-- Processore standard macchine FAST by EgalWare s.r.l.   2024/02/23
-- Con controllo numerico TPA

-- carico librerie
local INFO_STD_PP = require( 'Version')

-- Variabili di modulo
local CSP_INFO =     INFO_STD_PP.NAME..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
local MACHINE_INFO = MACH_NAME..'  ver.'..PP_VER
local TEST_USE = false

---------------------------------------------------------------------
-- *** GENERATION ***
---------------------------------------------------------------------
function OnStart()
   -- controllo versione programma
   if not EMT.VER or EMT.VER < MIN_MACH_VER then
      EmtSetLastError( 1200, 'A newer version of the program is required (minimum EgtMachKernel '..MIN_MACH_VER..')')
   end
   EMT.USETO1 = false     -- abilitazione uso origine tavola
   EMT.MODAL = true       -- abilitazione emissione modale
   EMT.INCHES = false     -- unità di misura mm/inches
   EMT.DECNUM = 5         -- numero di decimali dopo la virgola
   EMT.NUM = false        -- abilitazione numerazione linee
   --EMT.Nt = 'N'           -- token per la numerazione di linea
   --EMT.LINENBR = 0        -- numero di linea
   --EMT.LINEINC = 1        -- incremento numerazione linee
   --EMT.Ft = 'F'           -- token per feed
   --EMT.St = 'S'           -- token per speed
   EMT.FMAXPINZE = 154000 -- feed massima pinze
end

---------------------------------------------------------------------
function OnEnd()
   -- Ripristino fase iniziale come corrente
   EgtSetCurrPhase( 1)
end

---------------------------------------------------------------------
function OnProgramStart()

   -- aggiungo prefisso per commentae commenti iniziali se la macchina è utilizzata per fare i test
   local sPrefixCommentLine = '' ; if IS_TEST_MACHINE or EgtEndsWith( EgtGetCurrMachineDir(), '.TEST') then sPrefixCommentLine = '//' end

   -- Intestazioni
   if EMT.INFO then
      ParkLine( sPrefixCommentLine..'('..EMT.INFO..')')
   else
      ParkLine( '(Program Start)')
   end
   ParkLine( sPrefixCommentLine..'('.. CSP_INFO..')')
   ParkLine( sPrefixCommentLine..'('.. MACHINE_INFO..')')

   -- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
   if TEST_USE then
      ParkLine( 'M199')
   end
   -- Cerco primo utensile su testa 1
   EMT.TOOL_1, EMT.TLEN_1 = FindFirstToolOnHead( 'H1')
   -- Dichiaro inizio
   EMT.FIRST = true
   EMT.TLAST = nil
   -- Inizializzazioni varie
   ParkLine( 'M6 T000000')
   ParkLine( 'G49')
   -- Inizio lista utensili
   ParkLine( 'M993 (Tool List Start)')
end

---------------------------------------------------------------------
function OnProgramEnd()
   -- Arresto mandrino
   EmtOutput( 'M05')
   -- Emissione scarico
   --for i = 1, #EMT.AUXCMD do
   --   EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
   --end
   EMT.AUXCMD = {}
   for i = 1, #EMT.AUXSTR do
      EmtOutput( EMT.AUXSTR[i])
   end
   if #EMT.AUXSTR > 0 then
      if EMT.AUXTYPE == 'S' then
         EmtOutput( 'M111 P1=20')
         EmtOutput( 'M111 P1=30')
      elseif EMT.AUXTYPE == 'R' then
         EmtOutput( 'M111 P1=20')
         EmtOutput( 'M111 P1=30')
      elseif EMT.AUXTYPE == 'U' then
         local sP1x = EgtIf( EMT.CHY_ON, '0', '2')
         EmtOutput( 'M111 P1=2'..sP1x)
         EmtOutput( EgtIf( EMT.U_STD, ';', '')..'M111 P1=3'..sP1x)
         -- emissione conclusione pezzo precedente (se non si è in test)
         if not TEST_USE and EMT.PRODID then
            local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2' 
            EmtOutput( sEnd)
         end
      end
   end
   EMT.AUXSTR = {}
   EMT.AUXTYPE = nil
   EMT.U_STD = nil
   EMT.UNL = nil
   EMT.PREROT = nil
   EMT.SPLITROT = nil
   EMT.CHY_ON = nil
   EMT.FALL = nil
   EMT.RELOAD = nil
   EMT.RELOAD2 = nil
   -- Termino il programma
   EmtOutput( 'M02')
end

---------------------------------------------------------------------
function OnToolData()
   -- emissione dati utensili
   if EMT.HEAD == 'H1' then
      local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( EMT.TLEN, 3) .. ' P3=' .. EmtLenToString( EMT.TDIAM, 3) ..
                   ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
      ParkLine( sOut)
      -- cerco posizione di attrezzaggio del primo utensile di lavorazione
      if EMT.TOOL == EMT.TOOL_1  and  EMT.TLEN_1 < LONG_TOOL_MINLEN then
         EMT.TCPOS_1 = EMT.TCPOS
      end
   -- emissione dati lama
   elseif EMT.HEAD == 'H2' then
      local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( EMT.TLEN, 3) .. ' P3=' .. EmtLenToString( EMT.TDIAM, 3) ..
                   ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
      ParkLine( sOut)
   -- emissione dati sega a catena
   elseif EMT.HEAD == 'H3' then
      if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
      local sData = ' P2=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), 3) .. ' P3=' .. EmtLenToString( EMT.TLEN, 3) ..
                    ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), 3)
      if EMT.TCPOS == 'T101' then
         ParkLine( 'M992 P1=101' .. sData)
         ParkLine( 'M992 P1=102' .. sData)
         ParkLine( 'M992 P1=103' .. sData)
         ParkLine( 'M992 P1=104' .. sData)
      else
         ParkLine( 'M992 P1=111' .. sData)
         ParkLine( 'M992 P1=112' .. sData)
         ParkLine( 'M992 P1=113' .. sData)
         ParkLine( 'M992 P1=114' .. sData)
      end
   -- emissione dati rinvio
   elseif EMT.HEAD == 'H5' or EMT.HEAD == 'H6' then
      local nPos = EgtIf( EMT.HEAD == 'H5', 91, 93)
      if EMT.EXIT == 2 then nPos = nPos + 1 end
      local sOut = 'M992 P1=' .. EgtNumToString( nPos, 0) .. ' P2=' .. EmtLenToString( EMT.TLEN, 3) .. ' P3=' .. EmtLenToString( EMT.TDIAM, 3) ..
                   ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
      ParkLine( sOut)
   -- altro non previsto
   else
      EmtSetLastError( 1211, 'Head not allowed ' .. EMT.HEAD)
   end
end

---------------------------------------------------------------------
function OnDispositionStart()
   --EmtOutput( '(Disposition '..EMT.DISPIND..' = '..EMT.DISPID..')')
   EMT.OPEISDISP = true
   -- Assegnazione parametri disposizione
   EMT.TPOS = EgtGetInfo( EMT.DISPID, 'TPOS', 'd') 
   EMT.YPOS = EgtGetInfo( EMT.DISPID, 'YPOS', 'd')   
   -- Se prima disposizione
   if EMT.PHASE == 1 then
      -- terminazione lista utensili
      ParkLine( 'G990 (Tool List End)')
      -- abilito numerazione linee
      EMT.NUM = false
      EMT.LINENBR = 0
      ParkLine( 'M28')
      -- emissione dati di macchina
      local sOut = 'M114'..' P1='..EmtLenToString( LoadT, 2)..' P2='..EmtLenToString( MinY, 2)..' P3='..EmtLenToString( MaxY, 2)..
                   ' P4='..EmtLenToString( MinV, 2)..' P5='..EmtLenToString( MaxV, 2)..' P6='..EmtLenToString( MillOffs, 2)..
                   ' P7='..EmtLenToString( SawOffs, 2)..' P8='..EmtLenToString( ParkY, 2)..' P9='..EmtLenToString( ParkV, 2)..
                   ' P10='..EmtLenToString( TurnerOffs, 2)..' P11='..EmtLenToString( -DeltaTabY, 2)..' P12='..EmtLenToString( DeltaTabZ - MillOffs, 2)
      if SecondSupport >= 3 then
         sOut = sOut ..' P13='..EmtLenToString( AngTr1Len, 2) ..' P14='..EmtLenToString( AngTr1Offs + MillOffs,2)
      end
      ParkLine( sOut)
      -- carico barra
      EMT.LOAD = true
   else
      EMT.LOAD = false
      if IsEnd2Phase( EMT.PHASE - 1) then
         EMT.RELOAD = true
         EMT.RELOAD2 = false
      elseif IsStartPhase( EMT.PHASE) then
         EMT.YDELTA = EMT.YPOS - LoadT
         EMT.VDELTA = nil
      end
   end
end

---------------------------------------------------------------------
function OnDispositionEnd()
   -- Se disposizione inizio o rimanenza
   if IsStartOrRestPhase( EMT.PHASE) then
      -- reset recupero sovramateriale in X non più presente
      EMT.X_OFF = nil
      -- gruppo con info da BTL (se mancano prova dal gruppo di lavoro corrente)
      local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
      -- dati del grezzo
      local LBarra = EMT.LB
      -- dati del pezzo
      local IdTrave = EMT.IT
      local LTrave = EMT.LT
      local HTrave = EMT.HT
      local STrave = EMT.ST
      local HOverM = EMT.HOVM

      -- calcolo dati pinze
      local TempAccPinze, TempMinAccPinze, RidFeed = CalcDinamicaPinze( HTrave, STrave, LBarra)
      local TempAccPinz1, TempMinAccPinz1, RidFeed1 = CalcDinamicaPinze( HTrave, STrave, LBarra - LTrave)
      local TempAccPinz2, TempMinAccPinz2, RidFeed2 = CalcDinamicaPinze( HTrave, STrave, LTrave)

      if IdTrave >= 0 then
         local sPrt = '( *** Part '.. EgtNumToString( IdTrave, 0) ..' ***)'
         local sOut = '( SN=' .. IdTrave .. ' LBarra=' .. EmtLenToString( LBarra, 3) .. ' L='..EmtLenToString( LTrave, 3) ..
                      ' H=' .. EmtLenToString( HTrave, 3) .. ' S=' .. EmtLenToString( STrave, 3) .. ' )'
         EMT.PRODID = EgtGetInfo( BtlInfoId, 'PRODID', 'i') or 0
         EMT.PATTID = EgtGetInfo( BtlInfoId, 'PATTID', 'i') or 0
         EMT.CUTID = EgtGetInfo( EMT.IDT, 'CUTID', 'i') or 0
         local sStart = 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=1' 
         if EMT.LOAD then
            ParkLine( sPrt)
            ParkLine( sOut)
            if not TEST_USE then ParkLine( sStart) end
         else
            EmtOutput( sPrt)
            EmtOutput( sOut)
            if not TEST_USE then EmtOutput( sStart) end
         end
      else
         EmtOutput( '(REMAIN UNLOAD)')
         EMT.PRODID = nil
         EMT.PATTID = nil
         EMT.CUTID = nil
      end
      -- imposto dati pezzo
      local nLoad90 = EgtGetInfo( BtlInfoId, 'LOAD90', 'i') or 0
      -- se carico barra
      if EMT.LOAD or EMT.RELOAD then
         sOut = 'M115 P1=' .. EmtLenToString( LBarra, 2) .. ' P2=' .. EmtLenToString( HTrave, 2) .. ' P3=' .. EmtLenToString( STrave, 2) ..
                ' P4=' .. EmtLenToString( HOverM, 2) .. ' P5=' .. tostring( nLoad90) .. ' P6=' .. EmtLenToString( LTrave, 2) ..
                ' P7=' .. EgtNumToString( TempAccPinze, 2) .. ' P8=' .. EgtNumToString( TempAccPinz2, 2) .. ' P9=' .. EgtNumToString( TempAccPinz1, 2)
         if EMT.LOAD then
            ParkLine( sOut)
            SetStartValue( 1, LBarra)
            SetStartValue( 2, HTrave)
            SetStartValue( 3, STrave)
            SetStartValue( 6, HOverM)
            SetStartValue( 7, nLoad90)
         else
            EmtOutput( sOut)
         end
      -- altrimenti recupero rimanenza
      else
         sOut = 'M115 P1=' .. EmtLenToString( LBarra, 2) .. ' P2=' .. EmtLenToString( HTrave, 2) .. ' P3=' .. EmtLenToString( STrave, 2) ..
                ' P4=' .. EmtLenToString( HOverM, 2) .. ' P5=' .. tostring( nLoad90) .. ' P6=' .. EmtLenToString( EgtIf( IdTrave >= 0, LTrave, LBarra), 2) ..
                ' P7=' .. EgtNumToString( TempAccPinze, 2) .. ' P8=' .. EgtNumToString( TempAccPinz2, 2) .. ' P9=' .. EgtNumToString( TempAccPinz1, 2)
         EmtOutput( sOut)
         EmtOutput( 'M112'..' P1='..EmtLenToString( LoadT, 3).. ' P5=1 P6='..EmtLenToString( EMT.YPOS, 3)..' P7='..EmtLenToString( ParkV, 3) ..' P9='..GetFmaxClamp())
         -- aggiorno dati aggancio carrelli alla trave
         EMT.YDELTA = EMT.YPOS - LoadT
         EMT.VDELTA = nil
      end
      -- eventuale preparazione per rotazione immediata
      if IsStartPhase( EMT.PHASE) and EMT.AUXSTR then
         -- emissione movimento carrelli per rotazione
         EMT.AUXCMD = {}
         if #EMT.AUXSTR > 0 then
            EmtOutput( '( ** Rotation ** )')
         end
         for i = 1, #EMT.AUXSTR do
            EmtOutput( EMT.AUXSTR[i])
         end
         if #EMT.AUXSTR > 0 then
            EmtOutput( 'M111 P1=20')
            EmtOutput( 'M111 P1=30')
         end
         EMT.AUXSTR = {}
         EMT.AUXTYPE = nil
      end
   -- se altrimenti disposizione intermedia, eventuale rotazione
   elseif IsMidPhase( EMT.PHASE) or IsEnd2Phase( EMT.PHASE) then
      -- se rotazioni diverse, emetto il comando e aggiorno lo stato
      if VerifyEmitRotation() then
         -- imposto stato post-rotazione
         EMT.POSTROT = true
         -- imposto recupero sovramateriale in X non più presente
         EMT.X_OFF = EMT.HOVM
      end
   -- se altrimenti disposizione intermedia speciale con eventuale rotazione
   elseif IsMid2Phase( EMT.PHASE) then
      -- emissione movimento carrelli
      EMT.AUXCMD = {}
      if #EMT.AUXSTR > 0 then
         EmtOutput( '( ** Rotation ** )')
      end
      for i = 1, #EMT.AUXSTR do
         EmtOutput( EMT.AUXSTR[i])
      end
      if #EMT.AUXSTR > 0 then
         EmtOutput( 'M111 P1=20')
         EmtOutput( 'M111 P1=30')
      end
      EMT.AUXSTR = {}
      EMT.AUXTYPE = nil
      -- se rotazioni diverse, emetto il comando e aggiorno lo stato
      if VerifyEmitRotation() then
         -- imposto stato post-rotazione
         EMT.POSTROT = true
         -- imposto recupero sovramateriale in X non più presente
         EMT.X_OFF = EMT.HOVM
      end
   -- altrimenti disposizione finale, eventuale scarico pezzo lavorato se non ci sono lavorazioni
   else   
      EMT.AUXCMD = {}
      if #EMT.AUXSTR > 0 then
         EmtOutput( '( ** Unload ** )')
      end
      for i = 1, #EMT.AUXSTR do
         EmtOutput( EMT.AUXSTR[i])
      end
      if #EMT.AUXSTR > 0 then
         EmtOutput( 'M111 P1=22')
         -- se dopo c'è scarico spezzone devo mettere attesa termine esecuzione
         if IsRestPhase( EMT.PHASE + 1) then
            EmtOutput( 'M111 P1=32')
         else
            EmtOutput( EgtIf( EMT.U_STD, ';', '')..'M111 P1=32')
         end
         -- emissione conclusione pezzo precedente (se non in modalità test)
         if not TEST_USE and EMT.PRODID then
            local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2' 
            EmtOutput( sEnd)
         end
      end
      EMT.AUXSTR = {}
      EMT.AUXTYPE = nil
      EMT.U_STD = nil
   end

   EMT.OPEISDISP = false
end

---------------------------------------------------------------------
function OnTableData()
end

---------------------------------------------------------------------
function OnFixtureData()
end

---------------------------------------------------------------------
function OnRawMoveData()
   -- Se disposizione inizio o rimanenza
   if IsStartOrRestPhase( EMT.PHASE) then
      -- se primo grezzo, reset lunghezza barra
      if EMT.RAWIND == 1 then EMT.LB = 0 end   
      -- aggiungo la lunghezza del grezzo (solo se movimento in corner)
      if EMT.RAWTYPE == 1 then
         local b3Raw = EgtGetBBoxGlob( EgtGetFirstNameInGroup( EMT.RAWID, 'RawSolid'), GDB_BB.STANDARD)
         local LBarra = b3Raw:getDimX()
         EMT.LB = EMT.LB + LBarra
      end
      -- se primo grezzo, calcolo dati del pezzo
      if EMT.RAWIND == 1 then
         local PartId = EgtGetFirstPartInRawPart( EMT.RAWID)
         if PartId then
            EMT.IDT = PartId
            EMT.IT = EgtGetInfo( PartId, 'PDN', 'i') or 0
            local b3Part = EgtGetBBoxGlob( EgtGetFirstNameInGroup( PartId, 'Box'), GDB_BB.STANDARD)
            EMT.LT = b3Part:getDimX()
            EMT.HT = b3Part:getDimY()
            EMT.ST = b3Part:getDimZ()
            EMT.HOVM = EgtGetInfo( EMT.RAWID, 'HOVM', 'd') or 0
         else
            EMT.IDT = GDB_ID.NULL
            EMT.IT = -1
            EMT.LT = 0
            EMT.HT = EMT.HT or 0
            EMT.ST = EMT.ST or 0
            EMT.HOVM = 0
         end
      end
   end
end

---------------------------------------------------------------------
function OnToolSelect()
   -- se utensile definito (non definito per disposizioni con movimento)
   if EMT.TOOL ~= '' then
      -- verifiche su utensile
      local sTool = EgtTdbGetToolFromUUID( EgtGetMachiningParam( MCH_MP.TUUID) or "")
      if sTool ~= EMT.TOOL then error( "Tool name mismatch") end
      -- predefinite EMT.TCPOS EMT.HEAD EMT.EXIT
      EMT.TOOLTYPE = EgtTdbGetCurrToolParam( MCH_TP.TYPE)
      EMT.TOOLSEL = EMT.TCPOS..' M06'
      EMT.TDIAM = EgtTdbGetCurrToolParam( MCH_TP.DIAM)
      EMT.TTOTDIAM = EgtTdbGetCurrToolParam( MCH_TP.TOTDIAM)
      EMT.TLEN = EgtTdbGetCurrToolParam( MCH_TP.LEN)
      EMT.TTOTLEN = EgtTdbGetCurrToolParam( MCH_TP.TOTLEN)
      if MCH_TP.DIST then EMT.TDIST = EgtTdbGetCurrToolParam( MCH_TP.DIST) end
      if EMT.TDIST and abs( EMT.TDIST) < 0.1 then EMT.TDIST = nil end
   end
end

---------------------------------------------------------------------
function OnToolDeselect()
end

---------------------------------------------------------------------
function OnMachiningStart()
   --EMT.MCHNAME = EgtGetMachiningParam( MCH_MP.NAME)
   EMT.MCHNAME = EgtGetOperationName( EMT.MCHID)
   EMT.MCHTYPE = EgtGetMachiningParam( MCH_MP.TYPE)
   EMT.MCHUSERNOTES = EgtGetMachiningParam( MCH_MP.USERNOTES)
   -- sistemazione speed (la speed della lama va moltiplicata per 6)
   if EMT.HEAD == 'H2' then
      EMT.S = EMT.S * 6
   elseif EMT.HEAD == 'H5' and EMT.EXIT == 1 then
      EMT.S = -EMT.S
   elseif EMT.HEAD == 'H6' and EMT.EXIT == 1 then
      EMT.S = -EMT.S
   end
   -- determino subito se taglio di separazione di pezzo a caduta
   EMT.PREFALLCUT = nil
   if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Split') then
      local ClId = EgtGetFirstNameInGroup( EMT.MCHID, 'CL')
      local P1Id = EgtGetFirstNameInGroup( ClId or GDB_ID.NULL, 'P1')
      local sAE1 = EgtGetInfo( P1Id or GDB_ID.NULL, 'AE1') or ''
      if sAE1 == '0,Fall' then
         EMT.PREFALLCUT = true
      end
   end
end

---------------------------------------------------------------------
function OnMachiningEnd()
   --EmtOutput( ';Mach End')
   -- Emissione split
   --for i = 1, #EMT.AUXCMD do
   --   EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
   --end
   EMT.AUXCMD = {}
   if #EMT.AUXSTR > 0 then
      if EMT.AUXTYPE == 'S' then
         EmtOutput( '( ** Split ** )')
      elseif EMT.AUXTYPE == 'U' then
         if not EMT.ZMAX then
            EmitZmax()
         end
         EmtOutput( '( ** Unload ** )')
      elseif EMT.AUXTYPE == 'P' then
         if EMT.PREROT then
            EmitZmax()
            EmtOutput( '( ** Rotation ** )')
         elseif EMT.FALL then
            if not EMT.ZMAX then
               EmitZmax()
            end
            EmtOutput( '( ** Fall ** )')
         else
            EmitZmax()
            EmtOutput( '( ** Split 2 ** )')
         end
      end
   end
   for i = 1, #EMT.AUXSTR do
      EmtOutput( EMT.AUXSTR[i])
   end
   if #EMT.AUXSTR > 0 then
      if EMT.AUXTYPE == 'S' then
         EmtOutput( 'M111 P1=20')
         EmtOutput( 'M111 P1=30')
      elseif EMT.AUXTYPE == 'U' then
         local sP1x = EgtIf( EMT.CHY_ON, '0', '2')
         EmtOutput( 'M111 P1=2'..sP1x)
         -- se dopo cè scarico spezzone devo mettere attesa termine esecuzione
         if IsRestPhase( EMT.PHASE +1) then
            EmtOutput( 'M111 P1=3'..sP1x)
         else
            EmtOutput( EgtIf( EMT.U_STD, ';', '')..'M111 P1=3'..sP1x)
         end
         -- emissione conclusione pezzo precedente (se non è modalità test)
         if not TEST_USE and EMT.PRODID then
            local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2' 
            EmtOutput( sEnd)
         end
      elseif EMT.AUXTYPE == 'P' then
         EmtOutput( 'M111 P1=20')
         EmtOutput( 'M111 P1=30')
         if EMT.FALL then 
            EmtOutput( 'M155')
            -- emissione conclusione pezzo (se non in modalità test)
            if not TEST_USE and EMT.PRODID then
               local sEnd= 'M113 P1='..tostring( EMT.PRODID)..' P2='..tostring( EMT.PATTID)..' P3='..tostring( EMT.CUTID)..' P4=2' 
               EmtOutput( sEnd)
            end
         elseif not EMT.PREROT then
            EmtOutput( 'M77')
         end
      end
   end
   EMT.AUXSTR = {}
   EMT.AUXTYPE = nil
   EMT.U_STD = nil
   EMT.PREVTOOL = EMT.TOOL
   EMT.PREVHEAD = EMT.HEAD
   EMT.PREVS = EMT.S
end

---------------------------------------------------------------------
function OnPathStart()
   -- non ancora iniziata la lavorazione
   EMT.MCHFIRST = true
   EMT.MCHFIRSTFEED = true
   -- primo posizionamento sempre in globale
   EMT.REFLOC = nil
   EMT.IPLGL = false

   -- salvo precedenti rotanti
   EMT.R1pp = EMT.R1p
   EMT.R2pp = EMT.R2p

   -- reset valori precedenti (per forzare emissione di tutti gli assi del 1° movimento)
   EmtResetPrev()
   EMT.AUXCMD = {}
   EMT.AUXSTR = {}
end

---------------------------------------------------------------------
function OnPathEnd()
   if not EMT.ZMAX then
      EmtOutput( 'G27')
      EmtOutput( 'M6 T000000')
      EmtOutput( 'M99')
   end
   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
      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.VDELTA) or ( DeltaT > GEO.EPS_SMALL and EMT.YDELTA) then bHeadFirst = false end
      end
      -- sistemo movimenti
      MyAdjustLinearAxes()
      EmtAdjustRotaryAxes()
      if not ( EMT.LOAD or EMT.RELOAD) then
         if not EMT.ZMAX and #EMT.AUXSTR > 0 then
            EmitZmax()
            bHeadFirst = false
         end
      end
      -- primo posizionamento
      local MyZHome = EgtGetAxisHomePos( 'Z')
      local bZmax = ( #EMT.AUXSTR > 0  or  EMT.TOOL ~= EMT.PREVTOOL  or EMT.L3 > -1)
      -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
      if ( EMT.PREVHEAD == 'H3' or EMT.TTOTLEN > 200) and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
         local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, 3) .. ' P3=' .. EmtLenToString( MyZHome, 3) ..
                                 ' P4=' .. EgtNumToString( EMT.R2pp, 3) .. ' P5=' .. EgtNumToString( EMT.R1pp, 3) .. 
                                 ' P6=' .. EgtNumToString( EMT.PREVTCPOS, 3) .. ' P7=' .. EgtNumToString( EMT.PREVS, 0) ..
                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
         EmtOutput( sOutPreMove)
         EmtOutput( 'M101 P1=2')
         EmtOutput( 'M101 P1=3')
      end

      if not EMT.LOAD then
         local sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '['), '%)', ']')
         EmtOutput( '( * ' .. sOut .. ' * )')
      end

      -- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
      if ( EMT.HEAD == 'H3' or EMT.TTOTLEN > 200) and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
         local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, 3) .. ' P3=' .. EmtLenToString( MyZHome, 3) ..
                                 ' P4=' .. EgtNumToString( EMT.R2, 3) .. ' P5=' .. EgtNumToString( EMT.R1, 3) .. 
                                 ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
         EmtOutput( sOutPreMove)
         EmtOutput( 'M101 P1=2')
         EmtOutput( 'M101 P1=3')
      end
      -- resetto valori precedenti
      EmtResetPrev()
      local MyZPos = EMT.L3
      -- se sono su pezzi alti e movimento da emettere, per sicurezza a Z massima
      if EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
         MyZPos = MyZHome
      end
      local sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( EMT.L2, 3) .. ' P3=' .. EmtLenToString( MyZPos, 3) ..
                       ' P4=' .. EgtNumToString( EMT.R2, 3) .. ' P5=' .. EgtNumToString( EMT.R1, 3) .. 
                       ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                       ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
      if EMT.LOAD then
         ParkLine( sOut)
      else
         EmtOutput( sOut)
      end
      sOut = 'M101 P1=2'
      if EMT.LOAD then
         ParkLine( sOut)
      else
         if bHeadFirst then EmtOutput( sOut) end
      end
      -- se prima lavorazione
      if EMT.LOAD then
         --for i = 1, #EMT.AUXCMD do
         --   EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
         --end
         EMT.AUXCMD = {}
         local bOnlyCharY = true
         for i = 1, #EMT.AUXSTR do
            ParkLine( EMT.AUXSTR[i])
            if string.find( EMT.AUXSTR[i], 'P1=10', 1, true) then bOnlyCharY = false end
         end
         EMT.AUXSTR = {}
         sOut = EgtIf( bOnlyCharY, 'M111 P1=21', 'M111 P1=20')
         ParkLine( sOut)
         sOut = EgtIf( bOnlyCharY, 'M111 P1=31', 'M111 P1=30')
         ParkLine( sOut)
         sOut = string.gsub( string.gsub( EMT.MCHNAME..'/'..EMT.TOOL, '%(', '['), '%)', ']')
         ParkLine( '( * ' .. sOut ..' * )')
         sOut = 'M101 P1=3'
         ParkLine( sOut)
         local sY, sA
         if EMT.YDELTA then
            sY = EmtLenToString( EMT.L1 + EMT.YDELTA)
            sA = '1'
         else
            sY = EmtLenToString( ParkY)
            sA = '2'
         end
         local sV, sB
         if EMT.VDELTA then
            sV = EmtLenToString( EMT.L1 + EMT.VDELTA)
            sB = '1'
         else
            sV = EmtLenToString( ParkV)
            sB = '2'
         end
         sOut = 'M112 P1='..EmtLenToString( EMT.L1, 3)..' P3='..sA..' P4='..sB..' P5=0 P6='..sY..' P7='..sV..' P9='..GetFmaxClamp()
         ParkLine( sOut)
         EMT.LOAD = false
         -- emissione prime linee speciali e linee parcheggiate
         EmitStartValues()
         EmtOutput( ';LISTA = ' .. tostring( EMT.PRODID))
         EmitParkedLines()
      -- altrimenti lavorazione successiva
      else
         -- eventuale G111
         --for i = 1, #EMT.AUXCMD do
         --   EmtOutput( '( ' .. EMT.AUXCMD[i] .. ' )')
         --end
         EMT.AUXCMD = {}
         for i = 1, #EMT.AUXSTR do
            EmtOutput( EMT.AUXSTR[i])
         end
         if #EMT.AUXSTR > 0 then
            if not ( EMT.POSTROT or EMT.RELOAD) then
               EmtOutput( 'M111 P1=20')
               EmtOutput( 'M111 P1=30')
            else
               EmtOutput( 'M111 P1=21')
               EmtOutput( 'M111 P1=31')
            end
         end
         EMT.AUXSTR = {}
         local sY, sA
         if EMT.YDELTA then
            sY = EmtLenToString( EMT.L1 - ( EMT.X_OFF or 0) + EMT.YDELTA)
            sA = '1'
         else
            sY = EmtLenToString( EgtIf( EMT.YPOS, EMT.YPOS, ParkY))
            sA = '2'
         end
         local sV, sB
         if EMT.VDELTA then
            sV = EmtLenToString( EMT.L1 - ( EMT.X_OFF or 0) + EMT.VDELTA)
            sB = '1'
         else
            sV = EmtLenToString( ParkV)
            sB = '2'
         end
         -- se taglio di coda senza residuo da scaricare, emetto M175 per accelerare il carico della barra successiva
         if EMT.MCHUSERNOTES and EMT.MCHUSERNOTES:find( 'Cut') and ( IsEndPhase( EMT.PHASE+1) or IsEnd2Phase( EMT.PHASE+1)) then
            EmtOutput( 'M175')
         end
         if bHeadFirst then
            sOut = 'M101 P1=3'
            EmtOutput( sOut)
         end
         sOut = 'M112 P1=' .. EmtLenToString( EMT.L1, 3) ..' P3='..sA..' P4='..sB..' P6='..sY..' P7='..sV..' P9=' .. GetFmaxClamp()
         EmtOutput( sOut)
         if not bHeadFirst then
            sOut = 'M101 P1=2'
            EmtOutput( sOut)
            sOut = 'M101 P1=3'
            EmtOutput( sOut)
         end
         EMT.POSTROT = false
         EMT.RELOAD = false
         EMT.RELOAD2 = nil
      end
      -- se taglio di separazione prima di scarico a caduta, emissione stop tappeto scarico trucioli
      if EMT.PREFALLCUT then
         EmtOutput( '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 per piano generico
         CalcInterpPlane()
         EMT.REFLOC = 1
         -- trasformo i punti nel piano
         MyAdjustLinearAxes()
         EmtAdjustRotaryAxes()
         EMT.L1p = nil
         EMT.L2p = nil
         EMT.L3p = nil
         EmtOutput( 'M102 P1=' .. GetFaceCode())
         EmtOutput( 'M98')
         sOut = 'M6 T1' .. AdjustToolKinematic() .. AdjustTcPos( true)
         EmtOutput( sOut)
         EmtOutput( 'G24' .. EMT.IPLGLSTR)
         -- forzo successiva emissione assi rotanti
         EMT.R1p = nil
         EMT.R2p = nil
      else
         MyAdjustLinearAxes()
         EmtAdjustRotaryAxes()
      end
      -- emissione movimento
      local sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
                         EmtGetAxis('R2')..EmtGetAxis('R1')
      EmtOutput( sOut)
   -- se altrimenti risalita a Z max a fine lavorazione
   elseif EMT.FLAG == 3 then
      EMT.REFLOC = nil
      EMT.IPLGL = false
      MyAdjustLinearAxes()
      EmtAdjustRotaryAxes()
      EmitZmax( true)
      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
      error( "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 per piano generico
      CalcInterpPlane()
      EMT.REFLOC = 1
      -- 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
      EmtOutput( 'M102 P1=' .. GetFaceCode())
      EmtOutput( 'M98')
      local sOut = 'M6 T1' .. AdjustToolKinematic() .. AdjustTcPos( true)
      EmtOutput( sOut)
      EmtOutput( 'G24' .. EMT.IPLGLSTR)
      -- emissione movimento
      EMT.R1p = nil
      EMT.R2p = nil
      sOut = 'G0'..EmtGetAxis('L1')..EmtGetAxis('L2')..EmtGetAxis('L3')..
                   EmtGetAxis('R2')..EmtGetAxis('R1')
      EmtOutput( sOut)
      -- ripristino posizione attuale
      EMT.L1 = OldL1
      EMT.L2 = OldL2
      EMT.L3 = OldL3
   end

   -- se primo movimento in feed della lavorazione, dichiaro inizio lavorazione
   if EMT.MCHFIRSTFEED then
      EMT.MCHFIRSTFEED = nil
      EmtOutput( 'M97')
   end

   -- aggiustamento valori
   MyAdjustLinearAxes()
   EmtAdjustRotaryAxes()

   -- valori degli assi
   local sL1, bL1 = EmtGetAxis( 'L1')
   local sL2, bL2 = EmtGetAxis( 'L2')
   local sL3, bL3 = EmtGetAxis( 'L3')
   local sR1, bR1 = EmtGetAxis( 'R1')
   local sR2, bR2 = EmtGetAxis( 'R2')
   local sAxes = sL1 .. sL2 .. sL3 .. sR2 .. sR1
   -- se nulla da emettere, esco
   if #sAxes == 0 then return end
   -- aggiungo feed
   local sFeed = EmtGetFeed()
   -- emetto linea
   EmtOutput( "G1"..sAxes..sFeed)

   -- arresto preciso in angoli di fresature per utensili (non penne) di piccolo diametro
   if EMT.MCHTYPE == MCH_MY.MILLING and EMT.TTOTDIAM < 15 and abs( EMT.S) > 1000 and ( bL1 or bL2) and not bL3 then
      EmtOutput( 'G9')
   -- arresto preciso in fondo al foro
   elseif EMT.FLAG == 101 then
      EmtOutput( 'G9')
   end

   -- aggiorno valori come precedenti
   EmtUpdatePrev()
end

---------------------------------------------------------------------
function OnArc()
   MyBackupAxes()
   EMT.TLAST = EMT.L1
   -- se primo movimento in feed della lavorazione, dichiaro inizio lavorazione
   if EMT.MCHFIRSTFEED then
      EMT.MCHFIRSTFEED = nil
      EmtOutput( 'M97')
   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 string.len( 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, EMT.DECNUM)
   -- aggiungo feed
   local sFeed = EmtGetFeed()
   -- tipo arco
   local sArc = 'G' .. EgtNumToString(EMT.MOVE,0)
   -- emetto arco
   EmtOutput( 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= WoodDensity or 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 TempoAcc * 1000, MinTempoAcc * 1000, RidFeed
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 PrepareLoad( sCmd, bStart)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se inizio
      if EMT.AUXIND == 1 then
         -- imposto stato pinze
         EMT.SA = ' P4=111'
         EMT.SB = ' P5=112'
         EMT.SC = ' P6=141'
         EMT.SD = ' P7=141'
         EMT.SE = ' P8=0'
      end
      -- se dichiarazione inizio riposizionamento carrelli
      if Cmd[2] == 'CARR_MOVE' then
         if bStart then
            EMT.RELOAD = false
         else
            EMT.RELOAD2 = true
         end
         for i = 1, #EMT.AUXSTR do
            EMT.AUXSTR[i] = string.gsub( EMT.AUXSTR[i], 'P1=11', 'P1=10')
         end
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] ~= 'Z' then
         local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
         local sOut = 'M111 P1=10'..sPar2..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
         if Cmd[2] == 'Y' then EMT.YPOS = tonumber( Cmd[3]) end
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] == 'Y' then
         local sYTaking = ' P2='..EmtLenToString( Cmd[3] + TurnerOffs)
         local sOut = 'M111 P1=11' .. sYTaking .. ' P4=75 P5=110 P8=0 P9=' .. GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
         SetStartValue( 4, Cmd[3] + TurnerOffs)
         SetStartValue( 5, 110)
      end
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
      local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
      local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
      local sPar6 = EgtIf( Cmd[6] == 'Y', ' P2=', ' P3=')
      local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
                                 (EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
                                 (EgtIf( Cmd[6] ~= 'T', sPar6 .. Cmd[7], ''))..
                                 EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' P5=11' .. CalcCharStatus( Cmd[2])
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
      end
      EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2])
      EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2])
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' P7=14' .. CalcCharStatus( Cmd[2])
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
      end
      EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2])
      EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2])
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
      end
      if not FindM111P4EQ76( EMT.AUXSTR) then
         local sYLoad = ' P2=' .. EmtLenToString( LoadT)
         local sOut = 'M111 P1=11' .. sYLoad .. ' P4=76 P5=110 P8=0 P9=' .. GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
      end
   end
end

---------------------------------------------------------------------
function PrepareMoveChar( sCmd)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se inizio
      if EMT.AUXIND == 1 then
         -- imposto stato pinze
         EMT.SA = EgtIf( EMT.YDELTA, ' P4=112', ' P4=111')
         EMT.SB = EgtIf( EMT.YDELTA, ' P5=112', ' P5=111')
         EMT.SC = EgtIf( EMT.VDELTA, ' P6=142', ' P6=141')
         EMT.SD = EgtIf( EMT.VDELTA, ' P7=142', ' P7=141')
         EMT.SE = EgtIf( EMT.YDELTA, ' P8=1', ' P8=2')
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] ~= 'Z' then
         local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
         local sOut = 'M111 P1=10'..sPar2..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
         if Cmd[2] == 'Y' then EMT.YPOS = tonumber( Cmd[3]) end
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
      local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
      local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
                                 (EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
                                 EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
      local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
      local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
      local sPar6 = EgtIf( Cmd[6] == 'Y', ' P2=', ' P3=')
      local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
                                 (EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
                                 (EgtIf( Cmd[6] ~= 'T', sPar6 .. Cmd[7], ''))..
                                 EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' P5=11' .. CalcCharStatus( Cmd[2])
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
      end
      EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2])
      EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2])
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' P7=14' .. CalcCharStatus( Cmd[2])
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
      end
      EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2])
      EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2])
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
     end
   end
end

---------------------------------------------------------------------
function PrepareResidue( sCmd)

   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se non è scarico
      if Cmd[2] ~= 'Unloading' then
         -- se inizio o subito dopo, imposto stato iniziale pinze
         if EMT.AUXIND <= 2 then
            EMT.SA = EgtIf( EMT.YDELTA, ' P4=112', ' P4=111')
            EMT.SB = EgtIf( EMT.YDELTA, ' P5=112', ' P5=111')
            EMT.SC = EgtIf( EMT.VDELTA, ' P6=142', ' P6=141')
            EMT.SD = EgtIf( EMT.VDELTA, ' P7=142', ' P7=141')
            EMT.SE = EgtIf( EMT.YDELTA, ' P8=1', ' P8=2')
         end
      else
         EMT.UNL = true
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] ~= 'Z' then
         local sOut
         local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
         if not EMT.UNL then
            sOut = 'M111 P1=10'..sPar2..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
         else
            sOut = 'M111 P1=10'..sPar2..Cmd[3]..' P6=141 P7=84 P8=0 P9='..GetFmaxClamp()
         end
         table.insert( EMT.AUXSTR, sOut)
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
      local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
      local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
                                 (EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
                                 EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
      local sPar2 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
      local sPar4 = EgtIf( Cmd[4] == 'Y', ' P2=', ' P3=')
      local sPar6 = EgtIf( Cmd[6] == 'Y', ' P2=', ' P3=')
      local sOut = 'M111 P1=10'..(EgtIf( Cmd[2] ~= 'T', sPar2 .. Cmd[3], ''))..
                                 (EgtIf( Cmd[4] ~= 'T', sPar4 .. Cmd[5], ''))..
                                 (EgtIf( Cmd[6] ~= 'T', sPar6 .. Cmd[7], ''))..
                                 EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' P5=11' .. CalcCharStatus( Cmd[2], true)
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
      end
      EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2], true)
      EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2], true)
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' P7=14' .. CalcCharStatus( Cmd[2], true)
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
      end
      EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2], true)
      EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2], true)
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
     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] == 'Y' then
         local sOut = 'M111 P1=10'..' P2='..Cmd[3]..' P4=112 P5=112 P6=142 P7=142 P8=2 P9='..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
         EMT.YPOS = tonumber( Cmd[3])
      end   
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
      end
   end
end

---------------------------------------------------------------------
function PrepareUnload( 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] == 'V' then
         -- se non è ultima fase c'è una barra sulla pinza Y (1)
         local sP1 = EgtIf( EMT.CHY_ON, '10', '12')
         local sP7 = '84'
         if not EMT.U_STD then
            sP7 = EgtIf( EMT.U_MAN ~= 1, '85', '114')
            EMT.U_MAN = EgtIf( EMT.U_MAN == 1, nil, 1)
         end
         local sP8 = EgtIf( EMT.PHASE == EgtGetPhaseCount() or IsEnd2Phase( EMT.PHASE), '0', '1')
         local sOut = 'M111 P1='..sP1..' P3='..Cmd[3]..' P6=141 P7='..sP7..' P8='..sP8..' P9='..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[4] == 'V' then
          -- se non è ultima fase c'è una barra sulla pinza Y (1)
         local sP1 = EgtIf( EMT.CHY_ON, '10', '12')
         local sP45 = EgtIf( EMT.PHASE == EgtGetPhaseCount() or IsEnd2Phase( EMT.PHASE), '111', '112')
         local sOut = 'M111 P1='..sP1..' P3='..Cmd[5]..' P4=' .. sP45 .. ' P5=' .. sP45 .. ' P6=142 P7=141 P8=2 P9='..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
         EMT.U_STD = true
      end
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. EgtIf( Cmd[2] == '0', ' 0', ' 1')
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. EgtIf( Cmd[2] == '0', ' 0', ' 1')
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '21' then
      -- non interessa
   end
end

---------------------------------------------------------------------
function PreparePreRotation( sCmd)
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se inizio o subito dopo, imposto stato iniziale pinze
      if EMT.AUXIND <= 2 then
         EMT.SA = EgtIf( EMT.YDELTA, ' P4=112', ' P4=111')
         EMT.SB = EgtIf( EMT.YDELTA, ' P5=112', ' P5=111')
         EMT.SC = EgtIf( EMT.VDELTA, ' P6=142', ' P6=141')
         EMT.SD = EgtIf( EMT.VDELTA, ' P7=142', ' P7=141')
         EMT.SE = EgtIf( EMT.YDELTA, ' P8=1', ' P8=2')
      end
      -- se è pre-rotazione
      if Cmd[2] == 'Pre-Rotation' then
         EMT.PREROT = true
      elseif Cmd[2] == 'SplitRot' then
         EMT.SPLITROT = true
         EMT.SE = ' P8=2'
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] ~= 'Z' then
         local sOut
         local sP23 = EgtIf( Cmd[2] == 'Y', ' P2=', ' P3=')
         if not EMT.PREROT then
            sOut = 'M111'..' P1=10'..sP23..Cmd[3]..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
         else
            sOut = 'M111 P1=10'..sP23..Cmd[3]..' P4=86 P5=87 P6=141 P8=0 P9='..GetFmaxClamp()
         end
         table.insert( EMT.AUXSTR, sOut)
      end
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      local sP2 = ''
      local sP3 = ''
      if Cmd[2] == 'Y' then
         sP2 = ' P2=' .. Cmd[3]
      elseif Cmd[4] == 'Y' then
         sP2 = ' P2=' .. Cmd[5]
      end
      if Cmd[2] == 'V' then
         sP3 = ' P3=' .. Cmd[3]
      elseif Cmd[4] == 'V' then
         sP3 = ' P3=' .. Cmd[5]
      end
      local sOut = 'M111 P1=10'..sP2..sP3..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
      local sP2 = ''
      local sP3 = ''
      if Cmd[2] == 'Y' then
         sP2 = ' P2=' .. Cmd[3]
      elseif Cmd[4] == 'Y' then
         sP2 = ' P2=' .. Cmd[5]
      elseif Cmd[6] == 'Y' then
         sP2 = ' P2=' .. Cmd[7]
      end
      if Cmd[2] == 'V' then
         sP3 = ' P3=' .. Cmd[3]
      elseif Cmd[4] == 'V' then
         sP3 = ' P3=' .. Cmd[5]
      elseif Cmd[6] == 'V' then
         sP3 = ' P3=' .. Cmd[7]
      end
      local sOut = 'M111 P1=10'..sP2..sP3..EMT.SA..EMT.SB..EMT.SC..EMT.SD..EMT.SE..' P9='..GetFmaxClamp()
      table.insert( EMT.AUXSTR, sOut)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' P5=11' .. CalcCharStatus( Cmd[2], true)
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SB, sVal)
      end
      if EMT.SPLITROT then
         EMT.SA = EgtIf( Cmd[2] ~= '0', ' P4=11' .. CalcCharStatus( Cmd[2], true), ' P4=86')
         EMT.SB = EgtIf( Cmd[2] ~= '0', ' P5=11' .. CalcCharStatus( Cmd[2], true), ' P5=87')
         EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
      else
         EMT.SA = ' P4=11' .. CalcCharStatus( Cmd[2], true)
         EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2], true)
         EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=1', ' P8=2')
      end
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      if #EMT.AUXSTR > 0 then
         local sVal = ' P7=14' .. CalcCharStatus( Cmd[2], true)
         local sOut = EMT.AUXSTR[#EMT.AUXSTR]
         EMT.AUXSTR[#EMT.AUXSTR] = sOut:gsub( EMT.SD, sVal)
      end
      EMT.SC = ' P6=14' .. CalcCharStatus( Cmd[2], true)
      EMT.SD = ' P7=14' .. CalcCharStatus( Cmd[2], true)
      EMT.SE = EgtIf( Cmd[2] ~= '0', ' P8=2', ' P8=1')
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
     end
   end
end

---------------------------------------------------------------------
function PreparePostRotation( sCmd)
   -- è sostanzialmente un carico
   local Cmd = EgtSplitString( sCmd)
   if Cmd[1] == '0' then
      -- se inizio
      if EMT.AUXIND == 1 then
         -- imposto stato pinze
         EMT.SB = ' P5=112'
      end
      -- se dichiarazione inizio riposizionamento carrelli
      if Cmd[2] == 'CARR_MOVE' then
         EMT.POSTROT = false
         for i = 1, #EMT.AUXSTR do
            EMT.AUXSTR[i] = string.gsub( EMT.AUXSTR[i], 'P1=11', 'P1=10')
         end
      end
   elseif Cmd[1] == '1' then
      local sMsg = Cmd[2] .. Cmd[3]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '2' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5]
      table.insert( EMT.AUXCMD, sMsg)
      if Cmd[2] == 'Y' then
         -- tolgo eventuale sovramateriale presente sul pezzo in posizione iniziale (la misura laser è ora col finito)
         -- su NUM si pone E80058=0, con TPA non sembra necessaria una equivalente impostazione
         local sYTaking = ' P2='..EmtLenToString( Cmd[3] - EMT.HOVM)
         local sOut = 'M111 P1=11'..sYTaking..' P4=75 P5=110 P8=0 P9='..GetFmaxClamp()
         table.insert( EMT.AUXSTR, sOut)
      end
   elseif Cmd[1] == '3' then
      local sMsg = Cmd[2] .. Cmd[3] ..' '.. Cmd[4] .. Cmd[5] ..' '.. Cmd[6] .. Cmd[7]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '11' then
      local sMsg = 'PY' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
      EMT.SB = ' P5=11' .. CalcCharStatus( Cmd[2])
   elseif Cmd[1] == '12' then
      local sMsg = 'PV' .. ' ' .. Cmd[2]
      table.insert( EMT.AUXCMD, sMsg)
   elseif Cmd[1] == '21' then
      local nYDelta = tonumber( Cmd[2])
      local nVDelta = tonumber( Cmd[3])
      if nYDelta > 0 and nVDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nVDelta
      elseif nYDelta > 0 then
         EMT.YDELTA = nYDelta
         EMT.VDELTA = nil
      elseif nVDelta > 0 then
         EMT.YDELTA = nil
         EMT.VDELTA = nVDelta
     end
     local sYLoad = ' P2='..EmtLenToString( LoadT)
     local sOut = 'M111 P1=11'..sYLoad..' P4=76'..EMT.SB..' P8=0 P9='..GetFmaxClamp()
     table.insert( EMT.AUXSTR, sOut)
   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.REFLOC then
      local vtE
      if EMT.HEAD == 'H1' or EMT.HEAD == 'H2' then
         local Len = EMT.TLEN + EgtIf( EMT.HEAD == 'H1', MillOffs, abs( SawOffs))
         local LenRef = MillOffs
         vtE = Vector3d( EMT.EXTR) * Len - Z_AX() * LenRef
      elseif EMT.HEAD == 'H3' then
         local LenAux = ( EMT.TDIST or ChSawLen) + MillOffs
         local LenRef = MillOffs
         local vtAux = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2, EMT.R3)
         vtE = vtAux * LenAux - Z_AX() * LenRef
      elseif  EMT.HEAD == 'H5' then
         local Len = EMT.TLEN + AngTr1Len
         local LenAux = MillOffs + AngTr1Offs
         local LenRef = MillOffs
         local vtAux = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2)
         vtE = Vector3d( EMT.EXTR) * Len + vtAux * LenAux - Z_AX() * LenRef
      else
         EmtSetLastError( 1211, 'Head not allowed ' .. EMT.HEAD)
      end
      EMT.L1 = EMT.L1 - vtE:getX()
      EMT.L2 = EMT.L2 - DeltaTabY - vtE:getY()
      EMT.L3 = EMT.L3 - DeltaTabZ - vtE:getZ()
   end

   if EMT.X_OFF then EMT.L1 = EMT.L1 + EMT.X_OFF end

   EmtAdjustLinearAxes()

   EMT.L1o = MyL1o
   EMT.L2o = MyL2o
   EMT.L3o = MyL3o

   if not EMT.REFLOC then
      EMT.L2 = -EMT.L2
      EMT.L1t = 'Y'
      EMT.L2t = 'X'
   else
      EMT.L1t = 'X'
      EMT.L2t = 'Y'
   end
end

---------------------------------------------------------------------
function AdjustToolKinematic()
   if EMT.HEAD == 'H1' or EMT.HEAD == 'H3' then
      return '01'
   elseif EMT.HEAD == 'H2' then
      return '02'
   elseif EMT.HEAD == 'H5' then
      return EgtIf( EMT.EXIT == 1, '11', '12')
   elseif EMT.HEAD == 'H6' then
      return EgtIf( EMT.EXIT == 1, '21', '22')
   else
      EmtSetLastError( 1211, 'Head not allowed ' .. EMT.HEAD)
   end
end

---------------------------------------------------------------------
function AdjustTcPos( bLen3)
   local sPos = EMT.TCPOS:gsub( 'T', '')
   if sPos == '91' then
      if EMT.EXIT == 2 then
         sPos = '92'
      end
   elseif sPos == '93' then
      if EMT.EXIT == 2 then
         sPos = '94'
      end
   elseif sPos == '101' and EMT.HEAD == 'H3' then
      if abs( EMT.R3 - 0) < 0.1 then
         sPos = '101'
      elseif abs( EMT.R3 - 270) < 0.1 then
         sPos = '102'
      elseif abs( EMT.R3 - 180) < 0.1 then
         sPos = '103'
      elseif abs( EMT.R3 - 90) < 0.1 then
         sPos = '104'
      else
         EmtSetLastError( 1210, 'Chain saw orientation not allowed')
      end
   elseif sPos == '111' and EMT.HEAD == 'H3' then
      if abs( EMT.R3 - 0) < 0.1 then
         sPos = '111'
      elseif abs( EMT.R3 - 270) < 0.1 then
         sPos = '112'
      elseif abs( EMT.R3 - 180) < 0.1 then
         sPos = '113'
      elseif abs( EMT.R3 - 90) < 0.1 then
         sPos = '114'
      else
         EmtSetLastError( 1210, 'Mortiser orientation not allowed')
      end
   end
   if bLen3 then
      if #sPos == 1 then
         sPos = '00' .. sPos
      elseif #sPos == 2 then
         sPos = '0' .. sPos
      end
   end
   -- salvo posizione
   EMT.PREVTCPOS = sPos
   return sPos
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, 0, 0)
   -- 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)
   --EmtOutput( 'IPLGLFR='..tostring(EMT.IPLGLFR))
   local vtX = EMT.IPLGLFR:getVersX()
   local vtY = EMT.IPLGLFR:getVersY()
   local vtZ = EMT.IPLGLFR:getVersZ()
   EMT.IPLGLSTR = ' X0 Y' .. EmtLenToString( xS, EMT.DECNUM) .. ' Z0' ..
                  ' A' .. EgtNumToString( - vtX:getY(), 6) .. ' B' .. EgtNumToString( vtX:getX(), 6) .. ' C' .. EgtNumToString( vtX:getZ(), 6) ..
                  ' I' .. EgtNumToString( - vtY:getY(), 6) .. ' J' .. EgtNumToString( vtY:getX(), 6) .. ' K' .. EgtNumToString( vtY:getZ(), 6) ..
                  ' P' .. EgtNumToString( - vtZ:getY(), 6) .. ' Q' .. EgtNumToString( vtZ:getX(), 6) .. ' R' .. EgtNumToString( vtZ:getZ(), 6)
   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
   -- rotazione automatica o manuale (sempre con il medesimo comando)
   local nDeltaRot = nRot - nPrevRot
   local sOut = 'M180 P1=' .. tostring( nDeltaRot)
   EmtOutput( sOut)
   return true
end

---------------------------------------------------------------------
function GetFaceCode()
   if EMT.YDELTA and EMT.VDELTA then
      return '3'
   elseif EMT.YDELTA then
      return '6'
   else
      return '5'
   end
end

---------------------------------------------------------------------
function EmitZmax( bReset)
   if bReset then
      EmtOutput( 'G27')
      EmtOutput( 'M6 T000000')
      EmtOutput( 'M99')
   end
   EmtOutput( 'M116')
end

---------------------------------------------------------------------
function GetFmaxClamp()
   return EmtLenToString( EMT.FMAXPINZE / 1000, 0)
end

---------------------------------------------------------------------
function FindM111P4EQ76( vStr)
   for i = 1, #vStr do
      if vStr[i]:find( 'M111', 1, true) and vStr[i]:find( 'P4=76', 1, true) then
         return true
      end
   end
   return false
end

---------------------------------------------------------------------
local ParkedLines = {}

---------------------------------------------------------------------
function ParkLine( sLine)
   table.insert( ParkedLines, sLine)
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, 10 do
      sLine = sLine .. string.format( ';V%02d=', i) .. EgtNumToString( StartValues[i] or 0, 3)
   end
   EmtOutput( sLine)
end

---------------------------------------------------------------------
-- *** END GENERATION ***
---------------------------------------------------------------------