sub = 'COLLISION2', Name = 'C_TOP'}}
    EgtOutLog( 'MCODET Objects :', 4)
    local nMcdNullCnt = 0
    for i = 1, #McdData do
@@ -168,13 +174,13 @@ function OnSimulDispositionStart()
       -- Determino dimensioni del grezzo
       local nSolId = EgtGetFirstNameInGroup( EgtGetFirstRawPart() or GDB_ID.NULL, 'RawSolid') or GDB_ID.NULL
       local b3Sol = EgtGetBBoxGlob( nSolId, GDB_BB.STANDARD)
-      EMT.LB = 0
-      EMT.SB = 0
-      EMT.HB = 0
+      EMT.LT = 0
+      EMT.ST = 0
+      EMT.HT = 0
       if b3Sol then
-         EMT.LB = b3Sol:getDimX()
-         EMT.SB = b3Sol:getDimY()
-         EMT.HB = b3Sol:getDimZ()
+         EMT.LT = b3Sol:getDimX()
+         EMT.ST = b3Sol:getDimY()
+         EMT.HT = b3Sol:getDimZ()
       end
       -- Carico primo utensile sulla testa 1
       local sTool, nTlen = FindFirstToolOnHead( 'H1')
@@ -215,7 +221,7 @@ function OnSimulDispositionStart()
             -- determino la risoluzione dello Zmap
             local dTol = 4.71
             if EmtGetVMillStep then
-               dTol = EmtGetVMillStep( b3Raw:getDimX(), b3Raw:getDimY(), b3Raw:getDimZ(), 4.71)
+               dTol = EmtGetVMillStep( b3Raw:getDimX(), b3Raw:getDimY(), b3Raw:getDimZ(), dTol)
             else
                local dArea = b3Raw:getDimX() * b3Raw:getDimY() + b3Raw:getDimX() * b3Raw:getDimZ() + b3Raw:getDimY() * b3Raw:getDimZ()
                if dArea < 0.075e6 then
@@ -232,6 +238,7 @@ function OnSimulDispositionStart()
                   dTol = 3.77
                end
             end
+            dTol = min( dTol, EMT.VMILLTOL or dTol) -- imposto dTol al valore minore tra quello per volume e quello per spessore lama
             -- creo lo Zmap
             local VMillId = EgtVolZmapBox( nPartRawId, b3Raw:getMin(), b3Raw:getDimX(), b3Raw:getDimY(), b3Raw:getDimZ(), dTol, true, GDB_RT.GLOB)
             if VMillId then
@@ -558,24 +565,24 @@ function OnSimulToolDeselect()
       -- movimento scarico sega a catena
       if EMT.HEAD == 'H3' then
          -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
-         if  EMT.HB > BeamHeightForFixRot then
-            SimulMoveAxis( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID)
-         end
+         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')
          if abs( dPosA) < 0.1 then
-            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 180, 0), MCH_SIM_STEP.COLLROT)
+            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, -90), MCH_SIM_STEP.COLLROT)
+            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
-         SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', -90, MCH_SIM_STEP.COLLROT)
+         SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.COLLROT)
          SimulMoveAxis( 'X', 0, MCH_SIM_STEP.RAPID)
       -- movimento scarico aggregato BlockHaus
       elseif EMT.HEAD == 'H7' then
          SimulMoveAxis( 'X', 0, MCH_SIM_STEP.RAPID)
-         SimulMoveAxes( 'B', 90, MCH_SIM_STEP.COLLROT, 'C', -90, MCH_SIM_STEP.COLLROT)
+         SimulMoveAxes( 'B', 90, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.COLLROT)
       -- movimento scarico punta lunga su T111
       elseif EMT.TOTLEN > LONG_TOOL_MINLEN then
          -- se su cambio utensile T111
@@ -586,9 +593,9 @@ function OnSimulToolDeselect()
          else
             SimulMoveAxis( 'X', 0, MCH_SIM_STEP.RAPID)
             if GetTCSet( EMT.TCPOS) == 1 then
-               SimulMoveAxes( 'B', 90, MCH_SIM_STEP.COLLROT, 'C', -90, MCH_SIM_STEP.COLLROT)
+               SimulMoveAxes( 'B', 90, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.COLLROT)
             else
-               SimulMoveAxes( 'B', -90, MCH_SIM_STEP.COLLROT, 'C', -90, MCH_SIM_STEP.COLLROT)
+               SimulMoveAxes( 'B', -90, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.COLLROT)
             end
          end
       -- movimento scarico utensile di grosso diametro (su T111)
@@ -608,7 +615,16 @@ function OnSimulToolDeselect()
       if EMT.NEXTHEAD ~= 'H3' and EMT.NEXTHEAD ~= 'H5' and EMT.NEXTHEAD ~= 'H6' then
          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
-         SimulMoveAxes( 'B', 0, MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.RAPROT)
+         if EMT.NEXTHEAD == 'H3' then
+            local dPosA = EgtGetAxisPos( 'A')
+            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
       end
       -- se segue lama, carico utensile di default
       if EMT.NEXTHEAD == 'H2' then
@@ -785,13 +801,26 @@ function OnSimulMoveStart()
    VerifyVStroke( EMT.A2)
    -- se inizio lavorazione
    if EMT.MCHFIRST then
+
+      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.TOOL == EMT.PREVTOOL and abs( EMT.R3p - EMT.R3) < 100 * GEO.EPS_SMALL and ( abs( EMT.R2p - EMT.R2) > 25 or abs( EMT.R1p - EMT.R1) > 25)  then
+         bGoToHome = true
+      end
+
       EgtOutText( '')
       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.HB > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TOTLEN > 350)) and EMT.FLAG2 == 1 then
-         -- se motosega mi muovo a X di sicurezza per ruotare
-         if ( EMT.HEAD == 'H3' or ( bZmax and EMT.TOTLEN > 200)) then
+      if 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
+            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 ( bZmax and EMT.TOTLEN > 200) then
             SimulMoveAxes( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID, 'C', EMT.R1, MCH_SIM_STEP.COLLROT, 'B', EMT.R2, MCH_SIM_STEP.COLLROT)
          end
       end
@@ -916,14 +945,14 @@ function ExecAuxCmd( sCmd)
    elseif Cmd[1] == '11' then
       local dPY = MaxOpen
       if Cmd[2] ~= '0' then
-         dPY = EgtIf( EMT.ROT == -1, EMT.HB, EMT.SB)
+         dPY = EgtIf( EMT.ROT == -1, EMT.HT, EMT.ST)
       end
       SimulMoveAxis( 'PY', dPY, MCH_SIM_STEP.RAPID)
       SetPYLight( Cmd[2] ~= '0')
    elseif Cmd[1] == '12' then
       local dPV = MaxOpen
       if Cmd[2] ~= '0' then
-         dPV = EgtIf( EMT.ROT == -1, EMT.HB, EMT.SB)
+         dPV = EgtIf( EMT.ROT == -1, EMT.HT, EMT.ST)
       end
       SimulMoveAxis( 'PV', dPV, MCH_SIM_STEP.RAPID)
       SetPVLight( Cmd[2] ~= '0')
@@ -990,7 +1019,7 @@ function ExecUnloading()
       -- li sposto per lasciare spazio al nuovo pezzo
       local nId = EgtGetFirstInGroup( nVmGrpId)
       while nId do
-         EgtMove( nId, Vector3d( 0, EgtIf( BD.RIGHT_LOAD, ( EMT.SB + 50.0), -( EMT.SB + 50.0)), 0), GDB_RT.GLOB)
+         EgtMove( nId, Vector3d( 0, EgtIf( BD.RIGHT_LOAD, ( EMT.ST + 50.0), -( EMT.ST + 50.0)), 0), GDB_RT.GLOB)
          nId = EgtGetNext( nId)
       end
       -- creo un nuovo layer e vi inserisco il nuovo pezzo
@@ -1192,11 +1221,11 @@ end
 --   *** ESTIMATION T&L ***
 ---------------------------------------------------------------------
 local ESTIMATION_RAPID_COEFF = EstimationRapidMultiplier or 1
-local RAPID_X_FEED =  75000 / ESTIMATION_RAPID_COEFF    -- mm/min
+local RAPID_X_FEED =  100000 / ESTIMATION_RAPID_COEFF   -- mm/min
 local RAPID_Y_FEED = 100000 / ESTIMATION_RAPID_COEFF    -- mm/min
-local RAPID_Z_FEED =  50000 / ESTIMATION_RAPID_COEFF    -- mm/min
-local RAPID_C_FEED =  15000 / ESTIMATION_RAPID_COEFF    -- deg/min
-local RAPID_B_FEED =  15000 / ESTIMATION_RAPID_COEFF    -- deg/min
+local RAPID_Z_FEED =  100000 / ESTIMATION_RAPID_COEFF   -- mm/min
+local RAPID_C_FEED =  12000 / ESTIMATION_RAPID_COEFF    -- deg/min
+local RAPID_B_FEED =  12000 / ESTIMATION_RAPID_COEFF    -- deg/min
 local RAPID_MIN_T = 0.1 * ESTIMATION_RAPID_COEFF       -- s
 local LOAD_T = 2  * ESTIMATION_RAPID_COEFF              -- s
 local CHAR_ONE_MOVE_T = 1  * ESTIMATION_RAPID_COEFF     -- s
@@ -1208,6 +1237,18 @@ local FALL_T = 2  * ESTIMATION_RAPID_COEFF              -- s
 ---------------------------------------------------------------------
 function OnEstimStart()
    EMT.INCHES = not EgtUiUnitsAreMM()      -- unità di misura mm/inches
+
+   -- TPA
+   if NumericalControl == 'TPA' then
+      EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
+      EMT.MAXACC = MaxAcc or 4000    -- accelerazione massima pinze. In realtà è il tempo in millisecondi, quindi MAXACC corrisponde al tempo massimo per raggiungere la velocità desiderata
+      EMT.MINACC = MinAcc or 300     -- accelerazione minima pinze. In realtà è il tempo in millisecondi, quindi MINACC corrisponde al tempo massimo per raggiungere la velocità desiderata
+   -- NUM_PLUS e NUM
+   else
+      EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
+      EMT.MAXACC = MaxAcc or ( EMT.FMAXPINZE / ( 60 * 0.3))  -- accelerazione massima pinze
+      EMT.MINACC = MinAcc or ( EMT.FMAXPINZE / ( 60 * 4))    -- accelerazione minima pinze
+   end
 end
 
 ---------------------------------------------------------------------
@@ -1293,6 +1334,15 @@ function OnEstimDispositionEnd()
    EMT.OPEISDISP = false
 end
 
+---------------------------------------------------------------------
+function OnEstimRawMoveData()
+   -- se start del pezzo
+   if IsStartOrRestPhase( EMT.PHASE) then
+      EMT.SPLIT = false
+   end
+   OnRawMoveData()
+end
+
 ---------------------------------------------------------------------
 function OnEstimToolSelect()
    -- reset indice utensile in tabella lunghezze
@@ -1349,6 +1399,12 @@ function OnEstimMachiningEnd()
       EMT.TLE_NAME = nil
       EMT.TLE_TIME = nil
    end
+
+   EMT.MCHUSERNOTES = EgtGetMachiningParam( MCH_MP.USERNOTES) or ''
+   EMT.MCHSPLIT = ( EMT.MCHUSERNOTES:find( 'Split;', 1, true) ~= nil)
+   if EMT.MCHSPLIT then
+      EMT.SPLIT = true
+   end
 end
 
 ---------------------------------------------------------------------
@@ -1479,15 +1535,15 @@ function OnEstimRapid()
    EMT.MCHEXTLEN = EMT.MCHEXTLEN + dLen
    -- calcolo tempo
    local dTime = RAPID_MIN_T
-   local dT1 = abs( dL1) / RAPID_X_FEED * 60
+   local dT1 = CalcMoveTime( abs( dL1), EMT.FMAXPINZE, EMT.SPLIT)
    if dT1 > dTime then dTime = dT1 end
-   local dT2 = abs( dL2) / RAPID_Y_FEED * 60
+   local dT2 = abs( dL2) / ( RAPID_X_FEED / 60) -- CalcMoveTime( abs( dL2), RAPID_X_FEED, EMT.SPLIT)
    if dT2 > dTime then dTime = dT2 end
-   local dT3 = abs( dL3) / RAPID_Z_FEED * 60
+   local dT3 = abs( dL3) / ( RAPID_Z_FEED * 60) -- CalcMoveTime( abs( dL3), RAPID_Z_FEED, EMT.SPLIT)
    if dT3 > dTime then dTime = dT3 end
-   local dT4 = abs( dR1) / RAPID_C_FEED * 60
+   local dT4 = abs( dR1) / ( RAPID_C_FEED / 60)
    if dT4 > dTime then dTime = dT4 end
-   local dT5 = abs( dR2) / RAPID_B_FEED * 60
+   local dT5 = abs( dR2) / ( RAPID_B_FEED / 60)
    if dT5 > dTime then dTime = dT5 end
    EMT.MCHEXTTIME = EMT.MCHEXTTIME + dTime
    EgtOutLog( string.format( '  G0 Len=%.0f Rot=%.0f° Time=%.2f', dLen, abs( dR1) + abs( dR2), dTime), 5)
@@ -1505,7 +1561,7 @@ function OnEstimLinear()
    local dLen = sqrt( dL1 * dL1 + dL2 * dL2 + dL3 * dL3)
    EMT.MCHCUTLEN = EMT.MCHCUTLEN + dLen
    -- calcolo tempo
-   local dTime = dLen / EMT.F * 60
+   local dTime = dLen / ( EMT.F / 60) -- CalcMoveTime( dLen, EMT.F, EMT.SPLIT)
    EMT.MCHCUTTIME = EMT.MCHCUTTIME + dTime
    EgtOutLog( string.format( '  G1 Len=%.0f Time=%.2f', dLen, dTime), 5)
    -- aggiorno valori come precedenti
@@ -1652,6 +1708,70 @@ function GetParkT()
    end
 end
 
+---------------------------------------------------------------------
+function CalcDinamicaPinze_TPA( dH, dS, dL)
+   local MinTempoAcc = EMT.MINACC        -- [ms] ~300
+   local MaxTempoAcc = EMT.MAXACC        -- [ms] ~4000
+   local KgMtCubo= WoodDensity or 550              -- densità legno [Kg / metro cubo]
+   local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
+   local FMaxPinze = EMT.FMAXPINZE                 -- Feed massima pinze [mm/min]
+   local ForzaAttrito = 350 * 9.8 * 0.2            -- Forza chiusura pinze [Kgf] * g * Coeff_Attrito -> [N]
+   local TempoAcc = EgtClamp( ( Massa * FMaxPinze) / ( 60 * ForzaAttrito), MinTempoAcc, MaxTempoAcc)
+   local RidFeed = 100 / Massa * 100
+   if RidFeed > 100 then
+      RidFeed = 100
+   elseif RidFeed < 10 then
+      RidFeed = 10
+   end
+   return TempoAcc, MinTempoAcc, RidFeed
+end
+
+---------------------------------------------------------------------
+function CalcDinamicaPinze_NUM( dH, dS, dL)
+   local KgMtCubo= WoodDensity or 550              -- densità legno [Kg / metro cubo]
+   local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
+   local FMaxPinze = EMT.FMAXPINZE                 -- Feed massima pinze [mm/min]
+   local ForzaAttrito = 350 * 9.8 * 0.2            -- Forza chiusura pinze [Kgf] * g * Coeff_Attrito -> [N]
+   local TempoAcc = ( ( Massa * FMaxPinze) / ( 60 * ForzaAttrito) / 1000)
+   local AccMaxPinze = EMT.MAXACC
+   local AccPinze = EgtClamp( FMaxPinze / ( 60 * TempoAcc), EMT.MINACC, EMT.MAXACC)
+   local RidFeed = 100 / Massa * 100
+   if RidFeed > 100 then
+      RidFeed = 100
+   elseif RidFeed < 10 then
+      RidFeed = 10
+   end
+   return AccPinze, AccMaxPinze, RidFeed, TempoAcc
+end
+
+---------------------------------------------------------------------
+function CalcMoveTime( dPathLen, dFeed, bIsSplitted)
+   local dTime
+   local dFeedInSec = dFeed / 60
+
+   if NumericalControl == 'TPA' then
+      local dTempoAcc, _, _ = CalcDinamicaPinze_TPA( EMT.HT, EMT.ST, EgtIf( bIsSplitted, EMT.LT, EMT.LB))
+      dTempoAcc = dTempoAcc / 1000
+      -- se si raggiunge la velocità massima
+      if dPathLen >= dFeedInSec * dTempoAcc then
+         dTime = dTempoAcc * 2 + ( ( dPathLen - dFeedInSec * dTempoAcc) / dFeedInSec)
+      else
+         dTime = 2 * sqrt( (dPathLen * dTempoAcc) / dFeedInSec)
+      end
+   else
+      local dAcc, _, _, _ = CalcDinamicaPinze_NUM( EMT.HT, EMT.ST, EgtIf( bIsSplitted, EMT.LT, EMT.LB))
+      -- Caso 1: dFeed raggiunta
+      if dPathLen >= ( dFeedInSec ^ 2) / dAcc then
+         dTime = ( dFeedInSec / dAcc) + ( dPathLen / dFeedInSec)
+      -- Caso 2: dFeed non raggiunta
+      else
+         dTime = 2 * sqrt( dPathLen / dAcc)
+      end
+   end
+
+   return dTime
+end
+
 ---------------------------------------------------------------------
 -- *** END GENERAL ***
 ---------------------------------------------------------------------

Common_FAST.mlse

@@ -931,7 +931,7 @@ function SpecCalcEncumbrance( vtTool, vtArm, ptMin, ptMax, bSaw, bChain, dTLen,
    local dHeadBack = 350
    if bSaw then
       if vtTool:getX() > 0 and abs( vtTool:getY()) < 0.088 and abs( vtTool:getZ()) < 0.088 then
-         dHeadBack = 50 + 0.5 * dTDiam * sqrt( 1 - vtTool:getX() * vtTool:getX())
+         dHeadBack = 50 + 0.5 * dTDiam * sqrt( 1 - vtTool:getX() * vtTool:getX()) + EgtIf( EMC.CNT == 1, 10, 0)
       elseif abs( vtTool:getZ()) < 0.26 and abs( vtTool:getX()) < 0.35 then
          dHeadBack = EgtIf( vtArm:getX() < 0, 540, 350)
       elseif abs( vtTool:getZ()) < 0.26 and abs( vtTool:getX()) < 0.71 then
@@ -1022,7 +1022,7 @@ function SpecCalcEncumbrance( vtTool, vtArm, ptMin, ptMax, bSaw, bChain, dTLen,
    local dHeadFront = 350
    if bSaw then
       if vtTool:getX() < 0 and abs( vtTool:getY()) < 0.088 and abs( vtTool:getZ()) < 0.088 then
-         dHeadFront = 50 + 0.5 * dTDiam * sqrt( 1 - vtTool:getX() * vtTool:getX())
+         dHeadFront = 50 + 0.5 * dTDiam * sqrt( 1 - vtTool:getX() * vtTool:getX()) + EgtIf( EMC.CNT == 1, 10, 0)
       elseif abs( vtTool:getZ()) < 0.26 and abs( vtTool:getX()) < 0.35 then
          dHeadFront = EgtIf( vtArm:getX() > 0, 540, 350)
       elseif abs( vtTool:getZ()) < 0.26 and abs( vtTool:getX()) < 0.71 then
@@ -1642,7 +1642,9 @@ function SpecAdjustCarriages( vCmd, dTPosI, dYDeltaI, dVDeltaI, dTPosF, dYDeltaF
       --    * deve effettivamente spostarsi
       --    * non si arriva da gestione passo del pellegrino
       --    * se riesce a raggiungere la posizione con le corse a disposizione per come sono posizionate le morse attualmente
-      if ( dYDeltaI - dVDeltaF) + 10 * GEO.EPS_SMALL >= MyMinY - MaxV and abs( dVDeltaF - dVDeltaI) > 10 * GEO.EPS_SMALL and  not EMC.PILGRIMSTEP and
+      if ( dYDeltaI - dVDeltaF) + 10 * GEO.EPS_SMALL >= MyMinY - MaxV and
+         ( abs( dVDeltaF - dVDeltaI) > 10 * GEO.EPS_SMALL or not EMC.VDELTA) and
+         not EMC.PILGRIMSTEP and
          ( dVDeltaF - dVDeltaI > MinV - dVPosI + MyMinY - dYPosI) then
          table.insert( vCmd, { 0, 'Direct-V-Y'})
          -- se l'altra morsa non era in presa, vado a pinzare il pezzo
@@ -1747,7 +1749,9 @@ function SpecAdjustCarriages( vCmd, dTPosI, dYDeltaI, dVDeltaI, dTPosF, dYDeltaF
       --    * deve effettivamente spostarsi
       --    * non si arriva da gestione passo del pellegrino
       --    * se riesce a raggiungere la posizione con le corse a disposizione per come sono posizionate le morse attualmente
-      elseif ( dYDeltaF - dVDeltaI) + 10 * GEO.EPS_SMALL >= MyMinY - MaxV and abs( dYDeltaF - dYDeltaI) > 10 * GEO.EPS_SMALL and  not EMC.PILGRIMSTEP and
+      elseif ( dYDeltaF - dVDeltaI) + 10 * GEO.EPS_SMALL >= MyMinY - MaxV and 
+             ( abs( dYDeltaF - dYDeltaI) > 10 * GEO.EPS_SMALL or not EMC.YDELTA) and
+             not EMC.PILGRIMSTEP and
              ( dYDeltaF - dYDeltaI < MaxY - dYPosI + MaxV - dVPosI) then
          table.insert( vCmd, { 0, 'Direct-Y-V'})
          -- se l'altra morsa non era in presa, vado a pinzare il pezzo

Essetre-FASTrl.mlde

@@ -10,9 +10,9 @@
 require( 'EmtGenerator')
 EgtEnableDebug( false)
 
-PP_VER = '2.7f2'
-PP_NVER = '2.7.6.2'
-MIN_MACH_VER = '2.5k1'
+PP_VER = '2.7l2'
+PP_NVER = '2.7.12.2'
+MIN_MACH_VER = '2.7j1'
 MACH_NAME = string.match( EgtGetCurrMachineDir(), "[^\\]+$")  -- si ricava il nome della macchina dal direttorio
 
 -- Carico i dati globali
@@ -76,9 +76,12 @@ BeamHeightForFixRot = 9999                     -- per abilitare assegnare 500
 NewTopC = true
 SafeXRotAxes = -150
 AggreBlockHaus = false
-EstimationRapidMultiplier = 1
 SecondToolChanger = false
+EstimationRapidMultiplier = 1
 
+-- costanti dimensioni utensili
+LONG_TOOL_MINLEN = 221
+BIG_TOOL_DIAM = 300
 
 -- leggo e aggiorno con parametri da BeamData
 if BD then
@@ -139,10 +142,14 @@ if EgtExistsFile( sData) then
          if Machine.Offsets.MIN_JOIN_LS then MinJoinLS = Machine.Offsets.MIN_JOIN_LS end
          if Machine.Offsets.MIN_JOIN_SL then MinJoinSL = Machine.Offsets.MIN_JOIN_SL end
          if Machine.Offsets.MIN_JOIN_LL then MinJoinLL = Machine.Offsets.MIN_JOIN_LL end
+         if Machine.Offsets.MAXFEEDPINZE then MaxFeedPinze = Machine.Offsets.MAXFEEDPINZE end
+         if Machine.Offsets.MAXACC then MaxAcc = Machine.Offsets.MAXACC end
+         if Machine.Offsets.MINACC then MinAcc = Machine.Offsets.MINACC end
          if Machine.Offsets.NEWTOPC then NewTopC = ( Machine.Offsets.NEWTOPC == 1) end
          if Machine.Offsets.AGGRE_BH then AggreBlockHaus = ( Machine.Offsets.AGGRE_BH == 1) end
-         if Machine.Offsets.COEFF_STIMATEMPI and Machine.Offsets.COEFF_STIMATEMPI > 0 then EstimationRapidMultiplier = Machine.Offsets.COEFF_STIMATEMPI end
          if Machine.Offsets.SEC_TC then SecondToolChanger = ( Machine.Offsets.SEC_TC == 1) end
+         if Machine.Offsets.COEFF_STIMATEMPI and Machine.Offsets.COEFF_STIMATEMPI > 0 then EstimationRapidMultiplier = Machine.Offsets.COEFF_STIMATEMPI end
+         if Machine.Offsets.MAX_HEIGHT_ROT_B_ABOVE then BeamHeightForFixRot = Machine.Offsets.MAX_HEIGHT_ROT_B_ABOVE end
       end
    end
 end
@@ -196,7 +203,7 @@ local CId = EmtAxis {
       Stroke = {MinC, MaxC},
       Home = 0,
       Geo = 'C_AXIS/GEO',
-      Aux = {'C_AXIS/SOLID', 'C_AXIS/COLLISION'}}
+      Aux = {'C_AXIS/SOLID', 'C_AXIS/COLLISION', 'C_AXIS/COLLISION2'}}
 if NewTopC then
    local vtMove = Vector3d( 65,0,0)
    local SolidArmId = EgtGetFirstNameInGroup( EgtGetFirstNameInGroup( CId, 'SOLID'), 'ARM')
@@ -211,9 +218,13 @@ if NewTopC then
    local CollTopId = EgtGetFirstNameInGroup( EgtGetFirstNameInGroup( CId, 'COLLISION'), 'TOP')
    EgtMove( CollTopId, vtMove, GDB_RT.GLOB)
    EgtSetName( CollTopId, 'BOX')
+   local RefId = CollTopId + EgtGetInfo( CollTopId, 'Frame', 'i')
+   EgtSetInfo( RefId, 'CollSkip', 'C_TOP')
 else
    local CollTopId = EgtGetFirstNameInGroup( EgtGetFirstNameInGroup( CId, 'COLLISION'), 'TOP')
    EgtSetName( CollTopId, 'BOX')
+   local RefId = CollTopId + EgtGetInfo( CollTopId, 'Frame', 'i')
+   EgtSetInfo( RefId, 'CollSkip', 'C_TOP')
 end
 EmtAxis {
       Name = 'B',
@@ -533,13 +544,6 @@ if SecondToolChanger then
          TDir = -X_AX(),
          ADir = -Y_AX(),
          Geo = 'BASE/T28'}
-   EmtTcPos {
-         Name = 'T101',
-         Parent = 'Base',
-         Pos = Point3d( 510.4, -113.2, -1160.8),
-         TDir = -X_AX(),
-         ADir = Z_AX(),
-         Geo = 'BASE/T101S'}
 else
    if not SpecialBH then
       EmtTcPos {
@@ -549,14 +553,6 @@ else
             TDir = -X_AX(),
             ADir = Z_AX(),
             Geo = 'BASE/T101'}
-   else
-      EmtTcPos {
-            Name = 'T101',
-            Parent = 'Base',
-            Pos = Point3d( 510.4, -113.2, -1160.8),
-            TDir = -X_AX(),
-            ADir = Z_AX(),
-            Geo = 'BASE/T101S'}
    end
    if SecondSupport == 1 then
       -- supporto per punta
@@ -577,19 +573,6 @@ else
                            ADir = Z_AX(),
                            Geo = 'BASE/T111M'}
       EgtSetInfo( TcpSsId, 'Mortiser', true)
-   elseif SecondSupport == 3 then
-      -- supporto per rinvio angolare
-      local TcpSsId = EmtTcPos {
-                           Name = 'T91',
-                           Parent = 'Base',
-                           ExitNbr = 2,
-                           Pos1 = Point3d( 710.4+150, -113.2, -329.8-170),
-                           TDir1 = -X_AX(),
-                           Pos2 = Point3d( 710.4-150, -113.2, -329.8-170),
-                           TDir2 = X_AX(),
-                           ADir = Z_AX(),
-                           Geo = 'BASE/T91',
-                           Aux = 'BASE/T91_HS'}
    end
    if SpecialBH then
       EmtTcPos {
@@ -602,6 +585,38 @@ else
    end
 end
 
+-- motosega in caso di magazzino 2 o SpecialBH
+if SpecialBH or SecondToolChanger then
+   local TcpSsId = EmtTcPos {
+                        Name = 'T101',
+                        Parent = 'Base',
+                        Pos = Point3d( 510.4, -113.2, -1160.8),
+                        TDir = -X_AX(),
+                        ADir = Z_AX(),
+                        Geo = 'BASE/T101S'}
+   -- spostamento in caso di magazzino 2
+   if SecondToolChanger then
+      EgtMove( TcpSsId, Vector3d( 0, 0, 140), GDB_RT.GLOB)
+   end
+end
+if SecondSupport == 3 then
+   -- supporto per rinvio angolare
+   local TcpSsId = EmtTcPos {
+                        Name = 'T91',
+                        Parent = 'Base',
+                        ExitNbr = 2,
+                        Pos1 = Point3d( 710.4+150, -113.2, -329.8-170),
+                        TDir1 = -X_AX(),
+                        Pos2 = Point3d( 710.4-150, -113.2, -329.8-170),
+                        TDir2 = X_AX(),
+                        ADir = Z_AX(),
+                        Geo = 'BASE/T91',
+                        Aux = 'BASE/T91_HS'}
+   if SecondToolChanger then
+      EgtMove( TcpSsId, Vector3d( 0, 0, -900), GDB_RT.GLOB)
+   end
+end
+
 -- Aggiusto posizioni geometriche
 local vtMove = Vector3d( 0, ( DeltaTabY + 913.16), ( DeltaTabZ + 830.037))
 local vtMoveX = Vector3d( 0, 0, ( DeltaTabZ + 830.037))
@@ -631,24 +646,33 @@ PVLightId = EgtGetFirstNameInGroup( EgtGetFirstNameInGroup( PVId, 'SOLID') or GD
 ---------------------------------------------------------------------
 function OnSetHead()
    -- se testa lama
-   if EMC.HEAD == 'H2' then
-      EmtModifyAxisDirection( 'B', VectorFromRotated( X_AX(), Z_AX(), -SawCOffs))
-      EmtModifyAxisHome( 'C', 0)
-   -- se sega a catena
-   elseif EMC.HEAD == 'H3' then
-      EmtModifyAxisDirection( 'B', X_AX())
-      EmtModifyAxisHome( 'C', 180)
-      local dDist = EgtIf( EMC.DIST and abs( EMC.DIST) > 1, EMC.DIST, ChSawLen)
-      EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -dDist))
-      if not EMC.VER or EMC.VER < '2.5h2' then
-         local vtMove = Point3d( 0, 0, -dDist) - Point3d( EMC.EXITPOS)
-         local ExitId = EgtGetFirstNameInGroup( EgtGetHeadId( EMC.HEAD), 'T'..tostring( EMC.EXIT))
-         EgtMove( ExitId, vtMove)
+   if EMC.HEAD == 'H1' then
+      if EMC.TOTLEN and EMC.TOTLEN < LONG_TOOL_MINLEN then
+         EmtModifyAxisStroke( 'B', {MinB, MaxB})
+      else
+         EmtModifyAxisStroke( 'B', {-140, 140})
       end
-   -- altrimenti
    else
-      EmtModifyAxisDirection( 'B', X_AX())
-      EmtModifyAxisHome( 'C', 0)
+      EmtModifyAxisStroke( 'B', {MinB, MaxB})
+      if EMC.HEAD == 'H2' then
+         EmtModifyAxisDirection( 'B', VectorFromRotated( X_AX(), Z_AX(), -SawCOffs))
+         EmtModifyAxisHome( 'C', 0)
+      -- se sega a catena
+      elseif EMC.HEAD == 'H3' then
+         EmtModifyAxisDirection( 'B', X_AX())
+         EmtModifyAxisHome( 'C', 180)
+         local dDist = EgtIf( EMC.DIST and abs( EMC.DIST) > 1, EMC.DIST, ChSawLen)
+         EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -dDist))
+         if not EMC.VER or EMC.VER < '2.5h2' then
+            local vtMove = Point3d( 0, 0, -dDist) - Point3d( EMC.EXITPOS)
+            local ExitId = EgtGetFirstNameInGroup( EgtGetHeadId( EMC.HEAD), 'T'..tostring( EMC.EXIT))
+            EgtMove( ExitId, vtMove)
+         end
+      -- altrimenti
+      else
+         EmtModifyAxisDirection( 'B', X_AX())
+         EmtModifyAxisHome( 'C', 0)
+      end
    end
 end
 
@@ -710,13 +734,13 @@ function SetFloatPos( sHead, dPos)
    -- recupero Id testa
    local nHeadId = EgtGetHeadId( sHead)
    if not nHeadId then return false end
-   -- se ci sono entit� flottanti nel ToolHolder
+   -- se ci sono entita' flottanti nel ToolHolder
    local nRefId = EgtGetFirstNameInGroup( nHeadId, '_T1')
    local vtTool = EgtFR( nRefId, GDB_ID.ROOT):getVersZ() 
    local nObjId =  EgtGetFirstGroupInGroup( EgtGetFirstNameInGroup( nHeadId, 'T1'))
    local FloatEntities = EgtGetInfoInGroup( nObjId, 'Float')
    if FloatEntities and #FloatEntities > 0 then
-      -- il porta-utensile flottante non pu� comprimersi pi� di 10mm
+      -- il porta-utensile flottante non puo' comprimersi piu' di 10mm
       if dPos > 10 then
          local sErr = 'Floating Ring compressed more than 10mm'
          EmtSetLastError( 1222, sErr)
@@ -725,7 +749,7 @@ function SetFloatPos( sHead, dPos)
       local dFloat = EgtGetInfo( FloatEntities[1], 'Float', 'd')
       if abs( dPos - dFloat) > 10 * GEO.EPS_SMALL then
          local vtMove = ( dPos - dFloat) * vtTool
-         -- sposto tutte le entit� flottanti
+         -- sposto tutte le entita' flottanti
          for i = 1, #FloatEntities do
             EgtMove( FloatEntities[i], vtMove, GDB_RT.GLOB)
             EgtSetInfo( FloatEntities[i], 'Float', dPos)

MachNotes.ini

@@ -22,7 +22,7 @@
 4=l,MaxOptSize,0
 
 [Mortising]
-0=d,MaxElev,0
+0=l,MaxElev,0
 
 [Chiseling]
 

Scripts/SetUp.lua

@@ -51,6 +51,9 @@ if IsTC2Active then
                            {Pos = "Pos19",  TcPos = "T26",  Head = "H1", Group = "G3"},
                            {Pos = "Pos20",  TcPos = "T27",  Head = "H1", Group = "G3"},
                            {Pos = "Pos21",  TcPos = "T28",  Head = "H1", Group = "G3"}}
+   if EgtGetHeadId( 'H5') then
+      table.insert( PositionTableTC2, {Pos = "Pos22", TcPos = "T91", Head = "H5", Group = "G2"})
+   end
    EgtJoinTables( PositionTable, PositionTableTC2)
 else
    local SecSuppId = EgtGetTcPosId( 'T111')

ToolNotes.ini

@@ -6,36 +6,38 @@
 
 [DRILL_STD]
 0=th,TH,
-1=d,STEP
-2=s,DOUBLE
+1=l,STEP
+2=tl,DOUBLE
 
 [SAW_STD]
 0=th,TH,
-1=d,STEP
-2=d,SIDESTEP
+1=l,STEP
+2=l,SIDESTEP
 3=b,LONGCUT
 
 [SAW_FLAT]
 0=th,TH,
-1=d,STEP
-2=d,SIDESTEP
+1=l,STEP
+2=l,SIDESTEP
 3=b,LONGCUT
 
 [MILL_STD]
 0=th,TH,
-1=d,STEP
-2=d,SIDESTEP
-3=d,SIDEDEPTH
-4=s,DOUBLE
+1=l,STEP
+2=l,SIDESTEP
+3=l,SIDEDEPTH
+4=tl,DOUBLE
+5=lr,TOOL_OVERHANG
 
 [MILL_NOTIP]
 0=th,TH,
-1=d,STEP
-2=d,SIDESTEP
-3=d,SIDEDEPTH
-4=s,DOUBLE
+1=l,STEP
+2=l,SIDESTEP
+3=l,SIDEDEPTH
+4=tl,DOUBLE
+5=lr,TOOL_OVERHANG
 
 [MORTISE_STD]
 0=b,MORTISE
-1=d,STEP
-2=d,SIDESTEP
+1=l,STEP
+2=l,SIDESTEP

UpdateLog.txt

@@ -1,5 +1,39 @@
            ==== Common_FAST Update Log ====
 
+Versione 2.7l1 (10/12/2025)
+- (SIM) Aggiornata risoluzione VMillTol in funzione dello spessore lama
+- (EST) Modifiche a calcolo stima tempi, da verificare.
+- (SIM) Corretto movimento in simulazione che non rispettava movimento generato.
+- (GEN) Con controllo NUM/NUM_PLUS nella scrittura della coordinata tolto il simbolo '='
+- (SIM) Aggiunto controllo C in base a carico Dx o Sx durante il cambio utensile
+
+Versione 2.7k1 (10/11/2025)
+- (GEN) Corretto set variabili info utensile prima del movimento in home in caso di pezzi alti per NUM/NUM_PLUS.
+
+Versione 2.7j2 (08/10/2025)
+- (SIM-GEN) Quando si scarica motosega, si raddrizza prima l'asse B e poi si muove il C. Ora sempre e non solo se pezzo alto.
+
+Versione 2.7j1 (06/10/2025)
+- (SIM-GEN) Quando si scarica motosega, si raddrizza prima l'asse B e poi si muove il C.
+- (MLDE-SIM) Controllo collisione tra utensile e TOP testa C. Serve CAM5 2.7j1
+
+Versione 2.7i3 (23/09/2025)
+- (MLDE-ALL) Spostate costanti dimensioni utensili in MLDE.
+
+Versione 2.7i2 (17/09/2025)
+- (EST) Stima tempi considerando accelerazioni
+- (SIM) Prelievo e deposito motosega con gli angoli comunicati da Essetre
+
+Versione 2.7i1 (08/09/2025)
+- (SIM-GEN) Se lavorazione precedente e successiva con motosega e si cambiano assi rotanti, vado in parcheggio per ruotare. Ticket#1844
+- (SIM-GEN) Per NEWCLAMPING, corretto un caso di riposizionemento allo scarico dove la pinza V poteva andare in posizione direttamente, ma cercava di fare passo pellegrino. Ticket#2572
+
+Versione 2.7g1 (01/07/2025)
+- (GEN) Aggiunti parametri FMAXPINZE, MAXACC, MINACC configurabili da TS3. Ticket#2052
+
+Versione 2.7f3 (26/06/2025)
+- (SIM-GEN) Aggiunti 10mm di sicurezza in caso di primo pinzaggio per stare oltre tolleranza riqualifica laser di 50mm. Ticket#2504
+
 Versione 2.7f2 (19/06/2025)
 - (GEN) Se in separazione il pezzo è andato più lontano della posizione standard, viene riletta. Ticket#2498
 

Version.lua

@@ -3,7 +3,7 @@
 
 local InfoCommon_STD_PP = {
    NAME = 'Common_FAST',            -- nome script PP standard
-   VERSION = '2.7f2',                 -- versione script
+   VERSION = '2.7l1',                 -- versione script
    MIN_MACH_VER_PP_COMMON = '2.5k1'   -- versione minima kernel
 }