-- Processore standard macchine FAST by EgalWare s.r.l.   2024/02/23
-- Con controllo numerico NUM

-- carico librerie
local INFO_STD_PP = require( 'Version')
local BD = require( 'BeamData')

-- Variabili di modulo
local CSP_INFO =     INFO_STD_PP.NAME..'_'..NumericalControl..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
local MACHINE_INFO = MACH_NAME..'  ver.'..PP_VER
local TEST_USE = false

---------------------------------------------------------------------
-- *** GENERATION ***
---------------------------------------------------------------------
function OnStart()
   -- controllo versione programma
   if not EMT.VER or EMT.VER < MIN_MACH_VER then
      EmtSetLastError( 1200, 'A newer version of the program is required (minimum EgtMachKernel '..MIN_MACH_VER..')')
   end
   EMT.USETO1 = false     -- abilitazione uso origine tavola
   EMT.MODAL = true       -- abilitazione emissione modale
   EMT.INCHES = false     -- unità di misura mm/inches
   EMT.NUM = false        -- abilitazione numerazione linee
   --EMT.Nt = 'N'           -- token per la numerazione di linea
   --EMT.LINENBR = 0        -- numero di linea
   --EMT.LINEINC = 1        -- incremento numerazione linee
   --EMT.Ft = 'F'           -- token per feed
   --EMT.St = 'S'           -- token per speed
   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

---------------------------------------------------------------------
function OnEnd()
   -- Ripristino fase iniziale come corrente
   EgtSetCurrPhase( 1)
end

---------------------------------------------------------------------
function OnProgramStart()
   -- Intestazioni
   local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
   local nPatt = EgtGetInfo( BtlInfoId, 'PATTID', 'i') or 40
   EmtOutput( '%'..EgtNumToString( nPatt, 0)..'.0')

   -- aggiungo prefisso per commentae commenti iniziali se la macchina è utilizzata per fare i test
   local sPrefixCommentLine = '' ; if IS_TEST_MACHINE or EgtEndsWith( EgtGetCurrMachineDir(), '.TEST') then sPrefixCommentLine = '//' end

   if EMT.INFO then
      EmtOutput( sPrefixCommentLine..'('..EMT.INFO..')')
   else
      EmtOutput( '(Program Start)')
   end
   EmtOutput( sPrefixCommentLine..'('.. CSP_INFO..')')
   EmtOutput( sPrefixCommentLine..'('.. MACHINE_INFO..')\n')
   EmtOutput( '(HEADER)')
   -- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
   if TEST_USE then
      EmtOutput( 'M28')
      EmtOutput( 'N1 G101 Z-100 L0=0')
      EmtOutput( 'N1 G101 ET1001')
      EmtOutput( 'N1 G101 ET2001\n')
   end
   -- Cerco primo utensile su testa 1
   EMT.TOOL_1, EMT.TLEN_1 = FindFirstToolOnHead( 'H1')
   -- Dichiaro inizio
   EMT.FIRST = true
   EMT.TLAST = nil
end

---------------------------------------------------------------------
function OnProgramEnd()
   -- Arresto mandrino
   EmtOutput( 'M05')
   -- Emissione scarico
   --for i = 1, #EMT.AUXCMD do
   --   EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
   --end
   EMT.AUXCMD = {}
   for i = 1, #EMT.AUXSTR do
      EmtOutput( EMT.AUXSTR[i])
   end
   if #EMT.AUXSTR > 0 then
      if EMT.AUXTYPE == 'S'  or  EMT.AUXTYPE == 'R' then
         EmtOutput( 'G111 ET1004')
         EmtOutput( 'G111 ET2004')
      elseif EMT.AUXTYPE == 'U' then
         local sP1x = EgtIf( EMT.CHY_ON, '4', '2')
         EmtOutput( 'G111 ET100'..sP1x)
         EmtOutput( 'G111 ET200'..sP1x)
         -- emissione conclusione pezzo precedente (se non si è in test)
         if not TEST_USE and EMT.PRODID then
            local sEnd= 'G113 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
            EmtOutput( sEnd)
         end
      end
   end
   EMT.AUXSTR = {}
   EMT.AUXTYPE = nil
   EMT.U_STD = nil
   EMT.UNL = nil
   EMT.PREROT = nil
   EMT.SPLITROT = nil
   EMT.CHY_ON = nil
   EMT.FALL = nil
   EMT.RELOAD = nil
   EMT.RELOAD2 = nil
   EmtOutput( '(FOOTER)')
   -- Se modalità test, termino il programma
   if TEST_USE then
      EmtOutput( 'M02')
   end
end

---------------------------------------------------------------------
function OnToolData()
   -- emissione dati utensile (esclusa lama)
   if EMT.HEAD == 'H1' then
      -- output info
      local sPos
      if #EMT.TCPOS == 2 then
         sPos = EMT.TCPOS:gsub( 'T', 'N30')
      elseif #EMT.TCPOS == 3 then
         sPos = EMT.TCPOS:gsub( 'T', 'N3')
      else
         sPos = EMT.TCPOS:gsub( 'T1', 'N4')
      end
      local sOut = 'L1='..EgtNumToString( EMT.SMAX, 0)..' L2='..EmtLenToString( EMT.TTOTLEN, 1)..' G76H9998.2'..sPos..sPos
      EmtOutput( sOut)
      -- cerco posizione di attrezzaggio del primo utensile di lavorazione
      if EMT.TOOL == EMT.TOOL_1  and  EMT.TLEN_1 < 215.5 then
         EMT.TCPOS_1 = EMT.TCPOS
      end
   -- emissione dati sega a catena
   elseif EMT.HEAD == 'H3' then
      if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
      local sOut = 'L1='..EgtNumToString( EMT.SMAX, 0)..' L2='..EmtLenToString( ( EMT.TDIST or ChSawLen), 1)..' G76H9998.2N401N404'
      EmtOutput( sOut)
   end
end

---------------------------------------------------------------------
function OnDispositionStart()
   --EmtOutput( '(Disposition '..EMT.DISPIND..' = '..EMT.DISPID..')')
   EMT.OPEISDISP = true
   -- Assegnazione parametri disposizione
   EMT.TPOS = EgtGetInfo( EMT.DISPID, 'TPOS', 'd') 
   EMT.YPOS = EgtGetInfo( EMT.DISPID, 'YPOS', 'd')   
   -- Se prima disposizione
   if EMT.PHASE == 1 then
      -- emissione dati di macchina
      local sOut = 'G114 EA'..EmtLenToString( LoadT, 2)..' EB'..EmtLenToString( MinY, 2)..' EC'..EmtLenToString( MaxY, 2)..
                   ' ED'..EmtLenToString( MinV, 2)..' EE'..EmtLenToString( MaxV, 2)..' EF'..EmtLenToString( MillOffs, 2)..
                   ' EG'..EmtLenToString( SawOffs, 2)..' EI'..EmtLenToString( ParkY, 2)..' EL'..EmtLenToString( ParkV, 2)..
                   ' EM'..EmtLenToString( TurnerOffs, 2)
      EmtOutput( '\n' .. sOut .. '\n')
      -- carico barra
      EMT.LOAD = true
   else
      EMT.LOAD = false
      if IsEnd2Phase( EMT.PHASE - 1) then
         EMT.RELOAD = true
         EMT.RELOAD2 = false
      elseif IsStartPhase( EMT.PHASE) then
         EMT.YDELTA = EMT.YPOS - LoadT
         EMT.VDELTA = nil
      end
   end
end

---------------------------------------------------------------------
function OnDispositionEnd()
   -- Se disposizione inizio o rimanenza
   if IsStartOrRestPhase( EMT.PHASE) then
      -- reset recupero sovramateriale in X non più presente
      EMT.X_OFF = nil
      -- dati del grezzo
      local LBarra = EMT.LB
      -- dati del pezzo
      local IdTrave = EMT.IT
      local LTrave = EMT.LT
      local HTrave = EMT.HT
      local STrave = EMT.ST
      local HOverM = EMT.HOVM
      -- calcolo dati pinze
      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)
      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
         local sOut = '( SN='..IdTrave..' LBarra='..EmtLenToString(LBarra,3)..' L='..EmtLenToString(LTrave,3)..
                      ' H='..EmtLenToString(HTrave,3)..' S='..EmtLenToString(STrave,3)..' Acc='..EmtLenToString(TempoAcc,1)..
                      ' RidFeed='..EmtLenToString(RidFeed,3)..' FeedMax='..EmtLenToString(FMaxPinze / 100 * RidFeed,3)..' )'
         MyOutputNoNum( sOut)
         sOut = 'E30049='..EmtLenToString(AccPinze,0)..' E30050=8555 E30051='..EmtLenToString(AccPinze,0)..
                ' E30052=8555'..' E30054='..EmtLenToString(AccPinze,0)..' E30039='..EmtLenToString(RidFeed*1000,0)..
                ' E30040='..EmtLenToString(RidFeed*1000,0)..' E30017=E80017'..' E30018=E80018'..' E10012=1'
         MyOutputNoNum( sOut)
         local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
         EMT.PRODID = EgtGetInfo( BtlInfoId, 'PRODID', 'i') or 0
         EMT.PATTID = EgtGetInfo( BtlInfoId, 'PATTID', 'i') or 0
         EMT.CUTID = EgtGetInfo( EMT.IDT, 'CUTID', 'i') or 0
         local sStart = '(G113 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED1)' 
         -- da emettere solo se aggiorna PLC
         EmtOutput( sStart)
      else
         MyOutputNoNum( '(REMAIN UNLOAD)')
         EMT.PRODID = nil
         EMT.PATTID = nil
         EMT.CUTID = nil
      end   
      -- se carico barra
      if EMT.LOAD then
         -- verifico se sezione già caricata
         local sOut = 'IF E30036<'..EmtLenToString(HTrave*1000,0)..' OR E30033<'..EmtLenToString(STrave*1000,0)..' THEN'
         EmtOutput( sOut)
         sOut = 'M119'
         EmtOutput( sOut)
         sOut = 'M149'
         EmtOutput( sOut)
         sOut = 'ENDI'
         EmtOutput( sOut)
         -- assegnazione dati trave e barra
         sOut = 'E30036='..EmtLenToString(HTrave*1000,0)..' E30033='..EmtLenToString(STrave*1000,0)..
                ' E30069='..EmtLenToString(LBarra*1000,0)
         EmtOutput( sOut)
         -- preselezione prima fresa (della testa 1)
         sOut = 'IF E30001=0 THEN'
         EmtOutput( sOut)
         sOut = 'M6' .. ( EMT.TCPOS_1 or 'T1')
         -- va scritto 2 volte
         EmtOutput( sOut)
         EmtOutput( sOut)
         sOut = 'ENDI'
         EmtOutput( sOut)
         -- ora abilito numerazione linee
         EMT.NUM = true
         EMT.LINENBR = 0
      -- se altrimenti ricarico barra dopo rotazione speciale
      elseif EMT.RELOAD then
         -- assegnazione dati trave e barra
         sOut = 'E30036='..EmtLenToString(HTrave*1000,0)..' E30033='..EmtLenToString(STrave*1000,0)..
                ' E30069='..EmtLenToString(LBarra*1000,0)
         EmtOutput( sOut)
      -- altrimenti recupero rimanenza   
      else
         EmtOutput( 'G112 EC1'..' Y'..EmtLenToString( EMT.TPOS, 3).. ' EY'..EmtLenToString( EMT.YPOS, 3)..' EV'..EmtLenToString( ParkV, 3) ..' EF'..GetFmaxClamp())
         -- aggiorno dati aggancio carrelli alla trave
         EMT.YDELTA = EMT.YPOS - EMT.TPOS
         EMT.VDELTA = nil
      end
      -- eventuale preparazione per rotazione immediata
      if IsStartPhase( EMT.PHASE) and EMT.AUXSTR then
         -- emissione movimento carrelli per rotazione
         EMT.AUXCMD = {}
         if #EMT.AUXSTR > 0 then
            EmtOutput( '(ROTATION)')
         end
         for i = 1, #EMT.AUXSTR do
            EmtOutput( EMT.AUXSTR[i])
         end
         if #EMT.AUXSTR > 0 then
            EmtOutput( 'G111 ET1004')
            EmtOutput( 'G111 ET2004')
         end
         EMT.AUXSTR = {}
         EMT.AUXTYPE = nil
      end
   -- se altrimenti disposizione intermedia, eventuale rotazione
   elseif IsMidPhase( EMT.PHASE) or IsEnd2Phase( EMT.PHASE) then
      -- se rotazioni diverse, emetto il comando e aggiorno lo stato
      if VerifyEmitRotation() then
         -- imposto stato post-rotazione
         EMT.POSTROT = true
         -- imposto recupero sovramateriale in X non più presente
         EMT.X_OFF = EMT.HOVM
      end
   -- se altrimenti disposizione intermedia speciale con eventuale rotazione
   elseif IsMid2Phase( EMT.PHASE) then
      -- emissione movimento carrelli
      EMT.AUXCMD = {}
      if #EMT.AUXSTR > 0 then
         EmtOutput( '(ROTATION)')
      end
      for i = 1, #EMT.AUXSTR do
         EmtOutput( EMT.AUXSTR[i])
      end
      if #EMT.AUXSTR > 0 then
         EmtOutput( 'G111 ET1004')
         EmtOutput( 'G111 ET2004')
      end
      EMT.AUXSTR = {}
      EMT.AUXTYPE = nil
      -- se rotazioni diverse, emetto il comando e aggiorno lo stato
      if VerifyEmitRotation() then
         -- imposto stato post-rotazione
         EMT.POSTROT = true
         -- imposto recupero sovramateriale in X non più presente
         EMT.X_OFF = EMT.HOVM
      end
   -- altrimenti disposizione finale, eventuale scarico pezzo lavorato se non ci sono lavorazioni
   else
      EMT.AUXCMD = {}
      if #EMT.AUXSTR > 0 then
         MyOutputNoNum( '(PART UNLOAD)')
      end
      for i = 1, #EMT.AUXSTR do
         EmtOutput( EMT.AUXSTR[i])
      end
      if #EMT.AUXSTR > 0 then
         EmtOutput( 'G111 ET1002')
         EmtOutput( 'G111 ET2002')
         -- emissione conclusione pezzo precedente
         if EMT.PRODID then
            local sEnd= 'G113 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
            EmtOutput( sEnd)
         end
      end
      EMT.AUXSTR = {}
      EMT.AUXTYPE = nil
      EMT.U_STD = nil
   end

   EMT.OPEISDISP = false
end

---------------------------------------------------------------------
function OnTableData()
end

---------------------------------------------------------------------
function OnFixtureData()
end

---------------------------------------------------------------------
function OnRawMoveData()
   -- Se disposizione inizio o rimanenza
   if IsStartOrRestPhase( EMT.PHASE) then
      -- se primo grezzo, reset lunghezza barra
      if EMT.RAWIND == 1 then EMT.LB = 0 end   
      -- aggiungo la lunghezza del grezzo (solo se movimento in corner)
      if EMT.RAWTYPE == 1 then
         local b3Raw = EgtGetBBoxGlob( EgtGetFirstNameInGroup( EMT.RAWID, 'RawSolid'), GDB_BB.STANDARD)
         local LBarra = b3Raw:getDimX()
         EMT.LB = EMT.LB + LBarra
      end
      -- se primo grezzo, calcolo dati del pezzo
      if EMT.RAWIND == 1 then
         local PartId = EgtGetFirstPartInRawPart( EMT.RAWID)
         if PartId then
            EMT.IDT = PartId
            EMT.IT = EgtGetInfo( PartId, 'PDN', 'i') or 0
            local b3Part = EgtGetBBoxGlob( EgtGetFirstNameInGroup( PartId, 'Box'), GDB_BB.STANDARD)
            EMT.LT = b3Part:getDimX()
            EMT.HT = b3Part:getDimY()
            EMT.ST = b3Part:getDimZ()
            EMT.HOVM = EgtGetInfo( EMT.RAWID, 'HOVM', 'd') or 0
         else
            EMT.IDT = GDB_ID.NULL
            EMT.IT = -1
            EMT.LT = 0
            EMT.HT = EMT.HT or 0
            EMT.ST = EMT.ST or 0
            EMT.HOVM = 0
         end
      end
   end
end

---------------------------------------------------------------------
function OnToolSelect()
   -- se utensile definito (non definito per disposizioni con movimento)
   if EMT.TOOL ~= '' then
      -- verifiche su utensile
      local sTool = EgtTdbGetToolFromUUID( EgtGetMachiningParam( MCH_MP.TUUID) or "")
      if sTool ~= EMT.TOOL then error( "Tool name mismatch") end
      -- predefinite EMT.TCPOS EMT.HEAD EMT.EXIT
      EMT.TOOLTYPE = EgtTdbGetCurrToolParam( MCH_TP.TYPE)
      EMT.TOOLSEL = EMT.TCPOS..' M06'
      EMT.TDIAM = EgtTdbGetCurrToolParam( MCH_TP.DIAM)
      EMT.TTOTDIAM = EgtTdbGetCurrToolParam( MCH_TP.TOTDIAM)
      EMT.TLEN = EgtTdbGetCurrToolParam( MCH_TP.LEN)
      EMT.TTOTLEN = EgtTdbGetCurrToolParam( MCH_TP.TOTLEN)
      if MCH_TP.DIST then EMT.TDIST = EgtTdbGetCurrToolParam( MCH_TP.DIST) end
      if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
   end
end

---------------------------------------------------------------------
function OnToolDeselect()
end

---------------------------------------------------------------------
function OnMachiningStart()
   --EMT.MCHNAME = EgtGetMachiningParam(MCH_MP.NAME)
   EMT.MCHNAME = EgtGetOperationName( EMT.MCHID)
   EMT.MCHTYPE = EgtGetMachiningParam(MCH_MP.TYPE)
   EMT.MCHUSERNOTES = EgtGetMachiningParam( MCH_MP.USERNOTES)
   -- non ancora iniziata la lavorazione
   EMT.MCHFIRST = true
   -- sistemazione speed
   if EMT.HEAD == 'H2' then
      EMT.S = EMT.S * 6
   end
   -- determino subito se taglio di separazione di pezzo a caduta
   EMT.PREFALLCUT = nil
   if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Split') then
      local ClId = EgtGetFirstNameInGroup( EMT.MCHID, 'CL')
      local P1Id = EgtGetFirstNameInGroup( ClId or GDB_ID.NULL, 'P1')
      local sAE1 = EgtGetInfo( P1Id or GDB_ID.NULL, 'AE1') or ''
      if sAE1 == '0,Fall' then
         EMT.PREFALLCUT = true
      end
   end
end

---------------------------------------------------------------------
function OnMachiningEnd()
   --EmtOutput( ';Mach End')
   -- Emissione split
   --for i = 1, #EMT.AUXCMD do
   --   EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
   --end
   EMT.AUXCMD = {}
   if #EMT.AUXSTR > 0 then
      if EMT.AUXTYPE == 'S' then
         MyOutputNoNum( '(PART SPLIT)')
      elseif EMT.AUXTYPE == 'U' then
         if not EMT.ZMAX then
            EmitZmax()
            EMT.ZMAX = true
         end
         MyOutputNoNum( '(PART UNLOAD)')
      elseif EMT.AUXTYPE == 'P' then
         if EMT.PREROT then
            if not EMT.ZMAX then
               EmitZmax()
               EMT.ZMAX = true
            end
            MyOutputNoNum( '(PART ROTATION)')  
         elseif EMT.FALL then
            if not EMT.ZMAX then
               EmitZmax()
               EMT.ZMAX = true
            end
            EmtOutput( '(FALL)')
         else
            if not EMT.ZMAX then
               EmitZmax()
               EMT.ZMAX = true
            end
            EmtOutput( '(SPLIT 2)')
         end
      end
   end
   for i = 1, #EMT.AUXSTR do
      EmtOutput( EMT.AUXSTR[i])
   end
   if #EMT.AUXSTR > 0 then
      if EMT.AUXTYPE == 'S' then
         EmtOutput( 'G111 ET1004')
         EmtOutput( 'G111 ET2004')
      elseif EMT.AUXTYPE == 'U' then
         local sP1x = EgtIf( EMT.CHY_ON, '4', '2')
         EmtOutput( 'G111 ET100'..sP1x)
         EmtOutput( 'G111 ET200'..sP1x)
         -- emissione conclusione pezzo precedente
         if not TEST_USE and EMT.PRODID then
            local sEnd= 'G113 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
            EmtOutput( sEnd)
         end
      elseif EMT.AUXTYPE == 'P' then
         EmtOutput( 'G111 ET1004')
         EmtOutput( 'G111 ET2004')
         if EMT.FALL then
            EmtOutput( 'M155')
            EmtOutput( 'M28')
            -- emissione conclusione pezzo (se non in modalità test)
            if not TEST_USE and EMT.PRODID then
               local sEnd= 'G113 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
               EmtOutput( sEnd)
            end
         elseif not EMT.PREROT then
            EmtOutput( 'M77')
         end
      end
   end
   EMT.AUXSTR = {}
   EMT.AUXTYPE = nil
   EMT.U_STD = nil
   EMT.PREVTOOL = EMT.TOOL
   EMT.PREVHEAD = EMT.HEAD
   EMT.PREVET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
end

---------------------------------------------------------------------
function OnPathStart()
   -- non ancora iniziata la lavorazione
   EMT.MCHFIRST = true
   -- primo posizionamento sempre in globale
   EMT.REFLOC = nil
   EMT.IPLGL = false
   
   -- 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()
   EMT.AUXCMD = {}
   EMT.AUXSTR = {}
end

---------------------------------------------------------------------
function OnPathEnd()
   EMT.AUXTYPE = nil
   EMT.UNL = nil
   EMT.PREROT = nil
   EMT.SPLITROT = nil
   EMT.CHY_ON = nil
   EMT.FALL = nil
   EMT.AUXCMD = {}
   EMT.AUXSTR = {}
end

---------------------------------------------------------------------
function OnPathStartAux()
   --EgtOutLog( 'OnPathStartAux - ' .. EgtNumToString( EMT.AUXIND, 0) .. ' - ' .. EMT.AUX)

   -- se richiesto, preparo il carico barra
   if EMT.LOAD or EMT.RELOAD then
      PrepareLoad( EMT.AUX, true)
   -- se altrimenti carico dopo rotazione
   elseif EMT.POSTROT then
      PreparePostRotation( EMT.AUX)
   -- altrimenti, preparo lo spostamento carrelli
   else
      PrepareMoveChar( EMT.AUX)
   end
end

---------------------------------------------------------------------
function OnPathEndAux()
   --EgtOutLog( 'OnPathEndAux - ' .. EgtNumToString( EMT.AUXIND, 0) .. ' - ' .. EMT.AUX)
   -- verifico tipo di emissione
   if EMT.OPEISDISP then
      if not EMT.AUXTYPE then
         local Cmd = EgtSplitString( EMT.AUX)
         if Cmd[1] == '0'  and  Cmd[2] == 'Unloading' then
            EMT.AUXTYPE = 'U'
         elseif EgtGetInfo( EMT.DISPID, 'TYPE') == 'REST' then
            EMT.AUXTYPE = 'R'
         else
            EMT.AUXTYPE = 'P'
         end
      end
   else
      if not EMT.AUXTYPE then
         local Cmd = EgtSplitString( EMT.AUX)
         if Cmd[1] == '0'  and  Cmd[2] == 'Split' then
            EMT.AUXTYPE = 'S'
         elseif Cmd[1] == '0'  and  Cmd[2] == 'Unloading' then
            EMT.AUXTYPE = 'U'
         else
            EMT.AUXTYPE = 'P'
            if Cmd[1] == '0' and Cmd[2] == 'Fall' then
               EMT.FALL = true
            end
         end
      elseif EMT.AUXTYPE == 'P' then
         local Cmd = EgtSplitString( EMT.AUX)
         if  Cmd[1] == '0'  and  Cmd[2] == 'Unloading' then
            EMT.CHY_ON = true
            EMT.AUXTYPE = 'U'
         end
      end
   end
   -- preparo a seconda del tipo
   if EMT.AUXTYPE == 'R' then
      -- per il carico della rimanenza dopo rotazione speciale
      if EMT.RELOAD and not EMT.RELOAD2 then
         PrepareLoad( EMT.AUX, false)
      -- per lo scarico della rimanenza
      else
         PrepareResidue( EMT.AUX)
      end
   elseif EMT.AUXTYPE == 'S' then
      -- per lo split
      PrepareSplit( EMT.AUX)
   elseif EMT.AUXTYPE == 'U' then
      -- per lo scarico
      PrepareUnload( EMT.AUX)
   elseif EMT.AUXTYPE == 'P' then
      -- per la pre-rotazione
      PreparePreRotation( EMT.AUX)
   end
end

---------------------------------------------------------------------
function OnRapid()
   -- recupero prossimo utensile
   EMT.NEXTTOOL, EMT.NEXTHEAD, EMT.NEXTTCPOS = FindNextTool()
   MyBackupAxes()
   -- se primo movimento della lavorazione, gestione speciale
   if EMT.MCHFIRST and not EMT.OPEISDISP then
      -- primo posizionamento
      local MyZHome = EgtGetAxisHomePos( 'Z')
      local bZmax = ( #EMT.AUXSTR > 0  or  EMT.TOOL ~= EMT.PREVTOOL  or  EMT.L3 > -1)
      -- decido se muovere prima testa o carrelli (standard prima testa)
      local bHeadFirst = true
      local sLateG101
      if not ( EMT.LOAD or EMT.RELOAD) and not EMT.ZMAX then
         local DeltaT = EMT.L1 - EMT.TLAST
         if ( DeltaT < -GEO.EPS_SMALL and EMT.VDELTA) or ( DeltaT > GEO.EPS_SMALL and EMT.YDELTA) then bHeadFirst = false end
      end
      -- sistemo movimenti
      MyAdjustLinearAxes()
      EmtAdjustRotaryAxes()
      if not ( EMT.LOAD or EMT.RELOAD) then
         if not EMT.ZMAX and #EMT.AUXSTR > 0 then
            EmitZmax()
            EMT.ZMAX = true
            bHeadFirst = false
         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 or 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)

      -- 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' .. 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')
      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 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 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.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')
      end
      EmtResetPrev()
      -- se sono su pezzi alti e movimento da emettere, per sicurezza a Z massima
      local MyZPos = EMT.L3
      if EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
         MyZPos = MyZHome
      end
      local sOut = 'G101' .. EmtGetAxis( 'L2') .. ' Z' .. EmtLenToString( MyZPos, 3) ..
                             EmtGetAxis( 'R2') .. EmtGetAxis( 'R1') .. sEE .. sEL .. sER .. sET .. sES
      -- faccio backup dati in caso mi servano per lavorazione successiva
      EMT.PREVsEE = sEE ; EMT.PREVsEL = sEL ; EMT.PREVsER = sER ; EMT.PREVsET = sET ; EMT.PREVsES = sES 

      if EMT.LOAD or bHeadFirst then
         sOut = sOut..' L0=0'
         EmtOutput( sOut)
         sOut = 'G101 ET1001'
         EmtOutput( sOut)
      else
         -- va ritardata anche l'emissione del comando
         sLateG101 = sOut..' L0=0'
      end
      -- se prima lavorazione
      if EMT.LOAD then
         local nJump = 9
         sOut = 'G79 E80060<>0 N' .. EgtNumToString( nJump, 0) .. ' E10015=0'
         EmtOutput( sOut)
         --for i = 1, #EMT.AUXCMD do
         --   EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
         --end
         EMT.AUXCMD = {}
         if #EMT.AUXSTR > 2 then
            EmtOutput( EMT.AUXSTR[1] .. ' ET1')
            EmtOutput( EMT.AUXSTR[2] .. 'ET1')
            EmtOutput( 'G111 ET1001')
            EmtOutput( 'G79 N' .. EgtNumToString( nJump, 0))
            EmtOutput( 'E80060=1')
            EmtOutput( 'G111 ET2001')
            for i = 3, #EMT.AUXSTR do
               EmtOutput( EMT.AUXSTR[i])
            end
            EmtOutput( 'G111 ET1004')
            EmtOutput( 'G111 ET2004')
         else
            for i = 1, #EMT.AUXSTR do
               EmtOutput( EMT.AUXSTR[i])
            end
            EmtOutput( 'G111 ET1001')
            EmtOutput( 'G79 N' .. EgtNumToString( nJump, 0))
            EmtOutput( 'E80060=1')
            EmtOutput( 'G111 ET2001')
         end
         EMT.AUXSTR = {}
         sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '-'), '%)', '-')
         EmtOutput( '( *** ' .. sOut .. ' *** )')
         sOut = 'G101 ET2001'
         EmtOutput( sOut)
         local sY, sA
         if EMT.YDELTA then
            sY = EmtLenToString( EMT.L1 + EMT.YDELTA)
            sA = '1'
         else
            sY = EmtLenToString( ParkY)
            sA = '2'
         end
         local sV, sB
         if EMT.VDELTA then
            sV = EmtLenToString( EMT.L1 + EMT.VDELTA)
            sB = '1'
         else
            sV = EmtLenToString( ParkV)
            sB = '2'
         end
         sOut = 'G112 EA'..sA..' EB'..sB..''..EmtGetAxis('L1')..' EY'..sY..' EV'..sV..' EF'..GetFmaxClamp()
         EmtOutput( sOut)
         EMT.LOAD = false
      -- altrimenti lavorazione successiva
      else
         -- eventuale G111
         --for i = 1, #EMT.AUXCMD do
         --   EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
         --end
         EMT.AUXCMD = {}
         for i = 1, #EMT.AUXSTR do
            EmtOutput( EMT.AUXSTR[i])
         end
         if #EMT.AUXSTR > 0 then
            if not ( EMT.POSTROT or EMT.RELOAD) then
               EmtOutput( 'G111 ET1004')
               EmtOutput( 'G111 ET2004')
            else
               EmtOutput( 'G111 ET1001')
               EmtOutput( 'G111 ET2001')
            end
         end
         EMT.AUXSTR = {}
         local sY, sA
         if EMT.YDELTA then
            sY = EmtLenToString( EMT.L1 + EMT.YDELTA - ( EMT.X_OFF or 0))
            sA = '1'
         else
            sY = EmtLenToString( EgtIf( EMT.YPOS, EMT.YPOS, ParkY))
            sA = '2'
         end
         local sV, sB
         if EMT.VDELTA then
            sV = EmtLenToString( EMT.L1 + EMT.VDELTA - ( EMT.X_OFF or 0))
            sB = '1'
         else
            sV = EmtLenToString( ParkV)
            sB = '2'
         end
         if bHeadFirst then
            sOut = 'G101 ET2001'
            EmtOutput( sOut)
         end
         sOut = 'G112 EA'..sA..' EB'..sB..EmtGetAxis('L1')..' EY'..sY..' EV'..sV..' EF'..GetFmaxClamp()
         EmtOutput( sOut)
         if not bHeadFirst then
            EmtOutput( sLateG101)
            sOut = 'G101 ET1001'
            EmtOutput( sOut)
            sOut = 'G101 ET2001'
            EmtOutput( sOut)
         end
         EMT.POSTROT = false
         EMT.RELOAD = false
         EMT.RELOAD2 = nil
      end
      -- se taglio di separazione prima di scarico a caduta, emissione stop tappeto scarico trucioli
      if EMT.PREFALLCUT then
         EmtOutput( 'M29')
         EMT.PREFALLCUT = nil
      end
      EMT.REFLOC = 0
      EMT.MCHFIRST = false
      EMT.ZMAX = false
      -- se alto in Z (non serve l'avvicinamento finale)
      if EMT.FLAG == 2 then
         -- aggiorno valori come precedenti
         EMT.TLAST = EMT.L1b
         EmtUpdatePrev()
         return
      -- altrimenti ripristino i valori originali degli assi
      else
         MyRestoreAxes()
      end
   end
   -- se standard
   if EMT.FLAG == 0 or EMT.FLAG == 1 or EMT.FLAG == 2 then
      -- se necessario, impostazione riferimento locale
      if EMT.REFLOC == 0 then
         -- calcolo per piano generico
         CalcInterpPlane()
         EMT.REFLOC = 1
         -- trasformo i punti nel piano
         MyAdjustLinearAxes()
         EmtAdjustRotaryAxes()
         EMT.L1p = nil
         EMT.L2p = nil
         EMT.L3p = nil
         EmtOutput( 'G102'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..EMT.IPLGLSTR)
      else
         MyAdjustLinearAxes()
         EmtAdjustRotaryAxes()
      end
      -- emissione movimento
      local sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')
      if EMT.HEAD ~= 'H2' then sOut = sOut..EmtGetAxis('R2')..EmtGetAxis('R1') end
      EmtOutput( sOut)
   -- se altrimenti risalita a Z max a fine lavorazione
   elseif EMT.FLAG == 3 then
      EMT.REFLOC = nil
      EMT.IPLGL = false
      MyAdjustLinearAxes()
      EmtAdjustRotaryAxes()
      EmitZmax()
      EMT.ZMAX = true
      -- se pezzi alti e devo cambiare utensile su testa con CU, porto la testa vicino al cambio utensile
      if EMT.ST > BeamHeightForFixRot  and  EMT.HEAD == 'H1' and  EMT.TOOL ~= EMT.NEXTTOOL  and  EMT.NEXTHEAD ~= 'H2' then
         local dBAxis = 90
         local dCAxis = EgtIf( BD.RIGHT_LOAD, 90, -90)         
         local sEE = ' EE3'
         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)
         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
         EmtOutput( sOut)
         EmtOutput( 'G101 ET1001')
         EmtOutput( 'G101 ET2001')
      end
   -- se altrimenti movimento in Home
   elseif EMT.FLAG == 4 then
      -- non previsto
   -- se altrimenti rotazione a Z max per lavorazione successiva
   elseif EMT.FLAG == 5 then
      EMT.REFLOC = nil
      EMT.IPLGL = false
      MyAdjustLinearAxes()
      EmtAdjustRotaryAxes()
      EmtResetPrev()
      -- ricavo i dati per la lavorazione
      local sEE = ' EE3'
      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)
      local sOut = 'G101' .. EmtGetAxis( 'L2') .. EmtGetAxis( 'L3') ..
                             EmtGetAxis( 'R2') .. EmtGetAxis( 'R1') .. sEE .. sEL .. sER .. sET .. sES
      EmtOutput( sOut)
      EmtOutput( 'G101 ET1001')
      EmtOutput( 'G101 ET2001')
   -- altrimenti errore
   else
      EmtSetLastError( 1212, "Unknown Rapid flag")
   end
   -- aggiorno valori come precedenti
   EMT.TLAST = EMT.L1b
   EmtUpdatePrev()
end

---------------------------------------------------------------------
function OnLinear()
   MyBackupAxes()
   EMT.TLAST = EMT.L1
   -- se necessario, impostazione riferimento locale
   if EMT.REFLOC == 0 then
      -- calcolo per piano generico
      CalcInterpPlane()
      EMT.REFLOC = 1
      -- salvo posizione attuale
      local OldL1 = EMT.L1
      local OldL2 = EMT.L2
      local OldL3 = EMT.L3
      -- imposto posizione precedente (non contiene l'offset in X per sovramateriale di testa EMT.X_OFF)
      EMT.L1 = EMT.L1o
      EMT.L2 = EMT.L2o
      EMT.L3 = EMT.L3o
      -- trasformo i punti nel piano
      MyAdjustLinearAxes()
      EmtAdjustRotaryAxes()
      EMT.L1p = nil
      EMT.L2p = nil
      EMT.L3p = nil
      EmtOutput( 'G102'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..EMT.IPLGLSTR)
      -- emissione movimento
      local sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')
      if EMT.HEAD ~= 'H2' then sOut = sOut..EmtGetAxis('R2')..EmtGetAxis('R1') end
      EmtOutput( sOut)
      -- ripristino posizione attuale
      EMT.L1 = OldL1
      EMT.L2 = OldL2
      EMT.L3 = OldL3
   end

   -- aggiustamento valori
   MyAdjustLinearAxes()
   EmtAdjustRotaryAxes()

   -- valori degli assi
   local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')
   if EMT.HEAD ~= 'H2' then sAxes = sAxes..EmtGetAxis('R2')..EmtGetAxis('R1') end
   -- se nulla da emettere, esco
   if string.len( sAxes) == 0 then
      return
   end
   -- aggiungo feed
   local sFeed = EmtGetFeed()
   -- emetto linea
   EmtOutput( "G1"..sAxes..sFeed)

   -- aggiorno valori come precedenti
   EmtUpdatePrev()
end

---------------------------------------------------------------------
function OnArc()
   MyBackupAxes()
   EMT.TLAST = EMT.L1
   -- non modale su archi
   EmtResetPrevLinear()
   -- aggiustamento valori
   MyAdjustLinearAxes()
   EmtAdjustRotaryAxes()

   -- valori degli assi
   local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')
   if EMT.HEAD ~= 'H2' then sAxes = sAxes..EmtGetAxis('R2')..EmtGetAxis('R1') end
   -- se nulla da emettere, esco
   if string.len( sAxes) == 0 then
      return
   end
   -- valori delle coordinate del centro
   EmtAdjustCenterAxes()
   -- coordinate centro (per ora solo archi nel piano XY)
   --local sCen = ' ' .. EMT.C1t .. EmtLenToString(EMT.C1,3) ..
   --             ' ' .. EMT.C2t .. EmtLenToString(EMT.C2,3)
   -- raggio
   local sRad = ' ' .. EMT.RRt .. EmtLenToString(EMT.RR,3)
   -- aggiungo feed
   local sFeed = EmtGetFeed()
   -- tipo arco
   local sArc = 'G' .. EgtNumToString(EMT.MOVE,0)
   -- se arco molto grande, approssimo con una retta
   if EMT.RR > 99999 then
      EmtOutput( "G1"..sAxes..sFeed)
   else
      EmtOutput( sArc..sAxes..sRad..sFeed)
   end

   -- aggiorno valori come precedenti
   EmtUpdatePrev()
end

---------------------------------------------------------------------
function FindNextTool()
   -- salvo stato iniziale
   local CurrMachId = EgtGetCurrMachining()
   local CurrTool = EgtTdbGetCurrToolParam( MCH_TP.NAME)
   -- cerco lavorazione con utensile su gruppo testa indicato
   local sTool, sHead, sTcPos
   local OpId = EgtGetNextActiveOperation( CurrMachId or EMT.MCHID)
   while OpId do
      local nType = EgtGetOperationType( OpId)
      if nType ~= MCH_OY.NONE  and  nType ~= MCH_OY.DISP then
         if EgtSetCurrMachining( OpId) then
            sTool = EgtGetMachiningParam( MCH_MP.TOOL)
            if EgtTdbSetCurrTool( sTool) then
               sHead = EgtTdbGetCurrToolParam( MCH_TP.HEAD)
               sTcPos = EgtTdbGetCurrToolParam( MCH_TP.TCPOS)
               break
            end
         end
      end
      OpId = EgtGetNextActiveOperation( OpId)
   end
   -- ripristino stato iniziale
   EgtSetCurrMachining( CurrMachId or GDB_ID.NULL)
   EgtTdbSetCurrTool( CurrTool or '')
   -- restituisco risultato
   return sTool, sHead, sTcPos
end

---------------------------------------------------------------------
function CalcCharStatus( sCmd, bSkipPress)
   -- aperto
   if sCmd == '0' then
      return '1'
   -- chiuso
   elseif sCmd == '1' then
      return '2'
   -- chiuso con pressore attivato
   elseif sCmd == '2' then
      return EgtIf( bSkipPress, '2', '0')
   end
end

---------------------------------------------------------------------
function PrepareLoad( sCmd, bStart)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se inizio
      if EMT.AUXIND == 1 then
         -- imposto stato pinze
         EMT.SA = ' EA111'
         EMT.SB = ' EB111'
         EMT.SC = ' EC141'
         EMT.SD = ' ED141'
         EMT.SE = ' EE0'
      end
      -- se dichiarazione inizio riposizionamento carrelli
      if Cmd[2] == 'CARR_MOVE' then
         if bStart then
            EMT.RELOAD = false
         else
            EMT.RELOAD2 = true
         end
         for i = 1, #EMT.AUXSTR do
            EMT.AUXSTR[i] = string.gsub( EMT.AUXSTR[i], 'ET1', '')
         end
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] ~= 'Z' then
         local sOut = 'G111 '..Cmd[2]..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
         if Cmd[2] == 'Y' then EMT.YPOS = tonumber( Cmd[3]) end
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] == 'Y' then
         local sYTaking = ' Y'..EmtLenToString( Cmd[3] + TurnerOffs)
         local sBeamRot = '0'
         if StartRotation and EMT.LB >= AutoRotMinLen then
            local nRot = GetPhaseRot( EMT.PHASE)
            local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
            local nLoad90 = EgtGetInfo( BtlInfoId, 'LOAD90', 'i') or 0
            sBeamRot = tostring( nLoad90)
         end 
         local sOut = 'G111'..sYTaking..' EA75'..EMT.SB..' EE0 EF'..EmtLenToString(EMT.FMAXPINZE,0)..' ET1 E80057='..sBeamRot..' E80058=0'
         table.insert( EMT.AUXSTR, sOut)
      end
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
      local sOut = 'G111'..(EgtIf( Cmd[2] ~= 'T', ' '..Cmd[2]..Cmd[3], ''))..
                           (EgtIf( Cmd[4] ~= 'T', ' '..Cmd[4]..Cmd[5], ''))..
                           (EgtIf( Cmd[6] ~= 'T', ' '..Cmd[6]..Cmd[7], ''))..
                           EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      local bPrevEA76 = ( #EMT.AUXSTR > 0 and EMT.AUXSTR[#EMT.AUXSTR]:find( 'EA76', 1, true))
      if #EMT.AUXSTR > 0 and not bPrevEA76 then
         local sVal = ' EB11' .. CalcCharStatus( Cmd[2])
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
      end
      if not bPrevEA76 then
         EMT.SA = ' EA11' .. CalcCharStatus( Cmd[2])
      end
      EMT.SB = ' EB11' .. CalcCharStatus( Cmd[2])
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE1', ' EE2')
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' ED14' .. CalcCharStatus( Cmd[2])
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
      end
      EMT.SC = ' EC14' .. CalcCharStatus( Cmd[2])
      EMT.SD = ' ED14' .. CalcCharStatus( Cmd[2])
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE2', ' EE1')
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
      end
      if not FindG111EA76( EMT.AUXSTR) then
         local sYLoad = ' Y'..EmtLenToString( LoadT)
         local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE, 0)..' ET1'
         table.insert( EMT.AUXSTR, sOut)
      end
   end
end

---------------------------------------------------------------------
function PrepareMoveChar( sCmd)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se inizio
      if EMT.AUXIND == 1 then
         -- imposto stato pinze
         EMT.SA = EgtIf( EMT.YDELTA, ' EA112', ' EA111')
         EMT.SB = EgtIf( EMT.YDELTA, ' EB112', ' EB111')
         EMT.SC = EgtIf( EMT.VDELTA, ' EC142', ' EC141')
         EMT.SD = EgtIf( EMT.VDELTA, ' ED142', ' ED141')
         EMT.SE = EgtIf( EMT.YDELTA, ' EE1', ' EE2')
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] ~= 'Z' then
         local sOut = 'G111 '..Cmd[2]..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
         if Cmd[2] == 'Y' then EMT.YPOS = tonumber( Cmd[3]) end
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      local sOut = 'G111'..(EgtIf( Cmd[2] ~= 'T', ' '..Cmd[2]..Cmd[3], ''))..
                           (EgtIf( Cmd[4] ~= 'T', ' '..Cmd[4]..Cmd[5], ''))..
                           EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..'EF'..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
      local sOut = 'G111'..(EgtIf( Cmd[2] ~= 'T', ' '..Cmd[2]..Cmd[3], ''))..
                           (EgtIf( Cmd[4] ~= 'T', ' '..Cmd[4]..Cmd[5], ''))..
                           (EgtIf( Cmd[6] ~= 'T', ' '..Cmd[6]..Cmd[7], ''))..
                           EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' EB11' .. CalcCharStatus( Cmd[2])
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
      end
      EMT.SA = ' EA11' .. CalcCharStatus( Cmd[2])
      EMT.SB = ' EB11' .. CalcCharStatus( Cmd[2])
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE1', ' EE2')
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' ED14' .. CalcCharStatus( Cmd[2])
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
      end
      EMT.SC = ' EC14' .. CalcCharStatus( Cmd[2])
      EMT.SD = ' ED14' .. CalcCharStatus( Cmd[2])
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE2', ' EE1')
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
     end
   end
end

---------------------------------------------------------------------
function PrepareResidue( sCmd)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se non è scarico
      if Cmd[2] ~= 'Unloading' then
         -- se inizio o subito dopo, imposto stato iniziale pinze
         if EMT.AUXIND <= 2 then
            EMT.SA = EgtIf( EMT.YDELTA, ' EA112', ' EA111')
            EMT.SB = EgtIf( EMT.YDELTA, ' EB112', ' EB111')
            EMT.SC = EgtIf( EMT.VDELTA, ' EC142', ' EC141')
            EMT.SD = EgtIf( EMT.VDELTA, ' ED142', ' ED141')
            EMT.SE = EgtIf( EMT.YDELTA, ' EE1', ' EE2')
         end
      else
         EMT.UNL = true
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] ~= 'Z' then
         local sOut
         if not EMT.UNL then
            sOut = 'G111 '..Cmd[2]..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
         else
            sOut = 'G111 '..Cmd[2]..Cmd[3]..' EC141 ED83 EE0 EF'..GetFmaxClamp()
         end
         table.insert( EMT.AUXSTR, sOut)
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      local sOut = 'G111'..(EgtIf( Cmd[2] ~= 'T', ' '..Cmd[2]..Cmd[3], ''))..
                           (EgtIf( Cmd[4] ~= 'T', ' '..Cmd[4]..Cmd[5], ''))..
                           EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
      local sOut = 'G111'..(EgtIf( Cmd[2] ~= 'T', ' '..Cmd[2]..Cmd[3], ''))..
                           (EgtIf( Cmd[4] ~= 'T', ' '..Cmd[4]..Cmd[5], ''))..
                           (EgtIf( Cmd[6] ~= 'T', ' '..Cmd[6]..Cmd[7], ''))..
                           EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' EB11' .. CalcCharStatus( Cmd[2], true)
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
      end
      EMT.SA = ' EA11' .. CalcCharStatus( Cmd[2], true)
      EMT.SB = ' EB11' .. CalcCharStatus( Cmd[2], true)
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE1', ' EE2')
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' ED14' .. CalcCharStatus( Cmd[2], true)
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
      end
      EMT.SC = ' EC14' .. CalcCharStatus( Cmd[2], true)
      EMT.SD = ' ED14' .. CalcCharStatus( Cmd[2], true)
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE2', ' EE1')
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
     end
   end
end

---------------------------------------------------------------------
function PrepareSplit( sCmd)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- non interessa
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] == 'Y' then
         local sOut = 'G111 '..Cmd[2]..Cmd[3]..' EA110 EB110 EC142 ED142 EE2 EF'..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
         EMT.YPOS = tonumber( Cmd[3])
      end   
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
      end
   end
end

---------------------------------------------------------------------
function PrepareUnload( sCmd)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- non interessa
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      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() 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
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      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() 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
      end
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '21' then
      -- non interessa
   end
end

---------------------------------------------------------------------
function PreparePreRotation( sCmd)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se inizio o subito dopo, imposto stato iniziale pinze
      if EMT.AUXIND <= 2 then
         EMT.SA = EgtIf( EMT.YDELTA, ' EA112', ' EA111')
         EMT.SB = EgtIf( EMT.YDELTA, ' EB112', ' EB111')
         EMT.SC = EgtIf( EMT.VDELTA, ' EC142', ' EC141')
         EMT.SD = EgtIf( EMT.VDELTA, ' ED142', ' ED141')
         EMT.SE = EgtIf( EMT.YDELTA, ' EE1', ' EE2')
      end
      -- se è pre-rotazione
      if Cmd[2] == 'Pre-Rotation' then
         EMT.PREROT = true
      elseif Cmd[2] == 'SplitRot' then
         EMT.SPLITROT = true
         EMT.SE = ' EE2'
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] ~= 'Z' then
         local sOut
         if not EMT.PREROT then
            sOut = 'G111 '..Cmd[2]..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
         else
            sOut = 'G111 '..Cmd[2]..Cmd[3]..' EA86 EB87 EC141 EE0 EF'..GetFmaxClamp()
         end
         table.insert( EMT.AUXSTR, sOut)
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      local sOut = 'G111'..(EgtIf( Cmd[2] ~= 'T', ' '..Cmd[2]..Cmd[3], ''))..
                           (EgtIf( Cmd[4] ~= 'T', ' '..Cmd[4]..Cmd[5], ''))..
                           EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
      local sOut = 'G111'..(EgtIf( Cmd[2] ~= 'T', ' '..Cmd[2]..Cmd[3], ''))..
                           (EgtIf( Cmd[4] ~= 'T', ' '..Cmd[4]..Cmd[5], ''))..
                           (EgtIf( Cmd[6] ~= 'T', ' '..Cmd[6]..Cmd[7], ''))..
                           EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' EF'..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' EB11' .. CalcCharStatus( Cmd[2], true)
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
      end
      if EMT.SPLITROT then
         EMT.SA = EgtIf( Cmd[2] ~= '0', ' EA11' .. CalcCharStatus( Cmd[2], true), ' EA86')
         EMT.SB = EgtIf( Cmd[2] ~= '0', ' EB11' .. CalcCharStatus( Cmd[2], true), ' EB87')
         EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE1', ' EE2')
      else
         EMT.SA = ' EA11' .. CalcCharStatus( Cmd[2], true)
         EMT.SB = ' EB11' .. CalcCharStatus( Cmd[2], true)
         EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE1', ' EE2')
      end
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' ED14' .. CalcCharStatus( Cmd[2], true)
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
      end
      EMT.SC = ' EC14' .. CalcCharStatus( Cmd[2], true)
      EMT.SD = ' ED14' .. CalcCharStatus( Cmd[2], true)
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' EE2', ' EE1')
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
     end
   end
end

---------------------------------------------------------------------
function PreparePostRotation( sCmd)
   -- è sostanzialmente un carico
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se inizio
      if EMT.AUXIND == 1 then
         -- imposto stato pinze
         EMT.SB = ' EB112'
      end
      -- se dichiarazione inizio riposizionamento carrelli
      if Cmd[2] == 'CARR_MOVE' then
         EMT.POSTROT = false
         for i = 1, #EMT.AUXSTR do
            EMT.AUXSTR[i] = string.gsub( EMT.AUXSTR[i], 'ET1', '')
         end
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] == 'Y' then
         -- tolgo eventuale sovramateriale presente sul pezzo in posizione iniziale (la misura laser è ora col finito)
         local sYTaking = ' Y'..EmtLenToString( Cmd[3] - EMT.HOVM)
         local sOut = 'G111'..sYTaking..' EA75 EB110 EE0 EF'..EmtLenToString(EMT.FMAXPINZE,0)..' ET1 E80058=0'
         table.insert( EMT.AUXSTR, sOut)
      end
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      EMT.SB = ' EB11' .. CalcCharStatus( Cmd[2])
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
      end
      local sYLoad = ' Y'..EmtLenToString( LoadT)
      local sOut = 'G111'..sYLoad..' EA76'..EMT.SB..' EE0 EF'..EmtLenToString( EMT.FMAXPINZE,0)..' ET1'
      table.insert( EMT.AUXSTR, sOut)
      -- setto parametri di pinzaggio reali
      EMT.SA = ' EA110'
      EMT.SE = ' EE1'
   end
end

---------------------------------------------------------------------
function MyBackupAxes()
   EMT.L1b = EMT.L1
   EMT.L2b = EMT.L2
   EMT.L3b = EMT.L3
   EMT.R1b = EMT.R1
   EMT.R2b = EMT.R2
   EMT.R3b = EMT.R3
   EMT.R4b = EMT.R4
   EMT.RRb = EMT.RR
   EMT.C1b = EMT.C1
   EMT.C2b = EMT.C2
   EMT.C3b = EMT.C3
end

---------------------------------------------------------------------
function MyRestoreAxes()
   EMT.L1 = EMT.L1b
   EMT.L2 = EMT.L2b
   EMT.L3 = EMT.L3b
   EMT.R1 = EMT.R1b
   EMT.R2 = EMT.R2b
   EMT.R3 = EMT.R3b
   EMT.R4 = EMT.R4b
   EMT.RR = EMT.RRb
   EMT.C1 = EMT.C1b
   EMT.C2 = EMT.C2b
   EMT.C3 = EMT.C3b
end

---------------------------------------------------------------------
function MyAdjustLinearAxes()
   local MyL1o = EMT.L1
   local MyL2o = EMT.L2
   local MyL3o = EMT.L3

   if EMT.REFLOC then
      local vtE
      -- su NUM aggregati non gestiti
      if EMT.HEAD == 'H5' or EMT.HEAD == 'H6' or EMT.HEAD == 'H7' then
         EmtSetLastError( 1211, "Aggregates not managed")
      elseif EMT.HEAD ~= 'H3' then
         local Len = EMT.TLEN + EgtIf( EMT.HEAD == 'H1', MillOffs, abs( SawOffs))
         local LenRef = MillOffs
         vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
      else
         local LenAux = ( EMT.TDIST or ChSawLen) + MillOffs
         local LenRef = MillOffs
         local vtAux = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2, EMT.R3)
         vtE = vtAux * LenAux - Z_AX() * LenRef
      end
      EMT.L1 = EMT.L1 - vtE:getX()
      EMT.L2 = EMT.L2 - DeltaTabY - vtE:getY()
      EMT.L3 = EMT.L3 - DeltaTabZ - vtE:getZ()
   end

   if EMT.X_OFF then EMT.L1 = EMT.L1 + EMT.X_OFF end

   EmtAdjustLinearAxes()

   EMT.L1o = MyL1o
   EMT.L2o = MyL2o
   EMT.L3o = MyL3o

   if not EMT.REFLOC then
      EMT.L2 = - EMT.L2
      EMT.L1t = 'Y'
      EMT.L2t = 'X'
   else
      EMT.L1t = 'X'
      EMT.L2t = 'Y'
   end
end

---------------------------------------------------------------------
function MyOutputNoNum( sOut)
   local bNum = EMT.NUM
   EMT.NUM = false
   EmtOutput( sOut)
   EMT.NUM = bNum
end

---------------------------------------------------------------------
function CalcInterpPlane()
   -- origine del piano
   local xS = EMT.START[1] + LoadT
   if EMT.X_OFF then xS = xS + EMT.X_OFF end
   local ptS = Point3d( xS, 0, 0)
   -- calcolo per piano generico
   local vtE
   if EMT.HEAD ~= 'H3' then
      vtE = Vector3d( EMT.EXTR)
   else
      vtE = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2, EMT.R3)
   end
   EMT.IPLGLFR = Frame3d( ptS, vtE)
   --EmtOutput( 'IPLGLFR='..tostring(EMT.IPLGLFR))
   local _, dAngV, dAngO = SphericalFromVector( vtE)
   local dAngO2 = EmtGetAngO2( EMT.IPLGLFR:getVersZ(), EMT.IPLGLFR:getVersX(), dAngV, dAngO)
   dAngO = dAngO + 90
   while dAngO >= 360 do
      dAngO = dAngO - 360
   end   
   EMT.IPLGLSTR = ' EX0 EY'..EmtLenToString( xS)..' EZ0'..
                  ' EA0'..' EB'..EgtNumToString(dAngV)..' EC'..EgtNumToString(dAngO)..' ED'..EgtNumToString(dAngO2)
   EMT.IPLGL = true
end

---------------------------------------------------------------------
function VerifyEmitRotation()
   -- recupero le rotazioni delle fasi corrente e precedente
   local nRot = GetPhaseRot( EMT.PHASE)
   local nPrevRot = GetPhaseRot( EMT.PHASE - 1)
   -- se sono uguali non devo fare alcunchè
   if nRot == nPrevRot then
      return false
   end
   -- determino quanto ruotare
   local nDeltaRot = nRot - nPrevRot
   -- se rotazione automatica richiesta e possibile
   local dRefLen = EgtIf( IsMid2Phase( EMT.PHASE) or IsEnd2Phase( EMT.PHASE), EMT.LT, EMT.LB)
   if AutomaticRotation and dRefLen >= AutoRotMinLen then
      local sOut = 'M180 L0=' .. tostring( nDeltaRot)
      EmtOutput( sOut)
   else
      local sOut
      if nDeltaRot == 1 then
         sOut = 'M151'
      elseif nDeltaRot == 2 then
         sOut = 'M152'
      elseif nDeltaRot == 3 then
         sOut = 'M153'
      end
      EmtOutput( sOut)
      EmtOutput( 'M86')
      EmtOutput( 'G4F.5')
   end
   return true
end

---------------------------------------------------------------------
function EmitZmax()
   local sEE = ' EE4'
   local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
   local sES = ' ES'..EgtNumToString( EMT.S, 0)
   local sOut = 'G101 X'..EmtLenToString( -EMT.L2o, 3)..' Z'..EgtGetAxisHomePos( 'Z')..
                    ' B'..EmtLenToString( EMT.R2o, 3)..' C'..EmtLenToString( EMT.R1o, 3)..sEE..sET..sES..' L0=0'
   EmtOutput( sOut)
   sOut = 'G101 ET1001'
   EmtOutput( sOut)
   sOut = 'G101 ET2001'
   EmtOutput( sOut)
end

---------------------------------------------------------------------
function GetET( sHead, sTcPos, dAxR3)
   if sHead == 'H1' or sHead == 'H5' or sHead == 'H6' or sHead == 'H7' then
      return ' E'..sTcPos
   elseif sHead == 'H2' then
      return ' ET42'
   elseif sHead == 'H3' then
      if sTcPos ~= 'T111' then
         if dAxR3 and abs( dAxR3 - 0) < 0.1 then
            return ' ET101'
         elseif dAxR3 and abs( dAxR3 - 270) < 0.1 then
            return ' ET102'
         elseif dAxR3 and abs( dAxR3 - 180) < 0.1 then
            return ' ET103'
         elseif dAxR3 and abs( dAxR3 - 90) < 0.1 then
            return ' ET104'
         else
            EmtSetLastError( 1210, 'Chain saw orientation not allowed')
         end
      else
         if dAxR3 and abs( dAxR3 - 0) < 0.1 then
            return ' ET111'
         elseif dAxR3 and abs( dAxR3 - 270) < 0.1 then
            return ' ET112'
         elseif dAxR3 and abs( dAxR3 - 180) < 0.1 then
            return ' ET113'
         elseif dAxR3 and abs( dAxR3 - 90) < 0.1 then
            return ' ET114'
         else
            EmtSetLastError( 1210, 'Mortiser orientation not allowed')
         end
      end
   else
      EmtSetLastError( 1211, "Unknown Head")
   end
end

---------------------------------------------------------------------
function GetFmaxClamp()
   return EmtLenToString( EMT.FMAXPINZE, 0)
end

---------------------------------------------------------------------
function FindG111EA76( vStr)
   for i = 1, #vStr do
      if vStr[i]:find( 'G111', 1, true) and vStr[i]:find( 'EA76', 1, true) then
         return true
      end
   end
   return false
end

---------------------------------------------------------------------
-- *** END GENERATION ***
---------------------------------------------------------------------