Merge branch 'develop'

2.6a2 Allineamento con Common-PF1250 v.2.6a2
Merge branch 'main' into develop
2024-01-09 16:54:40 +01:00 · 2024-01-09 16:53:48 +01:00 · 2024-01-09 14:56:28 +01:00 · 2024-01-09 14:55:08 +01:00 · 2024-01-09 14:52:11 +01:00 · 2024-01-09 14:47:27 +01:00
11 changed files with 679 additions and 243 deletions
@@ -187,6 +187,16 @@ local function GetChainSawBlockedAxis( nInd)
 end
 BeamData.GetChainSawBlockedAxis = GetChainSawBlockedAxis

+---------------------------------------------------------------------
+local function GetSawBlockedAxis( nInd, bDownHead)
+   if nInd == 1 then
+      return EgtIf( bDownHead, 'A2=90', '')
+   else
+      return EgtIf( bDownHead, 'A2=0', '')
+   end
+end
+BeamData.GetSawBlockedAxis = GetSawBlockedAxis
+
 ---------------------------------------------------------------------

 return BeamData
@@ -1,12 +1,12 @@
 -- Processore macchina Essetre-PF1250 by EgalTech s.r.l.   2023/11/21
 -- Con controllo numerico TPA

-- Carico i dati globali
-local sBaseDir = EgtGetSourceDir()
-local BD = dofile( sBaseDir .. 'Beam\\BeamData.lua')
-
 -- Variabili di modulo
 local MLE_INFO = 'Essetre-PF1250.TPA.mlpe ver.'..PP_VER..' by EgalTech s.r.l.'
+
+local CSP_INFO =     INFO_STD_PP.NAME..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
+local MACHINE_INFO = 'PP_VER         ver.'..PP_VER
+
 local TEST_USE = false

 ---------------------------------------------------------------------
@@ -14,8 +14,8 @@ local TEST_USE = false
 ---------------------------------------------------------------------
 function OnStart()
   -- controllo versione programma
-   if not EMT.VER or EMT.VER < '2.5d1' then
-      EmtSetLastError( 1200, 'A newer version of the program is required (minimum EgtMachKernel 2.5d1)')
+   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+      EmtSetLastError( 1200, 'A newer version of the program is required (minimum EgtMachKernel '..MIN_MACH_VER..')')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
@@ -29,6 +29,7 @@ function OnStart()
   --EMT.St = 'S'           -- token per speed
   EMT.FMAXPINZE = 116000 -- feed massima pinze
   SetToParkLine()        -- si inizia con linee da parcheggiare su stack
+
 end

 ---------------------------------------------------------------------
@@ -45,7 +46,8 @@ function OnProgramStart()
   else
      EmitRemark( 'Program Start')
   end
-   EmitRemark( MLE_INFO)
+   EmitRemark( CSP_INFO)
+   EmitRemark( MACHINE_INFO)
   -- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
   if TEST_USE then
      MyOutput( 'M199')
@@ -144,8 +146,15 @@ function OnDispositionStart()
                   ' P10='..EmtLenToString( -TurnerOffs, 2)..' P11='..EmtLenToString( MinV1, 2)..' P12='..EmtLenToString( MaxV1, 2)..
                   ' P13='..EmtLenToString( MinV2, 2)..' P14='..EmtLenToString( MaxV2, 2)..
                   ' P15='..EmtLenToString( -DeltaTabY, 2)..' P16='..EmtLenToString( DeltaTabZ - MillOffs, 2)..
-                   ' P17='..EmtLenToString( Delta2TabY, 2)..' P18='..EmtLenToString( -Delta2TabZ - Mill2Offs, 2)..
-                   ' P22='..EmtLenToString( -MinZ2, 2)
+                   ' P17='..EmtLenToString( Delta2TabY, 2)..' P18='..EmtLenToString( -Delta2TabZ - Mill2Offs, 2)
+      -- se è in configurazione a 3 teste
+      if EgtGetHeadId( 'H31') then
+         sOut = sOut .. ' P19='..EmtLenToString( -Delta3TabY, 2)..' P20='..EmtLenToString( Delta3TabZ - Mill3Offs, 2)..
+                        ' P21='..EmtLenToString( Mill3Offs, 2).. ' P22='.. EmtLenToString( -ParkInLavZ2, 2)
+      else
+         sOut = sOut .. ' P22='..EmtLenToString( -MinZ2, 2)
+      end
+
      MyOutput( sOut)
      -- carico barra
      EMT.LOAD = true
@@ -207,7 +216,10 @@ function OnDispositionEnd()
                    ' P4=' .. EmtLenToString( HOverM, 2) .. ' P5=' .. tostring( nLoad90) .. ' P6=' .. EmtLenToString( LTrave, 2) ..
                    ' P7=' .. EgtNumToString( TempAccPinze, 2) .. ' P8=' .. EgtNumToString( TempAccPinz2, 2) .. ' P9=' .. EgtNumToString( TempAccPinz1, 2) ..
                    ' P10=' .. EgtNumToString( EMT.PARTTYPE or 0, 0)
-         --  .. ' P11=' .. EgtNumToString( ForzaPinze, 2) .. ' P12=' .. EgtNumToString( ForzaPinze, 2)
+         -- su macchine vecchie non si poteva settare forza pinzaggio. Parametro da attivare in MLDE
+         if EmitAccClamps then
+            sOut = sOut .. ' P11=' .. EgtNumToString( ForzaPinze, 2) .. ' P12=' .. EgtNumToString( ForzaPinze, 2)
+         end
         MyOutput( sOut)
         if EMT.LOAD then
            SetStartValue( 1, LBarra)
@@ -221,6 +233,10 @@ function OnDispositionEnd()
                    ' P4=' .. EmtLenToString( HOverM, 2) .. ' P5=' .. tostring( 0) .. ' P6=' .. EmtLenToString( EgtIf( IdTrave >= 0, LTrave, LBarra), 2) ..
                    ' P7=' .. EgtNumToString( TempAccPinze, 2) .. ' P8=' .. EgtNumToString( TempAccPinz2, 2) .. ' P9=' .. EgtNumToString( TempAccPinz1, 2)..
                    ' P10=' .. EgtNumToString( EMT.PARTTYPE or 0, 0)
+         -- su macchine vecchie non si poteva settare forza pinzaggio. Parametro da attivare in MLDE
+         if EmitAccClamps then
+            sOut = sOut .. ' P11=' .. EgtNumToString( ForzaPinze, 2) .. ' P12=' .. EgtNumToString( ForzaPinze, 2)
+         end
         MyOutput( sOut)
         -- determino la quota di parcheggio della trave
         local ParkT = GetParkT()
@@ -228,7 +244,7 @@ function OnDispositionEnd()
         EMT.Y1DELTA = EMT.Y1POS - ParkT
         EMT.Y2DELTA = nil
         EmitBeamHeadData( { T=ParkT, Y1=EMT.Y1POS, SetHead=1, F=0})
-       end
+      end
   -- se altrimenti disposizione intermedia, eventuale rotazione
   elseif IsMidPhase( EMT.PHASE) or IsEnd2Phase( EMT.PHASE) then
      -- recupero le rotazioni delle fasi corrente e precedente
@@ -420,6 +436,17 @@ function OnMachiningStart()
      EmitParkRoller( dPosT, false)
      EmitDouZMax( EMT.DOU_TO_ZMAX)
   end
+   -- controllo seguente trovato nella 3T. Da verificare
+   -- 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

 ---------------------------------------------------------------------
@@ -667,14 +694,29 @@ function OnRapid()
            end
            -- in caso di rotazione della lama lontano dalla posizione di home degli assi rotanti
            if ( EMT.HEAD == 'H12' or EMT.HEAD == 'H16') and ( abs( PrevR1 - EMT.R1) > 1 or abs( PrevR2 - EMT.R2) > 1) and ( abs( HomeR1 - EMT.R1) > 30.1 or abs( HomeR2 - EMT.R2) > 30.1) then
-               local bXSpec = ( EMT.L2 < -DeltaTabY)
-               EmitMoveDataHead( 1, { X=EgtIf( bXSpec, -DeltaTabY, EMT.L2), Z=MaxZ1, S=Speed})
+               local bXSpec = EgtIf( BD.RIGHT_LOAD, ( EMT.L2 > -DeltaTabY), ( EMT.L2 < -DeltaTabY))
+               -- se bisogna scrivere tutti gli assi
+               if WriteAllCoordsOnFirstM101 then
+                  EmitMoveDataHead( 1, { X=EgtIf( bXSpec, -DeltaTabY, EMT.L2), Z=MaxZ1, B=ParkB1, C=ParkC1, S=Speed})
+               else
+                  EmitMoveDataHead( 1, { X=EgtIf( bXSpec, -DeltaTabY, EMT.L2), Z=MaxZ1, S=Speed})
+               end
               EmitMoveDataHead( 1, { B=0, S=Speed})
               EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
               EmitMoveDataHead( 1, { X=EMT.L2, S=Speed})
               EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
            -- caso standard
            else
+               -- se bisogna scrivere tutti gli assi
+               if WriteAllCoordsOnFirstM101 then
+                  -- se sega a catena
+                  if EMT.HEAD == 'H15' then
+                     EmitMoveDataHead( 1, { X=ParkCSawX1, Z=ParkCSawZ1, B=HomeB1, C=EMT.R1, TRad=dTRad, TLen=dTLen, S=Speed})
+                  -- utensili standard
+                  else
+                     EmitMoveDataHead( 1, { X=EgtIf( bXSpec, -DeltaTabY, EMT.L2), Z=EMT.L3, B=ParkB1, C=ParkC1, S=Speed})
+                  end
+               end
               EmitMoveDataHead( 1, { Z=EMT.L3, S=Speed})
               EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
               EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
@@ -683,12 +725,17 @@ function OnRapid()
            EmitMoveStartHead( 1)
            -- se lavorazione in doppio
            if EMT.DOU_TYPE == 2 then
-               local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN + EMT.HB)
+               local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN + EgtIf( BD.RIGHT_LOAD, -EMT.HB, EMT.HB))
               local dZ2 = -Head2Z + MillOffs + Mill2Offs + EMT.L3
-               dZ2 = min( dZ2, MaxZ2)
+               dZ2 = min( dZ2, MinZ2)
               local dC2 = EMT.R1
               local dB2 = EMT.R2
-               EmitMoveDataHead( 2, { X=dX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+               -- se bisogna scrivere tutti gli assi
+               if WriteAllCoordsOnFirstM101 then
+                  EmitMoveDataHead( 2, { X=dX2, Z=MinZ2, B=ParkB2, C=ParkC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+               else
+                  EmitMoveDataHead( 2, { X=dX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+               end
               EmitMoveDataHead( 2, { Z=-dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
               EmitMoveStartHead( 2)
               -- aspetto esecuzione movimento testa 2
@@ -699,7 +746,12 @@ function OnRapid()
               dZ2 = max( dZ2, MinZ2)
               local dC2 = EMT.R1
               local dB2 = EMT.R2
-               EmitMoveDataHead( 2, { X=dX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+               -- se bisogna scrivere tutti gli assi
+               if WriteAllCoordsOnFirstM101 then
+                  EmitMoveDataHead( 2, { X=dX2, Z=MinZ2, B=ParkB2, C=ParkC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+               else
+                  EmitMoveDataHead( 2, { X=dX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+               end
               EmitMoveDataHead( 2, { Z=-dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
               EmitMoveStartHead( 2)
               -- aspetto esecuzione movimento testa 2
@@ -710,10 +762,15 @@ function OnRapid()
            end
            -- aspetto esecuzione movimento testa 1
            EmitMoveWaitHead( 1)
-         -- altrimenti testa 2
-         else
+         -- se altrimenti testa 2
+         elseif nHSet == 2 then
            -- selezione testa (non posso muovere X)
-            EmitMoveDataHead( 2, { X=ParkX2, S=Speed})
+            -- se bisogna scrivere tutti gli assi
+            if WriteAllCoordsOnFirstM101 then
+               EmitMoveDataHead( 2, { X=ParkX2, Z=ParkZ2, B=ParkB2, C=ParkC2, S=Speed})
+            else
+               EmitMoveDataHead( 2, { X=ParkX2, S=Speed})
+            end
            EmitMoveStartHead( 2)
            EmitMoveWaitHead( 2)
            EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
@@ -730,6 +787,34 @@ function OnRapid()
            PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
            -- aspetto esecuzione movimento testa 2
            EmitMoveWaitHead( 2)
+         -- altrimenti testa 3
+         else
+            -- selezione testa (posso muovere X solo a Zmax)
+            local MaxZ3 = EgtGetAxisMax( 'Z3')
+            -- se bisogna scrivere tutti gli assi
+            if WriteAllCoordsOnFirstM101 then
+               EmitMoveDataHead( 3, { X=EMT.L2, Z=MaxZ3, B=ParkB3, C=0, S=Speed})
+            else
+               EmitMoveDataHead( 3, { X=EMT.L2, Z=MaxZ3, S=Speed})
+            end
+            EmitMoveStartHead( 3)
+            EmitMoveWaitHead( 3)
+            EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
+            -- se necessario allargo le cabine
+            if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, EMT.R1, EMT.R2) or
+               EMT.V1POS < EMT.V1NEXTPOS - 1 or EMT.V2POS > EMT.V2NEXTPOS + 1 then
+               local dPosT = EMT.TPOS or EMT.L1op
+               EmitParkRoller( dPosT, bSplitCut)
+            end
+            -- eseguo movimenti
+            local Speed = EMT.S
+            EmitMoveDataHead( 3, { Z=EMT.L3, S=Speed})
+            EmitMoveDataHead( 3, { B=EMT.R2, C=EMT.R1, S=Speed})
+            EmitMoveStartHead( 3)
+            -- eventuale preselezione successiva testa 2
+            PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
+            -- aspetto esecuzione movimento testa 3
+            EmitMoveWaitHead( 3)
         end
         -- se pezzo a destra, dichiaro cabina sinistra da parcheggiare
         if not EMT.Y1DELTA then
@@ -777,7 +862,11 @@ function OnRapid()
         EmitParkedLines()
         -- se sfrido grande, emetto comando speciale
         if EMT.HOVM > 99 then
-            MyOutput( ';M107')
+            if EgtGetHeadId( 'H31') then
+               MyOutput( 'M107')
+            else
+               MyOutput( ';M107')
+            end
         end
      -- altrimenti lavorazione successiva
      else
@@ -824,7 +913,11 @@ function OnRapid()
         if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Cut', 1, true) then
            -- se sfrido grande, emetto comando speciale
            if EMT.LB - EMT.LT > 99 then
-               MyOutput( ';M107')
+               if EgtGetHeadId( 'H31') then
+                  MyOutput( 'M107')
+               else
+                  MyOutput( ';M107')
+               end
            end
            -- emetto M175 per accelerare il carico della barra successiva
            MyOutput( ';M175')
@@ -841,11 +934,20 @@ function OnRapid()
               -- se fresa o lama
               if EMT.HEAD ~= 'H13' then
                  local CurrZ1 = EMT.L3pp or MyMaxZ1
+                  local CurrB1 = PrevR2
+                  local CurrC1 = PrevR1
+                  -- muovo asse X
+                  local bXSpec = EgtIf( BD.RIGHT_LOAD, ( EMT.L2 > -DeltaTabY), ( EMT.L2 < -DeltaTabY))
+                  -- se bisogna scrivere tutti gli assi
+                  if WriteAllCoordsOnFirstM101 then
+                     EmitMoveDataHead( 1, { X=EgtIf( bXSpec, -DeltaTabY, EMT.L2), Z=CurrZ1, B=CurrB1, C=CurrC1, S=Speed})
+                  end
                  -- in caso di rotazione della lama lontano dalla posizione di home degli assi rotanti
                  if ( EMT.HEAD == 'H12' or EMT.HEAD == 'H16') and ( abs( PrevR1 - EMT.R1) > 1 or abs( PrevR2 - EMT.R2) > 1) and ( abs( HomeC1 - EMT.R1) > 30.1 or abs( HomeB1 - EMT.R2) > 30.1) then
-                     -- muovo asse X
-                     local bXSpec = ( EMT.L2 < -DeltaTabY)
-                     EmitMoveDataHead( 1, { X=EgtIf( bXSpec, -DeltaTabY, EMT.L2), S=Speed})
+                     -- se non bisogna scrivere tutti gli assi, comunque ribadisco X in caso di lama. Altrimenti ho già scritto prima
+                     if not WriteAllCoordsOnFirstM101 then
+                        EmitMoveDataHead( 1, { X=EgtIf( bXSpec, -DeltaTabY, EMT.L2), S=Speed})
+                     end
                     EmitMoveDataHead( 1, { B=0, S=Speed})
                     EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
                     EmitMoveDataHead( 1, { X=EMT.L2, S=Speed})
@@ -858,6 +960,10 @@ function OnRapid()
                  end
               -- altrimenti sega a catena
               else
+                  -- se bisogna scrivere tutti gli assi
+                  if WriteAllCoordsOnFirstM101 then
+                     EmitMoveDataHead( 1, { X=ParkCSawX1, Z=ParkCSawZ1, B=HomeB1, C=HomeC1, TRad=dTRad, TLen=dTLen, S=Speed})
+                  end
                  -- Porto la Z alla giusta quota
                  if EMT.L3 > HomeZ1 + 1 and abs( EMT.R2) > 89.9 then
                     EmitMoveDataHead( 1, { X=EMT.L2, S=Speed})
@@ -874,11 +980,17 @@ function OnRapid()
               local dB2 = EMT.R2
               if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
                  local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
-                  EmitMoveDataHead( 2, { X=SafeX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+                  -- se bisogna scrivere tutti gli assi
+                  if WriteAllCoordsOnFirstM101 then
+                     EmitMoveDataHead( 2, { X=SafeX2, Z=MinZ2, B=ParkB2, C=ParkC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+                  else
+                     EmitMoveDataHead( 2, { X=SafeX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+                  end
+
                  EmitMoveDataHead( 2, { Z=-dSafeZ2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
                  EmitMoveDataHead( 2, { B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
               else
-                  local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN + EMT.HB)
+                  local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN + EgtIf( BD.RIGHT_LOAD, -EMT.HB, EMT.HB))
                  local dZ2 = EgtClamp( -Head2Z + MillOffs + Mill2Offs + EMT.L3, MinZ2, MaxZ2)
                  EmitMoveDataHead( 2, { X=dX2, Z=-dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
               end
@@ -893,7 +1005,12 @@ function OnRapid()
               local dB2 = EMT.R2
               if EMT.ZMAX then
                  local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
-                  EmitMoveDataHead( 2, { Z=-dSafeZ2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+                  -- se bisogna scrivere tutti gli assi
+                  if WriteAllCoordsOnFirstM101 then
+                     EmitMoveDataHead( 2, { X=SafeX2, Z=-dSafeZ2, B=ParkB2, C=ParkC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+                  else
+                     EmitMoveDataHead( 2, { Z=-dSafeZ2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
+                  end
                  EmitMoveDataHead( 2, { X=dX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
               end
               EmitMoveDataHead( 2, { X=dX2, Z=-dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
@@ -907,10 +1024,18 @@ function OnRapid()
            -- aspetto esecuzione movimento testa 1
            EmitMoveWaitHead( 1)
         -- altrimenti testa 2
-         else
+         elseif nHSet == 2 then
+            local MyMinZ2 = EgtGetAxisMin( 'Z2')
+            local CurrZ2 = EMT.L3pp or MyMinZ2
+            local CurrB2 = PrevR2
+            local CurrC2 = PrevR1
            local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
            local Speed = EMT.S
            if EMT.ZMAX then
+               -- se bisogna scrivere tutti gli assi
+               if WriteAllCoordsOnFirstM101 then
+                  EmitMoveDataHead( 2, { X=SafeX2, Z=CurrZ2, B=CurrB2, C=CurrC2, S=Speed})
+               end
               EmitMoveDataHead( 2, { Z=-dSafeZ2, S=Speed})
               EmitMoveDataHead( 2, { X=EMT.L2, S=Speed})
            end
@@ -920,6 +1045,33 @@ function OnRapid()
            PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
            -- aspetto esecuzione movimento testa 2
            EmitMoveWaitHead( 2)
+         -- altrimenti testa 3
+         else
+            -- selezione testa (posso muovere X solo a Zmax)
+            local MyMaxZ3 = EgtGetAxisMax( 'Z3')
+            local dSafeZ3 = EgtGetAxisHomePos( 'Z3')
+            local HomeC3 = EgtGetAxisHomePos( 'C3')
+            local HomeB3 = EgtGetAxisHomePos( 'B3')
+            local Speed = EMT.S
+            if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
+               local CurrB3 = PrevR2
+               local CurrC3 = PrevR1
+               -- se bisogna scrivere tutti gli assi
+               if WriteAllCoordsOnFirstM101 then
+                  EmitMoveDataHead( 3, { X=EMT.L2, Z=MyMaxZ3, B=CurrB3, C=CurrC3, S=Speed})
+               else
+                  EmitMoveDataHead( 3, { X=EMT.L2, Z=MyMaxZ3, S=Speed})
+               end
+
+               EmitMoveDataHead( 3, { Z=EMT.L3, B=EMT.R2, C=EMT.R1, S=Speed})
+            else
+               EmitMoveDataHead( 3, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, S=Speed})
+            end
+            EmitMoveStartHead( 3)
+            -- eventuale preselezione successiva testa 2
+            PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
+            -- aspetto esecuzione movimento testa 3
+            EmitMoveWaitHead( 3)
         end
         -- dati aggancio a trave
         local BhData = { T=EMT.L1}
@@ -975,7 +1127,7 @@ function OnRapid()
            if EMT.HEAD == 'H12' or EMT.HEAD == 'H16' then Speed = 1.65 * EMT.S end
            EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, S=Speed})
            EmitMoveStartHead( 1)
-            local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN + EMT.HB)
+            local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN + EgtIf( BD.RIGHT_LOAD, -EMT.HB, EMT.HB))
            local dZ2 = -Head2Z + MillOffs + Mill2Offs + EMT.L3
            local dC2 = EMT.R1
            local dB2 = EMT.R2
@@ -1016,10 +1168,9 @@ function OnRapid()
         EMT.L1p = nil
         EMT.L2p = nil
         EMT.L3p = nil
-         MyOutput( 'M105 P1='..GetFaceCode()..' P2='..EgtIf( EMT.HEAD ~= 'H21', '1', '2')..' P3='..EgtIf( EMT.DOU_TYPE, 2, 0))
+         MyOutput( 'M105 P1=' .. GetFaceCode() .. ' P2='..GetHeadSetCode()..' P3='..EgtIf( EMT.DOU_TYPE, 2, 0))
         MyOutput( 'M98')
-         sOut = 'M6 ' .. EgtIf( EMT.HEAD ~= 'H21', 'T101', 'T202') .. AdjustTcPos( true)
-         MyOutput( sOut)
+         MyOutput( 'M6 ' .. GetHeadToolCode() .. AdjustTcPos( true))
         MyOutput( 'G24' .. EMT.IPLGLSTR)
         -- forzo successiva emissione assi rotanti
         EMT.R1p = nil
@@ -1042,7 +1193,10 @@ function OnRapid()
      EmtAdjustRotaryAxes()
      -- se Split lascio agganciata solo la pinza Y2 alla fine dei movimenti
      local bSplitCut = ( EMT.MCHUSERNOTES:find( 'Split', 1, true) ~= nil)
-      EmitZmax( true, true, EMT.R1p, EMT.R2p, bSplitCut)
+      -- se lavorazione successiva sopra con testa diversa, porto in home la testa corrente
+      local nNextTopHSet = GetNextTopHSet( EMT.MCHID)
+      local bTopGoHome = ( nHSet ~= 2 and nNextTopHSet ~= 0 and nHSet ~= nNextTopHSet)
+      EmitZmax( true, true, EMT.R1p, EMT.R2p, bSplitCut, bTopGoHome)
      -- aggiorno quota finale trave dopo Zmax
      EMT.L1o = EMT.TPOS
      EMT.ZMAX = true
@@ -1051,7 +1205,7 @@ function OnRapid()
      -- non previsto
   -- altrimenti errore
   else
-      error( "Unknown Rapid flag")
+      EmtSetLastError( 1212, "Unknown Rapid flag")
   end
   -- aggiorno valori come precedenti
   EMT.TPOS = EMT.L1o
@@ -1080,18 +1234,9 @@ function OnLinear()
      EMT.L1p = nil
      EMT.L2p = nil
      EMT.L3p = nil
-      MyOutput( 'M105 P1=' .. GetFaceCode() .. ' P2='..EgtIf( EMT.HEAD ~= 'H21', '1', '2')..' P3='..EgtIf( EMT.DOU_TYPE, 2, 0))
+      MyOutput( 'M105 P1=' .. GetFaceCode() .. ' P2='..GetHeadSetCode()..' P3='..EgtIf( EMT.DOU_TYPE, 2, 0))
      MyOutput( 'M98')
-      local sPos = EMT.TCPOS:gsub( 'T', '')
-      if #sPos == 1 then
-         sPos = '00' .. sPos
-      elseif #sPos == 2 then
-         sPos = '0' .. sPos
-      elseif sPos == '101' and abs( EMT.R3 - 90) < 0.1 then
-         sPos = '104'
-      end
-      local sOut = 'M6 ' .. EgtIf( EMT.HEAD ~= 'H21', 'T101', 'T202') .. sPos
-      MyOutput( sOut)
+      MyOutput( 'M6 ' .. GetHeadToolCode() .. AdjustTcPos( true))
      MyOutput( 'G24' .. EMT.IPLGLSTR)
      -- emissione movimento
      EMT.R1p = nil
@@ -1214,17 +1359,15 @@ end

 ---------------------------------------------------------------------
 function CalcForzaPinze( dH, dS, dL, dT)
-   local MinForza = 400                               -- [Kgf]
-   local MaxForza = 1000                              -- [Kgf]
   local MassaRef = 1500                              -- [Kg]
   local dMinJoin = BD.GetMinJoin( dS, dH, dT)
   if dMinJoin < 0.9 * BD.MIN_JOIN_L then
-      return MinForza
+      return MinForzaPinze
   else
      local KgMtCubo= 550                             -- densità legno [Kg / metro cubo]
      local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
-      local Forza = Massa / MassaRef * MaxForza
-      return EgtClamp( Forza, MinForza, MaxForza)
+      local Forza = Massa / MassaRef * MaxForzaPinze
+      return EgtClamp( Forza, MinForzaPinze, MaxForzaPinze)
   end
 end

@@ -1801,29 +1944,42 @@ function MyAdjustLinearAxes()
   local MyL1o = EMT.L1
   local MyL2o = EMT.L2
   local MyL3o = EMT.L3
+   local nHSet = GetHeadSet( EMT.HEAD)
   if EMT.REFLOC then
      local vtE
-      if EMT.HEAD ~= 'H13' then
-         local dAddLen = 0
-         if EMT.HEAD == 'H12' then
-            dAddLen = -SawOffsZ
-         elseif EMT.HEAD == 'H16' then
-            dAddLen = -Saw2OffsZ
-         end
-         if EMT.HEAD ~= 'H21' then
+      -- se testa 1
+      if nHSet == 1 then
+         if EMT.HEAD == 'H13' then
+            local Len = ( EMT.TDIST or ChSawLen) + MillOffs
+            local LenRef = MillOffs
+            vtE = Vector3d( EMT.ADIR) * Len - Z_AX() * LenRef
+         else
+            local dAddLen = 0
+            if EMT.HEAD == 'H12' then
+               dAddLen = -SawOffsZ
+            elseif EMT.HEAD == 'H16' then
+               dAddLen = -Saw2OffsZ
+            end
            local Len = EMT.TLEN + dAddLen + MillOffs
            local LenRef = MillOffs
            vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
-         else
-            local Len = EMT.TLEN + dAddLen + Mill2Offs
-            local LenRef = Mill2Offs
-            vtE = Vector3d( EMT.TDIR) * Len + Z_AX() * LenRef
         end
+      -- se testa 2
+      elseif nHSet == 2 then
+         local dAddLen = 0
+         if EMT.HEAD == 'H22' then
+            dAddLen = -Saw2OffsZ
+         end
+         local Len = EMT.TLEN + dAddLen + Mill2Offs
+         local LenRef = Mill2Offs
+         vtE = Vector3d( EMT.TDIR) * Len + Z_AX() * LenRef
+      -- se testa 3
      else
-         local Len = ( EMT.TDIST or ChSawLen) + MillOffs
-         local LenRef = MillOffs
-         vtE = Vector3d( EMT.ADIR) * Len - Z_AX() * LenRef
+         local Len = EMT.TLEN + Mill3Offs
+         local LenRef = Mill3Offs
+         vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
      end
+
      EMT.L1 = EMT.L1 - vtE:getX()
      EMT.L2 = EMT.L2 - vtE:getY()
      EMT.L3 = EMT.L3 - vtE:getZ()
@@ -1838,7 +1994,7 @@ function MyAdjustLinearAxes()
   EMT.L3o = MyL3o
   
   if not EMT.REFLOC then
-      if EMT.HEAD ~= 'H21' then
+      if EMT.HEAD ~= 'H21' and  EMT.HEAD ~= 'H22' then
         EMT.L2 = -EMT.L2
      else
         EMT.L3 = -EMT.L3
@@ -1913,7 +2069,16 @@ 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) + EgtIf( EMT.HEAD ~= 'H21', Vector3d( 0, DeltaTabY, DeltaTabZ), Vector3d( 0, Delta2TabY, Delta2TabZ))
+   local ptS = Point3d( xS, 0, 0)
+   local nHSet = GetHeadSet( EMT.HEAD)
+   if nHSet == 1 then
+      ptS = ptS + Vector3d( 0, DeltaTabY, DeltaTabZ)
+   elseif nHSet == 2 then
+      ptS = ptS + Vector3d( 0, Delta2TabY, Delta2TabZ)
+   else
+      ptS = ptS + Vector3d( 0, Delta3TabY, Delta3TabZ)
+   end
+
   -- calcolo per piano generico
   local vtE
   if EMT.HEAD ~= 'H13' then
@@ -1956,12 +2121,41 @@ function GetFaceCode()
 end

 ---------------------------------------------------------------------
-function EmitZmax( bReset, bEnd, PrevR1, PrevR2, bSplitCut)
+function GetHeadSetCode()
+   local nSetHead = GetHeadSet( EMT.HEAD)
+   if nSetHead == 1 then
+      return '1'
+   elseif nSetHead == 2 then
+      return '2'
+   elseif nSetHead == 3 then
+      return '3'
+   else
+      EmtSetLastError( 1211, 'Error Unknown Head Set')
+   end
+end
+
+---------------------------------------------------------------------
+function GetHeadToolCode()
+   local nSetHead = GetHeadSet( EMT.HEAD)
+   if nSetHead == 1 then
+      return 'T101'
+   elseif nSetHead == 2 then
+      return 'T202'
+   elseif nSetHead == 3 then
+      return 'T303'
+   else
+      EmtSetLastError( 1211, 'Error Unknown Head Set')
+   end
+end
+
+---------------------------------------------------------------------
+function EmitZmax( bReset, bEnd, PrevR1, PrevR2, bSplitCut, bTopGoHome)
   if bReset then
      EmitResetMachining()
   end
+   local nSetHead = GetHeadSet( EMT.HEAD)
   -- se testa 1
-   if EMT.HEAD ~= 'H21' and EMT.HEAD ~= 'H22' then
+   if nSetHead == 1 then
      -- posizioni sicure
      local dMaxZ1 = EgtGetAxisMax( 'Z1')
      local dHomeX1 = EgtGetAxisHomePos( 'X1')
@@ -1985,13 +2179,16 @@ function EmitZmax( bReset, bEnd, PrevR1, PrevR2, bSplitCut)
            if ( EMT.HEAD == 'H12' or EMT.HEAD == 'H16') and ( abs( dHomeC1 - PrevR1) > 30.1 or abs( dHomeB1 - PrevR2) > 30.1) then
               EmitMoveDataHead( 1, { Z=dMaxZ1, B=0, Fmt=1})
            end
-            if EMT.L2o > DeltaTabY then
+            if EgtIf( BD.RIGHT_LOAD, ( EMT.L2 > -DeltaTabY), ( EMT.L2 < -DeltaTabY)) then
               EmitMoveDataHead( 1, { X=-DeltaTabY, Fmt=1})
            end
            EmitMoveDataHead( 1, { C=dHomeC1, Fmt=1})
            EmitMoveDataHead( 1, { B=dHomeB1, Fmt=1})
         end
         EmitMoveDataHead( 1, { Z=dMaxZ1, Fmt=1})
+         if bTopGoHome then
+            EmitMoveDataHead( 1, { X=-ParkX1, Fmt=1})
+         end
         EmitMoveStartHead( 1)
         -- se lavorazione in doppio
         if EMT.DOU_TYPE == 2 or EMT.DOU_TYPE == 3 then
@@ -2004,27 +2201,45 @@ function EmitZmax( bReset, bEnd, PrevR1, PrevR2, bSplitCut)
         -- salzo in Z sicurezza raddrizzando la B
         EmitMoveDataHead( 1, { Z=ParkCSawZ1, B=dHomeB1, Fmt=1})
         EmitMoveDataHead( 1, { X=-dHomeX1, C=dHomeC1, Fmt=1})
+         if bTopGoHome then
+            -- !!! da verificare bene (come PF) !!!
+            EmitMoveDataHead( 1, { X=-ParkX1, TPos=50, Fmt=1})
+         end
         EmitMoveStartHead( 1)
         EmitMoveWaitHead( 1)
      end
-   -- altrimenti testa 2
-   else
+   -- se altrimenti testa 2
+   elseif nSetHead == 2 then
+
      -- posizioni sicure
-      local dSafeX2 = EgtGetAxisHomePos( 'X2')
-      local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
-      local dSafeB2 = EgtGetAxisHomePos( 'B2')
-      local dSafeC2 = EgtGetAxisHomePos( 'C2')
+      local dHomeX2 = EgtGetAxisHomePos( 'X2')
+      local dHomeZ2 = EgtGetAxisHomePos( 'Z2')
+      local dHomeB2 = EgtGetAxisHomePos( 'B2')
+      local dHomeC2 = EgtGetAxisHomePos( 'C2')
      -- se necessario allargo le cabine
-      if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, dSafeC2, dSafeB2) then
+      if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, dHomeC2, dHomeB2) then
         local dPosT = EgtIf( bEnd, EMT.L1o, EMT.TPOS or EMT.L1op)
         EmitParkRoller( dPosT, bSplitCut)
      end
      -- eseguo la discesa a Z2max
-      EmitMoveDataHead( 2, { Z=-dSafeZ2, Fmt=1})
-      EmitMoveDataHead( 2, { B=dSafeB2, C=dSafeC2, Fmt=1})
-      EmitMoveDataHead( 2, { X=dSafeX2, Fmt=1})
+      EmitMoveDataHead( 2, { Z=-dHomeZ2, Fmt=1})
+      EmitMoveDataHead( 2, { B=dHomeB2, C=dHomeC2, Fmt=1})
+      EmitMoveDataHead( 2, { X=dHomeX2, Fmt=1})
      EmitMoveStartHead( 2)
      EmitMoveWaitHead( 2)
+   -- altrimenti testa 3
+   else
+      -- posizioni sicure
+      local dMaxZ3 = EgtGetAxisMax( 'Z3')
+      local dHomeX3 = EgtGetAxisHomePos( 'X3')
+      local dHomeB3 = EgtGetAxisHomePos( 'B3')
+      -- eseguo la salita a Z3max
+      EmitMoveDataHead( 3, { Z=dMaxZ3, Fmt=1})
+      if bTopGoHome then
+         EmitMoveDataHead( 3, { X=-dHomeX3, B=dHomeB3, Fmt=1})
+      end
+      EmitMoveStartHead( 3)
+      EmitMoveWaitHead( 3)
   end
 end

@@ -2052,6 +2267,10 @@ end
 ---------------------------------------------------------------------
 function EmitResetMachining()
   MyOutput( 'G27')
+   if EMT.PREFALLCUT then
+      MyOutput( 'M29')
+      EMT.PREFALLCUT = nil
+   end
   local sP12 = ''
   if EMT.TOOL ~= GetNextTool( EMT.MCHID) then sP12 = EgtIf( EMT.HEAD ~= 'H21', ' P1=0'..EgtIf( EMT.DOU_TYPE, ' P2=0', ''), ' P2=0') end
   local sP4 = EgtIf( EMT.MCHUSERNOTES:find( 'Split', 1, true), ' P4=1', '')
@@ -2168,7 +2387,7 @@ end

 ---------------------------------------------------------------------
 function PreselectNextDiffHead( nMchId, sHead)
-   -- se in uso testa 1, verifico di non scendere troppo in Z per evitare collisioni
+   -- se in uso testa 1, verifico di non scendere troppo in Z per evitare collisioni (per testa 3 non serve il controllo)
   local nHSet = GetHeadSet( sHead)
   if nHSet == 1 then
      if EMT.MAXMIN[3] < MinZ1ToChangeH2 then return end
@@ -2186,14 +2405,20 @@ function PreselectNextDiffHead( nMchId, sHead)
      if EgtTdbSetCurrTool( sNextTool) then
         local sNextHead = EgtTdbGetCurrToolParam( MCH_TP.HEAD)
         local nNextHSet = GetHeadSet( sNextHead)
-         if nNextHSet ~= nHSet then
+         if nNextHSet ~= nHSet and nNextHSet ~= 3 and ( nHSet ~= 3 or nNextHSet ~= 1) then
            local sNextTcPos = EgtTdbGetCurrToolParam( MCH_TP.TCPOS)
+            local dNextTotLen = EgtTdbGetCurrToolParam( MCH_TP.TOTLEN)
            if nNextHSet == 1 then
               -- Recupero quota X1 (nostro L2)
               local dNextX = GetStartMachiningXaxis( nNextMchId)
               -- Emetto preselezione
               if sNextHead == 'H11' then
-                  EmitMoveDataHead( 1, { X=dNextX, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, sNextTcPos), Fmt=2})
+                  if dNextTotLen < LongTool then
+                     EmitMoveDataHead( 1, { X=dNextX, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, sNextTcPos), Fmt=2})
+                  else
+                     local nNextTc = GetTcForTopHeadTool( sNextTcPos)
+                     EmitMoveDataHead( 1, { X=dNextX, B=ParkLongB1, C=EgtIf( nTc ~= 2, ParkLongTc1C1, ParkLongTc2C1), TPos=AdjustTcPos( false, sNextTcPos), Fmt=2})
+                  end
                  EmitMoveStartHead( 1)
               elseif sNextHead == 'H12' or sNextHead == 'H16' then
                  EmitMoveDataHead( 1, { X=dNextX, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, sNextTcPos), Fmt=2})
@@ -2202,7 +2427,7 @@ function PreselectNextDiffHead( nMchId, sHead)
                  -- recupero il valore dell'asse virtuale bloccato A
                  local dPosA = GetCurrChainSawingVirtualAxis()
                  local MyParkCSawC1 = GetChainSawCHomeFromVirtualAxis( dPosA)
-                  local bXSpec = ( dNextX < -DeltaTabY)
+                  local bXSpec = EgtIf( BD.RIGHT_LOAD, ( dNextX > -DeltaTabY), ( dNextX < -DeltaTabY))
                  EmitMoveDataHead( 1, { X=EgtIf( bXSpec, -DeltaTabY, dNextX), B=ParkCSawB1, C=MyParkCSawC1, TPos=AdjustTcPos( false, sNextTcPos, dPosA), Fmt=2})
                  EmitMoveStartHead( 1)
               end
@@ -2224,6 +2449,33 @@ function PreselectNextDiffHead( nMchId, sHead)
   EgtTdbSetCurrTool( EMT.TOOL)
 end

+---------------------------------------------------------------------
+function GetNextTopHSet( nMchId)
+   local nNextTopHSet = 0
+   -- recupero lavorazione successiva
+   local nNextMchId = EgtGetNextActiveOperation( nMchId)
+   while nNextMchId do
+      if EgtGetOperationType( nNextMchId) ~= MCH_OY.DISP then
+         if EgtSetCurrMachining( nNextMchId) then
+            local sNextTool = EgtGetMachiningParam( MCH_MP.TOOL)
+            if EgtTdbSetCurrTool( sNextTool) then
+               local sNextHead = EgtTdbGetCurrToolParam( MCH_TP.HEAD)
+               local nNextHSet = GetHeadSet( sNextHead)
+               if nNextHSet ~= 2 then
+                  nNextTopHSet = nNextHSet
+                  break
+               end
+            end
+         end
+      end
+      nNextMchId = EgtGetNextActiveOperation( nNextMchId)
+   end
+   -- ripristino stato corrente
+   EgtSetCurrMachining( EMT.MCHID)
+   EgtTdbSetCurrTool( EMT.TOOL)
+   return nNextTopHSet
+end
+
 ---------------------------------------------------------------------
 function GetFmaxClamp()
   return EmtLenToString( EMT.FMAXPINZE / 1000, 0)
@@ -2263,7 +2515,13 @@ end

 ---------------------------------------------------------------------
 function EmitMoveDataHead( nHead, MoData)
-   local sOut = EgtIf( nHead == 1, 'M101', 'M102') .. ' P1=1'
+   local sOut = 'M101'
+   if nHead == 2 then
+      sOut = 'M102'
+   elseif nHead == 3 then
+      sOut = 'M103'
+   end
+   sOut = sOut .. ' P1=1'
   if MoData.X then sOut = sOut .. ' P2=' .. EmtLenToString( MoData.X, 3) end
   if MoData.Z then sOut = sOut .. ' P3=' .. EmtLenToString( MoData.Z, 3) end
   if MoData.B then sOut = sOut .. ' P4=' .. EmtLenToString( MoData.B, 3) end
@@ -2281,13 +2539,25 @@ end

 ---------------------------------------------------------------------
 function EmitMoveStartHead( nHead)
-   local sOut = EgtIf( nHead == 1, 'M101', 'M102') .. ' P1=2'
+   local sOut = 'M101'
+   if nHead == 2 then
+      sOut = 'M102'
+   elseif nHead == 3 then
+      sOut = 'M103'
+   end
+   sOut = sOut .. ' P1=2'
   MyOutput( sOut)
 end

 ---------------------------------------------------------------------
 function EmitMoveWaitHead( nHead)
-   local sOut = EgtIf( nHead == 1, 'M101', 'M102') .. ' P1=3'
+   local sOut = 'M101'
+   if nHead == 2 then
+      sOut = 'M102'
+   elseif nHead == 3 then
+      sOut = 'M103'
+   end
+   sOut = sOut .. ' P1=3'
   MyOutput( sOut)
 end

@@ -1,4 +1,5 @@
-- Processore macchina Essetre-PF1250 by EgalTech s.r.l.   2023/11/21
+-- Processore standard macchine tipo PF1250 by EgalWare s.r.l.   2023/12/14
+
 -- Funzioni generiche indipendenti dal controllo

 -- Intestazioni
@@ -12,7 +13,7 @@ local sBaseDir = EgtGetSourceDir()
 if NumericalControl == 'NUM' then
   error( 'Numerical Control error : NUM not yet managed')
 elseif NumericalControl == 'TPA' then
-   dofile( sBaseDir .. 'Essetre-PF1250.TPA.mlpe')
+   dofile( sBaseDir .. 'Common-PF1250.TPA.mlpe')
 else
   error( 'Numerical Control error : unkwnown type')
 end
@@ -20,7 +21,7 @@ end
 ---------------------------------------------------------------------
 -- *** SIMULATION ***
 ---------------------------------------------------------------------
-local COLL_SAFE_DIST = 4
+local COLL_SAFE_DIST = 3

 ---------------------------------------------------------------------
 function OnSimulStart()
@@ -63,6 +64,11 @@ function OnSimulStart()
   AddToCollisionCheck( 'X2', 'COLLISION', EMT.COLLOBJ)
   AddToCollisionCheck( 'C2', 'COLLISION', EMT.COLLOBJ)
   AddToCollisionCheck( 'B2', 'COLLISION', EMT.COLLOBJ)
+   if EgtGetHeadId('H31') then
+      AddToCollisionCheck( 'Z3', 'COLLISION', EMT.COLLOBJ)
+      AddToCollisionCheck( 'C3', 'COLLISION', EMT.COLLOBJ)
+      AddToCollisionCheck( 'B3', 'COLLISION', EMT.COLLOBJ)
+   end
   DumpCollisionCheck( EMT.COLLOBJ, 'Collision Objects :', 4)
   -- Preparo lista solidi macchina con cui possono collidere gli oggetti sopra riportati (in aggiunta a VMill)
   EMT.MCODET = {}
@@ -72,12 +78,15 @@ function OnSimulStart()
                     { Grp = 'Base', Sub = 'COLLISION', Name = 'COL1'},
                     { Grp = 'Base', Sub = 'COLLISION', Name = 'COL2'},
                     { Grp = 'Base', Sub = 'COLLISION', Name = 'CHSAW'},
-                     { Grp = 'Base', Sub = 'COLLISION', Name = 'CHSAW2'},
-                     { Grp = 'Base', Sub = 'COLLISION', Name = 'SPTOOLS'},
-                     { Grp = 'Base', Sub = 'COLLISION', Name = 'AGGREBLADEUNDER'},
                     { Grp = 'Z2', Sub = 'COLLISION', Name = 'COL1'},
                     { Grp = 'Z2', Sub = 'COLLISION', Name = 'CHAIN'},
                     { Grp = 'Z2', Sub = 'COLLISION', Name = 'COL2'}}
+
+   -- inserisco gruppi opzionali
+   if SecondChain then table.insert( McdData, { Grp = 'Base', Sub = 'COLLISION', Name = 'CHSAW2'}) end
+   if TcSpecialTools then table.insert( McdData,  {Grp = 'Base', Sub = 'COLLISION', Name = 'SPTOOLS'}) end
+   if TcAggreBladeUnder then table.insert( McdData, {Grp = 'Base', Sub = 'COLLISION', Name = 'AGGREBLADEUNDER'}) end
+
   EgtOutLog( 'MCODET Objects :', 4)
   local nMcdNullCnt = 0
   for i = 1, #McdData do
@@ -391,10 +400,19 @@ function OnSimulToolSelect( dPosA)
   EMT.TLEN = EgtTdbGetCurrToolParam( MCH_TP.LEN)
   EMT.TTOTLEN = EgtTdbGetCurrToolParam( MCH_TP.TOTLEN)
   EMT.TUSERNOTES = EgtTdbGetCurrToolParam( MCH_TP.USERNOTES)
+   -- recupero il gruppo
+   local nSetHead = GetHeadSet( EMT.NEXTHEAD)
   -- se fresa o lama su testa 1, reset assi rotanti
-   if EMT.HEAD == 'H11' or EMT.HEAD == 'H14' or EMT.HEAD == 'H12' or EMT.HEAD == 'H13' or EMT.HEAD == 'H16' then
+   if nSetHead == 1 then
+      -- se ho la testa 3, la mando a parcheggio
+      if EgtGetHeadId( 'H31') then
+         EgtSetAxisPos( 'X3', ParkX3)
+      end
      EgtResetAxisPos( 'C1')
      EgtResetAxisPos( 'B1')
+   -- se testa 3 parcheggio la 1
+   elseif nSetHead == 3 then
+      EgtSetAxisPos( 'X1', ParkX1)
   end
   -- se sega a catena, imposto subito angolo scelto per asse virtuale A
   if EMT.HEAD == 'H13' then
@@ -402,7 +420,7 @@ function OnSimulToolSelect( dPosA)
      dPosA = dPosA or GetNextChainSawingVirtualAxis( EMT.MCHID)
      -- imposto il valore di A
      EgtSetAxisPos( 'A1', dPosA)
-      -- imposto home dell'asse C1 (A=0 -> T101, A=90 -> T104)
+      -- imposto home dell'asse C1 (A1=0 -> T101, A1=90 -> T104)
      local MyParkCSawC1 = GetChainSawCHomeFromVirtualAxis( dPosA)
      EmtModifyAxisHome( 'C1', MyParkCSawC1)
      EgtSetAxisPos( 'C1', MyParkCSawC1)
@@ -415,7 +433,7 @@ function OnSimulToolSelect( dPosA)
      dPosA = dPosA or GetNextSawingVirtualAxis( EMT.MCHID)
      -- imposto il valore di A
      EgtSetAxisPos( 'A2', dPosA)
-      -- imposto home dell'asse C1 (A=0 -> T101, A=90 -> T104)
+      -- imposto home dell'asse C1 (A2=0 -> T101, A2=90 -> T104)
      local MyParkSawC2 = GetSawCHomeFromVirtualAxis( dPosA)
      EmtModifyAxisHome( 'C2', MyParkSawC2)
      EgtSetAxisPos( 'C2', MyParkSawC2)
@@ -438,7 +456,7 @@ function OnSimulToolSelect( dPosA)
   -- se attivo Collision Check
   EMT.SAFEDIST = COLL_SAFE_DIST
   if EMT.COLLOBJ then
-      local nInd = EgtIf( EMT.HEAD ~= 'H21' and EMT.HEAD ~= 'H22', 1001, 1011)
+      local nInd = EgtIf( nSetHead ~= 2, 1001, 1011)
      AddToolToCollisionObj( EMT.TOOL, EMT.HEAD, EMT.EXIT, nInd, true)
      AddToolHolderToCollisionObj( EMT.TOOL, EMT.HEAD, EMT.EXIT, nInd + 1)
      for i, Coll in ipairs( EMT.COLLOBJ or {}) do
@@ -464,8 +482,8 @@ function OnSimulToolDeselect( dPrevA)
         if dPrevA then
            ParkC2 = GetSawCHomeFromVirtualAxis( dPrevA)
         end
-         SimulMoveAxes( 'B2', ParkSawB2, MCH_SIM_STEP.RAPROT, 'C2', ParkC2, MCH_SIM_STEP.RAPROT)
         SimulMoveAxis( 'X2', ParkSawX2, MCH_SIM_STEP.RAPID)
+         SimulMoveAxes( 'B2', ParkSawB2, MCH_SIM_STEP.COLLROT, 'C2', ParkC2, MCH_SIM_STEP.COLLROT)
      end
      -- breve pausa
      EgtPause( 100)
@@ -476,7 +494,7 @@ function OnSimulToolDeselect( dPrevA)
   -- se testa gruppo 1
   else
      -- deposito utensile fresa
-      if EMT.PREVHEAD_H1 == 'H11' or EMT.PREVHEAD_H1 == 'H14' then
+      if EMT.PREVHEAD_H1 == 'H11' then
         -- simulo movimento
         local nPrevTc = GetTcForTopHeadTool( EMT.PREVTCPOS_H1)
         if EMT.PREVTTOTLEN_H1 < LongTool then
@@ -521,14 +539,27 @@ function OnSimulToolDeselect( dPrevA)
      -- nascondo l'utensile sulla testa
      EgtSetMode( EgtGetHeadId( EMT.PREVHEAD_H1 or '') or GDB_ID.NULL, GDB_MD.HIDDEN)
   end
+   -- se passo da testa 1 a 3 o viceversa
+   if nNextSetHead == 3 then
+      -- deposito eventuale sega a catena
+      if EMT.PREVHEAD_H1 == 'H13' then
+         -- visualizzo utensile su TcPos
+         ShowToolInTcPos( EMT.PREVTCPOS_H1, true)
+         -- nascondo l'utensile sulla testa
+         EgtSetMode( EgtGetHeadId( EMT.PREVHEAD_H1 or '') or GDB_ID.NULL, GDB_MD.HIDDEN)
+      end
+      SimulMoveAxis( 'X1', ParkX1, MCH_SIM_STEP.RAPID)
+   elseif nNextSetHead == 1 then
+      SimulMoveAxis( 'X3', ParkX3, MCH_SIM_STEP.RAPID)
+   end
   -- movimento per prendere nuovo utensile
   -- prendo utensile fresa
-   if EMT.NEXTHEAD == 'H11' or EMT.NEXTHEAD == 'H14' then
+   if EMT.NEXTHEAD == 'H11' then
      -- simulo movimento
      SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
      local dPosX = EgtIf( GetTcForTopHeadTool( EMT.NEXTTCPOS) ~= 2, ParkX1, ParkTc2X1)
      SimulMoveAxis( 'X1', dPosX, MCH_SIM_STEP.RAPID)
-      SimulMoveAxis( 'Z1', 0, MCH_SIM_STEP.RAPID)
+      SimulMoveAxis( 'Z1', MaxZ1, MCH_SIM_STEP.RAPID)
   -- prendo utensile lama
   elseif EMT.NEXTHEAD == 'H12' then
      -- simulo movimento
@@ -549,12 +580,15 @@ function OnSimulToolDeselect( dPrevA)
      -- simulo movimento
      SimulMoveAxes( 'B2', ParkB2, MCH_SIM_STEP.RAPROT, 'C2', ParkC2, MCH_SIM_STEP.RAPROT)
      SimulMoveAxis( 'X2', ParkX2, MCH_SIM_STEP.RAPID)
-   -- prendo utensile seconda lama
+   -- prendo utensile lama su aggregato
   elseif EMT.NEXTHEAD == 'H22' then
+      -- aggiungo utensile per verifica collisione
+      AddToolToCollisionObj( EMT.NEXTTOOL, EMT.NEXTHEAD, EMT.NEXTEXIT, 1011, false)
+      AddToolHolderToCollisionObj( EMT.NEXTTOOL, EMT.NEXTHEAD, EMT.NEXTEXIT, 1011 + 1)
      -- simulo movimento
-      SimulMoveAxes( 'B2', ParkSawB2, MCH_SIM_STEP.RAPROT, 'C2', EgtGetAxisHomePos( 'C2'), MCH_SIM_STEP.RAPROT)
      SimulMoveAxis( 'X2', ParkSawX2, MCH_SIM_STEP.RAPID)
-      end
+      SimulMoveAxes( 'B2', ParkSawB2, MCH_SIM_STEP.COLLROT, 'C2', ParkSawC2, MCH_SIM_STEP.COLLROT)
+   end
 end

 ---------------------------------------------------------------------
@@ -574,7 +608,7 @@ function OnSimulMachiningStart()
   if EMT.HEAD == 'H22' and EMT.HEAD == EMT.PREVHEAD_H2 then
      local dPrevA = EgtGetAxisPos( 'A2')
      local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS)
-      local dPosA = tonumber( sVal:sub( 4))
+      local dPosA = tonumber( sVal:sub( 4)) or 0
      if abs( dPosA - dPrevA) > 1 then
         ExecParkRoller( nil, nil, nil, nil, false, bAgg)
         OnSimulToolDeselect( dPrevA)
@@ -596,6 +630,12 @@ function OnSimulMachiningStart()
      EMT.PREVHEAD_H2 = EMT.HEAD
      EMT.PREVTCPOS_H2 = EMT.TCPOS
      EMT.PREVTTOTLEN_H2 = EMT.TTOTLEN
+   -- per gruppo testa 3 (resetto dati testa 1)
+   else
+      EMT.PREVTOOL_H3 = nil
+      EMT.PREVHEAD_H3 = nil
+      EMT.PREVTCPOS_H3 = nil
+      EMT.PREVTTOTLEN_H3 = nil
   end
   -- recupero alcuni dati della lavorazione
   EMT.MCHNAME = EgtGetOperationName( EMT.MCHID)
@@ -812,9 +852,9 @@ function OnSimulMoveStart()
         if EMT.HEAD ~= 'H13' then
            -- se movimento iniziale da Zmax con lama o fresa
            if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
+               local bXSpec = EgtIf( BD.RIGHT_LOAD, EMT.L2 < DeltaTabY, EMT.L2 > DeltaTabY)
               -- in caso di rotazione della lama lontano dalla posizione di home degli assi rotanti
               if ( EMT.HEAD == 'H12' or EMT.HEAD == 'H16') and ( abs( C1Pos - EMT.R1) > 1 or abs( B1Pos - EMT.R2) > 1) and ( abs( C1Home - EMT.R1) > 30.1 or abs( B1Home - EMT.R2) > 30.1) then
-                  local bXSpec = ( EMT.L2 > DeltaTabY)
                  SimulMoveAxis( 'X1', EgtIf( bXSpec, DeltaTabY, EMT.L2), MCH_SIM_STEP.RAPID)
                  SimulMoveAxis( 'B1', 0, MCH_SIM_STEP.COLLROT)
                  SimulMoveAxis( 'C1', EMT.R1, MCH_SIM_STEP.COLLROT)
@@ -822,6 +862,10 @@ function OnSimulMoveStart()
                  SimulMoveAxes( 'Z1', EMT.L3, MCH_SIM_STEP.RAPID, 'B1', EMT.R2, MCH_SIM_STEP.COLLROT)
               -- caso standard
               else
+                  -- se bisogna scrivere tutti gli assi
+                  if WriteAllCoordsOnFirstM101 then
+                     SimulMoveAxis( 'X1', EgtIf( bXSpec, DeltaTabY, EMT.L2), MCH_SIM_STEP.RAPID)
+                  end
                  SimulMoveAxis( 'Z1', EMT.L3, MCH_SIM_STEP.RAPID)
                  SimulMoveAxis( 'B1', EMT.R2, MCH_SIM_STEP.COLLROT)
                  SimulMoveAxis( 'C1', EMT.R1, MCH_SIM_STEP.COLLROT)
@@ -840,14 +884,22 @@ function OnSimulMoveStart()
               SimulMoveAxes( 'Z1', Z1Home, MCH_SIM_STEP.RAPID, 'B1', EMT.R2, MCH_SIM_STEP.COLLROT)
            end
         end
-      -- altrimenti testa 2
-      else
-         -- Porto la X alla giusta quota
-         local X2Pos = EgtGetAxisPos( 'X2')
-         local X2Home = EgtGetAxisHomePos( 'X2')
-         if X2Pos > X2Home - 1 then
+      -- se altrimenti testa 2
+      elseif nSetHead == 2 then
+         local B2Home = EgtGetAxisHomePos( 'B2')
+         local C2Home = EgtGetAxisHomePos( 'C2')
+         local Z2Home = EgtGetAxisHomePos( 'Z2')
+         if EMT.ZMAX then
+            -- se bisogna scrivere tutti gli assi
+            if WriteAllCoordsOnFirstM101 then
+               SimulMoveAxes( 'X2', SafeX2, MCH_SIM_STEP.RAPID, 'B2', B2Home, MCH_SIM_STEP.COLLROT, 'C2', C2Home, MCH_SIM_STEP.COLLROT)
+            end
+            SimulMoveAxis( 'Z2', Z2Home, MCH_SIM_STEP.RAPID)
            SimulMoveAxis( 'X2', EMT.L2, MCH_SIM_STEP.RAPID)
         end
+      -- altrimenti testa 3
+      else 
+         ; -- non devo fare alcunchè di speciale
      end
   end
   -- se lavorazione split, muovo per riaggancio del carro Y1
@@ -872,7 +924,7 @@ function OnSimulMoveStart()
         else
            EMT.AuxAxes = 4 + 4
            EMT.A5n = 'X2'
-            local X2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY + EMT.L2 + EMT.TLEN + EMT.HB)
+            local X2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY + EMT.L2 + EMT.TLEN + EgtIf( BD.RIGHT_LOAD, -EMT.HB, EMT.HB))
            if EMT.MCHTYPE == MCH_MY.DRILLING and EMT.FLAG == 101 then
               EMT.DOU_DRILL_END = -( EMT.L2p - EMT.L2)
               X2 = X2 + 2 * EMT.DOU_DRILL_END
@@ -928,17 +980,28 @@ function OnSimulMoveStart()
      end
   end
   -- se necessario ...
-   if EMT.MCHFIRST then
+   if EMT.MCHFIRST and EMT.EnabAxes ~= false then
      if nSetHead == 1 then
         SimulMoveAxes( 'X1', EMT.L2, MCH_SIM_STEP.RAPID,
                        'Z1', EMT.L3, MCH_SIM_STEP.RAPID,
-                        'C1', EMT.R1, MCH_SIM_STEP.RAPROT,
-                        'B1', EMT.R2, MCH_SIM_STEP.RAPROT)
-      else
+                        'C1', EMT.R1, MCH_SIM_STEP.COLLROT,
+                        'B1', EMT.R2, MCH_SIM_STEP.COLLROT)
+         if EMT.DOU_TYPE and EMT.AuxAxes == 8 then
+            SimulMoveAxes( 'X2', EMT.A5, MCH_SIM_STEP.RAPID,
+                           'Z2', EMT.A6, MCH_SIM_STEP.RAPID,
+                           'C2', EMT.A7, MCH_SIM_STEP.COLLROT,
+                           'B2', EMT.A8, MCH_SIM_STEP.COLLROT)
+         end
+      elseif nSetHead == 2 then
         SimulMoveAxes( 'X2', EMT.L2, MCH_SIM_STEP.RAPID,
                        'Z2', EMT.L3, MCH_SIM_STEP.RAPID,
-                        'C2', EMT.R1, MCH_SIM_STEP.RAPROT,
-                        'B2', EMT.R2, MCH_SIM_STEP.RAPROT)
+                        'C2', EMT.R1, MCH_SIM_STEP.COLLROT,
+                        'B2', EMT.R2, MCH_SIM_STEP.COLLROT)
+      else
+         SimulMoveAxes( 'X3', EMT.L2, MCH_SIM_STEP.RAPID,
+                        'Z3', EMT.L3, MCH_SIM_STEP.RAPID,
+                        'C3', EMT.R1, MCH_SIM_STEP.COLLROT,
+                        'B3', EMT.R2, MCH_SIM_STEP.COLLROT)
      end
   end
   if nRes ~= 0 then
@@ -1001,13 +1064,9 @@ function OnSimulCollision()
   -- se prima collisione della lavorazione, la segnalo
   if EMT.MCHNAME ~= EMT.LAST_MCHNAME_COLLIDE then
      local Class = ''
-      if EMT.SIMCOBIND == 1001 then
+      if EMT.SIMCOBIND == 1001 or EMT.SIMCOBIND == 1011 then
         Class = 'T_'..EMT.HEAD
-      elseif EMT.SIMCOBIND == 1011 then
-         Class = 'T_'..EMT.HEAD
-      elseif EMT.SIMCOBIND == 1002 then
-         Class = 'TH_'..EMT.HEAD
-      elseif EMT.SIMCOBIND == 1012 then
+      elseif EMT.SIMCOBIND == 1002 or EMT.SIMCOBIND == 1012 then
         Class = 'TH_'..EMT.HEAD
      else
         Class = EMT.COLLOBJ[EMT.SIMCOBIND].Cl
@@ -1222,7 +1281,7 @@ function ExecMoveZmax( bMchSplit)
            if ( EMT.HEAD == 'H12' or EMT.HEAD == 'H16') and ( abs( HomeC - CurrC) > 30.1 or abs( HomeB - CurrB) > 30.1) then
               SimulMoveAxes( 'Z1', MaxZ1, MCH_SIM_STEP.RAPID, 'B1', 0, MCH_SIM_STEP.COLLROT)
            end
-            if EMT.L2 > DeltaTabY then
+            if  ( not BD.RIGHT_LOAD and EMT.L2 > DeltaTabY) or ( BD.RIGHT_LOAD and EMT.L2 < DeltaTabY) then
               SimulMoveAxis( 'X1', DeltaTabY, MCH_SIM_STEP.RAPID)
            end
            SimulMoveAxis( 'C1', HomeC, MCH_SIM_STEP.COLLROT)
@@ -1248,11 +1307,15 @@ function ExecMoveZmax( bMchSplit)
         SimulMoveAxis( 'X2', ParkX2, MCH_SIM_STEP.RAPID)
         EMT.DOU_TO_ZMAX = nil
      end
-   -- altrimenti testa sotto
-   else
+   -- se altrimenti testa sotto
+   elseif nSetHead == 2 then
      SimulMoveAxis( 'Z2', ParkZ2, MCH_SIM_STEP.RAPID)
      SimulMoveAxes( 'B2', ParkB2, MCH_SIM_STEP.COLLROT, 'C2', ParkC2, MCH_SIM_STEP.COLLROT)
      SimulMoveAxis( 'X2', ParkX2, MCH_SIM_STEP.RAPID)
+   -- altrimenti testa 3
+   else
+      SimulMoveAxes( 'Z3', MaxZ3, MCH_SIM_STEP.RAPID)
+      SimulMoveAxes( 'B3', ParkB3, MCH_SIM_STEP.COLLROT)
   end
   EMT.ZMAX = true
 end
@@ -1266,14 +1329,14 @@ function ExecUnloading()
      -- li sposto per lasciare spazio al nuovo pezzo
      local nId = EgtGetFirstInGroup( nVmGrpId)
      while nId do
-         EgtMove( nId, Vector3d( 0, -( EMT.HB + 50.0), 0), GDB_RT.GLOB)
+         EgtMove( nId, Vector3d( 0, EgtIf( BD.RIGHT_LOAD, ( EMT.HB + 50.0), -( EMT.HB + 50.0)), 0), GDB_RT.GLOB)
         nId = EgtGetNext( nId)
      end
      -- creo un nuovo layer e vi inserisco il nuovo pezzo
      local nLayId = EgtGroup( nVmGrpId, EgtGetGlobFrame( vMillId))
      EgtRelocate( vMillId, nLayId)
-      local vtMove = Vector3d( 0, -1600, 0)
-      if EMT.FALL then vtMove = Vector3d( 0, -2600, -1150) end
+      local vtMove = Vector3d( 0, EgtIf( BD.RIGHT_LOAD, 1600, -1600), 0)
+      if EMT.FALL then vtMove = Vector3d( 0, EgtIf( BD.RIGHT_LOAD, 3200, -2600), -1150) end
      EgtMove( nLayId, vtMove, GDB_RT.GLOB)
      EgtSetLevel( vMillId, GDB_LV.USER)
      -- aggiungo gli spigoli
@@ -1676,6 +1739,7 @@ end
 ---------------------------------------------------------------------
 function LoadFirstTool( nHSet, sTcPosDef)
   if nHSet ~= 1 and nHSet ~= 2 then return end
+   EgtUnloadTool( EgtIf( nHSet == 1, 'H11', 'H21'), 1)
   if GetHeadSetFromTcPos( sTcPosDef) ~= nHSet then return end
   local sTool, sHead, sTcPos = FindFirstToolOnHeadSet( nHSet)
   if not sTool then
@@ -1683,29 +1747,7 @@ function LoadFirstTool( nHSet, sTcPosDef)
      if vTools and vTools[1] then
         sTool = vTools[1]
         sTcPos = sTcPosDef
-         if nHSet == 1 then
-            -- seconda lama
-            if SecondSaw and sTcPos == 'T21' then
-               sHead = 'H16'
-            -- utensili speciali
-            elseif TcSpecialTools and sTcPos == 'T121' then
-               sHead = 'H14'
-            -- motoseghe
-            elseif sTcPos == 'T101' or sTcPos == 'T111' then
-               sHead = 'H13'
-            -- utensili standard o prima lama
-            else   
-               sHead = EgtIf( sTcPos == 'T1', 'H12', 'H11')
-            end
-         else
-            -- lama su aggregato da sotto
-            if TcAggreBladeUnder and sTcPos == 'T201' then
-               sHead = 'H22'
-            -- utensili standard da sotto
-            else
-               sHead = 'H21'
-            end
-         end
+         sHead = GetAdjHeadFromTcPos( nHSet, sTcPos)
      end
   end
   if sTool then
@@ -2254,7 +2296,7 @@ end

 ---------------------------------------------------------------------
 function RollerParkingNeeded( sHead, dAng1p, dAng2p, dAng1, dAng2)
-   if sHead == 'H11' or sHead == 'H14' or sHead == 'H12' or sHead == 'H13' or sHead == 'H16' then
+   if sHead == 'H11' or sHead == 'H12' or sHead == 'H13' or sHead == 'H16' then
      return ( abs( dAng1 - dAng1p) > 1 or ( abs( dAng2 - dAng2p) > 1 and abs( dAng1 % 180.0) > 1))
   elseif sHead == 'H21' or sHead == 'H22' then
      return ( abs( dAng1 - dAng1p) > 1 or ( abs( dAng2 - dAng2p) > 1 and abs( dAng1 % 180.0) > 1))
@@ -6,7 +6,7 @@ EgtEnableDebug( false)

 -- Carico i dati globali
 local sBaseDir = EgtGetSourceDir()
-local BD = dofile( sBaseDir .. 'Beam\\BeamData.lua')
+BD = dofile( sBaseDir .. 'Beam\\BeamData.lua')

 ---------------------------------------------------------------------
 -- *** Special Z moves ***
@@ -44,13 +44,15 @@ function OnSpecialGetMaxZ()
   -- Sistemazione dati di input
   local vtTp = Vector3d( EMC.TDIRp)
   local bFromZmax = false
+   -- recupero il gruppo
+   local nSetHead = GetHeadSet( EMC.HEAD)
   if vtTp:isSmall() then
      vtTp = X_AX()
      bFromZmax = true
-      if EMC.HEAD == 'H11' or EMC.HEAD == 'H14' or EMC.HEAD == 'H12' or EMC.HEAD == 'H16' then
+      if nSetHead == 1 then
         EMC.R1p = ParkC1
         EMC.R2p = ParkB1
-      elseif EMC.HEAD == 'H21' or EMC.HEAD == 'H22' then
+      elseif nSetHead == 2 then
         EMC.R1p = ParkC2
         EMC.R2p = ParkB2
      end
@@ -60,7 +62,7 @@ function OnSpecialGetMaxZ()
   local bBSameSign = (( EMC.R2p < 10 and EMC.R2 < 10) or ( EMC.R2p > -10 and EMC.R2 > -10))

   -- Calcolo in funzione della testa e dei parametri
-   if EMC.HEAD == 'H11' or EMC.HEAD == 'H14' then
+   if EMC.HEAD == 'H11' then
      if bBSameSign and vtTp:getX() > -0.1 and vtT:getX() > -0.1 then
         EMC.MAXZ = MaxZ1
      else
@@ -115,9 +117,9 @@ end

 ---------------------- OnSpecialMoveZup -----------------------------
 function OnSpecialMoveZup()
-
+   
   --EgtOutLog( 'OnSpecialMoveZup : ' .. EMC.HEAD .. '.' .. tostring( EMC.EXIT))
-
+   
   -- Inizializzazioni
   EMC.ERR = 0
   EMC.MODIF = false
@@ -131,7 +133,7 @@ function OnSpecialMoveZup()


   -- se fresa su testa1 o testa 2
-   if EMC.HEAD == 'H11' or EMC.HEAD == 'H14' or EMC.HEAD == 'H21' or EMC.HEAD == 'H22' then
+   if EMC.HEAD == 'H11' or EMC.HEAD == 'H21' or EMC.HEAD == 'H22' then
      ;
   -- se lama
   else
@@ -251,6 +253,49 @@ local function GetNextStartOrRestPhase( nPhase)
   return nNextPhase
 end

+---------------------------------------------------------------------
+function GetPhaseRot( nPhase)
+   return ( EgtGetInfo( EgtGetPhaseDisposition( nPhase) or GDB_ID.NULL, 'ROT', 'i') or 0)
+end
+
+---------------------------------------------------------------------
+local function IsLastMachiningBeforeRotation( nMchId)
+   -- se ultima fase, ritorno risultato negativo
+   if EMC.PHASE == EgtGetPhaseCount() then
+      return false
+   end
+   -- recupero la successiva operazione attiva
+   local nNextOperId = EgtGetNextActiveOperation( nMchId)
+   -- se non esiste o non è una disposizione, ritorno risultato negativo
+   if not nNextOperId or EgtGetOperationType( nNextOperId) ~= MCH_OY.DISP then
+      return false
+   end
+   -- recupero le rotazioni della fase corrente e della prossima fase
+   local nRot = GetPhaseRot( EMC.PHASE)
+   local nNextRot = GetPhaseRot( EMC.PHASE + 1)
+   -- ritorno se sono diverse
+   return ( nRot ~= nNextRot)
+end
+
+---------------------------------------------------------------------
+local function IsFirstMachiningAfterRotation( nMchId)
+   -- se prima fase, ritorno risultato negativo
+   if EMC.PHASE == 1 then
+      return false
+   end
+   -- recupero la precedente operazione attiva
+   local nPrevOperId = EgtGetPrevActiveOperation( nMchId)
+   -- se non esiste o non è una disposizione, ritorno risultato negativo
+   if not nPrevOperId or EgtGetOperationType( nPrevOperId) ~= MCH_OY.DISP then
+      return false
+   end
+   -- recupero le rotazioni della fase corrente e della fase precedente
+   local nRot = GetPhaseRot( EMC.PHASE)
+   local nPrevRot = GetPhaseRot( EMC.PHASE - 1)
+   -- ritorno se sono diverse
+   return ( nRot ~= nPrevRot)
+end
+
 ---------------------------------------------------------------------
 local function UpdateMinJoin()
   MinJoin = BD.GetMinJoin( EMC.SB, EMC.HB, EMC.LB)
@@ -486,7 +531,7 @@ end
 ---------------------------------------------------------------------
 function OnPostApplyMachining()

-   EgtOutLog( ' Lavorazione : ' .. EgtGetName( EMC.MCHID), 1)
+   EgtOutLog( ' Lavorazione : ' .. EgtGetName( EMC.MCHID) .. ' (' .. tostring( EMC.MCHID) .. ')')

   -- Inizializzo codice di errore
   EMC.ERR = 0
@@ -500,7 +545,7 @@ function OnPostApplyMachining()
      return
   -- se precedente operazione è disposizione
   elseif  EgtGetOperationType( nPrevOpeId) == MCH_OY.DISP then
-      if EMC.PHASE == 1 then
+      if EMC.PHASE == 1 or ( IsMidPhase( EMC.PHASE) and IsFirstMachiningAfterRotation( EMC.MCHID)) then
         -- posizioni home
         EMC.TPOS = nil
         EMC.Y1DELTA = nil
@@ -721,6 +766,7 @@ function SpecApplyPath( bPreSplit, bSplitting, bPreCut, bCutting, bUnload)
   -- Se inizio o appena dopo rotazione, eseguo il carico
   if not EMC.TPOS then
      local dPosT = LoadT
+      if IsFirstMachiningAfterRotation( EMC.MCHID) then dPosT = dPosT + TurnerOffs end
      local vCmd = SpecCalcLoad( dPosT, dDistFront, max( dDistBack, MinJoin, EMC.LB - ( MaxY1 - MinY1) + 6))
      EMC.LOAD = true
      local vCmd2 = SpecCalcCarriages( dDistFront, dDistBack, dRollFront, dRollBack, dY1DeltaMaxSP, dY2DeltaMinUL, nChar)
@@ -746,6 +792,7 @@ function SpecApplyPath( bPreSplit, bSplitting, bPreCut, bCutting, bUnload)

   -- Altrimenti, non muovo i carrelli rispetto alla trave ma impongo la posizione dei rulli
   else
+      SpecOutputCNT()
      local vCmd = {}
      table.insert( vCmd, { 21, EgtIf( EMC.Y1DELTA, EMC.Y1DELTA, 0), EgtIf( EMC.Y2DELTA, EMC.Y2DELTA, 0)})
      table.insert( vCmd, { 22, dRollBack, -dRollFront})
@@ -779,7 +826,7 @@ function SpecApplyPath( bPreSplit, bSplitting, bPreCut, bCutting, bUnload)
         return false
      end
      -- eseguo la separazione
-      EgtOutLog( 'MaxLenLeft=' .. EgtNumToString( dMaxLenLeft, 1))
+      EgtOutLog( 'MaxLenLeft=' .. EgtNumToString( dMaxLenLeft, 1), 1)
      vCmd = SpecCalcSplit( b3Raw:getDimX(), dMaxLenLeft)
   end
   -- Se taglio finale di grezzo a perdere
@@ -846,26 +893,32 @@ function SpecialCalcMachiningEncumbrance( nMchId, bPreCut)
   for i = 1, #vAxMin do
      vAxMid[i] = ( vAxMin[i] + vAxMax[i]) / 2
   end
+   -- recupero il gruppo
+   local nSetHead = GetHeadSet( sHead)
   -- Calcolo dell'ingombro della testa rispetto allo Zero Macchina (assi rotanti fissi, C=4, B=5, A=6)
   local b3Enc
-   if sHead ~= 'H21' and sHead ~= 'H22' then
+   if nSetHead == 1 then
      EgtSetAxisPos( 'C1', vAxMid[4])
      EgtSetAxisPos( 'B1', vAxMid[5])
      if sHead == 'H13' then
         EgtSetAxisPos( 'A1', vAxMid[6])
      end
      b3Enc = EgtGetBBoxGlob( EgtGetAxisId( 'C1'), GDB_BB.ONLY_VISIBLE)
-   else
+   elseif nSetHead == 2 then
      EgtSetAxisPos( 'C2', vAxMid[4])
      EgtSetAxisPos( 'B2', vAxMid[5])
      if sHead == 'H22' then
         EgtSetAxisPos( 'A2', vAxMid[6])
      end
      b3Enc = EgtGetBBoxGlob( EgtGetAxisId( 'C2'), GDB_BB.ONLY_VISIBLE)
+   else         -- 'H31'
+      EgtSetAxisPos( 'C3', vAxMid[4])
+      EgtSetAxisPos( 'B3', vAxMid[5])
+      b3Enc = EgtGetBBoxGlob( EgtGetAxisId( 'C3'), GDB_BB.ONLY_VISIBLE)
   end
-   local dMinFrontEng = EgtIf( sHead ~= 'H21' and sHead ~= 'H22', MIN_ENG_RACK_V, EgtIf( vAxMax[3] < MIN_Z2_FOR_ENG_XZ2_V, MIN_ENG_V, MIN_ENG_XZ2_V))
+   local dMinFrontEng = EgtIf( nSetHead ~= 2, MIN_ENG_RACK_V, EgtIf( vAxMax[3] < MIN_Z2_FOR_ENG_XZ2_V, MIN_ENG_V, MIN_ENG_XZ2_V))
   local dRollFront = max( b3Enc:getMax():getX(), dMinFrontEng) + SIC_V
-   local dMinBackEng = EgtIf( sHead ~= 'H21' and sHead ~= 'H22', MIN_ENG_V, EgtIf( vAxMax[3] < MIN_Z2_FOR_ENG_XZ2_V, MIN_ENG_V, MIN_ENG_XZ2_V))
+   local dMinBackEng = EgtIf( nSetHead ~= 2, MIN_ENG_V, EgtIf( vAxMax[3] < MIN_Z2_FOR_ENG_XZ2_V, MIN_ENG_V, MIN_ENG_XZ2_V))
   local dRollBack = max( -b3Enc:getMin():getX(), dMinBackEng) + SIC_V
   EgtOutLog( '  RollFront = ' .. EgtNumToString( dRollFront, 1) .. ' RollBack = ' .. EgtNumToString( dRollBack, 1), 3)
   -- Calcolo della posizione della Punta Utensile rispetto allo Zero Macchina
@@ -1614,7 +1667,7 @@ local function PosY1FromY2B( TabI, vCmd)
      end
      -- questo movimento serve solo a gestire (in modo complesso) il caso [ri]
      MaxDispl( TabI, vCmd, 'M4')
-   else
+   else   
   -- **[rp]** = raggiungo il punto medio Y1New dell'intervallo
      EmitComment( vCmd, '[Y1B-rp] ')
      if not SpecTestSomeMoveInCmds( vCmd) and not EMC.Y2DELTA then
@@ -1715,7 +1768,7 @@ local function  PosY1Y2A( TabI, vCmd)
               PosY1FromY2A( TabI, vCmd)
               bXW = false   
            end
-      else
+         else
         -- in **accentramento**
            -- sempre se intervallo per Y2 raggiungibile in una sola fase
            if ( TabI.dTPosI + TabI.dY2DeltaMinF) - TabI.MaxY2V2 < TabI.dY1PosI - TabI.MyMinY1V1 then
@@ -20,8 +20,6 @@ H11.1=Standard.nge
 H11.1:MILL_NOTIP=MillNoTip.nge
 H12.1=Saw.nge
 H13.1=ChainSaw.nge
-H14.1=Standard.nge
-H14.1:MILL_NOTIP=MillNoTip.nge
 H16.1=Saw.nge
 H21.1=Standard.nge
 H21.1:MILL_NOTIP=MillNoTip.nge
@@ -53,8 +51,6 @@ H11=6608
 H12=6615
 ; Chainsaw
 H13=6616
-; 5 axis head
-H14=6608
 ; 5 axis second saw
 H16=6623
 ; Second 5 axis bottom head
@@ -4,15 +4,30 @@
 -- 2023/12/18 ver 2.5l3 Ultimata gestione aggregato lama da sotto
 --                      Spostato alcune funzioni proprie del C.U. nel MLDE (per post-proc common)
 --                      Spostato magazzini sotto traversa ( di 200mm) come da modifica meccanica
+-- 2023/12/20 ver 2.6a1 Prima versione con post Common-PF1250
+--                      Invertiti magazzini mortasatrice-truciolatore e adeguati solidi di collisione
+--                      Abbassata testa 2 di 300mm
+--                      Parcheggio motosega portato a -1700mm
+--                      In BeamData aggiunta GetSawBlockedAxis per fissare asse bloccato per aggregato lama sotto.
+--                      Costanti MinForzaPinze e MaxForzaPinze portati in mlde/Ts3data (erano hardcoded - Common)
+--                      Aggiunto variabile 'WriteAllCoordsOnFirstM101' e allineamento con 2.6a1 common
+-- 2023/12/20 ver 2.6a2 Allineamento con Common-PF1250 v.2.6a2

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

-PP_VER = '2.5l3'
+PP_VER = '2.6a2'
 MIN_MACH_VER = '2.5k1'

-EgtOutLog ( '** Essetre-PF1500rl '..PP_VER..' (MinMach '.. MIN_MACH_VER ..') **', 1)
+local sBaseDir = EgtGetSourceDir()
+INFO_STD_PP = dofile( sBaseDir .. 'Version.lua')
+-- prendo la versione kernel minima necessaria piu' 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 ( '** Essetre-PF1250MAX '..PP_VER..' (MinMach '.. MIN_MACH_VER ..') **', 1)

 -- Parametri macchina
 NumericalControl = 'TPA'                         -- NUM o TPA
@@ -75,11 +90,11 @@ MinB1b = -119
 MaxB1b = 119
 ParkX1 = 250
 ParkTc2X1 = 3100
-ParkZ1 = -535
+ParkZ1 = -525
 ParkC1 = -90
 ParkB1 = -90
-ParkCSawX1 = 1500
-ParkCSawZ1 = -200
+ParkCSawX1 = 1700
+ParkCSawZ1 = -100
 ParkCSaw0Z1 = -400
 ParkCSawC1 = -90
 ParkCSaw0C1 = 0
@@ -107,7 +122,7 @@ ParkSawX2 = MinX2
 ParkSawZ2 = 0
 ParkSaw0Z2 = 0
 ParkSawC2 = -90
-ParkSaw0C2 = 0
+ParkSaw0C2 = -90
 ParkSawB2 = 0
 MinDistToolX1X2 = 40
 TurnerOffs = 120.0
@@ -118,18 +133,22 @@ DeltaRulliTraveZ = -1203
 DimTabY = 1400
 DimTabX = 24000
 Delta2TabY = -1185.9
-Delta2TabZ = 393 - Mill2Offs                   -- per TPA : 378.0 - Mill2Offs      -- per NUM : 223
+Delta2TabZ = 693 - Mill2Offs                   -- per TPA : 378.0 - Mill2Offs      -- per NUM : 223
 Head2X = 0
 Head2Y = DeltaTabY - Delta2TabY
 Head2Z = DeltaTabZ - Delta2TabZ
 DefTcPos1 = 'T1'
-DefTcPos2 = 'T300'
+DefTcPos2 = 'T220'
 CoeffVM = 0.5
+MinForzaPinze = 400                              -- [Kgf]
+MaxForzaPinze = 1000                             -- [Kgf]
 Tc2Active = true                                 -- magazzino prima sega a catena
 SecondSaw = true                                 -- seconda lama su aggregato su TC3 presente
 SecondChain = true                               -- magazzino seconda sega a catena
 TcSpecialTools = true                            -- magarzzino per utensili speciali. In genere truciolatore
 TcAggreBladeUnder = true                         -- lama su aggregato per testa da sotto
+EmitAccClamps = true
+WriteAllCoordsOnFirstM101 = true

 -- Aggiornamento con dati da TechnoEssetre7
 local sTs3Data = EgtGetStringFromIni( 'Beam', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-PF1250MAX.data"
@@ -149,6 +168,7 @@ if EgtExistsFile( sDataBeam) then
         --NumericalControl = EgtIf( Machine.Offsets.TIPO_CN == 0, 'NUM', 'TPA')
         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_X1 then ParkX1 = Machine.Offsets.PARK_X1 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
@@ -160,9 +180,11 @@ if EgtExistsFile( sDataBeam) then
         if Machine.Offsets.B1_POS1 then MaxB1b = Machine.Offsets.B1_POS1 end
         if Machine.Offsets.X2_NEG then MinX2 = Machine.Offsets.X2_NEG end
         if Machine.Offsets.X2_POS then MaxX2 = Machine.Offsets.X2_POS end
+         if Machine.Offsets.PARK_X2 then ParkX2 = Machine.Offsets.PARK_X2 end
         if Machine.Offsets.Z2_POS then MinZ2 = -Machine.Offsets.Z2_POS end
         if Machine.Offsets.Z2_NEG then MaxZ2 = -Machine.Offsets.Z2_NEG end
         if Machine.Offsets.PARK_Z2 then ParkZ2 = -Machine.Offsets.PARK_Z2 end
+         if Machine.Offsets.PARK_Z2_INLAV then ParkInLavZ2 = -Machine.Offsets.PARK_Z2_INLAV end
         if Machine.Offsets.C2_NEG then MinC2 = Machine.Offsets.C2_NEG end
         if Machine.Offsets.C2_POS then MaxC2 = Machine.Offsets.C2_POS end
         if Machine.Offsets.B2_NEG then MinB2 = Machine.Offsets.B2_NEG end
@@ -183,10 +205,10 @@ if EgtExistsFile( sDataBeam) then
         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.PIVOT_T2 then Mill2Offs = Machine.Offsets.PIVOT_T2 end
-         if Machine.Offsets.OFFSETCLAMAT1 then SawC1Offs = Machine.Offsets.OFFSETCLAMAT1 end
-         if Machine.Offsets.OFFSETBLAMAT1 then SawB1Offs = Machine.Offsets.OFFSETBLAMAT1 end
-         if Machine.Offsets.OFFSETCLAMAT2 then Saw2C1Offs = Machine.Offsets.OFFSETCLAMAT2 end
-         if Machine.Offsets.OFFSETBLAMAT2 then Saw2B1Offs = Machine.Offsets.OFFSETBLAMAT2 end
+         if Machine.Offsets.OFFSETCLAMAT1 then SawC1Offs= Machine.Offsets.OFFSETCLAMAT1 end
+         if Machine.Offsets.OFFSETBLAMAT1 then SawB1Offs= Machine.Offsets.OFFSETBLAMAT1 end
+         if Machine.Offsets.OFFSETCLAMAT2 then Saw2C1Offs= Machine.Offsets.OFFSETCLAMAT2 end
+         if Machine.Offsets.OFFSETBLAMAT2 then Saw2B1Offs= Machine.Offsets.OFFSETBLAMAT2 end
         if Machine.Offsets.OFFSETXT1 then DeltaTabY = -Machine.Offsets.OFFSETXT1 end
         if Machine.Offsets.OFFSETZT1 then DeltaTabZ = Machine.Offsets.OFFSETZT1 + MillOffs end
         if Machine.Offsets.OFFSETXT2 then Delta2TabY = Machine.Offsets.OFFSETXT2 end
@@ -199,6 +221,8 @@ if EgtExistsFile( sDataBeam) then
         if Machine.Offsets.SAW2OFFSZ then Saw2OffsZ = Machine.Offsets.SAW2OFFSZ end
         if Machine.Offsets.DEFTCPOS1 then DefTcPos1 = ( 'T' .. Machine.Offsets.DEFTCPOS1) end
         if Machine.Offsets.DEFTCPOS2 then DefTcPos2 = ( 'T' .. Machine.Offsets.DEFTCPOS2) end
+         if Machine.Offsets.MINPRESS then MinForzaPinze = Machine.Offsets.MINPRESS end
+         if Machine.Offsets.MAXPRESS then MaxForzaPinze = Machine.Offsets.MAXPRESS end
         -- aggiustamenti
         MinY1 = MinV1 + MinDeltaYV
         MaxY1 = MaxMchY1
@@ -225,8 +249,8 @@ EmtGeneral {
      ExitMaxAdjust = 300,
      ExitMaxRotAdj = 0.5,
      AngDeltaMinForHome = 80,
-      Special = 'Essetre-PF1250.mlse',
-      Processor = 'Essetre-PF1250.mlpe'}
+      Special = 'Common-PF1250.mlse',
+      Processor = 'Common-PF1250.mlpe'}
 local sBaseAux = {'BASE/SOLID', 'BASE/CONVOYER', 'BASE/COLLISION', 'BASE/TC1', 'BASE/TCR', 'BASE/TC3'}
 if Tc2Active then table.insert( sBaseAux, 5, 'BASE/TC2') end
 if TcSpecialTools then table.insert( sBaseAux, 'BASE/TC4') end
@@ -311,23 +335,6 @@ local H12Id = EmtHead {
      Geo = 'H12_HEAD/GEO'}
 EgtSetInfo( H12Id, 'ZEXTRA', '160,60')
 EgtSetInfo( H12Id, 'ZMAXONROT', '1,190')
-- Utensili speciali
-if TcSpecialTools then
-local H14Id = EmtHead {
-      Name = 'H14',
-      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 = 'H14_HEAD/GEO'}
-EgtSetInfo( H14Id, 'ZEXTRA', '160,60')
-EgtSetInfo( H14Id, 'ZMAXONROT', '1,190')
-end
 -- Lama 2
 if SecondSaw then
   local H16Id = EmtHead {
@@ -429,10 +436,10 @@ EmtAxis {
      Home = 0,
      Geo = 'A2_AXIS/GEO'}
      
-local vtMoveZ2 = Vector3d( 0, 0, Head2Z + 1481.0)
+local vtMoveZ2 = Vector3d( 0, 0, Head2Z + 1781.0)
 EgtMove( EgtGetFirstNameInGroup( Z2Id, 'SOLID'), vtMoveZ2, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( Z2Id, 'COLLISION'), vtMoveZ2, GDB_RT.GLOB)
-local vtMoveX2 = Vector3d( 0, Head2Y - 3735.9, Head2Z + 1481.0)
+local vtMoveX2 = Vector3d( 0, Head2Y - 3735.9, Head2Z + 1781.0)
 EgtMove( EgtGetFirstNameInGroup( X2Id, 'SOLID'), vtMoveX2, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( X2Id, 'COLLISION'), vtMoveX2, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( C2Id, 'SOLID'), vtMoveX2, GDB_RT.GLOB)
@@ -469,8 +476,6 @@ if TcAggreBladeUnder then
         Geo = 'H22_HEAD/GEO'}
   EgtSetInfo( H21Id, 'ABOVE', '0')
   EgtSetInfo( H21Id, 'ZHOMEDOWN', '1')
-   EgtSetInfo( H22Id, 'ZEXTRA', '160,60')
-   EgtSetInfo( H22Id, 'ZMAXONROT', '1,190')
 end
 --  *** Carrelli ***
 -- Morse
@@ -762,7 +767,7 @@ if Tc2Active then
         ADir = X_AX(),
         Geo = 'BASE/T30'}
 end
-local ptTc3 = Point3d( 680, 529, -200.8 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
+local ptTc3 = Point3d( 600, 529, -200.8 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
 EmtTcPos {
      Name = 'T101',
      Parent = 'Base',
@@ -770,22 +775,22 @@ EmtTcPos {
      TDir = -X_AX(),
      ADir = Z_AX(),
      Geo = 'BASE/T101'}
-local ptTc4 = Point3d( 650, 909, -115 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
-EmtTcPos {
-      Name = 'T121',
-      Parent = 'Base',
-      Pos = ptTc4,
-      TDir = Z_AX(),
-      ADir = X_AX(),
-      Geo = 'BASE/T121'}
-local ptTc5 = Point3d( 650, 1249, -200.8 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
+local ptTc4 = Point3d( 750, 909, -200.8 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
 EmtTcPos {
      Name = 'T111',
      Parent = 'Base',
-      Pos = ptTc5,
+      Pos = ptTc4,
      TDir = -X_AX(),
      ADir = Z_AX(),
      Geo = 'BASE/T111'}
+local ptTc5 = Point3d( 750, 1309, -115 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
+EmtTcPos {
+      Name = 'T121',
+      Parent = 'Base',
+      Pos = ptTc5,
+      TDir = Z_AX(),
+      ADir = X_AX(),
+      Geo = 'BASE/T121'}
 local ptTcS = Point3d( -1, -22.3, -1723 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
 EmtTcPos {
   Name = 'T201',
@@ -881,10 +886,10 @@ EgtMove( EgtGetFirstNameInGroup( BaseId, 'SIGN') or GDB_ID.NULL, vtMovB, GDB_RT.
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC1') 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, 'TC4') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
-EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC5') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
+if TcSpecialTools then EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC4') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB) end
+if SecondChain then EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC5') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB) end
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'TCR') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
-EgtMove( EgtGetFirstNameInGroup( BaseId, 'TCS') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
+if TcSpecialTools then EgtMove( EgtGetFirstNameInGroup( BaseId, 'TCS') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB) end
 EgtMove( EgtGetFirstNameInGroup( X1Id, 'SOLID'), vtMovB, GDB_RT.GLOB)
 local vtMove = Vector3d( 0, ( DeltaTabY - 2550.0), ( DeltaTabZ + 1258.0))
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'CONVOYER'), vtMove, GDB_RT.GLOB)
@@ -913,7 +918,7 @@ PY2LightId = EgtGetFirstNameInGroup( EgtGetFirstNameInGroup( Y2Id, 'SOLID') or G
 ---------------------------------------------------------------------
 function OnSetHead()
   -- se testa H11 (fresa)
-   if EMC.HEAD == 'H11' or EMC.HEAD == 'H14' then
+   if EMC.HEAD == 'H11' then
      local nTc = GetTcForTopHeadTool( EMC.TCPOS)
      if nTc ~= 2 then
         EmtModifyAxisHome( 'X1', ParkX1)
@@ -949,13 +954,10 @@ function OnSetHead()
   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
+      EmtModifyExitPosition( EMC.HEAD, EMC.EXIT or 1, Point3d( 0, 0, -dDist))
+      -- recupero valore asse A1 bloccato
      local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS)
-      CSawPosA = tonumber( sVal:sub( 4) or '')
+      local CSawPosA = tonumber( sVal:sub( 4) or '')
      EmtModifyAxisHome( 'X1', ParkCSawX1)
      EmtModifyAxisHome( 'Z1', GetChainSawZHomeFromVirtualAxis( CSawPosA))
      EmtModifyAxisStroke( 'C1', {MinC1, MaxC1})
@@ -970,6 +972,17 @@ function OnSetHead()
      EmtModifyAxisHome( 'C1', ParkC1)
      EmtModifyAxisHome( 'B1', ParkB1)
      EmtModifyAxisDirection( 'B1', Vector3d( cos( Saw2C1Offs), sin( Saw2C1Offs), 0))
+   -- se testa H21 (fresa sotto)
+   elseif EMC.HEAD == 'H21' then
+      EmtModifyAxisHome( 'C2', ParkC2)
+      EmtModifyAxisDirection( 'B2', X_AX())
+   -- se testa H22 (lama su aggregato sotto)
+   elseif EMC.HEAD == 'H22' then
+      -- recupero valore asse A2 bloccato
+      local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS)
+      local SawUnderPosA2 = tonumber( sVal:sub( 4) or '') or 0
+      EmtModifyAxisHome( 'C2', GetSawCHomeFromVirtualAxis( SawUnderPosA2))
+      EmtModifyAxisDirection( 'B2', Vector3d( cos( SawUnderC2Offs), -sin( SawUnderC2Offs), 0))
   end
 end

@@ -991,7 +1004,7 @@ end

 ---------------------------------------------------------------------
 function GetHeadSet( sHead)
-   if sHead == 'H11' or sHead == 'H12' or sHead == 'H13' or sHead == 'H14' or sHead == 'H16' then
+   if sHead == 'H11' or sHead == 'H12' or sHead == 'H13' or sHead == 'H16' then
      return 1
   elseif sHead == 'H21' or sHead == 'H22' then
      return 2
@@ -1025,6 +1038,36 @@ function GetHeadSetFromTcPos( sTcPos)
   return 0, 0
 end
   
+---------------------------------------------------------------------
+-- Funzione che ritorna il nome della testa in base alla posizione utensile (ATT: deve rispecchiare il setup)
+function GetAdjHeadFromTcPos( nHeadSet, sTcPos)
+   if nHeadSet == 1 then
+      -- seconda lama
+      if SecondSaw and sTcPos == 'T21' then
+         return 'H16'
+      -- utensili speciali
+      elseif TcSpecialTools and sTcPos == 'T121' then
+         return 'H11'
+      -- motoseghe
+      elseif sTcPos == 'T101' or sTcPos == 'T111' then
+         return 'H13'
+      -- utensili standard o prima lama
+      else
+         return EgtIf( sTcPos == 'T1', 'H12', 'H11')
+      end
+   elseif nHeadSet == 2 then
+      -- lama su aggregato da sotto
+      if TcAggreBladeUnder and sTcPos == 'T201' then
+         return 'H22'
+      -- utensili standard da sotto
+      else
+         return 'H21'
+      end
+   else
+      return ''
+   end
+end
+---------------------------------------------------------------------
 ---------------------------------------------------------------------
 -- Funzione che riconosce testa per sega a catena
 function HeadIsChainSaw( sHead)
@@ -1034,10 +1077,10 @@ 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
+   -- se A1=0 -> T101 -> HomeZ = -400
   if abs( dPosA) < 0.1 then
      return ParkCSaw0Z1
-   -- altrimenti A=-90 -> T102 o A=90 -> T104 -> HomeZ = -100
+   -- altrimenti A1=-90 -> T102 o A=90 -> T104 -> HomeZ = -100
   else
      return ParkCSawZ1
   end
@@ -1046,10 +1089,10 @@ 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
+   -- se A1=0 -> T101 -> HomeC = 0
   if abs( dPosA) < 0.1 then
      return ParkCSaw0C1
-   -- altrimenti A=90 -> T104 -> HomeC = -90
+   -- altrimenti A1=90 -> T104 -> HomeC = -90
   else
      return ParkCSawC1
   end
@@ -1058,10 +1101,10 @@ end
 ---------------------------------------------------------------------
 -- Funzione che calcola l'angolo Home di C per la lama su aggregato dal valore dell'asse virtuale
 function GetSawCHomeFromVirtualAxis( dPosA)
-      -- se A1=0 -> 201 -> HomeC = 0
+      -- se A2=0 -> 201 -> HomeC = -90
      if abs( dPosA) < 0.1 then
         return ParkSaw0C2
-      -- altrimenti A1=90 -> T204 -> HomeC = -90
+      -- altrimenti A2=90 -> T204 -> HomeC = -90
      else
         return ParkSawC2
      end
@@ -1071,7 +1114,7 @@ function GetSawCHomeFromVirtualAxis( dPosA)
 -- Funzione che ritorna ZExtra partendo dalla testa e dall'angolo verticale
 function GetZExtra( sHead, dAngV)
   -- se testa standard
-   if sHead == 'H11' or sHead == 'H14' then
+   if sHead == 'H11' then
      if abs( dAngV) < 30.1 then
         return 400
      elseif abs( dAngV) < 45.1 then
@@ -31,8 +31,8 @@ local GS = {}
 local PositionTable = {}
 local bTc2Active = ( EgtGetFirstNameInGroup( EgtGetBaseId( 'Base'), 'TC2') ~= nil)
 local SecondSaw = ( EgtGetHeadId( 'H16') ~= nil)
-local SecondChain = ( EgtGetFirstNameInGroup( EgtGetBaseId( 'Base'), 'TC5') ~= nil)
-local TcSpecialTools = ( EgtGetHeadId( 'H14') ~= nil)
+local SecondChain = ( EgtGetFirstNameInGroup( EgtGetBaseId( 'Base'), 'TC4') ~= nil)
+local TcSpecialTools = ( EgtGetFirstNameInGroup( EgtGetBaseId( 'Base'), 'TC5') ~= nil)
 local TcAggreBladeUnder  = ( EgtGetFirstNameInGroup( EgtGetBaseId( 'Base'), 'TCS') ~= nil)

 local bFullOpt = bTc2Active and SecondSaw and SecondChain and TcSpecialTools and TcAggreBladeUnder  -- se ha tutti gli optional attivati
@@ -52,7 +52,7 @@ if bFullOpt then
                    {Pos = "Pos13",  TcPos = "T13", Head = "H11", Group = "G1"},
                    {Pos = "Pos14", TcPos = "T101", Head = "H13", Group = "G2"},  -- motosega
                    {Pos = "Pos15", TcPos = "T111", Head = "H13", Group = "G2"},  -- motosega 2
-                    {Pos = "Pos16", TcPos = "T121", Head = "H14", Group = "G2"},  -- utensile speciale
+                    {Pos = "Pos16", TcPos = "T121", Head = "H11", Group = "G2"},  -- utensile speciale
                    {Pos = "Pos17", TcPos = "T21", Head = "H16", Group = "G3"},   -- TC 2
                    {Pos = "Pos18", TcPos = "T22", Head = "H11", Group = "G3"},
                    {Pos = "Pos19", TcPos = "T23", Head = "H11", Group = "G3"},
@@ -0,0 +1,12 @@
+           ==== Common_PF1250 Update Log ====
+
+Versione 2.6a1 (09/01/2024)
+- Prima versione post-proc comune tra macchine PF1250 e PF1500
+- (SIM-GEN) Corretto movimento testa 2 in ToolDesel e movimento controllo collisione
+- (GEN) Tolta testa H14 per utensili speciali. Si utilizza H11 per frese standard
+- (MLDE-GEN) Costanti 'MinForzaPinze' e 'MaxForzaPinze' portati in mlde/Ts3data (erano hardcoded)
+- (MLDE-SIM-GEN) Aggiunto parametro 'WriteAllCoordsOnFirstM101' per decidere se stampare tutti gli assi sulla prima M101
+
+Versione 2.6a2 (09/01/2024)
+- (GEN) Corretta inversione coordinata X per Lama su aggregato da sotto
+- (SIM) Se modalità 'WriteAllCoordsOnFirstM101', oltre alla X si scive quota di parcheggio assi B2 e C2 come in generazione
@@ -0,0 +1,10 @@
+-- Version.lua by EgalWare s.r.l. 2023/11/28
+-- Gestione della versione dei file comuni post-processori macchine PF1250 e PF1500 di Essetre
+
+local InfoCommon_STD_PP = {
+   NAME = 'Common_PF1250',            -- nome script PP standard
+   VERSION = '2.6a2',                 -- versione script
+   MIN_MACH_VER_PP_COMMON = '2.5k1'   -- versione minima kernel
+}
+
+return InfoCommon_STD_PP
Author	SHA1	Message	Date
andrea.villa	c97b8dad28	Merge branch 'develop'	2024-01-09 16:54:40 +01:00
andrea.villa	1138140133	2.6a2 Allineamento con Common-PF1250 v.2.6a2	2024-01-09 16:53:48 +01:00
andrea.villa	a33867ccec	Merge branch 'main' into develop	2024-01-09 14:56:28 +01:00
andrea.villa	f38e0cffec	Merge branch 'develop'	2024-01-09 14:55:08 +01:00
andrea.villa	166a7666bc	Piccole correzioni a messaggi	2024-01-09 14:52:11 +01:00
andrea.villa	d03c605285	Merge branch 'develop'	2024-01-09 14:47:27 +01:00
andrea.villa	d751b4950f	Aggiunato variabile 'WriteAllCoordsOnFirstM101' e allineamento con 2.6a1 common	2024-01-09 12:28:57 +01:00
luca.mazzoleni	2c36caab30	corretto typo nome variabile	2024-01-08 18:15:15 +01:00
luca.mazzoleni	82106271ab	Costanti MinForzaPinze e MaxForzaPinze portati in mlde/Ts3data (erano hardcoded)	2024-01-05 18:01:06 +01:00
andrea.villa	4e4d73bb6e	Merge branch 'develop' of https://gitlab.steamware.net/egalware-machines/essetre/Essetre-PF1250MAX into develop	2024-01-05 12:44:55 +01:00
andrea.villa	85069971c1	Piccola correzione posizione magazzini sotto-trave	2024-01-05 12:44:52 +01:00
luca.mazzoleni	fca3f67082	In BeamData aggiunta GetSawBlockedAxis per fissare asse bloccato per aggregato lama sotto	2024-01-04 16:29:24 +01:00
andrea.villa	c51a208c4a	Tolta testa H14 per utensili speciali. Si utilizza H11 per frese standard	2024-01-04 12:12:24 +01:00
andrea.villa	caf990c23b	Corretto movimento testa 2 in ToolDesel e movimento controllo collisione	2023-12-22 13:26:26 +01:00
luca.mazzoleni	8d4ab5ce67	aggiunto portautensile LC da 108 mm	2023-12-22 11:39:01 +01:00
andrea.villa	fae1c3e50d	- Invertiti magazzini mortasatrice-truciolatore e adeguati solidi di collisione - Abbasstata testa 2 di 300mm - Parcheggio motosega portato a 1700mm	2023-12-21 15:39:39 +01:00
andrea.villa	cb27d30d6e	2.6a1 : Prima versione con post Common-PF1250	2023-12-20 13:02:35 +01:00
luca.mazzoleni	817880d925	Merge tag '2.5l4' into develop Finish Release: 2.5l4	2023-12-20 11:56:47 +01:00