diff --git a/EgtMachKernel.rc b/EgtMachKernel.rc
index c7268ec..97de961 100644
Binary files a/EgtMachKernel.rc and b/EgtMachKernel.rc differ
diff --git a/Machine.cpp b/Machine.cpp
index c0da66c..413bab4 100644
--- a/Machine.cpp
+++ b/Machine.cpp
@@ -36,7 +36,9 @@ Machine::Machine( void)
    m_nGroupId = GDB_ID_NULL ;
    m_nTempGroupId = GDB_ID_NULL ;
    m_dAxisMaxAdjust = EPS_SMALL ;
+   m_dAxisMaxRotAdj = 10 * EPS_ANG_SMALL ;
    m_dExitMaxAdjust = EPS_SMALL ;
+   m_dExitMaxRotAdj = 10 * EPS_ANG_SMALL ;
    m_dAngDeltaMinForHome = INFINITO ;
    m_nCalcTabId = GDB_ID_NULL ;
    m_nCalcHeadId = GDB_ID_NULL ;
@@ -376,10 +378,19 @@ Machine::AdjustAxis( int nLay, const string& sPart, const string& sName,
   // altrimenti asse rotante, devo verificarne direzione e coassialità (questa solo se non abilitato movimento)
    else {
       Vector3d vtDirN = vtDir ;
-      if ( ! vtDirN.Normalize()  ||  ! AreSameVectorApprox( vtAxis, vtDirN)) {
-         string sOut = "  Wrong Axis Vector or Dir " + sPart ;
-         LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
-         return false ;
+      if ( ! vtDirN.Normalize()  ||  ! AreSameVectorEpsilon( vtAxis, vtDirN, 10 * SIN_EPS_ANG_SMALL)) {
+         double dAngRot ;
+         if ( ! vtAxis.GetAngle( vtDirN, dAngRot)  ||  abs( dAngRot) > m_dExitMaxRotAdj) {
+            string sOut = "  Wrong Axis Vector or Dir " + sPart ;
+            LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
+            return false ;
+         }
+         else {
+            Vector3d vtRotAx = vtAxis ^ vtDirN ; vtRotAx.Normalize() ;
+            string sOut = "  Axis " + sName + " rotation = (" + ToString( dAngRot) + "/" + ToString( vtRotAx) + ")" ;
+            LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
+            m_pGeomDB->RotateGlob( nId, ptBase, vtRotAx, dAngRot) ;
+         }
       }
       Vector3d vtDelta = ptPos - ptBase ;
       Vector3d vtDeltaPerp = vtDelta - ( vtDelta * vtDirN) * vtDirN ;
@@ -390,7 +401,7 @@ Machine::AdjustAxis( int nLay, const string& sPart, const string& sName,
             return false ;
          }
          else {
-            string sOut = "  Move = (" + ToString( vtDelta) + ")" ;
+            string sOut = "  Axis " + sName +  " move = (" + ToString( vtDelta) + ")" ;
             LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
             m_pGeomDB->TranslateGlob( nId, vtDelta) ;
          }
@@ -777,12 +788,12 @@ Machine::CreateExitGroups( int nLay, const MUEXITVECTOR& vMuExit)
          Vector3d vtDelta = vMuExit[i].ptPos - ptPos ;
          if ( ! vtDelta.IsSmall()) {
             if ( vtDelta.Len() > m_dExitMaxAdjust) {
-               string sOut = "  Wrong Exit Position " + sName + " move = (" + ToString( vtDelta) +")" ;
+               string sOut = "  Wrong Exit Position " + sName + " move = (" + ToString( vtDelta) + ")" ;
                LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
                return false ;
             }
             else {
-               string sOut = "  Exit " + sName + " move = (" + ToString( vtDelta) +")" ;
+               string sOut = "  Exit " + sName + " move = (" + ToString( vtDelta) + ")" ;
                LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
                vtDelta.ToLoc( frHead) ;
                frFrame.Translate( vtDelta) ;
@@ -790,10 +801,21 @@ Machine::CreateExitGroups( int nLay, const MUEXITVECTOR& vMuExit)
             }
          }
          Vector3d vtDirN = vMuExit[i].vtTDir ;
-         if ( ! vtDirN.Normalize()  ||  ! AreSameVectorApprox( vtTDir, vtDirN)) {
-            string sOut = "  Wrong Exit Vector " + sName ;
-            LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
-            return false ;
+         if ( ! vtDirN.Normalize()  ||  ! AreSameVectorEpsilon( vtTDir, vtDirN, 10 * SIN_EPS_ANG_SMALL)) {
+            double dAngRot ;
+            if ( ! vtTDir.GetAngle( vtDirN, dAngRot)  ||  abs( dAngRot) > m_dExitMaxRotAdj) {
+               string sOut = "  Wrong Exit Vector " + sName ;
+               LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
+               return false ;
+            }
+            else {
+               Vector3d vtRotAx = vtTDir ^ vtDirN ; vtRotAx.Normalize() ;
+               string sOut = "  Exit " + sName + " rotation = (" + ToString( dAngRot) + "/" + ToString( vtRotAx) + ")" ;
+               LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
+               vtRotAx.ToLoc( frHead) ;
+               frFrame.Rotate( frFrame.Orig(), vtRotAx, dAngRot) ;
+               GetGeoFrame3d( m_pGeomDB->GetGeoObj( nT))->Set( frFrame) ;
+            }
          }
         // inserisco gruppo con riferimento del frame
          int nGT = m_pGeomDB->InsertGroup( GDB_ID_NULL, nT, GDB_BEFORE, frFrame) ;
diff --git a/Machine.h b/Machine.h
index 3ecda2e..e16c807 100644
--- a/Machine.h
+++ b/Machine.h
@@ -244,7 +244,9 @@ class Machine
       int           m_nTempGroupId ;         // Id del gruppo temporaneo macchina per carico
       STRINT_UMAP   m_mapGroups ;            // dizionario dei gruppi della macchina
       double        m_dAxisMaxAdjust ;       // massimo aggiustamento asse da geometria a descrizione cinematica
+      double        m_dAxisMaxRotAdj ;       // massima rotazione di aggiustamento asse da geometria a descrizione cinematica
       double        m_dExitMaxAdjust ;       // massimo aggiustamento uscita da geometria a descrizione cinematica
+      double        m_dExitMaxRotAdj ;       // massima rotazione di aggiustamento uscita da geometria a descrizione cinematica
       double        m_dAngDeltaMinForHome ;  // minima differenza angolare da valore precedente per scegliere di stare vicino a home
       INTVECTOR     m_vLinkedRawParts ;      // elenco dei grezzi agganciati a gruppi della macchina
       INTVECTOR     m_vLinkedFixtures ;      // elenco dei bloccaggi agganciati a gruppi della macchina
diff --git a/MachineLua.cpp b/MachineLua.cpp
index 420ede2..ad227e0 100644
--- a/MachineLua.cpp
+++ b/MachineLua.cpp
@@ -30,7 +30,9 @@ static const string FLD_OFFSET = "Offset" ;
 static const string FLD_SPECIAL = "Special" ;
 static const string FLD_PROCESSOR = "Processor" ;
 static const string FLD_AXISMAXADJUST = "AxisMaxAdjust" ;
+static const string FLD_AXISMAXROTADJ = "AxisMaxRotAdj" ;
 static const string FLD_EXITMAXADJUST = "ExitMaxAdjust" ;
+static const string FLD_EXITMAXROTADJ = "ExitMaxRotAdj" ;
 static const string FLD_ANGDELTAMINFORHOME = "AngDeltaMinForHome" ;
 static const string FLD_NAME = "Name" ;
 static const string FLD_PARENT = "Parent" ;
@@ -275,9 +277,15 @@ Machine::LuaEmtGeneral( lua_State* L)
   // lettura eventuale campo 'AxisMaxAdjust' dalla tabella (default EPS_SMALL)
    double dAxisMaxAdjust = EPS_SMALL ;
    LuaGetTabFieldParam( L, 1, FLD_AXISMAXADJUST, dAxisMaxAdjust) ;
+  // lettura eventuale campo 'AxisMaxRotAdj' dalla tabella (default 10 * EPS_ANG_SMALL)
+   double dAxisMaxRotAdj = 10 * EPS_ANG_SMALL ;
+   LuaGetTabFieldParam( L, 1, FLD_AXISMAXROTADJ, dAxisMaxRotAdj) ;
   // lettura eventuale campo 'ExitMaxAdjust' dalla tabella (default EPS_SMALL)
    double dExitMaxAdjust = EPS_SMALL ;
    LuaGetTabFieldParam( L, 1, FLD_EXITMAXADJUST, dExitMaxAdjust) ;
+  // lettura eventuale campo 'ExitMaxRotAdj' dalla tabella (default 10 * EPS_ANG_SMALL)
+   double dExitMaxRotAdj = 10 * EPS_ANG_SMALL ;
+   LuaGetTabFieldParam( L, 1, FLD_EXITMAXROTADJ, dExitMaxRotAdj) ;
   // lettura eventuale campo 'AngDeltaForHome' dalla tabella (default INFINITO)
    double dAngDeltaMinForHome = INFINITO ;
    LuaGetTabFieldParam( L, 1, FLD_ANGDELTAMINFORHOME, dAngDeltaMinForHome) ;
@@ -323,7 +331,9 @@ Machine::LuaEmtGeneral( lua_State* L)
 
   // imposto massimo spostamento assi e uscite tra definizione cinematica e geometria
    m_pMchLua->m_dAxisMaxAdjust = dAxisMaxAdjust ;
+   m_pMchLua->m_dAxisMaxRotAdj = dAxisMaxRotAdj ;
    m_pMchLua->m_dExitMaxAdjust = dExitMaxAdjust ;
+   m_pMchLua->m_dExitMaxRotAdj = dExitMaxRotAdj ;
 
   // imposto minima differenza angolare da posizione precedente per stare vivino a posizione home
    m_pMchLua->m_dAngDeltaMinForHome = dAngDeltaMinForHome ;