-- Descrizione macchina Essetre-ONE by EgalTech s.r.l.   2024/02/07
-- 2021/05/18 ver 2.3e5 Prima versione (in comune con PF).
-- 2021/09/02 ver 2.3h1 Diverse correzioni per gestione carrelli con rotazione pezzo.
-- 2021/09/27 ver 2.3i2 Recupero modifiche PF1250.
-- 2021/10/14 ver 2.3j3 Recupero modifiche PF1250 + gestione pezzi medio-alti.
-- 2021/10/18 ver 2.3j6 Sistemata apertura rulli V2 (EJ=3) e V1. Modificato movimento testa/coda pezzo all'apertura pareti.
-- 2021/10/27 ver 2.3j7 Correzioni per rotazioni e per deposito sega a catena.
-- 2021/11/04 ver 2.3k1 Riportata da PF1250 correzione errore movimento carrelli in ParkRoller.
-- 2021/12/03 ver 2.3l3 Correzione per emissione posizione V2 con grande sovramateriale di testa. Aggiunte per G157.
-- 2021/12/20 ver 2.3l4 Allineamento con PF.
-- 2022/02/18 ver 2.4b3 Allineamento con PFrl. 
-- 2022/02/21 ver 2.4b5 In generazione CN, con G157 gestione aperture prima di primo rapido e chiusure dopo.
-- 2022/03/03 ver 2.4c1 In generazione CN, aggiornata chiusura rulli con G157 che non li fa muovere.
-- 2022/03/04 ver 2.4c2 In generazione CN, aggiunta gestione movimento pinze rulli alla pre-rotazione.
-- 2022/03/04 ver 2.4c3 In generazione CN, per EmitZmax in OnMachiningEnd aggiunta gestione posizione precedente carrelli.
-- 2022/03/04 ver 2.4c5 In generazione CN, correzioni varie per rotazione pezzo.
-- 2022/03/08 ver 2.4c6 Riportate ultime modifiche Sidler per rotazione pezzi.
-- 2022/03/10 ver 2.4c7 In simulazione apertura paratie al carico sega a catena quando ONE vera, in generazione CN riportate modifiche da PFrl per primo rapido.
-- 2022/03/22 Mettere Zmax -20.
-- 2022/03/25 ver 2.4c8 Modificata generazione CN postrotazione con anche scambio carrelli.
-- 2022/05/03 ver 2.4e1 Si aggiorna ParkX1 al variare degli estremi di X1.
-- 2022/05/23 ver 2.4e2 In generazione CN, in OnLinear correzione impostazione EMT.L?o precedente in calcolo piano di interpolazione (non va tolto EMT.X_OFF).
-- 2022/05/28 ver 2.4e3 In simulazione movimenti iniziali con sega a catena uniformati con generazione.
-- 2022/10/24 ver 2.4j1 Correzione gestione Z di primo movimento di prima lavorazione come primo movimento di lavorazioni successive.
-- 2022/11/10 ver 2.4k1 Riportate modifiche PF.
-- 2023/02/18 ver 2.5b2 Riportato da PF gestione speciale movimento in rapido solo a inizio lavorazione (corr. #817). Aggiunto solido collisione per eventuale segacatena sotto trave.
-------------------------------------
-- NOTE VERSIONI SUCCESSIVE IN GIT --
-------------------------------------

-- Intestazioni
require( 'EmtGenerator')
EgtEnableDebug( false)

PP_VER = '3.1f3'
PP_NVER = '3.1.6.3'
MIN_MACH_VER = '2.5k1'
MACH_NAME = EgtGetCurrMachineName()

-- Carico i dati globali
local sMachDir = EgtGetCurrMachineDir()
-- Elimino direttori altre macchine e imposto direttorio macchina corrente per ricerca librerie
EgtRemoveBaseMachineDirFromPackagePath()
EgtAddToPackagePath( sMachDir .. '\\Beam\\?.lua')
EgtAddToPackagePath( sMachDir .. '\\?.lua')
INFO_STD_PP = require( 'Version')
-- prendo la versione kernel minima necessaria più nuova tra macchina e script comuni
if INFO_STD_PP.MIN_MACH_VER_PP_COMMON > MIN_MACH_VER then
   MIN_MACH_VER = INFO_STD_PP.MIN_MACH_VER_PP_COMMON
end

EgtOutLog ( '** ' .. MACH_NAME..' '..PP_VER..' ** ( '..INFO_STD_PP.NAME..': '..INFO_STD_PP.VERSION..' - MinMach: '.. MIN_MACH_VER ..') **', 1)

-- Parametri macchina
NumericalControl = 'NUM'       -- NUM o TPA o NUM_FLEX
Progress = false
Mortiser = false               -- solo per One (nella Progress la stessa posizione è per ChainSaw)
MinMchY1 = 335
MaxMchY1 = 5700.0
ParkMchY1 = 960.0
MinMchY2 = -5700.0
MaxMchY2 = -335
ParkMchY2 = -975.0
MinV1 = 20.0
MaxV1 = 682.0
ParkV1 = 670.0
MinV2 = -682.0
MaxV2 = -20.0
ParkV2 = -670.0
MinDeltaYV = 280 + 0.1
ExtraParkV = 600
MinY1 = MinV1 + MinDeltaYV
MaxY1 = MaxMchY1
MaxY2 = MaxV2 - MinDeltaYV
MinY2 = MinMchY2
ParkY1 = ParkV1 + MinDeltaYV
ParkY2 = ParkV2 - MinDeltaYV
MaxHoOpen = 420
MaxVeOpen = 820
RollCageMin = 120
RollCageMax = 250
Clamp5 = false
MinW = 0
MaxW = 670
ParkW = 0
MinWOpen = 79
MaxWOpen = 200
MaxWHeight = 300
LoadT = 2131.2
UnloadT = -2400
MillOffs = 170.0
SawOffsX = 110.0
SawOffsY = 0
SawOffsZ = -149.5
SawC1Offs = 0
SawB1Offs = 0
ChSawLen = 94.0
MinX1 = 0
MaxX1 = 2735
MinZ1 = -1550
MaxZ1 = -20                    -- per evitare problemi con striscia led
MinC1 = -275
MaxC1 = 275
MinB1 = -127
MaxB1 = 127
MinB1b = -119
MaxB1b = 119
ParkX1 = MaxX1
ParkFrnX1 = 300
ParkZ1 = -535
ParkC1 = 90
ParkFrnC1 = -90
ParkB1 = 90
ParkFrnB1 = -90
LimX1RotSaw = 800
LimX1PlRotSaw = 1970
LimX1RotSawTC2 = 800
ParkCSawX1 = 1350
ParkCSawX1S = MinX1
ParkCSawZ1 = -50
ParkCSaw0Z1 = -400
ParkCSawC1 = 90
ParkCSaw0C1 = 0
ParkCSawB1 = 0
ParkLongToolB1 = 0
ParkLongToolC1 = 0
TurnerOffs = 50.0
AggLoad = 50
DeltaTabY = 1550.0
DeltaTabZ = -1060.0            -- per TPA la quota è dal centro di rotazione (va aggiunto MillOffs)
DeltaRulliTraveZ = 980
DeltaRulliTappetoZ = -485
DimTabY = 500
DimTabX = 30000
AutomaticRotation = true
AutoRotMinLen = 0
DefTcPos1 = 'T3'
EstimationRapidMultiplier = 1
ForceToCloseRollersGate = false
SecondToolChanger = false
DistZClampToTable = 5                             -- distanza tra la tavola e il punto più basso della morsa
ClampingCoeffMin = nil                             -- coefficiente di fissaggio, se 0 o nil non fa controllo, per il momento da inizializzare da Ts3Data

-- Aggiornamento con dati da TechnoEssetre7
local sTs3Data = EgtGetStringFromIni( 'Beam', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-ONE.data"
local sData = sMachDir.."\\Beam\\Ts3Data.lua"
if EgtExistsFile( sTs3Data) then
   EgtCopyFile( sTs3Data, sData)
   local sTs3DataOld = sTs3Data..'.old'
   EgtEraseFile( sTs3DataOld)
   EgtRenameFile( sTs3Data, sTs3DataOld)
end
if EgtExistsFile( sData) then
   local Machine = dofile( sData)
   if Machine then
      if Machine.Offsets then
         if Machine.Offsets.TIPO_CN == 0 then
            NumericalControl = 'NUM'
         elseif Machine.Offsets.TIPO_CN == 1 then
            NumericalControl = 'TPA'
         else
            NumericalControl = 'NUM_FLEX'
         end
         if Machine.Offsets.X1_POS then MinX1 = -Machine.Offsets.X1_POS end
         if Machine.Offsets.X1_NEG then MaxX1 = -Machine.Offsets.X1_NEG end
         if Machine.Offsets.PARK_X1POS then ParkFrnX1 = -Machine.Offsets.PARK_X1POS end
         if Machine.Offsets.PARK_X1NEG then ParkX1 = -Machine.Offsets.PARK_X1NEG end
         if Machine.Offsets.Z1_NEG then MinZ1 = Machine.Offsets.Z1_NEG end
         if Machine.Offsets.Z1_POS then MaxZ1 = min( MaxZ1, Machine.Offsets.Z1_POS) end
         if Machine.Offsets.PARK_Z1 then ParkZ1 = Machine.Offsets.PARK_Z1 end
         if Machine.Offsets.C1_NEG then MinC1 = Machine.Offsets.C1_NEG end
         if Machine.Offsets.C1_POS then MaxC1 = Machine.Offsets.C1_POS end
         if Machine.Offsets.B1_NEG then MinB1 = Machine.Offsets.B1_NEG end
         if Machine.Offsets.B1_POS then MaxB1 = Machine.Offsets.B1_POS end
         if Machine.Offsets.B1_NEG1 then MinB1b = Machine.Offsets.B1_NEG1 end
         if Machine.Offsets.B1_POS1 then MaxB1b = Machine.Offsets.B1_POS1 end
         if Machine.Offsets.MIN_Y1 then MinMchY1 = Machine.Offsets.MIN_Y1 end
         if Machine.Offsets.MAX_Y1 then MaxMchY1 = Machine.Offsets.MAX_Y1 end
         if Machine.Offsets.PARK_Y1 then ParkMchY1 = Machine.Offsets.PARK_Y1 end
         if Machine.Offsets.MIN_V1 then MinV1 = Machine.Offsets.MIN_V1 end
         if Machine.Offsets.MAX_V1 then MaxV1 = Machine.Offsets.MAX_V1 end
         if Machine.Offsets.MIN_Y2 then MinMchY2 = Machine.Offsets.MIN_Y2 end
         if Machine.Offsets.MAX_Y2 then MaxMchY2 = Machine.Offsets.MAX_Y2 end
         if Machine.Offsets.PARK_Y2 then ParkMchY2 = Machine.Offsets.PARK_Y2 end
         if Machine.Offsets.MIN_V2 then MinV2 = Machine.Offsets.MIN_V2 end
         if Machine.Offsets.MAX_V2 then MaxV2 = Machine.Offsets.MAX_V2 end
         if Machine.Offsets.CLAMP5 then Clamp5 = ( Machine.Offsets.CLAMP5 == 1) end
         if Machine.Offsets.MIN_W then MinW = Machine.Offsets.MIN_W end
         if Machine.Offsets.MAX_W then MaxW = Machine.Offsets.MAX_W end
         if Machine.Offsets.MINWOPEN then MinWOpen = Machine.Offsets.MINWOPEN end
         if Machine.Offsets.MAXWOPEN then MaxWOpen = Machine.Offsets.MAXWOPEN end
         if Machine.Offsets.MAXWHEIGHT then MaxWHeight = Machine.Offsets.MAXWHEIGHT end
         if Machine.Offsets.DIST_FTZERO then LoadT = Machine.Offsets.DIST_FTZERO end
         if Machine.Offsets.DELTA_CARICZERO then TurnerOffs = Machine.Offsets.DELTA_CARICZERO end
         if Machine.Offsets.MIN_DELTAVY then MinDeltaYV = Machine.Offsets.MIN_DELTAVY + 0.1 end
         if Machine.Offsets.DIST_UNLOAD then UnloadT = Machine.Offsets.DIST_UNLOAD end
         if Machine.Offsets.PIVOT_T1 then MillOffs = Machine.Offsets.PIVOT_T1 end
         if Machine.Offsets.OFFSETCLAMAT1 then SawC1Offs= Machine.Offsets.OFFSETCLAMAT1 end
         if Machine.Offsets.OFFSETBLAMAT1 then SawB1Offs= Machine.Offsets.OFFSETBLAMAT1 end
         if Machine.Offsets.OFFSETXT1 then DeltaTabY = -Machine.Offsets.OFFSETXT1 end
         if Machine.Offsets.OFFSETZT1 then DeltaTabZ = Machine.Offsets.OFFSETZT1 + EgtIf( NumericalControl == 'TPA', MillOffs, 0) end
         if Machine.Offsets.OFFSETZSOTTOTRAVE then DeltaRulliTraveZ = abs( Machine.Offsets.OFFSETZSOTTOTRAVE) end
         if Machine.Offsets.OFFSETZTAPPETO then DeltaRulliTappetoZ = -abs( Machine.Offsets.OFFSETZTAPPETO) end
         if Machine.Offsets.RIB_AUTO then AutomaticRotation = ( Machine.Offsets.RIB_AUTO == 1) end
         if Machine.Offsets.PROGRESS then Progress = ( Machine.Offsets.PROGRESS == 1) end
         if Machine.Offsets.MORTISER then Mortiser = ( Machine.Offsets.MORTISER == 1) end
         if Machine.Offsets.SAWOFFSX then SawOffsX = Machine.Offsets.SAWOFFSX end
         if Machine.Offsets.SAWOFFSZ then SawOffsZ = Machine.Offsets.SAWOFFSZ end
         if Machine.Offsets.DEFTCPOS1 then DefTcPos1 = ( 'T' .. Machine.Offsets.DEFTCPOS1) end
         if Machine.Offsets.NOULOAD then MaxUnloadLen = Machine.Offsets.NOULOAD 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.COEFF_STIMATEMPI and Machine.Offsets.COEFF_STIMATEMPI > 0 then EstimationRapidMultiplier = Machine.Offsets.COEFF_STIMATEMPI end
         if Machine.Offsets.CHIUDI_PINZE_2_3_SCAMBIO then ForceToCloseRollersGate = Machine.Offsets.CHIUDI_PINZE_2_3_SCAMBIO == 1 end
         if Machine.Offsets.WOOD_DENSITY then WoodDensity = Machine.Offsets.WOOD_DENSITY end
         if Machine.Offsets.MAX_BACK_CLAMP_5 then MaxBackClamp5 = Machine.Offsets.MAX_BACK_CLAMP_5 end
         if Machine.Offsets.SEC_TC then SecondToolChanger = ( Machine.Offsets.SEC_TC == 1) end
         if Machine.Offsets.COEFF_CLAMP_CHECK then ClampingCoeffMin = Machine.Offsets.COEFF_CLAMP_CHECK end

         -- aggiustamenti
         MinY1 = MinV1 + MinDeltaYV
         MaxY1 = MaxMchY1
         ParkV1 = MaxV1
         ParkY1 = ParkV1 + MinDeltaYV
         MinY2 = MinMchY2
         MaxY2 = MaxV2 - MinDeltaYV
         ParkV2 = MinV2
         ParkY2 = ParkV2 - MinDeltaYV
         ParkX1 = min( ParkX1, MaxX1)
         ParkFrnX1 = max( ParkFrnX1, MinX1)
         ParkCSawZ1 = min( ParkCSawZ1, MaxZ1)
         ParkCSaw0Z1 = min( ParkCSaw0Z1, MaxZ1)
         Mortiser = ( Mortiser and not Progress)
         SecondToolChanger = ( SecondToolChanger and not Progress)
      end
   end
end

EmtGeneral {
      File='Essetre-ONE.nge',
      Offset = Vector3d(0.0,1360.0,-1730.0),
      AxisMaxAdjust = 300,
      AxisMaxRotAdj = 0.5,
      ExitMaxAdjust = 300,
      ExitMaxRotAdj = 0.5,
      AngDeltaMinForHome = 80,
      Special = 'Common_ONE-PF.mlse',
      Processor = 'Common_ONE-PF.mlpe'}
local sBaseAux = {'BASE/SOLID', 'BASE/SIGN', 'BASE/CONVOYER', 'BASE/BELT', 'BASE/COLLISION', 'BASE/TC1'}
if Progress then
   table.insert( sBaseAux, 'BASE/TC1S')
   table.insert( sBaseAux, 'BASE/TC2')
   table.insert( sBaseAux, 'BASE/TC3')
elseif SecondToolChanger then
   table.insert( sBaseAux, 'BASE/TC2')
   table.insert( sBaseAux, 'BASE/TC2S')
   table.insert( sBaseAux, 'BASE/TC3')
else
   table.insert( sBaseAux, 'BASE/MTC')
   if Mortiser then table.insert( sBaseAux, 'BASE/TC3') end
end
local BaseId = EmtBase {
      Name = 'Base',
      Geo = 'BASE/GEO',
      Aux = sBaseAux}
local X1Id = EmtAxis {
      Name = 'X1',
      Parent = 'Base',
      Token = 'X',
      Type = MCH_AT.LINEAR,
      Dir = Y_AX(),
      Pos = Point3d(207.0,-300.0,104.0),
      Stroke = {MinX1, MaxX1},
      Home = ParkX1,
      Invert = true,
      Geo = 'X1_AXIS/GEO',
      Aux = {'X1_AXIS/SOLID', 'X1_AXIS/COLLISION'}}
--  *** Testa 1 ***
EmtAxis {
      Name = 'Z1',
      Parent = 'X1',
      Token = 'Z',
      Type = MCH_AT.LINEAR,
      Dir = Z_AX(),
      Pos = Point3d(0.0,-140.1,113.0),
      Stroke = {MinZ1, MaxZ1},
      Home = ParkZ1,
      Geo = 'Z1_AXIS/GEO',
      Aux = {'Z1_AXIS/SOLID', 'Z1_AXIS/COLLISION'}}
EmtAxis {
      Name = 'C1',
      Parent = 'Z1',
      Token = 'C',
      Type = MCH_AT.ROTARY,
      Dir = Z_AX(),
      Pos = Point3d(0.0,0.0,503.0),
      Stroke = {MinC1, MaxC1},
      Home = ParkC1,
      Geo = 'C1_AXIS/GEO',
      Aux = {'C1_AXIS/SOLID', 'C1_AXIS/COLLISION'}}
EmtAxis {
      Name = 'B1',
      Parent = 'C1',
      Token = 'B',
      Type = MCH_AT.ROTARY,
      Dir = X_AX(),
      Pos = Point3d(-108.4,0.0,MillOffs),
      Stroke = {MinB1, MaxB1},
      Home = ParkB1,
      Geo = 'B1_AXIS/GEO',
      Aux = {'B1_AXIS/SOLID', 'B1_AXIS/COLLISION'}}
-- Frese
local H11Id = EmtHead {
      Name = 'H11',
      Parent = 'B1',
      HSet = 'H11',
      Type = MCH_HT.STD,
      Pos = Point3d(0,0,0),
      TDir = Z_AX(),
      ADir = -Y_AX(),
      Rot1W = 0.2,
      Rot2Stroke = { MinB1, MaxB1},
      OthColl = {'B1/SOLID', 'C1/SOLID'},
      Geo = 'H11_HEAD/GEO'}
-- Lama
local H12Id = EmtHead {
      Name = 'H12',
      Parent = 'B1',
      HSet = 'H11',
      Type = MCH_HT.STD,
      Pos = Point3d(SawOffsX,SawOffsY,SawOffsZ),
      TDir = Vector3d( 0, sin( SawB1Offs), cos( SawB1Offs)),
      ADir = -X_AX(),
      Rot1W = 0.5,
      Rot2Stroke = { MinB1b, MaxB1b},
      OthColl = {'B1/SOLID', 'C1/SOLID'},
      Geo = 'H12_HEAD/GEO'}
--EgtSetInfo( H12Id, 'ZMAXONROT', '1,190')
-- Sega a catena
EmtAxis {
      Name = 'A',
      Parent = 'B1',
      Token = '**',
      Type = MCH_AT.ROTARY,
      Dir = Z_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = { -90.1, 90.1},
      Home = 0,
      Geo = 'A1_AXIS/GEO'}
local H13Id
if Progress or SecondToolChanger then
   H13Id = EmtHead {
         Name = 'H13',
         Parent = 'A',
         HSet = 'H11',
         Type = MCH_HT.STD,
         Pos = Point3d( 0, 0, -ChSawLen),
         TDir = -X_AX(),
         ADir = Z_AX(),
         Rot1W = 0.2,
         Rot2Stroke = { -90.1, 90.1},
         SolCh = MCH_SCC.ADIR_NEAR,
         OthColl = {'B1/SOLID', 'C1/SOLID'},
         Geo = 'H15_HEAD/GEO'}
else
   H13Id = EmtHead {
         Name = 'H13',
         Parent = 'A',
         HSet = 'H11',
         Type = MCH_HT.STD,
         Pos = Point3d( 0, 0, -ChSawLen),
         TDir = X_AX(),
         ADir = Z_AX(),
         Rot1W = 0.2,
         Rot2Stroke = { -90.1, 90.1},
         SolCh = MCH_SCC.ADIR_NEAR,
         OthColl = {'B1/SOLID', 'C1/SOLID'},
         Geo = 'H13_HEAD/GEO'}
end
EgtSetInfo( H13Id, 'ZSAFEDELTA', '60')
EgtSetInfo( H13Id, 'ZMAXONROT', '1,80')
-- Mortasatrice sotto la traversa (solo per One base con un solo cambio utensile)
local H15Id
if not Progress and Mortiser and not SecondToolChanger then
   H15Id = EmtHead {
         Name = 'H15',
         Parent = 'A',
         HSet = 'H11',
         Type = MCH_HT.STD,
         Pos = Point3d( 0, 0, -ChSawLen),
         TDir = -X_AX(),
         ADir = Z_AX(),
         Rot1W = 0.2,
         Rot2Stroke = { -90.1, 90.1},
         SolCh = MCH_SCC.ADIR_NEAR,
         OthColl = {'B1/SOLID', 'C1/SOLID'},
         Geo = 'H15_HEAD/GEO'}
   EgtSetInfo( H15Id, 'ZSAFEDELTA', '60')
   EgtSetInfo( H15Id, 'ZMAXONROT', '1,80')
end
--  *** Carrelli ***
-- Morse
local Y1Id = EmtAxis {
      Name = 'Y1',
      Parent = 'Base',
      Type = MCH_AT.LINEAR,
      Dir = -X_AX(),
      Pos = Point3d(-865.7,2626.8,-866.0),
      Stroke = { MinY1, MaxY1},
      Home = ParkY1,
      Geo = 'Y1_AXIS/GEO',
      Aux = 'Y1_AXIS/SOLID'}
local PY1Id = EmtAxis {
      Name = 'PY1',
      Parent = 'Y1',
      Type = MCH_AT.LINEAR,
      Dir = -Y_AX(),
      Pos = Point3d(-469.6,2367.5,-751.6),
      Stroke = {0, MaxHoOpen},
      Home = MaxHoOpen,
      Geo = 'PY1_AXIS/GEO',
      Aux = {'PY1_AXIS/SOLID', 'PY1_AXIS/CLAMP_CHECK'}}
local Y2Id = EmtAxis {
      Name = 'Y2',
      Parent = 'Base',
      Type = MCH_AT.LINEAR,
      Dir = -X_AX(),
      Pos = Point3d(865.7,2626.8,-866.0),
      Stroke = { MinY2, MaxY2},
      Home = ParkY2,
      Geo = 'Y2_AXIS/GEO',
      Aux = 'Y2_AXIS/SOLID'}
local PY2Id = EmtAxis {
      Name = 'PY2',
      Parent = 'Y2',
      Type = MCH_AT.LINEAR,
      Dir = -Y_AX(),
      Pos = Point3d(469.6,2367.5,-751.6),
      Stroke = {0, MaxHoOpen},
      Home = MaxHoOpen,
      Geo = 'PY2_AXIS/GEO',
      Aux = {'PY2_AXIS/SOLID', 'PY2_AXIS/CLAMP_CHECK'}}
-- Rulli
local V1Id = EmtAxis {
      Name = 'V1',
      Parent = 'Base',
      Type = MCH_AT.LINEAR,
      Dir = -X_AX(),
      Pos = Point3d(-875.5,1072.0,-1509.1),
      Stroke = { MinV1, MaxV1},
      Home = ParkV1,
      Geo = 'V1_AXIS/GEO',
      Aux = {'V1_AXIS/SOLID', 'V1_AXIS/COLLISION'}}
local PV1Id = EmtAxis {
      Name = 'PV1',
      Parent = 'V1',
      Type = MCH_AT.LINEAR,
      Dir = -Y_AX(),
      Pos = Point3d(-194.0,2364.7,-879.1),
      Stroke = {0, MaxHoOpen},
      Home = MaxHoOpen,
      Geo = 'PV1_AXIS/GEO',
      Aux = 'PV1_AXIS/SOLID'}
local QV1Id = EmtAxis {
      Name = 'QV1',
      Parent = 'V1',
      Type = MCH_AT.LINEAR,
      Dir = Z_AX(),
      Pos = Point3d(-287.0,2481.0,-943.0),
      Stroke = {0, MaxVeOpen},
      Home = MaxVeOpen,
      Geo = 'QV1_AXIS/GEO',
      Aux = 'QV1_AXIS/SOLID'}
local V2Id = EmtAxis {
      Name = 'V2',
      Parent = 'Base',
      Type = MCH_AT.LINEAR,
      Dir = -X_AX(),
      Pos = Point3d(875.5,1072.0,-1509.1),
      Stroke = { MinV2, MaxV2},
      Home = ParkV2,
      Geo = 'V2_AXIS/GEO',
      Aux = {'V2_AXIS/SOLID', EgtIf( Clamp5, 'V2_AXIS/AUX5', 'V2_AXIS/AUX'), 'V2_AXIS/COLLISION'}}
local PV2Id = EmtAxis {
      Name = 'PV2',
      Parent = 'V2',
      Type = MCH_AT.LINEAR,
      Dir = -Y_AX(),
      Pos = Point3d(194.0,2364.7,-879.1),
      Stroke = {0, MaxHoOpen},
      Home = MaxHoOpen,
      Geo = 'PV2_AXIS/GEO',
      Aux = 'PV2_AXIS/SOLID'}
local QV2Id = EmtAxis {
      Name = 'QV2',
      Parent = 'V2',
      Type = MCH_AT.LINEAR,
      Dir = Z_AX(),
      Pos = Point3d(287.0,2481.0,-943.0),
      Stroke = {0, MaxVeOpen},
      Home = MaxVeOpen,
      Geo = 'QV2_AXIS/GEO',
      Aux = 'QV2_AXIS/SOLID'}
local WId, PWId, QWId
if Clamp5 then
   WId = EmtAxis {
         Name = 'W',
         Parent = 'V2',
         Type = MCH_AT.LINEAR,
         Dir = -X_AX(),
         Pos = Point3d(875.5,1072.0,-1509.1),
         Stroke = { MinW, MaxW},
         Home = ParkW,
         Geo = 'W_AXIS/GEO',
         Aux = { 'W_AXIS/SOLID', 'W_AXIS/COLLISION'}}
   PWId = EmtAxis {
         Name = 'PW',
         Parent = 'W',
         Type = MCH_AT.LINEAR,
         Dir = -Y_AX(),
         Pos = Point3d(194.0,2364.7,-879.1),
         Stroke = {MinWOpen, MaxWOpen},
         Home = MaxWOpen,
         Geo = 'PW_AXIS/GEO',
         Aux = 'PW_AXIS/SOLID'}
   QWId = EmtAxis {
         Name = 'QW',
         Parent = 'PW',
         Type = MCH_AT.LINEAR,
         Dir = Z_AX(),
         Pos = Point3d(194.0,2364.7,-879.1),
         Stroke = {0, 30},
         Home = 0,
         Geo = 'QW_AXIS/GEO',
         Aux = { 'QW_AXIS/SOLID', 'QW_AXIS/COLLISION'}}
end
--  *** Tavola ***
EmtAxis {
      Name = 'T',
      Parent = 'Base',
      --Token = '**',
      Type = MCH_AT.LINEAR,
      Dir = - X_AX(),
      Pos = Point3d(0.0,2450.0,-958.0),
      Stroke = {-30000, 30000},
      Home = LoadT,
      Geo = 'T_AXIS/GEO'}
EmtTable {
      Name = 'Tab',
      Parent = 'T',
      Type = MCH_TT.FLAT,
      Ref1 = Point3d( - DimTabX, DeltaTabY - DimTabY, DeltaTabZ),
      Coll = 'Base/BELT',
      Geo = 'TABLE/GEO',
      Aux = 'TABLE/SOLID'}
-- *** ToolChanger ***
local ptTc1 = Point3d( 150, 2914, -217 + ( DeltaTabZ + DeltaRulliTraveZ + 29))
local vtDt1 = Vector3d( 0, 0, - 102.5)
if Progress then
   EmtTcPos {
         Name = 'T1',
         Parent = 'Base',
         Pos = ptTc1,
         TDir = -Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T1b'}
   EmtTcPos {
         Name = 'T2',
         Parent = 'Base',
         Pos = ptTc1 + 1 * vtDt1,
         TDir = -Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T2'}
else
   EmtTcPos {
         Name = 'T1',
         Parent = 'Base',
         Pos = ptTc1 + Vector3d( SawOffsX, -SawOffsZ, 0),
         TDir = -Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T1'}
end
EmtTcPos {
      Name = 'T3',
      Parent = 'Base',
      Pos = ptTc1 + 2 * vtDt1,
      TDir = -Y_AX(),
      ADir = -X_AX(),
      Geo = 'BASE/T3'}
EmtTcPos {
      Name = 'T4',
      Parent = 'Base',
      Pos = ptTc1 + 3 * vtDt1,
      TDir = -Y_AX(),
      ADir = -X_AX(),
      Geo = 'BASE/T4'}
EmtTcPos {
      Name = 'T5',
      Parent = 'Base',
      Pos = ptTc1 + 4 * vtDt1,
      TDir = -Y_AX(),
      ADir = -X_AX(),
      Geo = 'BASE/T5'}
EmtTcPos {
      Name = 'T6',
      Parent = 'Base',
      Pos = ptTc1 + 5 * vtDt1,
      TDir = -Y_AX(),
      ADir = -X_AX(),
      Geo = 'BASE/T6'}
EmtTcPos {
      Name = 'T7',
      Parent = 'Base',
      Pos = ptTc1 + 6 * vtDt1,
      TDir = -Y_AX(),
      ADir = -X_AX(),
      Geo = 'BASE/T7'}
EmtTcPos {
      Name = 'T8',
      Parent = 'Base',
      Pos = ptTc1 + 7 * vtDt1,
      TDir = -Y_AX(),
      ADir = -X_AX(),
      Geo = 'BASE/T8'}
EmtTcPos {
      Name = 'T9',
      Parent = 'Base',
      Pos = ptTc1 + 8 * vtDt1,
      TDir = -Y_AX(),
      ADir = -X_AX(),
      Geo = 'BASE/T9'}
EmtTcPos {
      Name = 'T10',
      Parent = 'Base',
      Pos = ptTc1 + 9 * vtDt1,
      TDir = -Y_AX(),
      ADir = -X_AX(),
      Geo = 'BASE/T10'}
if Progress or SecondToolChanger then
   local ptTc2 = Point3d( 150, -170, -217 + ( DeltaTabZ + DeltaRulliTraveZ + 29))
   local vtDt2 = Vector3d( 0, 0, - 102.5)
   if SecondToolChanger then
   EmtTcPos {
         Name = 'T11',
         Parent = 'Base',
         Pos = ptTc2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T11b'}
   EmtTcPos {
         Name = 'T12',
         Parent = 'Base',
         Pos = ptTc2 + 1 * vtDt1,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T12'}
   else
      EmtTcPos {
            Name = 'T11',
            Parent = 'Base',
            Pos = ptTc2 + Vector3d( SawOffsX, SawOffsZ, 0),
            TDir = Y_AX(),
            ADir = -X_AX(),
            Geo = 'BASE/T11'}
   end
   EmtTcPos {
         Name = 'T13',
         Parent = 'Base',
         Pos = ptTc2 + 2 * vtDt2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T13'}
   EmtTcPos {
         Name = 'T14',
         Parent = 'Base',
         Pos = ptTc2 + 3 * vtDt2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T14'}
   EmtTcPos {
         Name = 'T15',
         Parent = 'Base',
         Pos = ptTc2 + 4 * vtDt2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T15'}
   EmtTcPos {
         Name = 'T16',
         Parent = 'Base',
         Pos = ptTc2 + 5 * vtDt2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T16'}
   EmtTcPos {
         Name = 'T17',
         Parent = 'Base',
         Pos = ptTc2 + 6 * vtDt2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T17'}
   EmtTcPos {
         Name = 'T18',
         Parent = 'Base',
         Pos = ptTc2 + 7 * vtDt2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T18'}
   EmtTcPos {
         Name = 'T19',
         Parent = 'Base',
         Pos = ptTc2 + 8 * vtDt2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T19'}
   EmtTcPos {
         Name = 'T20',
         Parent = 'Base',
         Pos = ptTc2 + 9 * vtDt2,
         TDir = Y_AX(),
         ADir = -X_AX(),
         Geo = 'BASE/T20'}
else
   local ptTc2a = Point3d( 0.5, 19.7, -216.5 + ( DeltaTabZ + DeltaRulliTraveZ + 29))
   local ptTc2b = Point3d( 0.5, 199.7, -364.0 + ( DeltaTabZ + DeltaRulliTraveZ + 29))
   EmtTcPos {
         Name = 'T101',
         Parent = 'Base',
         Pos = ptTc2a,
         TDir = X_AX(),
         ADir = Z_AX(),
         Geo = 'BASE/T101'}
   EmtTcPos {
         Name = 'T201',
         Parent = 'Base',
         Pos = ptTc2b,
         TDir = Z_AX(),
         ADir = X_AX(),
         Geo = 'BASE/T201'}
end
if Progress or Mortiser or SecondToolChanger then 
   local ptTc3 = Point3d( 480, 506.1, -200.8 + ( DeltaTabZ + DeltaRulliTraveZ + 29))
   local sName = EgtIf( Progress or SecondToolChanger, 'T101', 'T301')
   EmtTcPos {
         Name = sName,
         Parent = 'Base',
         Pos = ptTc3,
         TDir = -X_AX(),
         ADir = Z_AX(),
         Geo = 'BASE/T301'}
end

-- Aggiusto posizioni geometriche
local vtMovB = Vector3d( 0, 0, ( DeltaTabZ + DeltaRulliTraveZ + 80))          -- -( -1060 + 980)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'SOLID'), vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'COLLISION'), vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'SIGN') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC1') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC1S') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC2') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC3') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'MTC') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( X1Id, 'SOLID'), vtMovB, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( X1Id, 'COLLISION'), vtMovB, GDB_RT.GLOB)
local vtMovC = Vector3d( 0, 0, ( DeltaTabZ + DeltaRulliTappetoZ + 1545))      -- -( -1060 - 485)
EgtMove( EgtGetFirstNameInGroup( BaseId, 'BELT'), vtMovC, GDB_RT.GLOB)
local vtMove = Vector3d( 0, ( DeltaTabY - 1550.0), ( DeltaTabZ + 1060.0))
EgtMove( EgtGetFirstNameInGroup( BaseId, 'CONVOYER'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( Y1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( PY1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( PY1Id, 'CLAMP_CHECK'), vtMove + Vector3d(0,0,DistZClampToTable), GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( Y2Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( PY2Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( PY2Id, 'CLAMP_CHECK'), vtMove + Vector3d(0,0,DistZClampToTable), GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( V1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( PV1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( QV1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( V2Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( V2Id, EgtIf( Clamp5, 'AUX5', 'AUX')), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( PV2Id, 'SOLID'), vtMove, GDB_RT.GLOB)
EgtMove( EgtGetFirstNameInGroup( QV2Id, 'SOLID'), vtMove, GDB_RT.GLOB)
if Clamp5 then
   EgtMove( EgtGetFirstNameInGroup( WId, 'SOLID'), vtMove, GDB_RT.GLOB)
   EgtMove( EgtGetFirstNameInGroup( WId, 'COLLISION'), vtMove, GDB_RT.GLOB)
   EgtMove( EgtGetFirstNameInGroup( PWId, 'SOLID'), vtMove, GDB_RT.GLOB)
   EgtMove( EgtGetFirstNameInGroup( QWId, 'SOLID'), vtMove, GDB_RT.GLOB)
   EgtMove( EgtGetFirstNameInGroup( QWId, 'COLLISION'), vtMove, GDB_RT.GLOB)
end

-- Assegno identificativi alle spie delle morse
PY1LightId = EgtGetFirstNameInGroup( EgtGetFirstNameInGroup( PY1Id, 'SOLID') or GDB_ID.NULL, 'Light')
PY2LightId = EgtGetFirstNameInGroup( EgtGetFirstNameInGroup( PY2Id, 'SOLID') or GDB_ID.NULL, 'Light')

---------------------------------------------------------------------
-- Funzioni richiamate per modificare i dati macchina in casi particolari
--function OnSetTable()
--end

---------------------------------------------------------------------
function OnSetHead()
   -- se testa H11 (fresa) o H12 (lama)
   if EMC.HEAD == 'H11' or EMC.HEAD == 'H12' then
      if EMC.HEAD == 'H11' then
         local dRawH = GetRawHeight()
         EmtModifyAxisHome( 'Z1', ParkZ1 + EgtIf( dRawH > 650, EgtIf( EMC.TOTDIAM < 61, 235, 165), 0))
         EmtModifyAxisDirection( 'B1', X_AX())
      else
         EmtModifyAxisHome( 'Z1', ParkZ1)
         EmtModifyAxisDirection( 'B1', Vector3d( cos( SawC1Offs), -sin( SawC1Offs), 0))
      end
      local nPos = tonumber( string.sub( EMC.TCPOS, 2)) or 0
      if nPos <= 10 then
         EmtModifyAxisHome( 'X1', ParkX1)
         EmtModifyAxisHome( 'C1', ParkC1)
         EmtModifyAxisHome( 'B1', ParkB1)
      else
         local MyHomeB1, MyHomeC1
         -- se cambio utensile verticale
         if EgtGetHeadId( 'H21') or Progress or SecondToolChanger then
            MyHomeB1 = ParkFrnB1
            MyHomeC1 = ParkFrnC1
         -- altrimenti su one CU speciale motosega-utensile lungo
         else
            MyHomeB1 = ParkLongToolB1
            MyHomeC1 = ParkLongToolC1
         end

         EmtModifyAxisHome( 'X1', ParkFrnX1)
         EmtModifyAxisHome( 'C1', MyHomeC1)
         EmtModifyAxisHome( 'B1', MyHomeB1)
      end
   -- se testa H13 (sega a catena)
   elseif EMC.HEAD == 'H13' then
      -- aggiustamenti per distanza
      local dDist = EgtIf( EMC.DIST and abs( EMC.DIST) > 1, EMC.DIST, ChSawLen)
      EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -dDist))
      local vtMove = Point3d( 0, 0, -dDist) - Point3d( EMC.EXITPOS)
      local ExitId = EgtGetFirstNameInGroup( EgtGetHeadId( EMC.HEAD), 'T'..tostring( EMC.EXIT))
      EgtMove( ExitId, vtMove)
      -- recupero valore asse A bloccato
      local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS)
      local CSawPosA = tonumber( sVal:sub( 3) or '')
      EmtModifyAxisHome( 'X1', ParkCSawX1)
      EmtModifyAxisHome( 'Z1', GetChainSawZHomeFromVirtualAxis( CSawPosA))
      EmtModifyAxisHome( 'C1', GetChainSawCHomeFromVirtualAxis( CSawPosA))
      EmtModifyAxisHome( 'B1', ParkCSawB1)
      EmtModifyAxisDirection( 'B1', X_AX())
   -- se testa H15 (mortasatrice di One) 
   elseif EMC.HEAD == 'H15' then
      error( 'Error : Mortiser not yet managed')
   end
end

---------------------------------------------------------------------
-------------------------- Testa utilizzata -------------------------
function GetHeadSet( sHead)
   if sHead == 'H11' or sHead == 'H12' or sHead == 'H13' or sHead == 'H15' or sHead == 'H17' then
      return 1
   elseif sHead == 'H19' then
      return 11
   elseif sHead == 'H21' or sHead == 'H22' or sHead == 'H23' then
      return 2
   elseif sHead == 'H29' then
      return 21
   else
      return 0
   end
end

---------------------------------------------------------------------
---------------------------- Cambio Utensile ------------------------
function GetHeadTCSet( sHead, sTcPos)
   local nPos = tonumber( string.sub( sTcPos, 2)) or 0
   -- testa 1
   if sHead == 'H11' or sHead == 'H12' or sHead == 'H13' or sHead == 'H15' then
      -- testa 1 su CU prossimo a testa 2
      if nPos > 10 then
         return 'Head1_TC2'
      -- testa 1 su CU prossimo a testa 1
      else
         return 'Head1_TC1'
      end
   -- testa 2 su CU prossimo a testa 2
   elseif sHead == 'H21' or sHead == 'H22' or sHead == 'H23' then
      return 'Head2_TC2'
   -- testa 2 su CU prossimo a testa 1 (non esiste una condfigurazione fatta in questo modo)
   elseif nPos < 10 then
      return 'Head2_TC1'
   else
      return 0
   end
end

---------------------------------------------------------------------
-- Funzione che restituisce l'altezza del pezzo in lavorazione
   function GetRawHeight()
      local nRawId = EgtGetFirstRawPart()
      if not nRawId then
         local vLnkRawId = EmtGetAllLinkedRawParts()
         if vLnkRawId and #vLnkRawId >0 then nRawId = vLnkRawId[1] end
      end
      local b3Raw = EgtGetRawPartBBox( nRawId or GDB_ID.NULL)
      if not b3Raw or b3Raw:isEmpty() then return 0 end
      return b3Raw:getDimZ()
   end

---------------------------------------------------------------------
-- Funzione che riconosce testa per sega a catena
function HeadIsChainSaw( sHead)
   return ( sHead == 'H13' or sHead == 'H15')
end

---------------------------------------------------------------------
-- Funzione che riconosce testa per tastatore
function HeadIsProbe( sHead)
   return ( sHead == 'H19' or sHead == 'H29')
end

---------------------------------------------------------------------
-- Funzione che calcola la posizione Home di Z per la sega a catena dal valore dell'asse virtuale
function GetChainSawZHomeFromVirtualAxis( dPosA)
   -- se A=0 -> T101 -> HomeZ = -400
   if abs( dPosA) < 0.1 then
      return ParkCSaw0Z1
   -- altrimenti A=-90 -> T102 o A=90 -> T104 -> HomeZ = -100
   else
      return ParkCSawZ1
   end
end

---------------------------------------------------------------------
-- Funzione che calcola l'angolo Home di C per la sega a catena dal valore dell'asse virtuale
function GetChainSawCHomeFromVirtualAxis( dPosA)
   -- se A=0 -> T101 -> HomeC = 0
   if abs( dPosA) < 0.1 then
      return ParkCSaw0C1
   -- altrimenti A=-90 -> T102 -> HomeC = 90
   elseif abs( dPosA + 90) < 0.1 then
      return 90
   -- altrimenti A=90 -> T104 -> HomeC = -90
   elseif abs( dPosA - 90) < 0.1 then
      return -90
   end
end

---------------------------------------------------------------------
-- Funzione che ritorna ZExtra partendo dalla testa e dall'angolo verticale
function GetZExtra( sHead, dAngV)
   if sHead == 'H11' then
      if abs( dAngV) < 30.1 then
         return 400
      elseif abs( dAngV) < 45.1 then
         return 300
      elseif abs( dAngV) < 60.1 then
         return 200
      elseif abs( dAngV) < 90.1 then
         return 1
      else
         return 0
      end
   elseif sHead == 'H12' then
      if abs( dAngV) < 30.1 then
         return 400
      elseif abs( dAngV) < 45.1 then
         return 300
      elseif abs( dAngV) < 60.1 then
         return 200
      elseif abs( dAngV) < 90.1 then
         return 1
      elseif abs( dAngV) < 120 then
         return -100
      else
         return 0
      end
   end
end

---------------------------------------------------------------------
-- Funzione per impostare spia stato morsa carrello Y1
function SetPY1Light( bClosed)
   if not PY1LightId then return end
   EgtSetColor( PY1LightId, EgtIf( bClosed, 'RED', 'LIME'))
   if bClosed then
      EgtSetInfo( PY1LightId, 'On', '1')
   else
      EgtRemoveInfo( PY1LightId, 'On')
   end
end

---------------------------------------------------------------------
-- Funzione per leggere lo stato della morsa carrello Y1
function GetPY1Light()
   if not PY1LightId then return false end
   return ( EgtGetInfo( PY1LightId, 'On') == '1')
end

---------------------------------------------------------------------
-- Funzione per impostare spia stato morsa carrello Y2
function SetPY2Light( bClosed)
   if not PY2LightId then return end
   EgtSetColor( PY2LightId, EgtIf( bClosed, 'RED', 'LIME')) 
   if bClosed then
      EgtSetInfo( PY2LightId, 'On', '1')
   else
      EgtRemoveInfo( PY2LightId, 'On')
   end
end

---------------------------------------------------------------------
-- Funzione per leggere lo stato della morsa carrello Y2
function GetPY2Light()
   if not PY2LightId then return false end
   return ( EgtGetInfo( PY2LightId, 'On') == '1')
end


---------------------------------------------------------------------
-- Funzione per resettare tutte le attivazioni della macchina
function OnResetMachine()
   EmtUnlinkAllRawPartsFromGroups()
   EmtUnlinkAllFixturesFromGroups()
   SetPY1Light( false)
   SetPY2Light( false)
   -- nascondo Vmill
   local nRawId = EgtGetFirstRawPart()
   while nRawId do
      local nVmId = EgtGetFirstNameInGroup( nRawId, 'VMill')
      local nId = EgtGetFirstInGroup( nRawId)
      while nId do
         EgtSetStatus( nId, EgtIf( nId ~= nVmId, GDB_ST.ON, GDB_ST.OFF))
         nId = EgtGetNext( nId)
      end
      nRawId = EgtGetNextRawPart( nRawId)
   end
   EgtSetStatus( EgtGetFirstNameInGroup( GDB_ID.ROOT, 'VMill') or GDB_ID.NULL, GDB_ST.OFF)
end