Migliorie movimento in ZMAX leggendo quota X precedente

Common_ONE-PF.NUM.mlpe

@@ -684,6 +684,10 @@ function OnPathEnd()
    if not EMT.ZMAX then
       EmitResetMachining()
    end
+
+   -- salvo dati precedenti
+   EMT.L2pp = EMT.L2o
+
    EMT.AUXTYPE = nil
    EMT.UNL = nil
    EMT.PREROT = nil
@@ -1121,7 +1125,7 @@ function OnRapid()
             end
             bToPresel = false
             -- risalita a Zmax
-            EmitZmax( false, false, EMT.TO_XHOME, PrevR1, PrevR2)
+            EmitZmax( false, false, EMT.TO_XHOME, PrevR1, PrevR2, nil, true)
             EMT.ZMAX = true
             EMT.TO_ZMAX = nil
             EMT.TO_XHOME = nil
@@ -1951,6 +1955,9 @@ function PrepareMoveChar( sCmd, nInd)
          table.insert( EMT.MDCHAR, MDChar)
          EMT.Y1POS = MoveY1 or EMT.Y1POS
          EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
+         if EMT.V1POS < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
+            EMT.TO_XHOME = true
+         end
       end
    elseif Cmd[1] == '2' then
       local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
@@ -1978,6 +1985,9 @@ function PrepareMoveChar( sCmd, nInd)
       end
       table.insert( EMT.MDCHAR, MDChar)
       EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
+      if EMT.V1POS < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
+         EMT.TO_XHOME = true
+      end
    elseif Cmd[1] == '3' then
       local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
       local MoveY1 = GetCmdAxMove( Cmd, 'Y1')
@@ -2004,6 +2014,9 @@ function PrepareMoveChar( sCmd, nInd)
       end
       table.insert( EMT.MDCHAR, MDChar)
       EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
+      if EMT.V1POS < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
+         EMT.TO_XHOME = true
+      end
    elseif Cmd[1] == '4' then
       -- richiesta movimento a ZMAX già gestita
       if Cmd[2] == '1' then
@@ -2685,6 +2698,9 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
    end
    -- gruppo della testa
    local nHSet = GetHeadSet( EMT.HEAD)
+   local dXPos = EgtIf( bUsePrevDelta, EMT.L2pp or EMT.L2o, EMT.L2o)
+   -- reset stato di testa in home
+   EMT.XHOME = nil
    -- se testa 1
    if nHSet == 1 then
       -- posizioni sicure
@@ -2704,12 +2720,12 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
             -- eseguo la salita a Z1max (oriento solo se assi rotanti non già a posto)
             if abs( dSafeC1 - PrevR1) > 0.1 or abs( dSafeB1 - PrevR2) > 0.1 then
                local dZref = dSafeZ1 + GetZExtra( EMT.HEAD, PrevR2)
-               if EgtIf( BD.RIGHT_LOAD, -EMT.L2o < -LimX1RotSaw, -EMT.L2o > -LimX1RotSaw) then
+               if EgtIf( BD.RIGHT_LOAD, -dXPos < -LimX1RotSaw, -dXPos > -LimX1RotSaw) then
                   dZref = dZref - EgtIf( not Mortiser, 100, 370)
                end
                dZref = min( dZref, dMaxZ1)
                local MovH = { Z = EgtIf( dZref > EMT.L3o, dZref, EMT.L3o)}
-               MovH.X = -EMT.L2o ; MovH.B = EgtClamp( PrevR2, -90, 90) ;  MovH.C = PrevR1 ;
+               MovH.X = -dXPos ; MovH.B = EgtClamp( PrevR2, -90, 90) ;  MovH.C = PrevR1 ;
                EmitMoveDataHead( 1, MovH)
                if EMT.HEAD == 'H12' and ( abs( dSafeC1 - PrevR1) > 30.1 or abs( dSafeB1 - PrevR2) > 30.1) then
                   EmitMoveDataHead( 1, { Z=dMaxZ1, B=0})
@@ -2719,10 +2735,13 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
                EmitMoveDataHead( 1, { Z=dMaxZ1})
             else
                local MovH = { Z = dMaxZ1}
-               MovH.X = -EMT.L2o ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
+               MovH.X = -dXPos ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
                EmitMoveDataHead( 1, MovH)
             end
-            if bXhome then EmitMoveDataHead( 1, { X=-dSafeX1}) end
+            if bXhome then 
+               EMT.XHOME = true
+               EmitMoveDataHead( 1, { X=-dSafeX1})
+            end
             EmitMoveStartHead( 1)
             -- se lavorazione in doppio
             if EMT.DOU_TYPE == 2 then
@@ -2732,7 +2751,7 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
          -- altrimenti sega a catena
          else
             -- ribadisco movimento perchè in G141 si aspetta sempre tutti i valori
-            local MovH = { X = -EMT.L2o, Z = EMT.L3o, B = PrevR2, C = PrevR1}
+            local MovH = { X = -dXPos, Z = EMT.L3o, B = PrevR2, C = PrevR1}
             EmitMoveDataHead( 1, MovH)
             EmitMoveDataHead( 1, { Z=dSafeZ1, B=dSafeB1})
             if EMT.SB > 650 and abs( EMT.R3) < 0.1 then
@@ -2740,6 +2759,7 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
             end
             EmitMoveDataHead( 1, { X=-dSafeX1, C=dSafeC1})
             if bXhome then
+               EMT.XHOME = true
                EmitMoveDataHead( 1, { X=-ParkX1, Z=ParkCSawZ1, B=ParkB1, C=ParkC1, TPos=50})
             end
             EmitMoveStartHead( 1)
@@ -2754,7 +2774,7 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
                local dZref = dSafeZ1 + GetZExtra( EMT.HEAD, PrevR2)
                dZref = min( dZref, dMaxZ1)
                local MovH = { Z = EgtIf( dZref > EMT.L3o, dZref, EMT.L3o)}
-               MovH.X = -EMT.L2o ; MovH.B = EgtClamp( PrevR2, -90, 90) ; MovH.C = PrevR1 ;
+               MovH.X = -dXPos ; MovH.B = EgtClamp( PrevR2, -90, 90) ; MovH.C = PrevR1 ;
                EmitMoveDataHead( 1, MovH)
                if EMT.HEAD == 'H12' and ( abs( dSafeC1 - PrevR1) > 30.1 or abs( dSafeB1 - PrevR2) > 30.1) then
                   EmitMoveDataHead( 1, { Z=dMaxZ1, B=0})
@@ -2764,16 +2784,19 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
                EmitMoveDataHead( 1, { Z=dMaxZ1})
             else
                local MovH = { Z = dMaxZ1}
-               MovH.X = -EMT.L2o ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
+               MovH.X = -dXPos ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
                EmitMoveDataHead( 1, MovH)
             end
-            if bXhome then EmitMoveDataHead( 1, { X=-dSafeX1}) end
+            if bXhome then
+               EMT.XHOME = true
+               EmitMoveDataHead( 1, { X=-dSafeX1})
+            end
             EmitMoveStartHead( 1)
             EmitMoveWaitHead( 1)
          -- altrimenti sega a catena
          else
             -- ribadisco movimento perchè in G141 si aspetta sempre tutti i valori
-            local MovH = { X = -EMT.L2o, Z = EMT.L3o, B = PrevR2, C = PrevR1}
+            local MovH = { X = -dXPos, Z = EMT.L3o, B = PrevR2, C = PrevR1}
             EmitMoveDataHead( 1, MovH)
             EmitMoveDataHead( 1, { Z=dSafeZ1, B=dSafeB1})
             if EMT.SB > 650 and abs( EMT.R3) < 0.1 then
@@ -2781,6 +2804,7 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
             end
             EmitMoveDataHead( 1, { X=-dSafeX1, C=dSafeC1})
             if bXhome then
+               EMT.XHOME = true
                EmitMoveDataHead( 1, { X=-ParkX1, Z=ParkCSawZ1, B=ParkB1, C=ParkC1, TPos=50})
             end
             EmitMoveStartHead( 1)
@@ -2807,7 +2831,7 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
             local dZref = dSafeZ2 + GetZExtra( EMT.HEAD, PrevR2)
             dZref = min( dZref, dMaxZ2)
             local MovH = { Z = EgtIf( dZref > EMT.L3o, dZref, EMT.L3o)}
-            MovH.X = -EMT.L2o ; MovH.B = EgtClamp( PrevR2, -90, 90) ; MovH.C = PrevR1 ;
+            MovH.X = -dXPos ; MovH.B = EgtClamp( PrevR2, -90, 90) ; MovH.C = PrevR1 ;
             EmitMoveDataHead( 2, MovH)
             if EMT.HEAD == 'H22' and ( abs( dSafeC2 - PrevR1) > 30.1 or abs( dSafeB2 - PrevR2) > 30.1) then
                EmitMoveDataHead( 2, { Z=dMaxZ2, B=0})
@@ -2817,16 +2841,19 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
             EmitMoveDataHead( 2, { Z=dMaxZ2})
          else
             local MovH = { Z = dMaxZ2}
-            MovH.X = -EMT.L2o ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
+            MovH.X = -dXPos ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
             EmitMoveDataHead( 2, MovH)
          end
-         if bXhome then EmitMoveDataHead( 2, { X=-dSafeX2}) end
+         if bXhome then
+            EMT.XHOME = true
+            EmitMoveDataHead( 2, { X=-dSafeX2})
+         end
          EmitMoveStartHead( 2)
          EmitMoveWaitHead( 2)
       -- altrimenti sega a catena
       else
          -- ribadisco movimento perchè in G141 si aspetta sempre tutti i valori
-         local MovH = { X = -EMT.L2o, Z = EMT.L3o, B = PrevR2, C = PrevR1}
+         local MovH = { X = -dXPos, Z = EMT.L3o, B = PrevR2, C = PrevR1}
          EmitMoveDataHead( 2, MovH)
          EmitMoveDataHead( 2, { Z=dSafeZ2, B=dSafeB2})
          if EMT.SB > 650 and abs( EMT.R3) < 0.1 then
@@ -2834,6 +2861,7 @@ function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelt
          end
          EmitMoveDataHead( 2, { X=-dSafeX2, C=dSafeC2})
          if bXhome then
+            EMT.XHOME = true
             EmitMoveDataHead( 2, { X=-ParkX2, Z=ParkCSawZ2, B=ParkB2, C=ParkC2, TPos=50})
          end
          EmitMoveStartHead( 2)

Common_ONE-PF.mlpe

@@ -960,6 +960,7 @@ function OnSimulMoveStart()
    VerifyY2Stroke( EMT.A2)
    VerifyV1Stroke( EMT.A3)
    VerifyV2Stroke( EMT.A4)
+   
    -- se devo subito parcheggiare i rulli
    local nRes = 0
    if bParkV then
@@ -1261,6 +1262,7 @@ function OnSimulMoveStart()
       EMT.A4 = EgtIf( GetV2ToClose(), EMT.V2NEXTPOS, ParkV2)
    end
    EMT.ZMAX = nil
+   EMT.XHOME = nil
 end
 
 ---------------------------------------------------------------------
@@ -1369,6 +1371,10 @@ function ExecAuxCmd( sCmd, bPathStart)
          ExecOpenRoller( 1)
          ExecOpenRoller( 2)
          local sV1, MoveV1, sV2, MoveV2 = CalcMoveV1V2ForAuxCmd( Cmd)
+         -- se stringo i rulli e ho lama, verifico che sia in home
+         if MoveV1 and MoveV1 < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
+            ExecMoveZmax( false, true)
+         end
          local bOk, bOk1, bOk2, bOk3 = SimulMoveAxes( Cmd[2], tonumber( Cmd[3]), MCH_SIM_STEP.RAPID,
                                                       sV1, MoveV1, MCH_SIM_STEP.RAPID,
                                                       sV2, MoveV2, MCH_SIM_STEP.RAPID)
@@ -1391,6 +1397,10 @@ function ExecAuxCmd( sCmd, bPathStart)
       ExecOpenRoller( 1)
       ExecOpenRoller( 2)
       local sV1, MoveV1, sV2, MoveV2 = CalcMoveV1V2ForAuxCmd( Cmd)
+      -- se stringo i rulli e ho lama, verifico che sia in home
+      if MoveV1 and MoveV1 < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
+         ExecMoveZmax( false, true)
+      end
       local bOk, bOk1, bOk2, bOk3, bOk4 =  SimulMoveAxes( Cmd[2], tonumber( Cmd[3]), MCH_SIM_STEP.RAPID,
                                                           Cmd[4], tonumber( Cmd[5]), MCH_SIM_STEP.RAPID,
                                                           sV1, MoveV1, MCH_SIM_STEP.RAPID,
@@ -1414,6 +1424,10 @@ function ExecAuxCmd( sCmd, bPathStart)
       ExecOpenRoller( 1)
       ExecOpenRoller( 2)
       local sV1, MoveV1, sV2, MoveV2 = CalcMoveV1V2ForAuxCmd( Cmd)
+      -- se stringo i rulli e ho lama, verifico che sia in home
+      if MoveV1 and MoveV1 < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
+         ExecMoveZmax( false, true)
+      end
       local bOk, bOk1, bOk2, bOk3, bOk4, bOk5 = SimulMoveAxes( Cmd[2], tonumber( Cmd[3]), MCH_SIM_STEP.RAPID,
                                                                Cmd[4], tonumber( Cmd[5]), MCH_SIM_STEP.RAPID,
                                                                Cmd[6], tonumber( Cmd[7]), MCH_SIM_STEP.RAPID,
@@ -1607,6 +1621,7 @@ function ExecMoveZmax( bMchSplit, btoXHome)
             end
             SimulMoveAxis( 'Z1', MaxZ1, MCH_SIM_STEP.RAPID)
             if btoXHome then
+               EMT.XHOME = true
                SimulMoveAxis( 'X1', ParkX1, MCH_SIM_STEP.RAPID)
             end
             -- se lavorazione in doppio
@@ -1618,6 +1633,7 @@ function ExecMoveZmax( bMchSplit, btoXHome)
                SimulMoveAxes( 'B2', ParkB2, MCH_SIM_STEP.COLLROT, 'C2', ParkC2, MCH_SIM_STEP.COLLROT)
                SimulMoveAxis( 'Z2', MaxZ2, MCH_SIM_STEP.RAPID)
                if bToXHome then 
+                  EMT.XHOME = true
                   SimulMoveAxis( 'X2', ParkX2, MCH_SIM_STEP.RAPID)
                end
                EMT.DOU_TO_ZMAX = nil
@@ -1644,6 +1660,7 @@ function ExecMoveZmax( bMchSplit, btoXHome)
             end
             SimulMoveAxis( 'Z1', MaxZ1, MCH_SIM_STEP.RAPID)
             if btoXHome then
+               EMT.XHOME = true
                SimulMoveAxis( 'X1', ParkX1, MCH_SIM_STEP.RAPID)
             end
          -- altrimenti sega a catena
@@ -1659,6 +1676,7 @@ function ExecMoveZmax( bMchSplit, btoXHome)
                EMT.PREVHEAD_H1 = nil
                EMT.PREVTCPOS_H1 = nil
                EMT.CHSAW_OUT = true
+               EMT.XHOME = true
             end
             SimulMoveAxes( 'X1', HomeX, MCH_SIM_STEP.RAPID, 'C1', HomeC, MCH_SIM_STEP.COLLROT)
          end
@@ -1679,6 +1697,7 @@ function ExecMoveZmax( bMchSplit, btoXHome)
          end
          SimulMoveAxis( 'Z2', MaxZ2, MCH_SIM_STEP.RAPID)
          if btoXHome then
+            EMT.XHOME = true
             SimulMoveAxis( 'X2', ParkX2, MCH_SIM_STEP.RAPID)
          end
    -- altrimenti sega a catena

Essetre-ONE.mlde

@@ -76,7 +76,7 @@
 require( 'EmtGenerator')
 EgtEnableDebug( false)
 
-PP_VER = '2.6i4_DEV2'
+PP_VER = '2.6i4_DEV3'
 PP_NVER = '2.6.9.4'
 MIN_MACH_VER = '2.5k1'
 MACH_NAME = 'Essetre-ONE'