Miglioramenti scrittura codice e commneti

EgtStoneLib/ConstMach.vb

@@ -35,6 +35,8 @@ Module ConstMach
    Public Const KEY_VACLAY_PREFROT As String = "PreferredRot"
    Public Const KEY_VACLAY_PREFVROTXMINUS As String = "PrefVertRotXMinus"
    Public Const KEY_VACLAY_PREFVROTXPLUS As String = "PrefVertRotXPlus"
+   Public Const KEY_VACLAY_PREFVROTYMINUS As String = "PrefVertRotYMinus"
+   Public Const KEY_VACLAY_PREFVROTYPLUS As String = "PrefVertRotYPlus"
    ' Info in gruppo layout per direzione di riferimento ventose per tagli da sotto
    Public Const KEY_VACLAY_DRIPREFDIR As String = "DripRefDir"
    ' Info in asse rotante ventosa per step discreti

EgtStoneLib/ConstMachIni.vb

@@ -198,6 +198,10 @@
    Public Const S_MACH_RAWMOVE As String = "RawMove"
    Public Const K_MACH_RM_ROTATE As String = "Rotate"
    Public Const K_MACH_RM_FINALMOVE As String = "FinalMove"
+   Public Const K_MACH_WEIGHT_SINGLEPLUGGER As String = "MaxWeightSinglePlugger"
+   Public Const K_MACH_WEIGHT_DOUBLEPLUGGER As String = "MaxWeightDoublePlugger"
+   Public Const K_MACH_ROTATEVACUUMFOREXTRASTROKEY As String = "RotateVacuumForExtraStrokeY"
+   Public Const K_MACH_ROTATEVACUUMFOREXTRASTROKEX As String = "RotateVacuumForExtraStrokeX"
 
    Public Const S_MACH_REG As String = "Reg"
    Public Const K_MACH_MAX_ROT_ANG As String = "MaxRotAng"
@@ -260,6 +264,7 @@
    Public Const K_CURROFFICEMATERIAL As String = "CurrOfficeMaterial"
    Public Const K_MATERIAL As String = "Material"
    Public Const K_FROMDBWATERJET As String = "FromDBWaterJet"
+   Public Const K_AVERAGEDENSITY As String = "AverageDensity"
 
    Public Const S_SETUP As String = "SetUp"
    Public Const K_DEFAULT As String = "Default"

EgtStoneLib/VacuumCups.vb

@@ -10,7 +10,22 @@ Module VacuumCups
    Private m_dPreferredRot As Double = 0
    Private m_dPrefVertRotXMinus As Double = 0
    Private m_dPrefVertRotXPlus As Double = 0
+   Private m_dPrefVertRotYMinus As Double = 0
+   Private m_dPrefVertRotYPlus As Double = 0
    Private m_dDripRefAng As Double = 0
+   ' dati carico massimo manipolatore
+   Private m_RawDensity As Double = 2500
+   Private m_RawWeight As Double = 0
+   Private m_MaxWeightSinglePlugger As Double = 250
+   Private m_MaxWeightDoublePlugger As Double = 750
+   Public bOverWeight As Boolean = False
+   ' dati per rotazione ventose vicono al fine corsa Y e X
+   Private bRotateVacuumNearExtraStrokeY As Boolean = False
+   Private bRotateVacuumNearExtraStrokeX As Boolean = False
+   ' dati stroke
+   Public bExtraStroke As Boolean = False
+   Public ptStartPointLift As Point3d
+   Public dDegRotStartAng As Double
 
    ' Nome del gruppo temporaneo per le ventose
    Private Const VACTMP_GRP As String = "VacTmp"
@@ -50,6 +65,20 @@ Module VacuumCups
       Return m_nVacType
    End Function
 
+   Friend Sub GetWeightInformation(Density As Double, MaxSingle As Double, MaxDouble As Double)
+      m_RawDensity = Density
+      m_MaxWeightSinglePlugger = MaxSingle
+      m_MaxWeightDoublePlugger = MaxDouble
+   End Sub
+
+   Friend Sub GetRotationForExtraStrokeY(Rotate As Boolean)
+      bRotateVacuumNearExtraStrokeY = Rotate
+   End Sub
+
+   Friend Sub GetRotationForExtraStrokeX(Rotate As Boolean)
+      bRotateVacuumNearExtraStrokeX = Rotate
+   End Sub
+
    Friend Function GetVacuumId() As Integer
       Return m_nVacId
    End Function
@@ -66,6 +95,8 @@ Module VacuumCups
       ' Identificativo riferimento della testa nella macchina
       Dim nT1Id As Integer = EgtGetFirstNameInGroup(EgtGetHeadId(VACUUM_HEAD), HEAD_FIRST_EXIT)
       If nT1Id = GDB_ID.NULL Then Return False
+      ' imposto la l'uscita della ventosa come fosse l'uscita di un utensile
+      EgtSetCalcTool("", "H4", 1)
       ' Creo gruppo temporaneo in cui copiarli
       m_nTempId = EgtCreateGroup(GDB_ID.ROOT)
       If m_nTempId = GDB_ID.NULL Then Return False
@@ -79,6 +110,8 @@ Module VacuumCups
       ' Angoli di rotazione preferiti per ventosa in verticale (lungo Y) a sinistra e a destra del centro tavola
       EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTXMINUS, m_dPrefVertRotXMinus)
       EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTXPLUS, m_dPrefVertRotXPlus)
+      EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTYMINUS, m_dPrefVertRotYMinus)
+      EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTYPLUS, m_dPrefVertRotYPlus)
       ' Direzione di riferimento per tagli Drip
       EgtGetInfo( m_nVacId, KEY_VACLAY_DRIPREFDIR, m_dDripRefAng)
       ' Nascondo il gruppo ma rendo visibili le curve di contorno delle ventose
@@ -165,6 +198,18 @@ Module VacuumCups
       EgtGetBBoxGlob(nRKerfId, GDB_BB.STANDARD, b3Kerf)
       Dim ptKerfCen As Point3d
       EgtCentroid(nRKerfId, GDB_ID.ROOT, ptKerfCen)
+
+      '-------------------- INIZIO CALCOLO PESO --------------------
+      ' recupero l'area del grezzo da muovere
+      Dim RawArea As Double = 0
+      ' superficie del grezzo senza considerare eventuali fori
+      EgtSurfFrGrossArea(nRKerfId, RawArea)
+      ' volume calcolato in mmc
+      Dim RawVolume As Double = RawArea * b3Raw.DimZ()
+      ' peso calolato in kg
+      m_RawWeight = RawVolume * m_RawDensity / Math.Pow(10, 9)
+      '-------------------- FINE CALCOLO PESO --------------------
+
       ' Eseguo ricerca
       If FindVacuumCupsOnRaw(nRawId, ptRawCen, b3Kerf, ptKerfCen, nKerfId, nRKerfId, rmData) Then
          Return True
@@ -266,6 +311,7 @@ Module VacuumCups
          Dim sCups() As String = Nothing
          Dim sCups2() As String = Nothing
          If Not GetVacuumCupSelection(nI, sCups, sCups2) Then Return False
+         bExtraStroke = False
          ' Determino validità soluzioni della configurazione
          Dim vtMove As New Vector3d
          Dim ptRotCen As New Point3d
@@ -368,6 +414,23 @@ Module VacuumCups
       If b3Vac.IsEmpty() Then Return INFINITO
       ' Se box maggiore di quello del pezzo, scarto soluzione
       If b3Vac.Radius() > b3Raw.Radius() Then Return INFINITO
+      '-------------------- INIZIO VERIFICA PESO --------------------
+      bOverWeight = False
+      Select Case GetPluggerFromCameras(sCups)
+         Case 2
+            ' se peso del grezzo oltre il limite consentito allora scarto la soluzione
+            If m_RawWeight > m_MaxWeightDoublePlugger Then
+               bOverWeight = True
+               Return INFINITO
+            End If
+         Case 1
+            ' se peso del grezzo oltre il limite consentito allora scarto la soluzione
+            If m_RawWeight > m_MaxWeightSinglePlugger Then
+               bOverWeight = True
+               Return INFINITO
+            End If
+      End Select
+      '-------------------- FINE VERIFICA PESO --------------------
       ' Recupero l'area della tavola
       Dim b3Tab As New BBox3d
       EgtGetTableArea(1, b3Tab)
@@ -383,12 +446,19 @@ Module VacuumCups
          dRotAngDeg = dAngOrizzDeg
          If b3Vac.DimY() > b3Vac.DimX() + EPS_SMALL Then dRotAngDeg -= 90
          Dim dPreferredRot As Double = m_dPreferredRot
-         If Math.Abs(dRotAngDeg - 90) < 45 Or Math.Abs(dRotAngDeg - 270) < 45 Then
+         If bRotateVacuumNearExtraStrokeX And (Math.Abs(dRotAngDeg - 90) < 45 Or Math.Abs(dRotAngDeg - 270) < 45) Then
             If frMinRect.Orig().x < b3Tab.Center().x Then
                dPreferredRot = m_dPrefVertRotXMinus
             Else
                dPreferredRot = m_dPrefVertRotXPlus
             End If
+         ElseIf bRotateVacuumNearExtraStrokeY And (Math.Abs(dRotAngDeg - 90) > 45 Or Math.Abs(dRotAngDeg - 270) > 45) Then
+            ' se l'orientemanto è orizzontale e la macchina è stata abilitata
+            If frMinRect.Orig().y < b3Tab.Center().y Then
+               dPreferredRot = m_dPrefVertRotYPlus
+            Else
+               dPreferredRot = m_dPrefVertRotYMinus
+            End If
          End If
          Dim dAngDelta As Double = If( Math.Abs( b3Vac.DimY() - b3Vac.DimX()) < 10 * EPS_SMALL, 90, 180)
          While dRotAngDeg - dPreferredRot >= dAngDelta / 2
@@ -446,11 +516,53 @@ Module VacuumCups
       ' Applico movimento e rotazione al punto
       ptRef.Move(vtMove)
       ptRef.Rotate(ptRotCen, Vector3d.Z_AX(), dRotAngDeg)
+      ' -------------- INIZIO verifica di essere nel limite delle corse macchina --------------
+      If VerifyOutOfStrokes(ptRef, dRotAngDeg) <> 0 Then
+         bExtraStroke = True
+         Return INFINITO
+      End If
+      ' se la posizione è accettbaile allora salvo i dati
+      ptStartPointLift = ptRef
+      dDegRotStartAng = dRotAngDeg
+      ' -------------- FINE verifica di essere nel limite delle corse macchina --------------
       ' Ne calcolo la distanza dal centro della tavola
       Dim dDist As Double = Point3d.DistXY(ptRef, b3Tab.Center())
       Return dDist
    End Function
 
+   ' assegante le posizioni del centro delle ventose e l'angolo di posizionamento orizzontale verifica che la posizione sia raggiungibile
+   Public Function VerifyOutOfStrokes(ptRef As Point3d, dRotAngDeg As Double) As Integer
+      Dim dX, dY, dZ As Double
+      Dim nStat As Integer
+      Dim dCHome As Double
+      EgtGetAxisHomePos("C", dCHome)
+      ' imposto la l'uscita della ventosa come fosse l'uscita di un utensile
+      EgtSetCalcTool("", "H4", 1)
+      EgtGetCalcPositions(ptRef, dRotAngDeg + dCHome, 0, nStat, dX, dY, dZ)
+      EgtVerifyOutstroke(dX, dY, dZ, dRotAngDeg + dCHome, 0, nStat)
+      Return nStat
+   End Function
+
+   ' dall'informazione di extra corsa recupera il valore indicato
+   Public Function GetExtraStrokeValue(sInfo As String) As Double
+      Dim dExtraStroke As Double = 0
+      Dim sItems As String() = sInfo.Split("="c)
+      If sItems.Count = 2 Then
+         Dim nStartIndex As Integer = 0
+         For Each ItemChar As Char In sItems(1)
+            If ItemChar = "("c Then
+               Exit For
+            End If
+            nStartIndex += 1
+         Next
+         If nStartIndex > 0 Then
+            Dim sValue As String = sItems(1).Remove(nStartIndex, sItems(1).Count - nStartIndex)
+            StringToLen(sValue, dExtraStroke)
+         End If
+      End If
+      Return dExtraStroke
+   End Function
+
    Private Function TestVacuumCups(nCups() As Integer, nRawRegId As Integer,
                                    vtMove As Vector3d, ptRotCen As Point3d, dRotAngDeg As Double) As Boolean
       ' Eseguo verifica delle ventose rispetto al grezzo
@@ -471,6 +583,27 @@ Module VacuumCups
       Return bVacOk
    End Function
 
+   Private Function GetPluggerFromCameras(sCups) As Integer
+      Dim nCountPlunger As Integer = 1
+      Dim bPlugger1 As Boolean = False
+      Dim bPlugger2 As Boolean = False
+      For Each Camera As String In sCups
+         If (Camera.Contains("1") Or Camera.Contains("2") Or Camera.Contains("3")) Then
+            bPlugger1 = True
+         Else
+            bPlugger2 = True
+         End If
+      Next
+      ' verifico quali sono le camere attive
+      If bPlugger1 And bPlugger2 Then
+         nCountPlunger = 2
+      ElseIf Not bPlugger1 And Not bPlugger2 Then
+         nCountPlunger = 0
+      End If
+      ' restituisco il numero di Plugger in uso
+      Return nCountPlunger
+   End Function
+
    Friend Function SaveOneMoveInfo(nId As Integer, rmData As RawMoveData) As Boolean
       ' Assegno le informazioni
       EgtSetInfo(nId, "Id", rmData.m_nId)

OptionPanel/MachiningTab/MoveRawModeVM.vb

@@ -249,6 +249,108 @@ Public Class MoveRawModeVM
       NotifyPropertyChanged("MoveStep")
    End Sub
 
+   ' verifica che la posizione di rialascio sia corretta, altrimenti coreggo il vettore di posizione
+   Private Function VerifyReleasdPositionIsValid(ByRef vtMove As Vector3d) As Boolean
+      Dim bOk As Boolean = True
+      ' determino il punto finale dello spostamento
+      Dim ptEndPointLift As Point3d = VacuumCups.ptStartPointLift
+      ptEndPointLift.x += vtMove.x
+      ptEndPointLift.y += vtMove.y
+      Dim sInfo As String = String.Empty
+      Select Case VacuumCups.VerifyOutOfStrokes(ptEndPointLift, VacuumCups.dDegRotStartAng)
+         Case 1
+            ' extra corsa sulla x-: devo ridurre del valore di extra corsa
+            EgtGetOutstrokeInfo(sInfo)
+            OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_SIMULATIONPAGEUC + 2) & " " & sInfo, 3, MSG_TYPE.WARNING)       'Extracorsa ...
+            ptEndPointLift.x -= vtMove.x
+            Dim dMaxMove As Double = VacuumCups.GetExtraStrokeValue(sInfo)
+            If Math.Abs(dMaxMove - vtMove.x) <= EPS_SMALL * 100 Then
+               vtMove.x = 0
+            Else
+               vtMove.x -= dMaxMove - EPS_SMALL * 100
+            End If
+            ptEndPointLift.x += vtMove.x
+            bOk = False
+         Case 2
+            ' extra corsa sulla x+: devo ridurre del valore di extra corsa
+            EgtGetOutstrokeInfo(sInfo)
+            OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_SIMULATIONPAGEUC + 2) & " " & sInfo, 3, MSG_TYPE.WARNING)       'Extracorsa ...
+            ptEndPointLift.x -= vtMove.x
+            Dim dMaxMove As Double = VacuumCups.GetExtraStrokeValue(sInfo)
+            If Math.Abs(dMaxMove - vtMove.x) <= EPS_SMALL * 100 Then
+               vtMove.x = 0
+            Else
+               vtMove.x -= dMaxMove + EPS_SMALL * 100
+            End If
+            ptEndPointLift.x += vtMove.x
+            bOk = False
+         Case 4
+            ' extra corsa sulla y-
+            EgtGetOutstrokeInfo(sInfo)
+            OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_SIMULATIONPAGEUC + 2) & " " & sInfo, 3, MSG_TYPE.WARNING)       'Extracorsa ...
+            ptEndPointLift.y -= vtMove.y
+            Dim dMaxMove As Double = VacuumCups.GetExtraStrokeValue(sInfo)
+            If Math.Abs(dMaxMove - vtMove.y) <= EPS_SMALL * 100 Then
+               vtMove.y = 0
+            Else
+               vtMove.y -= dMaxMove - EPS_SMALL * 100
+            End If
+            ptEndPointLift.y += vtMove.y
+            bOk = False
+         Case 8
+            ' extra corsa sulla y+
+            EgtGetOutstrokeInfo(sInfo)
+            OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_SIMULATIONPAGEUC + 2) & " " & sInfo, 3, MSG_TYPE.WARNING)       'Extracorsa ...
+            ptEndPointLift.y -= vtMove.y
+            Dim dMaxMove As Double = VacuumCups.GetExtraStrokeValue(sInfo)
+            If Math.Abs(dMaxMove - vtMove.y) <= EPS_SMALL * 100 Then
+               vtMove.y = 0
+            Else
+               vtMove.y -= dMaxMove + EPS_SMALL * 100
+            End If
+            ptEndPointLift.y += vtMove.y
+            bOk = False
+      End Select
+      ' il movimento del pezzo è accettabile, aggiorno le posizione per la verifica dello step successivo
+      VacuumCups.ptStartPointLift = ptEndPointLift
+      Return bOk
+   End Function
+   ' verifica che la posizione di rialascio sia corretta, altrimenti coreggo l'angolo di posizione
+   Private Function VerifyReleasdAngleIsValid(ByRef dAngDeg As Double, ByVal ptCenter As Point3d) As Boolean
+      Dim bOk As Boolean = True
+      ' determino il punto finale dello spostamento
+      Dim ptEndPointLift As Point3d = VacuumCups.ptStartPointLift
+      Dim dDegRotEndAng As Double = VacuumCups.dDegRotStartAng + dAngDeg
+      ptEndPointLift.Rotate(ptCenter, Vector3d.Z_AX(), dAngDeg)
+      Dim sInfo As String = String.Empty
+      Select Case VacuumCups.VerifyOutOfStrokes(ptEndPointLift, dDegRotEndAng)
+         Case 16
+            ' extra corsa sulla c-
+            EgtGetOutstrokeInfo(sInfo)
+            OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_SIMULATIONPAGEUC + 2) & " " & sInfo, 3, MSG_TYPE.WARNING)       'Extracorsa ...
+            ptEndPointLift.Rotate(ptCenter, Vector3d.Z_AX(), -dAngDeg)
+            dDegRotEndAng -= dAngDeg
+            dAngDeg += VacuumCups.GetExtraStrokeValue(sInfo) + EPS_SMALL
+            dDegRotEndAng += dAngDeg
+            ptEndPointLift.Rotate(ptCenter, Vector3d.Z_AX(), dAngDeg)
+            bOk = False
+         Case 34
+            ' extra corsa sulla c+
+            EgtGetOutstrokeInfo(sInfo)
+            OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_SIMULATIONPAGEUC + 2) & " " & sInfo, 3, MSG_TYPE.WARNING)       'Extracorsa ...
+            ptEndPointLift.Rotate(ptCenter, Vector3d.Z_AX(), -dAngDeg)
+            dDegRotEndAng -= dAngDeg
+            dAngDeg -= VacuumCups.GetExtraStrokeValue(sInfo) + EPS_SMALL
+            dDegRotEndAng += dAngDeg
+            ptEndPointLift.Rotate(ptCenter, Vector3d.Z_AX(), dAngDeg)
+            bOk = False
+      End Select
+      ' il movimento del pezzo è accettabile, aggiorno le posizione per la verifica dello step successivo
+      VacuumCups.ptStartPointLift = ptEndPointLift
+      VacuumCups.dDegRotStartAng = dDegRotEndAng
+      Return bOk
+   End Function
+
 #End Region    ' METHODS
 
 #Region "COMMANDS"
@@ -286,9 +388,15 @@ Public Class MoveRawModeVM
          Else
             If m_bRawWithCups Then
                Dim vtMove As New Vector3d(0, m_dMoveStep, 0)
+               ' ----------- INIZIO verifica di essere entro i limiti macchina -----------
+               OmagOFFICEMap.refStatusBarVM.ClearOutputMessage()
+               VerifyReleasdPositionIsValid(vtMove)
+               ' ----------- FINE verifica di essere entro i limiti macchina -----------
                If EgtMoveRawPart(nRawId, vtMove) Then
                   EgtMove(GetVacuumId(), vtMove, GDB_RT.GLOB)
                   AddRawMoveData(nRawId, vtMove, m_RawMoveDataList)
+               Else
+                  VacuumCups.ptStartPointLift.y -= vtMove.y
                End If
             Else
                ' Pezzo troppo piccolo : non si può muovere
@@ -320,9 +428,15 @@ Public Class MoveRawModeVM
       While nRawId <> GDB_ID.NULL
          If m_bRawWithCups Then
             Dim vtMove As New Vector3d(-m_dMoveStep, 0, 0)
+            ' ----------- INIZIO verifica di essere entro i limiti macchina -----------
+            OmagOFFICEMap.refStatusBarVM.ClearOutputMessage()
+            VerifyReleasdPositionIsValid(vtMove)
+            ' ----------- FINE verifica di essere entro i limiti macchina -----------
             If EgtMoveRawPart(nRawId, vtMove) Then
                EgtMove(GetVacuumId(), vtMove, GDB_RT.GLOB)
                AddRawMoveData(nRawId, vtMove, m_RawMoveDataList)
+            Else
+               VacuumCups.ptStartPointLift.x -= vtMove.x
             End If
          Else
             ' Pezzo troppo piccolo : non si può muovere
@@ -353,9 +467,15 @@ Public Class MoveRawModeVM
       While nRawId <> GDB_ID.NULL
          If m_bRawWithCups Then
             Dim vtMove As New Vector3d(m_dMoveStep, 0, 0)
+            ' ----------- INIZIO verifica di essere entro i limiti macchina -----------
+            OmagOFFICEMap.refStatusBarVM.ClearOutputMessage()
+            VerifyReleasdPositionIsValid(vtMove)
+            ' ----------- FINE verifica di essere entro i limiti macchina -----------
             If EgtMoveRawPart(nRawId, vtMove) Then
                EgtMove(GetVacuumId(), vtMove, GDB_RT.GLOB)
                AddRawMoveData(nRawId, vtMove, m_RawMoveDataList)
+            Else
+               VacuumCups.ptStartPointLift.x -= vtMove.x
             End If
          Else
             ' Pezzo troppo piccolo : non si può muovere
@@ -403,9 +523,15 @@ Public Class MoveRawModeVM
          Else
             If m_bRawWithCups Then
                Dim vtMove As New Vector3d(0, -m_dMoveStep, 0)
+               ' ----------- INIZIO verifica di essere entro i limiti macchina -----------
+               OmagOFFICEMap.refStatusBarVM.ClearOutputMessage()
+               VerifyReleasdPositionIsValid(vtMove)
+               ' ----------- FINE verifica di essere entro i limiti macchina -----------
                If EgtMoveRawPart(nRawId, vtMove) Then
                   EgtMove(GetVacuumId(), vtMove, GDB_RT.GLOB)
                   AddRawMoveData(nRawId, vtMove, m_RawMoveDataList)
+               Else
+                  VacuumCups.ptStartPointLift.y -= vtMove.y
                End If
             Else
                ' Pezzo troppo piccolo : non si può muovere
@@ -437,12 +563,19 @@ Public Class MoveRawModeVM
       While nRawId <> GDB_ID.NULL
          If m_bRawWithCups Then
             Dim dAng As Double = m_dRotationStep
+            ' ----------- INIZIO verifica di essere entro i limiti macchina -----------
+            ' Recupero il centro del grezzo
+            Dim ptRawCen As Point3d
+            EgtGetRawPartCenter(nRawId, ptRawCen)
+            OmagOFFICEMap.refStatusBarVM.ClearOutputMessage()
+            VerifyReleasdAngleIsValid(dAng, ptRawCen)
+            ' ----------- FINE verifica di essere entro i limiti macchina -----------
             If EgtRotateRawPart(nRawId, Vector3d.Z_AX(), dAng) Then
-               ' Recupero il centro del grezzo
-               Dim ptRawCen As Point3d
-               EgtGetRawPartCenter(nRawId, ptRawCen)
                EgtRotate(GetVacuumId(), ptRawCen, Vector3d.Z_AX(), dAng, GDB_RT.GLOB)
                AddRawMoveData(nRawId, dAng, m_RawMoveDataList)
+            Else
+               VacuumCups.ptStartPointLift.Rotate(ptRawCen, Vector3d.Z_AX(), dAng)
+               VacuumCups.dDegRotStartAng -= dAng
             End If
          Else
             OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_MOVERAWPAGEUC + 2), 3, MSG_TYPE.WARNING)
@@ -472,12 +605,19 @@ Public Class MoveRawModeVM
       While nRawId <> GDB_ID.NULL
          If m_bRawWithCups Then
             Dim dAng As Double = -m_dRotationStep
+            ' ----------- INIZIO verifica di essere entro i limiti macchina -----------
+            ' Recupero il centro del grezzo
+            Dim ptRawCen As Point3d
+            EgtGetRawPartCenter(nRawId, ptRawCen)
+            OmagOFFICEMap.refStatusBarVM.ClearOutputMessage()
+            VerifyReleasdAngleIsValid(dAng, ptRawCen)
+            ' ----------- FINE verifica di essere entro i limiti macchina -----------
             If EgtRotateRawPart(nRawId, Vector3d.Z_AX(), dAng) Then
-               ' Recupero il centro del grezzo
-               Dim ptRawCen As Point3d
-               EgtGetRawPartCenter(nRawId, ptRawCen)
                EgtRotate(GetVacuumId(), ptRawCen, Vector3d.Z_AX(), dAng, GDB_RT.GLOB)
                AddRawMoveData(nRawId, dAng, m_RawMoveDataList)
+            Else
+               VacuumCups.ptStartPointLift.Rotate(ptRawCen, Vector3d.Z_AX(), dAng)
+               VacuumCups.dDegRotStartAng -= dAng
             End If
          Else
             OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_MOVERAWPAGEUC + 2), 3, MSG_TYPE.WARNING)
@@ -556,6 +696,16 @@ Public Class MoveRawModeVM
                ' Se con ventose, le posiziono sul grezzo
                If Not OmagOFFICEMap.refMachiningTabVM.ByHand Then
                   Dim rmData As New RawMoveData
+                  ' inizializzo i dati del grezzo per il cacolo del peso
+                  Dim MaxSinglePlugger As Double = 250
+                  MaxSinglePlugger = GetPrivateProfileDouble(S_MACH_RAWMOVE, K_MACH_WEIGHT_SINGLEPLUGGER, MaxSinglePlugger, sMachIniFile)
+                  Dim MaxDoublePlugger As Double = 750
+                  MaxDoublePlugger = GetPrivateProfileDouble(S_MACH_RAWMOVE, K_MACH_WEIGHT_DOUBLEPLUGGER, MaxDoublePlugger, sMachIniFile)
+                  Dim AverageDensity As Double = 2700
+                  AverageDensity = GetPrivateProfileDouble(S_MATERIALS, K_AVERAGEDENSITY, AverageDensity, sMachIniFile)
+                  VacuumCups.GetWeightInformation(AverageDensity, MaxSinglePlugger, MaxDoublePlugger)
+                  VacuumCups.GetRotationForExtraStrokeY(GetPrivateProfileInt(S_MACH_RAWMOVE, K_MACH_ROTATEVACUUMFOREXTRASTROKEY, 0, sMachIniFile) <> 0)
+                  VacuumCups.GetRotationForExtraStrokeX(GetPrivateProfileInt(S_MACH_RAWMOVE, K_MACH_ROTATEVACUUMFOREXTRASTROKEX, 0, sMachIniFile) <> 0)
                   If PutVacuumCupsOnRaw(nId, rmData) Then
                      ' Visualizzo le ventose
                      EgtSetStatus(GetVacuumId(), GDB_ST.ON_)
@@ -565,10 +715,19 @@ Public Class MoveRawModeVM
                      ' Reset eventuale messaggio
                      OmagOFFICEMap.refStatusBarVM.ClearOutputMessage()
                   Else
+                     ' Visualizzo le ventose
+                     EgtSetStatus(GetVacuumId(), GDB_ST.OFF)
                      ' Aggiorno i dati
                      m_bRawWithCups = False
-                     ' Messaggio di avvertimento (Pezzo troppo piccolo : non si può muovere)
-                     OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_MOVERAWPAGEUC + 2), 3, MSG_TYPE.WARNING)
+                     If VacuumCups.bOverWeight Then
+                        ' Messaggio di avvertimento (Pezzo troppo piccolo : non si può muovere)
+                        OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_MOVERAWPAGEUC + 4), 3, MSG_TYPE.WARNING)
+                     ElseIf VacuumCups.bExtraStroke Then
+                        OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_MOVERAWPAGEUC + 5), 3, MSG_TYPE.WARNING) 'Pezzo oltre le corse : non si può muovere
+                     Else
+                        ' Messaggio di avvertimento (Pezzo troppo piccolo : non si può muovere)
+                        OmagOFFICEMap.refStatusBarVM.SetOutputMessage(EgtMsg(MSG_MOVERAWPAGEUC + 2), 3, MSG_TYPE.WARNING)
+                     End If
                   End If
                End If
             End If