- Allineamento con common 2.6b2

- 'GetCurrChainSawingVirtualAxis' in MLDE
Merge branch 'develop'
2024-02-15 15:39:12 +01:00 · 2024-02-09 14:54:57 +01:00 · 2024-02-09 14:54:35 +01:00 · 2024-01-30 12:32:07 +01:00 · 2024-01-25 09:38:56 +01:00 · 2024-01-22 13:30:40 +01:00
12 changed files with 1179 additions and 560 deletions
@@ -5,7 +5,7 @@ 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
@@ -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 +178,40 @@ end
 BeamData.GetMinUnloadableRaw = GetMinUnloadableRaw

 ---------------------------------------------------------------------
-local function GetChainSawBlockedAxis( nInd)
-   if nInd == 1 then
-      return 'A1=90'
+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 then
+      return ''
+   -- punta
+   elseif nToolType == MCH_TY.DRILL_STD or nToolType == MCH_TY.DRILL_LONG then
+      return ''
   else
-      return 'A1=0'
+      return ''
   end
 end
-BeamData.GetChainSawBlockedAxis = GetChainSawBlockedAxis
-
+BeamData.GetBlockedAxis = GetBlockedAxis
 ---------------------------------------------------------------------

 return BeamData
@@ -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 +78,20 @@ 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'}}
+   
+   if EgtGetHeadId('H31') then
+      table.insert( McdData, { Grp = 'X1', Sub = 'COLLISION', Name = 'STM'})
+      table.insert( McdData, { Grp = 'X3', Sub = 'COLLISION', Name = 'STM'})
+   end
+
+   -- 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
@@ -249,8 +264,8 @@ function OnSimulDispositionStart()
         EMT.SCRAP = nil
      end
      EMT.LB = b3Bar:getDimX()
-      EMT.LT = b3Raw:getDimX()
-      EMT.LP = b3Part:getDimX()
+      EMT.LR = b3Raw:getDimX()
+      EMT.LT = b3Part:getDimX()
      EMT.CUTID = EgtGetInfo( EgtGetFirstPartInRawPart( nPartRawId or GDB_ID.NULL) or GDB_ID.NULL, 'CUTID', 'i') or 0
      EMT.Y1SPEC = nil
      -- se vero inizio, assegno solidi per verifica collisione
@@ -390,10 +405,19 @@ 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
@@ -401,13 +425,26 @@ 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)
-      local MyParkCSawC1 = GetChainSawCHomeFromVirtualAxis( dPosA)
+      -- imposto home dell'asse C1 (A1=0 -> T101, A1=90 -> T104)
+      local MyParkCSawC1 = GetChainSawCHomeFromVirtualAxis( dPosA, EMT.TTOTLEN)
      EmtModifyAxisHome( 'C1', MyParkCSawC1)
      EgtSetAxisPos( 'C1', MyParkCSawC1)
      -- Imposto visualizzazione
      EgtSetMode( EgtGetHeadId( EMT.HEAD) or GDB_ID.NULL, GDB_MD.STD)
   end
+   -- se lama su aggregato da sotto, imposto subito angolo scelto per asse virtuale A
+   if EMT.HEAD == 'H22' then
+      -- valore dell'asse virtuale
+      dPosA = dPosA or GetNextSawingVirtualAxis( EMT.MCHID)
+      -- imposto il valore di A
+      EgtSetAxisPos( 'A2', dPosA)
+      -- imposto home dell'asse C1 (A2=0 -> T101, A2=90 -> T104)
+      local MyParkSawC2 = GetSawCHomeFromVirtualAxis( dPosA)
+      EmtModifyAxisHome( 'C2', MyParkSawC2)
+      EgtSetAxisPos( 'C2', MyParkSawC2)
+      -- Imposto visualizzazione
+      EgtSetMode( EgtGetHeadId( EMT.HEAD) or GDB_ID.NULL, GDB_MD.STD)
+   end
   -- carico utensile, con breve pausa
   EgtPause( 100)
   EgtOutText( '')
@@ -424,7 +461,7 @@ 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
@@ -436,72 +473,98 @@ 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
+   if nSetHead == 2 and EMT.PREVTCPOS_H2 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
+   elseif nSetHead == 1 and EMT.PREVTCPOS_H1 then
+      -- 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, EMT.TTOTLEN)
+         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
@@ -511,12 +574,25 @@ 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

@@ -533,6 +609,18 @@ 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
@@ -547,6 +635,12 @@ 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)
@@ -647,7 +741,7 @@ 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
@@ -657,19 +751,19 @@ 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)
@@ -763,16 +857,20 @@ 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)
@@ -789,16 +887,29 @@ function OnSimulMoveStart()
            -- se movimento iniziale da Zmax
            if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
               SimulMoveAxes( 'Z1', Z1Home, MCH_SIM_STEP.RAPID, 'B1', EMT.R2, MCH_SIM_STEP.COLLROT)
+               -- se motosega molto lunga, ruoto prima di muovermi in X
+               if EMT.TTOTLEN >= MinLengthLongCSaw then
+                  SimulMoveAxis( 'C1', EMT.R1, MCH_SIM_STEP.COLLROT)
+               end
            end
         end
-      -- altrimenti testa 2
-      else
-         -- Porto la X alla giusta quota
-         local X2Pos = EgtGetAxisPos( 'X2')
+      -- se altrimenti testa 2
+      elseif nSetHead == 2 then
+         local B2Home = EgtGetAxisHomePos( 'B2')
+         local C2Home = EgtGetAxisHomePos( 'C2')
+         local Z2Home = EgtGetAxisHomePos( 'Z2')
         local X2Home = EgtGetAxisHomePos( 'X2')
-         if X2Pos > X2Home - 1 then
+         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
@@ -823,7 +934,7 @@ 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
@@ -879,17 +990,28 @@ 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
@@ -906,7 +1028,7 @@ 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
@@ -952,14 +1074,10 @@ 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
@@ -973,7 +1091,7 @@ function OnSimulCollision()
 end

 ---------------------------------------------------------------------
-function ExecAuxCmd( sCmd)
+function ExecAuxCmd( sCmd, bPathStart)
   -- analizzo il comando
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
@@ -986,29 +1104,31 @@ 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,
@@ -1030,8 +1150,8 @@ 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,
@@ -1051,13 +1171,13 @@ 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 GetPY2Light() 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])
@@ -1109,7 +1229,7 @@ end
 function ExecStartHome()
   -- Testa 1
   EgtResetAxisPos( 'X1')
-   EgtSetAxisPos( 'Z1', MaxZ1)
+   EgtResetAxisPos( 'Z1')
   EgtResetAxisPos( 'C1')
   EgtResetAxisPos( 'B1')
   -- Testa 2
@@ -1123,6 +1243,7 @@ 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
@@ -1173,7 +1294,7 @@ 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)
@@ -1182,9 +1303,10 @@ 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)
+         -- salgo in Z sicurezza raddrizzando la B
+         local SafeZ1 = EgtIf( EMT.TTOTLEN < MinLengthLongCSaw, ParkCSawZ1, ParkLongCSawZ1)
+         SimulMoveAxes( 'Z1', SafeZ1, 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
@@ -1199,11 +1321,15 @@ 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
@@ -1217,14 +1343,14 @@ 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
@@ -1256,6 +1382,18 @@ 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)
@@ -1285,6 +1423,9 @@ 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
@@ -1338,7 +1479,7 @@ function ExecParkRoller( PosY1, PosY2, PosV1, PosV2, bSpliCut, bAgg)
      local MoveV1 = ParkV1 - PosV1
      local DiffY1 = MyParkY1 - PosY1
      local MoveY1 = EgtIf( DiffY1 > 0.1, MoveV1, 0)
-      local TryMoveY1 = ParkV1 - PosT - EgtIf( bSpliCut or EMT.FALL, EMT.LP, 0)
+      local TryMoveY1 = ParkV1 - PosT - EgtIf( bSpliCut or EMT.FALL, EMT.LT, 0)
      if ( PosT > ParkV2 - ExtraParkV and PosT < ParkV1 and PosY1 + TryMoveY1 < MaxY1) then MoveY1 = max( MoveY1, TryMoveY1) end
      -- se appena eseguito taglio di separazione
      if bSpliCut then
@@ -1368,8 +1509,8 @@ function ExecParkRoller( PosY1, PosY2, PosV1, PosV2, bSpliCut, bAgg)
      local MoveV2 = ParkV2 - PosV2
      local DiffY2 = MyParkY2 - PosY2
      local MoveY2 = EgtIf( DiffY2 < -0.1, MoveV2, 0)
-      local TryMoveY2 = ParkV2 - PosT - EMT.LP
-      if ( PosT + EMT.LP < ParkV1 + ExtraParkV and PosT + EMT.LP > ParkV2 and PosY2 + TryMoveY2 > MinY2) then MoveY2 = min( MoveY2, TryMoveY2) end
+      local TryMoveY2 = ParkV2 - PosT - EMT.LT
+      if ( PosT + EMT.LT < ParkV1 + ExtraParkV and PosT + EMT.LT > ParkV2 and PosY2 + TryMoveY2 > MinY2) then MoveY2 = min( MoveY2, TryMoveY2) end
      if not SimulMoveAxes( 'T',  PosT + MoveY2, MCH_SIM_STEP.RAPID,
                            'V1', ParkV1, MCH_SIM_STEP.RAPID,
                            'V2', ParkV2, MCH_SIM_STEP.RAPID,
@@ -1411,7 +1552,7 @@ function RemoveScraps()
      local nPart = EgtVolZmapPartCount( vMillId)
      if nPart > 1 then
         -- ricerca del pezzo con massimo volume
-         local dTCenX = -EgtGetAxisPos( 'T') - EMT.LP / 2
+         local dTCenX = -EgtGetAxisPos( 'T') - EMT.LT / 2
         local nPartMax = 0
         local dVolMax = 0
         for i = 1, nPart do
@@ -1444,7 +1585,7 @@ 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)
@@ -1604,14 +1745,14 @@ end
 ---------------------------------------------------------------------
 function GetV1ToClose()
   --EgtOutLog( string.format( 'L1m=%.3f L1M=%.3f V2NP=%.3f LB=%.3f', EMT.MAXMIN[1], EMT.MAXMAX[1], EMT.V2NEXTPOS, EMT.LB))
-   --EgtOutLog( string.format( 'LB=%.3f LT=%.3f', EMT.LB, EMT.LP or 0))
+   --EgtOutLog( string.format( 'LB=%.3f LT=%.3f', EMT.LB, EMT.LT or 0))
   return ( EMT.MAXMAX[1] <= EMT.V1NEXTPOS + RollCageMin and EMT.MAXMIN[1] + EMT.LB >= EMT.V1NEXTPOS + RollCageMax)
 end

 ---------------------------------------------------------------------
 function GetV2ToClose()
   --EgtOutLog( string.format( 'L1m=%.3f L1M=%.3f V2NP=%.3f LB=%.3f', EMT.MAXMIN[1], EMT.MAXMAX[1], EMT.V2NEXTPOS, EMT.LB))
-   --EgtOutLog( string.format( 'LB=%.3f LT=%.3f', EMT.LB, EMT.LP or 0))
+   --EgtOutLog( string.format( 'LB=%.3f LT=%.3f', EMT.LB, EMT.LT or 0))
   return ( EMT.MAXMAX[1] <= EMT.V2NEXTPOS - RollCageMax and EMT.MAXMIN[1] + EMT.LB >= EMT.V2NEXTPOS - RollCageMin)
 end

@@ -1627,36 +1768,21 @@ 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)
+   local sTool, sHead, sTcPos, sTTotLen, sBlockedAxis = FindFirstToolOnHeadSet( nHSet)
   if not sTool then
      local vTools = EgtGetToolsInCurrSetupPos( 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
-            sHead = 'H21'
-         end
+         sHead = GetAdjHeadFromTcPos( nHSet, sTcPos)
      end
   end
   if sTool then
      -- imposto correttamente i dati di testa
      local OrigEMC = EMC
-      EMC = { HEAD = sHead, TOOL = sTool, TCPOS = sTcPos, TOTLEN = 0}
+      EMC = { HEAD = sHead, TOOL = sTool, TCPOS = sTcPos, TOTLEN = sTTotLen, BLOCKEDAXIS = sBlockedAxis}
      OnSetHead()
      EMC = OrigEMC
      -- carico l'utensile
@@ -2069,45 +2195,13 @@ 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' 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
   local CurrMachId = EgtGetCurrMachining()
   local CurrTool = EgtTdbGetCurrToolParam( MCH_TP.NAME)
   -- cerco lavorazione con utensile su gruppo testa indicato
-   local sTool, sHead, sTcPos
+   local sTool, sHead, sTcPos, sTTotLen, sBlockedAxis
   local OpId = EgtGetFirstActiveOperation()
   while OpId do
      local nType = EgtGetOperationType( OpId)
@@ -2119,6 +2213,8 @@ function FindFirstToolOnHeadSet( nHSet)
               if GetHeadSet( sHead) == nHSet then
                  sTool = sTest
                  sTcPos = EgtTdbGetCurrToolParam( MCH_TP.TCPOS)
+                  sTTotLen = EgtTdbGetCurrToolParam( MCH_TP.TOTLEN)
+                  sBlockedAxis = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS)
                  break
               end
            end
@@ -2130,7 +2226,7 @@ function FindFirstToolOnHeadSet( nHSet)
   EgtSetCurrMachining( CurrMachId or GDB_ID.NULL)
   EgtTdbSetCurrTool( CurrTool or '')
   -- restituisco risultato
-   return sTool, sHead, sTcPos
+   return sTool, sHead, sTcPos, sTTotLen, sBlockedAxis
 end

 ---------------------------------------------------------------------
@@ -2148,14 +2244,6 @@ function GetToolTcPos( sTool)
   return sTcPos
 end

---------------------------------------------------------------------
-function GetCurrChainSawingVirtualAxis()
-   -- recupero il valore dell'asse virtuale bloccato A
-   local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS) or 'A1=0'
-   local dPosA = tonumber( sVal:sub( 4)) or 0
-   return dPosA
-end
-
 ---------------------------------------------------------------------
 function GetNextChainSawingVirtualAxis( MchId)
   -- recupero la lavorazione successiva
@@ -2204,7 +2292,7 @@ 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 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
@@ -2231,9 +2319,9 @@ 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' then
+   elseif sHead == 'H21' or sHead == 'H22' then
      return ( abs( dAng1 - dAng1p) > 1 or ( abs( dAng2 - dAng2p) > 1 and abs( dAng1 % 180.0) > 1))
   end
 end
@@ -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
@@ -2112,8 +2143,8 @@ function SpecAdjustCarrB1( WorkTab)
   if not SpecTestSomeMoveInCmds( vCmd) then
      table.insert( vCmd, { 3, 'Y1', dY1PosI, 'Y2', dY2PosI, 'T', WorkTab.dTPosI, EMC.CNT})
   end
-   table.insert( vCmd, { 11, 1})   -- chiudo Y1
   table.insert( vCmd, { 12, 1})   -- Chiudo Y2
+   table.insert( vCmd, { 11, 1})   -- chiudo Y1
   -- imposto i nuovi parametri di aggancio
   table.insert( vCmd, { 21, dY1DeltaF, dY2DeltaF})
   EgtOutLog( '  Y1DeltaF=' .. EgtNumToString( dY1DeltaF) .. ' Y2DeltaF=' .. EgtNumToString( dY2DeltaF), 1)
@@ -2184,8 +2215,8 @@ function SpecAdjustCarrB2( WorkTab)
   if not SpecTestSomeMoveInCmds( vCmd) then
      table.insert( vCmd, { 3, 'Y1', dY1PosI, 'Y2', dY2PosI, 'T', WorkTab.dTPosI, EMC.CNT})
   end
-   table.insert( vCmd, { 11, 1})   -- chiudo Y1
   table.insert( vCmd, { 12, 1})   -- Chiudo Y2
+   table.insert( vCmd, { 11, 1})   -- chiudo Y1
   -- imposto i nuovi parametri di aggancio
   table.insert( vCmd, { 21, dY1DeltaF, dY2DeltaF})
   EgtOutLog( '  Y1DeltaF=' .. EgtNumToString( dY1DeltaF) .. '  Y2DeltaF=' .. EgtNumToString( dY2DeltaF), 1)
@@ -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
@@ -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
@@ -1,16 +1,41 @@
-- 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
+-- 2024/02/09 ver 2.6b1 Corretto errore in definizione testa H22
+--                      In BeamData migliorata funzione GetBlockedAxis
+-- 2024/02/12 ver 2.6b2 Allineamento con common 2.6b2

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

-PP_VER = '2.5l2'
+PP_VER = '2.6b2'
 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
@@ -73,15 +98,19 @@ 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
 ParkCSawB1 = 0
+MinLengthLongCSaw = 580      -- gestione speciale per motosega molto lunga. Lunghezza al di sopra della quale è considerata motosega lunga
+ParkLongCSawZ1 = -50         -- gestione speciale per motosega molto lunga. Parcheggio asse Z
+ParkLongCSawC1 = 0           -- gestione speciale per motosega molto lunga. Parcheggio asse C
+ParkLongCSawB1 = -90         -- gestione speciale per motosega molto lunga. Parcheggio asse B
 LongTool = 400
 ParkLongTc1C1 = 0
 ParkLongTc2C1 = -180
@@ -89,7 +118,7 @@ MinZ1ToChangeH2 = -1400
 MinX2 = -2760
 MaxX2 = 0
 MinZ2 = 0
-MaxZ2 = 795
+MaxZ2 = 1450
 MinC2 = -275
 MaxC2 = 275
 MinB2 = -127
@@ -101,11 +130,11 @@ 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
@@ -116,20 +145,25 @@ DeltaRulliTraveZ = -1203
 DimTabY = 1400
 DimTabX = 24000
 Delta2TabY = -1185.9
-Delta2TabZ = 393 - Mill2Offs                   -- per TPA : 378.0 - Mill2Offs      -- per NUM : 223
+Delta2TabZ = 693 - Mill2Offs                   -- per TPA : 378.0 - Mill2Offs      -- per NUM : 223
 Head2X = 0
 Head2Y = DeltaTabY - Delta2TabY
 Head2Z = DeltaTabZ - Delta2TabZ
 DefTcPos1 = 'T1'
-DefTcPos2 = 'T300'
+DefTcPos2 = 'T220'
 CoeffVM = 0.5
+MinForzaPinze = 400                              -- [Kgf]
+MaxForzaPinze = 1000                             -- [Kgf]
 Tc2Active = true                                 -- magazzino prima sega a catena
 SecondSaw = true                                 -- seconda lama su aggregato su TC3 presente
 SecondChain = true                               -- magazzino seconda sega a catena
 TcSpecialTools = true                            -- magarzzino per utensili speciali. In genere truciolatore
+TcAggreBladeUnder = true                         -- lama su aggregato per testa da sotto
+EmitAccClamps = true
+WriteAllCoordsOnFirstM101 = true

 -- Aggiornamento con dati da TechnoEssetre7
-local sTs3Data = EgtGetStringFromIni( 'Beam', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-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 +180,7 @@ 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 +192,11 @@ 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 +217,10 @@ 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 +233,8 @@ 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
@@ -222,13 +261,13 @@ 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
 if SecondChain then table.insert( sBaseAux, 'BASE/TC5') end
-
+if TcAggreBladeUnder then table.insert( sBaseAux, 'BASE/TCS') end
 local BaseId = EmtBase {
      Name = 'Base',
      Geo = 'BASE/GEO',
@@ -308,23 +347,6 @@ 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 +448,10 @@ 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)
@@ -450,6 +472,23 @@ local H21Id = EmtHead {
      Geo = 'H21_HEAD/GEO'}
 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, 'ABOVE', '0')
+   EgtSetInfo( H22Id, 'ZHOMEDOWN', '1')
+end
 --  *** Carrelli ***
 -- Morse
 local Y1Id = EmtAxis {
@@ -740,7 +779,7 @@ 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',
@@ -748,22 +787,30 @@ 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',
+   Parent = 'Base',
+   Pos = ptTcS + EgtIf( TcAggreBladeUnder, Vector3d( 0, SawUnderOffsY, SawUnderOffsZ), V_NULL()),
+   TDir = -Z_AX(),
+   ADir = Y_AX(),
+   Geo = 'BASE/T201'}
 local ptTcR = Point3d( -0.5, 4115, -1871.15 + ( DeltaTabZ - DeltaRulliTraveZ + 55))
 EmtTcPos {
      Name = 'T220',
@@ -851,9 +898,10 @@ EgtMove( EgtGetFirstNameInGroup( BaseId, 'SIGN') or GDB_ID.NULL, vtMovB, GDB_RT.
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC1') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC2') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC3') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
-EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC4') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
-EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC5') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
+if TcSpecialTools then EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC4') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB) end
+if SecondChain then EgtMove( EgtGetFirstNameInGroup( BaseId, 'TC5') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB) end
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'TCR') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB)
+if TcSpecialTools then EgtMove( EgtGetFirstNameInGroup( BaseId, 'TCS') or GDB_ID.NULL, vtMovB, GDB_RT.GLOB) end
 EgtMove( EgtGetFirstNameInGroup( X1Id, 'SOLID'), vtMovB, GDB_RT.GLOB)
 local vtMove = Vector3d( 0, ( DeltaTabY - 2550.0), ( DeltaTabZ + 1258.0))
 EgtMove( EgtGetFirstNameInGroup( BaseId, 'CONVOYER'), vtMove, GDB_RT.GLOB)
@@ -882,7 +930,7 @@ 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)
@@ -918,13 +966,9 @@ 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})
@@ -939,6 +983,17 @@ 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

@@ -958,6 +1013,72 @@ 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)
@@ -967,10 +1088,10 @@ 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
@@ -979,10 +1100,10 @@ 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
@@ -991,10 +1112,10 @@ 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
@@ -1004,7 +1125,7 @@ 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
@@ -1070,6 +1191,13 @@ function GetPY2Light()
   return ( EgtGetInfo( PY2LightId, 'On') == '1')
 end

+---------------------------------------------------------------------
+function GetCurrChainSawingVirtualAxis()
+   -- recupero il valore dell'asse virtuale bloccato A
+   local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS) or 'A1=0'
+   local dPosA = tonumber( sVal:sub( 4)) or 0
+   return dPosA
+end

 ---------------------------------------------------------------------
 -- Funzione per resettare tutte le attivazioni della macchina
@@ -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.
@@ -31,10 +31,11 @@ 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  -- se ha tutti gli optional attivati
+local bFullOpt = bTc2Active and SecondSaw and SecondChain and TcSpecialTools and TcAggreBladeUnder  -- se ha tutti gli optional attivati
 if bFullOpt then
   PositionTable = {{Pos = "Pos1",  TcPos = "T1",  Head = "H12", Group = "G1"},  -- TC 1
                    {Pos = "Pos2",  TcPos = "T2",  Head = "H11", Group = "G1"},
@@ -51,7 +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"},
@@ -62,17 +63,18 @@ if bFullOpt then
                    {Pos = "Pos24", TcPos = "T28", Head = "H11", Group = "G3"},
                    {Pos = "Pos25", TcPos = "T29", Head = "H11", Group = "G3"},
                    {Pos = "Pos26", TcPos = "T30", Head = "H11", Group = "G3"},
-                    {Pos = "Pos27", TcPos = "T220", Head = "H21", Group = "G4"},  -- TC margherita
-                    {Pos = "Pos28", TcPos = "T221", Head = "H21", Group = "G4"},
-                    {Pos = "Pos29", TcPos = "T222", Head = "H21", Group = "G4"},
-                    {Pos = "Pos30", TcPos = "T223", Head = "H21", Group = "G4"},
-                    {Pos = "Pos31", TcPos = "T224", Head = "H21", Group = "G4"},
-                    {Pos = "Pos32", TcPos = "T225", Head = "H21", Group = "G4"},
-                    {Pos = "Pos33", TcPos = "T226", Head = "H21", Group = "G4"},
-                    {Pos = "Pos34", TcPos = "T227", Head = "H21", Group = "G4"},
-                    {Pos = "Pos35", TcPos = "T228", Head = "H21", Group = "G4"},
-                    {Pos = "Pos36", TcPos = "T229", Head = "H21", Group = "G4"},
-                    {Pos = "Pos37", TcPos = "T230", Head = "H21", Group = "G4"}}
+                    {Pos = "Pos27", TcPos = "T201", Head = "H22", Group = "G4"},  -- lama con aggregatop da sotto
+                    {Pos = "Pos28", TcPos = "T220", Head = "H21", Group = "G4"},  -- TC margherita
+                    {Pos = "Pos29", TcPos = "T221", Head = "H21", Group = "G4"},
+                    {Pos = "Pos30", TcPos = "T222", Head = "H21", Group = "G4"},
+                    {Pos = "Pos31", TcPos = "T223", Head = "H21", Group = "G4"},
+                    {Pos = "Pos32", TcPos = "T224", Head = "H21", Group = "G4"},
+                    {Pos = "Pos33", TcPos = "T225", Head = "H21", Group = "G4"},
+                    {Pos = "Pos34", TcPos = "T226", Head = "H21", Group = "G4"},
+                    {Pos = "Pos35", TcPos = "T227", Head = "H21", Group = "G4"},
+                    {Pos = "Pos36", TcPos = "T228", Head = "H21", Group = "G4"},
+                    {Pos = "Pos37", TcPos = "T229", Head = "H21", Group = "G4"},
+                    {Pos = "Pos38", TcPos = "T230", Head = "H21", Group = "G4"}}
 elseif bTc2Active then
   PositionTable = {{Pos = "Pos1",  TcPos = "T1",  Head = "H12", Group = "G1"},
                    {Pos = "Pos2",  TcPos = "T3",  Head = "H11", Group = "G1"},
@@ -0,0 +1,37 @@
+           ==== 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'
+
+Versione 2.6a5 (31/01/2024)
+- (SIM) Migliorata simulazione apertura/chiusura morse in caso di separazione
+- (SIM-GEN) Migliorata gestione movimenti con motosega e adeguato simulazione
+- (GEN) Corretta scrittura assi in caso di 'WriteAllCoordsOnFirstM101' per testa 2
+- (ALL) Caricamento BeamData come local
+
+Versione 2.6b1 (07/02/2024)
+- (MLDE-SIM-GEN) Inserito parametro 'MinLengthLongCSaw' per gestione motosega molto lunga
+- (MLDE) funzione 'GetCurrChainSawingVirtualAxis' spostata in MLDE
+
+Versione 2.6b2 (15/02/2024)
+- (SIM-GEN) Primo movimento in X per testa 2 a SafeX2 anziché a ParkX2
@@ -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 = '2.6b2',                 -- versione script
+   MIN_MACH_VER_PP_COMMON = '2.5k1'   -- versione minima kernel
+}
+
+return InfoCommon_STD_PP
Author	SHA1	Message	Date
andrea.villa	dcf475d446	- Allineamento con common 2.6b2 - 'GetCurrChainSawingVirtualAxis' in MLDE	2024-02-15 15:39:12 +01:00
luca.mazzoleni	2add45fe3a	Merge branch 'develop'	2024-02-09 14:54:57 +01:00
luca.mazzoleni	caab876f4e	2.6b1 - Corretto errore in definizione testa H22 - In BeamData migliorata funzione GetBlockedAxis	2024-02-09 14:54:35 +01:00
luca.mazzoleni	1113c02971	Merge remote-tracking branch 'origin/main' into develop	2024-01-30 12:32:07 +01:00
andrea.villa	a65d80cbf1	Allineamento con Common 2.6a4	2024-01-25 09:38:56 +01:00
andrea.villa	bb5fef1d7b	Merge branch 'develop'	2024-01-22 13:30:40 +01:00
andrea.villa	6c37440557	Merge branch 'develop' of https://gitlab.steamware.net/egalware-machines/essetre/Essetre-PF1250MAX into develop	2024-01-22 13:29:50 +01:00
andrea.villa	a00ed32933	Essetre-PF1250MAX 2.6a3 - Migliorata preselezione utensile - Rimosse funzioni ribaltamento pezzo - Allineamento con Common-PF1250 v.2.6a3	2024-01-22 13:26:53 +01:00
luca.mazzoleni	2f4499b15d	Merge branch 'main' into develop	2024-01-22 13:14:04 +01:00
luca.mazzoleni	b4646d8fa7	Merge branch 'develop'	2024-01-22 13:13:48 +01:00
luca.mazzoleni	47942a8921	in BeamLib aggiunta la funzione GetBlockedAxis che sostituisce le altre (GetChainSawBlockedAxis e GetSawBlockedAxis)	2024-01-22 13:13:22 +01:00
andrea.villa	a4b28964a3	Merge branch 'main' into develop	2024-01-09 16:54:58 +01:00
andrea.villa	c97b8dad28	Merge branch 'develop'	2024-01-09 16:54:40 +01:00
andrea.villa	1138140133	2.6a2 Allineamento con Common-PF1250 v.2.6a2	2024-01-09 16:53:48 +01:00
andrea.villa	a33867ccec	Merge branch 'main' into develop	2024-01-09 14:56:28 +01:00
andrea.villa	f38e0cffec	Merge branch 'develop'	2024-01-09 14:55:08 +01:00
andrea.villa	166a7666bc	Piccole correzioni a messaggi	2024-01-09 14:52:11 +01:00
andrea.villa	d03c605285	Merge branch 'develop'	2024-01-09 14:47:27 +01:00
andrea.villa	d751b4950f	Aggiunato variabile 'WriteAllCoordsOnFirstM101' e allineamento con 2.6a1 common	2024-01-09 12:28:57 +01:00
luca.mazzoleni	2c36caab30	corretto typo nome variabile	2024-01-08 18:15:15 +01:00
luca.mazzoleni	82106271ab	Costanti MinForzaPinze e MaxForzaPinze portati in mlde/Ts3data (erano hardcoded)	2024-01-05 18:01:06 +01:00
andrea.villa	4e4d73bb6e	Merge branch 'develop' of https://gitlab.steamware.net/egalware-machines/essetre/Essetre-PF1250MAX into develop	2024-01-05 12:44:55 +01:00
andrea.villa	85069971c1	Piccola correzione posizione magazzini sotto-trave	2024-01-05 12:44:52 +01:00
luca.mazzoleni	fca3f67082	In BeamData aggiunta GetSawBlockedAxis per fissare asse bloccato per aggregato lama sotto	2024-01-04 16:29:24 +01:00
andrea.villa	c51a208c4a	Tolta testa H14 per utensili speciali. Si utilizza H11 per frese standard	2024-01-04 12:12:24 +01:00
andrea.villa	caf990c23b	Corretto movimento testa 2 in ToolDesel e movimento controllo collisione	2023-12-22 13:26:26 +01:00
luca.mazzoleni	8d4ab5ce67	aggiunto portautensile LC da 108 mm	2023-12-22 11:39:01 +01:00
andrea.villa	fae1c3e50d	- Invertiti magazzini mortasatrice-truciolatore e adeguati solidi di collisione - Abbasstata testa 2 di 300mm - Parcheggio motosega portato a 1700mm	2023-12-21 15:39:39 +01:00
andrea.villa	cb27d30d6e	2.6a1 : Prima versione con post Common-PF1250	2023-12-20 13:02:35 +01:00
luca.mazzoleni	817880d925	Merge tag '2.5l4' into develop Finish Release: 2.5l4	2023-12-20 11:56:47 +01:00
luca.mazzoleni	fe3f871c2a	Merge branch 'release/2.5l4'	2023-12-20 11:56:46 +01:00
luca.mazzoleni	9c7a2a8681	corretto layer solido B2_AXIS nel modello (era in GEO invece che in SOLID)	2023-12-19 18:47:55 +01:00
luca.mazzoleni	85357f4ad1	Merge branch 'develop' of https://gitlab.steamware.net/egalware-machines/essetre/Essetre-PF1250MAX into develop	2023-12-19 18:46:05 +01:00
luca.mazzoleni	e0968d25dd	merge	2023-12-19 18:30:00 +01:00
luca.mazzoleni	74a0908b38	corretto layer solido B2_AXIS nel modello (era in GEO invece che in SOLID)	2023-12-19 18:27:58 +01:00
andrea.villa	996e1dfc1a	(NGE) Spostato magazzini sotto traversa ( di 200mm) come da modifica meccanica	2023-12-19 15:18:08 +01:00
luca.mazzoleni	60fda9103e	in BeamData e mlde update percorso lettura dati in uscita da interfaccia TechnoEssetre7	2023-12-18 15:51:32 +01:00
luca.mazzoleni	a1ed887d5e	update dimensioni massime pezzo	2023-12-18 14:35:03 +01:00
andrea.villa	88279f256a	Spostato alcune funzioni proprie del C.U. nel MLDE (per post-proc common)	2023-12-18 12:50:27 +01:00
andrea.villa	0f46595892	Merge branch 'main' into develop	2023-12-18 10:27:49 +01:00
andrea.villa	0528a7af60	Merge branch 'develop'	2023-12-18 10:26:44 +01:00
andrea.villa	d3accc6901	Aggiornamento versione ion MLDE	2023-12-18 09:56:32 +01:00
andrea.villa	a3d0538444	2.5l2 : Ultimata gestione aggregato lama da sotto	2023-12-18 09:48:25 +01:00
andrea.villa	e40d2e5dad	- Piccole correzioni modello 3D - Prima bozza gestione aggregato lama da sotto	2023-12-13 16:37:53 +01:00