Allineamento con Common 2.6a4

- Migliorata preselezione utensile
- Rimosse funzioni ribaltamento pezzo
- Allineamento con Common-PF1250 v.2.6a3

Beam/BeamData.lua

@@ -5,12 +5,12 @@ EgtOutLog( ' PF1250-BeamData started')
 
 -- Tabella per definizione modulo
 local BeamData = {
-   RIGHT_LOAD = false,                       -- flag carico da destra
+   RIGHT_LOAD = false,                      -- flag carico da destra
    SIMUL_VIEW_DIR = 2,                      -- direzione di vista predefinita per la simulazione (1=NW, 2=SW, 3=NE, 4=SE)
    MIN_WIDTH = 40,                          -- larghezza minima del grezzo
    MIN_HEIGHT = 40,                         -- altezza minima del grezzo
-   MAX_WIDTH = 1250,                        -- larghezza massima del grezzo
-   MAX_HEIGHT = 400,                        -- altezza massima del grezzo
+   MAX_WIDTH = 1300,                        -- larghezza massima del grezzo
+   MAX_HEIGHT = 600,                        -- altezza massima del grezzo
    LEN_SHORT_PART = 1200,                   -- lunghezza massima pezzo piccolo
    MAX_RAW = 20000,                         -- massima lunghezza grezzo (deve essere minore di LenTable - RAW_OFFSET)
    STD_RAW = 14000,                         -- lunghezza standard della barra di grezzo
@@ -77,7 +77,7 @@ local BeamData = {
 
 ---------------------------------------------------------------------
 -- Aggiornamento con dati da TechnoEssetre7
-local sTs3Data = EgtGetStringFromIni( 'Beam', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-PF1250.data"
+local sTs3Data = EgtGetStringFromIni( 'Beam', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-PF1250MAX.data"
 local sDataBeam = EgtGetSourceDir().."\\Ts3Data.lua"
 local sDataWall = EgtGetCurrMachineDir()..'\\Wall\\Ts3Data.lua'
 if EgtExistsFile( sTs3Data) then
@@ -178,15 +178,35 @@ end
 BeamData.GetMinUnloadableRaw = GetMinUnloadableRaw
 
 ---------------------------------------------------------------------
-local function GetChainSawBlockedAxis( nInd)
-   if nInd == 1 then
-      return 'A1=90'
-   else
-      return 'A1=0'
+local function GetBlockedAxis( sHead, nToolType, sBlockedAxis)
+   -- lama
+   if nToolType == MCH_TY.SAW_STD or nToolType == MCH_TY.SAW_FLAT then
+      if sHead == 'H22' then
+         if sBlockedAxis == 'parallel' then
+            return 'A2=0'
+         elseif sBlockedAxis == 'perpendicular' then
+            return 'A2=90'
+         end
+      else
+         return ''
+      end
+   -- sega a catena
+   elseif nToolType == MCH_TY.MORTISE_STD then
+      if sHead == 'H13' then
+         if sBlockedAxis == 'parallel' then
+            return 'A1=0'
+         elseif sBlockedAxis == 'perpendicular' then
+            return 'A1=90'
+         end
+      else
+         return ''
+      end
+   -- fresa
+   elseif nToolType == MCH_TY.MILL_STD or nToolType == MCH_TY.MILL_NOTIP or nToolType == MCH_TY.MILL_POLISHING then
+
    end
 end
-BeamData.GetChainSawBlockedAxis = GetChainSawBlockedAxis
-
+BeamData.GetBlockedAxis = GetBlockedAxis
 ---------------------------------------------------------------------
 
 return BeamData

Common-PF1250.TPA.mlpe

@@ -1,12 +1,12 @@
--- Processore macchina Essetre-PF1250 by EgalTech s.r.l.   2023/11/21
+-- Processore macchina Essetre-PF1250 by Egalware s.r.l.   2024/01/22
 -- 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
@@ -45,7 +45,8 @@ 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 +145,15 @@ 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 +215,10 @@ 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 +232,10 @@ 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 +243,7 @@ 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
@@ -351,6 +366,20 @@ function OnToolSelect()
       if MCH_TP.DIST then EMT.TDIST = EgtTdbGetCurrToolParam( MCH_TP.DIST) end
       if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
       EMT.TUSERNOTES = EgtTdbGetCurrToolParam( MCH_TP.USERNOTES)
+         -- salvo dati utensile
+      local nSetHead = GetHeadSet( EMT.HEAD)
+      -- per gruppo testa 1
+      if nSetHead == 1 then
+         EMT.PREVTOOL_H1 = EMT.TOOL
+         EMT.PREVHEAD_H1 = EMT.HEAD
+         EMT.PREVTCPOS_H1 = EMT.TCPOS
+      -- per gruppo testa 2
+      elseif nSetHead == 2 then
+         EMT.PREVTOOL_H2 = EMT.TOOL
+         EMT.PREVHEAD_H2 = EMT.HEAD
+         EMT.PREVTCPOS_H2 = EMT.TCPOS
+      end
+
    end
 end
 
@@ -370,7 +399,15 @@ function OnMachiningStart()
       -- imposto home dell'asse C1 (A=0 -> T101, A=90 -> T104)
       local MyParkCSawC1 = GetChainSawCHomeFromVirtualAxis( dPosA)
       EmtModifyAxisHome( 'C1', MyParkCSawC1)
+   -- se lama su aggregato testa sotto, aggiusto subito angolo scelto per asse virtuale A
+   elseif EMT.HEAD == 'H22' then
+      -- valore dell'asse virtuale
+      dPosA = GetCurrSawingVirtualAxis()
+      -- imposto home dell'asse C2 (A=0 -> T201, A=90 -> T204)
+      local MyParkCSawC2 = GetSawCHomeFromVirtualAxis( dPosA)
+      EmtModifyAxisHome( 'C2', MyParkCSawC2)
    end
+
    -- gestione eventuale lavorazione in doppio
    local nDouType = EgtGetValInNotes( EMT.MCHUSERNOTES, 'DOUBLE', 'i')
    if nDouType == 2 or nDouType == 3 then
@@ -398,6 +435,17 @@ 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
 
 ---------------------------------------------------------------------
@@ -487,9 +535,11 @@ function OnPathStart()
    --MyOutput( 'CNT='.. tostring( EMT.CNT or 0))
    -- se utensile non cambiato, salvo eventuali precedenti rotanti
    if EMT.TOOL == EMT.PREVTOOL and not EMT.ZMAX then
+      EMT.L3pp = EMT.L3op
       EMT.R1pp = EMT.R1p
       EMT.R2pp = EMT.R2p
    else
+      EMT.L3pp = nil
       EMT.R1pp = nil
       EMT.R2pp = nil
    end
@@ -645,14 +695,29 @@ 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})
@@ -661,12 +726,17 @@ 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
@@ -677,7 +747,12 @@ 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
@@ -688,10 +763,15 @@ 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))
@@ -708,10 +788,34 @@ function OnRapid()
             PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
             -- aspetto esecuzione movimento testa 2
             EmitMoveWaitHead( 2)
-         end
-         -- se pezzo a destra, dichiaro cabina sinistra da parcheggiare
-         if not EMT.Y1DELTA then
-            EMT.V1NEXTPOS = ParkV1
+         -- 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
          -- dati aggancio a trave
          local BhData = { T=EMT.L1, SetHead=0}
@@ -755,7 +859,11 @@ 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
@@ -788,10 +896,6 @@ function OnRapid()
             EmitMoveWaitChars( nMoveType)
          end
          EMT.MDCHAR = {}
-         -- se pezzo a destra, dichiaro cabina sinistra da parcheggiare
-         if not EMT.Y1DELTA then
-            EMT.V1NEXTPOS = ParkV1
-         end
          -- 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
@@ -802,7 +906,11 @@ 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')
@@ -819,12 +927,21 @@ 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})
-                     EmitMoveDataHead( 1, { B=0, 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, { Z=MyMaxZ1, 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})
@@ -836,6 +953,10 @@ 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})
@@ -852,11 +973,17 @@ 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
@@ -871,7 +998,12 @@ 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})
@@ -885,10 +1017,18 @@ 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
@@ -898,6 +1038,33 @@ 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}
@@ -953,7 +1120,7 @@ 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
@@ -994,10 +1161,9 @@ 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
@@ -1010,7 +1176,12 @@ function OnRapid()
       local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
                     EmtGetAxis('R2')..EmtGetAxis('R1')
       if #sAxes > 0 then
-         MyOutput( 'G0' .. sAxes)
+         if EmitRapidInG1 then
+            local sFeed = ' F30000'
+            MyOutput( 'G1' .. sAxes .. sFeed)
+         else
+            MyOutput( 'G0' .. sAxes)
+         end
       end
    -- se altrimenti risalita a Z max a fine lavorazione
    elseif EMT.FLAG == 3 then
@@ -1020,7 +1191,10 @@ 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
@@ -1029,7 +1203,7 @@ 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
@@ -1058,24 +1232,22 @@ 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
       EMT.R2p = nil
-      sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
-                   EmtGetAxis('R2')..EmtGetAxis('R1')
+      if EmitRapidInG1 then
+         local sFeed = ' F30000'
+         sOut = 'G1'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
+                      EmtGetAxis('R2')..EmtGetAxis('R1')..sFeed
+      else
+         sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
+                      EmtGetAxis('R2')..EmtGetAxis('R1')
+      end
+
       MyOutput( sOut)
       -- aggiorno precedenti
       EMT.MOVE = 0
@@ -1192,17 +1364,15 @@ 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
 
@@ -1762,7 +1932,7 @@ end
 function GetV1ToCloseTPA()
    local dMaxHeadPos = EMT.MAXMAX[1] + ( EMT.HOVM or 0) - ( EMT.X_OFF or 0)
    local dMinTailPos = EMT.MAXMIN[1] + EMT.LB + EgtIf( IsStartOrMidPhase( EMT.PHASE), 0, ( EMT.HOVM or 0)) - ( EMT.X_OFF or 0)
-   --MyOutput( string.format( 'V1 MaxHeadPos=%.3f MinTailPos=%.3f BarLen=%.3f HeadOvm=%.3f', dMaxHeadPos, dMinTailPos, EMT.LB, ( EMT.HOVM or 0)))
+   --MyOutput( string.format( 'V1 MaxHeadPos=%.3f MinTailPos=%.3f BarLen=%.3f HeadOvm=%.3f V1NextPos=%.3f', dMaxHeadPos, dMinTailPos, EMT.LB, ( EMT.HOVM or 0), EMT.V1NEXTPOS))
    return ( dMaxHeadPos <= EMT.V1NEXTPOS + RollCageMin and dMinTailPos >= EMT.V1NEXTPOS + RollCageMax)
 end
 
@@ -1779,29 +1949,42 @@ 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()
@@ -1816,7 +1999,7 @@ 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
@@ -1868,6 +2051,20 @@ function AdjustTcPos( bLen3, sTcPos, dAxR3)
          EmtSetLastError( 1210, 'Chain saw orientation not allowed')
       end
    end
+   if sPos == '201' then
+      if not dAxR3 then dAxR3 = EMT.R3 end
+      if abs( dAxR3 - 0) < 0.1 then
+         sPos = '201'
+      elseif abs( dAxR3 - 270) < 0.1 then
+         sPos = '202'
+      elseif abs( dAxR3 - 180) < 0.1 then
+         sPos = '203'
+      elseif abs( dAxR3 - 90) < 0.1 then
+         sPos = '204'
+      else
+         EmtSetLastError( 1210, 'Saw orientation not allowed')
+      end
+   end
 
    return sPos
 end
@@ -1877,7 +2074,16 @@ 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
@@ -1920,42 +2126,74 @@ 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 dSafeX1 = EgtGetAxisHomePos( 'X1')
-      local dSafeZ1 = EgtGetAxisHomePos( 'Z1')
-      local dSafeB1 = EgtGetAxisHomePos( 'B1')
-      local dSafeC1 = EgtGetAxisHomePos( 'C1')
+      local dHomeX1 = EgtGetAxisHomePos( 'X1')
+      local dHomeZ1 = EgtGetAxisHomePos( 'Z1')
+      local dHomeB1 = EgtGetAxisHomePos( 'B1')
+      local dHomeC1 = EgtGetAxisHomePos( 'C1')
       -- se necessario allargo le cabine
-      if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, dSafeC1, dSafeB1) then
+      if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, dHomeC1, dHomeB1) then
          local dPosT = EgtIf( bEnd, EMT.L1o, EMT.TPOS or EMT.L1op)
          EmitParkRoller( dPosT, bSplitCut)
       end
       -- se fresa o lama
       if EMT.HEAD ~= 'H13' then
          -- eseguo la salita a Z1max (oriento solo se assi rotanti non già a posto)
-         if abs( dSafeC1 - PrevR1) > 0.1 or abs( dSafeB1 - PrevR2) > 0.1 then
-            local dZref = dSafeZ1 + GetZExtra( EMT.HEAD, PrevR2)
+         if abs( dHomeC1 - PrevR1) > 0.1 or abs( dHomeB1 - PrevR2) > 0.1 then
+            local dZref = dHomeZ1 + GetZExtra( EMT.HEAD, PrevR2)
             dZref = min( dZref, dMaxZ1)
             local MovH = { Z = EgtIf( dZref > EMT.L3o, dZref, EMT.L3o)}
             MovH.X = -EMT.L2o ; MovH.B = EgtClamp( PrevR2, -90, 90) ;  MovH.C = PrevR1 ;
             EmitMoveDataHead( 1, MovH)
-            if ( EMT.HEAD == 'H12' or EMT.HEAD == 'H16') and ( abs( dSafeC1 - PrevR1) > 30.1 or abs( dSafeB1 - PrevR2) > 30.1) then
+            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=dSafeC1, Fmt=1})
-            EmitMoveDataHead( 1, { B=dSafeB1, Fmt=1})
+            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
@@ -1965,30 +2203,48 @@ function EmitZmax( bReset, bEnd, PrevR1, PrevR2, bSplitCut)
          EmitMoveWaitHead( 1)
       -- altrimenti sega a catena
       else
-         EmitMoveDataHead( 1, { Z=dSafeZ1, B=dSafeB1, Fmt=1})
-         EmitMoveDataHead( 1, { X=-dSafeX1, C=dSafeC1, Fmt=1})
-         EmitMoveDataHead( 1, { Z=dMaxZ1, Fmt=1})
+         -- 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
 
@@ -2016,6 +2272,10 @@ 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', '')
@@ -2132,32 +2392,105 @@ end
 
 ---------------------------------------------------------------------
 function PreselectNextDiffHead( nMchId, sHead)
-   -- se in uso testa 1, verifico di non scendere troppo in Z per evitare collisioni
-   local nHSet = GetHeadSet( sHead)
-   if nHSet == 1 then
-      if EMT.MAXMIN[3] < MinZ1ToChangeH2 then return end
-   end
-   -- recupero lavorazione successiva
+   -- recupero lavorazione successiva, se non esiste esco subito
    local nNextMchId = EgtGetNextActiveOperation( nMchId)
    while nNextMchId do
       if EgtGetOperationType( nNextMchId) ~= MCH_OY.DISP then break end
       nNextMchId = EgtGetNextActiveOperation( nNextMchId)
    end
    if not nNextMchId then return end
-   -- se esiste ed appartiene a gruppo diverso
+
+   -- se esiste lavorazione successiva
    if EgtSetCurrMachining( nNextMchId) then
       local sNextTool = EgtGetMachiningParam( MCH_MP.TOOL)
       if EgtTdbSetCurrTool( sNextTool) then
+         local nHSet = GetHeadSet( sHead)
          local sNextHead = EgtTdbGetCurrToolParam( MCH_TP.HEAD)
          local nNextHSet = GetHeadSet( sNextHead)
+         -- se utensile su altra testa
          if nNextHSet ~= nHSet then
             local sNextTcPos = EgtTdbGetCurrToolParam( MCH_TP.TCPOS)
+            local dNextTotLen = EgtTdbGetCurrToolParam( MCH_TP.TOTLEN)
+
+            -- se sto lavorando con testa 1
+            if nHSet == 1 then
+               -- se preselezione testa 2
+               if nNextHSet == 2 then
+                  -- se agregato lama speciale non preseleziono mai
+                  if sNextHead == 'H22' or EMT.PREVHEAD_H2 == 'H22' then return end
+                  -- se la Z di lavoro è più bassa del cambio della minima Z
+                  if EMT.MAXMIN[3] < MinZ1ToChangeH2 then
+                     -- verifico quota del TC
+                     if BD.RIGHT_LOAD and EMT.MAXMAX[2] > ( DeltaTabY + MaxHoOpen + 400) then return end
+                     if not BD.RIGHT_LOAD and EMT.MAXMAX[2] > ( DeltaTabY + 400) then return end
+                  end
+               -- se preselezione testa 3
+               else
+                  ; -- non devo fare nulla
+               end
+            -- se sto lavorando con testa 2
+            elseif nHSet == 2 then
+               -- se preselezione testa 1
+               if nNextHSet == 1 then
+                  -- se sopra Z oltre la faccia sotto della trave, controllo il cambio utensile
+                  if EMT.MAXMIN[3] > Delta2TabZ then
+                     local nNextTc = GetTcForTopHeadTool( sNextTcPos)   -- utensile da caricare
+                     local nPrevTc = GetTcForTopHeadTool( EMT.PREVTCPOS_H1) -- utensile da depositare
+                     -- se deposito e carico da diversi TC non faccio preselezione
+                     if nNextTc ~= nPrevTc and nPrevTc ~= 0 then return
+                     -- altrimenti se operazione su stesso TC
+                     else
+                        -- TC su montante destro oppure non so cosa c'è montato
+                        if nNextTc == 1  or nPrevTc ~= 0 then
+                           if BD.RIGHT_LOAD and EMT.MAXMIN[2] < ( Delta2TabY - 400) then return end
+                           if not BD.RIGHT_LOAD and EMT.MAXMIN[2] < ( Delta2TabY - MaxHoOpen - 400) then return end
+                        end
+                        -- TC su montante sinistro oppure non so cosa c'è montato
+                        if nNextTc == 2  or nPrevTc ~= 0 then
+                           if BD.RIGHT_LOAD and EMT.MAXMAX[2] > ( Delta2TabY + MaxHoOpen + 400) then return end
+                           if not BD.RIGHT_LOAD and EMT.MAXMAX[2] > ( Delta2TabY + 400) then return end
+                        end
+                     end
+                  end
+               -- se preselezione testa 3
+               else
+                  ; -- non devo fare nulla
+               end
+            -- altrimenti (testa 3)
+            else
+               -- se preselezione testa 1
+               if nNextHSet == 1 then
+                  -- TC su montante destro
+                  if nPrevTc == 1 then return
+                  -- TC su montante sinistro
+                  else
+                     if BD.RIGHT_LOAD and EMT.MAXMAX[2] > ( DeltaTabY + MaxHoOpen + 400) then return end
+                     if not BD.RIGHT_LOAD and EMT.MAXMAX[2] > DeltaTabY then return end
+                  end
+               -- se preselezione testa 2
+               else
+                  -- se agregato lama speciale non preseleziono mai
+                  if sNextHead == 'H22' or EMT.PREVHEAD_H2 == 'H22' then return end
+                  -- se la Z di lavoro è più bassa del cambio utensili, verifico quota X (la nostra Y)
+                  if EMT.MAXMIN[3] < MinZ1ToChangeH2 then
+                     if BD.RIGHT_LOAD and EMT.MAXMAX[2] > ( DeltaTabY + MaxHoOpen + 400) then return end
+                     if not BD.RIGHT_LOAD and EMT.MAXMAX[2] > DeltaTabY then return end
+                  end
+               end
+            end
+
+            -- faccio preselezione ( se sono arrivato qui, vuol dire che posso preselezionare)
             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( nPrevTc ~= 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})
@@ -2166,7 +2499,7 @@ 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
@@ -2182,6 +2515,33 @@ 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)
@@ -2221,7 +2581,13 @@ 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
@@ -2239,13 +2605,25 @@ 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
 

Common-PF1250.mlpe

@@ -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.   2024/01/22
+
 -- 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
@@ -20,13 +21,13 @@ end
 ---------------------------------------------------------------------
 -- *** SIMULATION ***
 ---------------------------------------------------------------------
-local COLL_SAFE_DIST = 4
+local COLL_SAFE_DIST = 3
 
 ---------------------------------------------------------------------
 function OnSimulStart()
    -- 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
    -- Carico gli utensili sulle barre portautensili
    local vTcPos = EgtGetAllTcPosNames()
@@ -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 = {}
@@ -72,11 +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 = '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
@@ -390,10 +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
@@ -401,7 +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)
@@ -414,7 +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)
@@ -437,7 +456,7 @@ function OnSimulToolSelect( dPosA)
    -- se attivo Collision Check
    EMT.SAFEDIST = COLL_SAFE_DIST
    if EMT.COLLOBJ then
-      local nInd = EgtIf( EMT.HEAD ~= 'H21', 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
@@ -449,72 +468,98 @@ end
 ---------------------------------------------------------------------
 function OnSimulToolDeselect( dPrevA)
    -- se prossimo utensile non cambia e non è sega a catena, esco
-   if ( EMT.NEXTTOOL == EMT.PREVTOOL_H1 or EMT.NEXTTOOL == EMT.PREVTOOL_H2) and EMT.NEXTHEAD ~= 'H13' then return end
+   if ( EMT.NEXTTOOL == EMT.PREVTOOL_H1 or EMT.NEXTTOOL == EMT.PREVTOOL_H2) and EMT.NEXTHEAD ~= 'H13' and EMT.NEXTHEAD ~= 'H22' then return end
    -- deposito utensile
    EgtOutText( 'Tool change in progress...')
    -- recupero il gruppo
    local nSetHead = GetHeadSet( EMT.NEXTHEAD)
    -- per testa gruppo 2 
    if nSetHead == 2 then
+      -- deposito lama su aggregato testa sotto
+      if EMT.PREVHEAD_H2 == 'H22' then
+         -- simulo movimento
+         local ParkC2 = EgtGetAxisHomePos( 'C2')
+         if dPrevA then
+            ParkC2 = GetSawCHomeFromVirtualAxis( dPrevA)
+         end
+         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)
       -- visualizzo utensile su TcPos
       ShowToolInTcPos( EMT.PREVTCPOS_H2, true)
       -- nascondo l'utensile sulla testa
       EgtSetStatus( EgtGetHeadId( EMT.PREVHEAD_H2 or '') or GDB_ID.NULL, GDB_ST.OFF)
-      return
-   end
-   -- Testa gruppo 1...
-   -- deposito utensile fresa
-   if EMT.PREVHEAD_H1 == 'H11' or EMT.PREVHEAD_H1 == 'H14' then
-      -- simulo movimento
-      local nPrevTc = GetTcForTopHeadTool( EMT.PREVTCPOS_H1)
-      if EMT.PREVTTOTLEN_H1 < LongTool then
-         SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
-         local dPosX = EgtIf( nPrevTc ~= 2, ParkX1, ParkTc2X1)
-         SimulMoveAxis( 'X1', dPosX, MCH_SIM_STEP.RAPID)
-      else
-         if nPrevTc ~= 2 then
-            SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkLongTc1C1, MCH_SIM_STEP.RAPROT)
-            local dPosX = ParkX1
+   -- se testa gruppo 1
+   else
+      -- deposito utensile fresa
+      if EMT.PREVHEAD_H1 == 'H11' then
+         -- simulo movimento
+         local nPrevTc = GetTcForTopHeadTool( EMT.PREVTCPOS_H1)
+         if EMT.PREVTTOTLEN_H1 < LongTool then
+            SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
+            local dPosX = EgtIf( nPrevTc ~= 2, ParkX1, ParkTc2X1)
             SimulMoveAxis( 'X1', dPosX, MCH_SIM_STEP.RAPID)
          else
-            SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkLongTc2C1, MCH_SIM_STEP.RAPROT)
-            local dPosX = ParkTc2X1
-            SimulMoveAxis( 'X1', dPosX, MCH_SIM_STEP.RAPID)
+            if nPrevTc ~= 2 then
+               SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkLongTc1C1, MCH_SIM_STEP.RAPROT)
+               local dPosX = ParkX1
+               SimulMoveAxis( 'X1', dPosX, MCH_SIM_STEP.RAPID)
+            else
+               SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkLongTc2C1, MCH_SIM_STEP.RAPROT)
+               local dPosX = ParkTc2X1
+               SimulMoveAxis( 'X1', dPosX, MCH_SIM_STEP.RAPID)
+            end
          end
+      -- deposito utensile lama
+      elseif EMT.PREVHEAD_H1 == 'H12' then
+         -- simulo movimento
+         SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
+         SimulMoveAxis( 'X1', ParkX1, MCH_SIM_STEP.RAPID)
+      -- deposito utensile sega a catena
+      elseif EMT.PREVHEAD_H1 == 'H13' then
+         -- simulo movimento
+         local ParkC1 = EgtGetAxisHomePos( 'C1')
+         if dPrevA then
+            ParkC1 = GetChainSawCHomeFromVirtualAxis( dPrevA)
+         end
+         SimulMoveAxes( 'B1', ParkCSawB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
+         SimulMoveAxis( 'X1', ParkCSawX1, MCH_SIM_STEP.RAPID)
+      -- deposito utensile seconda lama
+      elseif EMT.PREVHEAD_H1 == 'H16' then
+         -- simulo movimento
+         SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
+         SimulMoveAxis( 'X1', ParkTc2X1, MCH_SIM_STEP.RAPID)
       end
-   -- deposito utensile lama
-   elseif EMT.PREVHEAD_H1 == 'H12' then
-      -- simulo movimento
-      SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
-      SimulMoveAxis( 'X1', ParkX1, MCH_SIM_STEP.RAPID)
-   -- deposito utensile sega a catena
-   elseif EMT.PREVHEAD_H1 == 'H13' then
-      -- simulo movimento
-      local ParkC1 = EgtGetAxisHomePos( 'C1')
-      if dPrevA then
-         ParkC1 = GetChainSawCHomeFromVirtualAxis( dPrevA)
-      end
-      SimulMoveAxes( 'B1', ParkCSawB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
-      SimulMoveAxis( 'X1', ParkCSawX1, MCH_SIM_STEP.RAPID)
-   -- deposito utensile seconda lama
-   elseif EMT.PREVHEAD_H1 == 'H16' then
-      -- simulo movimento
-      SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
-      SimulMoveAxis( 'X1', ParkTc2X1, MCH_SIM_STEP.RAPID)
+      -- breve pausa
+      EgtPause( 100)
+      -- 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
-   -- breve pausa
-   EgtPause( 100)
-   -- 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)
+   -- 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
@@ -524,12 +569,25 @@ function OnSimulToolDeselect( dPrevA)
    elseif EMT.NEXTHEAD == 'H13' then
       -- simulo movimento
       SimulMoveAxes( 'B1', ParkCSawB1, MCH_SIM_STEP.RAPROT, 'C1', EgtGetAxisHomePos( 'C1'), MCH_SIM_STEP.RAPROT)
-      SimulMoveAxis( 'X1', ParkCSawX1, MCH_SIM_STEP.RAPID)
+      SimulMoveAxes( 'X1', ParkCSawX1, MCH_SIM_STEP.RAPID, 'Z1', ParkCSawZ1, MCH_SIM_STEP.RAPID)
    -- prendo utensile seconda lama
    elseif EMT.NEXTHEAD == 'H16' then
       -- simulo movimento
       SimulMoveAxes( 'B1', ParkB1, MCH_SIM_STEP.RAPROT, 'C1', ParkC1, MCH_SIM_STEP.RAPROT)
       SimulMoveAxis( 'X1', ParkTc2X1, MCH_SIM_STEP.RAPID)
+   -- prendo utensile su CU margherita testa sotto
+   elseif EMT.NEXTHEAD == 'H21' then
+      -- simulo movimento
+      SimulMoveAxes( 'B2', ParkB2, MCH_SIM_STEP.RAPROT, 'C2', ParkC2, MCH_SIM_STEP.RAPROT)
+      SimulMoveAxis( 'X2', ParkX2, MCH_SIM_STEP.RAPID)
+   -- 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
+      SimulMoveAxis( 'X2', ParkSawX2, MCH_SIM_STEP.RAPID)
+      SimulMoveAxes( 'B2', ParkSawB2, MCH_SIM_STEP.COLLROT, 'C2', ParkSawC2, MCH_SIM_STEP.COLLROT)
    end
 end
 
@@ -546,6 +604,18 @@ function OnSimulMachiningStart()
          OnSimulToolSelect( dPosA)
       end
    end
+   -- se lavorazione attuale e precedente con sega a catena con angolo A diverso, devo scaricare e ricaricare
+   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)) or 0
+      if abs( dPosA - dPrevA) > 1 then
+         ExecParkRoller( nil, nil, nil, nil, false, bAgg)
+         OnSimulToolDeselect( dPrevA)
+         EgtSetStatus( EgtGetHeadId( EMT.HEAD), GDB_ST.ON)
+         OnSimulToolSelect( dPosA)
+      end
+   end
    -- salvo dati utensile
    local nSetHead = GetHeadSet( EMT.HEAD)
    -- per gruppo testa 1
@@ -560,6 +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)
@@ -660,7 +736,7 @@ function OnSimulPathEnd()
       if EMT.MCHSPLIT and not EMT.TO_FALL then
          EMT.SPLIT_Y1DELTA = EMT.Y1DELTA
          EMT.Y1DELTA = nil
-         SetPY1Light( false)
+         ExecMovePY1( false)
       end
       ExecMoveZmax( EMT.MCHSPLIT)
       EMT.TO_ZMAX = nil
@@ -670,19 +746,19 @@ end
 ---------------------------------------------------------------------
 function OnSimulPathStartAux()
    -- eseguo il comando
-   ExecAuxCmd( EMT.AUX)
+   ExecAuxCmd( EMT.AUX, true)
    -- se ultimo comando e lavorazione di split, sgancio il carro Y1
    if EMT.AUXIND == EMT.AUXTOT and EMT.MCHSPLIT and not EMT.TO_FALL then
       EMT.SPLIT_Y1DELTA = EMT.Y1DELTA
       EMT.Y1DELTA = nil
-      SetPY1Light( false)
+      ExecMovePY1( false)
    end
 end
 
 ---------------------------------------------------------------------
 function OnSimulPathEndAux()
    -- eseguo il comando
-   ExecAuxCmd( EMT.AUX)
+   ExecAuxCmd( EMT.AUX, false)
    -- se ultimo comando e richiesta risalita a Zmax
    if EMT.AUXIND == EMT.AUXTOT and EMT.TO_ZMAX then
       ExecMoveZmax( EMT.MCHSPLIT)
@@ -776,16 +852,20 @@ 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)
+                  SimulMoveAxes( 'Z1', MaxZ1, MCH_SIM_STEP.RAPID, 'B1', 0, MCH_SIM_STEP.COLLROT)
                   SimulMoveAxis( 'C1', EMT.R1, MCH_SIM_STEP.COLLROT)
                   SimulMoveAxis( 'X1', EMT.L2, MCH_SIM_STEP.RAPID)
                   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)
@@ -804,14 +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
@@ -836,7 +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
@@ -892,17 +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
@@ -919,7 +1018,7 @@ function OnSimulMoveEnd()
       -- se lavorazione split, dichiaro carro Y1 riagganciato
       if EMT.SPLIT_Y1DELTA then
          EMT.SPLIT_Y1DELTA = nil
-         SetPY1Light( true)
+         ExecMovePY1( true)
       end
       -- chiusura o apertura rulli V1
       if GetV1ToClose() then
@@ -965,14 +1064,10 @@ 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_H21'
-      elseif EMT.SIMCOBIND == 1002 then
+      elseif EMT.SIMCOBIND == 1002 or EMT.SIMCOBIND == 1012 then
          Class = 'TH_'..EMT.HEAD
-      elseif EMT.SIMCOBIND == 1012 then
-         Class = 'TH_H21'
       else
          Class = EMT.COLLOBJ[EMT.SIMCOBIND].Cl
       end
@@ -986,7 +1081,7 @@ function OnSimulCollision()
 end
 
 ---------------------------------------------------------------------
-function ExecAuxCmd( sCmd)
+function ExecAuxCmd( sCmd, bPathStart)
    -- analizzo il comando
    local Cmd = EgtSplitString( sCmd)
    if Cmd[1] == '0' then
@@ -999,29 +1094,31 @@ function ExecAuxCmd( sCmd)
       end
       EgtOutText( Cmd[2])
    elseif Cmd[1] == '1' then
-      if EMT.SPLIT then ExecOpenRoller( 1) end
-      if EMT.UNLOADING or EMT.TO_FALL then ExecOpenRoller( 2) end
-      local sV1, MoveV1, sV2, MoveV2 = CalcMoveV1V2ForAuxCmd( Cmd)
-      local bOk, bOk1, bOk2, bOk3 = SimulMoveAxes( Cmd[2], tonumber( Cmd[3]), MCH_SIM_STEP.RAPID,
-                                                   sV1, MoveV1, MCH_SIM_STEP.RAPID,
-                                                   sV2, MoveV2, MCH_SIM_STEP.RAPID)
-      if not bOk then
-         if not bOk1 then
-            if VerifyY1Y2Stroke( Cmd[2], tonumber( Cmd[3])) == nil then 
-               EgtOutLog( 'Error on ExecAuxCmd : ' .. sCmd)
+      if Cmd[2] ~= 'Z' then
+         ExecOpenRoller( 1)
+         ExecOpenRoller( 2)
+         local sV1, MoveV1, sV2, MoveV2 = CalcMoveV1V2ForAuxCmd( Cmd)
+         local bOk, bOk1, bOk2, bOk3 = SimulMoveAxes( Cmd[2], tonumber( Cmd[3]), MCH_SIM_STEP.RAPID,
+                                                      sV1, MoveV1, MCH_SIM_STEP.RAPID,
+                                                      sV2, MoveV2, MCH_SIM_STEP.RAPID)
+         if not bOk then
+            if not bOk1 then
+               if VerifyY1Y2Stroke( Cmd[2], tonumber( Cmd[3])) == nil then 
+                  EgtOutLog( 'Error on ExecAuxCmd : ' .. sCmd)
+               end
+            elseif not bOk2 then
+               VerifyV1V2Stroke( sV1, MoveV1)
+            elseif not bOk3 then
+               VerifyV1V2Stroke( sV2, MoveV2)
             end
-         elseif not bOk2 then
-            VerifyV1V2Stroke( sV1, MoveV1)
-         elseif not bOk3 then
-            VerifyV1V2Stroke( sV2, MoveV2)
          end
       end
    elseif Cmd[1] == '2' then
       -- Verifico movimento carrello con trave agganciata
       VerifyOneChariotSlide( Cmd[2], Cmd[3], Cmd[4], Cmd[5])
       -- Eseguo i movimenti necessari
-      if EMT.SPLIT then ExecOpenRoller( 1) end
-      if EMT.UNLOADING or EMT.TO_FALL then ExecOpenRoller( 2) end
+      ExecOpenRoller( 1)
+      ExecOpenRoller( 2)
       local sV1, MoveV1, sV2, MoveV2 = CalcMoveV1V2ForAuxCmd( Cmd)
       local bOk, bOk1, bOk2, bOk3, bOk4 =  SimulMoveAxes( Cmd[2], tonumber( Cmd[3]), MCH_SIM_STEP.RAPID,
                                                           Cmd[4], tonumber( Cmd[5]), MCH_SIM_STEP.RAPID,
@@ -1043,8 +1140,8 @@ function ExecAuxCmd( sCmd)
       -- Verifico movimento carrelli con trave agganciata
       VerifyTwoChariotsSlide( Cmd[2], Cmd[3], Cmd[4], Cmd[5], Cmd[6], Cmd[7])
       -- Eseguo i movimenti necessari
-      if EMT.SPLIT then ExecOpenRoller( 1) end
-      if EMT.UNLOADING or EMT.TO_FALL then ExecOpenRoller( 2) end
+      ExecOpenRoller( 1)
+      ExecOpenRoller( 2)
       local sV1, MoveV1, sV2, MoveV2 = CalcMoveV1V2ForAuxCmd( Cmd)
       local bOk, bOk1, bOk2, bOk3, bOk4, bOk5 = SimulMoveAxes( Cmd[2], tonumber( Cmd[3]), MCH_SIM_STEP.RAPID,
                                                                Cmd[4], tonumber( Cmd[5]), MCH_SIM_STEP.RAPID,
@@ -1064,13 +1161,13 @@ function ExecAuxCmd( sCmd)
          end
       end
    elseif Cmd[1] == '4' then
-      ExecMoveHome( Cmd[2] == '1', EMT.MCHSPLIT)
+      ExecMoveHome( Cmd[2] == '1', EgtIf( bPathStart, false, EMT.MCHSPLIT))
    elseif Cmd[1] == '11' then
-      SimulMoveAxes( 'PY1', EgtIf( Cmd[2] == '0', MaxHoOpen, EMT.HB), MCH_SIM_STEP.RAPID)
-      SetPY1Light( Cmd[2] ~= '0')
+      local bClose = Cmd[2] ~= '0'
+      if bPathStart and EMT.MCHSPLIT and not EMT.FALL and EMT.AUXIND >= 8 then bClose = false end
+      ExecMovePY1( bClose)
    elseif Cmd[1] == '12' then
-      SimulMoveAxes( 'PY2', EgtIf( Cmd[2] == '0', MaxHoOpen, EMT.HB), MCH_SIM_STEP.RAPID)
-      SetPY2Light( Cmd[2] ~= '0')
+      ExecMovePY2( Cmd[2] ~= '0')
    elseif Cmd[1] == '21' then
       local nY1Delta = tonumber( Cmd[2])
       local nY2Delta = tonumber( Cmd[3])
@@ -1136,6 +1233,7 @@ end
 function ExecMoveHome( bNearV, bMchSplit)
    -- risalita a Zmax
    ExecMoveZmax( bMchSplit)
+   EMT.TO_ZMAX = nil
    -- se testa sotto
    if GetHeadSet( EMT.HEAD) == 2 then
       if not SimulMoveAxis( 'X2', ParkX2, MCH_SIM_STEP.RAPID) then
@@ -1186,7 +1284,7 @@ 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)
@@ -1195,9 +1293,9 @@ function ExecMoveZmax( bMchSplit)
          SimulMoveAxis( 'Z1', MaxZ1, MCH_SIM_STEP.RAPID)
       -- altrimenti sega a catena
       else
-         SimulMoveAxes( 'Z1', HomeZ, MCH_SIM_STEP.RAPID, 'B1', HomeB, MCH_SIM_STEP.COLLROT)
+         -- salzo in Z sicurezza raddrizzando la B
+         SimulMoveAxes( 'Z1', ParkCSawZ1, MCH_SIM_STEP.RAPID, 'B1', HomeB, MCH_SIM_STEP.COLLROT)
          SimulMoveAxes( 'X1', HomeX, MCH_SIM_STEP.RAPID, 'C1', HomeC, MCH_SIM_STEP.COLLROT)
-         SimulMoveAxis( 'Z1', MaxZ1, MCH_SIM_STEP.RAPID)
       end
       -- se lavorazione in doppio
       if EMT.DOU_TYPE == 2 then
@@ -1212,11 +1310,15 @@ 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
@@ -1230,14 +1332,14 @@ 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
@@ -1269,6 +1371,18 @@ function ExecUnloading()
    end
 end
 
+---------------------------------------------------------------------
+function ExecMovePY1( bClose)
+   SimulMoveAxes( 'PY1', EgtIf( not bClose, MaxHoOpen, EMT.HB), MCH_SIM_STEP.RAPID)
+   SetPY1Light( bClose)
+end
+
+---------------------------------------------------------------------
+function ExecMovePY2( bClose)
+   SimulMoveAxes( 'PY2', EgtIf( not bClose, MaxHoOpen, EMT.HB), MCH_SIM_STEP.RAPID)
+   SetPY2Light( bClose)
+end
+
 ---------------------------------------------------------------------
 local function LinkRemainingPartsToY1()
    local nCurrOrd = GetPhaseOrd( EMT.PHASE)
@@ -1298,6 +1412,9 @@ function ExecParkRoller( PosY1, PosY2, PosV1, PosV2, bSpliCut, bAgg)
    -- Parcheggi pinze
    local MyParkY1 = ParkY1 + EgtIf( bAgg, AggLoad, 0)
    local MyParkY2 = ParkY2
+   -- Apro i rulli, se necessario
+   if abs( ParkV1 - PosV1) > 0.1 then ExecOpenRoller( 1) end
+   if abs( ParkV2 - PosV2) > 0.1 then ExecOpenRoller( 2) end
    -- Eseguo spostamenti
    if EMT.Y1DELTA and EMT.Y2DELTA then
       local DiffY1 = MyParkY1 - PosY1
@@ -1457,7 +1574,7 @@ function VerifyY1Slide( sName1, dVal1, sName2, dVal2)
    if sName1 == 'T' and sName2 == 'Y1' and GetPY1Light() then
       local dY1DeltaP = EgtGetAxisPos( 'Y1') - EgtGetAxisPos( 'T')
       local dY1DeltaA = tonumber( dVal2) - tonumber( dVal1)
-      EgtOutLog( string.format( 'Y1DeltaP=%.3f YDeltaA=%.3f', dY1DeltaP, dY1DeltaA), 5)
+      EgtOutLog( string.format( 'Y1DeltaP=%.3f Y1DeltaA=%.3f', dY1DeltaP, dY1DeltaA), 5)
       if abs( dY1DeltaA - dY1DeltaP) > 0.5 then
          EMT.ERR = 2
          local sErr = 'Y1 slide : ' .. EmtLenToString( dY1DeltaP, 3) .. ' -> ' .. EmtLenToString( dY1DeltaA, 3)
@@ -1640,6 +1757,7 @@ 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
@@ -1647,29 +1765,7 @@ 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 sTcPos == 'T201' then
-               sHead = 'H22'
-            -- utensili standard da sotto
-            else
-               sHead = 'H21'
-            end
-         end
+         sHead = GetAdjHeadFromTcPos( nHSet, sTcPos)
       end
    end
    if sTool then
@@ -2088,38 +2184,6 @@ function GetParkT()
    end
 end
 
----------------------------------------------------------------------
-function GetHeadSet( sHead)
-   if sHead == 'H11' or sHead == 'H12' or sHead == 'H13' or sHead == 'H14' or sHead == 'H16' then
-      return 1
-   elseif sHead == 'H21' or sHead == 'H22' then
-      return 2
-   else
-      return 0
-   end
-end
-
----------------------------------------------------------------------
-function GetHeadSetFromTcPos( sTcPos)
-   local TCPOS_1A = { 'T1', 'T3', 'T4', 'T5', 'T6', 'T7', 'T8', 'T9', 'T10', 'T11', 'T12', 'T13'}
-   local TCPOS_1B = { 'T101', 'T121', 'T111'}
-   local TCPOS_1C = { 'T21', 'T22', 'T23', 'T24', 'T25', 'T26', 'T27', 'T28', 'T29', 'T30'}
-   local TCPOS_2  = { 'T220', 'T221', 'T222', 'T223', 'T224', 'T225', 'T226', 'T227', 'T228', 'T229', 'T230'}
-   for _, sVal in ipairs( TCPOS_1A) do
-      if sVal == sTcPos then return 1, 1 end
-   end
-   for _, sVal in ipairs( TCPOS_1B) do
-      if sVal == sTcPos then return 1, 2 end
-   end
-   for _, sVal in ipairs( TCPOS_1C) do
-      if sVal == sTcPos then return 1, 3 end
-   end
-   for _, sVal in ipairs( TCPOS_2) do
-      if sVal == sTcPos then return 2, 1 end
-   end
-   return 0, 0
-end
-
 ---------------------------------------------------------------------
 function FindFirstToolOnHeadSet( nHSet)
    -- salvo stato iniziale
@@ -2223,7 +2287,7 @@ function GetNextSawingVirtualAxis( MchId)
       NextMchId = EgtGetNextActiveOperation( NextMchId)
    end
    -- verifico sia un taglio o fresatura con lama su aggregato da sotto
-   if EgtGetOperationType( NextMchId) ~= MCH_OY.MILLING and EgtGetOperationType( NextMchId) ~= MCH_OY.SAWING and EMT.HEAD ~= 'H22' then
+   if ( EgtGetOperationType( NextMchId) ~= MCH_OY.MILLING and EgtGetOperationType( NextMchId) ~= MCH_OY.SAWING) or EMT.HEAD ~= 'H22' then
       return nil
    end
    -- la imposto come lavorazione corrente
@@ -2250,7 +2314,7 @@ 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))

Common-PF1250.mlse

@@ -1,4 +1,4 @@
--- Special Operations macchina Essetre-PF1250 by EgalTech s.r.l.  2023/11/21
+-- Special Operations macchina Essetre-PF1250 by Egalware s.r.l.  2024/01/22
 -- Intestazioni
 
 require( 'EmtGenerator')
@@ -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' 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
@@ -130,11 +132,11 @@ function OnSpecialMoveZup()
    local dZmax = EgtGetAxisHomePos( EgtIf( nHeadSet ~= 2, 'Z1', 'Z2'))
 
 
-   -- se fresa su testa1 o su testa 2
-   if EMC.HEAD == 'H11' or EMC.HEAD == 'H14' or EMC.HEAD == 'H21' then
+   -- se fresa su testa1 o testa 2
+   if EMC.HEAD == 'H11' or EMC.HEAD == 'H21' or EMC.HEAD == 'H22' then
       ;
-   -- se lama su testa1
-   elseif EMC.HEAD == 'H12' then
+   -- se lama
+   else
       -- riporto i valori tra -179 e + 180
       local dCheckAxR1 = EMC.R1
       if dCheckAxR1 < -180 then
@@ -142,39 +144,41 @@ function OnSpecialMoveZup()
       elseif dCheckAxR1 > 180 then
          dCheckAxR1 = dCheckAxR1 - 360
       end
-
-      -- se inclinata oltre 90 gradi e interferisce con la trave
-      if ( EMC.R2 > 87.9 and ( dCheckAxR1 < 15.0 or dCheckAxR1 > 180.0)) or ( EMC.R2 < -87.9 and ( dCheckAxR1 > -15.0 and dCheckAxR1 < 180.0)) then
-         local dZref = dZmax + min( 330 * vtT:getZ(), 0) + 260 * ( 1 - sqrt( 1- vtT:getZ() * vtT:getZ()))
-         -- se troppo in alto
-         if EMC.L3 > dZref + 1 then
-            ---- sistemo asse rotante
-            --EMC.R2 = EgtIf( ( EMC.R2 > 0), 90, -90)
-            ---- ricalcolo versore utensile
-            --EMC.TDIR = EgtGetCalcToolDirFromAngles( EMC.R1, EMC.R2)
-            ---- porto alla giusta quota
-            --EMC.L3 = dZmax
-            EMC.L3 = dZref
-            -- dichiaro modificato
-            EMC.MODIF = true
+      -- se lama su testa1
+      if EMC.HEAD == 'H12' then
+         -- se inclinata oltre 90 gradi e interferisce con la trave
+         if ( EMC.R2 > 87.9 and ( dCheckAxR1 < 15.0 or dCheckAxR1 > 180.0)) or ( EMC.R2 < -87.9 and ( dCheckAxR1 > -15.0 and dCheckAxR1 < 180.0)) then
+            local dZref = dZmax + min( 330 * vtT:getZ(), 0) + 260 * ( 1 - sqrt( 1- vtT:getZ() * vtT:getZ()))
+            -- se troppo in alto
+            if EMC.L3 > dZref + 1 then
+               ---- sistemo asse rotante
+               --EMC.R2 = EgtIf( ( EMC.R2 > 0), 90, -90)
+               ---- ricalcolo versore utensile
+               --EMC.TDIR = EgtGetCalcToolDirFromAngles( EMC.R1, EMC.R2)
+               ---- porto alla giusta quota
+               --EMC.L3 = dZmax
+               EMC.L3 = dZref
+               -- dichiaro modificato
+               EMC.MODIF = true
+            end
          end
-      end
-   -- se seconda lama su testa1
-   elseif EMC.HEAD == 'H16' then
-      -- se inclinata oltre 90 gradi e interferisce con la trave
-      if ( EMC.R2 > 87.9 and ( dCheckAxR1 < 15.0 or dCheckAxR1 > 180.0)) or ( EMC.R2 < -87.9 and ( dCheckAxR1 > -15.0 and dCheckAxR1< 180.0)) then
-         local dZref = dZmax + min( 330 * vtT:getZ(), 0) + 260 * ( 1 - sqrt( 1- vtT:getZ() * vtT:getZ()))
-         -- se troppo in alto
-         if EMC.L3 > dZref + 1 then
-            ---- sistemo asse rotante
-            --EMC.R2 = EgtIf( ( EMC.R2 > 0), 90, -90)
-            ---- ricalcolo versore utensile
-            --EMC.TDIR = EgtGetCalcToolDirFromAngles( EMC.R1, EMC.R2)
-            ---- porto alla giusta quota
-            --EMC.L3 = dZmax
-            EMC.L3 = dZref
-            -- dichiaro modificato
-            EMC.MODIF = true
+      -- se seconda lama su testa1
+      elseif EMC.HEAD == 'H16' then
+         -- se inclinata oltre 90 gradi e interferisce con la trave
+         if ( EMC.R2 > 87.9 and ( dCheckAxR1 < 15.0 or dCheckAxR1 > 180.0)) or ( EMC.R2 < -87.9 and ( dCheckAxR1 > -15.0 and dCheckAxR1< 180.0)) then
+            local dZref = dZmax + min( 330 * vtT:getZ(), 0) + 260 * ( 1 - sqrt( 1- vtT:getZ() * vtT:getZ()))
+            -- se troppo in alto
+            if EMC.L3 > dZref + 1 then
+               ---- sistemo asse rotante
+               --EMC.R2 = EgtIf( ( EMC.R2 > 0), 90, -90)
+               ---- ricalcolo versore utensile
+               --EMC.TDIR = EgtGetCalcToolDirFromAngles( EMC.R1, EMC.R2)
+               ---- porto alla giusta quota
+               --EMC.L3 = dZmax
+               EMC.L3 = dZref
+               -- dichiaro modificato
+               EMC.MODIF = true
+            end
          end
       end
    end
@@ -249,6 +253,22 @@ local function GetNextStartOrRestPhase( nPhase)
    return nNextPhase
 end
 
+---------------------------------------------------------------------
+local function IsFirstMachiningOfStart( nMchId)
+   -- se non è fase inizio di pezzo, ritorno risultato negativo
+   if not IsStartOrRestPhase( EMC.PHASE) 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
+   -- è la prima
+   return true
+end
+
 ---------------------------------------------------------------------
 local function UpdateMinJoin()
    MinJoin = BD.GetMinJoin( EMC.SB, EMC.HB, EMC.LB)
@@ -484,7 +504,7 @@ end
 ---------------------------------------------------------------------
 function OnPostApplyMachining()
 
-   EgtOutLog( ' Lavorazione : ' .. EgtGetName( EMC.MCHID), 1)
+   EgtOutLog( ' Lavorazione : ' .. EgtGetName( EMC.MCHID) .. ' (' .. tostring( EMC.MCHID) .. ')')
 
    -- Inizializzo codice di errore
    EMC.ERR = 0
@@ -665,6 +685,7 @@ function SpecApplyPath( bPreSplit, bSplitting, bPreCut, bCutting, bUnload)
    EMC.SB = b3Tot:getDimY()
    EMC.HB = b3Tot:getDimZ()
    EMC.LT = b3Raw:getDimX()
+   EgtOutLog( '  BarLen='..EgtNumToString( EMC.LB, 1), 3)
 
    -- Aggiorno limiti di presa
    UpdateMinJoin()
@@ -744,6 +765,7 @@ 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})
@@ -777,7 +799,7 @@ 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
@@ -844,23 +866,32 @@ 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' 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', 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', 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
@@ -1047,8 +1078,8 @@ function SpecCalcCarriages( dDistFront, dDistBack, dRollFront, dRollBack, dY1Del
          return {}
       end
 
-      -- al carico si deve ignorare l'ingombro delle lavorazioni di testa per il pinzaggio
-      if EMC.LOAD then EMC.HCING = 0 end
+      -- al carico o con prima lavorazione di un pezzo si deve ignorare l'ingombro delle lavorazioni di testa per il pinzaggio
+      if EMC.LOAD or IsFirstMachiningOfStart( EMC.MCHID) then EMC.HCING = 0 end
 
       return SpecAdjustCarriages( WorkTab)
 
@@ -1609,7 +1640,7 @@ 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
@@ -1710,7 +1741,7 @@ 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
@@ -2245,7 +2276,7 @@ function SpecAdjustCarrC( WorkTab)
          WorkTab.dY1DeltaMaxF = EMC.LB - ( MinJoin + MyTCING)
          -- se Y1 deve accentrarsi 
          if WorkTab.dY1DeltaI > WorkTab.dY1DeltaMaxF then
-            WorkTab.dY1DeltaMinF = EMC.LB - 2 * MinJoin + MyTCING
+            WorkTab.dY1DeltaMinF = EMC.LB - 2 * MinJoin - MyTCING
          end
       end
       -- posizioni obiettivo dei carrelli al centro dei rispettivi intervalli di validità

Essetre-PF1250MAX.ini

@@ -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

Essetre-PF1250MAX.mlde

@@ -1,15 +1,38 @@
--- Descrizione macchina Essetre-PF1250MAX by EgalWare s.r.l.   2023/12/07
+-- Descrizione macchina Essetre-PF1250MAX by EgalWare s.r.l.   2024/01/25
 -- 2023/12/07 ver 2.5l1 Prima versione. Derivata da PF1250 ver 2.5l4
-
+-- 2023/12/15 ver 2.5l2 Corretti vari offset in simulazione
+-- 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
+-- 2024/01/22 ver 2.6a3 Migliorata preselezione utensile
+--                      Rimosse funzioni ribaltamento pezzo
+--                      Allineamento con Common-PF1250 v.2.6a3
+--                      In BeamData aggiunta la funzione GetBlockedAxis che sostituisce le altre (GetChainSawBlockedAxis e GetSawBlockedAxis)
+-- 2024/01/25 ver 2.6a4 Allineamento con Common 2.6a4
 
 -- Intestazioni
 require( 'EmtGenerator')
 EgtEnableDebug( false)
 
-PP_VER = '2.5l1'
+PP_VER = '2.6a4'
 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
@@ -62,7 +85,7 @@ SawC2Offs = 0
 SawB2Offs = 0
 MinX1 = 0
 MaxX1 = 3300
-MinZ1 = -1550
+MinZ1 = -1850
 MaxZ1 = -100
 MinC1 = -275
 MaxC1 = 275
@@ -72,11 +95,11 @@ 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
@@ -88,7 +111,7 @@ MinZ1ToChangeH2 = -1400
 MinX2 = -2760
 MaxX2 = 0
 MinZ2 = 0
-MaxZ2 = 795
+MaxZ2 = 1450
 MinC2 = -275
 MaxC2 = 275
 MinB2 = -127
@@ -100,36 +123,40 @@ SafeX2 = -400
 ParkZ2 = 0
 ParkC2 = -90
 ParkB2 = -90
-ParkSawX2 = 1000
+ParkSawX2 = MinX2
 ParkSawZ2 = 0
 ParkSaw0Z2 = 0
 ParkSawC2 = -90
-ParkSaw0C2 = 0
+ParkSaw0C2 = -90
 ParkSawB2 = 0
 MinDistToolX1X2 = 40
 TurnerOffs = 120.0
 AggLoad = 50
-DeltaTabY = 2750
+DeltaTabY = 2550
 DeltaTabZ = -1428 + MillOffs                   -- per TPA : -1128.0 + MillOffs    -- per NUM : -1258
 DeltaRulliTraveZ = -1203
 DimTabY = 1400
 DimTabX = 24000
-Delta2TabY = -985.9
-Delta2TabZ = 393 - Mill2Offs                   -- per TPA : 378.0 - Mill2Offs      -- per NUM : 223
+Delta2TabY = -1185.9
+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-PF1250.data"
+local sTs3Data = EgtGetStringFromIni( 'Beam', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-PF1250MAX.data"
 local sDataBeam = EgtGetSourceDir().."\\Beam\\Ts3Data.lua"
 local sDataWall = EgtGetSourceDir().."\\Wall\\Ts3Data.lua"
 if EgtExistsFile( sTs3Data) then
@@ -146,6 +173,7 @@ 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
@@ -157,9 +185,11 @@ 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
@@ -180,10 +210,10 @@ 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
@@ -196,6 +226,8 @@ 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
@@ -222,8 +254,8 @@ 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
@@ -308,23 +340,6 @@ 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 {
@@ -426,10 +441,10 @@ 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)
@@ -452,20 +467,20 @@ EgtSetInfo( H21Id, 'ABOVE', '0')
 EgtSetInfo( H21Id, 'ZHOMEDOWN', '1')
 -- Lama
 if TcAggreBladeUnder then
-local H22Id = EmtHead {
-      Name = 'H22',
-      Parent = 'A2',
-      HSet = 'H21',
-      Type = MCH_HT.STD,
-      Pos = Point3d( SawUnderOffsX+Head2X, SawUnderOffsY+Head2Y, SawUnderOffsZ+Head2Z),
-      TDir = Vector3d( 0, sin( SawUnderB2Offs), -cos( SawUnderB2Offs)),
-      ADir = Y_AX(),
-      Rot1W = 0.5,
-      Rot2Stroke = { MinB2b, MaxB2b},
-      OthColl = {'B2/SOLID', 'C2/SOLID'},
-      Geo = 'H22_HEAD/GEO'}
-EgtSetInfo( H22Id, 'ZEXTRA', '160,60')
-EgtSetInfo( H22Id, 'ZMAXONROT', '1,190')
+   local H22Id = EmtHead {
+         Name = 'H22',
+         Parent = 'A2',
+         HSet = 'H21',
+         Type = MCH_HT.STD,
+         Pos = Point3d( SawUnderOffsX+Head2X, SawUnderOffsY+Head2Y, SawUnderOffsZ+Head2Z),
+         TDir = Vector3d( 0, sin( SawUnderB2Offs), -cos( SawUnderB2Offs)),
+         ADir = Y_AX(),
+         Rot1W = 0.5,
+         Rot2Stroke = { MinB2b, MaxB2b},
+         OthColl = {'B2/SOLID', 'C2/SOLID'},
+         Geo = 'H22_HEAD/GEO'}
+   EgtSetInfo( H21Id, 'ABOVE', '0')
+   EgtSetInfo( H21Id, 'ZHOMEDOWN', '1')
 end
 --  *** Carrelli ***
 -- Morse
@@ -757,7 +772,7 @@ if Tc2Active then
          ADir = X_AX(),
          Geo = 'BASE/T30'}
 end
-local ptTc3 = Point3d( 480, 529, -200.8 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
+local ptTc3 = Point3d( 600, 529, -200.8 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
 EmtTcPos {
       Name = 'T101',
       Parent = 'Base',
@@ -765,22 +780,22 @@ EmtTcPos {
       TDir = -X_AX(),
       ADir = Z_AX(),
       Geo = 'BASE/T101'}
-local ptTc4 = Point3d( 450, 909, -115 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
-EmtTcPos {
-      Name = 'T121',
-      Parent = 'Base',
-      Pos = ptTc4,
-      TDir = Z_AX(),
-      ADir = X_AX(),
-      Geo = 'BASE/T121'}
-local ptTc5 = Point3d( 450, 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',
@@ -876,12 +891,12 @@ 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 - 2750.0), ( DeltaTabZ + 1258.0))
+local vtMove = Vector3d( 0, ( DeltaTabY - 2550.0), ( DeltaTabZ + 1258.0))
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'CONVOYER'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( Y1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( PY1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
@@ -908,7 +923,7 @@ 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)
@@ -944,13 +959,9 @@ 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
-      local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS)
-      CSawPosA = tonumber( sVal:sub( 4) or '')
+      EmtModifyExitPosition( EMC.HEAD, EMC.EXIT or 1, Point3d( 0, 0, -dDist))
+      -- recupero il valore dell'asse virtuale bloccato A
+      local CSawPosA = GetCurrChainSawingVirtualAxis()
       EmtModifyAxisHome( 'X1', ParkCSawX1)
       EmtModifyAxisHome( 'Z1', GetChainSawZHomeFromVirtualAxis( CSawPosA))
       EmtModifyAxisStroke( 'C1', {MinC1, MaxC1})
@@ -965,6 +976,17 @@ 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) or 'A1=0'
+      local SawUnderPosA2 = tonumber( sVal:sub( 4) or '') or 0
+      EmtModifyAxisHome( 'C2', GetSawCHomeFromVirtualAxis( SawUnderPosA2))
+      EmtModifyAxisDirection( 'B2', Vector3d( cos( SawUnderC2Offs), -sin( SawUnderC2Offs), 0))
    end
 end
 
@@ -984,6 +1006,72 @@ function GetTcForTopHeadTool( sTcPos)
    end
 end
 
+---------------------------------------------------------------------
+function GetHeadSet( sHead)
+   if sHead == 'H11' or sHead == 'H12' or sHead == 'H13' or sHead == 'H16' then
+      return 1
+   elseif sHead == 'H21' or sHead == 'H22' then
+      return 2
+   else
+      return 0
+   end
+end
+   
+---------------------------------------------------------------------
+function GetHeadSetFromTcPos( sTcPos)
+   local TCPOS_1A = { 'T1', 'T3', 'T4', 'T5', 'T6', 'T7', 'T8', 'T9', 'T10', 'T11', 'T12', 'T13'}               -- CU montante DX
+   local TCPOS_1B = { 'T101', 'T121', 'T111'}                                                                   -- CU sotto traversa
+   local TCPOS_1C = { 'T21', 'T22', 'T23', 'T24', 'T25', 'T26', 'T27', 'T28', 'T29', 'T30'}                     -- CU montante sinistro
+   local TCPOS_2A  = { 'T220', 'T221', 'T222', 'T223', 'T224', 'T225', 'T226', 'T227', 'T228', 'T229', 'T230'}  -- CU margherita testa 2
+   local TCPOS_2B  = { 'T201'}                                                                                  -- CU lama su aggregato testa 2
+   for _, sVal in ipairs( TCPOS_1A) do
+         if sVal == sTcPos then return 1, 1 end
+   end
+   for _, sVal in ipairs( TCPOS_1B) do
+         if sVal == sTcPos then return 1, 2 end
+   end
+   for _, sVal in ipairs( TCPOS_1C) do
+         if sVal == sTcPos then return 1, 3 end
+   end
+   for _, sVal in ipairs( TCPOS_2A) do
+         if sVal == sTcPos then return 2, 1 end
+   end
+   for _, sVal in ipairs( TCPOS_2B) do
+         if sVal == sTcPos then return 2, 2 end
+   end
+   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)
@@ -993,10 +1081,10 @@ 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
@@ -1005,10 +1093,10 @@ 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
@@ -1017,10 +1105,10 @@ 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
@@ -1030,7 +1118,7 @@ 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

README.md

@@ -1,92 +0,0 @@
-# Essetre-PF1250MAX
-
-
-
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
-```
-cd existing_repo
-git remote add origin https://gitlab.steamware.net/egalware-machines/essetre/Essetre-PF1250MAX.git
-git branch -M main
-git push -uf origin main
-```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://gitlab.steamware.net/egalware-machines/essetre/Essetre-PF1250MAX/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.

Scripts/SetUp.lua

@@ -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"},

UpdateLog.txt

@@ -0,0 +1,24 @@
+           ==== 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 (19/01/2024)
+- (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
+- (SIM-GEN) Tolta gestione rotazione pezzo (di derivazione PF), in macchina non è previsto ribaltamento
+- (GEN) Migliorata gestione preselezione utensile
+- (MLDE-GEN) Aggiunto flag 'EmitRapidInG0' per decidere se scrivere G0 anziché G1. Se flag a nil, scrive i rapidi in G1
+
+Versione 2.6a3 (22/01/2024)
+- (SIM-GEN) Correzione gestione apertura/chiusura rulli sul fine barra (#1630) e in generale
+- (GEN) Modificato flag 'EmitRapidInG0' in 'EmitRapidInG1' per decidere se scrivere G1 anziché G0. Se flag a nil, scrive i rapidi in G0
+- (SIM) Correzione movimenti pinze prima di separazione
+
+Versione 2.6a4 (25/01/2024)
+- (SIM-GEN) Corretto movimento in caso di cambio assi rotanti tra due lavorazioni
+- (GEN) Corretta emissione coordinate assi in caso di 'WriteAllCoordsOnFirstM101'

Version.lua

@@ -0,0 +1,10 @@
+-- Version.lua by EgalWare s.r.l. 2024/01/22
+-- 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 = '2.6a4',                 -- versione script
+   MIN_MACH_VER_PP_COMMON = '2.5k1'   -- versione minima kernel
+}
+
+return InfoCommon_STD_PP