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essetre-pf1500rl/Essetre-PF1500.TPA.mlpe
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Dario Sassi 4cacbfc101 Essetre-PF1500rl 2.5k2 : 
- In dinamica pinze risultati finali non più accelerazioni ma tempi rampa in ms (P7, P8 e P9 di M115).
2023-11-21 11:08:59 +01:00

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-- Processore macchina Essetre-PF1500rl by EgalWare s.r.l. 2023/11/15
-- Con controllo numerico TPA
-- Carico i dati globali
local sBaseDir = EgtGetSourceDir()
local BD = dofile( sBaseDir .. 'Beam\\BeamData.lua')
-- Variabili di modulo
local MLE_INFO = 'Essetre-PF1250rl.TPA.mlpe ver.'..PP_VER..' by EgalTech s.r.l.'
local TEST_USE = false
---------------------------------------------------------------------
-- *** GENERATION ***
---------------------------------------------------------------------
function OnStart()
-- controllo versione programma
if not EMT.VER or EMT.VER < '2.5d1' then
EmtSetLastError( 1200, 'A newer version of the program is required (minimum EgtMachKernel 2.5d1)')
end
EMT.USETO1 = false -- abilitazione uso origine tavola
EMT.MODAL = true -- abilitazione emissione modale
EMT.INCHES = false -- unità di misura mm/inches
EMT.DECNUM = 5 -- numero di decimali dopo la virgola
EMT.NUM = false -- abilitazione numerazione linee
--EMT.Nt = 'N' -- token per la numerazione di linea
--EMT.LINENBR = 0 -- numero di linea
--EMT.LINEINC = 1 -- incremento numerazione linee
--EMT.Ft = 'F' -- token per feed
--EMT.St = 'S' -- token per speed
EMT.FMAXPINZE = 81000 -- feed massima pinze
SetToParkLine() -- si inizia con linee da parcheggiare su stack
end
---------------------------------------------------------------------
function OnEnd()
-- Ripristino fase iniziale come corrente
EgtSetCurrPhase( 1)
end
---------------------------------------------------------------------
function OnProgramStart()
-- Intestazioni
if EMT.INFO then
EmitRemark( EMT.INFO)
else
EmitRemark( 'Program Start')
end
EmitRemark( MLE_INFO)
-- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
if TEST_USE then
MyOutput( 'M199')
end
-- Dichiaro inizio
EMT.FIRST = true
-- Inizializzazioni varie
MyOutput( 'G49')
-- Inizio lista utensili
MyOutput( 'M993 (Tool List Start)')
-- Dichiaro cabine con rulli in posizione di parcheggio
EMT.V1POS = ParkV1
EMT.V2POS = ParkV2
end
---------------------------------------------------------------------
function OnProgramEnd()
-- Arresto mandrino
MyOutput( '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( 3)
EmitMoveWaitChars( 3)
elseif EMT.AUXTYPE == 'R' then
EmitMoveDataChars( { Y1=ParkY1, Y2=ParkY2, V1=ParkV1, V2=ParkV2, BeamVise=0, MoveType=3})
EmitMoveStartChars( 3)
EmitMoveWaitChars( 3)
elseif EMT.AUXTYPE == 'U' then
EmitMoveStartChars( EgtIf( EMT.CHY_ON, 3, 2))
EmitMoveWaitChars( EgtIf( EMT.CHY_ON, 3, 2), true)
-- emissione conclusione pezzo precedente (se non si è in test)
if not TEST_USE and EMT.PRODID then
local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2'
MyOutput( sEnd)
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.RELOAD = nil
EMT.RELOAD2 = nil
-- Termino il programma
MyOutput( 'M202')
MyOutput( 'M02')
end
---------------------------------------------------------------------
function OnToolData()
-- emissione dati utensile (esclusa sega a catena)
if EMT.HEAD ~= 'H13' then
local dAddLen = 0
if EMT.HEAD == 'H12' then
dAddLen = -SawOffsZ
elseif EMT.HEAD == 'H16' then
dAddLen = -Saw2OffsZ
end
local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( dAddLen + EMT.TLEN, 3) .. ' P3=' .. EmtLenToString( EMT.TDIAM, 3) ..
' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( dAddLen + EMT.TTOTLEN, 3)
MyOutput( sOut)
-- emissione dati sega a catena
else
if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
local sData = ' P2=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), 3) .. ' P3=' .. EmtLenToString( EMT.TLEN, 3) ..
' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), 3)
MyOutput( 'M992 P1=101' .. sData)
MyOutput( 'M992 P1=102' .. sData)
MyOutput( 'M992 P1=103' .. sData)
MyOutput( 'M992 P1=104' .. sData)
end
end
---------------------------------------------------------------------
function OnDispositionStart()
EMT.OPEISDISP = true
-- Assegnazione parametri disposizione, se impostati
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
-- terminazione lista utensili
MyOutput( 'G990 (Tool List End)')
MyOutput( 'M28')
-- emissione dati di macchina
local sOut = 'M114'..' P1='..EmtLenToString( LoadT, 2)..' P2='..EmtLenToString( MinMchY1, 2)..' P3='..EmtLenToString( MaxY1, 2)..
' P4='..EmtLenToString( MinY2, 2)..' P5='..EmtLenToString( MaxMchY2, 2)..' P6='..EmtLenToString( MillOffs, 2)..
' P7='..EmtLenToString( Mill2Offs, 2)..' P8='..EmtLenToString( ParkMchY1, 2)..' P9='..EmtLenToString( ParkMchY2, 2)..
' P10='..EmtLenToString( -TurnerOffs, 2)..' P11='..EmtLenToString( MinV1, 2)..' P12='..EmtLenToString( MaxV1, 2)..
' P13='..EmtLenToString( MinV2, 2)..' P14='..EmtLenToString( MaxV2, 2)..
' P15='..EmtLenToString( -DeltaTabY, 2)..' P16='..EmtLenToString( DeltaTabZ - MillOffs, 2)..
' P17='..EmtLenToString( Delta2TabY, 2)..' P18='..EmtLenToString( -Delta2TabZ - Mill2Offs, 2)..
' P22='..EmtLenToString( -MinZ2, 2)
MyOutput( sOut)
-- 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 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 TempAccPinze, TempMinAccPinze, RidFeed = CalcDinamicaPinze( HTrave, STrave, LBarra)
local TempAccPinz1, TempMinAccPinz1, RidFeed1 = CalcDinamicaPinze( HTrave, STrave, LBarra - LTrave)
local TempAccPinz2, TempMinAccPinz2, RidFeed2 = CalcDinamicaPinze( HTrave, STrave, LTrave)
local ForzaPinze = CalcForzaPinze( HTrave, STrave, LBarra, LTrave)
if IdTrave >= 0 then
local sRem = ' SN=' .. IdTrave .. ' LBarra=' .. EmtLenToString( LBarra, 3) .. ' L='..EmtLenToString( LTrave, 3) ..
' H=' .. EmtLenToString( HTrave, 3) .. ' S=' .. EmtLenToString( STrave, 3) .. ' '
EMT.PRODID = EgtGetInfo( BtlInfoId, 'PRODID', 'i') or 0
EMT.PATTID = EgtGetInfo( BtlInfoId, 'PATTID', 'i') or 0
if EMT.PARTTYPE ~= 1 then
EMT.CUTID = EgtGetInfo( EMT.IDT, 'CUTID', 'i') or 0
else
EMT.CUTID = -1
end
local sStart = 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=1'
EmitRemark( sRem)
if not TEST_USE then MyOutput( sStart) end
else
EmitRemark( 'REMAIN UNLOAD')
EMT.PRODID = nil
EMT.PATTID = nil
EMT.CUTID = nil
end
-- se carico barra
if EMT.LOAD or EMT.RELOAD then
local nLoad90 = EgtGetInfo( BtlInfoId, 'LOAD90', 'i') or 0
sOut = 'M115 P1=' .. EmtLenToString( LBarra, 2) .. ' P2=' .. EmtLenToString( max( HTrave, HBarra), 2) .. ' P3=' .. EmtLenToString( STrave, 2) ..
' P4=' .. EmtLenToString( HOverM, 2) .. ' P5=' .. tostring( nLoad90) .. ' P6=' .. EmtLenToString( LTrave, 2) ..
' P7=' .. EgtNumToString( TempAccPinze, 2) .. ' P8=' .. EgtNumToString( TempAccPinz2, 2) .. ' P9=' .. EgtNumToString( TempAccPinz1, 2) ..
' P10=' .. EgtNumToString( EMT.PARTTYPE or 0, 0) .. ' P11=' .. EgtNumToString( ForzaPinze, 2) .. ' P12=' .. EgtNumToString( ForzaPinze, 2)
MyOutput( sOut)
if EMT.LOAD then
SetStartValue( 1, LBarra)
SetStartValue( 2, max( HTrave, HBarra))
SetStartValue( 3, STrave)
SetStartValue( 6, HOverM)
end
-- altrimenti recupero rimanenza
else
sOut = 'M115 P1=' .. EmtLenToString( LBarra, 2) .. ' P2=' .. EmtLenToString( HTrave, 2) .. ' P3=' .. EmtLenToString( STrave, 2) ..
' P4=' .. EmtLenToString( HOverM, 2) .. ' P5=' .. tostring( 0) .. ' P6=' .. EmtLenToString( EgtIf( IdTrave >= 0, LTrave, LBarra), 2) ..
' P7=' .. EgtNumToString( AccPinze, 2) .. ' P8=' .. EgtNumToString( AccPinz2, 2) .. ' P9=' .. EgtNumToString( AccPinz1, 2)..
' P10=' .. EgtNumToString( EMT.PARTTYPE or 0, 0)
MyOutput( sOut)
-- determino la quota di parcheggio della trave
local ParkT = GetParkT()
-- aggiorno dati aggancio carrelli alla trave
EMT.Y1DELTA = EMT.Y1POS - ParkT
EMT.Y2DELTA = nil
EmitBeamHeadData( { T=ParkT, Y1=EMT.Y1POS, SetHead=1, F=0})
end
-- se altrimenti disposizione intermedia, eventuale rotazione
elseif IsMidPhase( EMT.PHASE) or IsEnd2Phase( EMT.PHASE) then
-- recupero le rotazioni delle fasi corrente e precedente
local nRot = GetPhaseRot( EMT.PHASE)
local nPrevRot = GetPhaseRot( EMT.PHASE - 1)
-- verifico se sono diverse
if nRot ~= nPrevRot then
if nRot > nPrevRot then nRot = nRot - 4 end
local nDeltaRot = nRot - nPrevRot
-- rotazione automatica o manuale (sempre con il medesimo comando)
local sOut = 'M180 P1=' .. tostring( -nDeltaRot)
MyOutput( sOut)
-- 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
EmitRemark( 'PART UNLOAD')
end
for i = 1, #EMT.MDCHAR do
EmitMoveDataChars( EMT.MDCHAR[i])
if EMT.MDCHAR[i].Y1 then EMT.CHY_ON = true end
end
if #EMT.MDCHAR > 0 then
local nMoveType = EgtIf( EMT.CHY_ON, 3, 2)
EmitMoveStartChars( nMoveType)
-- se dopo c'è scarico spezzone devo mettere attesa termine esecuzione
if IsRestPhase( EMT.PHASE + 1) then
EmitMoveWaitChars( nMoveType)
else
EmitMoveWaitChars( nMoveType, true)
end
-- emissione conclusione pezzo precedente (se non in modalità test)
if not TEST_USE and EMT.PRODID then
local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2'
MyOutput( sEnd)
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.PARTTYPE = 0
local sMaterial = EgtGetInfo( PartId, 'MATERIAL')
if sMaterial and sMaterial:find( 'CLT-', 1, true) == 1 then
EMT.PARTTYPE = 1
elseif sMaterial and sMaterial:find( 'UT-', 1, true) == 1 then
EMT.PARTTYPE = 2
end
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.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()
end
---------------------------------------------------------------------
function OnMachiningStart()
EMT.MCHNAME = EgtGetOperationName( EMT.MCHID)
EMT.MCHTYPE = EgtGetMachiningParam( MCH_MP.TYPE)
EMT.MCHUSERNOTES = EgtGetMachiningParam( MCH_MP.USERNOTES)
-- se sega a catena, aggiusto subito angolo scelto per asse virtuale A
if EMT.HEAD == 'H13' 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)
end
-- gestione eventuale lavorazione in doppio
local nDouType = EgtGetValInNotes( EMT.MCHUSERNOTES, 'DOUBLE', 'i')
if nDouType == 2 or nDouType == 3 then
local sDouTool = 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)
-- 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.DOU_TO_ZMAX)
end
end
---------------------------------------------------------------------
function OnMachiningEnd()
--MyOutput( ';Mach End')
-- Emissione split
if #EMT.MDCHAR > 0 then
if EMT.AUXTYPE == 'S' then
EmitRemark( 'PART SPLIT')
EMT.LB = EMT.LT
elseif EMT.AUXTYPE == 'U' then
EmitRemark( 'PART UNLOAD')
elseif EMT.AUXTYPE == 'P' then
if EMT.PREROT then
EmitZmax( false, true, EMT.R1, EMT.R2)
EMT.ZMAX = true
EmitRemark( 'PART ROTATION')
elseif EMT.FALL then
if EMT.TO_ZMAX and not EMT.ZMAX then
EmitZmax( false, true, EMT.R1, EMT.R2)
EMT.ZMAX = true
EMT.TO_ZMAX = nil
end
EmitRemark( 'PART FALL')
else
EmitZmax( false, true, EMT.R1, EMT.R2)
EMT.ZMAX = true
EmitRemark( 'PART SPLIT 2')
end
end
end
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 == '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, true)
end
-- emissione conclusione pezzo precedente (se non è modalità test)
if not TEST_USE and EMT.PRODID then
local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2'
MyOutput( sEnd)
end
elseif EMT.AUXTYPE == 'P' then
EmitMoveStartChars( 3)
EmitMoveWaitChars( 3)
if EMT.FALL then
MyOutput( 'M155')
-- emissione conclusione pezzo (se non in modalità test)
if not TEST_USE and EMT.PRODID then
local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2'
MyOutput( sEnd)
end
elseif not EMT.PREROT then
MyOutput( 'M77')
end
end
end
EMT.MDCHAR = {}
EMT.AUXTYPE = nil
EMT.TO_ZMAX = nil
EMT.PREVTOOL = EMT.TOOL
if EMT.DOU_TYPE and not EMT.ZMAX then EMT.DOU_TO_ZMAX = EMT.DOU_TYPE end
EMT.DOU_TYPE = nil
end
---------------------------------------------------------------------
function OnPathStart()
-- non ancora iniziata la lavorazione
EMT.MCHFIRST = true
EMT.MCHFIRSTFEED = true
-- primo posizionamento sempre in globale
EMT.REFLOC = nil
EMT.IPLGL = false
-- leggo se ancora presa iniziale carrello
--EMT.CNT = EgtGetInfo( EMT.PATHID, 'CNT', 'i')
--MyOutput( 'CNT='.. tostring( EMT.CNT or 0))
-- se utensile non cambiato, salvo eventuali precedenti rotanti
if EMT.TOOL == EMT.PREVTOOL and not EMT.ZMAX then
EMT.R1pp = EMT.R1p
EMT.R2pp = EMT.R2p
else
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
EMT.AUXTYPE = nil
EMT.UNL = nil
EMT.PREROT = nil
EMT.SPLITROT = nil
EMT.CHY_ON = nil
EMT.FALL = 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
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'
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
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 then
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()
-- se prima lavorazione
if EMT.LOAD then
EMT.V2POS = ParkV2
-- primo posizionamento
local Speed = EMT.S
if EMT.HEAD == 'H12' or EMT.HEAD == 'H16' then Speed = 1.65 * EMT.S end
local bOnlyCharY = true
for i = 1, #EMT.AUXCMD do
ProcessPathStartAux( EMT.AUXCMD[i], i)
end
EMT.AUXCMD = {}
-- se Split e non Caduta lascio agganciata solo la pinza Y2 alla fine dei movimenti
local bSplitCut = ( EMT.MCHUSERNOTES:find( 'Split', 1, true) ~= nil)
local bFall = ( bSplitCut and FindFallAtEndAux( EMT.PATHID))
if ( bSplitCut and not bFall and #EMT.MDCHAR > 0) 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))
EmitRemark( ' *** '..EMT.MCHNAME..'/'..EMT.TOOL..' *** ')
-- se testa 1
if nHSet == 1 then
-- selezione testa (posso muovere X solo a Zmax)
local MaxZ1 = EgtGetAxisMax( 'Z1')
EmitMoveDataHead( 1, { X=EMT.L2, Z=MaxZ1, S=Speed})
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
-- se necessario allargo le cabine
if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, EMT.R1, EMT.R2) or
EMT.V1POS < EMT.V1NEXTPOS - 1 or EMT.V2POS > EMT.V2NEXTPOS + 1 then
local dPosT = EMT.TPOS or EMT.L1op
EmitParkRoller( dPosT, bSplitCut)
end
-- in caso di rotazione della lama lontano dalla posizione di home degli assi rotanti
if EMT.HEAD == 'H12' and ( abs( PrevR1 - EMT.R1) > 1 or abs( PrevR2 - EMT.R2) > 1) and ( abs( HomeR1 - EMT.R1) > 30.1 or abs( HomeR2 - EMT.R2) > 30.1) then
EmitMoveDataHead( 1, { B=0, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
-- caso standard
else
EmitMoveDataHead( 1, { Z=EMT.L3, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
end
EmitMoveStartHead( 1)
-- se lavorazione in doppio
if EMT.DOU_TYPE == 2 then
local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN - EMT.HB)
local dZ2 = -Head2Z + MillOffs + Mill2Offs + EMT.L3
dZ2 = min( dZ2, MaxZ2)
local dC2 = EMT.R1
local dB2 = EMT.R2
EmitMoveDataHead( 2, { X=dX2, 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)
elseif EMT.DOU_TYPE == 3 then
local dX2 = -Head2Y - EMT.L2
local dZ2 = Delta2TabZ - EMT.DOU_TLEN - ( -DeltaTabZ + EMT.L3 - EMT.TLEN - EMT.SB)
dZ2 = max( dZ2, MinZ2)
local dC2 = EMT.R1
local dB2 = EMT.R2
EmitMoveDataHead( 2, { X=dX2, 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)
else
-- eventuale preselezione successiva testa 2
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
end
-- aspetto esecuzione movimento testa 1
EmitMoveWaitHead( 1)
-- altrimenti testa 2
else
-- selezione testa (non posso muovere X)
EmitMoveDataHead( 2, { X=ParkX2, S=Speed})
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
EmitMoveWaitChars( EgtIf( bOnlyCharY, 1, 3))
-- se necessario allargo le cabine
if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, EMT.R1, EMT.R2) or
EMT.V1POS < EMT.V1NEXTPOS - 1 or EMT.V2POS > EMT.V2NEXTPOS + 1 then
local dPosT = EMT.TPOS or EMT.L1op
EmitParkRoller( dPosT, bSplitCut)
end
EmitMoveDataHead( 2, { X=EMT.L2, Z=EMT.L3, S=Speed})
EmitMoveDataHead( 2, { B=EMT.R2, C=EMT.R1, S=Speed})
EmitMoveStartHead( 2)
-- eventuale preselezione successiva testa 1
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
-- aspetto esecuzione movimento testa 2
EmitMoveWaitHead( 2)
end
-- se pezzo a destra, dichiaro cabina sinistra da parcheggiare
if not EMT.Y1DELTA then
EMT.V1NEXTPOS = ParkV1
end
-- dati aggancio a trave
local BhData = { T=EMT.L1, SetHead=0}
if EMT.Y1DELTA then
BhData.Y1 = EMT.L1 + EMT.Y1DELTA
BhData.ViseY1 = 1
else
BhData.Y1 = ParkY1
BhData.ViseY1 = 2
end
if bSplitCut and EMT.Y2DELTA then
BhData.ViseY1 = 3
end
if EMT.Y2DELTA then
BhData.Y2 = EMT.L1 + EMT.Y2DELTA
BhData.ViseY2 = 1
else
BhData.Y2 = ParkY2
BhData.ViseY2 = 2
end
if GetV1ToClose() then
BhData.V1 = EMT.V1NEXTPOS ; EMT.V1POS = BhData.V1
BhData.StatV1 = -2
elseif abs( EMT.V1POS - ParkV1) > 0.1 then
BhData.V1 = ParkV1 ; EMT.V1POS = BhData.V1
BhData.StatV1 = 1
end
if GetV2ToClose() then
BhData.V2 = EMT.V2NEXTPOS ; EMT.V2POS = BhData.V2
BhData.StatV2 = -2
elseif abs( EMT.V2POS - ParkV2) > 0.1 then
BhData.V2 = ParkV2 ; EMT.V2POS = BhData.V2
BhData.StatV2 = 1
end
EmitBeamHeadData( BhData)
EMT.LOAD = false
-- emissione prime linee speciali e linee parcheggiate
EmitStartValues()
local ProdId = EgtGetInfo( EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or GDB_ID.NULL, 'PRODID', 'i') or 0
MyOutput( ';LISTA = ' .. tostring( ProdId))
EmitParkedLines()
-- se sfrido grande, emetto comando speciale
if EMT.HOVM > 99 then
MyOutput( ';M107')
end
-- altrimenti lavorazione successiva
else
--MyOutput( string.format( 'V1Pos=%.3f V2Pos=%.3f', EMT.V1POS, EMT.V2POS))
if not EMT.RELOAD and not EMT.ZMAX and #EMT.AUXCMD > 0 and EMT.TO_ZMAX then
EmitZmax( false, false, PrevR1, PrevR2)
EMT.ZMAX = true
EMT.TO_ZMAX = nil
PrevR1 = EgtGetAxisHomePos( EgtIf( nHSet == 1, 'C1', 'C2'))
PrevR2 = EgtGetAxisHomePos( EgtIf( nHSet == 1, 'B1', 'B2'))
end
EmitRemark( ' *** '..EMT.MCHNAME..'/'..EMT.TOOL..' *** ')
-- eventuale movimento carrelli
for i = 1, #EMT.AUXCMD do
ProcessPathStartAux( EMT.AUXCMD[i], i)
end
EMT.AUXCMD = {}
-- se Split e non Caduta lascio agganciata solo la pinza Y2 alla fine dei movimenti
local bSplitCut = ( EMT.MCHUSERNOTES:find( 'Split', 1, true) ~= nil)
local bFall = ( bSplitCut and FindFallAtEndAux( EMT.PATHID))
if ( bSplitCut and not bFall and #EMT.MDCHAR > 0) 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 pezzo a destra, dichiaro cabina sinistra da parcheggiare
if not EMT.Y1DELTA then
EMT.V1NEXTPOS = ParkV1
end
-- se necessario allargo le cabine
if RollerParkingNeeded( EMT.HEAD, PrevR1, PrevR2, EMT.R1, EMT.R2) or
EMT.V1POS < EMT.V1NEXTPOS - 1 or EMT.V2POS > EMT.V2NEXTPOS + 1 then
local dPosT = EMT.TPOS or EMT.L1op
EmitParkRoller( dPosT, bSplitCut)
end
-- se taglio di coda senza residuo da scaricare
if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Cut', 1, true) then
-- se sfrido grande, emetto comando speciale
if EMT.LB - EMT.LT > 99 then
MyOutput( ';M107')
end
-- emetto M175 per accelerare il carico della barra successiva
MyOutput( ';M175')
end
-- se testa 1
if nHSet == 1 then
-- movimento testa
local HomeZ1 = EgtGetAxisHomePos( 'Z1')
local MyMaxZ1 = EgtGetAxisMax( 'Z1')
local HomeC1 = EgtGetAxisHomePos( 'C1')
local HomeB1 = EgtGetAxisHomePos( 'B1')
local Speed = EMT.S * EgtIf( EMT.HEAD ~= 'H12' and EMT.HEAD ~= 'H16', 1, 1.65)
if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
-- se fresa o lama
if EMT.HEAD ~= 'H13' then
local CurrZ1 = EMT.L3pp or MyMaxZ1
EmitMoveDataHead( 1, { X=EMT.L2, S=Speed})
-- in caso di rotazione della lama lontano dalla posizione di home degli assi rotanti
if ( EMT.HEAD == 'H12' or EMT.HEAD == 'H16') and ( abs( PrevR1 - EMT.R1) > 1 or abs( PrevR2 - EMT.R2) > 1) and ( abs( HomeC1 - EMT.R1) > 30.1 or abs( HomeB1 - EMT.R2) > 30.1) then
EmitMoveDataHead( 1, { B=0, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
EmitMoveDataHead( 1, { Z=EMT.L3, B=EMT.R2, S=Speed})
-- caso standard
else
EmitMoveDataHead( 1, { Z=EMT.L3, S=Speed})
EmitMoveDataHead( 1, { B=EMT.R2, S=Speed})
EmitMoveDataHead( 1, { C=EMT.R1, S=Speed})
end
-- altrimenti sega a catena
else
-- Porto la Z alla giusta quota
if EMT.L3 > HomeZ1 + 1 and abs( EMT.R2) > 89.9 then
EmitMoveDataHead( 1, { X=EMT.L2, S=Speed})
EmitMoveDataHead( 1, { Z=HomeZ1, S=Speed})
end
EmitMoveDataHead( 1, { Z=HomeZ1, B=EMT.R2, S=Speed})
end
end
EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, S=Speed})
EmitMoveStartHead( 1)
-- se lavorazione in doppio
if EMT.DOU_TYPE == 2 then
local dC2 = EMT.R1
local dB2 = EMT.R2
if EMT.ZMAX or ( EMT.FLAG == 2 and EMT.FLAG2 == 1) then
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
EmitMoveDataHead( 2, { X=SafeX2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
EmitMoveDataHead( 2, { Z=-dSafeZ2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
EmitMoveDataHead( 2, { B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
else
local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN - EMT.HB)
local dZ2 = EgtClamp( -Head2Z + MillOffs + Mill2Offs + EMT.L3, MinZ2, MaxZ2)
EmitMoveDataHead( 2, { X=dX2, Z=-dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
end
EmitMoveStartHead( 2)
-- aspetto esecuzione movimento testa 2
EmitMoveWaitHead( 2)
elseif EMT.DOU_TYPE == 3 then
local dX2 = -Head2Y - EMT.L2
local dZ2 = Delta2TabZ - EMT.DOU_TLEN - ( -DeltaTabZ + EMT.L3 - EMT.TLEN - EMT.SB)
dZ2 = max( dZ2, MinZ2)
local dC2 = EMT.R1
local dB2 = EMT.R2
if EMT.ZMAX then
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
EmitMoveDataHead( 2, { Z=-dSafeZ2, 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)
else
-- eventuale preselezione successiva testa 2
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
end
-- aspetto esecuzione movimento testa 1
EmitMoveWaitHead( 1)
-- altrimenti testa 2
else
local dSafeZ2 = EgtGetAxisHomePos( 'Z2')
local Speed = EMT.S
if EMT.ZMAX then
EmitMoveDataHead( 2, { Z=-dSafeZ2, S=Speed})
EmitMoveDataHead( 2, { X=EMT.L2, S=Speed})
end
EmitMoveDataHead( 2, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, S=Speed})
EmitMoveStartHead( 2)
-- eventuale preselezione successiva testa 1
PreselectNextDiffHead( EMT.MCHID, EMT.HEAD)
-- aspetto esecuzione movimento testa 2
EmitMoveWaitHead( 2)
end
-- dati aggancio a trave
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 = ( EMT.Y1POS or ParkY1)
BhData.ViseY1 = 2
end
if bSplitCut 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 GetV1ToClose() then
BhData.V1 = EMT.V1NEXTPOS ; EMT.V1POS = BhData.V1
BhData.StatV1 = -2
elseif abs( EMT.V1POS - ParkV1) > 0.1 then
BhData.V1 = ParkV1 ; EMT.V1POS = BhData.V1
BhData.StatV1 = 1
end
if GetV2ToClose() then
BhData.V2 = EMT.V2NEXTPOS ; EMT.V2POS = BhData.V2
BhData.StatV2 = -2
elseif abs( EMT.V2POS - ParkV2) > 0.1 then
BhData.V2 = ParkV2 ; EMT.V2POS = BhData.V2
BhData.StatV2 = 1
end
EmitBeamHeadData( BhData)
EMT.POSTROT = false
EMT.RELOAD = false
EMT.RELOAD2 = nil
end
EMT.REFLOC = 0
EMT.MCHFIRST = false
EMT.ZMAX = false
-- se standard
elseif EMT.FLAG == 0 or EMT.FLAG == 1 or EMT.FLAG == 2 then
-- 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
if EMT.HEAD == 'H12' or EMT.HEAD == 'H16' then Speed = 1.65 * EMT.S end
EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, S=Speed})
EmitMoveStartHead( 1)
local dX2 = Delta2TabY + EMT.DOU_TLEN - ( -DeltaTabY - EMT.L2 + EMT.TLEN - EMT.HB)
local dZ2 = -Head2Z + MillOffs + Mill2Offs + EMT.L3
local dC2 = EMT.R1
local dB2 = EMT.R2
EmitMoveDataHead( 2, { Z=-dZ2, B=dB2, C=dC2, TPos=EMT.DOU_TPOS, S=EMT.DOU_SPEED})
EmitMoveDataHead( 2, { X=dX2, 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
elseif EMT.DOU_TYPE == 3 then
-- aggiusto assi
EMT.L2 = -EMT.L2
-- emetto movimenti in Zero macchina
local Speed = EMT.S
if EMT.HEAD == 'H12' or EMT.HEAD == 'H16' then Speed = 1.65 * EMT.S end
EmitMoveDataHead( 1, { X=EMT.L2, Z=EMT.L3, B=EMT.R2, C=EMT.R1, S=Speed})
EmitMoveStartHead( 1)
local dX2 = -Head2Y - EMT.L2
local dZ2 = Delta2TabZ - EMT.DOU_TLEN - ( -DeltaTabZ + EMT.L3 - EMT.TLEN - EMT.SB)
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
MyOutput( 'M105 P1='..GetFaceCode()..' P2='..EgtIf( EMT.HEAD ~= 'H21', '1', '2')..' P3='..EgtIf( EMT.DOU_TYPE, 2, 0))
MyOutput( 'M98')
sOut = 'M6 ' .. EgtIf( EMT.HEAD ~= 'H21', 'T101', 'T202') .. AdjustTcPos( true)
MyOutput( sOut)
MyOutput( 'G24' .. EMT.IPLGLSTR)
-- forzo successiva emissione assi rotanti
EMT.R1p = nil
EMT.R2p = nil
else
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
end
-- emissione movimento
local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
if #sAxes > 0 then
MyOutput( 'G0' .. sAxes)
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 lascio agganciata solo la pinza Y2 alla fine dei movimenti
local bSplitCut = ( EMT.MCHUSERNOTES:find( 'Split', 1, true) ~= nil)
EmitZmax( true, true, EMT.R1p, EMT.R2p, bSplitCut)
-- aggiorno quota finale trave dopo Zmax
EMT.L1o = EMT.TPOS
EMT.ZMAX = true
-- 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
-- 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 (se presente devo annullare l'offset in X per sovramateriale di testa)
EMT.L1 = EMT.L1o
EMT.L2 = EMT.L2o
EMT.L3 = EMT.L3o
if EMT.X_OFF then EMT.L1 = EMT.L1 - EMT.X_OFF end
-- trasformo i punti nel piano
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
EMT.L1p = nil
EMT.L2p = nil
EMT.L3p = nil
MyOutput( 'M105 P1=' .. GetFaceCode() .. ' P2='..EgtIf( EMT.HEAD ~= 'H21', '1', '2')..' P3='..EgtIf( EMT.DOU_TYPE, 2, 0))
MyOutput( 'M98')
local sPos = EMT.TCPOS:gsub( 'T', '')
if #sPos == 1 then
sPos = '00' .. sPos
elseif #sPos == 2 then
sPos = '0' .. sPos
elseif sPos == '101' and abs( EMT.R3 - 90) < 0.1 then
sPos = '104'
end
local sOut = 'M6 ' .. EgtIf( EMT.HEAD ~= 'H21', 'T101', 'T202') .. sPos
MyOutput( sOut)
MyOutput( 'G24' .. EMT.IPLGLSTR)
-- emissione movimento
EMT.R1p = nil
EMT.R2p = nil
sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
MyOutput( sOut)
-- aggiorno precedenti
EMT.MOVE = 0
EmtUpdatePrev()
EMT.MOVE = 1
-- ripristino posizione attuale
EMT.L1 = OldL1
EMT.L2 = OldL2
EMT.L3 = OldL3
end
-- se primo movimento in feed della lavorazione, dichiaro inizio lavorazione
if EMT.MCHFIRSTFEED then
EMT.MCHFIRSTFEED = nil
MyOutput( 'M97')
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 or EMT.DOU_TYPE == 3) and EMT.FLAG == 101)
if bDouHoleBott then
MyOutput( "M106 P1=1")
end
-- valori degli assi
local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
-- feed
local sFeed = EmtGetFeed()
-- se da emettere
if #sAxes > 0 then
MyOutput( "G1" .. sAxes .. sFeed)
end
-- 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
MyOutput( "G1 Z" .. EgtNumToString( dZ, 3))
MyOutput( "G1 Z" .. EgtNumToString( EMT.L3p, 3))
end
MyOutput( "M106 P1=2")
end
-- aggiorno valori come precedenti
EMT.TPOS = EMT.L1o
EmtUpdatePrev()
end
---------------------------------------------------------------------
function OnArc()
-- se primo movimento in feed della lavorazione, dichiaro inizio lavorazione
if EMT.MCHFIRSTFEED then
EMT.MCHFIRSTFEED = nil
MyOutput( 'M97')
end
-- non modale su archi
EmtResetPrevLinear()
-- aggiustamento valori
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
-- valori degli assi
local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
EmtGetAxis('R2')..EmtGetAxis('R1')
-- se nulla da emettere, esco
if string.len( sAxes) == 0 then
return
end
-- valori delle coordinate del centro
EmtAdjustCenterAxes()
-- coordinate centro (per ora solo archi nel piano XY)
--local sCen = ' ' .. EMT.C1t .. EmtLenToString(EMT.C1,3) ..
-- ' ' .. EMT.C2t .. EmtLenToString(EMT.C2,3)
-- raggio
local sRad = ' ' .. EMT.RRt .. EmtLenToString( EMT.RR, EMT.DECNUM)
-- aggiungo feed
local sFeed = EmtGetFeed()
-- tipo arco
local sArc = 'G' .. EgtNumToString(EMT.MOVE,0)
-- emetto arco
MyOutput( sArc..sAxes..sRad..sFeed)
-- aggiorno valori come precedenti
EMT.TPOS = EMT.L1o
EmtUpdatePrev()
end
---------------------------------------------------------------------
function CalcDinamicaPinze( dH, dS, dL)
local MinTempoAcc = 0.6 -- [s]
local MaxTempoAcc = 6.0 -- [s]
local KgMtCubo= 550 -- densità legno [Kg / metro cubo]
local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
local FMaxPinze = EMT.FMAXPINZE -- Feed massima pinze [mm/min]
local ForzaAttrito = 350 * 9.8 * 0.2 -- Forza chiusura pinze [Kgf] * g * Coeff_Attrito -> [N]
local TempoAcc = ( ( Massa * FMaxPinze) / ( 60 * ForzaAttrito) / 1000)
if ( TempoAcc < MinTempoAcc) then TempoAcc = MinTempoAcc end
if ( TempoAcc > MaxTempoAcc) then TempoAcc = MaxTempoAcc end
local AccMaxPinze = FMaxPinze / ( 60 * MinTempoAcc)
local AccPinze = FMaxPinze / ( 60 * TempoAcc)
local RidFeed = 100 / Massa * 100
if RidFeed > 100 then
RidFeed = 100
elseif RidFeed < 10 then
RidFeed = 10
end
return TempoAcc * 1000, MinTempoAcc * 1000, RidFeed
end
---------------------------------------------------------------------
function CalcForzaPinze( dH, dS, dL, dT)
local MinForza = 400 -- [Kgf]
local MaxForza = 1000 -- [Kgf]
local MassaRef = 1500 -- [Kg]
local dMinJoin = BD.GetMinJoin( dS, dH, dT)
if dMinJoin < 0.9 * BD.MIN_JOIN_L then
return MinForza
else
local KgMtCubo= 550 -- densità legno [Kg / metro cubo]
local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
local Forza = Massa / MassaRef * MaxForza
return EgtClamp( Forza, MinForza, MaxForza)
end
end
---------------------------------------------------------------------
function CalcCharStatus( sCmd)
-- aperto
if sCmd == '0' then
return '1'
-- chiuso
else
return '-1'
end
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 -- ??? -1
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
for i = 1, #EMT.MDCHAR do
EMT.MDCHAR[i].MovType = 3
end
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 MoveY1 = tonumber( Cmd[3]) + TurnerOffs
local MDChar = { Y1=MoveY1, V1=ParkV1, IniStatY1=-75, FinStatY1=-1, BeamVise=0, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
SetStartValue( 4, MoveY1)
SetStartValue( 5, 110)
EMT.V1POS = ParkV1
elseif Cmd[2] == 'T' then
local sDeltaY1 = 'Delta=' .. EgtNumToString( tonumber(Cmd[5]) - tonumber(Cmd[3]), 1)
local MDChar = { Y1=tonumber(Cmd[3]), IniStatY1=-76, FinStatY1=EMT.FSY1, FinStatV1=-1, BeamVise=0, MovType=1, Remark=sDeltaY1}
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
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
if MoveY1 and EMT.V1POS > MoveY1 - MinDeltaYV - 0.1 then
MDChar.V1 = min( MoveY1 - MinDeltaYV, 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 = 1
MDChar.IniStatV2 = 1
EMT.ROLL_OPEN = 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
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
if MoveY1 and EMT.V1POS > MoveY1 - MinDeltaYV - 0.1 then
MDChar.V1 = min( MoveY1 - MinDeltaYV, 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 = 1
MDChar.IniStatV2 = 1
EMT.ROLL_OPEN = nil
end
table.insert( EMT.MDCHAR, MDChar)
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
else
if MoveY1 and EMT.V1POS > MoveY1 - MinDeltaYV - 0.1 then
MDChar.V1 = min( MoveY1 - MinDeltaYV, 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 = 1
MDChar.IniStatV2 = 1
EMT.ROLL_OPEN = 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
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 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=1, FinStatY2=-84, 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
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=1, 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=1, IniStatV2=1, 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.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
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, FinStatY1=-1, BeamVise=2, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
EMT.Y1POS = tonumber( Cmd[3])
EMT.V1POS = ParkV1
end
elseif Cmd[1] == '21' then
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 e non è fase successiva a scarico su carico c'è una barra sulla pinza Y1
local bBarOnY = ( EMT.PHASE < EgtGetPhaseCount() and not IsEnd2Phase( EMT.PHASE))
local MDChar = { Y2=tonumber(Cmd[3]), V2=ParkV2, IniStatY2=1, FinStatY2=-84, 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 Y1
local bBarOnY = ( EMT.PHASE < EgtGetPhaseCount() and not IsEnd2Phase( EMT.PHASE))
local MDChar = { Y2=tonumber(Cmd[5]), IniStatY1=EgtIf( bBarOnY, -1, 1), FinStatY1=EgtIf( bBarOnY, -1, 1), IniStatY2=-1, FinStatY2=1, IniStatV2=1, BeamVise=2, MovType=EgtIf( EMT.CHY_ON, 3, 2)}
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, 1, 2)
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 not EMT.PREROT 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]), IniStatY1=86, FinStatY1=87, IniStatY2=1, BeamVise=0}
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
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
table.insert( EMT.MDCHAR, MDChar)
elseif Cmd[1] == '4' then
EMT.TO_ZMAX = true
if Cmd[2] == '1' then
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])
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
for i = 1, #EMT.MDCHAR do
EMT.MDCHAR[i].MovType = 3
end
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, IniStatY2=-75, FinStatY2=-1, BeamVise=0, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
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
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
local MDChar = { Y1=LoadT, IniStatY1=-76, FinStatY1=EMT.FSY1, BeamVise=0, MovType=1}
table.insert( EMT.MDCHAR, MDChar)
elseif Cmd[1] == '22' then
EMT.V1NEXTPOS = tonumber( Cmd[2])
EMT.V2NEXTPOS = tonumber( Cmd[3])
end
end
---------------------------------------------------------------------
function GetV1ToClose()
--MyOutput( string.format( 'L1m=%.3f L1M=%.3f', EMT.MAXMIN[1], EMT.MAXMAX[1]))
--MyOutput( string.format( 'LB=%.3f LT=%.3f', EMT.LB, EMT.LT))
return ( EMT.MAXMAX[1] <= EMT.V1NEXTPOS + RollCageMin and EMT.MAXMIN[1] + EMT.LB >= EMT.V1NEXTPOS + RollCageMax)
end
---------------------------------------------------------------------
function GetV2ToClose()
--MyOutput( string.format( 'L1m=%.3f L1M=%.3f', EMT.MAXMIN[1], EMT.MAXMAX[1]))
--MyOutput( string.format( 'LB=%.3f LT=%.3f', EMT.LB, EMT.LT))
return ( EMT.MAXMAX[1] <= EMT.V2NEXTPOS - RollCageMax and EMT.MAXMIN[1] + EMT.LB >= EMT.V2NEXTPOS - RollCageMin)
end
---------------------------------------------------------------------
function MyAdjustLinearAxes()
local MyL1o = EMT.L1
local MyL2o = EMT.L2
local MyL3o = EMT.L3
if EMT.REFLOC then
local vtE
if EMT.HEAD ~= 'H13' then
local dAddLen = 0
if EMT.HEAD == 'H12' then
dAddLen = -SawOffsZ
elseif EMT.HEAD == 'H16' then
dAddLen = -Saw2OffsZ
end
if EMT.HEAD ~= 'H21' then
local Len = EMT.TLEN + dAddLen + MillOffs
local LenRef = MillOffs
vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
else
local Len = EMT.TLEN + dAddLen + Mill2Offs
local LenRef = Mill2Offs
vtE = Vector3d( EMT.TDIR) * Len + Z_AX() * LenRef
end
else
local Len = ( EMT.TDIST or ChSawLen) + MillOffs
local LenRef = MillOffs
vtE = Vector3d( EMT.ADIR) * Len - Z_AX() * LenRef
end
EMT.L1 = EMT.L1 - vtE:getX()
EMT.L2 = EMT.L2 - vtE:getY()
EMT.L3 = EMT.L3 - vtE:getZ()
end
if EMT.X_OFF then EMT.L1 = EMT.L1 + EMT.X_OFF end
EmtAdjustLinearAxes()
EMT.L1o = MyL1o
EMT.L2o = MyL2o
EMT.L3o = MyL3o
if not EMT.REFLOC then
if EMT.HEAD ~= 'H21' then
EMT.L2 = -EMT.L2
else
EMT.L3 = -EMT.L3
end
EMT.L1t = 'Y'
EMT.L2t = 'X'
else
EMT.L1t = 'X'
EMT.L2t = 'Y'
end
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 - 270) < 0.1 then
sPos = '102'
elseif abs( dAxR3 - 180) < 0.1 then
sPos = '103'
elseif abs( dAxR3 - 90) < 0.1 then
sPos = '104'
else
EmtSetLastError( 1210, 'Chain saw orientation not allowed')
end
end
return sPos
end
---------------------------------------------------------------------
function CalcInterpPlane()
-- origine del piano
local xS = EMT.START[1] + LoadT
if EMT.X_OFF then xS = xS + EMT.X_OFF end
local ptS = Point3d( xS, 0, 0) + EgtIf( EMT.HEAD ~= 'H21', Vector3d( 0, DeltaTabY, DeltaTabZ), Vector3d( 0, Delta2TabY, Delta2TabZ))
-- calcolo per piano generico
local vtE
if EMT.HEAD ~= 'H13' then
if EMT.MCHTYPE ~= MCH_OY.GENMACHINING then
vtE = Vector3d( EMT.EXTR)
else
vtE = Z_AX()
end
else
vtE = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2, EMT.R3)
end
EMT.IPLGLFR = Frame3d( ptS, vtE)
--MyOutput( 'IPLGLFR='..tostring(EMT.IPLGLFR))
local vtX = EMT.IPLGLFR:getVersX()
local vtY = EMT.IPLGLFR:getVersY()
local vtZ = EMT.IPLGLFR:getVersZ()
if EMT.HEAD ~= 'H21' then
EMT.IPLGLSTR = ' X0 Y' .. EmtLenToString( xS, EMT.DECNUM) .. ' Z0' ..
' A' .. EgtNumToString( -vtX:getY(), 6) .. ' B' .. EgtNumToString( vtX:getX(), 6) .. ' C' .. EgtNumToString( vtX:getZ(), 6) ..
' I' .. EgtNumToString( -vtY:getY(), 6) .. ' J' .. EgtNumToString( vtY:getX(), 6) .. ' K' .. EgtNumToString( vtY:getZ(), 6) ..
' P' .. EgtNumToString( -vtZ:getY(), 6) .. ' Q' .. EgtNumToString( vtZ:getX(), 6) .. ' R' .. EgtNumToString( vtZ:getZ(), 6)
else
EMT.IPLGLSTR = ' X0 Y' .. EmtLenToString( xS, EMT.DECNUM) .. ' Z0' ..
' A' .. EgtNumToString( vtX:getY(), 6) .. ' B' .. EgtNumToString( vtX:getX(), 6) .. ' C' .. EgtNumToString( -vtX:getZ(), 6) ..
' I' .. EgtNumToString( vtY:getY(), 6) .. ' J' .. EgtNumToString( vtY:getX(), 6) .. ' K' .. EgtNumToString( -vtY:getZ(), 6) ..
' P' .. EgtNumToString( vtZ:getY(), 6) .. ' Q' .. EgtNumToString( vtZ:getX(), 6) .. ' R' .. EgtNumToString( -vtZ:getZ(), 6)
end
EMT.IPLGL = true
end
---------------------------------------------------------------------
function GetFaceCode()
if EMT.Y1DELTA and EMT.Y2DELTA then
return '3'
elseif EMT.Y1DELTA then
return '6'
else
return '5'
end
end
---------------------------------------------------------------------
function EmitZmax( bReset, bEnd, PrevR1, PrevR2, bSplitCut)
if bReset then
EmitResetMachining()
end
-- se testa 1
if EMT.HEAD ~= 'H21' 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)
end
-- se fresa o lama
if EMT.HEAD ~= 'H13' then
-- eseguo la salita a Z1max (oriento solo se assi rotanti non già a posto)
if abs( dSafeC1 - PrevR1) > 0.1 or abs( dSafeB1 - PrevR2) > 0.1 then
local dZref = dSafeZ1 + GetZExtra( EMT.HEAD, PrevR2)
dZref = min( dZref, dMaxZ1)
local MovH = { Z = EgtIf( dZref > EMT.L3o, dZref, EMT.L3o)}
MovH.X = -EMT.L2o ; MovH.B = EgtClamp( PrevR2, -90, 90) ; MovH.C = PrevR1 ;
EmitMoveDataHead( 1, MovH)
if ( EMT.HEAD == 'H12' or EMT.HEAD == 'H16') and ( abs( dSafeC1 - PrevR1) > 30.1 or abs( dSafeB1 - PrevR2) > 30.1) then
EmitMoveDataHead( 1, { Z=dMaxZ1, B=0, Fmt=1})
end
EmitMoveDataHead( 1, { C=dSafeC1, Fmt=1})
EmitMoveDataHead( 1, { B=dSafeB1, Fmt=1})
end
EmitMoveDataHead( 1, { Z=dMaxZ1, Fmt=1})
EmitMoveStartHead( 1)
-- se lavorazione in doppio
if EMT.DOU_TYPE == 2 or EMT.DOU_TYPE == 3 then
EmitDouZMax( EMT.DOU_TYPE)
end
-- attesa fine movimento testa 1
EmitMoveWaitHead( 1)
-- altrimenti sega a catena
else
EmitMoveDataHead( 1, { Z=dSafeZ1, B=dSafeB1, Fmt=1})
EmitMoveDataHead( 1, { X=-dSafeX1, C=dSafeC1, Fmt=1})
EmitMoveDataHead( 1, { Z=dMaxZ1, Fmt=1})
EmitMoveStartHead( 1)
EmitMoveWaitHead( 1)
end
-- altrimenti testa 2
else
-- posizioni sicure
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)
end
-- eseguo la discesa a Z2max
EmitMoveDataHead( 2, { Z=-dSafeZ2, Fmt=1})
EmitMoveDataHead( 2, { B=dSafeB2, C=dSafeC2, Fmt=1})
EmitMoveDataHead( 2, { X=dSafeX2, Fmt=1})
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
end
end
---------------------------------------------------------------------
function EmitDouZMax( nDouType)
-- posizioni sicure
local dHomeX2 = EgtGetAxisHomePos( 'X2')
local dHomeZ2 = EgtGetAxisHomePos( 'Z2')
local dHomeB2 = EgtGetAxisHomePos( 'B2')
local dHomeC2 = EgtGetAxisHomePos( 'C2')
-- se lavorazione in doppio in Y (prima mi allontano in Y)
if nDouType == 2 then
EmitMoveDataHead( 2, { X=SafeX2, TPos=EMT.DOU_TPOS, Fmt=1})
end
-- scendo in Z, sistemo B e C porto X in home
EmitMoveDataHead( 2, { Z=-dHomeZ2, TPos=EMT.DOU_TPOS, Fmt=1})
EmitMoveDataHead( 2, { B=dHomeB2, C=dHomeC2, TPos=EMT.DOU_TPOS, Fmt=1})
EmitMoveDataHead( 2, { X=dHomeX2, TPos=EMT.DOU_TPOS, Fmt=1})
EmitMoveStartHead( 2)
EmitMoveWaitHead( 2)
-- dichiaro eseguito
EMT.DOU_TO_ZMAX = nil
end
---------------------------------------------------------------------
function EmitResetMachining()
MyOutput( 'G27')
local sP12 = ''
if EMT.TOOL ~= GetNextTool( EMT.MCHID) then sP12 = EgtIf( EMT.HEAD ~= 'H21', ' P1=0'..EgtIf( EMT.DOU_TYPE, ' P2=0', ''), ' P2=0') end
local sP4 = EgtIf( EMT.MCHUSERNOTES:find( 'Split', 1, true), ' P4=1', '')
MyOutput( 'M99'..sP12..sP4)
end
---------------------------------------------------------------------
function EmitParkRoller( dPosT, bSplitCut)
-- se entrambe già parcheggiate, non devo fare alcunché
if ( EMT.V1POS - ParkV1) > -0.1 and ( EMT.V2POS - ParkV2) < 0.1 then return end
-- Parcheggi pinze
local bAgg = EgtExistsInfo( EMT.PATHID, 'CNT')
local MyParkY1 = ParkY1 + EgtIf( bAgg, AggLoad, 0)
local MyParkY2 = ParkY2
-- le parcheggio
local MDChar = {}
if EMT.Y1DELTA and EMT.Y2DELTA then
local dPosY1 = dPosT + EMT.Y1DELTA
local dPosY2 = dPosT + EMT.Y2DELTA
local DiffY1 = MyParkY1 - dPosY1
local DiffY2 = MyParkY2 - dPosY2
--MyOutput( string.format( 'PosT=%.3f DiffY1=%.3f DiffY2=%.3f', dPosT, DiffY1, DiffY2))
if bSplitCut then
if DiffY1 > 0.1 then
MDChar.Y1 = dPosY1 + DiffY1
end
if DiffY2 < -0.1 then
MDChar.Y2 = dPosY2 + DiffY2
dPosT = dPosT + DiffY2
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 EMT.Y1DELTA then
local dMoveV1 = ParkV1 - EMT.V1POS
local dPosY1 = dPosT + EMT.Y1DELTA
local DiffY1 = MyParkY1 - dPosY1
local dMoveY1 = EgtIf( DiffY1 > 0.1, dMoveV1, 0)
local dTryMoveY1 = ParkV1 - dPosT - EgtIf( bSplitCut or EMT.FALL, EMT.LT, 0)
if ( dPosT > ParkV2 - ExtraParkV and dPosT < ParkV1 and dPosY1 + dTryMoveY1 < MaxY1) then dMoveY1 = max( dMoveY1, dTryMoveY1) end
--MyOutput( string.format( 'PosT=%.3f PosY1=%.3f V1POS=%.3f Split=%s', dPosT, dPosY1, EMT.V1POS, EgtIf( bSplitCut, '1', '0')))
MDChar.Y1 = dPosY1 + dMoveY1
MDChar.MovType = 1
MDChar.BeamVise = 1
dPosT = dPosT + dMoveY1
elseif EMT.Y2DELTA then
local dMoveV2 = ParkV2 - EMT.V2POS
local dPosY2 = dPosT + EMT.Y2DELTA
local DiffY2 = MyParkY2 - dPosY2
local dMoveY2 = EgtIf( DiffY2 < -0.1, dMoveV2, 0)
local dTryMoveY2 = ParkV2 - dPosT - EMT.LT
if ( dPosT + EMT.LT < ParkV1 + ExtraParkV and dPosT + EMT.LT > ParkV2 and dPosY2 + dTryMoveY2 > MinY2) then dMoveY2 = min( dMoveY2, dTryMoveY2) end
--MyOutput( string.format( 'PosT=%.3f LT=%.3f PosY2=%.3f V2POS=%.3f', dPosT, EMT.LT, dPosY2, EMT.V2POS))
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 = 1
end
if abs( ParkV2 - EMT.V2POS) > 0.1 then
MDChar.V2 = ParkV2
MDChar.IniStatV2 = 1
end
EmitMoveDataChars( MDChar)
EmitMoveStartChars( MDChar.MovType)
EmitMoveWaitChars( MDChar.MovType)
EMT.V1POS = ParkV1
EMT.V2POS = ParkV2
EMT.TPOS = dPosT
end
---------------------------------------------------------------------
function GetNextTool( nMchId)
-- inizializzo prossimo utensile
local sNextTool
-- recupero lavorazione successiva
local nNextMchId = EgtGetNextActiveOperation( nMchId)
while nNextMchId do
if EgtGetOperationType( nNextMchId) ~= MCH_OY.DISP then
break
end
nNextMchId = EgtGetNextActiveOperation( nNextMchId)
end
-- se trovata
if nNextMchId and EgtSetCurrMachining( nNextMchId) then
sNextTool = EgtGetMachiningParam( MCH_MP.TOOL)
end
-- ripristino stato corrente
EgtSetCurrMachining( EMT.MCHID)
EgtTdbSetCurrTool( EMT.TOOL)
return sNextTool
end
---------------------------------------------------------------------
function PreselectNextDiffHead( nMchId, sHead)
-- se in uso testa 1, verifico di non scendere troppo in Z per evitare collisioni
local nHSet = GetHeadSet( sHead)
if nHSet == 1 then
if EMT.MAXMIN[3] < MinZ1ToChangeH2 then return end
end
-- recupero lavorazione successiva
local nNextMchId = EgtGetNextActiveOperation( nMchId)
while nNextMchId do
if EgtGetOperationType( nNextMchId) ~= MCH_OY.DISP then break end
nNextMchId = EgtGetNextActiveOperation( nNextMchId)
end
if not nNextMchId then return end
-- se esiste ed appartiene a gruppo diverso
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
local sNextTcPos = EgtTdbGetCurrToolParam( MCH_TP.TCPOS)
if nNextHSet == 1 then
-- Recupero quota X1 (nostro L2)
local dNextX = GetStartMachiningXaxis( nNextMchId)
-- Emetto preselezione
if sNextHead == 'H11' then
EmitMoveDataHead( 1, { X=dNextX, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, sNextTcPos), Fmt=2})
EmitMoveStartHead( 1)
elseif sNextHead == 'H12' or sNextHead == 'H16' then
EmitMoveDataHead( 1, { X=dNextX, B=ParkB1, C=ParkC1, TPos=AdjustTcPos( false, sNextTcPos), Fmt=2})
EmitMoveStartHead( 1)
elseif sNextHead == 'H13' then
-- recupero il valore dell'asse virtuale bloccato A
local dPosA = GetCurrChainSawingVirtualAxis()
local MyParkCSawC1 = GetChainSawCHomeFromVirtualAxis( dPosA)
EmitMoveDataHead( 1, { X=dNextX, B=ParkCSawB1, C=MyParkCSawC1, TPos=AdjustTcPos( false, sNextTcPos, dPosA), Fmt=2})
EmitMoveStartHead( 1)
end
else
EmitMoveDataHead( 2, { B=ParkB2, C=ParkC2, TPos=AdjustTcPos( false, sNextTcPos), Fmt=2})
EmitMoveStartHead( 2)
end
end
end
end
-- ripristino stato corrente
EgtSetCurrMachining( EMT.MCHID)
EgtTdbSetCurrTool( EMT.TOOL)
end
---------------------------------------------------------------------
function GetFmaxClamp()
return EmtLenToString( EMT.FMAXPINZE / 1000, 0)
end
---------------------------------------------------------------------
function FindReadHeadWithLaser( vMDChar)
for i = 1, #vMDChar do
if vMDChar[i].IniStatY1 == -76 then
return true
end
end
return false
end
---------------------------------------------------------------------
function FindFallAtEndAux( nPathId)
for nInd = 1, 100 do
local sInfo = EgtGetInfo( nPathId, 'AE'..tostring( nInd))
if sInfo then
local Cmd = EgtSplitString( sInfo)
if ( Cmd[1] == '0' and Cmd[2] == 'Fall') then
return true
end
else
return false
end
end
return false
end
---------------------------------------------------------------------
function EmitRemark( sOut)
sOut = string.gsub( string.gsub( sOut, '%(', '['), '%)', ']')
MyOutput( '(' .. sOut .. ')')
end
---------------------------------------------------------------------
function EmitMoveDataHead( nHead, MoData)
local sOut = EgtIf( nHead == 1, 'M101', 'M102') .. ' P1=1'
if MoData.X then sOut = sOut .. ' P2=' .. EmtLenToString( MoData.X, 3) end
if MoData.Z then sOut = sOut .. ' P3=' .. EmtLenToString( MoData.Z, 3) end
if MoData.B then sOut = sOut .. ' P4=' .. EmtLenToString( MoData.B, 3) end
if MoData.C then sOut = sOut .. ' P5=' .. EmtLenToString( MoData.C, 3) end
if MoData.TPos then sOut = sOut .. ' P6=' .. MoData.TPos elseif EMT.TCPOS then sOut = sOut .. ' P6=' .. AdjustTcPos( false) end
if MoData.S then sOut = sOut .. ' P7=' .. EgtNumToString( MoData.S, 0) end
if not MoData.Fmt then
if MoData.F then sOut = sOut .. ' P8=' .. EmtLenToString( MoData.F, 0) else sOut = sOut .. ' P8=0' end
sOut = sOut .. ' P9=0 P10=4 P11=1'
elseif MoData.Fmt == 1 then
sOut = sOut .. ' P10=4 P11=1'
end
MyOutput( sOut)
end
---------------------------------------------------------------------
function EmitMoveStartHead( nHead)
local sOut = EgtIf( nHead == 1, 'M101', 'M102') .. ' P1=2'
MyOutput( sOut)
end
---------------------------------------------------------------------
function EmitMoveWaitHead( nHead)
local sOut = EgtIf( nHead == 1, 'M101', 'M102') .. ' P1=3'
MyOutput( sOut)
end
---------------------------------------------------------------------
function EmitMoveDataChars( MoData)
local sOut = 'M111'
if MoData.MovType == 1 then sOut = sOut .. ' P1=11' elseif MoData.MovType == 2 then sOut = sOut .. ' P1=12' else sOut = sOut .. ' P1=10' end
if MoData.Y1 then sOut = sOut .. ' P2=' .. EmtLenToString( MoData.Y1, 3) end
if MoData.Y2 then sOut = sOut .. ' P3=' .. EmtLenToString( MoData.Y2, 3) end
if MoData.IniStatY1 then sOut = sOut .. ' P4=' .. EgtNumToString( MoData.IniStatY1, 0) end
if MoData.FinStatY1 then sOut = sOut .. ' P5=' .. EgtNumToString( MoData.FinStatY1, 0) end
if MoData.IniStatY2 then sOut = sOut .. ' P6=' .. EgtNumToString( MoData.IniStatY2, 0) end
if MoData.FinStatY2 then sOut = sOut .. ' P7=' .. EgtNumToString( MoData.FinStatY2, 0) end
if MoData.BeamVise then sOut = sOut .. ' P8=' .. EgtNumToString( MoData.BeamVise, 0) end
if MoData.F then sOut = sOut .. ' P9=' .. EmtLenToString( MoData.F, 0) else sOut = sOut .. ' P9=' .. GetFmaxClamp() end
if MoData.V1 then sOut = sOut .. ' P15=' .. EmtLenToString( MoData.V1, 3) end
if MoData.V2 then sOut = sOut .. ' P16=' .. EmtLenToString( MoData.V2, 3) end
if MoData.IniStatV1 then local sVal = EgtNumToString( MoData.IniStatV1, 0) ; sOut = sOut .. ' P17=' .. sVal .. ' P18=' .. sVal end
if MoData.FinStatV1 then local sVal = EgtNumToString( MoData.FinStatV1, 0) ; sOut = sOut .. ' P19=' .. sVal .. ' P20=' .. sVal end
if MoData.IniStatV2 then local sVal = EgtNumToString( MoData.IniStatV2, 0) ; sOut = sOut .. ' P21=' .. sVal .. ' P22=' .. sVal end
if MoData.FinStatV2 then local sVal = EgtNumToString( MoData.FinStatV2, 0) ; sOut = sOut .. ' P23=' .. sVal .. ' P24=' .. sVal end
if MoData.Remark then sOut = sOut .. ' ('.. MoData.Remark .. ')' end
MyOutput( sOut)
end
---------------------------------------------------------------------
function EmitMoveStartChars( MovType)
local sMovType = ' P1=20'
if MovType == 1 then
sMovType = ' P1=21'
elseif MovType == 2 then
sMovType = ' P1=22'
end
MyOutput( 'M111' .. sMovType)
end
---------------------------------------------------------------------
function EmitMoveWaitChars( MovType, bRun)
local sMovType = ' P1=30'
if MovType == 1 then
sMovType = ' P1=31'
elseif MovType == 2 then
sMovType = ' P1=32'
end
if bRun == nil or bRun then
MyOutput( 'M111' .. sMovType)
else
MyOutput( ';M111' .. sMovType)
end
end
---------------------------------------------------------------------
function EmitBeamHeadData( BhData)
local sOut = 'M112'
if BhData.T then sOut = sOut .. ' P1=' .. EmtLenToString( BhData.T, 3) end
if BhData.ViseY1 then sOut = sOut .. ' P3=' .. EgtNumToString( BhData.ViseY1, 0) end
if BhData.ViseY2 then sOut = sOut .. ' P4=' .. EgtNumToString( BhData.ViseY2, 0) end
if BhData.SetHead then sOut = sOut .. ' P5=' .. EgtNumToString( BhData.SetHead, 0) end
if BhData.Y1 then sOut = sOut .. ' P6=' .. EmtLenToString( BhData.Y1, 3) end
if BhData.Y2 then sOut = sOut .. ' P7=' .. EmtLenToString( BhData.Y2, 3) end
if BhData.F then sOut = sOut .. EgtIf( BhData.F >= 1, ' P9=' .. EmtLenToString( BhData.F, 0), '') else sOut = sOut .. ' P9=' .. GetFmaxClamp() end
if BhData.StatV1 then sOut = sOut .. ' P10=' .. EgtNumToString( BhData.StatV1, 0) end
if BhData.V1 then sOut = sOut .. ' P11=' .. EmtLenToString( BhData.V1, 3) end
if BhData.StatV1 then sOut = sOut .. ' P12=' .. EgtNumToString( BhData.StatV1, 0) end
if BhData.StatV2 then sOut = sOut .. ' P13=' .. EgtNumToString( BhData.StatV2, 0) end
if BhData.V2 then sOut = sOut .. ' P14=' .. EmtLenToString( BhData.V2, 3) end
if BhData.StatV2 then sOut = sOut .. ' P15=' .. EgtNumToString( BhData.StatV2, 0) end
if BhData.ViseY1 == 3 then sOut = sOut .. ' P16=1' end
if BhData.ViseY2 == 3 then sOut = sOut .. ' P17=1' end
MyOutput( sOut)
end
---------------------------------------------------------------------
---------------------------------------------------------------------
local bToPark = true
---------------------------------------------------------------------
function SetToParkLine()
bToPark = true
end
---------------------------------------------------------------------
function MyOutput( sOut)
if not bToPark then
EmtOutput( sOut)
else
ParkLine( sOut)
end
end
---------------------------------------------------------------------
---------------------------------------------------------------------
local ParkedLines = {}
---------------------------------------------------------------------
function ParkLine( sLine)
table.insert( ParkedLines, sLine)
end
---------------------------------------------------------------------
function EmitParkedLines()
bToPark = false
for i = 1, #ParkedLines do
EmtOutput( ParkedLines[i])
end
ParkedLines = {}
end
---------------------------------------------------------------------
---------------------------------------------------------------------
local StartValues = {}
---------------------------------------------------------------------
function SetStartValue( nI, dVal)
StartValues[nI] = dVal
end
---------------------------------------------------------------------
function EmitStartValues()
bToPark = false
local sLine = ''
for i = 1, 10 do
sLine = sLine .. string.format( ';V%02d=', i) .. EgtNumToString( StartValues[i] or 0, 3)
end
EmtOutput( sLine)
StartValues = {}
end
---------------------------------------------------------------------
-- *** END GENERATION ***
---------------------------------------------------------------------
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