andrea.villa
1788 lines
63 KiB
Plaintext
1788 lines
63 KiB
Plaintext
-- Processore macchina Saomad-KAIROS by EgalTech s.r.l. 2023/12/06
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-- Con controllo numerico Siemens
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-- Variabili di modulo
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local MLE_INFO = 'Saomad-KAIROS-MK2.SIEMENS.mlpe ver.'..PP_VER..' by EgalWare s.r.l.'
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local TEST_USE = false
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---------------------------------------------------------------------
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-- *** GENERATION ***
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---------------------------------------------------------------------
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function OnStart()
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EMT.USETO1 = false -- abilitazione uso origine tavola
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EMT.MODAL = true -- abilitazione emissione modale
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EMT.INCHES = false -- unità di misura mm/inches
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EMT.NUM = false -- abilitazione numerazione linee
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--EMT.Nt = 'N' -- token per la numerazione di linea
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--EMT.LINENBR = 0 -- numero di linea
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--EMT.LINEINC = 1 -- incremento numerazione linee
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--EMT.Ft = 'F' -- token per feed
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--EMT.St = 'S' -- token per speed
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EMT.C1t = 'I=AC(' -- X centro arco, dopo valore chiudere la tonda
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EMT.C2t = 'J=AC(' -- Y centro arco, dopo valore chiudere la tonda
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EMT.C3t = 'K=AC(' -- Z centro arco, dopo valore chiudere la tonda
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EMT.RRt = 'CR=' -- raggio per arco
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EMT.FMAXPINZE = 120000 -- feed massima pinze
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-- si inizia parcheggiando tutti i comandi fino a che non si hanno a disposizione le info per precarico
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EMT.PARKLINES = true
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EMT.X1CLAMP = nil
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EMT.X2CLAMP = nil
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end
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---------------------------------------------------------------------
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function OnEnd()
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-- Ripristino fase iniziale come corrente
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EgtSetCurrPhase( 1)
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end
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---------------------------------------------------------------------
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function OnProgramStart()
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-- Intestazioni
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if EMT.INFO then
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MyEmtOutput( ';'..EMT.INFO)
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else
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MyEmtOutput( ';Program Start')
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end
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MyEmtOutput( ';'.. MLE_INFO..'\n')
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-- Cerco primo utensile su testa 1
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EMT.TOOL_1, EMT.TLEN_1 = FindFirstToolOnHead( 'H1')
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-- Dichiaro inizio
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EMT.FIRST = true
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EMT.TLAST = nil
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EMT.NSTEP = 0
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end
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---------------------------------------------------------------------
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function OnProgramEnd()
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-- Emissione scarico
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--for i = 1, #EMT.AUXCMD do
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-- MyEmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
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--end
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EMT.AUXCMD = {}
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for i = 1, #EMT.AUXSTR do
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MyEmtOutput( EMT.AUXSTR[i])
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end
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if #EMT.AUXSTR > 0 then
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if EMT.AUXTYPE == 'S' or EMT.AUXTYPE == 'R' then
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;
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elseif EMT.AUXTYPE == 'U' then
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-- emissione conclusione pezzo precedente
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if EMT.PRODID then
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local sOut = ';Part End'
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MyEmtOutput( sOut)
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sOut= 'PRODUCTION('..tostring( EMT.PRODID)..','..tostring( EMT.PATTID)..','..tostring( EMT.CUTID)..',2)'
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MyEmtOutput( sOut)
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end
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end
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end
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MyEmtOutput( 'STOPRE')
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MyEmtOutput( '_STEP=0')
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MyEmtOutput( 'M30')
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EMT.AUXSTR = {}
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EMT.AUXTYPE = nil
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EMT.U_STD = nil
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EMT.UNL = nil
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EMT.PREROT = nil
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EMT.SPLITROT = nil
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EMT.CHY_ON = nil
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EMT.FALL = nil
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EMT.RELOAD = nil
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EMT.RELOAD2 = nil
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-- creazione file dei pinzaggi
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CreateClampingFile()
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end
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---------------------------------------------------------------------
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function OnToolData()
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-- tabella codice -> nome tipo utensile
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local tToolType = { [256] = 'DRILL', [257] = 'DRILL_L', [512] = 'SAW', [513] = 'SAW_F', [1024] = 'MILL', [1025] = 'MILL_NT',
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[1026] = 'POLISHING', [2048] = 'CHAINSAW', [4096] = 'CHISEL'}
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-- emissione dati utensile
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--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')
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local sOut = ';'..EMT.TCPOS..' L='..EmtLenToString( EMT.TLEN, 3)..' D='..EmtLenToString( EMT.TDIAM, 3)..' A='..EgtIf( EMT.TUSED, '1', '0')..' '..EMT.TOOL
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MyEmtOutput( sOut)
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end
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---------------------------------------------------------------------
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function OnDispositionStart()
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--MyEmtOutput( '(Disposition '..EMT.DISPIND..' = '..EMT.DISPID..')')
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EMT.OPEISDISP = true
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-- Assegnazione parametri disposizione
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EMT.TPOS = EgtGetInfo( EMT.DISPID, 'TPOS', 'd')
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EMT.X1POS = EgtGetInfo( EMT.DISPID, 'X1POS', 'd')
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-- Se prima disposizione
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if EMT.PHASE == 1 then
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-- inizio programma
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MyEmtOutput( '\nRESTART')
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MyEmtOutput( 'STOPRE')
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MyEmtOutput( '_STEP=0')
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-- carico barra
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EMT.LOAD = true
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else
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EMT.LOAD = false
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if IsEnd2Phase( EMT.PHASE - 1) then
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EMT.RELOAD = true
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EMT.RELOAD2 = false
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elseif IsStartPhase( EMT.PHASE) then
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EMT.X1DELTA = EMT.X1POS - LoadT
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EMT.X2DELTA = nil
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end
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end
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end
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---------------------------------------------------------------------
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function OnDispositionEnd()
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-- Se disposizione inizio o rimanenza
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if IsStartOrRestPhase( EMT.PHASE) then
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-- reset recupero sovramateriale in X non più presente
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EMT.X_OFF = nil
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-- dati della barra
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local LBarra = EMT.LENGTHBEAM
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-- dati del pezzo
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local IdTrave = EMT.IDPART
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local LTrave = EMT.LENGTHPART
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local WTrave = EMT.WIDTHPART
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local HTrave = EMT.HEIGHTPART
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local HOverM = EMT.HOVM
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-- se carico barra
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if EMT.LOAD then
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-- assegnazione dati barra
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local sOut = ';Bar Dimensions'
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MyEmtOutput( sOut)
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sOut = 'C_WIDTH='..EmtLenToString( WTrave, 3)
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MyEmtOutput( sOut)
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sOut = 'C_HEIGHT='..EmtLenToString( HTrave, 3)
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MyEmtOutput( sOut)
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sOut = 'C_LENGTH='..EmtLenToString( LBarra, 3)
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MyEmtOutput( sOut)
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-- se altrimenti ricarico barra dopo rotazione speciale
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elseif EMT.RELOAD then
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local sOut = ';Bar Dimensions'
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MyEmtOutput( sOut)
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sOut = 'C_WIDTH='..EmtLenToString( WTrave, 3)
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MyEmtOutput( sOut)
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sOut = 'C_HEIGHT='..EmtLenToString( HTrave, 3)
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MyEmtOutput( sOut)
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sOut = 'C_LENGTH='..EmtLenToString( LBarra, 3)
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MyEmtOutput( sOut)
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-- altrimenti recupero rimanenza
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else
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-- aggiorno dati aggancio carrelli alla trave
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EMT.X1DELTA = EMT.X1POS - LoadT
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EMT.X2DELTA = nil
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end
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-- Inizio produzione trave
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if IdTrave >= 0 then
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local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
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EMT.PRODID = EgtGetInfo( BtlInfoId, 'PRODID', 'i') or 0
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EMT.PATTID = EgtGetInfo( BtlInfoId, 'PATTID', 'i') or 0
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EMT.CUTID = EgtGetInfo( EMT.IDT, 'CUTID', 'i') or 0
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local sOut = ';Part Start'
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MyEmtOutput( sOut)
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sOut= 'PRODUCTION('..tostring( EMT.PRODID)..','..tostring( EMT.PATTID)..','..tostring( EMT.CUTID)..',1)'
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MyEmtOutput( sOut)
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else
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MyEmtOutput( '')
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MyEmtOutput( ';REMAIN UNLOAD')
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EMT.PRODID = nil
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EMT.PATTID = nil
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EMT.CUTID = nil
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end
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-- eventuale preparazione per rotazione immediata
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if IsStartPhase( EMT.PHASE) and EMT.AUXSTR then
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-- emissione movimento carrelli per rotazione
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EMT.AUXCMD = {}
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if #EMT.AUXSTR > 0 then
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MyEmtOutput( ';ROTATION')
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end
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for i = 1, #EMT.AUXSTR do
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MyEmtOutput( EMT.AUXSTR[i])
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end
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if #EMT.AUXSTR > 0 then EMT.CHAN2 = true end
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EMT.AUXSTR = {}
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EMT.AUXTYPE = nil
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end
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-- se altrimenti disposizione intermedia, eventuale rotazione
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elseif IsMidPhase( EMT.PHASE) or IsEnd2Phase( EMT.PHASE) then
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-- se rotazioni diverse, emetto il comando e aggiorno lo stato
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if VerifyEmitRotation() then
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-- imposto stato post-rotazione
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EMT.POSTROT = true
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-- imposto recupero sovramateriale in X non più presente
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EMT.X_OFF = EMT.HOVM
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end
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-- se altrimenti disposizione intermedia speciale con eventuale rotazione
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elseif IsMid2Phase( EMT.PHASE) then
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-- emissione movimento carrelli
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EMT.AUXCMD = {}
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if #EMT.AUXSTR > 0 then
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MyEmtOutput( ';ROTATION')
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end
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for i = 1, #EMT.AUXSTR do
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MyEmtOutput( EMT.AUXSTR[i])
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end
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if #EMT.AUXSTR > 0 then EMT.CHAN2 = true end
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EMT.AUXSTR = {}
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EMT.AUXTYPE = nil
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-- se rotazioni diverse, emetto il comando e aggiorno lo stato
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if VerifyEmitRotation() then
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-- imposto stato post-rotazione
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EMT.POSTROT = true
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-- imposto recupero sovramateriale in X non più presente
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EMT.X_OFF = EMT.HOVM
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end
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-- altrimenti disposizione finale, eventuale scarico pezzo lavorato se non ci sono lavorazioni
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else
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EMT.AUXCMD = {}
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if #EMT.AUXSTR > 0 then
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-- EmitSpeedOff()
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MyEmtOutput( '')
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MyEmtOutput( ';PART UNLOAD')
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MyEmtOutput( 'STOPRE')
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MyEmtOutput( 'TRANS')
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if EMT.X1MASTER then
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MyEmtOutput( 'GEOAX(1,X2,2,Y1,3,Z1)')
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EMT.X1MASTER = false
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end
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end
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for i = 1, #EMT.AUXSTR do
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MyEmtOutput( EMT.AUXSTR[i])
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end
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if #EMT.AUXSTR > 0 then
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EMT.CHAN2 = true
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-- emissione conclusione pezzo precedente
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if EMT.PRODID then
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local sOut = ';Part End'
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MyEmtOutput( sOut)
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sOut= 'PRODUCTION('..tostring( EMT.PRODID)..','..tostring( EMT.PATTID)..','..tostring( EMT.CUTID)..',2)'
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MyEmtOutput( sOut)
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end
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end
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EMT.AUXSTR = {}
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EMT.AUXTYPE = nil
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EMT.U_STD = nil
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end
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EMT.OPEISDISP = false
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end
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---------------------------------------------------------------------
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function OnTableData()
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end
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---------------------------------------------------------------------
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function OnFixtureData()
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end
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---------------------------------------------------------------------
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function OnRawMoveData()
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-- Se disposizione inizio o rimanenza
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if IsStartOrRestPhase( EMT.PHASE) then
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-- se primo grezzo, reset lunghezza barra
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if EMT.RAWIND == 1 then EMT.LENGTHBEAM = 0 end
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-- aggiungo la lunghezza del grezzo (solo se movimento in corner)
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if EMT.RAWTYPE == 1 then
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local b3Raw = EgtGetBBoxGlob( EgtGetFirstNameInGroup( EMT.RAWID, 'RawSolid'), GDB_BB.STANDARD)
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local LBarra = b3Raw:getDimX()
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EMT.LENGTHBEAM = EMT.LENGTHBEAM + LBarra
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end
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-- se primo grezzo, calcolo dati del pezzo
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if EMT.RAWIND == 1 then
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local PartId = EgtGetFirstPartInRawPart( EMT.RAWID)
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if PartId then
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EMT.IDT = PartId
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EMT.IDPART = EgtGetInfo( PartId, 'PDN', 'i') or 0
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local b3Part = EgtGetBBoxGlob( EgtGetFirstNameInGroup( PartId, 'Box'), GDB_BB.STANDARD)
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EMT.LENGTHPART = b3Part:getDimX()
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EMT.WIDTHPART = b3Part:getDimY()
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EMT.HEIGHTPART = b3Part:getDimZ()
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EMT.HOVM = EgtGetInfo( EMT.RAWID, 'HOVM', 'd') or 0
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else
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EMT.IDT = GDB_ID.NULL
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EMT.IDPART = -1
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EMT.LENGTHPART = 0
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EMT.WIDTHPART = EMT.WIDTHPART or 0
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EMT.HEIGHTPART = EMT.HEIGHTPART or 0
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EMT.HOVM = 0
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end
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end
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end
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end
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---------------------------------------------------------------------
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function OnToolSelect()
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-- se utensile definito (non definito per disposizioni con movimento)
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if EMT.TOOL ~= '' then
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-- verifiche su utensile
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local sTool = EgtTdbGetToolFromUUID( EgtGetMachiningParam( MCH_MP.TUUID) or "")
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if sTool ~= EMT.TOOL then error( "Tool name mismatch") end
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-- predefinite EMT.TCPOS EMT.HEAD EMT.EXIT
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EMT.TOOLTYPE = EgtTdbGetCurrToolParam( MCH_TP.TYPE)
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EMT.TOOLSEL = string.sub( EMT.TCPOS, 2)
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EMT.TDIAM = EgtTdbGetCurrToolParam( MCH_TP.DIAM)
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EMT.TTOTDIAM = EgtTdbGetCurrToolParam( MCH_TP.TOTDIAM)
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EMT.TLEN = EgtTdbGetCurrToolParam( MCH_TP.LEN)
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EMT.TTOTLEN = EgtTdbGetCurrToolParam( MCH_TP.TOTLEN)
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if MCH_TP.DIST then EMT.TDIST = EgtTdbGetCurrToolParam( MCH_TP.DIST) end
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if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
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-- dichiaro utensile appena selezionato
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EMT.TSELECT = true
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end
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end
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---------------------------------------------------------------------
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function OnToolDeselect()
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EmitSpeedOff()
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end
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---------------------------------------------------------------------
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function OnMachiningStart()
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EMT.MCHNAME = EgtGetOperationName( EMT.MCHID)
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EMT.MCHTYPE = EgtGetMachiningParam( MCH_MP.TYPE)
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EMT.MCHUSERNOTES = EgtGetMachiningParam( MCH_MP.USERNOTES)
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-- non ancora iniziata la lavorazione
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EMT.MCHFIRST = true
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EMT.FEEDFIRST = true
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-- determino subito se taglio di separazione di pezzo a caduta
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EMT.PREFALLCUT = nil
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if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Split') then
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local ClId = EgtGetFirstNameInGroup( EMT.MCHID, 'CL')
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local P1Id = EgtGetFirstNameInGroup( ClId or GDB_ID.NULL, 'P1')
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local sAE1 = EgtGetInfo( P1Id or GDB_ID.NULL, 'AE1') or ''
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if sAE1 == '0,Fall' then
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EMT.PREFALLCUT = true
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end
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end
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end
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---------------------------------------------------------------------
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function OnMachiningEnd()
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--MyEmtOutput( ';Mach End')
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-- Emissione split
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--for i = 1, #EMT.AUXCMD do
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-- MyEmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
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--end
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EMT.AUXCMD = {}
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if #EMT.AUXSTR > 0 then
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if EMT.AUXTYPE == 'S' then
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-- EmitSpeedOff()
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MyEmtOutput( ';PART SPLIT')
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elseif EMT.AUXTYPE == 'U' then
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if not EMT.ZMAX then
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EmitZmax()
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EMT.ZMAX = true
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end
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if IsLastMachining( EMT.MCHID) then
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-- EmitSpeedOff()
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end
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MyEmtOutput( ';PART UNLOAD')
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MyEmtOutput( 'STOPRE')
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MyEmtOutput( 'TRANS')
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if EMT.X1MASTER then
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MyEmtOutput( 'GEOAX(1,X2,2,Y1,3,Z1)')
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EMT.X1MASTER = false
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end
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elseif EMT.AUXTYPE == 'P' then
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if EMT.PREROT then
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if not EMT.ZMAX then
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EmitZmax()
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EMT.ZMAX = true
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end
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MyEmtOutput( ';PART ROTATION')
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elseif EMT.FALL then
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if not EMT.ZMAX then
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EmitZmax()
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EMT.ZMAX = true
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end
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MyEmtOutput( ';FALL')
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else
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if not EMT.ZMAX then
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EmitZmax()
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EMT.ZMAX = true
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end
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MyEmtOutput( ';SPLIT 2')
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end
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end
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end
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for i = 1, #EMT.AUXSTR do
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MyEmtOutput( EMT.AUXSTR[i])
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end
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if #EMT.AUXSTR > 0 then
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EMT.CHAN2 = true
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if EMT.AUXTYPE == 'S' then
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;
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elseif EMT.AUXTYPE == 'U' then
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-- emissione conclusione pezzo precedente
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if EMT.PRODID then
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local sOut = ';Part End'
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MyEmtOutput( sOut)
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sOut= 'PRODUCTION('..tostring( EMT.PRODID)..','..tostring( EMT.PATTID)..','..tostring( EMT.CUTID)..',2)'
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MyEmtOutput( sOut)
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end
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elseif EMT.AUXTYPE == 'P' then
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if EMT.FALL then
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-- emissione conclusione pezzo precedente
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if EMT.PRODID then
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local sOut = ';Part End'
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MyEmtOutput( sOut)
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sOut= 'PRODUCTION('..tostring( EMT.PRODID)..','..tostring( EMT.PATTID)..','..tostring( EMT.CUTID)..',2)'
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MyEmtOutput( sOut)
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end
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elseif not EMT.PREROT then
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;
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end
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end
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end
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EMT.AUXSTR = {}
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EMT.AUXTYPE = nil
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EMT.U_STD = nil
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EMT.PREVTOOL = EMT.TOOL
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EMT.PREVR3 = EMT.R3
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end
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---------------------------------------------------------------------
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function OnPathStart()
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-- non ancora iniziata la lavorazione
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EMT.MCHFIRST = true
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-- primo posizionamento sempre in globale
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EMT.REFLOC = nil
|
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EMT.IPLGL = false
|
|
-- reset valori precedenti (per forzare emissione di tutti gli assi del 1° movimento)
|
|
EMT.L1opp = EMT.L1op or EMT.L1
|
|
EMT.L2opp = EgtIf( EMT.TSELECT or not EMT.L2op, ParkY, EMT.L2op)
|
|
EMT.L3opp = EgtIf( EMT.TSELECT or not EMT.L3op, ParkZ, EMT.L3op)
|
|
EMT.R1pp = EgtIf( EMT.TSELECT or not EMT.R1p, ParkC, EMT.R1p)
|
|
EMT.R2pp = EgtIf( EMT.TSELECT or not EMT.R2p, ParkA, EMT.R2p)
|
|
EmtResetPrev()
|
|
EMT.AUXCMD = {}
|
|
EMT.AUXSTR = {}
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function OnPathEnd()
|
|
EMT.AUXTYPE = nil
|
|
EMT.UNL = nil
|
|
EMT.PREROT = nil
|
|
EMT.SPLITROT = nil
|
|
EMT.CHY_ON = nil
|
|
EMT.FALL = nil
|
|
EMT.AUXCMD = {}
|
|
EMT.AUXSTR = {}
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function OnPathStartAux()
|
|
--EgtOutLog( 'OnPathStartAux - ' .. EgtNumToString( EMT.AUXIND, 0) .. ' - ' .. EMT.AUX)
|
|
|
|
-- se richiesto, preparo il carico barra
|
|
if EMT.LOAD or EMT.RELOAD then
|
|
PrepareLoad( EMT.AUX, true)
|
|
-- se altrimenti carico dopo rotazione
|
|
elseif EMT.POSTROT then
|
|
PreparePostRotation( EMT.AUX)
|
|
-- altrimenti, preparo lo spostamento carrelli
|
|
else
|
|
PrepareMoveChar( EMT.AUX)
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function OnPathEndAux()
|
|
--EgtOutLog( 'OnPathEndAux - ' .. EgtNumToString( EMT.AUXIND, 0) .. ' - ' .. EMT.AUX)
|
|
-- verifico tipo di emissione
|
|
if EMT.OPEISDISP then
|
|
if not EMT.AUXTYPE then
|
|
local Cmd = EgtSplitString( EMT.AUX)
|
|
if Cmd[1] == '0' and Cmd[2] == 'Unloading' then
|
|
EMT.AUXTYPE = 'U'
|
|
elseif EgtGetInfo( EMT.DISPID, 'TYPE') == 'REST' then
|
|
EMT.AUXTYPE = 'R'
|
|
else
|
|
EMT.AUXTYPE = 'P'
|
|
end
|
|
end
|
|
else
|
|
if not EMT.AUXTYPE then
|
|
local Cmd = EgtSplitString( EMT.AUX)
|
|
if Cmd[1] == '0' and Cmd[2] == 'Split' then
|
|
EMT.AUXTYPE = 'S'
|
|
elseif Cmd[1] == '0' and Cmd[2] == 'Unloading' then
|
|
EMT.AUXTYPE = 'U'
|
|
else
|
|
EMT.AUXTYPE = 'P'
|
|
if Cmd[1] == '0' and Cmd[2] == 'Fall' then
|
|
EMT.FALL = true
|
|
end
|
|
end
|
|
elseif EMT.AUXTYPE == 'P' then
|
|
local Cmd = EgtSplitString( EMT.AUX)
|
|
if Cmd[1] == '0' and Cmd[2] == 'Unloading' then
|
|
EMT.CHY_ON = true
|
|
EMT.AUXTYPE = 'U'
|
|
end
|
|
end
|
|
end
|
|
-- preparo a seconda del tipo
|
|
if EMT.AUXTYPE == 'R' then
|
|
-- per il carico della rimanenza dopo rotazione speciale
|
|
if EMT.RELOAD and not EMT.RELOAD2 then
|
|
PrepareLoad( EMT.AUX, false)
|
|
-- per lo scarico della rimanenza
|
|
else
|
|
PrepareResidue( EMT.AUX)
|
|
end
|
|
elseif EMT.AUXTYPE == 'S' then
|
|
-- per lo split
|
|
PrepareSplit( EMT.AUX)
|
|
elseif EMT.AUXTYPE == 'U' then
|
|
-- per lo scarico
|
|
PrepareUnload( EMT.AUX)
|
|
elseif EMT.AUXTYPE == 'P' then
|
|
-- per la pre-rotazione
|
|
PreparePreRotation( EMT.AUX)
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
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()
|
|
-- verifico presenza movimento carrelli
|
|
local bMoveChar = ( #EMT.AUXSTR > 0)
|
|
-- carico
|
|
if EMT.LOAD then
|
|
local dPress = 2.5
|
|
local dX1LoadPos = EMT.X1DELTA
|
|
local dAcc = 4
|
|
local dFeed = 45000
|
|
SetStartValue( 1, EMT.LENGTHBEAM)
|
|
SetStartValue( 2, EMT.WIDTHPART)
|
|
SetStartValue( 3, EMT.HEIGHTPART)
|
|
SetStartValue( 4, dPress)
|
|
SetStartValue( 5, dFeed)
|
|
SetStartValue( 6, dAcc)
|
|
SetStartValue( 7, dX1LoadPos)
|
|
SetStartValue( 8, EmtLenToString( ParkX1 + EMT.X1DELTA + 500, 3)) -- posizione per portare trave più vicino all'area di lavoro, ma con 500mm di sicurezza
|
|
|
|
-- ora che ci sono tutti i dati, si scrivono info precarico e linee parcheggiate
|
|
EmitStartValues()
|
|
EmitParkedLines()
|
|
EMT.PARKLINES = nil
|
|
MyEmtOutput( 'STOPRE')
|
|
EMT.NSTEP = EMT.NSTEP + 10
|
|
local sStep = EgtNumToString( EMT.NSTEP, 0)
|
|
MyEmtOutput( '_STEP='..sStep)
|
|
-- eseguo carico
|
|
EMT.AUXCMD = {}
|
|
for i = 1, #EMT.AUXSTR do
|
|
MyEmtOutput( EMT.AUXSTR[i])
|
|
end
|
|
EMT.AUXSTR = {}
|
|
-- supporti in posizione intermedia
|
|
local sOut = 'SUPPORT(1,1)'
|
|
MyEmtOutput( sOut)
|
|
-- prima lavorazione
|
|
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
|
|
EMT.PREVTOOL = EMT.TOOL
|
|
end
|
|
if bMoveChar then
|
|
local bStoPre
|
|
if EMT.CHAN2 then
|
|
-- MyEmtOutput( 'WAIT_CHAN(2)')
|
|
MyEmtOutput( 'STOPRE')
|
|
bStoPre = true
|
|
EMT.CHAN2 = nil
|
|
end
|
|
if EMT.TRAILON then
|
|
MyEmtOutput( 'TRAILOF(X2,X1)')
|
|
MyEmtOutput( 'STOPRE')
|
|
MyEmtOutput( 'TRANS')
|
|
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)
|
|
end
|
|
local sOut = EMT.MCHNAME..'/'..EMT.TOOL
|
|
MyEmtOutput( '; *** ' .. sOut .. ' ***')
|
|
-- movimento carrelli
|
|
EMT.AUXCMD = {}
|
|
for i = 1, #EMT.AUXSTR do
|
|
MyEmtOutput( EMT.AUXSTR[i])
|
|
end
|
|
EMT.AUXSTR = {}
|
|
EMT.POSTROT = false
|
|
EMT.RELOAD = false
|
|
EMT.RELOAD2 = nil
|
|
EMT.CHAN2 = bMoveChar
|
|
end
|
|
-- se utensile appena selezionato, lo devo dichiarare
|
|
if EMT.TSELECT then
|
|
EMT.TSELECT = nil
|
|
if bMoveChar then
|
|
local sStep = EgtNumToString( EMT.NSTEP, 0)
|
|
MyEmtOutput( '_N'..sStep..':STOPRE')
|
|
end
|
|
local sOut = 'PRE_WORK(1,1,' .. EMT.TOOLSEL .. ','..EgtNumToString( EMT.S, 0) ..',,,,)'
|
|
MyEmtOutput( sOut)
|
|
EMT.SPEED_ON = true
|
|
-- eventuali emissioni per ripartenza successiva al carico
|
|
elseif bMoveChar then
|
|
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
|
|
-- 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)
|
|
|
|
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
|
|
MyEmtOutput( EMT.PRELOADCMD)
|
|
EMT.PRELOADCMD = nil
|
|
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)
|
|
EMT.WAIT_SPLIT = nil
|
|
end
|
|
|
|
-- se necessario, attesa fine movimenti carrelli e presa assi relativi
|
|
if bMoveChar then
|
|
sOut = 'WAIT_CHAN(2)'
|
|
MyEmtOutput( sOut)
|
|
EMT.CHAN2 = nil
|
|
|
|
if EMT.X1DELTA and EMT.X2DELTA then
|
|
MyEmtOutput( 'GET(X1,X2)')
|
|
MyEmtOutput( 'STOPRE')
|
|
MyEmtOutput( 'TRAILON(X2,X1)')
|
|
EMT.TRAILON = true
|
|
elseif EMT.X1DELTA then
|
|
MyEmtOutput( 'GET(X1)')
|
|
elseif EMT.X2DELTA then
|
|
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
|
|
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)
|
|
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)
|
|
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)
|
|
end
|
|
-- se taglio di separazione prima di scarico a caduta, emissione stop tappeto scarico trucioli
|
|
if EMT.PREFALLCUT then
|
|
MyEmtOutput( ';M29')
|
|
EMT.PREFALLCUT = nil
|
|
end
|
|
EMT.REFLOC = 0
|
|
EMT.MCHFIRST = false
|
|
EMT.ZMAX = false
|
|
|
|
-- se alto in Z (non serve l'avvicinamento finale)
|
|
if EMT.FLAG == 2 then
|
|
-- aggiorno valori come precedenti
|
|
EMT.TLAST = EMT.L1b
|
|
EmtUpdatePrev()
|
|
return
|
|
-- altrimenti ripristino i valori originali degli assi
|
|
else
|
|
MyRestoreAxes()
|
|
end
|
|
|
|
end
|
|
-- se standard
|
|
if EMT.FLAG == 0 or EMT.FLAG == 1 or EMT.FLAG == 2 then
|
|
-- se necessario, impostazione riferimento locale
|
|
if EMT.REFLOC == 0 then
|
|
-- calcolo del piano generico
|
|
CalcInterpPlane()
|
|
EMT.REFLOC = 1
|
|
-- emissione del piano generico
|
|
MyEmtOutput( EMT.IPLGLSTR)
|
|
end
|
|
MyAdjustLinearAxes()
|
|
EmtAdjustRotaryAxes()
|
|
-- emissione movimento
|
|
-- local sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')
|
|
local sOut = 'G1'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..' F100000'
|
|
MyEmtOutput( sOut)
|
|
-- se altrimenti risalita a Z max a fine lavorazione
|
|
elseif EMT.FLAG == 3 then
|
|
EMT.REFLOC = nil
|
|
EMT.IPLGL = false
|
|
MyAdjustLinearAxes()
|
|
EmtAdjustRotaryAxes()
|
|
EmitZmax()
|
|
EMT.ZMAX = true
|
|
-- se altrimenti movimento in Home
|
|
elseif EMT.FLAG == 4 then
|
|
-- non previsto
|
|
-- se altrimenti rotazione a Z max
|
|
elseif EMT.FLAG == 5 then
|
|
-- viene gestito all'inizio della lavorazione successiva
|
|
-- altrimenti errore
|
|
else
|
|
EmtSetLastError( 1212, "Unknown Rapid flag")
|
|
end
|
|
-- aggiorno valori come precedenti
|
|
EMT.TLAST = EMT.L1b
|
|
EmtUpdatePrev()
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function OnLinear()
|
|
MyBackupAxes()
|
|
EMT.TLAST = EMT.L1
|
|
-- se necessario, impostazione riferimento locale
|
|
if EMT.REFLOC == 0 then
|
|
-- calcolo del piano generico
|
|
CalcInterpPlane()
|
|
EMT.REFLOC = 1
|
|
-- emissione del piano generico
|
|
MyEmtOutput( EMT.IPLGLSTR)
|
|
-- salvo posizione attuale
|
|
local OldL1 = EMT.L1
|
|
local OldL2 = EMT.L2
|
|
local OldL3 = EMT.L3
|
|
-- imposto posizione precedente (non contiene l'offset in X per sovramateriale di testa EMT.X_OFF)
|
|
EMT.L1 = EMT.L1o
|
|
EMT.L2 = EMT.L2o
|
|
EMT.L3 = EMT.L3o
|
|
-- trasformo i punti nel piano
|
|
MyAdjustLinearAxes()
|
|
EmtAdjustRotaryAxes()
|
|
EMT.L1p = nil
|
|
EMT.L2p = nil
|
|
EMT.L3p = nil
|
|
-- emissione movimento
|
|
-- local sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')
|
|
local sOut = 'G1'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..' F100000'
|
|
MyEmtOutput( sOut)
|
|
-- ripristino posizione attuale
|
|
EMT.L1 = OldL1
|
|
EMT.L2 = OldL2
|
|
EMT.L3 = OldL3
|
|
end
|
|
|
|
if EMT.FEEDFIRST then
|
|
local sOut = 'M_OK(1,'..EgtNumToString( EMT.S, 0)..')'
|
|
MyEmtOutput( sOut)
|
|
EMT.FEEDFIRST = false
|
|
end
|
|
|
|
-- aggiustamento valori
|
|
MyAdjustLinearAxes()
|
|
EmtAdjustRotaryAxes()
|
|
|
|
-- valori degli assi
|
|
local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')
|
|
-- se nulla da emettere, esco
|
|
if #sAxes == 0 then
|
|
return
|
|
end
|
|
-- aggiungo feed
|
|
local sFeed = EmtGetFeed()
|
|
-- emetto linea
|
|
MyEmtOutput( "G1"..sAxes..sFeed)
|
|
|
|
-- aggiorno valori come precedenti
|
|
EmtUpdatePrev()
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function OnArc()
|
|
MyBackupAxes()
|
|
EMT.TLAST = EMT.L1
|
|
|
|
if EMT.FEEDFIRST then
|
|
local sOut = 'M_OK(1,'..EgtNumToString( EMT.S, 0)..')'
|
|
MyEmtOutput( sOut)
|
|
EMT.FEEDFIRST = false
|
|
end
|
|
|
|
-- non modale su archi
|
|
EmtResetPrevLinear()
|
|
-- aggiustamento valori
|
|
MyAdjustLinearAxes()
|
|
EmtAdjustRotaryAxes()
|
|
|
|
-- valori degli assi
|
|
local sAxes = EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
|
|
EmtGetAxis('R2')..EmtGetAxis('R1')
|
|
-- se nulla da emettere, esco
|
|
if #sAxes == 0 then
|
|
return
|
|
end
|
|
-- valori delle coordinate del centro
|
|
EmtAdjustCenterAxes()
|
|
-- coordinate centro (per ora solo archi nel piano XY)
|
|
--local sCen = ' ' .. EMT.C1t .. EmtLenToString(EMT.C1,3) ..
|
|
-- ' ' .. EMT.C2t .. EmtLenToString(EMT.C2,3)
|
|
-- raggio
|
|
local sRad = ' ' .. EMT.RRt .. EmtLenToString(EMT.RR,3)
|
|
-- aggiungo feed
|
|
local sFeed = EmtGetFeed()
|
|
-- tipo arco
|
|
local sArc = 'G' .. EgtNumToString( EMT.MOVE, 0)
|
|
-- emetto arco
|
|
MyEmtOutput( sArc..sAxes..sRad..sFeed)
|
|
|
|
-- aggiorno valori come precedenti
|
|
EmtUpdatePrev()
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function CalcDinamicaPinze( dH, dS, dL)
|
|
local MinTempoAcc = 0.3 -- [s]
|
|
local MaxTempoAcc = 4.0 -- [s]
|
|
local KgMtCubo= 550 -- densità legno [Kg / metro cubo]
|
|
local Massa = ( dH * dS * dL * KgMtCubo ) / 1e9 -- massa [Kg]
|
|
local FMaxPinze = EMT.FMAXPINZE -- Feed massima pinze [mm/min]
|
|
local ForzaAttrito = 350 * 9.8 * 0.2 -- Forza chiusura pinze [Kgf] * g * Coeff_Attrito -> [N]
|
|
local TempoAcc = ( ( Massa * FMaxPinze) / ( 60 * ForzaAttrito) / 1000)
|
|
if ( TempoAcc < MinTempoAcc) then TempoAcc = MinTempoAcc end
|
|
if ( TempoAcc > MaxTempoAcc) then TempoAcc = MaxTempoAcc end
|
|
local AccMaxPinze = FMaxPinze / ( 60 * MinTempoAcc)
|
|
local AccPinze = FMaxPinze / ( 60 * TempoAcc)
|
|
local RidFeed = 100 / Massa * 100
|
|
if RidFeed > 100 then
|
|
RidFeed = 100
|
|
elseif RidFeed < 10 then
|
|
RidFeed = 10
|
|
end
|
|
return AccPinze, AccMaxPinze, RidFeed, TempoAcc
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function CalcCharStatus( sCmd, bSkipPress)
|
|
-- aperto
|
|
if sCmd == '0' then
|
|
return '1'
|
|
-- chiuso
|
|
elseif sCmd == '1' then
|
|
return '2'
|
|
-- chiuso con pressore attivato
|
|
elseif sCmd == '2' then
|
|
return EgtIf( bSkipPress, '2', '0')
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function CalcFeedYAC( dDeltaY, dDeltaA, dDeltaC)
|
|
local dTY = abs( dDeltaY) / FmaxY
|
|
local dTA = abs( dDeltaA) / FmaxA
|
|
local dTC = abs( dDeltaC) / FmaxC
|
|
local dT = max( dTY, dTA, dTC)
|
|
local dFeedY = FmaxY
|
|
if dTY > 0.001 then dFeedY = FmaxY * dTY / dT end
|
|
local dFeedA = FmaxA
|
|
if dTA > 0.001 then dFeedA = FmaxA * dTA / dT end
|
|
local dFeedC = FmaxC
|
|
if dTC > 0.001 then dFeedC = FmaxC * dTC / dT end
|
|
return dFeedY, dFeedA, dFeedC
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function PrepareLoad( sCmd, bStart)
|
|
local Cmd = EgtSplitString( sCmd)
|
|
if Cmd[1] == '0' then
|
|
-- se inizio
|
|
if EMT.AUXIND == 1 then
|
|
-- reset stato pinze
|
|
EMT.X1STAT = 0
|
|
EMT.X2STAT = 0
|
|
end
|
|
elseif Cmd[1] == '1' then
|
|
elseif Cmd[1] == '2' then
|
|
elseif Cmd[1] == '3' then
|
|
elseif Cmd[1] == '11' then
|
|
EMT.X1STAT = tonumber( Cmd[2])
|
|
elseif Cmd[1] == '12' then
|
|
EMT.X2STAT = tonumber( Cmd[2])
|
|
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.X1DELTA and not EMT.X2DELTA then
|
|
local sInfo = string.format( ';LOAD D1=%.1f', EMT.X1DELTA)
|
|
table.insert( EMT.AUXSTR, sInfo)
|
|
local nFunz = 1
|
|
local nVertClamp = EgtIf( EMT.X1STAT == 2, 1, 0)
|
|
local dPress = 2.5
|
|
local dFeed = GetClampFeed( EMT.LENGTHBEAM)
|
|
local dAcc = 4
|
|
local nOpt = 0
|
|
local sRef1 = EmtLenToString( EMT.X1DELTA, 3)
|
|
local sRef2 = EmtLenToString( ParkX1 + EMT.X1DELTA, 3)
|
|
local sOut = string.format( '_POSIZ_T(%d,%d,%.1f,%.1f,%.1f,%d,%s,%s,,)', nFunz, nVertClamp, dPress, dFeed, dAcc, nOpt, sRef1, sRef2)
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
-- preparo funzione di carico in caso di precarico attivo
|
|
nOpt = 1
|
|
EMT.PRELOADCMD = string.format( '_POSIZ_T(%d,%d,%.1f,%.1f,%.1f,%d,%s,%s,,)', nFunz, nVertClamp, dPress, dFeed, dAcc, nOpt, sRef1, sRef2)
|
|
EMT.X1CLAMP = true
|
|
end
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
-- funzione che restituisce il valore del paraemtro, scritto nell'indice successivo della stringa passata
|
|
function GetValInString( sString, sValToSearch)
|
|
local vsSplitString = EgtSplitString( sString, ',')
|
|
local dValue
|
|
for i = 1, #vsSplitString do
|
|
if vsSplitString[i] == sValToSearch then
|
|
if vsSplitString[i+1] then
|
|
dValue = vsSplitString[i+1]
|
|
end
|
|
end
|
|
end
|
|
return dValue
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function PrepareMoveChar( sCmd)
|
|
local Cmd = EgtSplitString( sCmd)
|
|
if Cmd[1] == '0' then
|
|
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
|
|
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
|
|
|
|
---------------------------------------------------------------------
|
|
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 = {}
|
|
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)
|
|
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)
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
end
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function PrepareSplit( sCmd)
|
|
local Cmd = EgtSplitString( sCmd)
|
|
if Cmd[1] == '0' then
|
|
-- non interessa
|
|
elseif Cmd[1] == '1' then
|
|
local sMsg = Cmd[2] .. Cmd[3]
|
|
table.insert( EMT.AUXCMD, sMsg)
|
|
if Cmd[2] == 'X1' then
|
|
local sOut = 'STOPRE'
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
EMT.NSTEP = EMT.NSTEP + 10
|
|
local sStep = EgtNumToString( EMT.NSTEP, 0)
|
|
sOut = '_STEP='..sStep
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
sOut = 'TRAILOF(X2,X1)'
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
sOut = '_N'..sStep..':STOPRE'
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
sOut = 'STOPRE'
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
sOut = 'TRANS'
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
EMT.TRAILON = nil
|
|
-- POSA manda in posiuzione asse X1 in modo asincrono (quindi continua con altri movimenti)
|
|
sOut = 'POSA[X1]='..Cmd[3]..' FA[X1]='..GetFmaxClamp()
|
|
EMT.WAIT_SPLIT = true
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
EMT.X1POS = tonumber( Cmd[3])
|
|
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
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function PrepareUnload( sCmd)
|
|
local Cmd = EgtSplitString( sCmd)
|
|
-- se ultima lavorazione si utilizza il POSIZ_T(5) per eseguire su processo 1
|
|
if IsLastMachining( EMT.MCHID) 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
|
|
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)
|
|
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
|
|
-- se scarico di un pezzo della barra, si utilizza POSIZ_T(6) per mettere su processo 2
|
|
else
|
|
if Cmd[1] == '0' then
|
|
-- non interessa
|
|
elseif Cmd[1] == '1' then
|
|
;
|
|
elseif Cmd[1] == '2' then
|
|
local sOut = 'STOPRE'
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
EMT.NSTEP = EMT.NSTEP + 10
|
|
local sStep = EgtNumToString( EMT.NSTEP, 0)
|
|
sOut = '_STEP='..sStep
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
local nFunz = 6
|
|
local nVertClamp = 0
|
|
local dPress = 2.5
|
|
local dFeed = GetClampFeed( EMT.LENGTHPART)
|
|
local dAcc = 4
|
|
local nOpt = 0
|
|
local sRef1 = Cmd[5]
|
|
local sRef2 = EmtLenToString( ParkX2 - ( EMT.LENGTHPART - EMT.X2DELTA), 3)
|
|
sOut = string.format( '_POSIZ_T(%d,%d,%.1f,%.1f,%.1f,%d,%s,%s,,)', nFunz, nVertClamp, dPress, dFeed, dAcc, nOpt, sRef1, sRef2)
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
sOut = '_N'..sStep..':STOPRE'
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
EMT.U_STD = true
|
|
elseif Cmd[1] == '3' then
|
|
;
|
|
elseif Cmd[1] == '11' then
|
|
;
|
|
elseif Cmd[1] == '12' then
|
|
;
|
|
elseif Cmd[1] == '21' then
|
|
-- non interessa
|
|
end
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function PreparePreRotation( sCmd)
|
|
local Cmd = EgtSplitString( sCmd)
|
|
if Cmd[1] == '0' then
|
|
if Cmd[2] == 'Move_End' 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
|
|
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
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function PreparePostRotation( sCmd)
|
|
local Cmd = EgtSplitString( sCmd)
|
|
if Cmd[1] == '0' then
|
|
if Cmd[2] == 'CARR_MOVE' then
|
|
EMT.CARRMOVE = true
|
|
elseif Cmd[2] == 'Move_End' then
|
|
EMT.CARRMOVE = nil
|
|
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
|
|
-- se inizio
|
|
if EMT.AUXIND == 1 then
|
|
-- reset stato pinze
|
|
EMT.X1STAT = 0
|
|
EMT.X2STAT = 0
|
|
end
|
|
elseif Cmd[1] == '1' then
|
|
if Cmd[2] ~= 'Z' then
|
|
if EMT.CARRMOVE 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
|
|
end
|
|
elseif Cmd[1] == '2' then
|
|
if EMT.CARRMOVE 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] == '3' then
|
|
if EMT.CARRMOVE 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))
|
|
end
|
|
elseif Cmd[1] == '11' then
|
|
EMT.X1STAT = tonumber( Cmd[2])
|
|
if EMT.CARRMOVE 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
|
|
end
|
|
elseif Cmd[1] == '12' then
|
|
EMT.X2STAT = tonumber( Cmd[2])
|
|
if EMT.CARRMOVE 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
|
|
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.X1DELTA and not EMT.X2DELTA then
|
|
local sInfo = string.format( ';LOAD D1=%.1f', EMT.X1DELTA)
|
|
table.insert( EMT.AUXSTR, sInfo)
|
|
local nFunz = 1
|
|
local nVertClamp = EgtIf( EMT.X1STAT == 2, 1, 0)
|
|
local dPress = 2.5
|
|
local dFeed = GetClampFeed( EMT.LENGTHBEAM)
|
|
local dAcc = 4
|
|
local nOpt = 0
|
|
local sRef1 = EmtLenToString( EMT.X1DELTA, 3)
|
|
local sRef2 = EmtLenToString( ParkX1 + EMT.X1DELTA, 3)
|
|
local sOut = string.format( '_POSIZ_T(%d,%d,%.1f,%.1f,%.1f,%d,%s,%s,,)', nFunz, nVertClamp, dPress, dFeed, dAcc, nOpt, sRef1, sRef2)
|
|
table.insert( EMT.AUXSTR, sOut)
|
|
EMT.X1CLAMP = true
|
|
EMT.X2CLAMP = nil
|
|
end
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function MyBackupAxes()
|
|
EMT.L1b = EMT.L1
|
|
EMT.L2b = EMT.L2
|
|
EMT.L3b = EMT.L3
|
|
EMT.R1b = EMT.R1
|
|
EMT.R2b = EMT.R2
|
|
EMT.R3b = EMT.R3
|
|
EMT.R4b = EMT.R4
|
|
EMT.RRb = EMT.RR
|
|
EMT.C1b = EMT.C1
|
|
EMT.C2b = EMT.C2
|
|
EMT.C3b = EMT.C3
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function MyRestoreAxes()
|
|
EMT.L1 = EMT.L1b
|
|
EMT.L2 = EMT.L2b
|
|
EMT.L3 = EMT.L3b
|
|
EMT.R1 = EMT.R1b
|
|
EMT.R2 = EMT.R2b
|
|
EMT.R3 = EMT.R3b
|
|
EMT.R4 = EMT.R4b
|
|
EMT.RR = EMT.RRb
|
|
EMT.C1 = EMT.C1b
|
|
EMT.C2 = EMT.C2b
|
|
EMT.C3 = EMT.C3b
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function MyAdjustLinearAxes()
|
|
local MyL1o = EMT.L1
|
|
local MyL2o = EMT.L2
|
|
local MyL3o = EMT.L3
|
|
|
|
if EMT.X_OFF then EMT.L1 = EMT.L1 + EMT.X_OFF end
|
|
|
|
EmtAdjustLinearAxes()
|
|
|
|
EMT.L1o = MyL1o
|
|
EMT.L2o = MyL2o
|
|
EMT.L3o = MyL3o
|
|
|
|
-- Assi geometrici sempre XYZ (indipendentemente dal nome assi fisici)
|
|
EMT.L1t = 'X'
|
|
EMT.L2t = 'Y'
|
|
EMT.L3t = 'Z'
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function CalcInterpPlane()
|
|
-- origine del piano
|
|
local xS = EMT.START[1] + LoadT
|
|
if EMT.X_OFF then xS = xS + EMT.X_OFF end
|
|
local ptS = Point3d( xS, DeltaTabY, DeltaTabZ)
|
|
-- calcolo per piano generico
|
|
local vtE
|
|
if EMT.HEAD ~= 'H3' then
|
|
vtE = Vector3d( EMT.EXTR)
|
|
else
|
|
vtE = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2, EMT.R3)
|
|
end
|
|
EMT.IPLGLFR = Frame3d( ptS, vtE)
|
|
--MyEmtOutput( 'IPLGLFR='..tostring(EMT.IPLGLFR))
|
|
local _, dAngV, dAngO = SphericalFromVector( vtE)
|
|
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]'
|
|
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]'
|
|
else
|
|
EmtSetLastError( 1214, "Part to machine without charriots")
|
|
end
|
|
EMT.IPLGLSTR = 'STOPRE\nTRANS'..sXout..sYout..sZout..
|
|
'\nAROT Z'..EgtNumToString( dAngO)..'\nAROT Y'..EgtNumToString( dAngV)..'\nAROT Z'..EgtNumToString( dAngO2)
|
|
EMT.IPLGL = true
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function VerifyEmitRotation()
|
|
-- recupero le rotazioni delle fasi corrente e precedente
|
|
local nRot = GetPhaseRot( EMT.PHASE)
|
|
local nPrevRot = GetPhaseRot( EMT.PHASE - 1)
|
|
-- se sono uguali non devo fare alcunchè
|
|
if nRot == nPrevRot then
|
|
return false
|
|
end
|
|
-- determino quanto ruotare
|
|
local nDeltaRot = nRot - nPrevRot
|
|
|
|
-- TODO RIBALTAMENTO DA GESTIRE
|
|
local sOut = 'M00 ; RUOTARE TRAVE n.' .. tostring( nDeltaRot)
|
|
MyEmtOutput( sOut)
|
|
|
|
return true
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function EmitZmax()
|
|
local sOut = 'SUPA G0 D0 Z'..EgtNumToString( ParkZ, 3)
|
|
MyEmtOutput( sOut)
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function EmitSpeedOn( nSpeed)
|
|
if not EMT.SPEED_ON then
|
|
MyEmtOutput( 'M_ON(1,'..EgtNumToString( nSpeed, 0) ..')')
|
|
EMT.SPEED_ON = true
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function EmitSpeedOff()
|
|
if EMT.SPEED_ON then
|
|
MyEmtOutput( 'M_OFF(1)')
|
|
EMT.SPEED_ON = nil
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function GetFmaxClamp()
|
|
return EmtLenToString( EMT.FMAXPINZE, 0)
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function GetClampFeed( dLen)
|
|
local KgMtCubo= 550 -- densità legno [Kg / metro cubo]
|
|
local Massa = ( EMT.HEIGHTPART * EMT.WIDTHPART * dLen * KgMtCubo ) / 1e9 -- massa [Kg]
|
|
local RefMassa = 100 -- massa di riferimento con massima feed
|
|
local dCoeff = EgtClamp( RefMassa / Massa, 0.1, 1)
|
|
return EmtLenToString( dCoeff * EMT.FMAXPINZE, 0)
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function CreateClampingFile()
|
|
local sOriginalFileName = string.sub( EMT.FILE, 1, -5)
|
|
local sCalmpingFile = sOriginalFileName .. '_POSIZ.mpf'
|
|
|
|
local nfile = io.open( sCalmpingFile, "w")
|
|
if nfile then
|
|
nfile:write( ';file dei posizionamenti\n')
|
|
nfile:write( 'DEF STRING[255] JUMP3\n\n')
|
|
nfile:write( 'JUMP3="_N"<<_STEP3<<""\n\n')
|
|
|
|
-- si scrivono i riposizionamenti salvati in precedenza
|
|
for i = 1, #ALL_CLAMP_POS do
|
|
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')
|
|
local nInternalStep = 0
|
|
for j = 1, #ALL_CLAMP_POS[i] do
|
|
-- comando speciale per aggiungere etichetta per ripartenza
|
|
if ALL_CLAMP_POS[i][j] == '###_ADD_STEP_###' then
|
|
nInternalStep = nInternalStep + 1
|
|
local nStep = nReposNumber + nInternalStep
|
|
nfile:write( ' _N' .. EgtNumToString( nStep) ..':_STEP3=' .. EgtNumToString( nStep) .. '\n')
|
|
else
|
|
nfile:write( ' ' .. ALL_CLAMP_POS[i][j] .. '\n')
|
|
end
|
|
end
|
|
nfile:write( ' M17\n')
|
|
nfile:write( 'ENDIF\n')
|
|
end
|
|
|
|
nfile:close()
|
|
ALL_CLAMP_POS = {}
|
|
else
|
|
EmtSetLastError( 1201, 'UNEXPECTED ERROR')
|
|
end
|
|
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
local ParkedLines = {}
|
|
|
|
---------------------------------------------------------------------
|
|
function MyEmtOutput( sLine)
|
|
if EMT.PARKLINES then
|
|
table.insert( ParkedLines, sLine)
|
|
else
|
|
EmtOutput( sLine)
|
|
end
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function EmitParkedLines()
|
|
for i = 1, #ParkedLines do
|
|
EmtOutput( ParkedLines[i])
|
|
end
|
|
ParkedLines = {}
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
local StartValues = {}
|
|
|
|
---------------------------------------------------------------------
|
|
function SetStartValue( nI, dVal)
|
|
StartValues[nI] = dVal
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
function EmitStartValues()
|
|
local sLine = ''
|
|
for i = 1, 8 do
|
|
sLine = sLine .. string.format( ';V%02d=', i) .. EgtNumToString( StartValues[i] or 0, 3)
|
|
end
|
|
EmtOutput( sLine)
|
|
end
|
|
|
|
---------------------------------------------------------------------
|
|
-- *** END GENERATION ***
|
|
---------------------------------------------------------------------
|