Commentata chiamata alla funzionalità per attivare i supporti perchè questa macchina ne è sprovvista

- GEOAX sempre riscritto se stato non coerente

Beam/BeamData.lua

@@ -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

@@ -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

@@ -99,7 +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
@@ -174,7 +173,7 @@ function OnDispositionEnd()
       end
       -- Inizio produzione trave
       if IdTrave >= 0 then
-         local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
+         local BtlInfoId = EgtGetCurrMachGroup() or EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or GDB_ID.NULL
          EMT.PRODID = EgtGetInfo( BtlInfoId, 'PRODID', 'i') or 0
          EMT.PATTID = EgtGetInfo( BtlInfoId, 'PATTID', 'i') or 0
          EMT.CUTID = EgtGetInfo( EMT.IDT, 'CUTID', 'i') or 0
@@ -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

@@ -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

@@ -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

@@ -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