Egalware/essetre-onerl
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essetre-onerl/Common_ONE-PF.NUM.mlpe
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andrea.villa b95d7bbb55 Allineamento con common ver. 3.1c1
2026-03-04 10:34:34 +01:00

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-- Processore standard macchine ONE e PF by EgalWare s.r.l. 2023/11/24
-- Con controllo numerico NUM
-- Carico libreria
local BD = require( 'BeamData')
-- 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EmtSetLastError( 1200, 'A newer version of the program is required (minimum EgtMachKernel '..MIN_MACH_VER..')')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.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 = EgtClamp( MaxFeedPinze or 102000, 20000, 102000) -- feed massima pinze
EMT.MAXACC = MaxAcc or ( EMT.FMAXPINZE / ( 60 * 0.3)) -- accelerazione massima pinze
EMT.MINACC = MinAcc or ( EMT.FMAXPINZE / ( 60 * 4)) -- accelerazione minima pinze
-- utensili default
EMT.PREVTCPOS_H1 = DefTcPos1
EMT.PREVTCPOS_H2 = DefTcPos2
end
---------------------------------------------------------------------
function OnEnd()
-- Ripristino fase iniziale come corrente
EgtSetCurrPhase( 1)
end
---------------------------------------------------------------------
function OnProgramStart()
-- Intestazioni
local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
local nPattId = EgtGetInfo( BtlInfoId, 'PATTID', 'i') or 40
EmtOutput( '%' .. EgtNumToString( nPattId,-1))
-- 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
if EMT.INFO then
EmtOutput( sPrefixCommentLine..'('..EMT.INFO..')')
else
EmtOutput( '(Program Start)')
end
EmtOutput( sPrefixCommentLine..'('.. CSP_INFO..')')
EmtOutput( sPrefixCommentLine..'('.. MACHINE_INFO..')\n')
EmtOutput( '(HEADER)')
-- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
if TEST_USE then
EmitTestProgramStart()
end
-- Dichiaro inizio
EMT.FIRST = true
-- Dichiaro cabine con rulli in posizione di parcheggio
EMT.V1POS = ParkV1
EMT.V2POS = ParkV2
end
---------------------------------------------------------------------
function OnProgramEnd()
-- Arresto mandrino
--EmtOutput( 'M05')
-- Emissione scarico
for i = 1, #EMT.MDCHAR do
EmitMoveDataChars( EMT.MDCHAR[i])
end
if #EMT.MDCHAR > 0 then
if EMT.AUXTYPE == 'S' then
EmitMoveStartChars( 1)
EmitMoveWaitChars( 1)
elseif EMT.AUXTYPE == 'R' then
--EmitMoveDataChars( { Y1=ParkY1, Y2=ParkY2, V1=ParkV1, V2=ParkV2, BeamVise=0, MoveType=3, F=GetFmaxClamp()})
EmitMoveStartChars( 3)
EmitMoveWaitChars( 3)
elseif EMT.AUXTYPE == 'U' then
EmitMoveStartChars( EgtIf( EMT.CHY_ON, 3, 2))
EmitMoveWaitChars( EgtIf( EMT.CHY_ON, 3, 2), EMT.CHY_ON or TEST_USE)
-- emissione conclusione pezzo precedente
if not TEST_USE and EMT.PRODID then
local sOut = 'G156 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
EmtOutput( sOut)
end
end
end
EMT.MDCHAR = {}
EMT.AUXTYPE = nil
EMT.UNL = nil
EMT.PREROT = nil
EMT.SPLITROT = nil
EMT.CHY_ON = nil
EMT.FALL = nil
EMT.SPECSPLIT = nil
EMT.RELOAD = nil
EMT.RELOAD2 = nil
EmtOutput( '(FOOTER)')
-- Se modalità test, termino il programma
if TEST_USE then
EmtOutput( 'M02')
end
end
---------------------------------------------------------------------
function OnToolData()
-- emissione dati sega a catena
if EMT.HEAD == 'H13' then
if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
local sOut = 'L1='..EgtNumToString( EMT.SMAX, 0)..' L2='..EmtLenToString( EMT.TDIST or ChSawLen, 1)
sOut = sOut .. EgtIf( EMT.TCPOS == 'T101', ' G76H9998.2N401N404', ' G76H9998.2N501N504')
EmtOutput( '('..sOut..')')
-- emissione dati sega a catena o mortasatrice
elseif EMT.HEAD == 'H15' or EMT.HEAD == 'H23' then
if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
local sOut = 'L1='..EgtNumToString( EMT.SMAX, 0)..' L2='..EmtLenToString( EMT.TDIST or ChSawLen, 1)
sOut = sOut .. EgtIf( EMT.TCPOS == 'T111', ' G76H9998.2N411N414', ' G76H9998.2N511N514')
EmtOutput( '('..sOut..')')
-- emissione dati aggregato BlockHaus
elseif EMT.HEAD == 'H17' then
sPos = EgtIf( #EMT.TCPOS == 2, EMT.TCPOS:gsub( 'T', 'N30'), EMT.TCPOS:gsub( 'T', 'N3'))
local sOut = 'L1='..EgtNumToString( EMT.SMAX, 0)..' L2='..EmtLenToString( ( AngTrBHOffs), 1)..' G76H9998.2'..sPos..sPos
EmtOutput( '('..sOut..')')
-- emissione dati utensile (esclusa sega a catena)
else
-- output info
local dAddLen = 0
if EMT.HEAD == 'H12' then
dAddLen = -SawOffsZ
elseif EMT.HEAD == 'H22' then
dAddLen = -Saw2OffsZ
end
local sPos
if EMT.TCPOS == 'T201' then
sPos = 'N411'
else
sPos = EgtIf( #EMT.TCPOS == 2, EMT.TCPOS:gsub( 'T', 'N30'), EMT.TCPOS:gsub( 'T', 'N3'))
end
local sOut = 'L1='..EgtNumToString( EMT.SMAX, 0)..' L2='..EmtLenToString( dAddLen + EMT.TTOTLEN, 1)..' G76H9998.2'..sPos..sPos
EmtOutput( '('..sOut..')')
end
end
---------------------------------------------------------------------
function OnDispositionStart()
--EmtOutput( '(Disposition '..EMT.DISPIND..' = '..EMT.DISPID..')')
EMT.OPEISDISP = true
-- Assegnazione parametri disposizione
EMT.TPOS = EgtGetInfo( EMT.DISPID, 'TPOS', 'd') or EMT.TPOS
EMT.Y1POS = EgtGetInfo( EMT.DISPID, 'Y1POS', 'd')
-- Se prima disposizione
if EMT.PHASE == 1 then
-- variabile appoggio perchè se non definita non posso trasformarla negativa
local nAppoDelta2TabY
if EgtGetHeadId( 'H21') and Delta2TabY then
nAppoDelta2TabY = -Delta2TabY
else
nAppoDelta2TabY = 0
end
-- emissione dati di macchina
local sOut = 'G154'..' EA'..EmtLenToString( LoadT, 2)..' EB'..EmtLenToString( MinMchY1, 2)..' EC'..EmtLenToString( MaxY1, 2)..
' ED'..EmtLenToString( MinY2, 2)..' EE'..EmtLenToString( MaxMchY2, 2)..' EF'..EmtLenToString( MillOffs, 2)..
' EG'..EmtLenToString( EgtIf( EgtGetHeadId( 'H21'), Mill2Offs, 0), 2)..' EH'..EmtLenToString( ParkMchY1, 2)..' EI'..EmtLenToString( ParkMchY2, 2)..
' EJ'..EmtLenToString( TurnerOffs, 2)..' EK'..EmtLenToString( MinV1, 2)..' EL'..EmtLenToString( MaxV1, 2)..
' EM'..EmtLenToString( MinV2, 2)..' EN'..EmtLenToString( MaxV2, 2)..
' EO'..EmtLenToString( -DeltaTabY, 2)..' EP'..EmtLenToString( DeltaTabZ, 2)..
' EQ'..EmtLenToString( nAppoDelta2TabY, 2)..' ER'..EmtLenToString( EgtIf( EgtGetHeadId( 'H21'), Delta2TabZ, 0), 2)
EmtOutput( '\n' .. sOut .. '\n')
-- carico barra
EMT.LOAD = true
else
EMT.LOAD = false
if IsEnd2Phase( EMT.PHASE - 1) then
EMT.RELOAD = true
EMT.RELOAD2 = false
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
local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
-- dati del grezzo
local LBarra = EMT.LB
local HBarra = EMT.HB
local SBarra = EMT.SB
-- 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 AccPinze, AccMaxPinze, RidFeed = CalcDinamicaPinze( HTrave, STrave, LBarra)
if IdTrave >= 0 then
local sOut = '( SN='..IdTrave..' LBarra='..EmtLenToString( LBarra, 3)..' L='..EmtLenToString( LTrave, 3)..
' H='..EmtLenToString( HTrave, 3)..' S='..EmtLenToString( STrave, 3)..' Acc='..EgtNumToString( AccPinze, 0)..' AccMax='..EgtNumToString( AccMaxPinze, 0)..
' RidFeed='..EgtNumToString( RidFeed, 0)..' FeedMax='..EgtNumToString( EMT.FMAXPINZE / 100 * RidFeed, 3)..' )'
MyOutputNoNum( sOut)
-- parametri dinamici carrelli
sOut = 'G155 EA' .. EgtNumToString( AccPinze, 0) .. ' EB' .. EgtNumToString( AccMaxPinze, 0) ..
' EC' .. EgtNumToString( AccPinze, 0) .. ' ED' .. EgtNumToString( AccMaxPinze, 0) ..
' EE' .. EgtNumToString( AccPinze, 0) ..
' EF' .. EgtNumToString( RidFeed, 0) .. ' EG' .. EgtNumToString( RidFeed, 0) .. ' EH1 EI1' ..
' EL' .. EmtLenToString( LBarra, 3) .. ' EM' .. EmtLenToString( HTrave, 3) ..
' EN' .. EmtLenToString( STrave, 3) .. ' EO' .. EmtLenToString( LTrave, 3) ..
' EP' .. EmtLenToString( HOverM, 3)
EmtOutput( sOut)
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
-- se modalità produzione
if not TEST_USE then
-- emissione inizio lavorazione pezzo
local sOut = 'G156 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED1'
EmtOutput( sOut)
-- salto per ottimizzazione carico
if EMT.LOAD and OptimizedLoadBeam then
if NumericalControl == 'NUM' then
EmtOutput( 'G79 E80050<>0 N4 E10015=0')
else -- NUM_FLEX
EmtOutput( 'G79 E80060<>0 N4 E10015=0')
end
end
end
else
MyOutputNoNum( '(REMAIN UNLOAD)')
-- parametri dinamici carrelli
sOut = 'G155 EA' .. EgtNumToString( AccPinze, 0) .. ' EB' .. EgtNumToString( AccMaxPinze, 0) ..
' EC' .. EgtNumToString( AccPinze, 0) .. ' ED' .. EgtNumToString( AccMaxPinze, 0) ..
' EE' .. EgtNumToString( AccPinze, 0) ..
' EF' .. EgtNumToString( RidFeed, 0) .. ' EG' .. EgtNumToString( RidFeed, 0) .. ' EH1 EI1' ..
' EL' .. EmtLenToString( LBarra, 3) .. ' EM' .. EmtLenToString( HTrave, 3) ..
' EN' .. EmtLenToString( STrave, 3) .. ' EO' .. EmtLenToString( LBarra, 3) ..
' EP' .. EmtLenToString( 0, 3)
EmtOutput( sOut)
EMT.PRODID = nil
EMT.PATTID = nil
EMT.CUTID = nil
end
-- se carico barra
if EMT.LOAD then
-- ora abilito numerazione linee
EMT.NUM = true
EMT.LINENBR = 0
-- se altrimenti ricarico barra dopo rotazione speciale
elseif EMT.RELOAD then
;
-- altrimenti recupero rimanenza
else
-- determino la quota di parcheggio della trave
local ParkT = GetParkT()
-- aggiorno dati aggancio carrelli alla trave
EMT.Y1DELTA = EMT.Y1POS - ParkT
EMT.Y2DELTA = nil
if not EMT.Y1DELTA then EMT.V1NEXTPOS = ParkV1 end
-- emetto comando posizione trave
EmitBeamHeadData( { T=ParkT, Y1=EMT.Y1POS, SetHead=1, IniStatV1=3, IniStatV2=3})
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.MDCHAR > 0 then
EmtOutput( '(ROTATION)')
end
for i = 1, #EMT.MDCHAR do
EmitMoveDataChars( EMT.MDCHAR[i])
end
if #EMT.MDCHAR > 0 then
EmitMoveStartChars( 1)
EmitMoveStartChars( 2)
end
EMT.MDCHAR = {}
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
if #EMT.MDCHAR > 0 then
MyOutputNoNum( '(PART UNLOAD)')
-- movimento intermedio di apertura pinza-rulli per evitare di trovare delle collisioni
EmitParkRoller( EMT.TPOS, false, false)
for i = 1, #EMT.MDCHAR do
EmitMoveDataChars( EMT.MDCHAR[i])
if EMT.MDCHAR[i].V1 then EMT.V1POS = EMT.MDCHAR[i].V1 end
if EMT.MDCHAR[i].V2 then EMT.V2POS = EMT.MDCHAR[i].V2 end
end
EmitMoveStartChars( 2)
-- se dopo c'è scarico spezzone devo mettere attesa termine esecuzione
if IsRestPhase( EMT.PHASE + 1) then
EmitMoveWaitChars( 2)
else
EmitMoveWaitChars( 2, TEST_USE)
end
-- emissione conclusione pezzo precedente
if not TEST_USE and EMT.PRODID then
local sOut = 'G156 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
EmtOutput( sOut)
end
elseif EMT.SPECUNLOADING then
EmtOutput( '(PART SPEC UNLOADING)')
local dAbsHeadPos = EMT.L1pp or EMT.L1
EmitBeamHeadData( { T=dAbsHeadPos, Pz5=2})
EMT.SPECUNLOADING = nil
EMT.W2DELTA = nil
-- emissione conclusione pezzo precedente
if not TEST_USE and EMT.PRODID then
local sOut = 'G156 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
EmtOutput( sOut)
end
end
EMT.MDCHAR = {}
EMT.AUXTYPE = 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
EMT.HB = 0
EMT.SB = 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
local HBarra = b3Raw:getDimY()
EMT.HB = max( EMT.HB, HBarra)
local SBarra = b3Raw:getDimZ()
EMT.SB = max( EMT.SB, SBarra)
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
EMT.XMINT = b3Part:getMin():getX()
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
EMT.TUSERNOTES = EgtTdbGetCurrToolParam( MCH_TP.USERNOTES)
end
end
---------------------------------------------------------------------
function OnToolDeselect()
EMT.REFLOC = nil
EMT.IPLGL = false
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)
EMT.MCHSPLIT = ( EMT.MCHUSERNOTES:find( 'Split;', 1, true) ~= nil)
EMT.MCHPRECUT = ( EMT.MCHUSERNOTES:find( 'Precut;', 1, true) ~= nil)
EMT.MCHCUT = ( EMT.MCHUSERNOTES:find( 'Cut;', 1, true) ~= nil)
-- se sega a catena, aggiusto subito angolo scelto per asse virtuale A
if EMT.HEAD == 'H13' or EMT.HEAD == 'H15' then
-- valore dell'asse virtuale
dPosA = GetCurrChainSawingVirtualAxis()
-- imposto home dell'asse C1 (A=0 -> T101, A=-90 -> T104)
local MyParkCSawC1 = GetChainSawCHomeFromVirtualAxis( dPosA)
EmtModifyAxisHome( 'C1', MyParkCSawC1)
elseif EMT.HEAD == 'H23' then
-- valore dell'asse virtuale
dPosA = GetCurrChainSawingVirtualAxis()
-- imposto home dell'asse C2 (A=0 -> T111, A=-90 -> T112)
local MyParkCSawC2 = GetChainSawCHomeFromVirtualAxis( dPosA)
EmtModifyAxisHome( 'C2', MyParkCSawC2)
end
-- gestione eventuale lavorazione in doppio
local nDouType = EgtGetValInNotes( EMT.MCHUSERNOTES, 'DOUBLE', 'i')
if nDouType == 2 or nDouType == 3 then
local sDouTool = EgtGetValInNotes( EMT.MCHUSERNOTES, 'TOOLDOUBLE', 's') or EgtGetValInNotes( EMT.TUSERNOTES, 'DOUBLE', 's') or ''
local sOldTool = EgtTdbGetCurrToolParam( MCH_TP.NAME)
if EgtTdbSetCurrTool( sDouTool) and EgtTdbGetCurrToolParam( MCH_TP.ACTIVE) then
-- salvo dati
EMT.DOU_TLEN = EgtTdbGetCurrToolParam( MCH_TP.LEN)
EMT.DOU_TYPE = nDouType
EMT.DOU_TOOL = sDouTool
EMT.DOU_HEAD = 'H21'
EMT.DOU_EXIT = 1
EMT.DOU_TPOS = AdjustTcPos( false, EgtTdbGetCurrToolParam( MCH_TP.TCPOS))
EMT.DOU_SPEED = EgtTdbGetCurrToolParam( MCH_TP.SPEED)
-- imposto correttamente i dati della testa 2
local OrigEMC = EMC
EMC = { HEAD = EMT.DOU_HEAD, TOTDIAM = EgtTdbGetCurrToolParam( MCH_TP.TOTDIAM)}
OnSetHead()
EMC = OrigEMC
-- non va in sicurezza testa in doppio
EMT.DOU_TO_ZMAX = nil
else
EmtSetLastError( 1211, 'Missing or not active double tool of '..sOldTool)
end
EgtTdbSetCurrTool( sOldTool)
end
-- se testa in doppio ancora da rimettere in sicurezza
if EMT.DOU_TO_ZMAX then
local dPosT = EMT.TPOS or EMT.L1op
EmitParkRoller( dPosT, false)
EmitDouZMax()
EMT.REFLOC = nil
end
end
---------------------------------------------------------------------
function OnMachiningEnd()
--EmtOutput( ';Mach End')
if #EMT.MDCHAR > 0 then
-- Emissione split
if EMT.AUXTYPE == 'S' then
EmtOutput( '(PART SPLIT)')
local AccPinz1, AccMaxPinz1, RidFeed1 = CalcDinamicaPinze( EMT.HT, EMT.ST, EMT.LB - EMT.LT)
local AccPinz2, AccMaxPinz2, RidFeed2 = CalcDinamicaPinze( EMT.HT, EMT.ST, EMT.LT)
-- parametri dinamici carrelli
local sOut = 'G155 EA' .. EgtNumToString( AccPinz1, 0) .. ' EB' .. EgtNumToString( AccMaxPinz1, 0) ..
' EC' .. EgtNumToString( AccPinz2, 0) .. ' ED' .. EgtNumToString( AccMaxPinz2, 0) ..
' EE' .. EgtNumToString( AccPinz2, 0) ..
' EF' .. EgtNumToString( RidFeed1, 0) .. ' EG' .. EgtNumToString( RidFeed2, 0) .. ' EH1 EI1' ..
' EL' .. EmtLenToString( EMT.LB - EMT.LT, 3) .. ' EM' .. EmtLenToString( EMT.HT, 3) ..
' EN' .. EmtLenToString( EMT.ST, 3) .. ' EO' .. EmtLenToString( EMT.LT, 3) ..
' EP' .. EmtLenToString( 0, 3)
EmtOutput( sOut)
EMT.LB = EMT.LT
elseif EMT.AUXTYPE == 'U' then
EmtOutput( '(PART UNLOAD)')
-- movimento intermedio di apertura pinza-rulli per evitare di trovare delle collisioni
EmitParkRoller( EMT.TPOS, false, false)
EMT.V1POS = EMT.V1NEXTPOS
EMT.V2POS = EMT.V2NEXTPOS
elseif EMT.AUXTYPE == 'P' then
if EMT.PREROT then
if not EMT.ZMAX then
EmitZmax( false, true, true, EMT.R1, EMT.R2, false, ( #EMT.MDCHAR > 0))
EMT.ZMAX = true
EMT.TO_ZMAX = nil
else
EmitXhome()
end
EMT.TO_XHOME = nil
EmtOutput( '(PART ROTATION)')
elseif EMT.FALL then
if EMT.TO_ZMAX and not EMT.ZMAX then
EmitZmax( false, true, true, EMT.R1, EMT.R2, false, ( #EMT.MDCHAR > 0))
EMT.ZMAX = true
EMT.TO_ZMAX = nil
EMT.TO_XHOME = nil
end
EmtOutput( '(PART FALL)')
elseif EMT.SPECSPLIT then
if EMT.TO_ZMAX and not EMT.ZMAX then
EmitZmax( false, true, true, EMT.R1, EMT.R2, false, ( #EMT.MDCHAR > 0))
EMT.ZMAX = true
EMT.TO_ZMAX = nil
EMT.TO_XHOME = nil
end
EmtOutput( '(PART SPEC SPLIT)')
else
EmtOutput( '(PART SPLIT 2)')
local AccPinz1, AccMaxPinz1, RidFeed1 = CalcDinamicaPinze( EMT.HT, EMT.ST, EMT.LB - EMT.LT)
local AccPinz2, AccMaxPinz2, RidFeed2 = CalcDinamicaPinze( EMT.HT, EMT.ST, EMT.LT)
-- parametri dinamici carrelli
local sOut = 'G155 EA' .. EgtNumToString( AccPinz1, 0) .. ' EB' .. EgtNumToString( AccMaxPinz1, 0) ..
' EC' .. EgtNumToString( AccPinz2, 0) .. ' ED' .. EgtNumToString( AccMaxPinz2, 0) ..
' EE' .. EgtNumToString( AccPinz2, 0) ..
' EF' .. EgtNumToString( RidFeed1, 0) .. ' EG' .. EgtNumToString( RidFeed2, 0) .. ' EH1 EI1' ..
' EL' .. EmtLenToString( EMT.LB, 3) .. ' EM' .. EmtLenToString( EMT.HT, 3) ..
' EN' .. EmtLenToString( EMT.ST, 3) .. ' EO' .. EmtLenToString( EMT.LT, 3) ..
' EP' .. EmtLenToString( 0, 3)
EmtOutput( sOut)
EMT.LB = EMT.LT
end
end
-- forzo reset piano locale
EMT.REFLOC = nil
EMT.IPLGL = false
end
for i = 1, #EMT.MDCHAR do
EmitMoveDataChars( EMT.MDCHAR[i])
if EMT.MDCHAR[i].V1 then EMT.V1POS = EMT.MDCHAR[i].V1 end
if EMT.MDCHAR[i].V2 then EMT.V2POS = EMT.MDCHAR[i].V2 end
end
if #EMT.MDCHAR > 0 then
if EMT.AUXTYPE == 'S' then
EmitMoveStartChars( 1)
EmitMoveWaitChars( 1)
elseif EMT.AUXTYPE == 'U' then
local nMoveType = EgtIf( EMT.CHY_ON, 3, 2)
EmitMoveStartChars( nMoveType)
-- se dopo cè scarico spezzone devo mettere attesa termine esecuzione
if IsRestPhase( EMT.PHASE + 1) then
EmitMoveWaitChars( nMoveType)
else
EmitMoveWaitChars( nMoveType, EMT.CHY_ON or TEST_USE)
end
-- emissione conclusione pezzo precedente (se non in modalità test)
if not TEST_USE and EMT.PRODID then
local sOut = 'G156 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
EmtOutput( sOut)
end
elseif EMT.AUXTYPE == 'P' then
EmitMoveStartChars( 3)
EmitMoveWaitChars( 3)
if EMT.FALL then
EmtOutput( 'G157 EB1')
-- emissione conclusione pezzo (se non in modalità test)
if not TEST_USE and EMT.PRODID then
local sOut = 'G156 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
EmtOutput( sOut)
end
elseif not EMT.PREROT then
EmtOutput( '(M77)')
end
end
end
if EMT.SPECUNLOADING then
EmtOutput( '(PART SPEC UNLOADING)')
EmitBeamHeadData( { T=EMT.L1, Pz5=2})
EMT.SPECUNLOADING = nil
EMT.W2DELTA = nil
-- emissione conclusione pezzo (se non in modalità test)
if not TEST_USE and EMT.PRODID then
local sOut = 'G156 EA'..tostring( EMT.PRODID)..' EB'..tostring( EMT.PATTID)..' EC'..tostring( EMT.CUTID)..' ED2'
EmtOutput( sOut)
end
end
EMT.MDCHAR = {}
EMT.AUXTYPE = nil
EMT.TO_ZMAX = nil
EMT.TO_XHOME = nil
EMT.PREVTOOL = EMT.TOOL
EMT.PREVHEAD = EMT.HEAD
EMT.PREVTCPOS = EMT.TCPOS
-- se taglio finale, aggiorno lunghezza barra
if EMT.MCHCUT then
EMT.LB = EMT.LT + ( EMT.X_OFF or 0)
end
-- salvo anche utlimo utensile su testa
local nHSet = GetHeadSet( EMT.HEAD)
if nHSet == 1 then
EMT.PREVTOOL_H1 = EMT.TOOL
EMT.PREVHEAD_H1 = EMT.HEAD
EMT.PREVTCPOS_H1 = EMT.TCPOS
EMT.PREVHOMEX_H1 = EgtGetAxisHomePos( 'X1')
EMT.PREVHOMEB_H1 = EgtGetAxisHomePos( 'B1')
EMT.PREVHOMEC_H1 = EgtGetAxisHomePos( 'C1')
elseif nHSet == 2 then
EMT.PREVTOOL_H2 = EMT.TOOL
EMT.PREVHEAD_H2 = EMT.HEAD
EMT.PREVTCPOS_H2 = EMT.TCPOS
EMT.PREVHOMEX_H2 = EgtGetAxisHomePos( 'X2')
EMT.PREVHOMEB_H2 = EgtGetAxisHomePos( 'B2')
EMT.PREVHOMEC_H2 = EgtGetAxisHomePos( 'C2')
end
if EMT.DOU_TYPE and not EMT.ZMAX then EMT.DOU_TO_ZMAX = true end
EMT.DOU_TYPE = nil
end
---------------------------------------------------------------------
function OnPathStart()
-- non ancora iniziata la lavorazione
EMT.MCHFIRST = true
EMT.MCHFIRSTFEED = true
-- se piano locale compatibile
local vtExtr = Vector3d( EMT.EXTR)
if EMT.REFLOC == 1 and AreSameVectorApprox( vtExtr, EMT.IPLGLFR:getVersZ()) then
;
-- altrimenti primo posizionamento sempre in globale
else
EMT.REFLOC = nil
EMT.IPLGL = false
end
-- leggo se ancora presa iniziale carrello
--EMT.CNT = EgtGetInfo( EMT.PATHID, 'CNT', 'i')
--EmtOutput( 'CNT='.. tostring( EMT.CNT or 0))
-- se taglio di separazione, verifico se ci sarà caduta
if EMT.MCHSPLIT then
local sCmd = EgtGetInfo( EMT.PATHID, 'AE1') or ''
if sCmd:find( 'Fall', 1, true) then
EMT.TO_FALL = true
elseif sCmd:find( 'SpecSplit', 1, true) then
EMT.TO_SPECSPLIT = true
end
end
-- se taglio di precut verifico quanto è più lungo il grezzo rispetto al pezzo (non tiene conto dell'ultimo cubetto)
EMT.DELTA_LT = 0
if EMT.MCHPRECUT then
local dCosA = sqrt( max( 1 - EMT.EXTR[1] * EMT.EXTR[1], 0))
EMT.DELTA_LT = max( EMT.XMINT - Point3d( EMT.MMAX):getX() - dCosA * EMT.TDIAM / 2, 0)
end
-- se utensile non cambiato, salvo eventuali precedenti lineari e rotanti
if EMT.TOOL == EMT.PREVTOOL and not EMT.ZMAX then
EMT.L1pp = EMT.L1op
EMT.L2pp = EMT.L2op
EMT.L3pp = EMT.L3op or EMT.L3pp
EMT.R1pp = EMT.R1p or EMT.R1pp
EMT.R2pp = EMT.R2p or EMT.R2pp
else
EMT.L1pp = nil
EMT.L2pp = nil
EMT.L3pp = nil
EMT.R1pp = nil
EMT.R2pp = nil
end
-- reset valori precedenti (per forzare emissione di tutti gli assi del 1° movimento)
EmtResetPrev()
EMT.AUXCMD = {}
EMT.MDCHAR = {}
end
---------------------------------------------------------------------
function OnPathEnd()
if not EMT.ZMAX then
EmitResetMachining()
end
-- salvo dati precedenti
EMT.L2pp = EMT.L2o
EMT.AUXTYPE = nil
EMT.UNL = nil
EMT.PREROT = nil
EMT.SPLITROT = nil
EMT.CHY_ON = nil
EMT.FALL = nil
EMT.TO_FALL = nil
EMT.SPECSPLIT = nil
EMT.TO_SPECSPLIT = nil
EMT.MDCHAR = {}
EMT.PREVTOOL = EMT.TOOL
end
---------------------------------------------------------------------
function OnPathStartAux()
--EgtOutLog( 'OnPathStartAux - ' .. EgtNumToString( EMT.AUXIND, 0) .. ' - ' .. EMT.AUX)
-- salvo il comando per processarlo successivamente
table.insert( EMT.AUXCMD, EMT.AUX)
-- gestione speciale per richiesta di movimento a ZMAX
local Cmd = EgtSplitString( EMT.AUX)
if Cmd[1] == '4' then
EMT.TO_ZMAX = true
if Cmd[2] == '1' then
EMT.TO_XHOME = true
end
end
end
---------------------------------------------------------------------
function ProcessPathStartAux( sCmd, nInd)
-- se richiesto, preparo il carico barra
if EMT.LOAD or EMT.RELOAD then
PrepareLoad( sCmd, nInd, true)
-- se altrimenti carico dopo rotazione
elseif EMT.POSTROT then
PreparePostRotation( sCmd, nInd)
-- altrimenti, preparo lo spostamento carrelli
else
PrepareMoveChar( sCmd, nInd)
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 Cmd[1] == '0' and Cmd[2] == 'Unloading SpecSplit' then
EMT.AUXTYPE = 'P'
EMT.SPECUNLOADING = true
else
EMT.AUXTYPE = 'R'
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
elseif Cmd[1] == '0' and Cmd[2] == 'SpecSplit' then
EMT.SPECSPLIT = true
elseif Cmd[1] == '0' and Cmd[2] == 'Unloading SpecSplit' then
EMT.SPECUNLOADING = 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, EMT.AUXIND, false)
-- per lo scarico della rimanenza
else
PrepareResidue( EMT.AUX, EMT.AUXIND)
end
elseif EMT.AUXTYPE == 'S' then
-- per lo split
PrepareSplit( EMT.AUX, EMT.AUXIND)
elseif EMT.AUXTYPE == 'U' then
-- per lo scarico
PrepareUnload( EMT.AUX, EMT.AUXIND)
elseif EMT.AUXTYPE == 'P' then
-- per la pre-rotazione
PreparePreRotation( EMT.AUX, EMT.AUXIND)
end
end
---------------------------------------------------------------------
function OnRapid()
-- gruppo della testa
local nHSet = GetHeadSet( EMT.HEAD)
-- se primo movimento della lavorazione, gestione speciale
if EMT.MCHFIRST and not EMT.OPEISDISP and ( EMT.REFLOC ~= 1 or GetDiffRotAxAtStart( EMT.R1, EMT.R2) or GetMovesInAuxCmd( EMT.AUXCMD)) then
EMT.REFLOC = nil
EMT.IPLGL = false
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
local HomeR1 = EgtGetAxisHomePos( EgtIf( nHSet == 1, 'C1', 'C2'))
local HomeR2 = EgtGetAxisHomePos( EgtIf( nHSet == 1, 'B1', 'B2'))
local PrevR1 = EMT.R1p or EMT.R1pp or HomeR1
local PrevR2 = EMT.R2p or EMT.R2pp or HomeR2
EmtResetPrev()
-- gestione speciale per pezzi molto alti. Se il movimento successivo è più alto del precedente, allora prendo il successivo
if EMT.L3s then
if EMT.L3s > EMT.L3 then
EMT.L3 = EMT.L3s
end
end
-- se prima lavorazione
if EMT.LOAD then
EMT.V2POS = ParkV2
-- primo posizionamento
local Speed = EMT.S * EgtIf( EMT.HEAD ~= 'H12' and EMT.HEAD ~= 'H22', 1, 1.65)
local bOnlyCharY = true
-- eventuale Movimento Pinze
for i = 1, #EMT.AUXCMD do
ProcessPathStartAux( EMT.AUXCMD[i], i)
end
EMT.AUXCMD = {}
-- se Split lascio agganciata solo la pinza Y2 alla fine dei movimenti
if EMT.MCHSPLIT and #EMT.MDCHAR > 0 and not EMT.TO_FALL and not EMT.TO_SPECSPLIT then
EMT.MDCHAR[#EMT.MDCHAR].FinStatY1 = 1
end
for i = 1, #EMT.MDCHAR do
EmitMoveDataChars( EMT.MDCHAR[i])
if EMT.MDCHAR[i].MovType ~= 1 then bOnlyCharY = false end
end
EMT.MDCHAR = {}
EmitMoveStartChars( EgtIf( bOnlyCharY, 1, 3))
sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '['), '%)', ']')
if EMT.DOU_TYPE then sOut = sOut .. ' Double' end
EmtOutput( '( *** '..sOut..' *** )')
-- se necessario allargo le cabine
if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, EMT.R1, EMT.R2) or
EMT.V1POS < EMT.V1NEXTPOS - 1 or EMT.V2POS > EMT.V2NEXTPOS + 1 then
local dPosT = EMT.TPOS or EMT.L1op
EmitParkRoller( dPosT, EMT.MCHSPLIT)
end
-- se testa 1 e CU 1
if GetHeadTCSet( EMT.HEAD, EMT.TCPOS) == 'Head1_TC1' then
-- allontanamento o eventuale preselezione successiva testa 2
if not EMT.DOU_TYPE then
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
end
-- movimento testa
local dSafeZ1 = EgtGetAxisHomePos( 'Z1')
local MyMaxZ1 = EgtGetAxisMax( 'Z1')
local HomeB1 = EgtGetAxisHomePos( 'B1')
local HomeC1 = EgtGetAxisHomePos( 'C1')
local dTRad, dTLen = GetToolRadLen()
-- se fresa o lama
if not HeadIsChainSaw( EMT.HEAD) then
EmitMoveDataHead( 1, { X=-ParkX1, Z=MyMaxZ1, B=ParkB1, C=ParkC1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
local bMoveZbeforeX = false
local dZref = EMT.L3
-- se carico destro e ho due teste, altrimenti in caso abbia una testa , tipo ONE, il controlo è invertito
if EMT.HEAD == 'H12' and ( EgtIf( BD.RIGHT_LOAD, EMT.L2 < -LimX1RotSaw, EMT.L2 > -LimX1RotSaw) or EMT.R2 < -91) then
dZref = min( dSafeZ1 + GetZExtra( EMT.HEAD, EMT.R2) - 100, MyMaxZ1)
end
-- se la quota di lavoro è più in alta della posizione a ZHOME della testa, prima si va alla Z di lavoro e poi si approccia il pezzo
if EMT.L3 > dZref then
bMoveZbeforeX = true
end
-- se vado in posizione speciale rotazione assi, poi devo ritornare alla X vera di lavoro
local dMoveXtoFinalPosition = false
local dXref = EMT.L2
if EMT.HEAD == 'H12' and EMT.L2 < -LimX1PlRotSaw then
dXref = -LimX1PlRotSaw
EmitMoveDataHead( 1, { X=dXref, Z=MyMaxZ1, B=ParkB1, C=ParkC1, S=Speed})
dZref = max( EMT.L3, dSafeZ1 + GetZExtra( EMT.HEAD, EMT.R2))
dMoveXtoFinalPosition = true
elseif not bMoveZbeforeX then
EmitMoveDataHead( 1, { X=dXref, Z=MyMaxZ1, B=ParkB1, C=ParkC1, S=Speed})
else
EmitMoveDataHead( 1, { X=-LimX1PlRotSaw, Z=MyMaxZ1, B=ParkB1, C=ParkC1, S=Speed})
dZref = max( EMT.L3, dSafeZ1 + GetZExtra( EMT.HEAD, EMT.R2))
dMoveXtoFinalPosition = true
end
-- caso speciale per trave alta con rotazione lama pericolosa (tolto "and EMT.SB > 379")
if EMT.HEAD == 'H12' and abs( PrevR1 - EMT.R1) > 1 and ( abs( HomeC1 - EMT.R1) > 30.1 or abs( HomeB1 - EMT.R2) > 30.1) then
EmitMoveDataHead( 1, { B=0, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
-- se movimento di B > di 90°, spezza il movimento in 2 arrivando alla quota Z con B+-90 e poi muove l'ultimo segmento
-- evita collisione con carro X
if EMT.R2 > 91 or EMT.R2 < -91 then
local dBref = EgtClamp( EMT.R2, -91, 91)
EmitMoveDataHead( 1, { Z=dZref, B=dBref, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
else
EmitMoveDataHead( 1, { Z=dZref, B=EMT.R2, S=Speed})
end
if bMoveZbeforeX then
EmitMoveDataHead( 1, { Z=EMT.L3, S=Speed})
end
if dMoveXtoFinalPosition then
EmitMoveDataHead( 1, { X=EMT.L2, S=Speed})
end
-- caso standard
else
EmitMoveDataHead( 1, { X=dXref, Z=dZref, B=ParkB1, C=ParkC1, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
EmitMoveDataHead( 1, { X=EMT.L2, C=EMT.R1, S=Speed})
end
-- altrimenti sega a catena
else
EmitMoveDataHead( 1, { X=-ParkCSawX1, Z=ParkCSawZ1, B=ParkCSawB1, C=ParkCSawC1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
-- se motosega configurata per lavorazioni di fianco o circa orizzontale
if dPosA == 0 or abs( EMT.R2) < 10 then
EmitMoveDataHead( 1, { X=EMT.L2, Z=ParkCSawZ1, B=ParkCSawB1, C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
-- se circa verticale
else
EmitMoveDataHead( 1, { X=EMT.L2, Z=ParkCSawZ1, B=ParkCSawB1, C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
end
end
EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 1)
-- se lavorazione in doppio
if EMT.DOU_TYPE == 2 then
local dX2 = - ( Delta2TabY - EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 - EMT.TLEN + EgtIf( BD.RIGHT_LOAD, -EMT.HB, EMT.HB)))
local dZ2 = -Head2Z + MillOffs - Mill2Offs + EMT.L3
dZ2 = max( dZ2, MaxZ2)
local dC2 = -EMT.R1
local dB2 = -EMT.R2
EmitMoveDataHead( 2, { X=dX2, Z=MaxZ2, B=ParkB2, C=ParkC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
EmitMoveDataHead( 2, { Z=dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
EmitMoveStartHead( 2)
-- aspetto esecuzione movimento testa 2
EmitMoveWaitHead( 2)
end
-- aspetto termine esecuzione movimenti testa 1
EmitMoveWaitHead( 1)
-- altrimenti testa 2
else
-- se testa 1 su CU 2
if GetHeadTCSet( EMT.HEAD, EMT.TCPOS) == 'Head1_TC2' then
-- allontanamento o eventuale preselezione successiva testa 1
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
-- movimento testa
local dSafeZ1 = EgtGetAxisHomePos( 'Z1')
local MyMaxZ1 = EgtGetAxisMax( 'Z1')
local HomeC1 = EgtGetAxisHomePos( 'C1')
local HomeB1 = EgtGetAxisHomePos( 'B1')
local dTRad, dTLen = GetToolRadLen()
-- se fresa o lama
if not HeadIsChainSaw( EMT.HEAD) then
EmitMoveDataHead( 1, { X=-ParkFrnX1, Z=MyMaxZ1, B=HomeB1, C=HomeC1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
local bMoveZbeforeX = false
local dZref = EMT.L3
if EMT.HEAD == 'H12' and ( EgtIf( BD.RIGHT_LOAD, EMT.L2 < -LimX1RotSaw, EMT.L2 > -LimX1RotSaw) or EMT.R2 > 91) then
dZref = min( dSafeZ1 + GetZExtra( EMT.HEAD, EMT.R2) - 100, MyMaxZ1)
end
-- se la quota di lavoro è più in alta della posizione a ZHOME della testa, prima si va alla Z di lavoro e poi si approccia il pezzo
if EMT.L3 > dZref then
bMoveZbeforeX = true
end
if not bMoveZbeforeX then
EmitMoveDataHead( 1, { X=EMT.L2, Z=MyMaxZ1, B=HomeB1, C=HomeC1, S=Speed})
else
EmitMoveDataHead( 1, { X=-LimX1RotSawTC2, Z=MyMaxZ1, B=HomeB1, C=HomeC1, S=Speed})
end
-- caso speciale per trave alta con rotazione lama pericolosa (tolto "and EMT.SB > 379")
if EMT.HEAD == 'H12' and abs( PrevR1 - EMT.R1) > 1 and ( abs( HomeC1 - EMT.R1) > 30.1 or abs( HomeB1 - EMT.R2) > 30.1) then
EmitMoveDataHead( 1, { B=0, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
-- se movimento di B > di 90°, spezza il movimento in 2 arrivando alla quota Z con B+-90 e poi muove l'ultimo segmento
-- evita collisione con carro X
if EMT.R2 > 91 or EMT.R2 < -91 then
local dBref = EgtClamp( EMT.R2, -91, 91)
EmitMoveDataHead( 1, { Z=dZref, B=dBref, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
else
EmitMoveDataHead( 1, { Z=dZref, B=EMT.R2, S=Speed})
end
if bMoveZbeforeX then
EmitMoveDataHead( 1, { Z=EMT.L3, S=Speed})
end
-- altrimenti caso standard
else
EmitMoveDataHead( 1, { Z=dZref, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
end
-- altrimenti sega a catena
else
EmitMoveDataHead( 1, { X=-ParkCSawX1, Z=ParkCSawZ1, B=ParkCSawB1, C=ParkCSawC1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
-- se motosega configurata per lavorazioni di fianco o circa orizzontale
if dPosA == 0 or abs( EMT.R2) < 10 then
EmitMoveDataHead( 1, { X=EMT.L2, Z=ParkCSawZ1, B=ParkCSawB1, C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
-- se circa verticale
else
EmitMoveDataHead( 1, { X=EMT.L2, Z=ParkCSawZ1, B=ParkCSawB1, C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
end
end
EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 1)
-- aspetto termine esecuzione movimenti testa 2
EmitMoveWaitHead( 1)
-- altrimenti testa 2 su CU 2
else
-- allontanamento o eventuale preselezione successiva testa 1
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
-- movimento testa
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
local MyMaxZ2 = EgtGetAxisMax( 'Z2')
local HomeC2 = EgtGetAxisHomePos( 'C2')
local HomeB2 = EgtGetAxisHomePos( 'B2')
local dTRad, dTLen = GetToolRadLen()
-- se fresa o lama
if not HeadIsChainSaw( EMT.HEAD) then
EmitMoveDataHead( 2, { X=-ParkX2, Z=MyMaxZ2, B=HomeB2, C=HomeC2, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
local bMoveZbeforeX = false
local dZref = EMT.L3
if EMT.HEAD == 'H22' and ( EgtIf( BD.RIGHT_LOAD, EMT.L2 < -LimX1RotSaw, EMT.L2 > -LimX1RotSaw) or EMT.R2 > 91) then
dZref = min( dSafeZ2 + GetZExtra( EMT.HEAD, EMT.R2) - 100, MyMaxZ2)
end
-- se la quota di lavoro è più in alta della posizione a ZHOME della testa, prima si va alla Z di lavoro e poi si approccia il pezzo
if EMT.L3 > dZref then
bMoveZbeforeX = true
end
if not bMoveZbeforeX then
EmitMoveDataHead( 2, { X=EMT.L2, Z=MyMaxZ2, B=HomeB2, C=HomeC2, S=Speed})
else
EmitMoveDataHead( 2, { X=-LimX2RotSaw, Z=MyMaxZ2, B=HomeB2, C=HomeC2, S=Speed})
end
-- caso speciale per trave alta con rotazione lama pericolosa (tolto "and EMT.SB > 379")
if abs( PrevR1 - EMT.R1) > 1 and ( abs( HomeC2 - EMT.R1) > 30.1 or abs( HomeB2 - EMT.R2) > 30.1) then
if EMT.HEAD == 'H22' then
EmitMoveDataHead( 2, { B=0, S=Speed})
EmitMoveDataHead( 2, { C=EMT.R1, S=Speed})
-- se movimento di B > di 90°, spezza il movimento in 2 arrivando alla quota Z con B+-90 e poi muove l'ultimo segmento
-- evita collisione con carro X
if EMT.R2 > 91 or EMT.R2 < -91 then
local dBref = EgtClamp( EMT.R2, -91, 91)
EmitMoveDataHead( 2, { Z=dZref, B=dBref, S=Speed})
EmitMoveDataHead( 2, { B=EMT.R2, S=Speed})
else
EmitMoveDataHead( 2, { Z=dZref, B=EMT.R2, S=Speed})
end
if bMoveZbeforeX then
EmitMoveDataHead( 2, { Z=EMT.L3, S=Speed})
end
-- altrimenti caso standard
else
EmitMoveDataHead( 2, { Z=dZref, S=Speed})
EmitMoveDataHead( 2, { B=EMT.R2, S=Speed})
EmitMoveDataHead( 2, { C=EMT.R1, S=Speed})
if bMoveZbeforeX then
EmitMoveDataHead( 2, { Z=EMT.L3, S=Speed})
end
end
end
-- altrimenti sega a catena
else
EmitMoveDataHead( 2, { X=-ParkCSawX2, Z=ParkCSawZ2, B=ParkCSawB2, C=ParkCSawC2, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
-- se motosega configurata per lavorazioni di fianco o circa orizzontale. Dopo attesa movimento carrelli si devono scrivere tutti gli assi.
if dPosA == 0 or abs( EMT.R2) < 10 then
EmitMoveDataHead( 2, { X=EMT.L2, Z=ParkCSawZ2, B=ParkCSawB2, C=EMT.R1, S=Speed})
EmitMoveDataHead( 2, { Z=EMT.L3, B=EMT.R2, S=Speed})
-- se circa verticale
else
EmitMoveDataHead( 2, { X=EMT.L2, Z=ParkCSawZ2, B=ParkCSawB2, C=EMT.R1, S=Speed})
EmitMoveDataHead( 2, { Z=EMT.L3, B=EMT.R2, S=Speed})
end
end
EmitMoveDataHead( 2, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 2)
-- aspetto termine esecuzione movimenti testa 2
EmitMoveWaitHead( 2)
end
end
-- se pezzo a destra, dichiaro cabina sinistra da parcheggiare
if not EMT.Y1DELTA then
EMT.V1NEXTPOS = ParkV1
end
local BhData = { T=EMT.L1}
if EMT.Y1DELTA then
BhData.Y1 = EMT.L1 + EMT.Y1DELTA
BhData.ViseY1 = 1
else
BhData.Y1 = ParkY1
BhData.ViseY1 = 2
end
if EMT.MCHSPLIT and EMT.Y2DELTA then
BhData.ViseY1 = 3
end
if EMT.Y2DELTA then
BhData.Y2 = EMT.L1 + EMT.Y2DELTA
BhData.ViseY2 = 1
else
BhData.Y2 = EmtLenToString( ParkY2)
BhData.ViseY2 = 2
end
if GetV1ToCloseNum() then
BhData.FinStatV1 = -3
EMT.V1POS = EMT.V1NEXTPOS
BhData.V1 = EMT.V1POS
else
BhData.IniStatV1 = 3
EMT.V1POS = ParkV1
BhData.V1 = EMT.V1POS
end
if GetV2ToCloseNum() then
BhData.FinStatV2 = -3
EMT.V2POS = EMT.V2NEXTPOS
BhData.V2 = EMT.V2POS
else
BhData.IniStatV2 = 3
EMT.V2POS = ParkV2
BhData.V2 = EMT.V2POS
end
if EMT.W2DELTA then
BhData.W = EMT.L1 + EMT.W2DELTA
end
EmitBeamHeadData( BhData)
EMT.LOAD = false
-- altrimenti lavorazione successiva
else
--EmtOutput( string.format( 'V1Pos=%.3f V2Pos=%.3f', EMT.V1POS, EMT.V2POS))
local bToPresel = true
if not EMT.ZMAX and #EMT.AUXCMD > 0 and EMT.TO_ZMAX then
-- allontanamento o eventuale preselezione successiva testa differente
if not EMT.DOU_TYPE then
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
end
bToPresel = false
-- risalita a Zmax
EmitZmax( false, false, EMT.TO_XHOME, PrevR1, PrevR2, nil, true)
EMT.ZMAX = true
EMT.TO_ZMAX = nil
EMT.TO_XHOME = nil
EMT.L1pp = nil
EMT.L3pp = nil
PrevR1 = EgtGetAxisHomePos( EgtIf( nHSet == 1, 'C1', 'C2'))
PrevR2 = EgtGetAxisHomePos( EgtIf( nHSet == 1, 'B1', 'B2'))
end
-- calcolo Movimento Pinze (potrebbe richiedere movimento testa in Home)
for i = 1, #EMT.AUXCMD do
ProcessPathStartAux( EMT.AUXCMD[i], i)
end
EMT.AUXCMD = {}
-- se necessario posizionamento in home (sono sicuramente già a Zmax)
if EMT.TO_XHOME then
-- se devo andare in home, ma lo sono già, non faccio nulla
if not EMT.XHOME then
local nHSet = GetHeadSet( EMT.HEAD)
local nPrevHSet = GetHeadSet( EMT.PREVHEAD)
-- vado in parcheggio sempre con utensile precedente
if not HeadIsChainSaw( EMT.PREVHEAD) then
if nPrevHSet == 1 then
local HomeX1 = EgtGetAxisHomePos( 'X1')
EmitMoveDataHead( 1, { X=-EMT.PREVHOMEX_H1, Z=MaxZ1, B=EMT.PREVHOMEB_H1, C=EMT.PREVHOMEC_H1, TPos=AdjustTcPos( false, EMT.PREVTCPOS_H1)})
EmitMoveStartHead( 1, 'EA1')
EmitMoveWaitHead( 1)
else
local HomeX2 = EgtGetAxisHomePos( 'X2')
EmitMoveDataHead( 2, { X=-EMT.PREVHOMEX_H2, Z=MaxZ2, B=EMT.PREVHOMEB_H2, C=EMT.PREVHOMEC_H2, TPos=AdjustTcPos( false, EMT.PREVTCPOS_H2)})
EmitMoveStartHead( 2, 'EA1')
EmitMoveWaitHead( 2)
end
else
if GetHeadTCSet( EMT.PREVHEAD, EMT.PREVTCPOS) == 'Head1_TC1' or GetHeadTCSet( EMT.PREVHEAD, EMT.PREVTCPOS) == 'Head1_TC2' then
EmitMoveDataHead( 1, { X=-ParkCSawX1S, Z=MaxZ1, B=HomeR2, C=HomeR1, TPos='50'})
EmitMoveStartHead( 1, 'EA1')
--EmitMoveWaitHead( 1)
else
EmitMoveDataHead( 2, { X=-ParkCSawX2S, Z=MaxZ2, B=HomeR2, C=HomeR1, TPos='50'})
EmitMoveStartHead( 2, 'EA1')
--EmitMoveWaitHead( 2)
end
end
end
EMT.TO_XHOME = nil
EMT.L1pp = nil
EMT.L3pp = nil
PrevR1 = HomeR1
PrevR2 = HomeR2
elseif bToPresel then
-- allontanamento o eventuale preselezione successiva testa differente
if not EMT.DOU_TYPE then
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
end
bToPresel = false
end
sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '['), '%)', ']')
if EMT.DOU_TYPE then sOut = sOut .. ' Double' end
EmtOutput( '( *** '..sOut..' *** )')
-- se Split lascio agganciata solo la pinza Y2 alla fine dei movimenti
if EMT.MCHSPLIT and #EMT.MDCHAR > 0 and not EMT.TO_FALL and not EMT.TO_SPECSPLIT then
EMT.MDCHAR[#EMT.MDCHAR].FinStatY1 = 1
end
for i = 1, #EMT.MDCHAR do
EmitMoveDataChars( EMT.MDCHAR[i])
end
if #EMT.MDCHAR > 0 then
local nMoveType = EgtIf( EMT.POSTROT or EMT.RELOAD, 1, 3)
EmitMoveStartChars( nMoveType)
EmitMoveWaitChars( nMoveType)
end
EMT.MDCHAR = {}
-- se necessario allargo le cabine
if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, EMT.R1, EMT.R2) or EMT.TOOL ~= EMT.PREVTOOL or
EMT.V1POS < EMT.V1NEXTPOS - 1 or EMT.V2POS > EMT.V2NEXTPOS + 1 then
local dPosT = EMT.TPOS or EMT.L1op
EmitParkRoller( dPosT, EMT.MCHSPLIT)
end
-- se testa 1
if GetHeadTCSet( EMT.HEAD, EMT.TCPOS) == 'Head1_TC1' then
-- movimento testa
local dSafeZ1 = EgtGetAxisHomePos( 'Z1')
local MyMaxZ1 = EgtGetAxisMax( 'Z1')
local HomeC1 = EgtGetAxisHomePos( 'C1')
local HomeB1 = EgtGetAxisHomePos( 'B1')
local dTRad, dTLen = GetToolRadLen()
local Speed = EMT.S * EgtIf( EMT.HEAD ~= 'H12' and EMT.HEAD ~= 'H22', 1, 1.65)
if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
-- se fresa o lama
if not HeadIsChainSaw( EMT.HEAD) then
local CurrX1 = EMT.L1pp or ( -LimX1PlRotSaw)
local CurrZ1 = EMT.L3pp or MyMaxZ1
local CurrB1 = PrevR2
local CurrC1 = PrevR1
local bMoveZbeforeX = false
local dZref = EMT.L3
if EMT.HEAD == 'H12' and ( EgtIf( BD.RIGHT_LOAD, EMT.L2 < -LimX1RotSaw, EMT.L2 > -LimX1RotSaw) or EMT.R2 < -91) then
dZref = min( dSafeZ1 + GetZExtra( EMT.HEAD, EMT.R2) - 100, MyMaxZ1)
end
-- se la quota di lavoro è più in alta della posizione a ZHOME della testa, prima si va alla Z di lavoro e poi si approccia il pezzo
if EMT.L3 > dZref then
bMoveZbeforeX = true
end
-- se vado in posizione speciale rotazione assi, poi devo ritornare alla X vera di lavoro
local dMoveXtoFinalPosition = false
local dXref = EMT.L2
if EMT.HEAD == 'H12' and EMT.L2 < -LimX1PlRotSaw then
dXref = -LimX1PlRotSaw
EmitMoveDataHead( 1, { X=dXref, Z=CurrZ1, B=CurrB1, C=CurrC1, TRad=dTRad, TLen=dTLen, S=Speed})
dZref = max( EMT.L3, dSafeZ1 + GetZExtra( EMT.HEAD, EMT.R2))
dMoveXtoFinalPosition = true
elseif not bMoveZbeforeX then
EmitMoveDataHead( 1, { X=dXref, Z=CurrZ1, B=CurrB1, C=CurrC1, TRad=dTRad, TLen=dTLen, S=Speed})
else
EmitMoveDataHead( 1, { X=CurrX1, Z=CurrZ1, B=CurrB1, C=CurrC1, TRad=dTRad, TLen=dTLen, S=Speed})
dZref = max( EMT.L3, dSafeZ1 + GetZExtra( EMT.HEAD, EMT.R2))
dMoveXtoFinalPosition = true
end
-- caso speciale per trave alta con rotazione lama pericolosa (tolto "and EMT.SB > 379")
if EMT.HEAD == 'H12' and abs( PrevR1 - EMT.R1) > 1 and ( abs( HomeC1 - EMT.R1) > 30.1 or abs( HomeB1 - EMT.R2) > 30.1) then
EmitMoveDataHead( 1, { B=0, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
-- se movimento di B > di 90°, spezza il movimento in 2 arrivando alla quota Z con B+-90 e poi muove l'ultimo segmento
-- evita collisione con carro X
if EMT.R2 > 91 or EMT.R2 < -91 then
local dBref = EgtClamp( EMT.R2, -91, 91)
EmitMoveDataHead( 1, { Z=dZref, B=dBref, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
else
EmitMoveDataHead( 1, { Z=dZref, B=EMT.R2, S=Speed})
end
if bMoveZbeforeX then
EmitMoveDataHead( 1, { Z=EMT.L3, S=Speed})
end
if dMoveXtoFinalPosition then
EmitMoveDataHead( 1, { X=EMT.L2, S=Speed})
end
-- altrimenti caso standard
else
EmitMoveDataHead( 1, { Z=dZref, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
end
-- altrimenti sega a catena 'H13'
else
EmitMoveDataHead( 1, { X=-ParkCSawX1, Z=ParkCSawZ1, B=ParkCSawB1, C=ParkCSawC1, TRad=dTRad, TLen=dTLen, S=Speed})
-- se motosega configurata per lavorazioni di fianco o circa orizzontale
if dPosA == 0 or abs( EMT.R2) < 10 then
EmitMoveDataHead( 1, { X=EMT.L2, C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
-- se circa verticale
else
EmitMoveDataHead( 1, { X=EMT.L2, C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
end
end
end
EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 1)
-- se lavorazione in doppio
if EMT.DOU_TYPE == 2 then
local dX2 = - ( Delta2TabY - EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 - EMT.TLEN + EgtIf( BD.RIGHT_LOAD, -EMT.HB, EMT.HB)))
local dZ2 = -Head2Z + MillOffs - Mill2Offs + EMT.L3
if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
dZ2 = MaxZ2
end
dZ2 = min( dZ2, MaxZ2)
local dC2 = -EMT.R1
local dB2 = -EMT.R2
if EMT.ZMAX then
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
EmitMoveDataHead( 2, { X=-ParkX2, Z=MaxZ2, B=ParkB2, C=ParkC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
EmitMoveDataHead( 2, { X=dX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
end
EmitMoveDataHead( 2, { X=dX2, Z=dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
EmitMoveStartHead( 2)
-- aspetto esecuzione movimento testa 2
EmitMoveWaitHead( 2)
end
-- aspetto esecuzione movimento testa 1
EmitMoveWaitHead( 1)
-- altrimenti testa 2
else
if GetHeadTCSet( EMT.HEAD, EMT.TCPOS) == 'Head1_TC2' then
-- movimento testa
local dSafeZ1 = EgtGetAxisHomePos( 'Z1')
local MyMaxZ1 = EgtGetAxisMax( 'Z1')
local HomeC1 = EgtGetAxisHomePos( 'C1')
local HomeB1 = EgtGetAxisHomePos( 'B1')
local dTRad, dTLen = GetToolRadLen()
local Speed = EMT.S * EgtIf( EMT.HEAD ~= 'H12' and EMT.HEAD ~= 'H22', 1, 1.65)
if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
-- se fresa o lama
if not HeadIsChainSaw( EMT.HEAD) then
local CurrX1 = EMT.L1pp or ( -LimX1PlRotSaw)
local CurrZ1 = EMT.L3pp or MyMaxZ1
local CurrB1 = PrevR2
local CurrC1 = PrevR1
local bMoveZbeforeX = false
local dZref = EMT.L3
if EMT.HEAD == 'H12' and ( EgtIf( BD.RIGHT_LOAD, EMT.L2 < -LimX1RotSaw, EMT.L2 > -LimX1RotSaw) or EMT.R2 < -91) then
dZref = min( dSafeZ1 + GetZExtra( EMT.HEAD, EMT.R2) - 100, MyMaxZ1)
end
-- se la quota di lavoro è più in alta della posizione a ZHOME della testa, prima si va alla Z di lavoro e poi si approccia il pezzo
if EMT.L3 > dZref then
bMoveZbeforeX = true
end
if not bMoveZbeforeX then
EmitMoveDataHead( 1, { X=EMT.L2, Z=CurrZ1, B=CurrB1, C=CurrC1, TRad=dTRad, TLen=dTLen, S=Speed})
else
EmitMoveDataHead( 1, { X=CurrX1, Z=CurrZ1, B=CurrB1, C=CurrC1, TRad=dTRad, TLen=dTLen, S=Speed})
end
-- caso speciale per trave alta con rotazione lama pericolosa (tolto "and EMT.SB > 379")
if EMT.HEAD == 'H12' and abs( PrevR1 - EMT.R1) > 1 and ( abs( HomeC1 - EMT.R1) > 30.1 or abs( HomeB1 - EMT.R2) > 30.1) then
EmitMoveDataHead( 1, { B=0, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
-- se movimento di B > di 90°, spezza il movimento in 2 arrivando alla quota Z con B+-90 e poi muove l'ultimo segmento
-- evita collisione con carro X
if EMT.R2 > 91 or EMT.R2 < -91 then
local dBref = EgtClamp( EMT.R2, -91, 91)
EmitMoveDataHead( 1, { Z=dZref, B=dBref, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
else
EmitMoveDataHead( 1, { Z=dZref, B=EMT.R2, S=Speed})
end
if bMoveZbeforeX then
EmitMoveDataHead( 1, { Z=EMT.L3, S=Speed})
end
-- altrimenti caso standard
else
EmitMoveDataHead( 1, { Z=dZref, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
end
-- altrimenti sega a catena
else
EmitMoveDataHead( 1, { X=-ParkCSawX1, Z=ParkCSawZ1, B=ParkCSawB1, C=ParkCSawC1, TRad=dTRad, TLen=dTLen, S=Speed})
-- se motosega configurata per lavorazioni di fianco o circa orizzontale
if dPosA == 0 or abs( EMT.R2) < 10 then
EmitMoveDataHead( 1, { X=EMT.L2, C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
-- se circa verticale
else
EmitMoveDataHead( 1, { X=EMT.L2, C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
end
end
end
EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 1)
-- aspetto esecuzione movimento testa 1
EmitMoveWaitHead( 1)
else
-- movimento testa
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
local MyMaxZ2 = EgtGetAxisMax( 'Z2')
local HomeC2 = EgtGetAxisHomePos( 'C2')
local HomeB2 = EgtGetAxisHomePos( 'B2')
local dTRad, dTLen = GetToolRadLen()
local Speed = EMT.S * EgtIf( EMT.HEAD ~= 'H12' and EMT.HEAD ~= 'H22', 1, 1.65)
if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
-- se fresa o lama
if not HeadIsChainSaw( EMT.HEAD) then
local CurrX2 = EMT.L1pp or ( -LimX2RotSaw)
local CurrZ2 = EMT.L3pp or MyMaxZ2
local CurrB2 = PrevR2
local CurrC2 = PrevR1
local bMoveZbeforeX = false
local dZref = EMT.L3
if EMT.HEAD == 'H22' and ( EgtIf( BD.RIGHT_LOAD, EMT.L2 > -LimX2RotSaw, EMT.L2 > -LimX2RotSaw) or EMT.R2 < -91) then
dZref = min( dSafeZ2 + GetZExtra( EMT.HEAD, EMT.R2) - 100, MyMaxZ2)
end
-- se la quota di lavoro è più in alta della posizione a ZHOME della testa, prima si va alla Z di lavoro e poi si approccia il pezzo
if EMT.L3 > dZref then
bMoveZbeforeX = true
end
if not bMoveZbeforeX then
EmitMoveDataHead( 2, { X=EMT.L2, Z=CurrZ2, B=CurrB2, C=CurrC2, TRad=dTRad, TLen=dTLen, S=Speed})
else
EmitMoveDataHead( 2, { X=CurrX2, Z=CurrZ2, B=CurrB2, C=CurrC2, TRad=dTRad, TLen=dTLen, S=Speed})
end
-- caso speciale per trave alta con rotazione lama pericolosa (tolto "and EMT.SB > 379")
if abs( PrevR1 - EMT.R1) > 1 and ( abs( HomeC2 - EMT.R1) > 30.1 or abs( HomeB2 - EMT.R2) > 30.1) then
if EMT.HEAD == 'H22' then
EmitMoveDataHead( 2, { B=0, S=Speed})
EmitMoveDataHead( 2, { C=EMT.R1, S=Speed})
-- se movimento di B > di 90°, spezza il movimento in 2 arrivando alla quota Z con B+-90 e poi muove l'ultimo segmento
-- evita collisione con carro X
if EMT.R2 > 91 or EMT.R2 < -91 then
local dBref = EgtClamp( EMT.R2, -91, 91)
EmitMoveDataHead( 2, { Z=dZref, B=dBref, S=Speed})
EmitMoveDataHead( 2, { B=EMT.R2, S=Speed})
else
EmitMoveDataHead( 2, { Z=dZref, B=EMT.R2, S=Speed})
end
if bMoveZbeforeX then
EmitMoveDataHead( 2, { Z=EMT.L3, S=Speed})
end
-- altrimenti caso standard
else
EmitMoveDataHead( 2, { Z=dZref, S=Speed})
EmitMoveDataHead( 2, { B=EMT.R2, S=Speed})
EmitMoveDataHead( 2, { C=EMT.R1, S=Speed})
if bMoveZbeforeX then
EmitMoveDataHead( 2, { Z=EMT.L3, S=Speed})
end
end
end
-- altrimenti sega a catena
else
EmitMoveDataHead( 2, { X=-ParkCSawX2, Z=ParkCSawZ2, B=ParkCSawB2, C=ParkCSawC2, TRad=dTRad, TLen=dTLen, S=Speed})
-- se motosega configurata per lavorazioni di fianco o circa orizzontale
if dPosA == 0 or abs( EMT.R2) < 10 then
EmitMoveDataHead( 2, { X=EMT.L2, C=EMT.R1, S=Speed})
EmitMoveDataHead( 2, { Z=EMT.L3, B=EMT.R2, S=Speed})
-- se circa verticale
else
EmitMoveDataHead( 2, { X=EMT.L2, C=EMT.R1, S=Speed})
EmitMoveDataHead( 2, { Z=EMT.L3, B=EMT.R2, S=Speed})
end
end
end
EmitMoveDataHead( 2, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, TRad=dTRad, TLen=dTLen, S=Speed})
EmitMoveStartHead( 2)
-- aspetto esecuzione movimento testa 2
EmitMoveWaitHead( 2)
end
end
local BhData = { T=EMT.L1}
if EMT.Y1DELTA then
BhData.Y1 = EMT.L1 + EMT.Y1DELTA - ( EMT.X_OFF or 0)
BhData.ViseY1 = 1
else
BhData.Y1 = EgtIf( EMT.Y1POS, EMT.Y1POS, ParkY1)
BhData.ViseY1 = 2
end
if EMT.MCHSPLIT and EMT.Y2DELTA then
BhData.ViseY1 = 3
end
if EMT.Y2DELTA then
BhData.Y2 = EMT.L1 + EMT.Y2DELTA - ( EMT.X_OFF or 0)
BhData.ViseY2 = 1
else
BhData.Y2 = ParkY2
BhData.ViseY2 = 2
end
if GetV1ToCloseNum() then
BhData.FinStatV1 = -3
EMT.V1POS = EMT.V1NEXTPOS
BhData.V1 = EMT.V1POS
elseif abs( EMT.V1POS - ParkV1) > 0.1 then
BhData.IniStatV1 = 3
EMT.V1POS = ParkV1
BhData.V1 = EMT.V1POS
end
if GetV2ToCloseNum() then
BhData.FinStatV2 = -3
EMT.V2POS = EMT.V2NEXTPOS
BhData.V2 = EMT.V2POS
elseif abs( EMT.V2POS - ParkV2) > 0.1 or EMT.W2DELTA then
BhData.IniStatV2 = 3
EMT.V2POS = ParkV2
BhData.V2 = EMT.V2POS
end
if EMT.W2DELTA then
if EMT.TO_SPECSPLIT then
BhData.W = EMT.L1 + EMT.W2DELTA
else
BhData.Pz5 = 1
end
end
EmitBeamHeadData( BhData)
EMT.POSTROT = false
EMT.RELOAD = false
EMT.RELOAD2 = nil
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', 1, true) then
EmtOutput( 'M175')
end
EMT.REFLOC = 0
EMT.MCHFIRST = false
EMT.PLANEACTIVE = true
EMT.ZMAX = false
-- se standard
elseif EMT.FLAG == 0 or EMT.FLAG == 1 or EMT.FLAG == 2 then
local sPostMove = ''
if EMT.MCHFIRST then
local sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '['), '%)', ']')
if EMT.DOU_TYPE then sOut = sOut .. ' Double' end
EmtOutput( '( *** '..sOut..' *** )')
-- gestione comandi rulli
local sPreMove = ''
if GetV1ToCloseNum( true) then
sPostMove = ' EC-3'
else
sPreMove = ' EC3'
end
if GetV2ToCloseNum( true) then
sPostMove = sPostMove .. ' ED-3'
else
sPreMove = sPreMove .. ' ED3'
end
-- comandi rulli prima di movimento (aperture)
if #sPreMove > 0 then
EmtOutput( 'G157 EA2' .. sPreMove)
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', 1, true) then
EmtOutput( 'M175')
end
EMT.MCHFIRST = false
EMT.PLANEACTIVE = true
end
-- se necessario, impostazione riferimento locale
if EMT.REFLOC == 0 then
-- se lavorazione in doppio
if EMT.DOU_TYPE == 2 then
-- aggiusto assi
EMT.L2 = -EMT.L2
-- emetto movimenti in Zero macchina
local Speed = EMT.S * EgtIf( EMT.HEAD ~= 'H12', 1, 1.65)
EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, S=Speed})
EmitMoveStartHead( 1)
local dX2 = - ( Delta2TabY - EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 - EMT.TLEN + EgtIf( BD.RIGHT_LOAD, -EMT.HB, EMT.HB)))
local dZ2 = -Head2Z + MillOffs - Mill2Offs + EMT.L3
local dC2 = -EMT.R1
local dB2 = -EMT.R2
EmitMoveDataHead( 2, { X=dX2, Z=dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
EmitMoveStartHead( 2)
-- aspetto esecuzione movimento testa 2 e 1
EmitMoveWaitHead( 2)
EmitMoveWaitHead( 1)
-- ripristino assi
EMT.L2 = -EMT.L2
end
-- calcolo per piano generico
CalcInterpPlane()
EMT.REFLOC = 1
-- trasformo i punti nel piano
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
EMT.L1p = nil
EMT.L2p = nil
EMT.L3p = nil
local sDouFlag = EgtIf( EMT.DOU_TYPE, ' EE1', '')
EmtOutput( 'G142'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..EMT.IPLGLSTR..EgtIf( nHSet~=2, ' EU1', ' EU2')..sDouFlag..' EF'..GetFmaxClamp())
-- 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')
-- comandi rulli dopo movimento (chiusure)
EmtOutput( sOut)
if #sPostMove > 0 then
EmtOutput( 'G157 EA2' .. sPostMove)
end
-- se altrimenti risalita a Z max a fine lavorazione
elseif EMT.FLAG == 3 then
EMT.REFLOC = nil
EMT.IPLGL = false
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
-- se Split o Presplit lascio agganciata solo la pinza Y2 alla fine dei movimenti
local sNextTool = GetNextTool( EMT.MCHID, true)
-- vado in home se è ultimo movimento ed è ultima lavorazione, se sono con motosega e devo cambiare utensile, oppure se ho la lama
local bToXhome = ( IsLastPath( EMT.PATHID) and not sNextTool) or ( EMT.HEAD == 'H23' and EMT.TOOL ~= sNextTool) or ( EMT.HEAD == 'H13' and EMT.TOOL ~= sNextTool) or
( EMT.HEAD == 'H12' and EMT.TOOL ~= sNextTool ) or ( EMT.HEAD == 'H22' and EMT.TOOL ~= sNextTool) or EMT.MCHSPLIT
local CurrL3o = EMT.L3o
EMT.L3o = EMT.L3op
EmitZmax( true, true, bToXhome, EMT.R1p, EMT.R2p, EMT.MCHSPLIT)
EMT.L3o = CurrL3o
-- aggiorno quota finale trave dopo Zmax
EMT.L1o = EMT.TPOS
EMT.ZMAX = true
ToolPreSelectionSingleHead( EMT.MCHID)
-- se altrimenti movimento in Home
elseif EMT.FLAG == 4 then
-- non previsto
-- altrimenti errore
else
error( "Unknown Rapid flag")
end
-- aggiorno valori come precedenti
EMT.TPOS = EMT.L1o
EmtUpdatePrev()
end
---------------------------------------------------------------------
function OnLinear()
-- se necessario, impostazione riferimento locale
if EMT.REFLOC == 0 then
-- gruppo della testa
local nHSet = GetHeadSet( EMT.HEAD)
-- 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
local sDouFlag = EgtIf( EMT.DOU_TYPE, ' EE1', '')
EmtOutput( 'G142'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..EMT.IPLGLSTR..EgtIf( nHSet~=2, ' EU1', ' EU2')..sDouFlag..' EF'..GetFmaxClamp())
EMT.PLANEACTIVE = true
-- emissione movimento
local sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
EmtOutput( sOut)
-- aggiorno precedenti
EMT.MOVE = 0
EmtUpdatePrev()
EMT.MOVE = 1
-- ripristino posizione attuale
EMT.L1 = OldL1
EMT.L2 = OldL2
EMT.L3 = OldL3
end
-- aggiustamento valori
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
-- se lavorazione in doppio e fondo foro, inverto movimento punta doppia
local bDouHoleBott = ( EMT.MCHTYPE == MCH_MY.DRILLING and EMT.DOU_TYPE == 2 and EMT.FLAG == 101)
if bDouHoleBott then
EmtOutput( "G157 EE-1")
end
-- 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
-- arresto preciso in angoli di fresature per utensili (non penne) di piccolo diametro
local sSlowDown = ''
if EMT.MCHTYPE == MCH_MY.MILLING and EMT.TTOTDIAM < 15 and abs( EMT.S) > 1000 and ( bL1 or bL2) and not bL3 then
sSlowDown = ' G9'
end
-- aggiungo feed
local sFeed = EmtGetFeed()
-- emetto linea
EmtOutput( "G1"..sSlowDown..sAxes..sFeed)
-- se lavorazione in doppio e fondo foro, muovo punta 2 e poi ripristino movimento standard punta doppia
if bDouHoleBott then
if EMT.DOU_TYPE == 2 or EMT.DOU_TYPE == 3 then
local dZ = 2 * EMT.L3p - EMT.L3
EmtOutput( "G1 Z" .. EgtNumToString( dZ, 3))
EmtOutput( "G1 Z" .. EgtNumToString( EMT.L3p, 3))
end
EmtOutput( "G157 EE1")
end
-- aggiorno valori come precedenti
EMT.TPOS = EMT.L1o
EmtUpdatePrev()
end
---------------------------------------------------------------------
function OnArc()
-- se necessario, impostazione riferimento locale
if EMT.REFLOC == 0 then
-- gruppo della testa
local nHSet = GetHeadSet( EMT.HEAD)
-- 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
local sDouFlag = EgtIf( EMT.DOU_TYPE, ' EE1', '')
EmtOutput( 'G142'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..EMT.IPLGLSTR..EgtIf( nHSet~=2, ' EU1', ' EU2')..sDouFlag..' EF'..GetFmaxClamp())
EMT.PLANEACTIVE = true
-- emissione movimento
local sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
EmtOutput( sOut)
-- aggiorno precedenti
local nOriginalMove = EMT.MOVE
EMT.MOVE = 0
EmtUpdatePrev()
EMT.MOVE = nOriginalMove
-- ripristino posizione attuale
EMT.L1 = OldL1
EMT.L2 = OldL2
EMT.L3 = OldL3
end
-- non modale su archi
EmtResetPrevLinear()
-- aggiustamento valori
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
-- valori degli assi
local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R1')..EmtGetAxis('R2')
-- 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,3)
-- 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
EMT.TPOS = EMT.L1o
EmtUpdatePrev()
end
---------------------------------------------------------------------
function CalcCharStatusN( sCmd)
-- aperto
if sCmd == '0' then
return 1
-- chiuso
elseif sCmd == '1' then
return -1
end
end
---------------------------------------------------------------------
function PrepareLoad( sCmd, nInd, bStart)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se inizio
if nInd == 1 then
-- imposto stato pinze
EMT.ISY1 = 1
EMT.FSY1 = EMT.ISY1
EMT.ISY2 = 1
EMT.FSY2 = EMT.ISY2
EMT.BV = 0
end
-- se dichiarazione inizio riposizionamento carrelli
if Cmd[2] == 'CARR_MOVE' then
if bStart then
EMT.RELOAD = false
else
EMT.RELOAD2 = true
end
table.insert( EMT.MDCHAR, { Start=1})
table.insert( EMT.MDCHAR, { Wait=1})
end
elseif Cmd[1] == '1' then
if Cmd[2] ~= 'Z' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
local MoveY1 = GetCmdAxMove( Cmd, 'Y1')
local MoveY2 = GetCmdAxMove( Cmd, 'Y2')
if MoveY1 then MDChar.Y1 = MoveY1 end
if MoveY2 then MDChar.Y2 = MoveY2 end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
end
table.insert( EMT.MDCHAR, MDChar)
EMT.Y1POS = MoveY1 or EMT.Y1POS
EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
end
elseif Cmd[1] == '2' then
-- se in riposizionamento carrelli
if #EMT.MDCHAR > 0 and EMT.MDCHAR[1].MovType == 3 then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
local MoveY1 = GetCmdAxMove( Cmd, 'Y1')
local MoveY2 = GetCmdAxMove( Cmd, 'Y2')
if MoveY1 then MDChar.Y1 = MoveY1 end
if MoveY2 then MDChar.Y2 = MoveY2 end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
end
table.insert( EMT.MDCHAR, MDChar)
elseif Cmd[2] == 'Y1' then
local sBeamRot = '0'
local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
local nLoad90 = EgtGetInfo( BtlInfoId, 'LOAD90', 'i') or 0
sBeamRot = tostring( nLoad90) or '0'
local sAux = ' EL'..sBeamRot
-- local sAux = ' (E80057='..sBeamRot..' E80058=0)' vecchio comando utilizzato su ONE
local MoveY1 = tonumber( Cmd[3]) + TurnerOffs
local MDChar = { Y1=MoveY1, V1=ParkV1, IniStatY1=75, FinStatY1=-1, BeamVise=0, MovType=1, Aux=sAux}
table.insert( EMT.MDCHAR, MDChar)
EMT.V1POS = ParkV1
elseif Cmd[2] == 'T' then
local MDChar = { Y1=tonumber(Cmd[3]), IniStatY1=76, FinStatY1=EMT.FSY1, BeamVise=0, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
end
EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
elseif Cmd[1] == '3' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
local MoveY1 = GetCmdAxMove( Cmd, 'Y1')
local MoveY2 = GetCmdAxMove( Cmd, 'Y2')
if MoveY1 then MDChar.Y1 = MoveY1 end
if MoveY2 then MDChar.Y2 = MoveY2 end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
end
table.insert( EMT.MDCHAR, MDChar)
EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
elseif Cmd[1] == '4' then
-- richiesta movimento a ZMAX già gestita
if Cmd[2] == '1' then
EMT.ROLL_IN = true
end
elseif Cmd[1] == '11' then
EMT.ISY1 = CalcCharStatusN( Cmd[2])
EMT.FSY1 = EMT.ISY1
EMT.BV = EgtIf( Cmd[2] ~= '0', 1, 2)
if #EMT.MDCHAR > 0 then EMT.MDCHAR[#EMT.MDCHAR].FinStatY1 = EMT.FSY1 end
elseif Cmd[1] == '12' then
EMT.ISY2 = CalcCharStatusN( Cmd[2])
EMT.FSY2 = EMT.ISY2
EMT.BV = EgtIf( Cmd[2] ~= '0', 2, 1)
if #EMT.MDCHAR > 0 then EMT.MDCHAR[#EMT.MDCHAR].FinStatY2 = EMT.FSY2 end
elseif Cmd[1] == '21' then
EMT.Y1PREVDELTA = EMT.Y1DELTA
EMT.Y2PREVDELTA = EMT.Y2DELTA
local nY1Delta = tonumber( Cmd[2])
local nY2Delta = tonumber( Cmd[3])
if nY1Delta > 0 and nY2Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nY2Delta
elseif nY1Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nil
elseif nY2Delta > 0 then
EMT.Y1DELTA = nil
EMT.Y2DELTA = nY2Delta
end
if not FindReadHeadWithLaser( EMT.MDCHAR) then
local MDChar = { Y1=LoadT, IniStatY1=76, FinStatY1=EMT.FSY1, FinStatV1=-1, BeamVise=0, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
end
elseif Cmd[1] == '22' then
EMT.V1NEXTPOS = tonumber( Cmd[2])
EMT.V2NEXTPOS = tonumber( Cmd[3])
end
end
---------------------------------------------------------------------
function PrepareMoveChar( sCmd, nInd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se inizio
if nInd == 1 then
-- imposto stato pinze
EMT.ISY1 = EgtIf( EMT.Y1DELTA, -1, 1)
EMT.FSY1 = EMT.ISY1
EMT.ISY2 = EgtIf( EMT.Y2DELTA, -1, 1)
EMT.FSY2 = EMT.ISY2
EMT.BV = EgtIf( EMT.Y1DELTA, 1, 2)
EMT.ROLL_IN = nil
EMT.ROLL_OPEN = true
end
elseif Cmd[1] == '1' then
if Cmd[2] ~= 'Z' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
local MoveY1 = GetCmdAxMove( Cmd, 'Y1')
local MoveY2 = GetCmdAxMove( Cmd, 'Y2')
if MoveY1 then MDChar.Y1 = MoveY1 end
if MoveY2 then MDChar.Y2 = MoveY2 end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
else
local MinDeltaY1V1 = MinDeltaYV + EgtIf( ( Cmd and #Cmd > 0 and Cmd[#Cmd] == '*'), AggLoad, 0)
if MoveY1 and EMT.V1POS > MoveY1 - MinDeltaY1V1 - 0.1 then
MDChar.V1 = min( MoveY1 - MinDeltaY1V1, ParkV1) ; EMT.V1POS = MDChar.V1
end
if MoveY2 and EMT.V2POS < MoveY2 + MinDeltaYV + 0.1 then
MDChar.V2 = max( MoveY2 + MinDeltaYV, ParkV2) ; EMT.V2POS = MDChar.V2
end
end
if EMT.ROLL_OPEN then
MDChar.IniStatV1 = 3 ; MDChar.FinStatV1 = 3
MDChar.IniStatV2 = 3 ; MDChar.FinStatV2 = 3
EMT.ROLL_OPEN = nil
end
table.insert( EMT.MDCHAR, MDChar)
EMT.Y1POS = MoveY1 or EMT.Y1POS
EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
if EMT.V1POS < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
EMT.TO_XHOME = true
end
end
elseif Cmd[1] == '2' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
local MoveY1 = GetCmdAxMove( Cmd, 'Y1')
local MoveY2 = GetCmdAxMove( Cmd, 'Y2')
if MoveY1 then MDChar.Y1 = MoveY1 end
if MoveY2 then MDChar.Y2 = MoveY2 end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
else
local MinDeltaY1V1 = MinDeltaYV + EgtIf( ( Cmd and #Cmd > 0 and Cmd[#Cmd] == '*'), AggLoad, 0)
if MoveY1 and EMT.V1POS > MoveY1 - MinDeltaY1V1 - 0.1 then
MDChar.V1 = min( MoveY1 - MinDeltaY1V1, ParkV1) ; EMT.V1POS = MDChar.V1
end
if MoveY2 and EMT.V2POS < MoveY2 + MinDeltaYV + 0.1 then
MDChar.V2 = max( MoveY2 + MinDeltaYV, ParkV2) ; EMT.V2POS = MDChar.V2
end
end
if EMT.ROLL_OPEN then
MDChar.IniStatV1 = 3 ; MDChar.FinStatV1 = 3
MDChar.IniStatV2 = 3 ; MDChar.FinStatV2 = 3
EMT.ROLL_OPEN = nil
end
table.insert( EMT.MDCHAR, MDChar)
EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
if EMT.V1POS < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
EMT.TO_XHOME = true
end
elseif Cmd[1] == '3' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
local MoveY1 = GetCmdAxMove( Cmd, 'Y1')
local MoveY2 = GetCmdAxMove( Cmd, 'Y2')
if MoveY1 then MDChar.Y1 = MoveY1 end
if MoveY2 then MDChar.Y2 = MoveY2 end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
else
local MinDeltaY1V1 = MinDeltaYV + EgtIf( ( Cmd and #Cmd > 0 and Cmd[#Cmd] == '*'), AggLoad, 0)
if MoveY1 and EMT.V1POS > MoveY1 - MinDeltaY1V1 - 0.1 then
MDChar.V1 = min( MoveY1 - MinDeltaY1V1, ParkV1) ; EMT.V1POS = MDChar.V1
end
if MoveY2 and EMT.V2POS < MoveY2 + MinDeltaYV + 0.1 then
MDChar.V2 = max( MoveY2 + MinDeltaYV, ParkV2) ; EMT.V2POS = MDChar.V2
end
end
if EMT.ROLL_OPEN then
MDChar.IniStatV1 = 3 ; MDChar.FinStatV1 = 3
MDChar.IniStatV2 = 3 ; MDChar.FinStatV2 = 3
EMT.ROLL_OPEN = nil
end
table.insert( EMT.MDCHAR, MDChar)
EMT.TPOS = GetCmdAxMove( Cmd, 'T') or EMT.TPOS
if EMT.V1POS < 400 and ( EMT.HEAD == 'H12' or EMT.HEAD == 'H22') and EMT.ZMAX and not EMT.XHOME then
EMT.TO_XHOME = true
end
elseif Cmd[1] == '4' then
-- richiesta movimento a ZMAX già gestita
if Cmd[2] == '1' then
EMT.ROLL_IN = true
end
elseif Cmd[1] == '11' then
EMT.ISY1 = CalcCharStatusN( Cmd[2])
EMT.FSY1 = EMT.ISY1
-- se pinza due in presa, non attivo la 1
if EMT.BV ~= 2 then
EMT.BV = EgtIf( Cmd[2] ~= '0', 1, 2)
end
if #EMT.MDCHAR > 0 then EMT.MDCHAR[#EMT.MDCHAR].FinStatY1 = EMT.FSY1 end
elseif Cmd[1] == '12' then
EMT.ISY2 = CalcCharStatusN( Cmd[2])
EMT.FSY2 = EMT.ISY2
EMT.BV = EgtIf( Cmd[2] ~= '0', 2, 1)
if #EMT.MDCHAR > 0 then EMT.MDCHAR[#EMT.MDCHAR].FinStatY2 = EMT.FSY2 end
elseif Cmd[1] == '21' then
EMT.Y1PREVDELTA = EMT.Y1DELTA
EMT.Y2PREVDELTA = EMT.Y2DELTA
local nY1Delta = tonumber( Cmd[2])
local nY2Delta = tonumber( Cmd[3])
if nY1Delta > 0 and nY2Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nY2Delta
elseif nY1Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nil
elseif nY2Delta > 0 then
EMT.Y1DELTA = nil
EMT.Y2DELTA = nY2Delta
end
elseif Cmd[1] == '22' then
EMT.V1NEXTPOS = tonumber( Cmd[2])
EMT.V2NEXTPOS = tonumber( Cmd[3])
elseif Cmd[1] == '23' then
EMT.W2DELTA = tonumber( Cmd[2])
end
end
---------------------------------------------------------------------
function PrepareResidue( sCmd, nInd)
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 nInd <= 2 then
EMT.ISY1 = EgtIf( EMT.Y1DELTA, -1, 1)
EMT.FSY1 = EMT.ISY1
EMT.ISY2 = EgtIf( EMT.Y2DELTA, -1, 1)
EMT.FSY2 = EMT.ISY2
EMT.BV = EgtIf( EMT.Y1DELTA, 1, 2)
EMT.ROLL_IN = nil
end
else
EMT.UNL = true
end
elseif Cmd[1] == '1' then
if Cmd[2] ~= 'Z' then
local MDChar
if not EMT.UNL then
MDChar = { [Cmd[2]]=tonumber(Cmd[3]), IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
else
MDChar = { [Cmd[2]]=tonumber(Cmd[3]), IniStatY2=2, FinStatY2=85, BeamVise=0}
end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
elseif EMT.UNL then
MDChar.V1 = ParkV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = ParkV2 ; EMT.V2POS = MDChar.V2
end
table.insert( EMT.MDCHAR, MDChar)
end
elseif Cmd[1] == '2' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, IniStatV2=3, BeamVise=EMT.BV}
if Cmd[2] ~= 'T' then MDChar[Cmd[2]] = tonumber( Cmd[3]) end
if Cmd[4] ~= 'T' then MDChar[Cmd[4]] = tonumber( Cmd[5]) end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
end
table.insert( EMT.MDCHAR, MDChar)
elseif Cmd[1] == '3' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, IniStatV1=3, IniStatV2=3, BeamVise=EMT.BV}
if Cmd[2] ~= 'T' then MDChar[Cmd[2]] = tonumber( Cmd[3]) end
if Cmd[4] ~= 'T' then MDChar[Cmd[4]] = tonumber( Cmd[5]) end
if Cmd[6] ~= 'T' then MDChar[Cmd[6]] = tonumber( Cmd[7]) end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1POS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2POS = MDChar.V2
EMT.ROLL_IN = nil
end
table.insert( EMT.MDCHAR, MDChar)
elseif Cmd[1] == '4' then
EMT.TO_ZMAX = true
if Cmd[2] == '1' then
EMT.TO_XHOME = true
EMT.ROLL_IN = true
end
elseif Cmd[1] == '11' then
EMT.ISY1 = CalcCharStatusN( Cmd[2])
EMT.FSY1 = EMT.ISY1
EMT.BV = EgtIf( Cmd[2] ~= '0', 1, 2)
if #EMT.MDCHAR > 0 then EMT.MDCHAR[#EMT.MDCHAR].FinStatY1 = EMT.FSY1 end
elseif Cmd[1] == '12' then
EMT.ISY2 = CalcCharStatusN( Cmd[2])
EMT.FSY2 = EMT.ISY2
EMT.BV = EgtIf( Cmd[2] ~= '0', 2, 1)
if #EMT.MDCHAR > 0 then EMT.MDCHAR[#EMT.MDCHAR].FinStatY2 = EMT.FSY2 end
elseif Cmd[1] == '21' then
EMT.Y1PREVDELTA = EMT.Y1DELTA
EMT.Y2PREVDELTA = EMT.Y2DELTA
local nY1Delta = tonumber( Cmd[2])
local nY2Delta = tonumber( Cmd[3])
if nY1Delta > 0 and nY2Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nY2Delta
elseif nY1Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nil
elseif nY2Delta > 0 then
EMT.Y1DELTA = nil
EMT.Y2DELTA = nY2Delta
end
elseif Cmd[1] == '22' then
EMT.V1NEXTPOS = tonumber( Cmd[2])
EMT.V2NEXTPOS = tonumber( Cmd[3])
end
end
---------------------------------------------------------------------
function PrepareSplit( sCmd, nInd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- non interessa
elseif Cmd[1] == '1' then
if Cmd[2] == 'Y1' then
local MDChar = { Y1=tonumber(Cmd[3]), V1=ParkV1, IniStatY1=-1, IniStatY2=-1, IniStatV1=3, BeamVise=2, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
EMT.Y1POS = tonumber( Cmd[3])
EMT.V1POS = ParkV1
end
elseif Cmd[1] == '21' then
EMT.Y1PREVDELTA = EMT.Y1DELTA
EMT.Y2PREVDELTA = EMT.Y2DELTA
local nY1Delta = tonumber( Cmd[2])
local nY2Delta = tonumber( Cmd[3])
if nY1Delta > 0 and nY2Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nY2Delta
elseif nY1Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nil
elseif nY2Delta > 0 then
EMT.Y1DELTA = nil
EMT.Y2DELTA = nY2Delta
end
elseif Cmd[1] == '22' then
EMT.V1NEXTPOS = tonumber( Cmd[2])
EMT.V2NEXTPOS = tonumber( Cmd[3])
end
end
---------------------------------------------------------------------
function PrepareUnload( sCmd, nInd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- non interessa
elseif Cmd[1] == '1' then
if Cmd[2] == 'Y2' then
-- se non è ultima fase c'è una barra sulla pinza Y (1)
local bBarOnY = ( EMT.PHASE < EgtGetPhaseCount() and not IsEnd2Phase( EMT.PHASE))
local MDChar = { Y2=tonumber(Cmd[3]), IniStatY2=2, FinStatY2=85, BeamVise=EgtIf( bBarOnY, 1, 0), MovType=EgtIf( EMT.CHY_ON, 3, 2)}
table.insert( EMT.MDCHAR, MDChar)
end
elseif Cmd[1] == '2' then
if Cmd[4] == 'Y2' then
-- se non è ultima fase c'è una barra sulla pinza Y (1)
local bBarOnY = ( EMT.PHASE < EgtGetPhaseCount() and not IsEnd2Phase( EMT.PHASE))
local nISY1 = EgtIf( bBarOnY, -1, 1)
local MDChar = { Y2=tonumber(Cmd[5]), V2=ParkV2, IniStatY1=nISY1, FinStatY1=nISY1, IniStatY2=-1, FinStatY2=1, IniStatV2=3, BeamVise=2, MovType=EgtIf( EMT.CHY_ON, 3, 2)}
EMT.V2NEXTPOS = ParkV2
-- se ultimo pezzo e mossa anche Y1, devo garantire parcheggio di V1 (per barra successiva)
if EMT.PHASE == EgtGetPhaseCount() and EMT.CHY_ON then
MDChar.V1 = ParkV1
EMT.V1NEXTPOS = ParkV1
else
EMT.V1NEXTPOS = EMT.V1POS
end
table.insert( EMT.MDCHAR, MDChar)
end
elseif Cmd[1] == '3' then
-- non interessa
elseif Cmd[1] == '4' then
-- non interessa
elseif Cmd[1] == '11' then
-- non interessa
elseif Cmd[1] == '12' then
-- non interessa
elseif Cmd[1] == '21' then
-- non interessa
elseif Cmd[1] == '22' then
-- non interessa ??
end
end
---------------------------------------------------------------------
function PreparePreRotation( sCmd, nInd)
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se inizio o subito dopo, imposto stato iniziale pinze
if nInd <= 2 then
EMT.ISY1 = EgtIf( EMT.Y1DELTA, -1, 1)
EMT.FSY1 = EMT.ISY1
EMT.ISY2 = EgtIf( EMT.Y2DELTA, -1, 1)
EMT.FSY2 = EMT.ISY2
EMT.BV = EgtIf( EMT.Y1DELTA and not EMT.SPECSPLIT, 1, 2)
EMT.ROLL_IN = nil
end
-- se è pre-rotazione
if Cmd[2] == 'Pre-Rotation' then
EMT.PREROT = true
elseif Cmd[2] == 'SplitRot' then
EMT.SPLITROT = true
end
elseif Cmd[1] == '1' then
if Cmd[2] ~= 'Z' then
local MDChar
if EMT.PREROT then
-- parcheggio per sicurezza morsa e paratia lato scarico
MDChar = { Y2=ParkY2, V2=ParkV2, IniStatY2=1, FinStatY2=1, BeamVise=0}
table.insert( EMT.MDCHAR, MDChar)
MDChar = { [Cmd[2]]=tonumber(Cmd[3]), IniStatY1=86, FinStatY1=87, BeamVise=0}
elseif EMT.SPECSPLIT or EMT.SPLITROT then
MDChar = { [Cmd[2]]=tonumber(Cmd[3]), V1=ParkV1, IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, IniStatV1=3, BeamVise=EMT.BV}
EMT.V1NEXTPOS = MDChar.V1
else
MDChar = { [Cmd[2]]=tonumber(Cmd[3]), IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1NEXTPOS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2NEXTPOS = MDChar.V2
EMT.ROLL_IN = nil
end
table.insert( EMT.MDCHAR, MDChar)
end
elseif Cmd[1] == '2' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
if Cmd[2] ~= 'T' then MDChar[Cmd[2]] = tonumber( Cmd[3]) end
if Cmd[4] ~= 'T' then MDChar[Cmd[4]] = tonumber( Cmd[5]) end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1NEXTPOS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2NEXTPOS = MDChar.V2
EMT.ROLL_IN = nil
end
table.insert( EMT.MDCHAR, MDChar)
elseif Cmd[1] == '3' then
local MDChar = { IniStatY1=EMT.ISY1, FinStatY1=EMT.FSY1, IniStatY2=EMT.ISY2, FinStatY2=EMT.FSY2, BeamVise=EMT.BV}
if Cmd[2] ~= 'T' then MDChar[Cmd[2]] = tonumber( Cmd[3]) end
if Cmd[4] ~= 'T' then MDChar[Cmd[4]] = tonumber( Cmd[5]) end
if Cmd[6] ~= 'T' then MDChar[Cmd[6]] = tonumber( Cmd[7]) end
if EMT.ROLL_IN then
MDChar.V1 = MinV1 ; EMT.V1NEXTPOS = MDChar.V1
MDChar.V2 = MaxV2 ; EMT.V2NEXTPOS = MDChar.V2
EMT.ROLL_IN = nil
end
table.insert( EMT.MDCHAR, MDChar)
elseif Cmd[1] == '4' then
EMT.TO_ZMAX = true
if Cmd[2] == '1' then
EMT.TO_XHOME = true
EMT.ROLL_IN = true
end
elseif Cmd[1] == '11' then
if EMT.SPLITROT then
EMT.ISY1 = EgtIf( Cmd[2] ~= '0', CalcCharStatusN( Cmd[2]), 86)
EMT.FSY1 = EMT.ISY1
EMT.BV = EgtIf( Cmd[2] ~= '0', 1, 2)
else
EMT.ISY1 = CalcCharStatusN( Cmd[2])
EMT.FSY1 = EMT.ISY1
EMT.BV = EgtIf( Cmd[2] ~= '0', 1, 2)
end
if #EMT.MDCHAR > 0 then EMT.MDCHAR[#EMT.MDCHAR].FinStatY1 = CalcCharStatusN( Cmd[2]) end
elseif Cmd[1] == '12' then
EMT.ISY2 = CalcCharStatusN( Cmd[2])
EMT.FSY2 = EMT.ISY2
EMT.BV = EgtIf( Cmd[2] ~= '0', 2, 1)
if #EMT.MDCHAR > 0 then EMT.MDCHAR[#EMT.MDCHAR].FinStatY2 = EMT.FSY2 end
elseif Cmd[1] == '21' then
local nY1Delta = tonumber( Cmd[2])
local nY2Delta = tonumber( Cmd[3])
EMT.Y1PREVDELTA = EMT.Y1DELTA
EMT.Y2PREVDELTA = EMT.Y2DELTA
if nY1Delta > 0 and nY2Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nY2Delta
elseif nY1Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nil
elseif nY2Delta > 0 then
EMT.Y1DELTA = nil
EMT.Y2DELTA = nY2Delta
end
elseif Cmd[1] == '22' then
EMT.V1NEXTPOS = tonumber( Cmd[2])
EMT.V2NEXTPOS = tonumber( Cmd[3])
end
end
---------------------------------------------------------------------
function PreparePostRotation( sCmd, nInd)
-- è sostanzialmente un carico
local Cmd = EgtSplitString( sCmd)
if Cmd[1] == '0' then
-- se inizio
if nInd == 1 then
-- imposto stato pinze
EMT.FSY1 = -1
end
-- se dichiarazione inizio riposizionamento carrelli
if Cmd[2] == 'CARR_MOVE' then
EMT.POSTROT = false
table.insert( EMT.MDCHAR, { Start=1})
table.insert( EMT.MDCHAR, { Wait=1})
end
elseif Cmd[1] == '1' then
-- non interessa
elseif Cmd[1] == '2' then
if Cmd[2] == 'Y1' then
-- tolgo eventuale sovramateriale presente sul pezzo in posizione iniziale (la misura laser è ora col finito)
local MDChar = { Y1=tonumber(Cmd[3])-EMT.HOVM, IniStatY1=75, V1=ParkV1, FinStatY1=-1, BeamVise=0, Aux=' (E80058=0)', MovType=1}
table.insert( EMT.MDCHAR, MDChar)
EMT.V1POS = ParkV1
elseif Cmd[2] == 'T' then
local MDChar = { Y1=tonumber(Cmd[3]), IniStatY1=76, FinStatY1=EMT.FSY1, BeamVise=0, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
EMT.TPOS = tonumber(Cmd[3])
end
elseif Cmd[1] == '3' then
-- non interessa
elseif Cmd[1] == '11' then
EMT.FSY1 = CalcCharStatusN( Cmd[2])
elseif Cmd[1] == '12' then
-- non interessa
elseif Cmd[1] == '21' then
EMT.Y1PREVDELTA = EMT.Y1DELTA
EMT.Y2PREVDELTA = EMT.Y2DELTA
local nY1Delta = tonumber( Cmd[2])
local nY2Delta = tonumber( Cmd[3])
if nY1Delta > 0 and nY2Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nY2Delta
elseif nY1Delta > 0 then
EMT.Y1DELTA = nY1Delta
EMT.Y2DELTA = nil
elseif nY2Delta > 0 then
EMT.Y1DELTA = nil
EMT.Y2DELTA = nY2Delta
end
if not FindReadHeadWithLaser( EMT.MDCHAR) then
local MDChar = { Y1=LoadT, IniStatY1=76, FinStatY1=EMT.FSY1, BeamVise=0, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
EMT.TPOS = LoadT
end
elseif Cmd[1] == '22' then
EMT.V1NEXTPOS = tonumber( Cmd[2])
EMT.V2NEXTPOS = tonumber( Cmd[3])
end
end
---------------------------------------------------------------------
function GetV1ToCloseNum( UseCurrV1)
if EMT.MCHPRECUT or EMT.MCHCUT then
return false
end
--EmtOutput( string.format( 'L1m=%.3f L1M=%.3f', EMT.MAXMIN[1], EMT.MAXMAX[1]))
--EmtOutput( string.format( 'LB=%.3f LT=%.3f', EMT.LB, EMT.LT))
local dV1Pos
if not UseCurrV1 or UseCurrV1 == false then
dV1Pos = EMT.V1NEXTPOS
elseif UseCurrV1 == true then
dV1Pos = EMT.V1POS
else
dV1Pos = UseCurrV1
end
return ( ( not EMT.W2DELTA or EMT.TO_SPECSPLIT) and EMT.MAXMAX[1] <= dV1Pos + RollCageMin and EMT.MAXMIN[1] + EMT.LB >= dV1Pos + RollCageMax)
end
---------------------------------------------------------------------
function GetV2ToCloseNum( UseCurrV2)
--EmtOutput( string.format( 'L1m=%.3f L1M=%.3f', EMT.MAXMIN[1], EMT.MAXMAX[1]))
--EmtOutput( string.format( 'LB=%.3f LT=%.3f', EMT.LB, EMT.LT))
local dV2Pos
if not UseCurrV2 or UseCurrV2 == false then
dV2Pos = EMT.V2NEXTPOS
elseif UseCurrV2 == true then
dV2Pos = EMT.V2POS
else
dV2Pos = UseCurrV2
end
return ( not EMT.W2DELTA and EMT.MAXMAX[1] <= dV2Pos - RollCageMax and EMT.MAXMIN[1] + EMT.LB + ( EMT.HOVM or 0) - ( EMT.X_OFF or 0) >= dV2Pos - RollCageMin)
end
---------------------------------------------------------------------
function GetMovesInAuxCmd( vAuxCmd)
for i = 1, #( vAuxCmd or {}) do
local Cmd = EgtSplitString( vAuxCmd[i])
if Cmd[1] == '1' or Cmd[1] == '2' or Cmd[1] == '3' then
return true
elseif Cmd[1] == '22' then
local dV1NextPos = tonumber( Cmd[2]) -- EgtIf( EMT.Y1DELTA, tonumber( Cmd[2]), ParkV1)
if not GetV1ToCloseNum( dV1NextPos) then
dV1NextPos = ParkV1
end
local dV2NextPos = tonumber( Cmd[3])
if not GetV2ToCloseNum( dV2NextPos) then
dV2NextPos = ParkV2
end
if ( abs( dV1NextPos - EMT.V1POS) > 1 or abs( dV2NextPos - EMT.V2POS) > 1) then
return true
end
end
end
return false
end
---------------------------------------------------------------------
function GetDiffRotAxAtStart( R1, R2)
local HomeR1 = EgtGetAxisHomePos( EgtIf( nHSet == 1, 'C1', 'C2'))
local PrevR1 = EMT.R1p or EMT.R1pp or HomeR1
if not R1 or not PrevR1 or abs( R1 - PrevR1) > 0.1 then
return true
end
local HomeR2 = EgtGetAxisHomePos( EgtIf( nHSet == 1, 'B1', 'B2'))
local PrevR2 = EMT.R2p or EMT.R2pp or HomeR2
if not R2 or not PrevR2 or abs( R2 - PrevR2) > 0.1 then
return true
end
return false
end
---------------------------------------------------------------------
function MyAdjustLinearAxes()
local MyL1o = EMT.L1
local MyL2o = EMT.L2
local MyL3o = EMT.L3
if EMT.REFLOC then
local vtE
if EMT.HEAD == 'H11' or EMT.HEAD == 'H12' then
local dAddLen = EgtIf( EMT.HEAD == 'H12', -SawOffsZ, 0)
local Len = EMT.TLEN + dAddLen + MillOffs
local LenRef = MillOffs
vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
elseif EMT.HEAD == 'H21' or EMT.HEAD == 'H22' then
local dAddLen = EgtIf( EMT.HEAD == 'H22', -Saw2OffsZ, 0)
local Len = EMT.TLEN + dAddLen + Mill2Offs
local LenRef = Mill2Offs
vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
elseif EMT.HEAD == 'H13' then
local Len = ( EMT.TDIST or ChSawLen) + MillOffs
local LenRef = MillOffs
vtE = Vector3d( EMT.ADIR) * Len - Z_AX() * LenRef
elseif EMT.HEAD == 'H15' or EMT.HEAD == 'H23' then
local Len = ( EMT.TDIST or ChSawLen) + Mill2Offs
local LenRef = Mill2Offs
vtE = Vector3d( EMT.ADIR) * Len - Z_AX() * LenRef
elseif EMT.HEAD == 'H17' then
local LenAux = AngTrBHOffs + MillOffs
local LenRef = MillOffs
local vtAux = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2, EMT.R3)
vtE = vtAux * LenAux - Z_AX() * LenRef
else
EmtSetLastError( 1211, 'Head not defined ' .. ( EMT.HEAD or ''))
end
if EMT.HEAD == 'H11' or EMT.HEAD == 'H12' or EMT.HEAD == 'H13' or EMT.HEAD == 'H15' or sHead == 'H17' then
EMT.L1 = EMT.L1 - vtE:getX()
EMT.L2 = EMT.L2 - DeltaTabY - vtE:getY()
EMT.L3 = EMT.L3 - DeltaTabZ - vtE:getZ()
else
EMT.L1 = EMT.L1 - vtE:getX()
EMT.L2 = EMT.L2 - Delta2TabY - vtE:getY()
EMT.L3 = EMT.L3 - Delta2TabZ - vtE:getZ()
end
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 MyOutputNoNum( sOut)
local bNum = EMT.NUM
EMT.NUM = false
EmtOutput( sOut)
EMT.NUM = bNum
end
---------------------------------------------------------------------
function AdjustTcPos( bLen3, sTcPos, dAxR3)
if not sTcPos then sTcPos = EMT.TCPOS end
local sPos = sTcPos:gsub( 'T', '')
if bLen3 then
if #sPos == 1 then
sPos = '00' .. sPos
elseif #sPos == 2 then
sPos = '0' .. sPos
end
end
if sPos == '101' then
if not dAxR3 then dAxR3 = EMT.R3 end
if abs( dAxR3 - 0) < 0.1 then
sPos = '101'
elseif abs( dAxR3 - 90) < 0.1 then
sPos = '104'
elseif abs( dAxR3 + 90) < 0.1 then
sPos = '102'
else
EmtSetLastError( 1210, 'Chain saw orientation not allowed')
end
elseif sPos == '111' then
if not dAxR3 then dAxR3 = EMT.R3 end
if abs( dAxR3 - 0) < 0.1 then
sPos = '111'
elseif abs( dAxR3 - 90) < 0.1 then
sPos = '114'
elseif abs( dAxR3 + 90) < 0.1 then
sPos = '112'
else
EmtSetLastError( 1210, 'Chain saw orientation not allowed')
end
elseif sPos == '201' then
if not dAxR3 then dAxR3 = EMT.R3 end
-- se non ancora settato, è la posizione per punta lunga su ONE (quindi non ha asse R3). Altrimenti è mortasatrice su PF.
if dAxR3 then
if abs( dAxR3 - 0) < 0.1 then
sPos = '201'
elseif abs( dAxR3 - 90) < 0.1 then
sPos = '204'
elseif abs( dAxR3 + 90) < 0.1 then
sPos = '202'
else
EmtSetLastError( 1210, 'Mortiser orientation not allowed')
end
end
elseif sPos == '211' then
if not dAxR3 then dAxR3 = EMT.R3 end
if abs( dAxR3 - 0) < 0.1 then
sPos = '211'
elseif abs( dAxR3 - 90) < 0.1 then
sPos = '214'
elseif abs( dAxR3 + 90) < 0.1 then
sPos = '212'
else
EmtSetLastError( 1210, 'Mortiser orientation not allowed')
end
end
return sPos
end
---------------------------------------------------------------------
function GetToolRadLen()
-- se utensile standard
if EMT.HEAD == 'H11' or EMT.HEAD == 'H21' then
return EMT.TDIAM / 2, EMT.TLEN
-- se lama su testa 1
elseif EMT.HEAD == 'H12' then
return EMT.TDIAM / 2, -SawOffsZ + EMT.TLEN
-- se lama su testa 2
elseif EMT.HEAD == 'H22' then
return EMT.TDIAM / 2, -Saw2OffsZ + EMT.TLEN
-- se sega a catena
elseif HeadIsChainSaw( EMT.HEAD) then
return EMT.TLEN, ( EMT.TDIST or ChSawLen)
-- se aggregato BlockHaus
elseif EMT.HEAD == 'H17' then
return EMT.TDIAM / 2, AngTrBHOffs
end
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 not HeadIsChainSaw( EMT.HEAD) 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 _, dAngV, dAngO = SphericalFromVector( vtE)
local dAngO2 = EmtGetAngO2( EMT.IPLGLFR:getVersZ(), EMT.IPLGLFR:getVersX(), dAngV, dAngO)
dAngO = dAngO + 90
while dAngO + 100 * GEO.EPS_SMALL > 360 do
dAngO = dAngO - 360
end
EMT.IPLGLSTR = ' EX0 EY'..EmtLenToString( xS)..' EZ0'..
' EA0'..' EB'..EgtNumToString(dAngV)..' EC'..EgtNumToString(dAngO)..' ED'..EgtNumToString(dAngO2)
EMT.IPLGL = true
end
---------------------------------------------------------------------
function GetFmaxClamp()
return EmtLenToString( EMT.FMAXPINZE, 0)
end
---------------------------------------------------------------------
function GetFall( nPathId)
local sVal = EgtGetInfo( nPathId, 'AE1')
return ( sVal == '0,Fall')
end
---------------------------------------------------------------------
function GetSpecUnloading( nPathId)
local sVal = EgtGetInfo( nPathId, 'AE1')
return ( sVal == '0,Unloading SpecSplit')
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
-- se ho la testa 2, quindi tipo PF
if EgtGetHeadId( 'H21') then
local nDeltaRot = nRot - nPrevRot
-- rotazione automatica o manuale (sempre con il medesimo comando)
local sOut = 'M180 L0=' .. tostring( nDeltaRot)
EmtOutput( sOut)
-- altrimenti se ONE
else
if nRot > nPrevRot then nRot = nRot - 4 end
local nDeltaRot = nRot - nPrevRot
-- se rotazione automatica richiesta e possibile
local dRefLen = EgtIf( IsMid2Phase( EMT.PHASE) or IsEnd2Phase( EMT.PHASE), EMT.LT, EMT.LB)
-- se rotazione automatica richiesta e possibile
if AutomaticRotation and dRefLen >= AutoRotMinLen then
local sOut = 'M180 L0=' .. tostring( -nDeltaRot)
EmtOutput( sOut)
else
local sOut
if nDeltaRot == -1 then
sOut = 'M151'
elseif nDeltaRot == -2 then
sOut = 'M152'
elseif nDeltaRot == -3 then
sOut = 'M153'
end
EmtOutput( sOut)
EmtOutput( 'M86')
EmtOutput( 'G4F.5')
end
end
return true
end
---------------------------------------------------------------------
function EmitZmax( bReset, bEnd, bXhome, PrevR1, PrevR2, bSplitCut, bUsePrevDelta)
if bReset then
EmitResetMachining()
end
-- gruppo della testa
local nHSet = GetHeadSet( EMT.HEAD)
local dXPos = EgtIf( bUsePrevDelta, EMT.L2pp or EMT.L2o, EMT.L2o)
-- reset stato di testa in home
EMT.XHOME = nil
-- se testa 1
if nHSet == 1 then
-- posizioni sicure
local dMaxZ1 = EgtGetAxisMax( 'Z1')
local dSafeX1 = EgtGetAxisHomePos( 'X1')
local dSafeZ1 = EgtGetAxisHomePos( 'Z1')
local dSafeB1 = EgtGetAxisHomePos( 'B1')
local dSafeC1 = EgtGetAxisHomePos( 'C1')
-- se necessario allargo le cabine
if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, dSafeC1, dSafeB1) then
local dPosT = EgtIf( bEnd, EMT.L1o, EMT.TPOS or EMT.L1op)
EmitParkRoller( dPosT, bSplitCut, bUsePrevDelta)
end
-- se fresa o lama
if GetHeadTCSet( EMT.HEAD, EMT.TCPOS) == 'Head1_TC1' then
if not HeadIsChainSaw( EMT.HEAD) then
-- eseguo la salita a Z1max (oriento solo se assi rotanti non già a posto)
if abs( dSafeC1 - PrevR1) > 0.1 or abs( dSafeB1 - PrevR2) > 0.1 then
local dZref = dSafeZ1 + GetZExtra( EMT.HEAD, EgtClamp( PrevR2, -90, 90))
if EgtIf( BD.RIGHT_LOAD, -dXPos < -LimX1RotSaw, -dXPos > -LimX1RotSaw) then
dZref = dZref - EgtIf( not Mortiser, 100, 370)
end
dZref = min( dZref, dMaxZ1)
local MovH = { Z = EgtIf( dZref > EMT.L3o, dZref, EMT.L3o)}
MovH.X = -dXPos ; MovH.B = EgtClamp( PrevR2, -90, 90) ; MovH.C = PrevR1 ;
EmitMoveDataHead( 1, MovH)
if EMT.HEAD == 'H12' and ( abs( dSafeC1 - PrevR1) > 30.1 or abs( dSafeB1 - PrevR2) > 30.1) then
EmitMoveDataHead( 1, { Z=dMaxZ1, B=0})
end
EmitMoveDataHead( 1, { C=dSafeC1})
EmitMoveDataHead( 1, { B=dSafeB1})
EmitMoveDataHead( 1, { Z=dMaxZ1})
else
local MovH = { Z = dMaxZ1}
MovH.X = -dXPos ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
EmitMoveDataHead( 1, MovH)
end
if bXhome then
EMT.XHOME = true
EmitMoveDataHead( 1, { X=-dSafeX1})
end
EmitMoveStartHead( 1)
-- se lavorazione in doppio
if EMT.DOU_TYPE == 2 then
EmitDouZMax()
end
EmitMoveWaitHead( 1)
-- altrimenti sega a catena
else
-- ribadisco movimento perchè in G141 si aspetta sempre tutti i valori
local MovH = { X = -dXPos, Z = EMT.L3o, B = PrevR2, C = PrevR1}
EmitMoveDataHead( 1, MovH)
EmitMoveDataHead( 1, { Z=dSafeZ1, B=dSafeB1})
if EMT.R3 and abs( EMT.R3) < 0.1 then
EmitMoveDataHead( 1, { Z=ParkCSawZ1})
end
EmitMoveDataHead( 1, { X=-dSafeX1, C=dSafeC1})
if bXhome then
EMT.XHOME = true
EmitMoveDataHead( 1, { X=-ParkX1, Z=ParkCSawZ1, B=ParkB1, C=ParkC1, TPos=50})
end
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
end
-- se altrimenti fresa o lama su TC frontale
else
-- se fresa o lama
if not HeadIsChainSaw( EMT.HEAD) then
-- eseguo la salita a Z1max (oriento solo se assi rotanti non già a posto)
if abs( dSafeC1 - PrevR1) > 0.1 or abs( dSafeB1 - PrevR2) > 0.1 then
local dZref = dSafeZ1 + GetZExtra( EMT.HEAD, PrevR2)
dZref = min( dZref, dMaxZ1)
local MovH = { Z = EgtIf( dZref > EMT.L3o, dZref, EMT.L3o)}
MovH.X = -dXPos ; MovH.B = EgtClamp( PrevR2, -90, 90) ; MovH.C = PrevR1 ;
EmitMoveDataHead( 1, MovH)
EmitMoveDataHead( 1, { Z=dMaxZ1, B=0})
EmitMoveDataHead( 1, { C=dSafeC1})
EmitMoveDataHead( 1, { B=dSafeB1})
EmitMoveDataHead( 1, { Z=dMaxZ1})
else
local MovH = { Z = dMaxZ1}
MovH.X = -dXPos ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
EmitMoveDataHead( 1, MovH)
end
if bXhome then
EMT.XHOME = true
EmitMoveDataHead( 1, { X=-dSafeX1})
end
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
-- altrimenti sega a catena
else
-- ribadisco movimento perchè in G141 si aspetta sempre tutti i valori
local MovH = { X = -dXPos, Z = EMT.L3o, B = PrevR2, C = PrevR1}
EmitMoveDataHead( 1, MovH)
-- controlla che l'ingombro della sega a catena non possa collidere durante il suo riposizionamento
local dChSawEncumbrance = sqrt( pow( EMT.TTOTLEN, 2) + pow( ChSawLen + MillOffs, 2))
if EMT.ADIR and EMT.TDIR then
-- direzione versore sega a catena X- (copre anche eventuali inclinazioni in Y)
if EMT.TDIR[1] <= 0 then
-- ingombro massimo di quota Z (senza pivot) + ingombro massimo sega + altezza pezzo + altezza sicurezza
local dEncumbranceTot = EMT.L3o + MillOffs - dChSawEncumbrance - EMT.SB - 30
-- nuova quota Z intermedia
local dZUp = EMT.L3o + ( DeltaTabZ - dEncumbranceTot)
-- se la nuova quota è minore della quota di parcheggio
if dZUp <= ParkCSawZ1 then
-- se B è oltre il punto di massimo ingombro (con l'inclinazione attuale non ha il massimo ingombro)
if asin( EMT.TDIR[3] / 1) > asin( EgtTdbGetCurrToolParam( MCH_TP.TOTLEN) / dChSawEncumbrance) and ( dEncumbranceTot < DeltaTabZ) then
EmitMoveDataHead( 1, { Z=dZUp})
end
end
end
end
EmitMoveDataHead( 1, { Z=dSafeZ1, B=dSafeB1})
if EMT.R3 and abs( EMT.R3) < 0.1 then
EmitMoveDataHead( 1, { Z=ParkCSawZ1})
end
EmitMoveDataHead( 1, { X=-dSafeX1, C=dSafeC1})
if bXhome then
EMT.XHOME = true
EmitMoveDataHead( 1, { X=-ParkX1, Z=ParkCSawZ1, B=ParkB1, C=ParkC1, TPos=50})
end
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
end
end
-- altrimenti testa 2
else
-- posizioni sicure
local dMaxZ2 = EgtGetAxisMax( 'Z2')
local dSafeX2 = EgtGetAxisHomePos( 'X2')
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
local dSafeB2 = EgtGetAxisHomePos( 'B2')
local dSafeC2 = EgtGetAxisHomePos( 'C2')
-- se necessario allargo le cabine
if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, dSafeC2, dSafeB2) then
local dPosT = EgtIf( bEnd, EMT.L1o, EMT.TPOS or EMT.L1op)
EmitParkRoller( dPosT, bSplitCut, bUsePrevDelta)
end
-- se fresa o lama
if not HeadIsChainSaw( EMT.HEAD) then
-- eseguo la salita a Z2max (oriento solo se assi rotanti non già a posto)
if abs( dSafeC2 - PrevR1) > 0.1 or abs( dSafeB2 - PrevR2) > 0.1 then
local dZref = dSafeZ2 + GetZExtra( EMT.HEAD, PrevR2)
dZref = min( dZref, dMaxZ2)
local MovH = { Z = EgtIf( dZref > EMT.L3o, dZref, EMT.L3o)}
MovH.X = -dXPos ; MovH.B = EgtClamp( PrevR2, -90, 90) ; MovH.C = PrevR1 ;
EmitMoveDataHead( 2, MovH)
if EMT.HEAD == 'H22' and ( abs( dSafeC2 - PrevR1) > 30.1 or abs( dSafeB2 - PrevR2) > 30.1) then
EmitMoveDataHead( 2, { Z=dMaxZ2, B=0})
end
EmitMoveDataHead( 2, { C=dSafeC2})
EmitMoveDataHead( 2, { B=dSafeB2})
EmitMoveDataHead( 2, { Z=dMaxZ2})
else
local MovH = { Z = dMaxZ2}
MovH.X = -dXPos ; MovH.B = PrevR2 ; MovH.C = PrevR1 ;
EmitMoveDataHead( 2, MovH)
end
if bXhome then
EMT.XHOME = true
EmitMoveDataHead( 2, { X=-dSafeX2})
end
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
-- altrimenti sega a catena
else
-- ribadisco movimento perchè in G141 si aspetta sempre tutti i valori
local MovH = { X = -dXPos, Z = EMT.L3o, B = PrevR2, C = PrevR1}
EmitMoveDataHead( 2, MovH)
-- controlla che l'ingombro della sega a catena non possa collidere durante il suo riposizionamento
local dChSawEncumbrance = sqrt( pow( EMT.TTOTLEN, 2) + pow( ChSawLen + Mill2Offs, 2))
if EMT.ADIR and EMT.TDIR then
-- direzione versore sega a catena X- (copre anche eventuali inclinazioni in Y)
if EMT.TDIR[1] <= 0 then
-- ingombro massimo di quota Z (senza pivot) + ingombro massimo sega + altezza pezzo + altezza sicurezza
local dEncumbranceTot = EMT.L3o + Mill2Offs - dChSawEncumbrance - EMT.SB - 30
-- nuova quota Z intermedia
local dZUp = EMT.L3o + ( DeltaTabZ - dEncumbranceTot)
-- se la nuova quota è minore della quota di parcheggio
if dZUp <= ParkCSawZ2 then
-- se B è oltre il punto di massimo ingombro (con l'inclinazione attuale non ha il massimo ingombro)
if asin( EMT.TDIR[3] / 1) > asin( EgtTdbGetCurrToolParam( MCH_TP.TOTLEN) / dChSawEncumbrance) and ( dEncumbranceTot < DeltaTabZ) then
EmitMoveDataHead( 2, { Z=dZUp})
end
end
end
end
EmitMoveDataHead( 2, { Z=dSafeZ2, B=dSafeB2})
if EMT.R3 and abs( EMT.R3) < 0.1 then
EmitMoveDataHead( 2, { Z=ParkCSawZ2})
end
EmitMoveDataHead( 2, { X=-dSafeX2, C=dSafeC2})
if bXhome then
EMT.XHOME = true
EmitMoveDataHead( 2, { X=-ParkX2, Z=ParkCSawZ2, B=ParkB2, C=ParkC2, TPos=50})
end
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
end
end
end
---------------------------------------------------------------------
function EmitDouZMax()
-- posizioni sicure
local dMaxZ2 = EgtGetAxisMax( 'Z2')
local dSafeX2 = EgtGetAxisHomePos( 'X2')
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
local dSafeB2 = EgtGetAxisHomePos( 'B2')
local dSafeC2 = EgtGetAxisHomePos( 'C2')
-- eseguo la salita a Z2max
local MovH = { Z = dSafeZ2, TPos=EMT.DOU_TPOS}
MovH.X = - ( Delta2TabY - EMT.DOU_TLEN - ( -DeltaTabY + EMT.L2o - EMT.TLEN + EgtIf( BD.RIGHT_LOAD, -EMT.HB, EMT.HB))) ;
MovH.B = -90 ; MovH.C = -180 ;
EmitMoveDataHead( 2, MovH)
EmitMoveDataHead( 2, { B=dSafeB2, C=dSafeC2, TPos=EMT.DOU_TPOS})
EmitMoveDataHead( 2, { Z=dMaxZ2, TPos=EMT.DOU_TPOS})
EmitMoveDataHead( 2, { X=-dSafeX2, TPos=EMT.DOU_TPOS})
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
-- dichiaro eseguito
EMT.DOU_TO_ZMAX = nil
end
---------------------------------------------------------------------
function EmitXhome()
-- gruppo della testa
local nHSet = GetHeadSet( EMT.HEAD)
-- se testa 1
if nHSet == 1 then
local dMaxZ1 = EgtGetAxisMax( 'Z1')
local dSafeX1 = EgtGetAxisHomePos( 'X1')
local dSafeZ1 = EgtGetAxisHomePos( 'Z1')
local dSafeB1 = EgtGetAxisHomePos( 'B1')
local dSafeC1 = EgtGetAxisHomePos( 'C1')
if EMT.HEAD ~= 'H13' then
EmitMoveDataHead( 1, { X=-dSafeX1, Z=dMaxZ1, B=dSafeB1, C=dSafeC1})
else
EmitMoveDataHead( 1, { X=-ParkX1, Z=ParkCSawZ1, B=ParkB1, C=ParkC1, TPos=50})
end
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
-- altrimenti testa 2
else
local dMaxZ2 = EgtGetAxisMax( 'Z2')
local dSafeX2 = EgtGetAxisHomePos( 'X2')
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
local dSafeB2 = EgtGetAxisHomePos( 'B2')
local dSafeC2 = EgtGetAxisHomePos( 'C2')
if EMT.HEAD ~= 'H23' then
EmitMoveDataHead( 2, { X=-dSafeX2, Z=dMaxZ2, B=dSafeB2, C=dSafeC2})
else
EmitMoveDataHead( 2, { X=-ParkX2, Z=ParkCSawZ2, B=ParkB2, C=ParkC2, TPos=50})
end
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
end
end
---------------------------------------------------------------------
function EmitResetMachining()
if EMT.PLANEACTIVE then
-- se non sono a Z massima e operatore deve entrare in cabina spango sempre
if not EMT.ZMAX and ( GetSpecUnloading( EMT.PATHID) or GetFall( EMT.PATHID)) then
EmtOutput( 'M05')
-- altrimenti spegnimento dipende da parametro
elseif ( EMT.TOOL ~= GetNextTool( EMT.MCHID, false) and IsLastPath( EMT.PATHID)) or GetSpecUnloading( EMT.PATHID) or GetFall( EMT.PATHID) then
EmtOutput( 'M05')
end
local sOut = 'G157 EA1'
EmtOutput( sOut)
-- piano non più attivo
EMT.PLANEACTIVE = false
end
end
---------------------------------------------------------------------
function EmitParkRoller( dPosT, bSplitCut, bUsePrevDelta)
-- se entrambe già parcheggiate, non devo fare alcunché
if ( EMT.V1POS - ParkV1) > -0.1 and ( EMT.V2POS - ParkV2) < 0.1 then return end
-- Assegno quote pinze correnti
local dY1Delta = EgtIf( bUsePrevDelta, EMT.Y1PREVDELTA, EMT.Y1DELTA)
local dY2Delta = EgtIf( bUsePrevDelta, EMT.Y2PREVDELTA, EMT.Y2DELTA)
-- Parcheggi pinze
local MyParkY1 = ParkY1 + AggLoad
local MyParkY2 = ParkY2
-- le parcheggio
local MDChar = {}
if dY1Delta and dY2Delta then
local dPosY1 = dPosT + dY1Delta
local dPosY2 = dPosT + dY2Delta
local DiffY1 = MyParkY1 - dPosY1
local DiffY2 = MyParkY2 - dPosY2
--EmtOutput( string.format( 'PosT=%.3f DiffY1=%.3f DiffY2=%.3f', dPosT, DiffY1, DiffY2))
if bSplitCut then
local bYNoMove, bVNoMove
if DiffY1 > 0.1 then
bYNoMove = false
MDChar.Y1 = dPosY1 + DiffY1
else
bYNoMove = true
MDChar.Y1 = dPosY1
end
if DiffY2 < -0.1 then
bVNoMove = false
MDChar.Y2 = dPosY2 + DiffY2
dPosT = dPosT + DiffY2
else
bVNoMove = true
MDChar.Y2 = dPosY2
end
-- se anche solo una morsa è restata in posizione, le sposto comunque entrambe di 5mm per distanziare i pezzi separati
if bYNoMove or bVNoMove then
MDChar.Y1 = MDChar.Y1 + 30
MDChar.Y2 = MDChar.Y2 - 30
end
elseif DiffY1 > 0.1 and DiffY2 < -0.1 then
EmtSetLastError( 1201, 'Error Collision in ParkRoller')
elseif DiffY1 > 0.1 then
if dPosY2 + DiffY1 > MyParkY2 + 0.1 then
EmtSetLastError( 1201, 'Error Collision Y2 in ParkRoller')
else
MDChar.Y1 = dPosY1 + DiffY1
MDChar.Y2 = dPosY2 + DiffY1
dPosT = dPosT + DiffY1
end
elseif DiffY2 < -0.1 then
if dPosY1 + DiffY2 < MyParkY1 - 0.1 then
EmtSetLastError( 1201, 'Error Collision Y1 in ParkRoller')
else
MDChar.Y1 = dPosY1 + DiffY2
MDChar.Y2 = dPosY2 + DiffY2
dPosT = dPosT + DiffY2
end
end
MDChar.MovType = 3
MDChar.BeamVise = ( EMT.BV or 1)
elseif dY1Delta then
local dMoveV1 = ParkV1 - EMT.V1POS
local dPosY1 = dPosT + dY1Delta
local DiffY1 = MyParkY1 - dPosY1
local dMoveY1 = EgtIf( DiffY1 > 0.1, dMoveV1, 0)
local dTryMoveY1 = min( ParkV1 - dPosT - EgtIf( bSplitCut or EMT.FALL, EMT.LT, 0), MaxY1 - dPosY1 - 10)
if ( dPosT > ParkV2 - ExtraParkV and dPosT < ParkV1 and dPosY1 + dTryMoveY1 < MaxY1) then dMoveY1 = max( dMoveY1, dTryMoveY1) end
MDChar.Y1 = dPosY1 + dMoveY1
MDChar.MovType = 1
MDChar.BeamVise = 1
dPosT = dPosT + dMoveY1
elseif dY2Delta then
local dMoveV2 = ParkV2 - EMT.V2POS
local dPosY2 = dPosT + dY2Delta
local DiffY2 = MyParkY2 - dPosY2
local dMoveY2 = EgtIf( DiffY2 < -0.1, dMoveV2, 0)
local dTryMoveY2 = max( ParkV2 - dPosT - EMT.LT - EMT.DELTA_LT - EMT.HOVM, MinY2 - dPosY2 + 10)
if ( dPosT + EMT.LT + EMT.DELTA_LT + EMT.HOVM < ParkV1 + ExtraParkV and dPosT + EMT.LT + EMT.DELTA_LT + EMT.HOVM > ParkV2 and dPosY2 + dTryMoveY2 > MinY2) then dMoveY2 = min( dMoveY2, dTryMoveY2) end
MDChar.Y2 = dPosY2 + dMoveY2
MDChar.MovType = 2
MDChar.BeamVise = 2
dPosT = dPosT + dMoveY2
end
if abs( ParkV1 - EMT.V1POS) > 0.1 then
MDChar.V1 = ParkV1
MDChar.IniStatV1 = 3
MDChar.MovType = MDChar.MovType | 1
end
if abs( ParkV2 - EMT.V2POS) > 0.1 then
MDChar.V2 = ParkV2
MDChar.IniStatV2 = 3
MDChar.MovType = MDChar.MovType | 2
end
EmitMoveDataChars( MDChar)
EmitMoveStartChars( MDChar.MovType)
EmitMoveWaitChars( MDChar.MovType)
EMT.V1POS = ParkV1
EMT.V2POS = ParkV2
EMT.TPOS = dPosT
end
---------------------------------------------------------------------
-- Se la lavorazione segue una disposizione ha un utensile diverso da quello attuale lo cambia durante la disposizione
function ToolPreSelectionSingleHead( nMchId)
-- Se non sono nell'ultima lavorazione della fase o se è una macchina a doppia testa ritorna senza fare nulla
local bIsPhaseEnd = ( EgtGetNextActiveOperation( nMchId) and EgtGetInfo( EgtGetNextActiveOperation( nMchId), 'TYPE') == 'END')
if not bIsPhaseEnd or EgtGetHeadId( 'H21') then
return
end
-- nome utensile
local sToolChange
local sToolChangePos
local sToolChangeHead
-- recupero lavorazione successiva e se contiene un utensile diverso salva utensile e posizione utensile
local nNextMchId = EgtGetNextActiveOperation( nMchId)
while nNextMchId do
if EgtGetOperationType( nNextMchId) ~= MCH_OY.DISP then
if EgtSetCurrMachining( nNextMchId) then
local sNextTool = EgtGetMachiningParam( MCH_MP.TOOL)
if EgtTdbSetCurrTool( sNextTool) then
if EMT.TOOL ~= sNextTool then
local sNextHead = EgtTdbGetCurrToolParam( MCH_TP.HEAD)
if not HeadIsChainSaw( sNextHead) then
sToolChange = sNextTool
sToolChangePos = EgtTdbGetCurrToolParam( MCH_TP.TCPOS)
sToolChangeHead = sNextHead
end
end
break
end
end
end
nNextMchId = EgtGetNextActiveOperation( nNextMchId)
end
-- ripristino stato corrente
EgtSetCurrMachining( EMT.MCHID)
EgtTdbSetCurrTool( EMT.TOOL)
-- controlla se l'operazione successiva e quella ancora dopo esistono e sono disposizioni
local bNextOpIsDisp = ( EgtGetNextActiveOperation( nMchId)
and ( EgtGetOperationType( EgtGetNextActiveOperation( nMchId)) == MCH_OY.DISP)
and ( EgtGetNextActiveOperation( EgtGetNextActiveOperation( nMchId)))
and ( EgtGetOperationType( EgtGetNextActiveOperation( EgtGetNextActiveOperation( nMchId))) == MCH_OY.DISP))
-- emetto preselezione utensile
if bIsPhaseEnd and bNextOpIsDisp then
if ( EMT.TOOL and sToolChangePos and sToolChange and sToolChangeHead) and EMT.TOOL ~= sToolChangePos and not HeadIsChainSaw( sToolChangeHead) then
local MyParkX1 = EgtIf( GetHeadTCSet( sToolChangeHead, sToolChangePos) == 'Head1_TC2', ParkFrnX1, ParkX1)
EmitMoveDataHead( 1, { X=-MyParkX1, Z=MaxZ1, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, sToolChangePos)})
EmitMoveStartHead( 1)
end
end
end
---------------------------------------------------------------------
function PreselectNextDiffHead( nMchId, sHead)
-- se non ho due teste, esco subito
if not EgtGetHeadId( 'H21') then
return
end
-- gruppo della testa
local nHSet = GetHeadSet( sHead)
-- flag preselezione eseguita
local bPresel = false
-- recupero lavorazione successiva
local nNextMchId = EgtGetNextActiveOperation( nMchId)
while nNextMchId do
if EgtGetOperationType( nNextMchId) ~= MCH_OY.DISP then
if EgtSetCurrMachining( nNextMchId) then
local sNextTool = EgtGetMachiningParam( MCH_MP.TOOL)
if EgtTdbSetCurrTool( sNextTool) then
local sNextHead = EgtTdbGetCurrToolParam( MCH_TP.HEAD)
local nNextHSet = GetHeadSet( sNextHead)
if nNextHSet ~= nHSet then
break
end
end
end
end
nNextMchId = EgtGetNextActiveOperation( nNextMchId)
end
-- se esiste ed appartiene a gruppo diverso
if nNextMchId and EgtSetCurrMachining( nNextMchId) then
local sNextTool = EgtGetMachiningParam( MCH_MP.TOOL)
if EgtTdbSetCurrTool( sNextTool) then
local sNextHead = EgtTdbGetCurrToolParam( MCH_TP.HEAD)
local nNextHSet = GetHeadSet( sNextHead)
if nNextHSet ~= nHSet then
local sNextTcPos = EgtTdbGetCurrToolParam( MCH_TP.TCPOS)
-- se testa attuale da caricare è sega a catena, mando l'altra prima in HomeX (per evitare possibili collisioni) e poi lancio preselezione
if sHead == 'H13' and nHSet ~= GetHeadSet( EMT.PREVHEAD_H1) then
EmitMoveDataHead( 2, { X=-ParkX2, Z=MaxZ2, B=ParkB2, C=ParkC2, TPos=AdjustTcPos( false, EMT.PREVTCPOS_H2)})
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
elseif sHead == 'H23' and nHSet ~= GetHeadSet( EMT.PREVHEAD_H2) then
EmitMoveDataHead( 1, { X=-ParkX1, Z=MaxZ1, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, EMT.PREVTCPOS_H1)})
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
end
-- Emetto preselezione (non ammessa per sega a catena H13 e H23 e aggregato BlockHaus H17)
if sNextHead == 'H11' then
EmitMoveDataHead( 1, { X=-ParkX1, Z=MaxZ1, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, sNextTcPos)})
EmitMoveStartHead( 1)
bPresel = true
elseif sNextHead == 'H12' then
EmitMoveDataHead( 1, { X=-ParkX1, Z=MaxZ1, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, sNextTcPos)})
EmitMoveStartHead( 1)
bPresel = true
elseif sNextHead == 'H21' then
EmitMoveDataHead( 2, { X=-ParkX2, Z=MaxZ2, B=ParkB2, C=ParkC2, TPos=AdjustTcPos( false, sNextTcPos)})
EmitMoveStartHead( 2)
bPresel = true
elseif sNextHead == 'H22' then
EmitMoveDataHead( 2, { X=-ParkX2, Z=MaxZ2, B=ParkB2, C=ParkC2, TPos=AdjustTcPos( false, sNextTcPos)})
EmitMoveStartHead( 2)
bPresel = true
end
end
end
end
-- ripristino stato corrente
EgtSetCurrMachining( EMT.MCHID)
EgtTdbSetCurrTool( EMT.TOOL)
-- se non eseguita preselezione
if not bPresel then
-- mi assicuro che l'altra testa sia in parcheggio
if nHSet == 1 then
-- non può essere la sega a catena
if EMT.PREVHEAD_H2 ~= 'H23' then
EmitMoveDataHead( 2, { X=-ParkX2, Z=MaxZ2, B=ParkB2, C=ParkC2, TPos=AdjustTcPos( false, EMT.PREVTCPOS_H2)})
EmitMoveStartHead( 2)
end
else
-- non può essere la sega a catena
if EMT.PREVHEAD_H1 ~= 'H13' and EMT.PREVHEAD_H1 ~= 'H15' then
EmitMoveDataHead( 1, { X=-ParkX1, Z=MaxZ1, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, EMT.PREVTCPOS_H1)})
EmitMoveStartHead( 1)
end
end
end
end
---------------------------------------------------------------------
function FindReadHeadWithLaser( vMDChar)
for i = 1, #vMDChar do
if vMDChar[i].IniStatY1 == 76 then
return true
end
end
return false
end
---------------------------------------------------------------------
function EmitTestProgramStart()
EmtOutput( '(APERTURA INIZIALE PINZE)')
EmtOutput( 'M111')
EmtOutput( 'M131 E30012=1')
EmtOutput( 'M125')
EmtOutput( 'M151 E30013=1')
EmtOutput( 'M145')
EmtOutput( 'M171')
if Clamp5 then
EmtOutput( 'M153')
EmtOutput( 'M155')
end
EmtOutput( 'M12 $RIMUOVERE LA TRAVE')
EmitMoveDataChars( { Y1=1400, Y2=-1400, V1=MaxV1, V2=MinV2, IniStatY1=2, IniStatY2=2, IniStatV1=3, IniStatV2=3})
EmitMoveStartChars( 3)
EmitMoveWaitChars( 3)
if Clamp5 then
EmtOutput( 'E75005=-1')
EmtOutput( 'E75005=12')
EmtOutput( 'G1G52WE75002 F5000')
EmtOutput( 'E75005=-1')
end
EmtOutput( 'M12 $START PER SVINCOLO TESTE')
EmtOutput( '(SVINCOLO TESTA 1)')
EmitMoveDataHead( 1, {Z=ParkZ1-100, TPos=0})
if Progress or SecondToolChanger then
EmtOutput( 'IF E80001<=10 THEN')
EmitMoveDataHead( 1, {C=ParkC1, TPos=0})
EmitMoveDataHead( 1, {Z=-150, B=ParkB1, TPos=0})
EmitMoveDataHead( 1, {Z=0, X=-ParkX1})
EmtOutput( 'ELSE')
EmitMoveDataHead( 1, {C=ParkFrnC1, TPos=0})
EmitMoveDataHead( 1, {Z=-150, B=ParkFrnB1, TPos=0})
EmitMoveDataHead( 1, {Z=0, X=-ParkFrnX1})
EmtOutput( 'ENDI')
else
EmitMoveDataHead( 1, {C=ParkC1, TPos=0})
EmitMoveDataHead( 1, {Z=-150, B=ParkB1, TPos=0})
EmitMoveDataHead( 1, {Z=0, X=-ParkX1})
end
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
-- se esiste la testa 2
if EgtGetHeadId( 'H21') then
EmtOutput( '(SVINCOLO TESTA 2)')
EmitMoveDataHead( 2, {C=ParkC2, TPos=0})
EmitMoveDataHead( 2, {Z=-150, B=ParkB2, TPos=0})
EmitMoveDataHead( 2, {Z=0, X=-ParkX2})
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
end
EmtOutput( 'M28')
EmtOutput( '')
end
---------------------------------------------------------------------
function EmitMoveDataHead( nHead, MoData)
local sOut = 'G141'
if MoData.X then sOut = sOut .. ' X' .. EmtLenToString( MoData.X, 3) end
if MoData.Z then sOut = sOut .. ' Z' .. EmtLenToString( MoData.Z, 3) end
if MoData.B then sOut = sOut .. ' B' .. EmtLenToString( MoData.B, 3) end
if MoData.C then sOut = sOut .. ' C' .. EmtLenToString( MoData.C, 3) end
if MoData.TRad then sOut = sOut .. ' ER' .. EmtLenToString( MoData.TRad, 3) end
if MoData.TLen then sOut = sOut .. ' EL' .. EmtLenToString( MoData.TLen, 3) end
if MoData.TPos then sOut = sOut .. ' ET' .. MoData.TPos elseif EMT.TCPOS then sOut = sOut .. ' ET' .. AdjustTcPos( false) end
if MoData.S then sOut = sOut .. ' ES' .. EgtNumToString( MoData.S, 0) end
if MoData.F then sOut = sOut .. ' EF' .. EmtLenToString( MoData.F, 0) end
if MoData.Aux then sOut = sOut .. MoData.Aux end
sOut = sOut .. EgtIf( nHead == 1, ' EU1', ' EU2')
EmtOutput( sOut)
end
---------------------------------------------------------------------
function EmitMoveStartHead( nHead, sAux)
EmtOutput( 'G141 ET1001' .. EgtIf( nHead == 1, ' EU1', ' EU2') .. EgtIf( sAux, ' '..(sAux or ''), ''))
end
---------------------------------------------------------------------
function EmitMoveWaitHead( nHead)
EmtOutput( 'G141 ET2001' .. EgtIf( nHead == 1, ' EU1', ' EU2'))
end
---------------------------------------------------------------------
function EmitMoveDataChars( MoData)
if MoData.Start then
EmitMoveStartChars( MoData.Start)
return
elseif MoData.Wait then
EmitMoveWaitChars( MoData.Wait)
return
end
local sOut = 'G151'
if MoData.Y1 then sOut = sOut .. ' Y' .. EmtLenToString( MoData.Y1, 3) end
if MoData.Y2 then sOut = sOut .. ' V' .. EmtLenToString( MoData.Y2, 3) end
if MoData.V1 then sOut = sOut .. ' B' .. EmtLenToString( MoData.V1, 3) end
if MoData.V2 then sOut = sOut .. ' C' .. EmtLenToString( MoData.V2, 3) end
if MoData.IniStatY1 then sOut = sOut .. ' EA' .. EgtNumToString( MoData.IniStatY1, 0) end
if MoData.FinStatY1 then sOut = sOut .. ' EB' .. EgtNumToString( MoData.FinStatY1, 0) end
if MoData.IniStatY2 then sOut = sOut .. ' EC' .. EgtNumToString( MoData.IniStatY2, 0) end
if MoData.FinStatY2 then sOut = sOut .. ' ED' .. EgtNumToString( MoData.FinStatY2, 0) end
if MoData.IniStatV1 then sOut = sOut .. ' EH' .. EgtNumToString( MoData.IniStatV1, 0) end
if MoData.FinStatV1 then sOut = sOut .. ' EI' .. EgtNumToString( MoData.FinStatV1, 0) end
if MoData.IniStatV2 then sOut = sOut .. ' EJ' .. EgtNumToString( MoData.IniStatV2, 0) end
if MoData.FinStatV2 then sOut = sOut .. ' EK' .. EgtNumToString( MoData.FinStatV2, 0) end
if MoData.BeamVise then sOut = sOut .. ' EE' .. EgtNumToString( MoData.BeamVise, 0) end
if MoData.F then sOut = sOut .. ' EF' .. EmtLenToString( MoData.F, 0) else sOut = sOut .. ' EF' .. GetFmaxClamp() end
if MoData.MovType == 1 then sOut = sOut .. ' ET1' elseif MoData.MovType == 2 then sOut = sOut .. ' ET2' else sOut = sOut .. ' ET0' end
if MoData.Aux then sOut = sOut .. MoData.Aux end
EmtOutput( sOut)
end
---------------------------------------------------------------------
function EmitMoveStartChars( MovType)
local sMovType = 'ET1004'
if MovType == 1 then
sMovType = 'ET1001'
elseif MovType == 2 then
sMovType = 'ET1002'
end
EmtOutput( 'G151 ' .. sMovType)
end
---------------------------------------------------------------------
function EmitMoveWaitChars( MovType, bRun)
local sMovType = 'ET2004'
if MovType == 1 then
sMovType = 'ET2001'
elseif MovType == 2 then
sMovType = 'ET2002'
end
if bRun == nil or bRun then
EmtOutput( 'G151 ' .. sMovType)
else
EmtOutput( '(G151 ' .. sMovType .. ')')
end
end
---------------------------------------------------------------------
function EmitBeamHeadData( BhData)
if not BhData.Pz5 then
local sOut = 'G152'
if BhData.T then sOut = sOut .. ' Y' .. EmtLenToString( BhData.T, 3) end
if BhData.Y1 then sOut = sOut .. ' EY' .. EmtLenToString( BhData.Y1, 3) end
if BhData.Y2 then sOut = sOut .. ' EV' .. EmtLenToString( BhData.Y2, 3) end
if BhData.V1 then sOut = sOut .. ' B' .. EmtLenToString( BhData.V1, 3) end
if BhData.V2 then sOut = sOut .. ' C' .. EmtLenToString( BhData.V2, 3) end
if BhData.W then sOut = sOut .. ' EW' .. EmtLenToString( BhData.W, 3) end
if BhData.ViseY1 then sOut = sOut .. ' EA' .. EgtNumToString( BhData.ViseY1, 0) end
if BhData.ViseY2 then sOut = sOut .. ' EB' .. EgtNumToString( BhData.ViseY2, 0) end
if BhData.SetHead then sOut = sOut .. ' EC' .. EgtNumToString( BhData.SetHead, 0) end
if BhData.IniStatV1 then sOut = sOut .. ' EH' .. EgtNumToString( BhData.IniStatV1, 0) end
if BhData.FinStatV1 then sOut = sOut .. ' EI' .. EgtNumToString( BhData.FinStatV1, 0) end
if BhData.IniStatV2 then sOut = sOut .. ' EJ' .. EgtNumToString( BhData.IniStatV2, 0) end
if BhData.FinStatV2 then sOut = sOut .. ' EK' .. EgtNumToString( BhData.FinStatV2, 0) end
if BhData.F then sOut = sOut .. ' EF' .. EmtLenToString( BhData.F, 0) else sOut = sOut .. ' EF' .. GetFmaxClamp() end
if BhData.ViseY1 == 3 then sOut = sOut .. ' EL1' end
if BhData.ViseY2 == 3 then sOut = sOut .. ' EM1' end
EmtOutput( sOut)
else
local sOut = 'G153'
if BhData.T then sOut = sOut .. ' Y' .. EmtLenToString( BhData.T, 3) end
if BhData.Pz5 == 1 then
sOut = sOut .. ' EA1'
else
sOut = sOut .. ' EA2'
end
EmtOutput( sOut)
end
end
---------------------------------------------------------------------
-- *** END GENERATION ***
---------------------------------------------------------------------
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