In caso di ripartenza si aspettano 2 secondi per aspettare caricamento del file dei pinzaggi

- Aggiunti movimenti simulazione cambio utensile

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)

Beam/EbwData.lua

@@ -16,7 +16,7 @@ local Offsets = {
    MAX_X2=-62,
    PARK_X2=-500,
    BEAM_LOAD=1800.0,
-   BEAM_UNLOAD=-2060,
+   BEAM_UNLOAD=-2150,
    TURN_OFFS=0,
    MILL_PIVOT=-211.00,
    TAB_OFFSET_Y=0,

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])
@@ -363,45 +358,44 @@ function OnMachiningEnd()
    --for i = 1, #EMT.AUXCMD do
    --   MyEmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
    --end
+
+   -- sincronizzazione e reset piano
+   MyEmtOutput( 'STOPRE')
+   MyEmtOutput( 'TRANS')
+
    EMT.AUXCMD = {}
    if #EMT.AUXSTR > 0 then
       if EMT.AUXTYPE == 'S' then
          -- 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 +544,6 @@ 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 +579,16 @@ 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
-         MyEmtOutput( '; *** ' .. sOut .. ' ***')
+         local sOut = EMT.MCHNAME..'/'..EMT.TOOL
+         MyEmtOutput( '\n; *** ' .. 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
@@ -619,14 +606,33 @@ function OnRapid()
                bStoPre = true
                EMT.TRAILON = nil
             end
-            if not bStoPre then MyEmtOutput( 'STOPRE') end
-            MyEmtOutput( '')
-            EMT.NSTEP = EMT.NSTEP + 10
-            local sStep = EgtNumToString( EMT.NSTEP, 0)
-            MyEmtOutput( '_STEP='..sStep)
+            --if not bStoPre then MyEmtOutput( 'STOPRE') end
+            --MyEmtOutput( '')
          end
+
+         -- se c'è un movimento carrelli
+         if bMoveChar then
+            if not EMT.TSELECT then
+               EMT.NSTEP = EMT.NSTEP + 10
+               local sStep = EgtNumToString( EMT.NSTEP, 0)
+               MyEmtOutput( '_STEP='..sStep)
+               local sStep1 = EgtNumToString( EMT.NSTEP + 1, 0)
+               MyEmtOutput( 'GOTOF '..'_N'..sStep1)
+               local sStep = EgtNumToString( EMT.NSTEP, 0)
+               MyEmtOutput( '_N'..sStep..':STOPRE')
+               local sOut = 'PRE_WORK(1,1,' .. EMT.TOOLSEL .. ','..EgtNumToString( EMT.S, 0) ..',,,,)'
+               MyEmtOutput( sOut)
+               EMT.SPEED_ON = true
+               MyEmtOutput( '_N'..sStep1..':STOPRE')
+            end
+            MyEmtOutput( 'WAIT_CHAN(2)')
+         end
+
+         EMT.NSTEP = EMT.NSTEP + 10
+         local sStep = EgtNumToString( EMT.NSTEP, 0)
+         MyEmtOutput( '_STEP='..sStep)
          local sOut = EMT.MCHNAME..'/'..EMT.TOOL
-         MyEmtOutput( '; *** ' .. sOut .. ' ***')
+         MyEmtOutput( '\n; *** ' .. sOut .. ' ***')
          -- movimento carrelli
          EMT.AUXCMD = {}
          for i = 1, #EMT.AUXSTR do
@@ -658,31 +664,23 @@ function OnRapid()
          MyEmtOutput( sOut)
          EMT.SPEED_ON = true
          MyEmtOutput( '_N'..sStep1..':STOPRE')
+      else
+         local sStep = EgtNumToString( EMT.NSTEP, 0)
+         MyEmtOutput( '_N'..sStep..':STOPRE')
       end
       -- eventuale avvio mandrino (se non già avviato)
       EmitSpeedOn( EMT.S)
       -- 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
-      MyEmtOutput( sOut)
       -- sega a catena da gestire
       if EMT.HEAD == 'H3' then
          MyEmtOutput( '!!! Chainsaw start movements to be calculated !!!')
          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
@@ -690,19 +688,25 @@ function OnRapid()
          EMT.PRELOADCMD = nil
       end
 
+      -- se si sono spostati i carrelli
+      if bMoveChar then
+         --MyEmtOutput( 'TRANS')
+         local 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
       if EMT.WAIT_SPLIT then
-         sOut = 'WAITP(X1)'
-         MyEmtOutput( sOut)
+         MyEmtOutput( 'WAITP(X1)')
          EMT.WAIT_SPLIT = nil
       end
 
       -- se necessario, attesa fine movimenti carrelli e presa assi relativi
       if bMoveChar then
-         sOut = 'WAIT_CHAN(2)'
-         MyEmtOutput( sOut)
+         MyEmtOutput( 'WAIT_CHAN(2)')
          EMT.CHAN2 = nil
 
          if EMT.X1DELTA and EMT.X2DELTA then
@@ -716,42 +720,60 @@ function OnRapid()
             MyEmtOutput( 'GET(X2)')
          end
       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
+            EMT.X1MASTER = true
+            MyEmtOutput( 'GEOAX(1,X1,2,Y1,3,Z1)')
+            MyEmtOutput( 'G90 G17')
+         elseif EMT.X2DELTA and ( EMT.X1MASTER and not EMT.X1DELTA) then
+            EMT.X1MASTER = false
+            MyEmtOutput( 'GEOAX(1,X2,2,Y1,3,Z1)')
+            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
       if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Cut') and not EMT.PRELOAD then
          EMT.PRELOAD = true
-         sOut = '_POSIZ_T(4,,,,,,,,,)'  -- Lancio macro per carico anticipato: i valori sono presi dal plc (passati dall'interfaccia)
-         MyEmtOutput( sOut)
+         MyEmtOutput( '_POSIZ_T(4,,,,,,,,,)')  -- Lancio macro per carico anticipato: i valori sono presi dal plc (passati dall'interfaccia)
       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
+            local sOut = 'G1 X' .. EmtLenToString( dPosX1, 3) .. ' F' .. GetClampFeed( EMT.LENGTHBEAM)
+            MyEmtOutput( sOut)
+         elseif EMT.X2DELTA then
+            local dPosX2 = EMT.L1 + EMT.X2DELTA
+            local 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)
+         -- MyEmtOutput( 'TRANS')
+         -- assegnazione assi geometrici (GEOAX)
+         -- primo posizionamento carrello rispetto a 0M
+         if EMT.X1DELTA then
+            local dPosX1 = EMT.L1 + EMT.X1DELTA
+            local 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
+            local 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 +817,7 @@ function OnRapid()
       EMT.IPLGL = false
       MyAdjustLinearAxes()
       EmtAdjustRotaryAxes()
-      EmitZmax()
+      EmitZmax( EMT.L3)
       EMT.ZMAX = true
    -- se altrimenti movimento in Home
    elseif EMT.FLAG == 4 then
@@ -1074,7 +1096,7 @@ function PrepareMoveChar( sCmd)
       if Cmd[2] == '0' and EMT.X1CLAMP then
          EMT.X1CLAMP = nil
          table.insert( CLAMP_POS, 'GRIPPER("AP1",,)')
-      elseif not EMT.X1CLAMP and Cmd[2] ~= '0' then
+      elseif ( not EMT.X1CLAMP or not EMT.X1DELTA) and Cmd[2] ~= '0' then
          EMT.X1CLAMP = true
          local sVertClamp = EgtIf( Cmd[2] == '2', '1', '0')
          table.insert( CLAMP_POS, 'GRIPPER("CH1",'.. sVertClamp ..',2.5)')
@@ -1083,7 +1105,7 @@ function PrepareMoveChar( sCmd)
       if Cmd[2] == '0' and EMT.X2CLAMP then
          EMT.X2CLAMP = nil
          table.insert( CLAMP_POS, 'GRIPPER("AP2",,)')
-      elseif not EMT.X2CLAMP and Cmd[2] ~= '0' then
+      elseif ( not EMT.X2CLAMP or not EMT.X2DELTA) and Cmd[2] ~= '0' then
          EMT.X2CLAMP = true
          local sVertClamp = EgtIf( Cmd[2] == '2', '1', '0')
          table.insert( CLAMP_POS, 'GRIPPER("CH2",'.. sVertClamp ..',2.5)')
@@ -1101,130 +1123,161 @@ 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
 
 ---------------------------------------------------------------------
 function PrepareResidue( sCmd)
    local Cmd = EgtSplitString( sCmd)
-   if Cmd[1] == '0' then
-      -- se non è scarico
-      if Cmd[2] ~= 'Unloading' then
-         -- se inizio
-         if EMT.AUXIND <= 2 then
-            -- reset stato
-            EMT.MCIND = 0
-            EMT.X1STAT = 0
-            EMT.X2STAT = 0
-            EMT.MCX1 = {}
-            EMT.MCX2 = {}
+   -- se terminato posizionamenti e si deve scaricare
+   if EMT.UNL then
+      if Cmd[1] == '0' then
+      elseif Cmd[1] == '1' then
+         if Cmd[2] ~= 'Z' then
+            EMT.NSTEP = EMT.NSTEP + 10
+            local sStep = EgtNumToString( EMT.NSTEP, 0)
+            local sOut = '_STEP='..sStep
+            table.insert( EMT.AUXSTR, sOut)
+            local sX2Pos =  Cmd[3]
+            sOut = string.format( 'G1 X=%s F=%d', sX2Pos, EMT.FMAXPINZE)
+            table.insert( EMT.AUXSTR, sOut)
+            sOut = '_POSIZ_T(5,,,,,2,,,,)'  -- attiva spintore scarico pezzo restanto su processo 1
+            table.insert( EMT.AUXSTR, sOut)
+            sOut = '_N'..sStep..':STOPRE\n'
+            table.insert( EMT.AUXSTR, sOut)
          end
-      else
-         EMT.UNL = true
-      end
-   elseif Cmd[1] == '1' then
-      if Cmd[2] ~= 'Z' then
-         EMT.MCIND = EMT.MCIND + 1
-         if Cmd[2] == 'X1' then
-            EMT.MCX1[EMT.MCIND] = tonumber( Cmd[3])
-            EMT.MCX2[EMT.MCIND] = 0
-         elseif Cmd[2] == 'X2' then
-            EMT.MCX1[EMT.MCIND] = 0
-            EMT.MCX2[EMT.MCIND] = tonumber( Cmd[3])
-         end
-      end
-   elseif Cmd[1] == '2' then
-      EMT.MCIND = EMT.MCIND + 1
-      for i = 2, 4, 2 do
-         if Cmd[i] == 'X1' then
-            EMT.MCX1[EMT.MCIND] = tonumber( Cmd[i+1])
-         elseif Cmd[i] == 'X2' then
-            EMT.MCX2[EMT.MCIND] = tonumber( Cmd[i+1])
-         end
-      end
-      if not EMT.MCX1[EMT.MCIND] then EMT.MCX1[EMT.MCIND] = 0 end
-      if not EMT.MCX2[EMT.MCIND] then EMT.MCX2[EMT.MCIND] = 0 end
-   elseif Cmd[1] == '3' then
-      EMT.MCIND = EMT.MCIND + 1
-      for i = 2, 6, 2 do
-         if Cmd[i] == 'X1' then
-            EMT.MCX1[EMT.MCIND] = tonumber( Cmd[i+1])
-         elseif Cmd[i] == 'X2' then
-            EMT.MCX2[EMT.MCIND] = tonumber( Cmd[i+1])
-         end
-      end
-   elseif Cmd[1] == '11' then
-      EMT.X1STAT = tonumber( Cmd[2])
-      if Cmd[2] == 0 then
-         EMT.X1CLAMP = nil
-      else
-         EMT.X1CLAMP = true
-      end
-   elseif Cmd[1] == '12' then
-      if Cmd[2] == 0 then
-         EMT.X2CLAMP = nil
-      else
-         EMT.X2CLAMP = true
-      end
-      EMT.X2STAT = tonumber( Cmd[2])
-      if EMT.UNL and EMT.X2STAT == 0 then
-         -- local sWait = 'WAIT_CHAN(2)'
-         -- table.insert( EMT.AUXSTR, sWait)
-         local sSync = 'STOPRE'
-         table.insert( EMT.AUXSTR, sSync)
-         local nFunz = 6
-         local nVertClamp = 0
-         local dPress = 2.5
-         local dFeed = GetClampFeed( EMT.LENGTHPART)
-         local dAcc = 4
-         local nOpt = 0
-         local sRef1 = EMT.MCX2[#EMT.MCX2]
-         local sRef2 = EmtLenToString( ParkX2 - ( EMT.LENGTHBEAM - EMT.X2DELTA), 3)
-         local sOut = string.format( '_POSIZ_T(%d,%d,%.1f,%.1f,%.1f,%d,%s,%s,,)', nFunz, nVertClamp, dPress, dFeed, dAcc, nOpt, sRef1, sRef2)
+      elseif Cmd[1] == '2' then
+         EMT.NSTEP = EMT.NSTEP + 10
+         local sStep = EgtNumToString( EMT.NSTEP, 0)
+         local sOut = '_STEP='..sStep
          table.insert( EMT.AUXSTR, sOut)
-      end
-   elseif Cmd[1] == '21' then
-      local dX1Delta = tonumber( Cmd[2])
-      local dX2Delta = tonumber( Cmd[3])
-      if dX1Delta > 0 and dX2Delta > 0 then
-         EMT.X1DELTA = dX1Delta
-         EMT.X2DELTA = dX2Delta
-      elseif dX1Delta > 0 then
-         EMT.X1DELTA = dX1Delta
-         EMT.X2DELTA = nil
-      elseif dX2Delta > 0 then
-         EMT.X1DELTA = nil
-         EMT.X2DELTA = dX2Delta
-      end
-      if EMT.AUXIND > 1 then
-         local sInfo = string.format( ';X1->X2 D2=%.1f', EMT.LENGTHBEAM - EMT.X2DELTA)
-         table.insert( EMT.AUXSTR, sInfo)
-         local sWait = 'WAIT_CHAN(2)'
-         table.insert( EMT.AUXSTR, sWait)
-         local sSync = 'STOPRE'
-         table.insert( EMT.AUXSTR, sSync)
-         local nFunz = 31
-         local nVertClamp = 0
-         local dPress = 2.5
-         local dFeed = GetClampFeed( EMT.LENGTHBEAM)
-         local dAcc = 4
-         local nOpt = EgtIf( EMT.MCIND >= 3, 2, 1)
-         local sRef1 = EmtLenToString( EMT.MCX1[1], 3)
-         local sRef2 = EmtLenToString( EMT.MCX2[1], 3)
-         local sRef3 = EmtLenToString( EMT.MCX1[2], 3)
-         local sRef4 = EmtLenToString( EgtIf( EMT.MCX2[2] == 0, EMT.MCX2[1], EMT.MCX2[2]), 3)
-         local sOut = string.format( '_POSIZ_T(%d,%d,%.1f,%.1f,%.1f,%d,%s,%s,%s,%s)', nFunz, nVertClamp, dPress, dFeed, dAcc, nOpt, sRef1, sRef2, sRef3, sRef4)
+         local sX2Pos = Cmd[5]
+         sOut = string.format( 'G1 X=%s F=%d', sX2Pos, EMT.FMAXPINZE)
          table.insert( EMT.AUXSTR, sOut)
+         sOut = '_N'..sStep..':STOPRE\n'
+         table.insert( EMT.AUXSTR, sOut)
+      elseif Cmd[1] == '3' then
+         -- non gestito
+      elseif Cmd[1] == '11' then
+         -- non gestito
+      elseif Cmd[1] == '12' then
+         EMT.NSTEP = EMT.NSTEP + 10
+         local sStep = EgtNumToString( EMT.NSTEP, 0)
+         local sOut = '_STEP='..sStep
+         table.insert( EMT.AUXSTR, sOut)
+         sOut = '_POSIZ_T(5,,,,,1,,,,)'  -- apre pinza 2 restando su processo 1
+         table.insert( EMT.AUXSTR, sOut)
+         sOut = '_N'..sStep..':STOPRE\n'
+         table.insert( EMT.AUXSTR, sOut)
+      elseif Cmd[1] == '21' then
+         -- non interessa
+      end
+   else
+      if Cmd[1] == '0' then
+         -- se è scarico
+         if Cmd[2] == 'Unloading' then
+            EMT.UNL = true
+            -- Lancio macro per carico anticipato: i valori sono presi dal plc (passati dall'interfaccia)
+            local sOut = '_POSIZ_T(4,,,,,,,,,)'
+            table.insert( EMT.AUXSTR, sOut)
+         end
+      elseif Cmd[1] == '1' then
+         if Cmd[2] ~= 'Z' then
+            local dFeed1 = EgtIf( EMT.X1CLAMP, GetClampFeed( EMT.LENGTHPART), EMT.FMAXPINZE)
+            local dFeed2 = EgtIf( EMT.X2CLAMP, GetClampFeed( EMT.LENGTHPART), EMT.FMAXPINZE)
+            local dX1Pos = GetValInString( sCmd, 'X1')
+            local dX2Pos = GetValInString( sCmd, 'X2')
+            table.insert( CLAMP_POS, '###_ADD_STEP_###')
+            if dX1Pos and dX2Pos then
+               table.insert( CLAMP_POS, string.format( 'POS[X1]=%.3f POS[X2]=%.3f FA[X1]=%d FA[X2]=%d', dX1Pos, dX2Pos, dFeed1, dFeed2))
+            elseif dX1Pos then
+               table.insert( CLAMP_POS, string.format( 'G1 X1=%.3f F=%d', dX1Pos, dFeed1))
+            elseif dX2Pos then
+               table.insert( CLAMP_POS, string.format( 'G1 X2=%.3f F=%d', dX2Pos, dFeed2))
+            end
+         end
+      elseif Cmd[1] == '2' then
+         local dFeed1 = EgtIf( EMT.X1CLAMP, GetClampFeed( EMT.LENGTHPART), EMT.FMAXPINZE)
+         local dFeed2 = EgtIf( EMT.X2CLAMP, GetClampFeed( EMT.LENGTHPART), EMT.FMAXPINZE)
+         local dX1Pos = GetValInString( sCmd, 'X1')
+         local dX2Pos = GetValInString( sCmd, 'X2')
+         table.insert( CLAMP_POS, '###_ADD_STEP_###')
+         if dX1Pos and dX2Pos then
+            table.insert( CLAMP_POS, string.format( 'POS[X1]=%.3f POS[X2]=%.3f FA[X1]=%d FA[X2]=%d', dX1Pos, dX2Pos, dFeed1, dFeed2))
+         elseif dX1Pos then
+            table.insert( CLAMP_POS, string.format( 'G1 X1=%.3f F=%d', dX1Pos, dFeed1))
+         elseif dX2Pos then
+            table.insert( CLAMP_POS, string.format( 'G1 X2=%.3f F=%d', dX2Pos, dFeed2))
+         end
+      elseif Cmd[1] == '3' then
+         local dFeed1 = EgtIf( EMT.X1CLAMP, GetClampFeed( EMT.LENGTHPART), EMT.FMAXPINZE)
+         local dFeed2 = EgtIf( EMT.X2CLAMP, GetClampFeed( EMT.LENGTHPART), EMT.FMAXPINZE)
+         local dX1Pos = GetValInString( sCmd, 'X1')
+         local dX2Pos = GetValInString( sCmd, 'X2')
+         table.insert( CLAMP_POS, '###_ADD_STEP_###')
+         table.insert( CLAMP_POS, string.format( 'POS[X1]=%.3f POS[X2]=%.3f FA[X1]=%d FA[X2]=%d', dX1Pos, dX2Pos, dFeed1, dFeed2))
+      elseif Cmd[1] == '11' then
+         if Cmd[2] == '0' and EMT.X1CLAMP then
+            EMT.X1CLAMP = nil
+            table.insert( CLAMP_POS, 'GRIPPER("AP1",,)')
+         elseif not EMT.X1CLAMP and Cmd[2] ~= '0' then
+            EMT.X1CLAMP = true
+            local sVertClamp = EgtIf( Cmd[2] == '2', '1', '0')
+            table.insert( CLAMP_POS, 'GRIPPER("CH1",'.. sVertClamp ..',2.5)')
+         end
+      elseif Cmd[1] == '12' then
+         if Cmd[2] == '0' and EMT.X2CLAMP then
+            EMT.X2CLAMP = nil
+            table.insert( CLAMP_POS, 'GRIPPER("AP2",,)')
+         elseif not EMT.X2CLAMP and Cmd[2] ~= '0' then
+            EMT.X2CLAMP = true
+            local sVertClamp = EgtIf( Cmd[2] == '2', '1', '0')
+            table.insert( CLAMP_POS, 'GRIPPER("CH2",'.. sVertClamp ..',2.5)')
+         end
+      elseif Cmd[1] == '21' then
+         local dX1Delta = tonumber( Cmd[2])
+         local dX2Delta = tonumber( Cmd[3])
+         if dX1Delta > 0 and dX2Delta > 0 then
+            EMT.X1DELTA = dX1Delta
+            EMT.X2DELTA = dX2Delta
+         elseif dX1Delta > 0 then
+            EMT.X1DELTA = dX1Delta
+            EMT.X2DELTA = nil
+         elseif dX2Delta > 0 then
+            EMT.X1DELTA = nil
+            EMT.X2DELTA = dX2Delta
+         end
+         -- se ci sono movimenti, si scrive macro
+         if #CLAMP_POS > 0 then
+            table.insert( ALL_CLAMP_POS, CLAMP_POS)
+            CLAMP_POS = {}
+            EMT.NSTEP = EMT.NSTEP + 10
+            local sStep = EgtNumToString( EMT.NSTEP, 0)
+            table.insert( EMT.AUXSTR, '_STEP='..sStep)
+            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)
+            sOut = '_N'..sStep..':STOPRE\n'
+            table.insert( EMT.AUXSTR, sOut)
+         end
       end
    end
 end
@@ -1287,12 +1340,28 @@ function PrepareUnload( sCmd)
             local sStep = EgtNumToString( EMT.NSTEP, 0)
             local sOut = '_STEP='..sStep
             table.insert( EMT.AUXSTR, sOut)
+            sOut = '_N'..sStep..':STOPRE'
+            table.insert( EMT.AUXSTR, sOut)
             local sX2Pos =  Cmd[3]
-            sOut = string.format( 'G1 X=%s F=%d', sX2Pos, EMT.FMAXPINZE)
+            sOut = string.format( 'POS[X2]=%s FA[X2]=%d', sX2Pos, EMT.FMAXPINZE)
             table.insert( EMT.AUXSTR, sOut)
-            sOut = '_POSIZ_T(5,,,,,2,,,,)'  -- attiva spintore scarico pezzo restanto su processo 1
+            sOut = '_POSIZ_T(5,,,,,3,,,,)\n'  -- discesa blocco pezzo
             table.insert( EMT.AUXSTR, sOut)
-            sOut = '_N'..sStep..':STOPRE\n'
+            EMT.NSTEP = EMT.NSTEP + 10
+            sStep = EgtNumToString( EMT.NSTEP, 0)
+            sOut = '_STEP='..sStep
+            table.insert( EMT.AUXSTR, sOut)
+            sOut = '_N'..sStep..':STOPRE'
+            table.insert( EMT.AUXSTR, sOut)
+            sOut = '_POSIZ_T(5,,,,,4,,,,)\n'  -- pistone scarico avanti per spingere pezzo
+            table.insert( EMT.AUXSTR, sOut)
+            EMT.NSTEP = EMT.NSTEP + 10
+            sStep = EgtNumToString( EMT.NSTEP, 0)
+            sOut = '_STEP='..sStep
+            table.insert( EMT.AUXSTR, sOut)
+            sOut = '_N'..sStep..':STOPRE'
+            table.insert( EMT.AUXSTR, sOut)
+            sOut = '_POSIZ_T(5,,,,,5,,,,)\n'  -- pistone scarico indietro
             table.insert( EMT.AUXSTR, sOut)
          end
       elseif Cmd[1] == '2' then
@@ -1300,10 +1369,10 @@ function PrepareUnload( sCmd)
          local sStep = EgtNumToString( EMT.NSTEP, 0)
          local sOut = '_STEP='..sStep
          table.insert( EMT.AUXSTR, sOut)
-         local sX2Pos = Cmd[5]
-         sOut = string.format( 'G1 X=%s F=%d', sX2Pos, EMT.FMAXPINZE)
+         sOut = '_N'..sStep..':STOPRE'
          table.insert( EMT.AUXSTR, sOut)
-         sOut = '_N'..sStep..':STOPRE\n'
+         local sX2Pos = Cmd[5]
+         sOut = string.format( 'POS[X2]=%s FA[X2]=%d\n', sX2Pos, EMT.FMAXPINZE)
          table.insert( EMT.AUXSTR, sOut)
       elseif Cmd[1] == '3' then
          -- non gestito
@@ -1314,9 +1383,17 @@ function PrepareUnload( sCmd)
          local sStep = EgtNumToString( EMT.NSTEP, 0)
          local sOut = '_STEP='..sStep
          table.insert( EMT.AUXSTR, sOut)
-         sOut = '_POSIZ_T(5,,,,,1,,,,)'  -- apre pinza 2 restando su processo 1
+         sOut = '_N'..sStep..':STOPRE'
          table.insert( EMT.AUXSTR, sOut)
-         sOut = '_N'..sStep..':STOPRE\n'
+         sOut = '_POSIZ_T(5,,,,,1,,,,)\n'  -- apre pinza 2
+         table.insert( EMT.AUXSTR, sOut)
+         EMT.NSTEP = EMT.NSTEP + 10
+         sStep = EgtNumToString( EMT.NSTEP, 0)
+         sOut = '_STEP='..sStep
+         table.insert( EMT.AUXSTR, sOut)
+         sOut = '_N'..sStep..':STOPRE'
+         table.insert( EMT.AUXSTR, sOut)
+         sOut = '_POSIZ_T(5,,,,,2,,,,)\n'  -- solleva il blocca-pezzo
          table.insert( EMT.AUXSTR, sOut)
       elseif Cmd[1] == '21' then
          -- non interessa
@@ -1635,13 +1712,13 @@ function CalcInterpPlane()
    local dAngO2 = EmtGetAngO2( EMT.IPLGLFR:getVersZ(), EMT.IPLGLFR:getVersX(), dAngV, dAngO)
    local sXout, sYout, sZout
    if EMT.X1DELTA then
-      sXout = ' X='..EmtLenToString( xS + EMT.X1DELTA)..'+OFS_T5_X1[0]'
-      sYout = ' Y=OFS_T5_X1[1]'
-      sZout = ' Z=OFS_T5_X1[2]'
+      sXout = ' X='..EmtLenToString( xS + EMT.X1DELTA)..'+OFS_TS1_X1[0]'
+      sYout = ' Y=OFS_TS1_X1[1]'
+      sZout = ' Z=OFS_TS1_X1[2]'
    elseif EMT.X2DELTA then
-      sXout = ' X='..EmtLenToString( xS + EMT.X2DELTA)..'+OFS_T5_X2[0]'
-      sYout = ' Y=OFS_T5_X2[1]'
-      sZout = ' Z=OFS_T5_X2[2]'
+      sXout = ' X='..EmtLenToString( xS + EMT.X2DELTA)..'+OFS_TS1_X2[0]'
+      sYout = ' Y=OFS_TS1_X2[1]'
+      sZout = ' Z=OFS_TS1_X2[2]'
    else
       EmtSetLastError( 1214, "Part to machine without charriots")
    end
@@ -1670,8 +1747,8 @@ 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
 
@@ -1721,7 +1798,7 @@ function CreateClampingFile()
          local nReposNumber = i * 100
          local nReposNumber2 = (i + 1) * 100
          nfile:write( '\nIF ((_STEP3>=' .. EgtNumToString( nReposNumber) ..') AND (_STEP3<'.. EgtNumToString( nReposNumber2)  .. '))\n')
-         nfile:write( '  IF _STEP3<>' .. EgtNumToString( nReposNumber) ..' GOTOF JUMP3\n')
+         nfile:write( '  IF _STEP3<>' .. EgtNumToString( nReposNumber) ..'\n    G4F2\n    GOTOF JUMP3\n  ENDIF\n')
          local nInternalStep = 0
          for j = 1, #ALL_CLAMP_POS[i] do
             -- comando speciale per aggiungere etichetta per ripartenza

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 = '3.1e1_DEV3'
 MIN_MACH_VER = '3.1c1'
 
 EgtOutLog ( '** Saomad-KAIROS '..PP_VER..' (MinMach '.. MIN_MACH_VER ..') **', 1)
@@ -19,7 +19,7 @@ NumericalControl = 'SIEMENS'
 ChainSaw = false
 MinY = -823
 MaxY = 520
-ParkY = 400
+ParkY = -125
 FmaxY = 45000
 MinZ = -298
 MaxZ = 915
@@ -30,6 +30,8 @@ MaxA = 120
 MinSawA = -101
 MaxSawA = 101
 ParkA = 0
+TakePosTC_R = -90
+TakePosTC_L = 90
 FmaxA = 10440
 MinC = -240
 MaxC = 240
@@ -135,7 +137,7 @@ 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.mlpe

@@ -504,6 +504,10 @@ function OnSimulToolSelect( dPosCS)
    EMT.TCPOS_1 = EMT.TCPOS
    -- lo nascondo sul portautensili
    ShowToolInTcPos( EMT.TCPOS, false)
+   -- movimento di uscita dal porta utensile
+   if EMT.HEAD == 'H1' or EMT.HEAD == 'H2' then
+      SimulMoveAxes( 'Y', ParkY, MCH_SIM_STEP.RAPID, 'A', ParkA, MCH_SIM_STEP.RAPROT, 'C', ParkC, MCH_SIM_STEP.RAPROT)
+   end
 end
 
 ---------------------------------------------------------------------
@@ -522,30 +526,39 @@ function OnSimulToolDeselect()
          else
             SimulMoveAxes( 'A', ParkA, MCH_SIM_STEP.COLLROT, 'C', GetChainSawCHomeFromVirtualAxis( dPosCS), MCH_SIM_STEP.COLLROT)
          end
-         SimulMoveAxis( 'Y', ParkY, MCH_SIM_STEP.RAPID)
+      elseif EMT.HEAD == 'H2' then
+         SimulMoveAxes( 'A', TakePosTC_R, MCH_SIM_STEP.COLLROT, 'C', ParkC, MCH_SIM_STEP.COLLROT)
+      elseif EMT.HEAD == 'H1' then
+         SimulMoveAxes( 'A', TakePosTC_L, MCH_SIM_STEP.COLLROT, 'C', ParkC, MCH_SIM_STEP.COLLROT)
       end
+      SimulMoveAxis( 'Y', MinY, MCH_SIM_STEP.RAPID)
       -- breve pausa
       EgtPause( 100)
       -- nascondo utensile su testa e lo visualizzo su TcPos
       EgtSetMode( EgtGetHeadId( EMT.HEAD), GDB_MD.HIDDEN)
       ShowToolInTcPos( EMT.TCPOS_1, true)
       -- movimento per carico utensile
-      SimulMoveAxes( 'A', ParkA, MCH_SIM_STEP.RAPROT, 'C', ParkC, MCH_SIM_STEP.RAPROT)
+      --SimulMoveAxes( 'Y', ParkY, MCH_SIM_STEP.RAPID, 'A', ParkA, MCH_SIM_STEP.RAPROT, 'C', ParkC, MCH_SIM_STEP.RAPROT)
       EgtOutText( '')
    -- deposito utensile
    else
       if EMT.NEXTTOOL ~= EMT.TOOL_1 then
          EgtOutText( 'Tool change in progress...')
          -- simulo movimento
-         SimulMoveAxes( 'A', ParkA, MCH_SIM_STEP.COLLROT, 'C', ParkC, MCH_SIM_STEP.COLLROT)
-         SimulMoveAxis( 'Y', ParkY, MCH_SIM_STEP.RAPID)
+         if EMT.HEAD == 'H2' then
+            SimulMoveAxes( 'A', TakePosTC_R, MCH_SIM_STEP.COLLROT, 'C', ParkC, MCH_SIM_STEP.COLLROT)
+         elseif EMT.HEAD == 'H1' then
+            SimulMoveAxes( 'A', TakePosTC_L, MCH_SIM_STEP.COLLROT, 'C', ParkC, MCH_SIM_STEP.COLLROT)
+         end
+         SimulMoveAxis( 'Y', MinY, MCH_SIM_STEP.RAPID)
          -- breve pausa
          EgtPause( 100)
+         -- nascondo utensile su testa e lo visualizzo su TcPos
+         EgtSetMode( EgtGetHeadId( EMT.HEAD), GDB_MD.HIDDEN)
          ShowToolInTcPos( EMT.TCPOS_1, true)
-          -- nascondo l'utensile corrente
-          EgtSetStatus( EgtGetHeadId( EMT.HEAD), GDB_ST.OFF)
-          -- eseguo movimento opportuno
-          SimulMoveAxes( 'A', ParkA, MCH_SIM_STEP.RAPROT, 'C', ParkC, MCH_SIM_STEP.RAPROT)
+         EgtOutText( '')
+         -- eseguo movimento opportuno
+         --SimulMoveAxes( 'A', ParkA, MCH_SIM_STEP.RAPROT, 'C', ParkC, MCH_SIM_STEP.RAPROT)
       else
          EMT.TOOL_1 = nil
          EMT.TCPOS_1 = nil
@@ -1665,8 +1678,11 @@ function IsLastMachining( nMchId)
    local nOpeId = EgtGetNextActiveOperation( nMchId)
    while nOpeId do
       local nType = EgtGetOperationType( nOpeId)
+      -- se c'è una lavorazione
       if nType ~= MCH_OY.NONE  and  nType ~= MCH_OY.DISP then
          return false
+      elseif nType == MCH_OY.DISP and IsRestPhase( EMT.PHASE + 1) then
+         return false
       end
       nOpeId = EgtGetNextActiveOperation( nOpeId)
    end

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