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

- GEOAX sempre riscritto se stato non coerente

.vscode/settings.json

@@ -96,6 +96,91 @@
         "EgtGetOperationPhase",
         "EgtSetOperationMode",
         "EgtSetCalcTool",
-        "EmtModifyAxisStroke"
+        "EmtModifyAxisStroke",
+        "EgtGetValInNotes",
+        "EgtGetInfo",
+        "EgtIf",
+        "EgtGetCalcAuxDirFromAngles",
+        "abs",
+        "sqrt",
+        "EgtJoinTables",
+        "min",
+        "BBox3d",
+        "max",
+        "EgtGetRawPartBBox",
+        "sin",
+        "AreSameVectorApprox",
+        "Point3d",
+        "Vector3d",
+        "AddToolToCollisionObj",
+        "AddToolHolderToCollisionObj",
+        "SetToolForVmill",
+        "EmtGetVMillStep",
+        "EgtGetBBoxGlob",
+        "Frame3d",
+        "AddToCollisionCheck",
+        "DumpCollisionCheck",
+        "EgtEnableDebug",
+        "EmtOutput",
+        "EmtLenToString",
+        "EmtResetPrev",
+        "EmtAdjustRotaryAxes",
+        "EmtUpdatePrev",
+        "EmtResetPrevLinear",
+        "EmtGetAxis",
+        "EmtAdjustCenterAxes",
+        "EmtGetFeed",
+        "EmtAdjustLinearAxes",
+        "SphericalFromVector",
+        "EmtGetAngO2",
+        "EgtClamp",
+        "AreSameOrOppositeVectorApprox",
+        "EgtGetAxisDir",
+        "EgtVolZmapGetPartBBoxGlob",
+        "SimulMoveAxis",
+        "EgtGetGlobFrame",
+        "EgtSplitPath",
+        "EgtPlaneVolZmapInters",
+        "EgtTableAdd",
+        "EgtTableFill",
+        "EgtSurfFlatRegion",
+        "EgtSurfFrIntersect",
+        "EgtSurfArea",
+        "ceil",
+        "pow",
+        "EgtGetEnableUI",
+        "EmtSetSimulPause",
+        "EgtResetAxisPos",
+        "EmtTleStart",
+        "EmtLenToMF",
+        "EmtSecToHMS",
+        "EmtTleAddTotal",
+        "EmtTleAddTool",
+        "EmtTleEnd",
+        "EmtTleAddMachining",
+        "GDB_ID",
+        "GDB_ST",
+        "MCH_TP",
+        "GEO",
+        "X_AX",
+        "Y_AX",
+        "Z_AX",
+        "MCH_TY",
+        "MCH_SCC",
+        "MCH_AT",
+        "MCH_TT",
+        "GDB_RT",
+        "MCH_MP",
+        "GDB_FR",
+        "GDB_LV",
+        "GDB_BB",
+        "EgtGetColor",
+        "SimulMoveAxes",
+        "MCH_SIM_STEP",
+        "MCH_OY",
+        "GDB_MD",
+        "MCH_MY",
+        "Color3d",
+        "tan"
     ]
 }

Beam/BeamData.lua

@@ -59,11 +59,12 @@ local BeamData = {
    MAXDIAM_POCK_CORNER = 30,                -- diametro massimo utensile ammesso per tasche con angoli interni
    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'
+   STRATEGIES_CONFIG_FILE = 'Std2.json',
+   FASTCLAMPING = false
 }
 
 -- Aggiornamento con dati da B&W
-local sData = EgtGetSourceDir().."EbwData.lua"
+local sData = EgtGetCurrMachineDir().."\\Beam\\EbwData.lua"
 if EgtExistsFile( sData) then
    local Machine = dofile( sData)
    if Machine then

Beam/BeamDataNew.lua

@@ -22,9 +22,7 @@ local BeamData = {
    OVM_MID = 5.4,                           -- sovramateriale intermedio (spessore lama)
    MINRAW_S = 750,                          -- minimo grezzo in coda scaricabile per sezioni piccole
    MINRAW_L = 1070,                         -- minimo grezzo in coda scaricabile per sezioni grandi
-   MAX_DIM_HTCUT = 130,                     -- SOLO DICE larghezza massima taglio di testa o coda
+   SAFE_DIM_DICE = 110,                     -- dimensione trasversale ridotta cubetto, valida in tutte le posizioni
-   MIN_DIM_HBEAM = 621,                     -- SOLO DICE altezza minima di trave alta
-   MAX_DIM_DICE = 110,                      -- dimensione trasversale massima cubetto
    MAX_LEN_DICE = 400,                      -- SOLO DICE lunghezza massima cubetto
    COLL_SIC = 5,                            -- distanza di sicurezza per collisioni
    CUT_SIC = 20,                            -- distanza di sicurezza per tagli
@@ -40,6 +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 = false
 }
 
 -- costanti riportate da mlde non necessarie per automatismo (sostituire con GetParameters o simile)
@@ -55,7 +54,7 @@ MldeParameters.DeltaTabZ = 0
 
 -- Aggiornamento con dati macchina personalizzati
 -- TODO sostituire con GetParameters o simile
-local sData = EgtGetSourceDir().."EbwData.lua"
+local sData = EgtGetCurrMachineDir().."\\Beam\\EbwData.lua"
 if EgtExistsFile( sData) then
    local Machine = dofile( sData)
    if Machine then
@@ -94,9 +93,9 @@ local function GetBlockedAxis( sHead, nToolType, sBlockedAxis)
    elseif nToolType == MCH_TY.MORTISE_STD then
       if sHead == 'H3' then
          if sBlockedAxis == 'parallel' then
-            return 'A=0'
+            return 'CS=-90'
          elseif sBlockedAxis == 'perpendicular' then
-            return 'A=90'
+            return 'CS=0'
          end
       else
          return ''
@@ -271,7 +270,7 @@ local function GetSetupInfo( sHead)
    SetupInfo.dCAxisSideEncumbrance = 200
    SetupInfo.bToolOnAggregate = false
    SetupInfo.vtRotationAxisC = EgtGetAxisDir( 'C')
-   SetupInfo.vtRotationAxisAB = EgtGetAxisDir( 'B')
+   SetupInfo.vtRotationAxisAB = EgtGetAxisDir( 'A')
 
    -- TODO da rimuovere quando si fara PreSimulation di asse Z per frese
    SetupInfo.dPivot = MldeParameters.MillOffs
@@ -283,6 +282,10 @@ local function GetSetupInfo( sHead)
       SetupInfo.GetMinNz = GetMinNzTopHead
       SetupInfo.GetPreCollisionData = GetPreCollisionData
       SetupInfo.GetSCC = GetSCC
+   -- sega a catena
+   elseif sHead == 'H3' then
+      SetupInfo.HeadType = { bTop = true, bBottom = false}
+      SetupInfo.PreferredSide = {}
    -- rinvio angolare 90° (considerato come fosse una testa da sotto)
    elseif sHead == 'H5' then
       SetupInfo.bToolOnAggregate = true

Beam/EbwData.lua

@@ -28,7 +28,7 @@ local Offsets = {
 
 local Trave = {
    YMIN=30,
-   YMAX=251,
+   YMAX=291,
    ZMIN=30,
    ZMAX=621
 }

Compile.bat

@@ -0,0 +1,36 @@
+
+REM Compilazione degli script macchina Egaltech                         2024.02.22
+REM Per togliere info di debug aggiungere flag -s prima del nome del file di input
+
+REM Compilazione 32 bit e copia file da non compilare
+
+@echo off
+
+REM chiedo all'utente la versione da assegnare alla macchina da compilare
+set /p "machineVersion=Inserisci versione: "
+
+REM variabili per costruire i percorsi delle cartelle
+set "machineName=Saomad-KAIROS-MK2"
+set "deployFolder=C:\MachinesDeploy"
+set "machinePath=%deployFolder%\%machineName%\"
+set "fullPathSource=%deployFolder%\%machineName%\%machineVersion%\%machineName%"
+set "fullPathZip=%deployFolder%\%machineName%\%machineVersion%"
+
+REM elimino eventuale cartella esistente
+rmdir /s /Q %fullPathZip%
+
+REM copio i sorgenti nel percorso di destinazione
+ROBOCOPY . %fullPathSource%\ /E /XF "Compile.bat" /XF ".gitignore" /XD ".git" /XF "UpdateLog.txt"
+REM copio i sorgenti nel percorso temporaneo per i compilati
+ROBOCOPY . %fullPathSource%\bin\%machineName%\ /E /XF "Compile.bat" /XF ".gitignore" /XD ".git" /XF "UpdateLog.txt"
+
+REM copio i file compilati nel percorso temporaneo per i compilati
+\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Saomad-KAIROS-MK2.mlpe     		 	          -s Saomad-KAIROS-MK2.mlpe
+\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Saomad-KAIROS-MK2.mlse                        -s Saomad-KAIROS-MK2.mlse
+\EgtProg\Dll32\luac54 -o %fullPathSource%\bin\%machineName%\Saomad-KAIROS-MK2.SIEMENS.mlpe                -s Saomad-KAIROS-MK2.SIEMENS.mlpe
+
+REM comprimo i file compilati in uno zip pronto per essere distribuito
+tar.exe acvf %fullPathZip%\%machineName%.zip -C %fullPathSource%\bin\ %machineName%\*.*
+
+REM elimino il percorso temporaneo
+rmdir /s /Q %fullPathSource%\bin\

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
+IsoFileDir=\\192.168.0.253\iso
-Ip=192.168.214.1
+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
@@ -110,7 +119,7 @@ Default=Standard
 
 [Estimations]
 Enable=1
-WinPlace=0,698,85,669,863
+WinPlace=0,-1270,21,669,863
 
 [VMill]
 Enable=1

Saomad-KAIROS-MK2.mlde

@@ -9,8 +9,8 @@
 require( 'EmtGenerator')
 EgtEnableDebug( false)
 
-PP_VER = '2.7l3'
+PP_VER = '3.1d1_DEV7'
-MIN_MACH_VER = '2.7l2'
+MIN_MACH_VER = '3.1c1'
 
 EgtOutLog ( '** Saomad-KAIROS '..PP_VER..' (MinMach '.. MIN_MACH_VER ..') **', 1)
 
@@ -63,9 +63,24 @@ AutoRotMinLen = 2600
 MaxUnloadLen = 0
 DefTcPos = 'T101'
 CoeffVM = 0.5
+DistZClampToTable = 5                             -- distanza tra la tavola e il punto più basso della morsa
+ClampingCoeffMin = nil                             -- coefficiente di fissaggio, se 0 o nil non fa controllo, per il momento da inizializzare da Ts3Data
+ClampSmallH = 98.5 -- dimensioni area di pinzaggio
+ClampH = 440.9
+ClampL = 1491
+ClampSmallL = 994.4 -- dimensioni area di pinzaggio
+ClampFrontAngle = 35 -- angolo pinza frontale
+MinJoinVV = 75
+MinJoinSS = 100
+MinJoinLS = 290
+MinJoinSL = 100
+MinJoinLL = 400
+-- variabili per pinzaggio
+CLAMP_MAXDIST_2CLAMP = 3000 -- massima distanza tra ingombro lavorazione e pinza quando il pezzo è staffato con entrtambe le pinze (lavorazioni centrali)
+CLAMP_MAXDIST_1CLAMP = 500  -- massima distanza tra ingombro lavorazione e pinza quando il pezzo è staffato con una sola pinza (lavorazioni testa-coda)
 
 -- Aggiornamento con dati da B&W
-local sData = EgtGetSourceDir().."Beam\\EbwData.lua"
+local sData = EgtGetCurrMachineDir().."\\Beam\\EbwData.lua"
 if EgtExistsFile( sData) then
    local Machine = dofile( sData)
    if Machine then
@@ -94,6 +109,12 @@ if EgtExistsFile( sData) then
          if Machine.Offsets.TAB_OFFSET_Y then DeltaTabY = Machine.Offsets.TAB_OFFSET_Y end
          if Machine.Offsets.TAB_OFFSET_Z then DeltaTabZ = Machine.Offsets.TAB_OFFSET_Z end
          if Machine.Offsets.NOULOAD then MaxUnloadLen = Machine.Offsets.NOULOAD end
+         if Machine.Offsets.MIN_JOIN_VV then MinJoinVV = EgtClamp( Machine.Offsets.MIN_JOIN_VV, 60, 150) end
+         if Machine.Offsets.MIN_JOIN_SS then MinJoinSS = EgtClamp( Machine.Offsets.MIN_JOIN_SS, 80, 275) end
+         if Machine.Offsets.MIN_JOIN_LS then MinJoinLS = EgtClamp( Machine.Offsets.MIN_JOIN_LS, 250, 400) end
+         if Machine.Offsets.MIN_JOIN_SL then MinJoinSL = EgtClamp( Machine.Offsets.MIN_JOIN_SL, 80, 400) end
+         if Machine.Offsets.MIN_JOIN_LL then MinJoinLL = EgtClamp( Machine.Offsets.MIN_JOIN_LL, 300, 600) end
+         if Machine.Offsets.COEFF_CLAMP_CHECK then ClampingCoeffMin = Machine.Offsets.COEFF_CLAMP_CHECK end
       end
       ParkY = EgtClamp( ParkY, MinY, MaxY)
       ParkZ = EgtClamp( ParkZ, MinZ, MaxZ)
@@ -102,17 +123,22 @@ if EgtExistsFile( sData) then
       UnloadSmT = UnloadT
    end
 end
+-- Aggiorno valori MinJoin
+MinJoin = MinJoinSS
+MinOther = abs( MinX1) + abs( MaxX2) + MinJoin
+DeltaTol = 210
 
 EmtGeneral {
-      File='Saomad-KAIROS.nge',
+      File='Saomad-KAIROS-MK2.nge',
       Offset = Vector3d( 0.0, -835, -779.06),
       AxisMaxAdjust = 30,
       AxisMaxRotAdj = 0.5,
       ExitMaxAdjust = 30,
       ExitMaxRotAdj = 0.5,
-      AngDeltaMinForHome = 165,
+      --AngDeltaMinForHome = 165,
-      Special = 'Saomad-KAIROS.mlse',
+      NewLinkMgr = 1,
-      Processor = 'Saomad-KAIROS.mlpe'}
+      Special = 'Saomad-KAIROS-MK2.mlse',
+      Processor = 'Saomad-KAIROS-MK2.mlpe'}
 local BaseId = EmtBase {
       Name = 'Base',
       Geo='BASE/GEO',
@@ -150,7 +176,7 @@ local CId = EmtAxis {
       Home = ParkC,
       Geo = 'C_AXIS/GEO',
       Aux = {'C_AXIS/SOLID', 'C_AXIS/COLLISION'}}
-EmtAxis {
+local AId = EmtAxis {
       Name = 'A',
       Parent = 'C',
       Token = 'A1',
@@ -173,7 +199,7 @@ local H1Id = EmtHead {
       Rot1W = 2,
       OthColl = {'A/SOLID', 'C/SOLID'},
       Geo = 'H1_HEAD/GEO'}
-EgtSetInfo( H1Id, 'ZMAXONROT', '1,60')
+--EgtSetInfo( H1Id, 'ZMAXONROT', '1,60')
 -- Sega a catena
 EmtAxis {
       Name = 'CS',
@@ -197,7 +223,7 @@ local H3Id = EmtHead {
       SolCh = MCH_SCC.ADIR_NEAR,
       OthColl = {'A/SOLID', 'C/SOLID'},
       Geo = 'H3_HEAD/GEO'}
-EgtSetInfo( H3Id, 'ZMAXONROT', '1,5')
+--EgtSetInfo( H3Id, 'ZMAXONROT', '1,5')
 -- Morse
 local X1Id = EmtAxis {
       Name = 'X1',
@@ -219,7 +245,7 @@ local PX1Id = EmtAxis {
       Stroke = { 0, MaxHOpen},
       Home = MaxHOpen,
       Geo = 'PX1_AXIS/GEO',
-      Aux = {'PX1_AXIS/SOLID', 'PX1_AXIS/COLLISION'}}
+      Aux = {'PX1_AXIS/SOLID', 'PX1_AXIS/COLLISION', 'PX1_AXIS/CLAMP_CHECK'}}
 local QX1Id = EmtAxis {
       Name = 'QX1',
       Parent = 'X1',
@@ -250,7 +276,7 @@ local PX2Id = EmtAxis {
       Stroke = { 0, MaxHOpen},
       Home = MaxHOpen,
       Geo = 'PX2_AXIS/GEO',
-      Aux = {'PX2_AXIS/SOLID', 'PX2_AXIS/COLLISION'}}
+      Aux = {'PX2_AXIS/SOLID', 'PX2_AXIS/COLLISION', 'PX2_AXIS/CLAMP_CHECK'}}
 local QX2Id = EmtAxis {
       Name = 'QX2',
       Parent = 'X2',
@@ -389,11 +415,13 @@ EgtMove( EgtGetFirstNameInGroup( X1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( X1Id, 'COLLISION'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( PX1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( PX1Id, 'COLLISION'), vtMove, GDB_RT.GLOB)
+EgtMove( EgtGetFirstNameInGroup( PX1Id, 'CLAMP_CHECK'), vtMove + Vector3d(0,0,DistZClampToTable), GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( QX1Id, 'SOLID'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( X2Id, 'SOLID'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( X2Id, 'COLLISION'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( PX2Id, 'SOLID'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( PX2Id, 'COLLISION'), vtMove, GDB_RT.GLOB)
+EgtMove( EgtGetFirstNameInGroup( PX2Id, 'CLAMP_CHECK'), vtMove + Vector3d(0,0,DistZClampToTable), GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( QX2Id, 'SOLID'), vtMove, GDB_RT.GLOB)
 EgtMove( EgtGetFirstNameInGroup( YId, 'SOLID'), vtMoveY, GDB_RT.GLOB)
 
@@ -414,8 +442,8 @@ function OnSetHead()
       local dDist = EgtIf( EMC.DIST and abs( EMC.DIST) > 1, EMC.DIST, ChSawLen)
       EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -dDist))
       -- recupero valore asse CS bloccato
-      local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS)
+      local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS) or ''
-      local dPosCS = tonumber( sVal:sub( 4) or '')
+      local dPosCS = tonumber( sVal:sub( 4)) or 0
       EmtModifyAxisHome( 'C', GetChainSawCHomeFromVirtualAxis( dPosCS))
       -- limiti asse A
       EmtModifyAxisStroke( 'A', { -91, 91})
@@ -502,3 +530,53 @@ function OnResetMachine()
    end
    EgtSetStatus( EgtGetFirstNameInGroup( GDB_ID.ROOT, 'VMill') or GDB_ID.NULL, GDB_ST.OFF)
 end
+
+---------------------------------------------------------------------
+function UpdateMinJoinDeltaTol( SB, HB, LB)
+   local L_SMALL = 800
+   local H_V = 90
+   local H_S = 200
+   local H_L = 400
+   local W_V = 90
+   local W_S = 150
+   local W_L = 250
+   local DELTA_TOL_S = 210
+   local DELTA_TOL_V = 110
+   local DELTA_TOL_L = 410
+   if SB <= W_V and HB <= H_V then
+      MinJoin = MinJoinVV
+      DeltaTol = DELTA_TOL_V
+   elseif LB <= L_SMALL then
+      MinJoin = MinJoinSS
+      DeltaTol = DELTA_TOL_S
+   else
+      local dMinJoinS
+      local dMinJoinL
+      if SB <= W_S then
+         dMinJoinS = MinJoinSS
+         dMinJoinL = MinJoinLS
+      elseif SB <= W_L then
+         local Coeff = ( SB - W_S) / ( W_L - W_S)
+         dMinJoinS = ( 1 - Coeff) * MinJoinSS + Coeff * MinJoinSL
+         dMinJoinL = ( 1 - Coeff) * MinJoinLS + Coeff * MinJoinLL
+      else
+         dMinJoinS = MinJoinSL
+         dMinJoinL = MinJoinLL
+      end
+      if HB <= H_S then
+         MinJoin = dMinJoinS
+         DeltaTol = DELTA_TOL_S
+      elseif HB <= H_L then
+         local Coeff = ( HB - H_S) / ( H_L - H_S)
+         MinJoin = ( 1 - Coeff) * dMinJoinS + Coeff * dMinJoinL
+         DeltaTol = ( 1 - Coeff) * DELTA_TOL_S + Coeff * DELTA_TOL_L
+      else
+         MinJoin = dMinJoinL
+         DeltaTol = DELTA_TOL_L
+      end
+      if SB < W_V then
+         DeltaTol = DELTA_TOL_V
+      end
+   end
+   MinOther = abs( MinX1) + abs( MaxX2) + MinJoin
+end

Saomad-KAIROS-MK2.mlpe

@@ -7,13 +7,15 @@ EgtEnableDebug( false)
 
 LONG_TOOL_MINLEN = 221
 BIG_TOOL_DIAM = 300
+ALL_CLAMP_POS = {}
+CLAMP_POS = {}
 
 ---------------------------------------------------------------------
 -- *** GENERATION ***
 ---------------------------------------------------------------------
-local sBaseDir = EgtGetSourceDir()
+local sBaseDir = EgtGetCurrMachineDir()
 if NumericalControl == 'SIEMENS' then
-   dofile( sBaseDir .. 'Saomad-KAIROS.SIEMENS.mlpe')
+   dofile( sBaseDir .. '\\Saomad-KAIROS-MK2.SIEMENS.mlpe')
 else
    EmtSetLastError( 1201, 'Numerical Control error : unkwnown type')
 end
@@ -30,10 +32,20 @@ function OnSimulStart()
    if vTcPos then
       for i = 1, #vTcPos do
          local vTools = EgtGetToolsInCurrSetupPos( vTcPos[i])
-         if vTools and vTools[1] then
+         for j = 1, #( vTools or {}) do
-            EgtLoadTool( vTcPos[i], 1, vTools[1])
+            if vTools[j] ~= '' then
-            ShowToolInTcPos( vTcPos[i], true)
+               EgtLoadTool( vTcPos[i], j, vTools[j])
+               -- Aggiunto controllo lunghezza lama minima * 0.9 per ricavare la tolleranza del VMILL
+               if EgtTdbSetCurrTool(vTools[j]) then -- set utensile corrente
+                  if EgtTdbGetCurrToolParam( MCH_TP.TYPE) == MCH_TY.SAW_STD or EgtTdbGetCurrToolParam( MCH_TP.TYPE) == MCH_TY.SAW_FLAT then -- controllo tipo utensile sega
+                     local dCurrSawLen = EgtTdbGetCurrToolParam( MCH_TP.LEN) * 0.9
+                     -- se non definito o minore del valore precedente aggiorna la tolleranza
+                     EMT.VMILLTOL = EgtIf( not EMT.VMILLTOL or dCurrSawLen < EMT.VMILLTOL, dCurrSawLen, EMT.VMILLTOL) 
+                  end
+               end
+            end
          end
+         ShowToolInTcPos( vTcPos[i], true)
       end
    end
    -- Carico l'utensile iniziale o di default sulla testa
@@ -97,6 +109,29 @@ function OnSimulStart()
    end
    -- Preparo lista collisioni vuota
    EMT.COLLIDE = {}
+
+   -- si crea gruppo temporaneo appoggio controllo clamping
+   CLAMP_CHECK_GROUP = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'CLAMP_CHECK')
+   CLAMP_CHECK_INTERS = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'CLAMP_INTERS')
+
+   if CLAMP_CHECK_GROUP then
+      EgtEmptyGroup( CLAMP_CHECK_GROUP)
+   else
+      local frClampCheckGroup = Frame3d( ORIG(), GDB_FR.FRONT)
+      CLAMP_CHECK_GROUP = EgtGroup( GDB_ID.ROOT, frClampCheckGroup)
+      EgtSetName( CLAMP_CHECK_GROUP, 'CLAMP_CHECK')
+      EgtSetLevel( CLAMP_CHECK_GROUP, GDB_LV.TEMP)
+      EgtSetStatus( CLAMP_CHECK_GROUP, GDB_ST.OFF)
+   end
+   
+   if CLAMP_CHECK_INTERS then
+      EgtEmptyGroup( CLAMP_CHECK_INTERS)
+   else
+      CLAMP_CHECK_INTERS = EgtGroup( GDB_ID.ROOT)
+      EgtSetName( CLAMP_CHECK_INTERS, 'CLAMP_INTERS')
+      EgtSetLevel( CLAMP_CHECK_INTERS, GDB_LV.TEMP)
+      EgtSetStatus( CLAMP_CHECK_INTERS, GDB_ST.OFF)
+   end
 end
 
 ---------------------------------------------------------------------
@@ -122,13 +157,13 @@ function OnSimulDispositionStart()
       -- Determino dimensioni del grezzo
       local nSolId = EgtGetFirstNameInGroup( EgtGetFirstRawPart() or GDB_ID.NULL, 'RawSolid') or GDB_ID.NULL
       local b3Sol = EgtGetBBoxGlob( nSolId, GDB_BB.STANDARD)
-      EMT.LB = 0
+      EMT.LENGTHBEAM = 0
-      EMT.SB = 0
+      EMT.WIDTHBEAM = 0
-      EMT.HB = 0
+      EMT.HEIGHTBEAM = 0
       if b3Sol then
-         EMT.LB = b3Sol:getDimX()
+         EMT.LENGTHBEAM = b3Sol:getDimX()
-         EMT.SB = b3Sol:getDimY()
+         EMT.WIDTHBEAM = b3Sol:getDimY()
-         EMT.HB = b3Sol:getDimZ()
+         EMT.HEIGHTBEAM = b3Sol:getDimZ()
       end
       -- Se vero inizio e abilitato creo gli Zmap
       EMT.VMILL = {}
@@ -193,7 +228,7 @@ function OnSimulDispositionStart()
                end
                table.insert( EMT.VMILL, VMillId)
             end
-            nPartRawId = EgtGetNextRawPart( nPartRawId) 
+            nPartRawId = EgtGetNextRawPart( nPartRawId)
          end
       end
    -- fasi successive
@@ -234,18 +269,22 @@ function OnSimulDispositionStart()
       local nOrd = GetPhaseOrd( EMT.PHASE)
       local nScrapOrd = GetPhaseOrd( EgtGetPhaseCount()) + 1
       local b3Raw = BBox3d()
+      local b3Bar = BBox3d()
+      local b3Part = BBox3d()
       local nPartRawId, nScrapRawId
       local nRawId = EgtGetFirstRawPart()
       while nRawId do
          local nNextRawId = EgtGetNextRawPart( nRawId)
          if EgtVerifyRawPartPhase( nRawId, EMT.PHASE) then
             EmtLinkRawPartToGroup( nRawId, 'Tab')
+            local b3Tmp = EgtGetRawPartBBox( nRawId)
+            b3Bar:Add( b3Tmp)
             local nRawOrd = EgtGetInfo( nRawId, 'ORD', 'i')
             if nRawOrd == nOrd then
-               b3Raw = EgtGetRawPartBBox( nRawId)
+               b3Raw:Add( b3Tmp)
+               b3Part:Add( b3Tmp)
                nPartRawId = nRawId
             elseif nRawOrd == nOrd + 1 and nRawOrd == nScrapOrd then
-               local b3Tmp = EgtGetRawPartBBox( nRawId) or BBox3d()
                b3Raw:Add( b3Tmp)
                nScrapRawId = nRawId
             end
@@ -259,6 +298,9 @@ function OnSimulDispositionStart()
       else
          EMT.SCRAP = nil
       end
+      EMT.LENGTHBEAM = b3Bar:getDimX()
+      EMT.LENGTHRAW = b3Raw:getDimX()
+      EMT.LENGTHPART = b3Part:getDimX()
       -- recupero CutId del pezzo in lavorazione
       EMT.CUTID = EgtGetInfo( EgtGetFirstPartInRawPart( nPartRawId or GDB_ID.NULL) or GDB_ID.NULL, 'CUTID', 'i') or 0
       EMT.X1SPEC = nil
@@ -328,6 +370,7 @@ function OnSimulDispositionStart()
          if EgtVerifyRawPartPhase( nRawId, EMT.PHASE) then
             if EgtGetInfo( nRawId, 'ORD', 'i') == nOrd then
                EmtLinkRawPartToGroup( nRawId, 'Tab')
+               b3Bar = EgtGetRawPartBBox( nRawId)
             else
                EgtMove( nRawId, vtMove, GDB_RT.GLOB)
                EgtSetStatus( nRawId, GDB_ST.OFF)
@@ -335,6 +378,7 @@ function OnSimulDispositionStart()
          end
          nRawId = nNextRawId
       end
+      EMT.LENGTHBEAM = b3Bar:getDimX()
    -- altrimenti fase finale, aggancio primo grezzo alla tavola e gli altri in posizione carico al carro Y
    else
       -- indice primo grezzo della fase
@@ -350,12 +394,14 @@ function OnSimulDispositionStart()
          nRawId = EgtGetNextRawPart( nRawId)
       end
       -- eseguo
+      local b3Bar = BBox3d()
       nRawId = EgtGetFirstRawPart()
       while nRawId do
          local nNextRawId = EgtGetNextRawPart( nRawId)
          if EgtVerifyRawPartPhase( nRawId, EMT.PHASE) then
             if EgtGetInfo( nRawId, 'ORD', 'i') == nOrd then
                EmtLinkRawPartToGroup( nRawId, 'Tab')
+               b3Bar = EgtGetRawPartBBox( nRawId)
             else
                EgtMove( nRawId, vtMove, GDB_RT.GLOB)
                EmtLinkRawPartToGroup( nRawId, 'X1')
@@ -363,6 +409,7 @@ function OnSimulDispositionStart()
          end
          nRawId = nNextRawId
       end
+      EMT.LENGTHBEAM = b3Bar:getDimX()
    end
    -- Indicazione angolo rotazione pezzo
    EMT.ROT = EgtGetInfo( EMT.DISPID, 'ROT', 'i') or 0
@@ -394,6 +441,7 @@ function OnSimulDispositionEnd()
          EMT.POSTROT = true
       end
    end
+   EMT.SPLIT = false
    EMT.OPEISDISP = false
 end
 
@@ -543,6 +591,7 @@ function OnSimulMachiningEnd()
       EMT.UNLOADING = false
       EMT.FALL = false
    end
+   EMT.SPLIT = nil
    EMT.PREVHEAD = EMT.HEAD
    EMT.PREVEXIT = EMT.EXIT
 end
@@ -697,6 +746,8 @@ function ExecAuxCmd( sCmd)
    if Cmd[1] == '0' then
       if Cmd[2] == 'Unloading' then
          EMT.UNLOADING = true
+      elseif Cmd[2] == 'Split' then
+         EMT.SPLIT = true
       elseif  Cmd[2] == 'Fall' then
          EMT.FALL = true
       end
@@ -738,29 +789,9 @@ function ExecAuxCmd( sCmd)
          end
       end
    elseif Cmd[1] == '11' then
-      local dPX1 = MaxHOpen
+      ExecMovePX1( Cmd)
-      if Cmd[2] ~= '0' then
-         dPX1 = EgtIf( EMT.ROT == -1, EMT.HB, EMT.SB)
-      end
-      SimulMoveAxis( 'PX1', dPX1, MCH_SIM_STEP.RAPID)
-      local dQX1 = MaxVOpen
-      if Cmd[2] == '2' then
-         dQX1 = EgtIf( EMT.ROT == -1, EMT.SB, EMT.HB)
-      end
-      SimulMoveAxis( 'QX1', dQX1, MCH_SIM_STEP.RAPID)
-      SetPX1Light( Cmd[2] ~= '0')
    elseif Cmd[1] == '12' then
-      local dPX2 = MaxHOpen
+      ExecMovePX2( Cmd)
-      if Cmd[2] ~= '0' then
-         dPX2 = EgtIf( EMT.ROT == -1, EMT.HB, EMT.SB)
-      end
-      SimulMoveAxis( 'PX2', dPX2, MCH_SIM_STEP.RAPID)
-      local dQX2 = MaxVOpen
-      if Cmd[2] == '2' then
-         dQX2 = EgtIf( EMT.ROT == -1, EMT.SB, EMT.HB)
-      end
-      SimulMoveAxis( 'QX2', dQX2, MCH_SIM_STEP.RAPID)
-      SetPX2Light( Cmd[2] ~= '0')
    elseif Cmd[1] == '21' then
       local nX1Delta = tonumber( Cmd[2])
       local nX2Delta = tonumber( Cmd[3])
@@ -791,7 +822,7 @@ function ExecUnloading()
       -- li sposto per lasciare spazio al nuovo pezzo
       local nId = EgtGetFirstInGroup( nVmGrpId)
       while nId do
-         EgtMove( nId, Vector3d( 0, -( EMT.SB + 50.0), 0), GDB_RT.GLOB)
+         EgtMove( nId, Vector3d( 0, -( EMT.WIDTHBEAM + 50.0), 0), GDB_RT.GLOB)
          nId = EgtGetNext( nId)
       end
       -- creo un nuovo layer e vi inserisco il nuovo pezzo
@@ -833,15 +864,199 @@ function ExecUnloading()
 end
 
 ---------------------------------------------------------------------
-function VerifyYSlide( sName1, dVal1, sName2, dVal2)
+function CheckClamping( sClampName)
-   -- Se movimento trave agganciata con carrello Y
+
+   local nClampId = EgtGetAxisId( sClampName) or GDB_ID.NULL
+   local nClampPathId = EgtGetFirstInGroup( EgtGetFirstNameInGroup( nClampId, 'CLAMP_CHECK') or GDB_ID.NULL)
+   local b3ClampingArea = EgtGetBBoxGlob( nClampPathId or GDB_ID.NULL, GDB_BB.STANDARD)
+   -- se non trovo percorso area di clamping, esco subito
+   if not nClampPathId or not EMT.VMILL or not ClampingCoeffMin then
+      return
+   end
+
+   local function GetCurveListFromIntersection( sPosIntersPlane, sIntersPlane, dDepth)
+      local vCurveListId = {}
+      local vtIntersPlane
+      -- piano di interpolazione 
+      if sIntersPlane == 'X' then
+         vtIntersPlane = X_AX()
+      elseif sIntersPlane == 'Y' then
+         vtIntersPlane = Y_AX()
+      elseif sIntersPlane == 'Z' then
+         vtIntersPlane = Z_AX()
+      end
+
+      for i = 1, #EMT.VMILL do
+         local b3VMill = EgtGetBBoxGlob( EMT.VMILL[i], GDB_BB.EXACT)
+         local ptPosIntersPlane
+         if sPosIntersPlane == 'MIN' then
+            ptPosIntersPlane = b3VMill:getMin() + dDepth * vtIntersPlane
+         elseif sPosIntersPlane == 'MAX' then
+            ptPosIntersPlane = b3VMill:getMax() - dDepth * vtIntersPlane
+         end
+         local nLoopId, nLoopCnt = EgtPlaneVolZmapInters( ptPosIntersPlane, vtIntersPlane, EMT.VMILL[i], CLAMP_CHECK_INTERS, GDB_RT.GLOB)
+         vCurveListId = EgtTableAdd( vCurveListId, nLoopId, nLoopCnt)
+      end
+
+      return vCurveListId
+   end
+
+   local function CalculateIntersectionArea( sPosIntersPlane, sIntersPlane, dDepth)
+      -- test piano frontale
+      local vCurveListId = GetCurveListFromIntersection( sPosIntersPlane, sIntersPlane, dDepth)
+      -- si copia curva intersezione e curva pinza in gruppo di confronto
+      local nFlatSurfId, nFlatSurfCnt = EgtSurfFlatRegion( CLAMP_CHECK_GROUP, vCurveListId)
+      local vFlatSurfId = EgtTableFill( nFlatSurfId, nFlatSurfCnt) or {}
+      local nClampSurfId = EgtSurfFlatRegion( CLAMP_CHECK_GROUP, nClampPathId)
+
+      local dTotalArea = 0
+      local dTotalXLenght = 0
+      for i = 1, #vFlatSurfId do
+         local nTempSurfId = vFlatSurfId[i]
+         EgtSurfFrIntersect( nTempSurfId, nClampSurfId)
+         if nTempSurfId then
+            dTotalArea = dTotalArea + ceil( EgtSurfArea( nTempSurfId) or 0)
+            local b3BoxIntersectionBox = EgtGetBBoxGlob( nTempSurfId, GDB_BB.STANDARD)
+            if b3BoxIntersectionBox then
+               dTotalXLenght = dTotalXLenght + ceil( b3BoxIntersectionBox:getDimX()) -- somma lunghezze (x) delle aree pinzate
+            end
+         end
+      end
+      return dTotalArea, dTotalXLenght
+   end
+
+   -- minima area considerata per un corretto pinzaggio
+   DistZClampToTable = DistZClampToTable or 0
+   --local MinJoin = BD.GetMinJoin( EMT.WIDTHPART, EMT.HEIGHTPART, EgtIf( EMT.SPLIT, EMT.LENGTHPART , EMT.LENGTHBEAM))
+   UpdateMinJoinDeltaTol( EMT.WIDTHPART, EMT.HEIGHTPART, EgtIf( EMT.SPLIT, EMT.LENGTHPART , EMT.LENGTHBEAM))
+   local MinZClamping =  min( b3ClampingArea:getDimZ() + DistZClampToTable, EMT.HEIGHTPART) - DistZClampToTable
+   local dMinClamping = ( MinJoin * MinZClamping)
+   -- si moltiplica per un coefficiente minimo sotto al quale si da l'errore di pinzaggio
+   ClampingCoeffMin = EgtClamp( ClampingCoeffMin, 0.01, 1)
+   if MinZClamping > ClampSmallH then
+      -- somma area parallelepipedo sotto + area triangolo superiore
+      dMinClamping = MinJoin * ClampSmallH + ( ( MinJoin * ( MinJoin * tan( ClampFrontAngle))) / 2)
+      local dTriangleBase = ClampL - ClampSmallL
+      if MinJoin > dTriangleBase then
+         local dTriangleHeight = ClampH - ClampSmallH
+         -- somma area parallelepipedo sotto + area triangolo superiore + parallelepipedo grande
+         dMinClamping = ( MinJoin * ClampSmallH) + ( dTriangleBase * dTriangleHeight / 2) + ( ( MinJoin - dTriangleBase) * dTriangleHeight)
+      end
+   end
+
+   local dMinClampingAreaWarn = dMinClamping * ClampingCoeffMin
+   local dMinClampingAreaErr = dMinClamping * ( ClampingCoeffMin / 3)
+
+   local bError = true
+   local sWrn, sErr
+   local bWriteWarnMessage = false
+   local bWriteErrMessage = false
+   -- controllo faccia frontale
+   local dArea, dXClampedLenght = CalculateIntersectionArea( 'MIN', 'Y', 3)
+   -- ERRORE: pinza troppo poco (meno di 1/3 del minimo richiesto)
+   if dArea and dArea < dMinClampingAreaErr then
+      -- solo se pinza almeno 1cm2, e la somma della lunghezza pinzata è maggiore della lunghezza minima pinzabile da Warning e non errore
+      if dXClampedLenght >= MinJoin * ClampingCoeffMin and dArea > 1000 then
+         bError = false
+      end
+      -- pinzaggio non fattibile, errore
+      if bError then
+         sErr = 'ERROR CLAMPING ' .. sClampName .. ' : '..tostring( ceil( ( dArea / dMinClampingAreaWarn) * 100))..'% ( '.. tostring( dArea/1000)..'cm2)'
+         bWriteErrMessage = true
+      end
+   end
+   -- WARNING: pinza meno del minimo richiesto
+   if dArea and dArea < dMinClampingAreaWarn and not bWriteErrMessage then
+      sWrn = 'WARNING CLAMPING ' .. sClampName .. ' : '..tostring( ceil( ( dArea / dMinClampingAreaWarn) * 100))..'% ( '.. tostring( dArea/1000)..'cm2)'
+      bWriteWarnMessage = true
+   end
+   EgtEmptyGroup( CLAMP_CHECK_GROUP)
+   EgtEmptyGroup( CLAMP_CHECK_INTERS)
+
+   -- controllo altro lato solo se non sono già in errore
+   if not bWriteErrMessage then
+      -- controllo faccia posteriore
+      dArea, dXClampedLenght = CalculateIntersectionArea( 'MAX', 'Y', 3)
+      -- ERRORE: pinza troppo poco (meno di 1/3 del minimo richiesto)
+      if dArea and dArea < dMinClampingAreaErr then
+         -- solo se pinza almeno 1cm2, e la somma della lunghezza pinzata è maggiore della lunghezza minima pinzabile da Warning e non errore
+         if dXClampedLenght >= MinJoin * ClampingCoeffMin and dArea > 1000 then 
+            bError = false
+         end
+         -- pinzaggio non fattibile, errore
+         if bError then
+            sErr = 'ERROR CLAMPING ' .. sClampName .. ' : '..tostring( ceil( ( dArea / dMinClampingAreaWarn) * 100))..'% ( '.. tostring( dArea/1000)..'cm2)'
+            bWriteErrMessage = true
+         end
+      end
+      -- WARNING: pinza meno del minimo richiesto
+      if dArea and dArea < dMinClampingAreaWarn and not bWriteWarnMessage and not bWriteErrMessage then
+         sWrn = 'WARNING CLAMPING ' .. sClampName .. ' : '..tostring( ceil( ( dArea / dMinClampingAreaWarn) * 100))..'% ( '.. tostring( dArea/1000)..'cm2)'
+         bWriteWarnMessage = true
+      end
+      EgtEmptyGroup( CLAMP_CHECK_GROUP)
+      EgtEmptyGroup( CLAMP_CHECK_INTERS)
+   end
+
+   if bWriteErrMessage then
+      EmtSetLastError( 1213, sErr, EgtGetEnableUI())
+      EgtOutBox( sErr, 'CLAMPING', 'ERROR', 'OK')
+      EmtSetSimulPause()
+   elseif bWriteWarnMessage then
+      EgtOutLog( sWrn)
+      EgtOutBox( sWrn, 'CLAMPING', 'WARNING', 'OK')
+      EmtSetSimulPause()
+   end
+end
+
+---------------------------------------------------------------------
+function ExecMovePX1( Cmd)
+   --SimulMoveAxes( 'PX1', EgtIf( not bClose, MaxHoOpen, EMT.HEIGHTBEAM), MCH_SIM_STEP.RAPID)
+   local dPX1 = MaxHOpen
+   if Cmd[2] ~= '0' then
+      dPX1 = EgtIf( EMT.ROT == -1, EMT.HEIGHTBEAM, EMT.WIDTHBEAM)
+   end
+   SimulMoveAxis( 'PX1', dPX1, MCH_SIM_STEP.RAPID)
+   local dQX1 = MaxVOpen
+   if Cmd[2] == '2' then
+      dQX1 = EgtIf( EMT.ROT == -1, EMT.WIDTHBEAM, EMT.HEIGHTBEAM)
+   end
+   SimulMoveAxis( 'QX1', dQX1, MCH_SIM_STEP.RAPID)
+   SetPX1Light( Cmd[2] ~= '0')
+   if Cmd[2] ~= '0' then
+      CheckClamping( 'PX1')
+   end
+end
+
+---------------------------------------------------------------------
+function ExecMovePX2( Cmd)
+   --EgtIf( not bClose, MaxHoOpen, EMT.HEIGHTBEAM), MCH_SIM_STEP.RAPID)
+   local dPX2 = MaxHOpen
+   if Cmd[2] ~= '0' then
+      dPX2 = EgtIf( EMT.ROT == -1, EMT.HEIGHTBEAM, EMT.WIDTHBEAM)
+   end
+   SimulMoveAxis( 'PX2', dPX2, MCH_SIM_STEP.RAPID)
+   local dQX2 = MaxVOpen
+   if Cmd[2] == '2' then
+      dQX2 = EgtIf( EMT.ROT == -1, EMT.WIDTHBEAM, EMT.HEIGHTBEAM)
+   end
+   SimulMoveAxis( 'QX2', dQX2, MCH_SIM_STEP.RAPID)
+   SetPX2Light( Cmd[2] ~= '0')
+   if Cmd[2] ~= '0' then
+      CheckClamping( 'PX2')
+   end
+end
+
+---------------------------------------------------------------------
+function VerifyX1Slide( sName1, dVal1, sName2, dVal2)
+   -- Se movimento trave agganciata con carrello X1
    if sName1 == 'T' and sName2 == 'X1' and GetPX1Light() then
       local dYDeltaP = EgtGetAxisPos( 'T') - EgtGetAxisPos( 'X1')
       local dYDeltaA = tonumber( dVal1) - tonumber( dVal2)
-      EgtOutLog( string.format( 'YDeltaP=%.3f YDeltaA=%.3f', dYDeltaP, dYDeltaA), 5)
+      EgtOutLog( string.format( 'X1DeltaP=%.3f X1DeltaA=%.3f', dYDeltaP, dYDeltaA), 5)
       if abs( dYDeltaA - dYDeltaP) > 0.5 then
          EMT.ERR = 2
-         local sErr = 'Y slide : ' .. EmtLenToString( dYDeltaP, 3) .. ' -> ' .. EmtLenToString( dYDeltaA, 3)
+         local sErr = 'X1 slide : ' .. EmtLenToString( dYDeltaP, 3) .. ' -> ' .. EmtLenToString( dYDeltaA, 3)
          EmtSetLastError( 1202, sErr)
       end
    end
@@ -850,15 +1065,15 @@ function VerifyYSlide( sName1, dVal1, sName2, dVal2)
 end
 
 ---------------------------------------------------------------------
-function VerifyVSlide( sName1, dVal1, sName2, dVal2)
+function VerifyX2Slide( sName1, dVal1, sName2, dVal2)
-   -- Se movimento trave agganciata con carrello V
+   -- Se movimento trave agganciata con carrello X1
    if sName1 == 'T' and sName2 == 'X2' and GetPX2Light() then
       local dVDeltaP = EgtGetAxisPos( 'T') - EgtGetAxisPos( 'X2')
       local dVDeltaA = tonumber( dVal1) - tonumber( dVal2)
-      EgtOutLog( string.format( 'VDeltaP=%.3f VDeltaA=%.3f', dVDeltaP, dVDeltaA), 5)
+      EgtOutLog( string.format( 'X2DeltaP=%.3f X2DeltaA=%.3f', dVDeltaP, dVDeltaA), 5)
       if abs( dVDeltaA - dVDeltaP) > 0.5 then
          EMT.ERR = 2
-         local sErr = 'V slide : ' .. EmtLenToString( dVDeltaP, 3) .. ' -> ' .. EmtLenToString( dVDeltaA, 3)
+         local sErr = 'X2 slide : ' .. EmtLenToString( dVDeltaP, 3) .. ' -> ' .. EmtLenToString( dVDeltaA, 3)
          EmtSetLastError( 1202, sErr)
       end
    end
@@ -874,9 +1089,9 @@ function VerifyOneChariotSlide( sName1, dVal1, sName2, dVal2)
    end
    -- Eseguo verifica
    if sName2 == 'X1' then
-      return VerifyYSlide( sName1, dVal1, sName2, dVal2)
+      return VerifyX1Slide( sName1, dVal1, sName2, dVal2)
    elseif sName2 == 'X2' then
-      return VerifyVSlide( sName1, dVal1, sName2, dVal2)
+      return VerifyX2Slide( sName1, dVal1, sName2, dVal2)
    end
    return true
 end
@@ -893,9 +1108,9 @@ function VerifyTwoChariotsSlide( sName1, dVal1, sName2, dVal2, sName3, dVal3)
    end
    -- Eseguo verifica
    if sName2 == 'X1' then
-      return VerifyYSlide( sName1, dVal1, sName2, dVal2) and VerifyVSlide( sName1, dVal1, sName3, dVal3)
+      return VerifyX1Slide( sName1, dVal1, sName2, dVal2) and VerifyX2Slide( sName1, dVal1, sName3, dVal3)
    elseif sName2 == 'X2' then
-      return VerifyVSlide( sName1, dVal1, sName2, dVal2) and VerifyYSlide( sName1, dVal1, sName3, dVal3)
+      return VerifyX2Slide( sName1, dVal1, sName2, dVal2) and VerifyX1Slide( sName1, dVal1, sName3, dVal3)
    end
    return true
 end
@@ -999,14 +1214,14 @@ local RAPID_Y_FEED =  FmaxY    -- mm/min                    ex: 45000
 local RAPID_Z_FEED =  FmaxZ    -- mm/min                    ex: 45000
 local RAPID_C_FEED =  FmaxC    -- deg/min                   ex: 18000
 local RAPID_B_FEED =  FmaxA    -- deg/min                   ex: 10440
-local RAPID_MIN_T = 0.2        -- s                         ex: 0.2
+local RAPID_MIN_T = 1        -- s                         ex: 0.2
 local TOOL_CHANGE = 20         -- s                         ex: 14
-local LOAD_T = 20              -- s                         ex: 16
+local LOAD_T = 10              -- s                         ex: 16
-local CHAR_ONE_MOVE_T = 3.5      -- s                       ex: 2
+local CHAR_ONE_MOVE_T = 1.7      -- s                       ex: 2
 local ROTATION_T = 40          -- s                         ex: 40
-local SPLIT_T = 12              -- s                        ex: 9
+local SPLIT_T = 3              -- s                         ex: 9
-local UNLOAD_T = 15            -- s                         ex: 12
+local UNLOAD_T = 10            -- s                         ex: 12
-local FALL_T = 4               -- s                         ex: 4
+local FALL_T = 2               -- s                         ex: 4
 
 ---------------------------------------------------------------------
 function OnEstimStart()