Egalware/saomad-kairos-mk2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/NewLink' into develop

Browse Source
This commit is contained in:
andrea.villa
2026-04-29 11:11:25 +02:00
parent 482e6fb281 54f5c7e488
commit cc817a8d39
6 changed files with 132 additions and 95 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Beam/BeamData.lua
+1 -1
View File
@@ -60,7 +60,7 @@ local BeamData = {
ADVANCE_TAIL_CUT = true, -- per spostare prima del taglio di separazione il taglio di coda su pezzi corti con probabile caduta
ADVANCE_TAIL_OFFS = 5, -- accorciamento taglio di coda avanzato (minimo 1)
STRATEGIES_CONFIG_FILE = 'Std2.json',
FASTCLAMPING = true
FASTCLAMPING = false
}
-- Aggiornamento con dati da B&W
Beam/BeamDataNew.lua
+1 -1
View File
@@ -38,7 +38,7 @@ local BeamData = {
VICE_MINH = 110, -- altezza minima della morsa
VICE_MAXH = 370, -- altezza massima zona pinzaggio orizzontale
USER_HOLE_DIAM = 0, -- diametro foro per L20
FASTCLAMPING = true
FASTCLAMPING = false
}
-- costanti riportate da mlde non necessarie per automatismo (sostituire con GetParameters o simile)
Saomad-KAIROS-MK2.SIEMENS.mlpe
+99 -86
View File
@@ -99,7 +99,6 @@ function OnToolData()
local tToolType = { [256] = 'DRILL', [257] = 'DRILL_L', [512] = 'SAW', [513] = 'SAW_F', [1024] = 'MILL', [1025] = 'MILL_NT',
[1026] = 'POLISHING', [2048] = 'CHAINSAW', [4096] = 'CHISEL'}
-- emissione dati utensile
--local sOut = ';'..EMT.TCPOS..' L='..EmtLenToString( EMT.TLEN, 3)..' D='..EmtLenToString( EMT.TDIAM, 3)..' A='..EgtIf( EMT.TUSED, '1', '0')..' '..( tToolType[EMT.TTYPE] or 'NONE')
local sOut = ';'..EMT.TCPOS..' L='..EmtLenToString( EMT.TLEN, 3)..' D='..EmtLenToString( EMT.TDIAM, 3)..' A='..EgtIf( EMT.TUSED, '1', '0')..' '..EMT.TOOL
MyEmtOutput( sOut)
end
@@ -241,10 +240,6 @@ function OnDispositionEnd()
MyEmtOutput( ';PART UNLOAD')
MyEmtOutput( 'STOPRE')
MyEmtOutput( 'TRANS')
if EMT.X1MASTER then
MyEmtOutput( 'GEOAX(1,X2,2,Y1,3,Z1)')
EMT.X1MASTER = false
end
end
for i = 1, #EMT.AUXSTR do
MyEmtOutput( EMT.AUXSTR[i])
@@ -369,39 +364,35 @@ function OnMachiningEnd()
-- EmitSpeedOff()
MyEmtOutput( ';PART SPLIT')
elseif EMT.AUXTYPE == 'U' then
if not EMT.ZMAX then
EmitZmax()
EMT.ZMAX = true
end
--if not EMT.ZMAX then
-- EmitZmax()
-- EMT.ZMAX = true
--end
if IsLastMachining( EMT.MCHID) then
-- EmitSpeedOff()
end
MyEmtOutput( ';PART UNLOAD')
MyEmtOutput( 'STOPRE')
MyEmtOutput( 'TRANS')
if EMT.X1MASTER then
MyEmtOutput( 'GEOAX(1,X2,2,Y1,3,Z1)')
EMT.X1MASTER = false
end
elseif EMT.AUXTYPE == 'P' then
if EMT.PREROT then
if not EMT.ZMAX then
EmitZmax()
EMT.ZMAX = true
end
--if not EMT.ZMAX then
-- EmitZmax()
-- EMT.ZMAX = true
--end
MyEmtOutput( ';PART ROTATION')
elseif EMT.FALL then
if not EMT.ZMAX then
EmitZmax()
EMT.ZMAX = true
end
--if not EMT.ZMAX then
-- EmitZmax()
-- EMT.ZMAX = true
--end
MyEmtOutput( ';FALL')
else
if not EMT.ZMAX then
EmitZmax()
EMT.ZMAX = true
end
--if not EMT.ZMAX then
-- EmitZmax()
-- EMT.ZMAX = true
--end
MyEmtOutput( ';SPLIT 2')
end
end
@@ -550,13 +541,6 @@ function OnRapid()
MyBackupAxes()
-- se primo movimento della lavorazione, gestione speciale
if EMT.MCHFIRST and not EMT.OPEISDISP then
-- decido se muovere prima testa o carrelli (standard prima testa)
local bHeadFirst = true
local sLateG101
if not ( EMT.LOAD or EMT.RELOAD) and not EMT.ZMAX then
local DeltaT = EMT.L1 - EMT.TLAST
if ( DeltaT < -GEO.EPS_SMALL and EMT.X2DELTA) or ( DeltaT > GEO.EPS_SMALL and EMT.X1DELTA) then bHeadFirst = false end
end
-- sistemo movimenti
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
@@ -592,16 +576,16 @@ function OnRapid()
end
EMT.AUXSTR = {}
-- supporti in posizione intermedia
local sOut = 'SUPPORT(1,1)'
MyEmtOutput( sOut)
-- local sOut = 'SUPPORT(1,1)'
-- MyEmtOutput( sOut)
-- prima lavorazione
sOut = EMT.MCHNAME..'/'..EMT.TOOL
local sOut = EMT.MCHNAME..'/'..EMT.TOOL
MyEmtOutput( '; *** ' .. sOut .. ' ***')
-- altri casi
else
if not EMT.RELOAD and not EMT.ZMAX and #EMT.AUXSTR > 0 then
EmitZmax()
EMT.ZMAX = true
--EmitZmax()
--EMT.ZMAX = true
EMT.PREVTOOL = EMT.TOOL
end
if bMoveChar then
@@ -621,10 +605,10 @@ function OnRapid()
end
if not bStoPre then MyEmtOutput( 'STOPRE') end
MyEmtOutput( '')
EMT.NSTEP = EMT.NSTEP + 10
local sStep = EgtNumToString( EMT.NSTEP, 0)
MyEmtOutput( '_STEP='..sStep)
end
EMT.NSTEP = EMT.NSTEP + 10
local sStep = EgtNumToString( EMT.NSTEP, 0)
MyEmtOutput( '_STEP='..sStep)
local sOut = EMT.MCHNAME..'/'..EMT.TOOL
MyEmtOutput( '; *** ' .. sOut .. ' ***')
-- movimento carrelli
@@ -664,11 +648,11 @@ function OnRapid()
-- primo posizionamento testa rispetto a 0M
EmtResetPrev()
local sOut
if EMT.ZMAX then
sOut = 'SUPA G0 D0 Z'..EgtNumToString( ParkZ, 3)
else
-- sOut = 'SUPA G0 D0' .. EmtGetAxis( 'L3')
end
--if EMT.ZMAX then
-- sOut = 'SUPA G0 D0 Z'..EgtNumToString( ParkZ, 3)
--else
-- -- sOut = 'SUPA G0 D0' .. EmtGetAxis( 'L3')
--end
MyEmtOutput( sOut)
-- sega a catena da gestire
if EMT.HEAD == 'H3' then
@@ -676,13 +660,9 @@ function OnRapid()
EgtOutLog( 'ERROR : CHAINSAW START MOVEMENTS TO BE CALCULATED !!!')
end
-- movimento YAC con interpolazione approssimata tramite F opportune per ogni asse
local dFeedY, dFeedA, dFeedC = CalcFeedYAC( EMT.L2opp - EMT.L2, EMT.R2pp - EMT.R2, EMT.R1pp - EMT.R1)
--sOut = '_POSIZ_YAC('..EgtNumToString( EMT.L2, 3)..','..EgtNumToString( EMT.R2, 3)..','..EgtNumToString( EMT.R1, 3)..','.. EgtNumToString( FmaxY, 0)..',,)'
sOut = 'TRANS'
MyEmtOutput( sOut)
-- local dFeedY, dFeedA, dFeedC = CalcFeedYAC( EMT.L2opp - EMT.L2, EMT.R2pp - EMT.R2, EMT.R1pp - EMT.R1)
-- sOut = '_POSIZ_YAC('..EgtNumToString( EMT.L2, 3)..','..EgtNumToString( EMT.R2, 3)..','..EgtNumToString( EMT.R1, 3)..','.. EgtNumToString( FmaxY, 0)..',,)'
sOut = 'G1 Y=' .. EgtNumToString( EMT.L2, 3)..' A1='..EgtNumToString( EMT.R2, 3)..' C1='..EgtNumToString( EMT.R1, 3) .. ' F' .. EgtNumToString( FmaxY, 3)
MyEmtOutput( sOut)
-- si ripete macro di carico con opzione di precarico eseguito
if EMT.LOAD then
@@ -690,6 +670,15 @@ function OnRapid()
EMT.PRELOADCMD = nil
end
-- se si sono spostati i carrelli
if bMoveChar then
sOut = 'TRANS'
MyEmtOutput( sOut)
sOut = 'G1 Y=' .. EgtNumToString( EMT.L2, 3)..' A1='..EgtNumToString( EMT.R2, 3)..' C1='..EgtNumToString( EMT.R1, 3) .. ' F' .. EgtNumToString( FmaxY, 3)
MyEmtOutput( sOut)
end
EMT.LOAD = false
-- se ho lanciato split in modo asincrono, dopo POSIZ_YAC devo attendere
@@ -718,14 +707,21 @@ function OnRapid()
end
-- assegnazione assi geometrici (GEOAX)
MyEmtOutput( 'TRANS')
if EMT.X1DELTA then
sOut = 'GEOAX(1,X1,2,Y1,3,Z1)'
EMT.X1MASTER = true
else
sOut = 'GEOAX(1,X2,2,Y1,3,Z1)'
EMT.X1MASTER = false
-- se stato pinza attiva non coerente con master, si riscrivono gli assi
if EMT.X1DELTA or EMT.X2DELTA then
if EMT.X1DELTA and not EMT.X1MASTER then
sOut = 'GEOAX(1,X1,2,Y1,3,Z1)'
EMT.X1MASTER = true
MyEmtOutput( sOut)
MyEmtOutput( 'G90 G17')
elseif EMT.X2DELTA and ( EMT.X1MASTER and not EMT.X1DELTA) then
sOut = 'GEOAX(1,X2,2,Y1,3,Z1)'
EMT.X1MASTER = false
MyEmtOutput( sOut)
MyEmtOutput( 'G90 G17')
end
end
MyEmtOutput( sOut)
-- dopo aver spostato i carrelli, lancio precarico
-- se taglio di coda senza residuo da scaricare, emetto macro per accelerare il carico della barra successiva
@@ -735,23 +731,37 @@ function OnRapid()
MyEmtOutput( sOut)
end
MyEmtOutput( 'G90 G17')
-- primo posizionamento carrello rispetto a 0M
if EMT.X1DELTA then
local dPosX1 = EMT.L1 + EMT.X1DELTA
sOut = 'G1 X' .. EmtLenToString( dPosX1, 3) .. ' F' .. GetClampFeed( EMT.LENGTHBEAM)
MyEmtOutput( sOut)
elseif EMT.X2DELTA then
local dPosX2 = EMT.L1 + EMT.X2DELTA
sOut = 'G1 X' .. EmtLenToString( dPosX2, 3) .. ' F' .. GetClampFeed( EMT.LENGTHBEAM)
MyEmtOutput( sOut)
-- se si sono mossi i carrelli
if bMoveChar then
-- primo posizionamento carrello rispetto a 0M
if EMT.X1DELTA then
local dPosX1 = EMT.L1 + EMT.X1DELTA
sOut = 'G1 X' .. EmtLenToString( dPosX1, 3) .. ' F' .. GetClampFeed( EMT.LENGTHBEAM)
MyEmtOutput( sOut)
elseif EMT.X2DELTA then
local dPosX2 = EMT.L1 + EMT.X2DELTA
sOut = 'G1 X' .. EmtLenToString( dPosX2, 3) .. ' F' .. GetClampFeed( EMT.LENGTHBEAM)
MyEmtOutput( sOut)
else
EmtSetLastError( 1213, "Part to machine without charriots")
end
else
EmtSetLastError( 1213, "Part to machine without charriots")
end
if EMT.ZMAX and EMT.L3 < ParkZ - 10 then
sOut = 'SUPA G0 D0' .. EmtGetAxis( 'L3')
MyEmtOutput( sOut)
-- primo posizionamento carrello rispetto a 0M
if EMT.X1DELTA then
local dPosX1 = EMT.L1 + EMT.X1DELTA
sOut = 'G1 X=' .. EmtLenToString( dPosX1, 3) .. ' Y=' .. EgtNumToString( EMT.L2, 3)..
' A1='..EgtNumToString( EMT.R2, 3).. ' C1='..EgtNumToString( EMT.R1, 3).. ' F' .. GetClampFeed( EMT.LENGTHBEAM)
MyEmtOutput( sOut)
elseif EMT.X2DELTA then
local dPosX2 = EMT.L1 + EMT.X2DELTA
sOut = 'G1 X' .. EmtLenToString( dPosX2, 3) .. ' Y=' .. EgtNumToString( EMT.L2, 3)..
' A1='..EgtNumToString( EMT.R2, 3).. ' C1='..EgtNumToString( EMT.R1, 3).. ' F' .. GetClampFeed( EMT.LENGTHBEAM)
MyEmtOutput( sOut)
else
EmtSetLastError( 1213, "Part to machine without charriots")
end
end
-- se taglio di separazione prima di scarico a caduta, emissione stop tappeto scarico trucioli
if EMT.PREFALLCUT then
MyEmtOutput( ';M29')
@@ -795,7 +805,7 @@ function OnRapid()
EMT.IPLGL = false
MyAdjustLinearAxes()
EmtAdjustRotaryAxes()
EmitZmax()
EmitZmax( EMT.L3)
EMT.ZMAX = true
-- se altrimenti movimento in Home
elseif EMT.FLAG == 4 then
@@ -1101,16 +1111,19 @@ function PrepareMoveChar( sCmd)
EMT.X1DELTA = nil
EMT.X2DELTA = dX2Delta
end
table.insert( ALL_CLAMP_POS, CLAMP_POS)
CLAMP_POS = {}
local nFunz = 77
local nVertClamp = 0
local dPress = 2.5
local dFeed = GetClampFeed( EMT.LENGTHPART)
local dAcc = 4
local nOpt = #ALL_CLAMP_POS * 100
local sOut = string.format( '_POSIZ_T(%d,,,,,%d,,,,,,)', nFunz, nOpt)
table.insert( EMT.AUXSTR, sOut)
-- se ci sono movimenti, si scrive macro
if #CLAMP_POS > 0 then
table.insert( ALL_CLAMP_POS, CLAMP_POS)
CLAMP_POS = {}
local nFunz = 77
local nVertClamp = 0
local dPress = 2.5
local dFeed = GetClampFeed( EMT.LENGTHPART)
local dAcc = 4
local nOpt = #ALL_CLAMP_POS * 100
local sOut = string.format( '_POSIZ_T(%d,,,,,%d,,,,,,)', nFunz, nOpt)
table.insert( EMT.AUXSTR, sOut)
end
end
end
@@ -1670,8 +1683,8 @@ function VerifyEmitRotation()
end
---------------------------------------------------------------------
function EmitZmax()
local sOut = 'SUPA G0 D0 Z'..EgtNumToString( ParkZ, 3)
function EmitZmax( dPosZ)
local sOut = 'SUPA G0 D0 Z'..EgtNumToString( dPosZ, 3)
MyEmtOutput( sOut)
end
Saomad-KAIROS-MK2.ini
+11 -2
View File
@@ -3,8 +3,8 @@
Material=Beam
NCType=5 ; 1=Tpa, 2=Num Flexium, 3=Num Axium APServer, 4=Num Axium PCToolkit, 5=Siemens_Sharp7
Flow=2
IsoFileDir=\\192.168.214.253\iso
Ip=192.168.214.1
IsoFileDir=\\192.168.0.253\iso
Ip=192.168.0.1
Rack=0
Slot=1
Debug=2
@@ -47,6 +47,15 @@ Debug=2
29=PLC_Messages5,302:26.0:2,c,plc
30=PLC_Messages6,302:28.0:2,c,plc
31=W_Carico,301:8.0:2,c,plc
32=NextPartL,301:10.0:2,c,plc
33=NextPartW,301:12.0:2,c,plc
34=NextPartH,301:14.0:2,c,plc
35=NextPartPressX1,301:16.0:4,c,plc
36=NextPartFeed,301:20.0:4,c,plc
37=NextPartAcc,301:24.0:4,c,plc
38=NextPartRef1,301:28.0:4,c,plc
39=NextPartRef2,301:32.0:4,c,plc
40=Stop_Working,301:1.7:1,c,plc
[Languages]
Enable=0
Saomad-KAIROS-MK2.mlde
+2 -2
View File
@@ -9,7 +9,7 @@
require( 'EmtGenerator')
EgtEnableDebug( false)
PP_VER = '3.1d1_DEV1'
PP_VER = '3.1d1_DEV7'
MIN_MACH_VER = '3.1c1'
EgtOutLog ( '** Saomad-KAIROS '..PP_VER..' (MinMach '.. MIN_MACH_VER ..') **', 1)
@@ -135,7 +135,7 @@ EmtGeneral {
AxisMaxRotAdj = 0.5,
ExitMaxAdjust = 30,
ExitMaxRotAdj = 0.5,
AngDeltaMinForHome = 165,
--AngDeltaMinForHome = 165,
NewLinkMgr = 1,
Special = 'Saomad-KAIROS-MK2.mlse',
Processor = 'Saomad-KAIROS-MK2.mlpe'}
Saomad-KAIROS-MK2.mlse
+18 -3
View File
@@ -28,6 +28,21 @@ function OnSpecialLink()
elseif EMC.LINKTYPE == 2 then
-- altrimenti collegamento tra due lavorazioni (3)
else
local nClId = EgtGetFirstNameInGroup( EMC.NEXTMCHID, 'CL') -- recupero Id del gruppo CL della lavorazione corrente
local nPathId = EgtGetFirstInGroup( nClId or GDB_ID.NULL) -- Id del primo gruppo nella lavorazione (P1)
local dAuxMoveCount = EgtGetInfo( nPathId, 'AS#', 'd') or 0 -- numero di movimenti ausiliari
-- se ci sono stati movimenti di pinze vado a una quota sicura
if dAuxMoveCount > 3 then
-- recupero quota massima di collegamento
local dZSecRotAx = 500
-- retrazione
EmtRemoveRise( EMC.PREVMCHID)
EmtAddRise( EMC.PREVMCHID, { EMC.L1p, EMC.L2p, dZSecRotAx, EMC.R1p, EMC.R2p}, 30, 3, 2, 'UniqueRise=1;')
-- approccio
EmtRemoveClimb( EMC.NEXTMCHID)
EmtAddClimb( EMC.NEXTMCHID, { EMC.L1, EMC.L2, dZSecRotAx, EMC.R1, EMC.R2}, 31, 2, 2, 'FirstClimb=1;')
EmtAddClimb( EMC.NEXTMCHID, { EMC.L1, EMC.L2, EMC.L3, EMC.R1, EMC.R2}, 30, 2, 2, 'LastClimb=1;')
end
end
-- se motosega
elseif EMC.HEAD == 'H3' then
@@ -1568,7 +1583,7 @@ function SpecCalcUnload()
EMC.X1DELTANEXT = nil
EMC.X2DELTANEXT = dX2LastPos
-- effettuo scambio
vCmdPre = GetCarriagesRepositioningCmd( vCmdPre, EMC.TPOS, EMC.X1DELTA, nil, nil, nil, dX2LastPos)
vCmdPre = GetCarriagesRepositioningCmd( vCmdPre, EMC.TPOS, EMC.X1DELTA, dX2CurrPos, nil, nil, dX2LastPos)
if EMC.ERR ~= 0 then
return {}
end
@@ -1582,7 +1597,7 @@ function SpecCalcUnload()
-- Commento
table.insert( vCmd, { 0, 'Unloading', EgtIf( bStdUl, 'Unloading', 'Manual Unloading')})
-- risalita testa a Zmax
vCmd = AddZmaxMove( vCmd)
-- vCmd = AddZmaxMove( vCmd)
-- Se pinza X1 chiusa, la apro
if EMC.X1DELTA then
table.insert( vCmd, { 11, 0})
@@ -1704,7 +1719,7 @@ function GetCarriagesRepositioningCmd( vCmd, dTPosI, dX1DeltaI, dX2DeltaI, dTPos
if #vCmd == 0 then
table.insert( vCmd, { 0, 'Clamp repositioning'})
-- risalita testa a Zmax
vCmd = AddZmaxMove( vCmd)
-- vCmd = AddZmaxMove( vCmd)
end
-- si ribadisce il pinzaggio