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Manufacturer1-TestMachine/Common_FAST.TPA.mlpe
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luca.mazzoleni ad4df02300 primo commit
2024-09-19 16:58:39 +02:00

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-- Processore standard macchine FAST by EgalWare s.r.l. 2024/02/23
-- Con controllo numerico TPA
-- carico librerie
local INFO_STD_PP = require( 'Version')
-- Variabili di modulo
local CSP_INFO = INFO_STD_PP.NAME..' ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
local MACHINE_INFO = MACH_NAME..' ver.'..PP_VER
local TEST_USE = false
---------------------------------------------------------------------
-- *** GENERATION ***
---------------------------------------------------------------------
function OnStart()
-- controllo versione programma
if not EMT.VER or EMT.VER < MIN_MACH_VER then
EmtSetLastError( 1200, 'A newer version of the program is required (minimum EgtMachKernel '..MIN_MACH_VER..')')
end
EMT.USETO1 = false -- abilitazione uso origine tavola
EMT.MODAL = true -- abilitazione emissione modale
EMT.INCHES = false -- unità di misura mm/inches
EMT.DECNUM = 5 -- numero di decimali dopo la virgola
EMT.NUM = false -- abilitazione numerazione linee
--EMT.Nt = 'N' -- token per la numerazione di linea
--EMT.LINENBR = 0 -- numero di linea
--EMT.LINEINC = 1 -- incremento numerazione linee
--EMT.Ft = 'F' -- token per feed
--EMT.St = 'S' -- token per speed
EMT.FMAXPINZE = 154000 -- feed massima pinze
end
---------------------------------------------------------------------
function OnEnd()
-- Ripristino fase iniziale come corrente
EgtSetCurrPhase( 1)
end
---------------------------------------------------------------------
function OnProgramStart()
-- aggiungo prefisso per commentae commenti iniziali se la macchina è utilizzata per fare i test
local sPrefixCommentLine = '' ; if IS_TEST_MACHINE or EgtEndsWith( EgtGetCurrMachineDir(), '.TEST') then sPrefixCommentLine = '//' end
-- Intestazioni
if EMT.INFO then
ParkLine( sPrefixCommentLine..'('..EMT.INFO..')')
else
ParkLine( '(Program Start)')
end
ParkLine( sPrefixCommentLine..'('.. CSP_INFO..')')
ParkLine( sPrefixCommentLine..'('.. MACHINE_INFO..')')
-- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
if TEST_USE then
ParkLine( 'M199')
end
-- Cerco primo utensile su testa 1
EMT.TOOL_1, EMT.TLEN_1 = FindFirstToolOnHead( 'H1')
-- Dichiaro inizio
EMT.FIRST = true
EMT.TLAST = nil
-- Inizializzazioni varie
ParkLine( 'M6 T000000')
ParkLine( 'G49')
-- Inizio lista utensili
ParkLine( 'M993 (Tool List Start)')
end
---------------------------------------------------------------------
function OnProgramEnd()
-- Arresto mandrino
EmtOutput( 'M05')
-- Emissione scarico
--for i = 1, #EMT.AUXCMD do
-- EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
--end
EMT.AUXCMD = {}
for i = 1, #EMT.AUXSTR do
EmtOutput( EMT.AUXSTR[i])
end
if #EMT.AUXSTR > 0 then
if EMT.AUXTYPE == 'S' then
EmtOutput( 'M111 P1=20')
EmtOutput( 'M111 P1=30')
elseif EMT.AUXTYPE == 'R' then
EmtOutput( 'M111 P1=20')
EmtOutput( 'M111 P1=30')
elseif EMT.AUXTYPE == 'U' then
local sP1x = EgtIf( EMT.CHY_ON, '0', '2')
EmtOutput( 'M111 P1=2'..sP1x)
EmtOutput( EgtIf( EMT.U_STD, ';', '')..'M111 P1=3'..sP1x)
-- emissione conclusione pezzo precedente (se non si è in test)
if not TEST_USE and EMT.PRODID then
local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2'
EmtOutput( sEnd)
end
end
end
EMT.AUXSTR = {}
EMT.AUXTYPE = nil
EMT.U_STD = nil
EMT.UNL = nil
EMT.PREROT = nil
EMT.SPLITROT = nil
EMT.CHY_ON = nil
EMT.FALL = nil
EMT.RELOAD = nil
EMT.RELOAD2 = nil
-- Termino il programma
EmtOutput( 'M02')
end
---------------------------------------------------------------------
function OnToolData()
-- emissione dati utensili
if EMT.HEAD == 'H1' then
local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( EMT.TLEN, 3) .. ' P3=' .. EmtLenToString( EMT.TDIAM, 3) ..
' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
ParkLine( sOut)
-- cerco posizione di attrezzaggio del primo utensile di lavorazione
if EMT.TOOL == EMT.TOOL_1 and EMT.TLEN_1 < LONG_TOOL_MINLEN then
EMT.TCPOS_1 = EMT.TCPOS
end
-- emissione dati lama
elseif EMT.HEAD == 'H2' then
local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( EMT.TLEN, 3) .. ' P3=' .. EmtLenToString( EMT.TDIAM, 3) ..
' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
ParkLine( sOut)
-- emissione dati sega a catena
elseif EMT.HEAD == 'H3' then
if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
local sData = ' P2=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), 3) .. ' P3=' .. EmtLenToString( EMT.TLEN, 3) ..
' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), 3)
if EMT.TCPOS == 'T101' then
ParkLine( 'M992 P1=101' .. sData)
ParkLine( 'M992 P1=102' .. sData)
ParkLine( 'M992 P1=103' .. sData)
ParkLine( 'M992 P1=104' .. sData)
else
ParkLine( 'M992 P1=111' .. sData)
ParkLine( 'M992 P1=112' .. sData)
ParkLine( 'M992 P1=113' .. sData)
ParkLine( 'M992 P1=114' .. sData)
end
-- emissione dati rinvio
elseif EMT.HEAD == 'H5' or EMT.HEAD == 'H6' then
local nPos = EgtIf( EMT.HEAD == 'H5', 91, 93)
if EMT.EXIT == 2 then nPos = nPos + 1 end
local sOut = 'M992 P1=' .. EgtNumToString( nPos, 0) .. ' P2=' .. EmtLenToString( EMT.TLEN, 3) .. ' P3=' .. EmtLenToString( EMT.TDIAM, 3) ..
' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
ParkLine( sOut)
-- altro non previsto
else
EmtSetLastError( 1211, 'Head not allowed ' .. EMT.HEAD)
end
end
---------------------------------------------------------------------
function OnDispositionStart()
--EmtOutput( '(Disposition '..EMT.DISPIND..' = '..EMT.DISPID..')')
EMT.OPEISDISP = true
-- Assegnazione parametri disposizione
EMT.TPOS = EgtGetInfo( EMT.DISPID, 'TPOS', 'd')
EMT.YPOS = EgtGetInfo( EMT.DISPID, 'YPOS', 'd')
-- Se prima disposizione
if EMT.PHASE == 1 then
-- terminazione lista utensili
ParkLine( 'G990 (Tool List End)')
-- abilito numerazione linee
EMT.NUM = false
EMT.LINENBR = 0
ParkLine( 'M28')
-- emissione dati di macchina
local sOut = 'M114'..' P1='..EmtLenToString( LoadT, 2)..' P2='..EmtLenToString( MinY, 2)..' P3='..EmtLenToString( MaxY, 2)..
' P4='..EmtLenToString( MinV, 2)..' P5='..EmtLenToString( MaxV, 2)..' P6='..EmtLenToString( MillOffs, 2)..
' P7='..EmtLenToString( SawOffs, 2)..' P8='..EmtLenToString( ParkY, 2)..' P9='..EmtLenToString( ParkV, 2)..
' P10='..EmtLenToString( TurnerOffs, 2)..' P11='..EmtLenToString( -DeltaTabY, 2)..' P12='..EmtLenToString( DeltaTabZ - MillOffs, 2)
if SecondSupport >= 3 then
sOut = sOut ..' P13='..EmtLenToString( AngTr1Len, 2) ..' P14='..EmtLenToString( AngTr1Offs + MillOffs,2)
end
ParkLine( sOut)
-- carico barra
EMT.LOAD = true
else
EMT.LOAD = false
if IsEnd2Phase( EMT.PHASE - 1) then
EMT.RELOAD = true
EMT.RELOAD2 = false
elseif IsStartPhase( EMT.PHASE) then
EMT.YDELTA = EMT.YPOS - LoadT
EMT.VDELTA = nil
end
end
end
---------------------------------------------------------------------
function OnDispositionEnd()
-- Se disposizione inizio o rimanenza
if IsStartOrRestPhase( EMT.PHASE) then
-- reset recupero sovramateriale in X non più presente
EMT.X_OFF = nil
-- gruppo con info da BTL (se mancano prova dal gruppo di lavoro corrente)
local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
-- dati del grezzo
local LBarra = EMT.LB
-- dati del pezzo
local IdTrave = EMT.IT
local LTrave = EMT.LT
local HTrave = EMT.HT
local STrave = EMT.ST
local HOverM = EMT.HOVM
-- calcolo dati pinze
local TempAccPinze, TempMinAccPinze, RidFeed = CalcDinamicaPinze( HTrave, STrave, LBarra)
local TempAccPinz1, TempMinAccPinz1, RidFeed1 = CalcDinamicaPinze( HTrave, STrave, LBarra - LTrave)
local TempAccPinz2, TempMinAccPinz2, RidFeed2 = CalcDinamicaPinze( HTrave, STrave, LTrave)
if IdTrave >= 0 then
local sPrt = '( *** Part '.. EgtNumToString( IdTrave, 0) ..' ***)'
local sOut = '( SN=' .. IdTrave .. ' LBarra=' .. EmtLenToString( LBarra, 3) .. ' L='..EmtLenToString( LTrave, 3) ..
' H=' .. EmtLenToString( HTrave, 3) .. ' S=' .. EmtLenToString( STrave, 3) .. ' )'
EMT.PRODID = EgtGetInfo( BtlInfoId, 'PRODID', 'i') or 0
EMT.PATTID = EgtGetInfo( BtlInfoId, 'PATTID', 'i') or 0
EMT.CUTID = EgtGetInfo( EMT.IDT, 'CUTID', 'i') or 0
local sStart = 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=1'
if EMT.LOAD then
ParkLine( sPrt)
ParkLine( sOut)
if not TEST_USE then ParkLine( sStart) end
else
EmtOutput( sPrt)
EmtOutput( sOut)
if not TEST_USE then EmtOutput( sStart) end
end
else
EmtOutput( '(REMAIN UNLOAD)')
EMT.PRODID = nil
EMT.PATTID = nil
EMT.CUTID = nil
end
-- imposto dati pezzo
local nLoad90 = EgtGetInfo( BtlInfoId, 'LOAD90', 'i') or 0
-- se carico barra
if EMT.LOAD or EMT.RELOAD then
sOut = 'M115 P1=' .. EmtLenToString( LBarra, 2) .. ' P2=' .. EmtLenToString( HTrave, 2) .. ' P3=' .. EmtLenToString( STrave, 2) ..
' P4=' .. EmtLenToString( HOverM, 2) .. ' P5=' .. tostring( nLoad90) .. ' P6=' .. EmtLenToString( LTrave, 2) ..
' P7=' .. EgtNumToString( TempAccPinze, 2) .. ' P8=' .. EgtNumToString( TempAccPinz2, 2) .. ' P9=' .. EgtNumToString( TempAccPinz1, 2)
if EMT.LOAD then
ParkLine( sOut)
SetStartValue( 1, LBarra)
SetStartValue( 2, HTrave)
SetStartValue( 3, STrave)
SetStartValue( 6, HOverM)
SetStartValue( 7, nLoad90)
else
EmtOutput( sOut)
end
-- altrimenti recupero rimanenza
else
sOut = 'M115 P1=' .. EmtLenToString( LBarra, 2) .. ' P2=' .. EmtLenToString( HTrave, 2) .. ' P3=' .. EmtLenToString( STrave, 2) ..
' P4=' .. EmtLenToString( HOverM, 2) .. ' P5=' .. tostring( nLoad90) .. ' P6=' .. EmtLenToString( EgtIf( IdTrave >= 0, LTrave, LBarra), 2) ..
' P7=' .. EgtNumToString( TempAccPinze, 2) .. ' P8=' .. EgtNumToString( TempAccPinz2, 2) .. ' P9=' .. EgtNumToString( TempAccPinz1, 2)
EmtOutput( sOut)
EmtOutput( 'M112'..' P1='..EmtLenToString( LoadT, 3).. ' P5=1 P6='..EmtLenToString( EMT.YPOS, 3)..' P7='..EmtLenToString( ParkV, 3) ..' P9='..GetFmaxClamp())
-- aggiorno dati aggancio carrelli alla trave
EMT.YDELTA = EMT.YPOS - LoadT
EMT.VDELTA = nil
end
-- eventuale preparazione per rotazione immediata
if IsStartPhase( EMT.PHASE) and EMT.AUXSTR then
-- emissione movimento carrelli per rotazione
EMT.AUXCMD = {}
if #EMT.AUXSTR > 0 then
EmtOutput( '( ** Rotation ** )')
end
for i = 1, #EMT.AUXSTR do
EmtOutput( EMT.AUXSTR[i])
end
if #EMT.AUXSTR > 0 then
EmtOutput( 'M111 P1=20')
EmtOutput( 'M111 P1=30')
end
EMT.AUXSTR = {}
EMT.AUXTYPE = nil
end
-- se altrimenti disposizione intermedia, eventuale rotazione
elseif IsMidPhase( EMT.PHASE) or IsEnd2Phase( EMT.PHASE) then
-- se rotazioni diverse, emetto il comando e aggiorno lo stato
if VerifyEmitRotation() then
-- imposto stato post-rotazione
EMT.POSTROT = true
-- imposto recupero sovramateriale in X non più presente
EMT.X_OFF = EMT.HOVM
end
-- se altrimenti disposizione intermedia speciale con eventuale rotazione
elseif IsMid2Phase( EMT.PHASE) then
-- emissione movimento carrelli
EMT.AUXCMD = {}
if #EMT.AUXSTR > 0 then
EmtOutput( '( ** Rotation ** )')
end
for i = 1, #EMT.AUXSTR do
EmtOutput( EMT.AUXSTR[i])
end
if #EMT.AUXSTR > 0 then
EmtOutput( 'M111 P1=20')
EmtOutput( 'M111 P1=30')
end
EMT.AUXSTR = {}
EMT.AUXTYPE = nil
-- se rotazioni diverse, emetto il comando e aggiorno lo stato
if VerifyEmitRotation() then
-- imposto stato post-rotazione
EMT.POSTROT = true
-- imposto recupero sovramateriale in X non più presente
EMT.X_OFF = EMT.HOVM
end
-- altrimenti disposizione finale, eventuale scarico pezzo lavorato se non ci sono lavorazioni
else
EMT.AUXCMD = {}
if #EMT.AUXSTR > 0 then
EmtOutput( '( ** Unload ** )')
end
for i = 1, #EMT.AUXSTR do
EmtOutput( EMT.AUXSTR[i])
end
if #EMT.AUXSTR > 0 then
EmtOutput( 'M111 P1=22')
-- se dopo c'è scarico spezzone devo mettere attesa termine esecuzione
if IsRestPhase( EMT.PHASE + 1) then
EmtOutput( 'M111 P1=32')
else
EmtOutput( EgtIf( EMT.U_STD, ';', '')..'M111 P1=32')
end
-- emissione conclusione pezzo precedente (se non in modalità test)
if not TEST_USE and EMT.PRODID then
local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2'
EmtOutput( sEnd)
end
end
EMT.AUXSTR = {}
EMT.AUXTYPE = nil
EMT.U_STD = nil
end
EMT.OPEISDISP = false
end
---------------------------------------------------------------------
function OnTableData()
end
---------------------------------------------------------------------
function OnFixtureData()
end
---------------------------------------------------------------------
function OnRawMoveData()
-- Se disposizione inizio o rimanenza
if IsStartOrRestPhase( EMT.PHASE) then
-- se primo grezzo, reset lunghezza barra
if EMT.RAWIND == 1 then EMT.LB = 0 end
-- aggiungo la lunghezza del grezzo (solo se movimento in corner)
if EMT.RAWTYPE == 1 then
local b3Raw = EgtGetBBoxGlob( EgtGetFirstNameInGroup( EMT.RAWID, 'RawSolid'), GDB_BB.STANDARD)
local LBarra = b3Raw:getDimX()
EMT.LB = EMT.LB + LBarra
end
-- se primo grezzo, calcolo dati del pezzo
if EMT.RAWIND == 1 then
local PartId = EgtGetFirstPartInRawPart( EMT.RAWID)
if PartId then
EMT.IDT = PartId
EMT.IT = EgtGetInfo( PartId, 'PDN', 'i') or 0
local b3Part = EgtGetBBoxGlob( EgtGetFirstNameInGroup( PartId, 'Box'), GDB_BB.STANDARD)
EMT.LT = b3Part:getDimX()
EMT.HT = b3Part:getDimY()
EMT.ST = b3Part:getDimZ()
EMT.HOVM = EgtGetInfo( EMT.RAWID, 'HOVM', 'd') or 0
else
EMT.IDT = GDB_ID.NULL
EMT.IT = -1
EMT.LT = 0
EMT.HT = EMT.HT or 0
EMT.ST = EMT.ST or 0
EMT.HOVM = 0
end
end
end
end
---------------------------------------------------------------------
function OnToolSelect()
-- se utensile definito (non definito per disposizioni con movimento)
if EMT.TOOL ~= '' then
-- verifiche su utensile
local sTool = EgtTdbGetToolFromUUID( EgtGetMachiningParam( MCH_MP.TUUID) or "")
if sTool ~= EMT.TOOL then error( "Tool name mismatch") end
-- predefinite EMT.TCPOS EMT.HEAD EMT.EXIT
EMT.TOOLTYPE = EgtTdbGetCurrToolParam( MCH_TP.TYPE)
EMT.TOOLSEL = EMT.TCPOS..' M06'
EMT.TDIAM = EgtTdbGetCurrToolParam( MCH_TP.DIAM)
EMT.TTOTDIAM = EgtTdbGetCurrToolParam( MCH_TP.TOTDIAM)
EMT.TLEN = EgtTdbGetCurrToolParam( MCH_TP.LEN)
EMT.TTOTLEN = EgtTdbGetCurrToolParam( MCH_TP.TOTLEN)
if MCH_TP.DIST then EMT.TDIST = EgtTdbGetCurrToolParam( MCH_TP.DIST) end
if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
end
end
---------------------------------------------------------------------
function OnToolDeselect()
end
---------------------------------------------------------------------
function OnMachiningStart()
--EMT.MCHNAME = EgtGetMachiningParam( MCH_MP.NAME)
EMT.MCHNAME = EgtGetOperationName( EMT.MCHID)
EMT.MCHTYPE = EgtGetMachiningParam( MCH_MP.TYPE)
EMT.MCHUSERNOTES = EgtGetMachiningParam( MCH_MP.USERNOTES)
-- sistemazione speed (la speed della lama va moltiplicata per 6)
if EMT.HEAD == 'H2' then
EMT.S = EMT.S * 6
elseif EMT.HEAD == 'H5' and EMT.EXIT == 1 then
EMT.S = -EMT.S
elseif EMT.HEAD == 'H6' and EMT.EXIT == 1 then
EMT.S = -EMT.S
end
-- determino subito se taglio di separazione di pezzo a caduta
EMT.PREFALLCUT = nil
if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Split') then
local ClId = EgtGetFirstNameInGroup( EMT.MCHID, 'CL')
local P1Id = EgtGetFirstNameInGroup( ClId or GDB_ID.NULL, 'P1')
local sAE1 = EgtGetInfo( P1Id or GDB_ID.NULL, 'AE1') or ''
if sAE1 == '0,Fall' then
EMT.PREFALLCUT = true
end
end
end
---------------------------------------------------------------------
function OnMachiningEnd()
--EmtOutput( ';Mach End')
-- Emissione split
--for i = 1, #EMT.AUXCMD do
-- EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
--end
EMT.AUXCMD = {}
if #EMT.AUXSTR > 0 then
if EMT.AUXTYPE == 'S' then
EmtOutput( '( ** Split ** )')
elseif EMT.AUXTYPE == 'U' then
if not EMT.ZMAX then
EmitZmax()
end
EmtOutput( '( ** Unload ** )')
elseif EMT.AUXTYPE == 'P' then
if EMT.PREROT then
EmitZmax()
EmtOutput( '( ** Rotation ** )')
elseif EMT.FALL then
if not EMT.ZMAX then
EmitZmax()
end
EmtOutput( '( ** Fall ** )')
else
EmitZmax()
EmtOutput( '( ** Split 2 ** )')
end
end
end
for i = 1, #EMT.AUXSTR do
EmtOutput( EMT.AUXSTR[i])
end
if #EMT.AUXSTR > 0 then
if EMT.AUXTYPE == 'S' then
EmtOutput( 'M111 P1=20')
EmtOutput( 'M111 P1=30')
elseif EMT.AUXTYPE == 'U' then
local sP1x = EgtIf( EMT.CHY_ON, '0', '2')
EmtOutput( 'M111 P1=2'..sP1x)
-- se dopo cè scarico spezzone devo mettere attesa termine esecuzione
if IsRestPhase( EMT.PHASE +1) then
EmtOutput( 'M111 P1=3'..sP1x)
else
EmtOutput( EgtIf( EMT.U_STD, ';', '')..'M111 P1=3'..sP1x)
end
-- emissione conclusione pezzo precedente (se non è modalità test)
if not TEST_USE and EMT.PRODID then
local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2'
EmtOutput( sEnd)
end
elseif EMT.AUXTYPE == 'P' then
EmtOutput( 'M111 P1=20')
EmtOutput( 'M111 P1=30')
if EMT.FALL then
EmtOutput( 'M155')
-- emissione conclusione pezzo (se non in modalità test)
if not TEST_USE and EMT.PRODID then
local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2'
EmtOutput( sEnd)
end
elseif not EMT.PREROT then
EmtOutput( 'M77')
end
end
end
EMT.AUXSTR = {}
EMT.AUXTYPE = nil
EMT.U_STD = nil
EMT.PREVTOOL = EMT.TOOL
EMT.PREVHEAD = EMT.HEAD
EMT.PREVS = EMT.S
end
---------------------------------------------------------------------
function OnPathStart()
-- non ancora iniziata la lavorazione
EMT.MCHFIRST = true
EMT.MCHFIRSTFEED = true
-- primo posizionamento sempre in globale
EMT.REFLOC = nil
EMT.IPLGL = false
-- salvo precedenti rotanti
EMT.R1pp = EMT.R1p
EMT.R2pp = EMT.R2p
-- reset valori precedenti (per forzare emissione di tutti gli assi del 1° movimento)
EmtResetPrev()
EMT.AUXCMD = {}
EMT.AUXSTR = {}
end
---------------------------------------------------------------------
function OnPathEnd()
if not EMT.ZMAX then
EmtOutput( 'G27')
EmtOutput( 'M6 T000000')
EmtOutput( 'M99')
end
EMT.AUXTYPE = nil
EMT.UNL = nil
EMT.PREROT = nil
EMT.SPLITROT = nil
EMT.CHY_ON = nil
EMT.FALL = nil
EMT.AUXCMD = {}
EMT.AUXSTR = {}
end
---------------------------------------------------------------------
function OnPathStartAux()
--EgtOutLog( 'OnPathStartAux - ' .. EgtNumToString( EMT.AUXIND, 0) .. ' - ' .. EMT.AUX)
-- se richiesto, preparo il carico barra
if EMT.LOAD or EMT.RELOAD then
PrepareLoad( EMT.AUX, true)
-- se altrimenti carico dopo rotazione
elseif EMT.POSTROT then
PreparePostRotation( EMT.AUX)
-- altrimenti, preparo lo spostamento carrelli
else
PrepareMoveChar( EMT.AUX)
end
end
---------------------------------------------------------------------
function OnPathEndAux()
--EgtOutLog( 'OnPathEndAux - ' .. EgtNumToString( EMT.AUXIND, 0) .. ' - ' .. EMT.AUX)
-- verifico tipo di emissione
if EMT.OPEISDISP then
if not EMT.AUXTYPE then
local Cmd = EgtSplitString( EMT.AUX)
if Cmd[1] == '0' and Cmd[2] == 'Unloading' then
EMT.AUXTYPE = 'U'
elseif EgtGetInfo( EMT.DISPID, 'TYPE') == 'REST' then
EMT.AUXTYPE = 'R'
else
EMT.AUXTYPE = 'P'
end
end
else
if not EMT.AUXTYPE then
local Cmd = EgtSplitString( EMT.AUX)
if Cmd[1] == '0' and Cmd[2] == 'Split' then
EMT.AUXTYPE = 'S'
elseif Cmd[1] == '0' and Cmd[2] == 'Unloading' then
EMT.AUXTYPE = 'U'
else
EMT.AUXTYPE = 'P'
if Cmd[1] == '0' and Cmd[2] == 'Fall' then
EMT.FALL = true
end
end
elseif EMT.AUXTYPE == 'P' then
local Cmd = EgtSplitString( EMT.AUX)
if Cmd[1] == '0' and Cmd[2] == 'Unloading' then
EMT.CHY_ON = true
EMT.AUXTYPE = 'U'
end
end
end
-- preparo a seconda del tipo
if EMT.AUXTYPE == 'R' then
-- per il carico della rimanenza dopo rotazione speciale
if EMT.RELOAD and not EMT.RELOAD2 then
PrepareLoad( EMT.AUX, false)
-- per lo scarico della rimanenza
else
PrepareResidue( EMT.AUX)
end
elseif EMT.AUXTYPE == 'S' then
-- per lo split
PrepareSplit( EMT.AUX)
elseif EMT.AUXTYPE == 'U' then
-- per lo scarico
PrepareUnload( EMT.AUX)
elseif EMT.AUXTYPE == 'P' then
-- per la pre-rotazione
PreparePreRotation( EMT.AUX)
end
end
---------------------------------------------------------------------
function OnRapid()
MyBackupAxes()
-- se primo movimento della lavorazione, gestione speciale
if EMT.MCHFIRST and not EMT.OPEISDISP then
-- decido se muovere prima testa o carrelli (standard prima testa)
local bHeadFirst = true
if not ( EMT.LOAD or EMT.RELOAD) and not EMT.ZMAX then
local DeltaT = EMT.L1 - EMT.TLAST
if ( DeltaT < -GEO.EPS_SMALL and EMT.VDELTA) or ( DeltaT > GEO.EPS_SMALL and EMT.YDELTA) then bHeadFirst = false end
end
-- sistemo movimenti
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
if not ( EMT.LOAD or EMT.RELOAD) then
if not EMT.ZMAX and #EMT.AUXSTR > 0 then
EmitZmax()
bHeadFirst = false
end
end
-- primo posizionamento
local MyZHome = EgtGetAxisHomePos( 'Z')
local bZmax = ( #EMT.AUXSTR > 0 or EMT.TOOL ~= EMT.PREVTOOL or EMT.L3 > -1)
-- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
if ( EMT.PREVHEAD == 'H3' or EMT.TTOTLEN > 200) and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, 3) .. ' P3=' .. EmtLenToString( MyZHome, 3) ..
' P4=' .. EgtNumToString( EMT.R2pp, 3) .. ' P5=' .. EgtNumToString( EMT.R1pp, 3) ..
' P6=' .. EgtNumToString( EMT.PREVTCPOS, 3) .. ' P7=' .. EgtNumToString( EMT.PREVS, 0) ..
' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
EmtOutput( sOutPreMove)
EmtOutput( 'M101 P1=2')
EmtOutput( 'M101 P1=3')
end
if not EMT.LOAD then
local sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '['), '%)', ']')
EmtOutput( '( * ' .. sOut .. ' * )')
end
-- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
if ( EMT.HEAD == 'H3' or EMT.TTOTLEN > 200) and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, 3) .. ' P3=' .. EmtLenToString( MyZHome, 3) ..
' P4=' .. EgtNumToString( EMT.R2, 3) .. ' P5=' .. EgtNumToString( EMT.R1, 3) ..
' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
EmtOutput( sOutPreMove)
EmtOutput( 'M101 P1=2')
EmtOutput( 'M101 P1=3')
end
-- resetto valori precedenti
EmtResetPrev()
local MyZPos = EMT.L3
-- se sono su pezzi alti e movimento da emettere, per sicurezza a Z massima
if EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
MyZPos = MyZHome
end
local sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( EMT.L2, 3) .. ' P3=' .. EmtLenToString( MyZPos, 3) ..
' P4=' .. EgtNumToString( EMT.R2, 3) .. ' P5=' .. EgtNumToString( EMT.R1, 3) ..
' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
if EMT.LOAD then
ParkLine( sOut)
else
EmtOutput( sOut)
end
sOut = 'M101 P1=2'
if EMT.LOAD then
ParkLine( sOut)
else
if bHeadFirst then EmtOutput( sOut) end
end
-- se prima lavorazione
if EMT.LOAD then
--for i = 1, #EMT.AUXCMD do
-- EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
--end
EMT.AUXCMD = {}
local bOnlyCharY = true
for i = 1, #EMT.AUXSTR do
ParkLine( EMT.AUXSTR[i])
if string.find( EMT.AUXSTR[i], 'P1=10', 1, true) then bOnlyCharY = false end
end
EMT.AUXSTR = {}
sOut = EgtIf( bOnlyCharY, 'M111 P1=21', 'M111 P1=20')
ParkLine( sOut)
sOut = EgtIf( bOnlyCharY, 'M111 P1=31', 'M111 P1=30')
ParkLine( sOut)
sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '['), '%)', ']')
ParkLine( '( * ' .. sOut ..' * )')
sOut = 'M101 P1=3'
ParkLine( sOut)
local sY, sA
if EMT.YDELTA then
sY = EmtLenToString( EMT.L1 + EMT.YDELTA)
sA = '1'
else
sY = EmtLenToString( ParkY)
sA = '2'
end
local sV, sB
if EMT.VDELTA then
sV = EmtLenToString( EMT.L1 + EMT.VDELTA)
sB = '1'
else
sV = EmtLenToString( ParkV)
sB = '2'
end
sOut = 'M112 P1='..EmtLenToString( EMT.L1, 3)..' P3='..sA..' P4='..sB..' P5=0 P6='..sY..' P7='..sV..' P9='..GetFmaxClamp()
ParkLine( sOut)
EMT.LOAD = false
-- emissione prime linee speciali e linee parcheggiate
EmitStartValues()
EmtOutput( ';LISTA = ' .. tostring( EMT.PRODID))
EmitParkedLines()
-- altrimenti lavorazione successiva
else
-- eventuale G111
--for i = 1, #EMT.AUXCMD do
-- EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
--end
EMT.AUXCMD = {}
for i = 1, #EMT.AUXSTR do
EmtOutput( EMT.AUXSTR[i])
end
if #EMT.AUXSTR > 0 then
if not ( EMT.POSTROT or EMT.RELOAD) then
EmtOutput( 'M111 P1=20')
EmtOutput( 'M111 P1=30')
else
EmtOutput( 'M111 P1=21')
EmtOutput( 'M111 P1=31')
end
end
EMT.AUXSTR = {}
local sY, sA
if EMT.YDELTA then
sY = EmtLenToString( EMT.L1 - ( EMT.X_OFF or 0) + EMT.YDELTA)
sA = '1'
else
sY = EmtLenToString( EgtIf( EMT.YPOS, EMT.YPOS, ParkY))
sA = '2'
end
local sV, sB
if EMT.VDELTA then
sV = EmtLenToString( EMT.L1 - ( EMT.X_OFF or 0) + EMT.VDELTA)
sB = '1'
else
sV = EmtLenToString( ParkV)
sB = '2'
end
-- se taglio di coda senza residuo da scaricare, emetto M175 per accelerare il carico della barra successiva
if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Cut') and ( IsEndPhase( EMT.PHASE+1) or IsEnd2Phase( EMT.PHASE+1)) then
EmtOutput( 'M175')
end
if bHeadFirst then
sOut = 'M101 P1=3'
EmtOutput( sOut)
end
sOut = 'M112 P1=' .. EmtLenToString( EMT.L1, 3) ..' P3='..sA..' P4='..sB..' P6='..sY..' P7='..sV..' P9=' .. GetFmaxClamp()
EmtOutput( sOut)
if not bHeadFirst then
sOut = 'M101 P1=2'
EmtOutput( sOut)
sOut = 'M101 P1=3'
EmtOutput( sOut)
end
EMT.POSTROT = false
EMT.RELOAD = false
EMT.RELOAD2 = nil
end
-- se taglio di separazione prima di scarico a caduta, emissione stop tappeto scarico trucioli
if EMT.PREFALLCUT then
EmtOutput( 'M29')
EMT.PREFALLCUT = nil
end
EMT.REFLOC = 0
EMT.MCHFIRST = false
EMT.ZMAX = false
-- se alto in Z (non serve l'avvicinamento finale)
if EMT.FLAG == 2 then
-- aggiorno valori come precedenti
EMT.TLAST = EMT.L1b
EmtUpdatePrev()
return
-- altrimenti ripristino i valori originali degli assi
else
MyRestoreAxes()
end
end
-- se standard
if EMT.FLAG == 0 or EMT.FLAG == 1 or EMT.FLAG == 2 then
-- se necessario, impostazione riferimento locale
if EMT.REFLOC == 0 then
-- calcolo per piano generico
CalcInterpPlane()
EMT.REFLOC = 1
-- trasformo i punti nel piano
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
EMT.L1p = nil
EMT.L2p = nil
EMT.L3p = nil
EmtOutput( 'M102 P1=' .. GetFaceCode())
EmtOutput( 'M98')
sOut = 'M6 T1' .. AdjustToolKinematic() .. AdjustTcPos( true)
EmtOutput( sOut)
EmtOutput( 'G24' .. EMT.IPLGLSTR)
-- forzo successiva emissione assi rotanti
EMT.R1p = nil
EMT.R2p = nil
else
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
end
-- emissione movimento
local sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
EmtOutput( sOut)
-- se altrimenti risalita a Z max a fine lavorazione
elseif EMT.FLAG == 3 then
EMT.REFLOC = nil
EMT.IPLGL = false
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
EmitZmax( true)
EMT.ZMAX = true
-- se altrimenti movimento in Home
elseif EMT.FLAG == 4 then
-- non previsto
-- se altrimenti rotazione a Z max
elseif EMT.FLAG == 5 then
-- viene gestito all'inizio della lavorazione successiva
-- altrimenti errore
else
error( "Unknown Rapid flag")
end
-- aggiorno valori come precedenti
EMT.TLAST = EMT.L1b
EmtUpdatePrev()
end
---------------------------------------------------------------------
function OnLinear()
MyBackupAxes()
EMT.TLAST = EMT.L1
-- se necessario, impostazione riferimento locale
if EMT.REFLOC == 0 then
-- calcolo per piano generico
CalcInterpPlane()
EMT.REFLOC = 1
-- salvo posizione attuale
local OldL1 = EMT.L1
local OldL2 = EMT.L2
local OldL3 = EMT.L3
-- imposto posizione precedente (non contiene l'offset in X per sovramateriale di testa EMT.X_OFF)
EMT.L1 = EMT.L1o
EMT.L2 = EMT.L2o
EMT.L3 = EMT.L3o
-- trasformo i punti nel piano
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
EMT.L1p = nil
EMT.L2p = nil
EMT.L3p = nil
EmtOutput( 'M102 P1=' .. GetFaceCode())
EmtOutput( 'M98')
local sOut = 'M6 T1' .. AdjustToolKinematic() .. AdjustTcPos( true)
EmtOutput( sOut)
EmtOutput( 'G24' .. EMT.IPLGLSTR)
-- emissione movimento
EMT.R1p = nil
EMT.R2p = nil
sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
EmtOutput( sOut)
-- ripristino posizione attuale
EMT.L1 = OldL1
EMT.L2 = OldL2
EMT.L3 = OldL3
end
-- se primo movimento in feed della lavorazione, dichiaro inizio lavorazione
if EMT.MCHFIRSTFEED then
EMT.MCHFIRSTFEED = nil
EmtOutput( 'M97')
end
-- aggiustamento valori
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
-- valori degli assi
local sL1, bL1 = EmtGetAxis( 'L1')
local sL2, bL2 = EmtGetAxis( 'L2')
local sL3, bL3 = EmtGetAxis( 'L3')
local sR1, bR1 = EmtGetAxis( 'R1')
local sR2, bR2 = EmtGetAxis( 'R2')
local sAxes = sL1 .. sL2 .. sL3 .. sR2 .. sR1
-- se nulla da emettere, esco
if #sAxes == 0 then return end
-- aggiungo feed
local sFeed = EmtGetFeed()
-- emetto linea
EmtOutput( "G1"..sAxes..sFeed)
-- arresto preciso in angoli di fresature per utensili (non penne) di piccolo diametro
if EMT.MCHTYPE == MCH_MY.MILLING and EMT.TTOTDIAM < 15 and abs( EMT.S) > 1000 and ( bL1 or bL2) and not bL3 then
EmtOutput( 'G9')
-- arresto preciso in fondo al foro
elseif EMT.FLAG == 101 then
EmtOutput( 'G9')
end
-- aggiorno valori come precedenti
EmtUpdatePrev()
end
---------------------------------------------------------------------
function OnArc()
MyBackupAxes()
EMT.TLAST = EMT.L1
-- se primo movimento in feed della lavorazione, dichiaro inizio lavorazione
if EMT.MCHFIRSTFEED then
EMT.MCHFIRSTFEED = nil
EmtOutput( 'M97')
end
-- non modale su archi
EmtResetPrevLinear()
-- aggiustamento valori
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
-- valori degli assi
local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
-- se nulla da emettere, esco
if string.len( sAxes) == 0 then
return
end
-- valori delle coordinate del centro
EmtAdjustCenterAxes()
-- coordinate centro (per ora solo archi nel piano XY)
--local sCen = ' ' .. EMT.C1t .. EmtLenToString(EMT.C1,3) ..
-- ' ' .. EMT.C2t .. EmtLenToString(EMT.C2,3)
-- raggio
local sRad = ' ' .. EMT.RRt .. EmtLenToString( EMT.RR, EMT.DECNUM)
-- aggiungo feed
local sFeed = EmtGetFeed()
-- tipo arco
local sArc = 'G' .. EgtNumToString(EMT.MOVE,0)
-- emetto arco
EmtOutput( sArc..sAxes..sRad..sFeed)
-- aggiorno valori come precedenti
EmtUpdatePrev()
end
---------------------------------------------------------------------
function CalcDinamicaPinze( dH, dS, dL)
local MinTempoAcc = 0.3 -- [s]
local MaxTempoAcc = 4.0 -- [s]
local KgMtCubo= WoodDensity or 550 -- densità legno [Kg / metro cubo]
local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
local FMaxPinze = EMT.FMAXPINZE -- Feed massima pinze [mm/min]
local ForzaAttrito = 350 * 9.8 * 0.2 -- Forza chiusura pinze [Kgf] * g * Coeff_Attrito -> [N]
local TempoAcc = ( ( Massa * FMaxPinze) / ( 60 * ForzaAttrito) / 1000)
if ( TempoAcc < MinTempoAcc) then TempoAcc = MinTempoAcc end
if ( TempoAcc > MaxTempoAcc) then TempoAcc = MaxTempoAcc end
local AccMaxPinze = FMaxPinze / ( 60 * MinTempoAcc)
local AccPinze = FMaxPinze / ( 60 * TempoAcc)
local RidFeed = 100 / Massa * 100
if RidFeed > 100 then
RidFeed = 100
elseif RidFeed < 10 then
RidFeed = 10
end
return TempoAcc * 1000, MinTempoAcc * 1000, RidFeed
end
---------------------------------------------------------------------
function CalcCharStatus( sCmd, bSkipPress)
-- aperto
if sCmd == '0' then
return '1'
-- chiuso
elseif sCmd == '1' then
return '2'
-- chiuso con pressore attivato
elseif sCmd == '2' then
return EgtIf( bSkipPress, '2', '0')
end
end
---------------------------------------------------------------------
function PrepareLoad( sCmd, bStart)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se inizio
if EMT.AUXIND == 1 then
-- imposto stato pinze
EMT.SA = ' P4=111'
EMT.SB = ' P5=112'
EMT.SC = ' P6=141'
EMT.SD = ' P7=141'
EMT.SE = ' P8=0'
end
-- se dichiarazione inizio riposizionamento carrelli
if Cmd[2] == 'CARR_MOVE' then
if bStart then
EMT.RELOAD = false
else
EMT.RELOAD2 = true
end
for i = 1, #EMT.AUXSTR do
EMT.AUXSTR[i] = string.gsub( EMT.AUXSTR[i], 'P1=11', 'P1=10')
end
end
elseif Cmd[1] == '1' then
local sMsg = Cmd[2] .. Cmd[3]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[2] ~= 'Z' then
local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
local sOut = 'M111 P1=10'..sPar2..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
if Cmd[2] == 'Y' then EMT.YPOS = tonumber( Cmd[3]) end
end
elseif Cmd[1] == '2' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[2] == 'Y' then
local sYTaking = ' P2='..EmtLenToString( Cmd[3] + TurnerOffs)
local sOut = 'M111 P1=11' .. sYTaking .. ' P4=75 P5=110 P8=0 P9=' .. GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
SetStartValue( 4, Cmd[3] + TurnerOffs)
SetStartValue( 5, 110)
end
elseif Cmd[1] == '3' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
table.insert( EMT.AUXCMD, sMsg)
local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
local sPar6 = EgtIf( Cmd[6] == 'Y', ' P2=', ' P3=')
local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
(EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
(EgtIf( Cmd[6] ~= 'T', sPar6 .. Cmd[7], ''))..
EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
elseif Cmd[1] == '11' then
local sMsg = 'PY' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
if #EMT.AUXSTR > 0 then
local sVal = ' P5=11' .. CalcCharStatus( Cmd[2])
local sOut = EMT.AUXSTR[#EMT.AUXSTR]
EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
end
EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2])
EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2])
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
elseif Cmd[1] == '12' then
local sMsg = 'PV' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
if #EMT.AUXSTR > 0 then
local sVal = ' P7=14' .. CalcCharStatus( Cmd[2])
local sOut = EMT.AUXSTR[#EMT.AUXSTR]
EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
end
EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2])
EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2])
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
elseif Cmd[1] == '21' then
local nYDelta = tonumber( Cmd[2])
local nVDelta = tonumber( Cmd[3])
if nYDelta > 0 and nVDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nVDelta
elseif nYDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nil
elseif nVDelta > 0 then
EMT.YDELTA = nil
EMT.VDELTA = nVDelta
end
if not FindM111P4EQ76( EMT.AUXSTR) then
local sYLoad = ' P2=' .. EmtLenToString( LoadT)
local sOut = 'M111 P1=11' .. sYLoad .. ' P4=76 P5=110 P8=0 P9=' .. GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
end
end
end
---------------------------------------------------------------------
function PrepareMoveChar( sCmd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se inizio
if EMT.AUXIND == 1 then
-- imposto stato pinze
EMT.SA = EgtIf( EMT.YDELTA, ' P4=112', ' P4=111')
EMT.SB = EgtIf( EMT.YDELTA, ' P5=112', ' P5=111')
EMT.SC = EgtIf( EMT.VDELTA, ' P6=142', ' P6=141')
EMT.SD = EgtIf( EMT.VDELTA, ' P7=142', ' P7=141')
EMT.SE = EgtIf( EMT.YDELTA, ' P8=1', ' P8=2')
end
elseif Cmd[1] == '1' then
local sMsg = Cmd[2] .. Cmd[3]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[2] ~= 'Z' then
local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
local sOut = 'M111 P1=10'..sPar2..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
if Cmd[2] == 'Y' then EMT.YPOS = tonumber( Cmd[3]) end
end
elseif Cmd[1] == '2' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
table.insert( EMT.AUXCMD, sMsg)
local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
(EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
elseif Cmd[1] == '3' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
table.insert( EMT.AUXCMD, sMsg)
local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
local sPar6 = EgtIf( Cmd[6] == 'Y', ' P2=', ' P3=')
local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
(EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
(EgtIf( Cmd[6] ~= 'T', sPar6 .. Cmd[7], ''))..
EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
elseif Cmd[1] == '11' then
local sMsg = 'PY' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
if #EMT.AUXSTR > 0 then
local sVal = ' P5=11' .. CalcCharStatus( Cmd[2])
local sOut = EMT.AUXSTR[#EMT.AUXSTR]
EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
end
EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2])
EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2])
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
elseif Cmd[1] == '12' then
local sMsg = 'PV' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
if #EMT.AUXSTR > 0 then
local sVal = ' P7=14' .. CalcCharStatus( Cmd[2])
local sOut = EMT.AUXSTR[#EMT.AUXSTR]
EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
end
EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2])
EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2])
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
elseif Cmd[1] == '21' then
local nYDelta = tonumber( Cmd[2])
local nVDelta = tonumber( Cmd[3])
if nYDelta > 0 and nVDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nVDelta
elseif nYDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nil
elseif nVDelta > 0 then
EMT.YDELTA = nil
EMT.VDELTA = nVDelta
end
end
end
---------------------------------------------------------------------
function PrepareResidue( sCmd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se non è scarico
if Cmd[2] ~= 'Unloading' then
-- se inizio o subito dopo, imposto stato iniziale pinze
if EMT.AUXIND <= 2 then
EMT.SA = EgtIf( EMT.YDELTA, ' P4=112', ' P4=111')
EMT.SB = EgtIf( EMT.YDELTA, ' P5=112', ' P5=111')
EMT.SC = EgtIf( EMT.VDELTA, ' P6=142', ' P6=141')
EMT.SD = EgtIf( EMT.VDELTA, ' P7=142', ' P7=141')
EMT.SE = EgtIf( EMT.YDELTA, ' P8=1', ' P8=2')
end
else
EMT.UNL = true
end
elseif Cmd[1] == '1' then
local sMsg = Cmd[2] .. Cmd[3]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[2] ~= 'Z' then
local sOut
local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
if not EMT.UNL then
sOut = 'M111 P1=10'..sPar2..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
else
sOut = 'M111 P1=10'..sPar2..Cmd[3]..' P6=141 P7=84 P8=0 P9='..GetFmaxClamp()
end
table.insert( EMT.AUXSTR, sOut)
end
elseif Cmd[1] == '2' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
table.insert( EMT.AUXCMD, sMsg)
local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
(EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
elseif Cmd[1] == '3' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
table.insert( EMT.AUXCMD, sMsg)
local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
local sPar6 = EgtIf( Cmd[6] == 'Y', ' P2=', ' P3=')
local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
(EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
(EgtIf( Cmd[6] ~= 'T', sPar6 .. Cmd[7], ''))..
EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
elseif Cmd[1] == '11' then
local sMsg = 'PY' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
if #EMT.AUXSTR > 0 then
local sVal = ' P5=11' .. CalcCharStatus( Cmd[2], true)
local sOut = EMT.AUXSTR[#EMT.AUXSTR]
EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
end
EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2], true)
EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2], true)
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
elseif Cmd[1] == '12' then
local sMsg = 'PV' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
if #EMT.AUXSTR > 0 then
local sVal = ' P7=14' .. CalcCharStatus( Cmd[2], true)
local sOut = EMT.AUXSTR[#EMT.AUXSTR]
EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
end
EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2], true)
EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2], true)
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
elseif Cmd[1] == '21' then
local nYDelta = tonumber( Cmd[2])
local nVDelta = tonumber( Cmd[3])
if nYDelta > 0 and nVDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nVDelta
elseif nYDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nil
elseif nVDelta > 0 then
EMT.YDELTA = nil
EMT.VDELTA = nVDelta
end
end
end
---------------------------------------------------------------------
function PrepareSplit( sCmd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- non interessa
elseif Cmd[1] == '1' then
local sMsg = Cmd[2] .. Cmd[3]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[2] == 'Y' then
local sOut = 'M111 P1=10'..' P2='..Cmd[3]..' P4=112 P5=112 P6=142 P7=142 P8=2 P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
EMT.YPOS = tonumber( Cmd[3])
end
elseif Cmd[1] == '21' then
local nYDelta = tonumber( Cmd[2])
local nVDelta = tonumber( Cmd[3])
if nYDelta > 0 and nVDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nVDelta
elseif nYDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nil
elseif nVDelta > 0 then
EMT.YDELTA = nil
EMT.VDELTA = nVDelta
end
end
end
---------------------------------------------------------------------
function PrepareUnload( sCmd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- non interessa
elseif Cmd[1] == '1' then
local sMsg = Cmd[2] .. Cmd[3]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[2] == 'V' then
-- se non è ultima fase c'è una barra sulla pinza Y (1)
local sP1 = EgtIf( EMT.CHY_ON, '10', '12')
local sP7 = '84'
if not EMT.U_STD then
sP7 = EgtIf( EMT.U_MAN ~= 1, '85', '114')
EMT.U_MAN = EgtIf( EMT.U_MAN == 1, nil, 1)
end
local sP8 = EgtIf( EMT.PHASE == EgtGetPhaseCount() or IsEnd2Phase( EMT.PHASE), '0', '1')
local sOut = 'M111 P1='..sP1..' P3='..Cmd[3]..' P6=141 P7='..sP7..' P8='..sP8..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
end
elseif Cmd[1] == '2' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[4] == 'V' then
-- se non è ultima fase c'è una barra sulla pinza Y (1)
local sP1 = EgtIf( EMT.CHY_ON, '10', '12')
local sP45 = EgtIf( EMT.PHASE == EgtGetPhaseCount() or IsEnd2Phase( EMT.PHASE), '111', '112')
local sOut = 'M111 P1='..sP1..' P3='..Cmd[5]..' P4=' .. sP45 .. ' P5=' .. sP45 .. ' P6=142 P7=141 P8=2 P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
EMT.U_STD = true
end
elseif Cmd[1] == '3' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
table.insert( EMT.AUXCMD, sMsg)
elseif Cmd[1] == '11' then
local sMsg = 'PY' .. EgtIf( Cmd[2] == '0', ' 0', ' 1')
table.insert( EMT.AUXCMD, sMsg)
elseif Cmd[1] == '12' then
local sMsg = 'PV' .. EgtIf( Cmd[2] == '0', ' 0', ' 1')
table.insert( EMT.AUXCMD, sMsg)
elseif Cmd[1] == '21' then
-- non interessa
end
end
---------------------------------------------------------------------
function PreparePreRotation( sCmd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se inizio o subito dopo, imposto stato iniziale pinze
if EMT.AUXIND <= 2 then
EMT.SA = EgtIf( EMT.YDELTA, ' P4=112', ' P4=111')
EMT.SB = EgtIf( EMT.YDELTA, ' P5=112', ' P5=111')
EMT.SC = EgtIf( EMT.VDELTA, ' P6=142', ' P6=141')
EMT.SD = EgtIf( EMT.VDELTA, ' P7=142', ' P7=141')
EMT.SE = EgtIf( EMT.YDELTA, ' P8=1', ' P8=2')
end
-- se è pre-rotazione
if Cmd[2] == 'Pre-Rotation' then
EMT.PREROT = true
elseif Cmd[2] == 'SplitRot' then
EMT.SPLITROT = true
EMT.SE = ' P8=2'
end
elseif Cmd[1] == '1' then
local sMsg = Cmd[2] .. Cmd[3]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[2] ~= 'Z' then
local sOut
local sP23 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
if not EMT.PREROT then
sOut = 'M111'..' P1=10'..sP23..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
else
sOut = 'M111 P1=10'..sP23..Cmd[3]..' P4=86 P5=87 P6=141 P8=0 P9='..GetFmaxClamp()
end
table.insert( EMT.AUXSTR, sOut)
end
elseif Cmd[1] == '2' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
table.insert( EMT.AUXCMD, sMsg)
local sP2 = ''
local sP3 = ''
if Cmd[2] == 'Y' then
sP2 = ' P2=' .. Cmd[3]
elseif Cmd[4] == 'Y' then
sP2 = ' P2=' .. Cmd[5]
end
if Cmd[2] == 'V' then
sP3 = ' P3=' .. Cmd[3]
elseif Cmd[4] == 'V' then
sP3 = ' P3=' .. Cmd[5]
end
local sOut = 'M111 P1=10'..sP2..sP3..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
elseif Cmd[1] == '3' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
table.insert( EMT.AUXCMD, sMsg)
local sP2 = ''
local sP3 = ''
if Cmd[2] == 'Y' then
sP2 = ' P2=' .. Cmd[3]
elseif Cmd[4] == 'Y' then
sP2 = ' P2=' .. Cmd[5]
elseif Cmd[6] == 'Y' then
sP2 = ' P2=' .. Cmd[7]
end
if Cmd[2] == 'V' then
sP3 = ' P3=' .. Cmd[3]
elseif Cmd[4] == 'V' then
sP3 = ' P3=' .. Cmd[5]
elseif Cmd[6] == 'V' then
sP3 = ' P3=' .. Cmd[7]
end
local sOut = 'M111 P1=10'..sP2..sP3..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
elseif Cmd[1] == '11' then
local sMsg = 'PY' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
if #EMT.AUXSTR > 0 then
local sVal = ' P5=11' .. CalcCharStatus( Cmd[2], true)
local sOut = EMT.AUXSTR[#EMT.AUXSTR]
EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
end
if EMT.SPLITROT then
EMT.SA = EgtIf( Cmd[2] ~= '0', ' P4=11' .. CalcCharStatus( Cmd[2], true), ' P4=86')
EMT.SB = EgtIf( Cmd[2] ~= '0', ' P5=11' .. CalcCharStatus( Cmd[2], true), ' P5=87')
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
else
EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2], true)
EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2], true)
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
end
elseif Cmd[1] == '12' then
local sMsg = 'PV' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
if #EMT.AUXSTR > 0 then
local sVal = ' P7=14' .. CalcCharStatus( Cmd[2], true)
local sOut = EMT.AUXSTR[#EMT.AUXSTR]
EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
end
EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2], true)
EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2], true)
EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
elseif Cmd[1] == '21' then
local nYDelta = tonumber( Cmd[2])
local nVDelta = tonumber( Cmd[3])
if nYDelta > 0 and nVDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nVDelta
elseif nYDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nil
elseif nVDelta > 0 then
EMT.YDELTA = nil
EMT.VDELTA = nVDelta
end
end
end
---------------------------------------------------------------------
function PreparePostRotation( sCmd)
-- è sostanzialmente un carico
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se inizio
if EMT.AUXIND == 1 then
-- imposto stato pinze
EMT.SB = ' P5=112'
end
-- se dichiarazione inizio riposizionamento carrelli
if Cmd[2] == 'CARR_MOVE' then
EMT.POSTROT = false
for i = 1, #EMT.AUXSTR do
EMT.AUXSTR[i] = string.gsub( EMT.AUXSTR[i], 'P1=11', 'P1=10')
end
end
elseif Cmd[1] == '1' then
local sMsg = Cmd[2] .. Cmd[3]
table.insert( EMT.AUXCMD, sMsg)
elseif Cmd[1] == '2' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
table.insert( EMT.AUXCMD, sMsg)
if Cmd[2] == 'Y' then
-- tolgo eventuale sovramateriale presente sul pezzo in posizione iniziale (la misura laser è ora col finito)
-- su NUM si pone E80058=0, con TPA non sembra necessaria una equivalente impostazione
local sYTaking = ' P2='..EmtLenToString( Cmd[3] - EMT.HOVM)
local sOut = 'M111 P1=11'..sYTaking..' P4=75 P5=110 P8=0 P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
end
elseif Cmd[1] == '3' then
local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
table.insert( EMT.AUXCMD, sMsg)
elseif Cmd[1] == '11' then
local sMsg = 'PY' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2])
elseif Cmd[1] == '12' then
local sMsg = 'PV' .. ' ' .. Cmd[2]
table.insert( EMT.AUXCMD, sMsg)
elseif Cmd[1] == '21' then
local nYDelta = tonumber( Cmd[2])
local nVDelta = tonumber( Cmd[3])
if nYDelta > 0 and nVDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nVDelta
elseif nYDelta > 0 then
EMT.YDELTA = nYDelta
EMT.VDELTA = nil
elseif nVDelta > 0 then
EMT.YDELTA = nil
EMT.VDELTA = nVDelta
end
local sYLoad = ' P2='..EmtLenToString( LoadT)
local sOut = 'M111 P1=11'..sYLoad..' P4=76'..EMT.SB..' P8=0 P9='..GetFmaxClamp()
table.insert( EMT.AUXSTR, sOut)
end
end
---------------------------------------------------------------------
function MyBackupAxes()
EMT.L1b = EMT.L1
EMT.L2b = EMT.L2
EMT.L3b = EMT.L3
EMT.R1b = EMT.R1
EMT.R2b = EMT.R2
EMT.R3b = EMT.R3
EMT.R4b = EMT.R4
EMT.RRb = EMT.RR
EMT.C1b = EMT.C1
EMT.C2b = EMT.C2
EMT.C3b = EMT.C3
end
---------------------------------------------------------------------
function MyRestoreAxes()
EMT.L1 = EMT.L1b
EMT.L2 = EMT.L2b
EMT.L3 = EMT.L3b
EMT.R1 = EMT.R1b
EMT.R2 = EMT.R2b
EMT.R3 = EMT.R3b
EMT.R4 = EMT.R4b
EMT.RR = EMT.RRb
EMT.C1 = EMT.C1b
EMT.C2 = EMT.C2b
EMT.C3 = EMT.C3b
end
---------------------------------------------------------------------
function MyAdjustLinearAxes()
local MyL1o = EMT.L1
local MyL2o = EMT.L2
local MyL3o = EMT.L3
if EMT.REFLOC then
local vtE
if EMT.HEAD == 'H1' or EMT.HEAD == 'H2' then
local Len = EMT.TLEN + EgtIf( EMT.HEAD == 'H1', MillOffs, abs( SawOffs))
local LenRef = MillOffs
vtE = Vector3d( EMT.EXTR) * Len - Z_AX() * LenRef
elseif EMT.HEAD == 'H3' then
local LenAux = ( EMT.TDIST or ChSawLen) + MillOffs
local LenRef = MillOffs
local vtAux = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2, EMT.R3)
vtE = vtAux * LenAux - Z_AX() * LenRef
elseif EMT.HEAD == 'H5' then
local Len = EMT.TLEN + AngTr1Len
local LenAux = MillOffs + AngTr1Offs
local LenRef = MillOffs
local vtAux = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2)
vtE = Vector3d( EMT.EXTR) * Len + vtAux * LenAux - Z_AX() * LenRef
else
EmtSetLastError( 1211, 'Head not allowed ' .. EMT.HEAD)
end
EMT.L1 = EMT.L1 - vtE:getX()
EMT.L2 = EMT.L2 - DeltaTabY - vtE:getY()
EMT.L3 = EMT.L3 - DeltaTabZ - vtE:getZ()
end
if EMT.X_OFF then EMT.L1 = EMT.L1 + EMT.X_OFF end
EmtAdjustLinearAxes()
EMT.L1o = MyL1o
EMT.L2o = MyL2o
EMT.L3o = MyL3o
if not EMT.REFLOC then
EMT.L2 = -EMT.L2
EMT.L1t = 'Y'
EMT.L2t = 'X'
else
EMT.L1t = 'X'
EMT.L2t = 'Y'
end
end
---------------------------------------------------------------------
function AdjustToolKinematic()
if EMT.HEAD == 'H1' or EMT.HEAD == 'H3' then
return '01'
elseif EMT.HEAD == 'H2' then
return '02'
elseif EMT.HEAD == 'H5' then
return EgtIf( EMT.EXIT == 1, '11', '12')
elseif EMT.HEAD == 'H6' then
return EgtIf( EMT.EXIT == 1, '21', '22')
else
EmtSetLastError( 1211, 'Head not allowed ' .. EMT.HEAD)
end
end
---------------------------------------------------------------------
function AdjustTcPos( bLen3)
local sPos = EMT.TCPOS:gsub( 'T', '')
if sPos == '91' then
if EMT.EXIT == 2 then
sPos = '92'
end
elseif sPos == '93' then
if EMT.EXIT == 2 then
sPos = '94'
end
elseif sPos == '101' and EMT.HEAD == 'H3' then
if abs( EMT.R3 - 0) < 0.1 then
sPos = '101'
elseif abs( EMT.R3 - 270) < 0.1 then
sPos = '102'
elseif abs( EMT.R3 - 180) < 0.1 then
sPos = '103'
elseif abs( EMT.R3 - 90) < 0.1 then
sPos = '104'
else
EmtSetLastError( 1210, 'Chain saw orientation not allowed')
end
elseif sPos == '111' and EMT.HEAD == 'H3' then
if abs( EMT.R3 - 0) < 0.1 then
sPos = '111'
elseif abs( EMT.R3 - 270) < 0.1 then
sPos = '112'
elseif abs( EMT.R3 - 180) < 0.1 then
sPos = '113'
elseif abs( EMT.R3 - 90) < 0.1 then
sPos = '114'
else
EmtSetLastError( 1210, 'Mortiser orientation not allowed')
end
end
if bLen3 then
if #sPos == 1 then
sPos = '00' .. sPos
elseif #sPos == 2 then
sPos = '0' .. sPos
end
end
-- salvo posizione
EMT.PREVTCPOS = sPos
return sPos
end
---------------------------------------------------------------------
function CalcInterpPlane()
-- origine del piano
local xS = EMT.START[1] + LoadT
if EMT.X_OFF then xS = xS + EMT.X_OFF end
local ptS = Point3d( xS, 0, 0)
-- calcolo per piano generico
local vtE
if EMT.HEAD ~= 'H3' then
vtE = Vector3d( EMT.EXTR)
else
vtE = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2, EMT.R3)
end
EMT.IPLGLFR = Frame3d( ptS, vtE)
--EmtOutput( 'IPLGLFR='..tostring(EMT.IPLGLFR))
local vtX = EMT.IPLGLFR:getVersX()
local vtY = EMT.IPLGLFR:getVersY()
local vtZ = EMT.IPLGLFR:getVersZ()
EMT.IPLGLSTR = ' X0 Y' .. EmtLenToString( xS, EMT.DECNUM) .. ' Z0' ..
' A' .. EgtNumToString( - vtX:getY(), 6) .. ' B' .. EgtNumToString( vtX:getX(), 6) .. ' C' .. EgtNumToString( vtX:getZ(), 6) ..
' I' .. EgtNumToString( - vtY:getY(), 6) .. ' J' .. EgtNumToString( vtY:getX(), 6) .. ' K' .. EgtNumToString( vtY:getZ(), 6) ..
' P' .. EgtNumToString( - vtZ:getY(), 6) .. ' Q' .. EgtNumToString( vtZ:getX(), 6) .. ' R' .. EgtNumToString( vtZ:getZ(), 6)
EMT.IPLGL = true
end
---------------------------------------------------------------------
function VerifyEmitRotation()
-- recupero le rotazioni delle fasi corrente e precedente
local nRot = GetPhaseRot( EMT.PHASE)
local nPrevRot = GetPhaseRot( EMT.PHASE - 1)
-- se sono uguali non devo fare alcunchè
if nRot == nPrevRot then
return false
end
-- rotazione automatica o manuale (sempre con il medesimo comando)
local nDeltaRot = nRot - nPrevRot
local sOut = 'M180 P1=' .. tostring( nDeltaRot)
EmtOutput( sOut)
return true
end
---------------------------------------------------------------------
function GetFaceCode()
if EMT.YDELTA and EMT.VDELTA then
return '3'
elseif EMT.YDELTA then
return '6'
else
return '5'
end
end
---------------------------------------------------------------------
function EmitZmax( bReset)
if bReset then
EmtOutput( 'G27')
EmtOutput( 'M6 T000000')
EmtOutput( 'M99')
end
EmtOutput( 'M116')
end
---------------------------------------------------------------------
function GetFmaxClamp()
return EmtLenToString( EMT.FMAXPINZE / 1000, 0)
end
---------------------------------------------------------------------
function FindM111P4EQ76( vStr)
for i = 1, #vStr do
if vStr[i]:find( 'M111', 1, true) and vStr[i]:find( 'P4=76', 1, true) then
return true
end
end
return false
end
---------------------------------------------------------------------
local ParkedLines = {}
---------------------------------------------------------------------
function ParkLine( sLine)
table.insert( ParkedLines, sLine)
end
---------------------------------------------------------------------
function EmitParkedLines()
for i = 1, #ParkedLines do
EmtOutput( ParkedLines[i])
end
ParkedLines = {}
end
---------------------------------------------------------------------
local StartValues = {}
---------------------------------------------------------------------
function SetStartValue( nI, dVal)
StartValues[nI] = dVal
end
---------------------------------------------------------------------
function EmitStartValues()
local sLine = ''
for i = 1, 10 do
sLine = sLine .. string.format( ';V%02d=', i) .. EgtNumToString( StartValues[i] or 0, 3)
end
EmtOutput( sLine)
end
---------------------------------------------------------------------
-- *** END GENERATION ***
---------------------------------------------------------------------
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