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

Saomad-KAIROS-MK2.SIEMENS.mlpe

@@ -1096,7 +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)')
@@ -1105,7 +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)')
@@ -1798,7 +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.mlde

@@ -9,7 +9,7 @@
 require( 'EmtGenerator')
 EgtEnableDebug( false)
 
-PP_VER = '3.1e1_DEV1'
+PP_VER = '3.1e1_DEV3'
 MIN_MACH_VER = '3.1c1'
 
 EgtOutLog ( '** Saomad-KAIROS '..PP_VER..' (MinMach '.. MIN_MACH_VER ..') **', 1)