Aggiornata versione macchina

Allineamento con common ver. 2.7j2
Allineamento con common ver. 2.7j1
2025-10-08 16:12:47 +02:00 · 2025-10-08 16:12:25 +02:00 · 2025-10-06 15:58:47 +02:00 · 2025-09-23 14:39:58 +02:00 · 2025-09-23 11:31:12 +02:00 · 2025-09-17 09:23:46 +02:00
18 changed files with 790 additions and 289 deletions
@@ -75,7 +75,9 @@ local BeamData = {
   PRECUT_HEAD = true,                      -- flag abilitazione pretaglio grezzo a zero in testa
   PRECUT_TAIL = true,                      -- flag abilitazione pretaglio grezzo a zero in coda
   MIN_HEIGHT_ADDED_CUTS = 400,             -- altezza minima pezzo per effettuare tagli orizzontali aggiuntivi in testa e coda
-   GAIN_RECLAMPING = 1000                   -- in caso di scarso pinzaggio, mm da recuperare con pinzaggio ulteriore prima di spostare
+   GAIN_RECLAMPING = 1000,                  -- in caso di scarso pinzaggio, mm da recuperare con pinzaggio ulteriore prima di spostare
   STRATEGIES_SCRIPT = 'Essetre',
   STRATEGIES_CONFIG_FILE = 'Std1.json'
 }
 -- Aggiornamento con dati da TechnoEssetre7
@@ -105,6 +107,9 @@ if EgtExistsFile( sData) then
         BeamData.ADVANCE_TAIL_OFFS = Machine.Offsets.ADVANCE_TAIL_OFFS or BeamData.ADVANCE_TAIL_OFFS
         BeamData.LEN_VERY_SHORT_PART = Machine.Offsets.LEN_VERY_SHORT_PART or BeamData.LEN_VERY_SHORT_PART
         BeamData.LEN_SHORT_PART = Machine.Offsets.LEN_SHORT_PART or BeamData.LEN_SHORT_PART
         BeamData.MAX_DIM_HTCUT_HBEAM = Machine.Offsets.MAX_DIM_HTCUT_HBEAM or BeamData.MAX_DIM_HTCUT_HBEAM
         BeamData.MAX_HEIGHT2 = Machine.Offsets.MAX_HEIGHT2 or BeamData.MAX_HEIGHT2
         BeamData.OVM_MID = Machine.Offsets.OVM_MID or BeamData.OVM_MID
         if Machine.Offsets.PRECUT_HEAD_DISABLE then BeamData.PRECUT_HEAD = ( Machine.Offsets.PRECUT_HEAD_DISABLE == 0) end
         if Machine.Offsets.PRECUT_TAIL_DISABLE then BeamData.PRECUT_TAIL = ( Machine.Offsets.PRECUT_TAIL_DISABLE == 0) end
         if Machine.Offsets.MIN_HEIGHT_ADDED_CUTS then BeamData.MIN_HEIGHT_ADDED_CUTS = min( Machine.Offsets.MIN_HEIGHT_ADDED_CUTS, BeamData.MIN_HEIGHT_ADDED_CUTS) end
@@ -184,36 +189,105 @@ local function GetChainSawInitAngs( vtN, vtO, nInd)
 end
 BeamData.GetChainSawInitAngs = GetChainSawInitAngs
 ---------------------------------------------------------------------
 local function GetMinNzTopHead( vtNFace)
   if vtNFace and abs( vtNFace:getY()) > 0.8659 then
      return -0.2499
   else
      return sin( -45)
   end
 end
 ---------------------------------------------------------------------
 local function GetMinNzDownUp( b3Raw, vtNFace, vtToolDirection)
   if vtToolDirection and vtToolDirection:getZ() > 0.35 then
      -- N_HorAng < 15° or N_HorAng > 55°
      if vtNFace and ( abs( vtNFace:getY()) < 0.259 or abs( vtNFace:getY()) > 0.819) then
         return -0.708
      -- N_HorAng > 50°
      elseif vtNFace and abs( vtNFace:getY()) > 0.766 then
         return -0.383
      else
         return EgtIf( b3Raw:getDimZ() < BeamData.MIN_DIM_HBEAM, -0.609, -0.383)
      end
   elseif vtToolDirection and vtToolDirection:getZ() < - 0.01
          and ( vtNFace and ( abs( vtNFace:getY()) > 0.983))
          and ( b3Raw:getDimY() < 210) then
          return -0.173
   else
      -- N_HorAng > 60°
      if vtNFace and ( abs( vtNFace:getY()) > 0.866) then
         return -0.708
      else
         if b3Raw:getDimZ() < 120 then
            return -0.708
         elseif b3Raw:getDimZ() < 200 then
            -- N_HorAng < 15° or N_HorAng > 55°
            if vtNFace and ( abs( vtNFace:getY()) < 0.259 or abs( vtNFace:getY()) > 0.819) then
               return -0.5
            else
               return -0.383
            end
         elseif b3Raw:getDimZ() < 300 then
            -- N_HorAng < 10°
            if vtNFace and ( abs( vtNFace:getY()) < 0.174) then
               return -0.5
            else
               return -0.259
            end
         elseif b3Raw:getDimZ() < BeamData.MIN_DIM_HBEAM then
            -- N_HorAng < 10°
            if vtNFace and ( abs( vtNFace:getY()) < 0.174) then
               return -0.342
            else
               return -0.259
            end
         else
            -- N_HorAng < 10°
            if vtNFace and ( abs( vtNFace:getY()) < 0.174) then
               return -0.383
            else
               return -0.188
            end
         end
      end
   end
 end
 ---------------------------------------------------------------------
 local function GetSetupInfo( sHead)
   local SetupInfo = {}
   -- dati comuni
-   SetupInfo.bIsCSymmetric = false
+   SetupInfo.bIsCSymmetrical = false
   SetupInfo.dCAxisEncumbrance = 180
   SetupInfo.dCAxisSideEncumbrance = 200
   SetupInfo.dPivot = 175
   SetupInfo.bToolOnAggregate = false
   -- testa 5 assi da sopra
   if sHead == 'H1' then
-      SetupInfo.bIsTopHead = true
+      SetupInfo.HeadType = { bTop = true, bBottom = false}
-      SetupInfo.bIsBottomHead = not SetupInfo.bIsTopHead
+      SetupInfo.PreferredSide = {}
-      SetupInfo.dMaxNegativeAngle = sin( -45)
+      SetupInfo.GetMinNz = GetMinNzTopHead
   -- lama su testa 5 assi da sopra
   elseif sHead == 'H2' then
-      SetupInfo.bIsTopHead = true
+      SetupInfo.HeadType = { bTop = true, bBottom = false}
-      SetupInfo.bIsBottomHead = not SetupInfo.bIsTopHead
+      SetupInfo.PreferredSide = {}
-      SetupInfo.dMaxNegativeAngle = sin( -45)
+      SetupInfo.GetMinNz = GetMinNzTopHead
      SetupInfo.GetMinNzDownUp = GetMinNzDownUp
   -- motosega
   elseif sHead == 'H3' then
-      SetupInfo.bIsTopHead = true
+      SetupInfo.HeadType = { bTop = true, bBottom = false}
-      SetupInfo.bIsBottomHead = not SetupInfo.bIsTopHead
+      SetupInfo.PreferredSide = {}
-      SetupInfo.dMaxNegativeAngle = 0
+      SetupInfo.GetMinNz = function() return 0 end
   -- rinvio angolare 90° (considerato come fosse una testa da sotto)
   elseif sHead == 'H5' then
      SetupInfo.bToolOnAggregate = true
-      SetupInfo.bIsBottomHead = true
+      SetupInfo.HeadType = { bTop = false, bBottom = true}
-      SetupInfo.bIsTopHead = not SetupInfo.bIsBottomHead
+      SetupInfo.PreferredSide = {}
-      SetupInfo.dMaxPositiveAngle = 0
+      SetupInfo.GetMaxNz = function() return 0 end
   end
   return SetupInfo
@@ -36,6 +36,7 @@ Name=Offsets
 31=l,OFFSETX_RINV_2,150,OFFSETX_RINV_2
 32=l,OFFSETZ_RINV_2,347,OFFSETZ_RINV_2
 33=l,MIN_JOIN_SS,100,MIN_JOIN_SS
 34=l,MIN_JOIN_VV,75,MIN_JOIN_VV
 [2]
 Name=Trave
@@ -32,6 +32,7 @@
 19=Long2CutSide
 20=SmallToolContour
 21=AntiSplintMillCut
 22=Prof_end
 [Pocketing]
 1=Pocket
@@ -6,7 +6,7 @@ local INFO_STD_PP = require( 'Version')
 local BD = require( 'BeamData')
 -- Variabili di modulo
-local CSP_INFO =     INFO_STD_PP.NAME..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
+local CSP_INFO =     INFO_STD_PP.NAME..'_'..NumericalControl..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
 local MACHINE_INFO = MACH_NAME..'  ver.'..PP_VER
 local TEST_USE = false
@@ -27,7 +27,9 @@ function OnStart()
   --EMT.LINEINC = 1        -- incremento numerazione linee
   --EMT.Ft = 'F'           -- token per feed
   --EMT.St = 'S'           -- token per speed
-   EMT.FMAXPINZE = 154000 -- feed massima pinze
+   EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
   EMT.MAXACC = MaxAcc or ( EMT.FMAXPINZE / ( 60 * 0.3))  -- accelerazione massima pinze
   EMT.MINACC = MinAcc or ( EMT.FMAXPINZE / ( 60 * 4))    -- accelerazione minima pinze
 end
 ---------------------------------------------------------------------
@@ -53,6 +55,7 @@ function OnProgramStart()
   end
   EmtOutput( sPrefixCommentLine..'('.. CSP_INFO..')')
   EmtOutput( sPrefixCommentLine..'('.. MACHINE_INFO..')\n')
   EmtOutput( '(HEADER)')
   -- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
   if TEST_USE then
      EmtOutput( 'M28')
@@ -104,6 +107,7 @@ function OnProgramEnd()
   EMT.FALL = nil
   EMT.RELOAD = nil
   EMT.RELOAD2 = nil
   EmtOutput( '(FOOTER)')
   -- Se modalità test, termino il programma
   if TEST_USE then
      EmtOutput( 'M02')
@@ -181,16 +185,12 @@ function OnDispositionEnd()
      local STrave = EMT.ST
      local HOverM = EMT.HOVM
      -- calcolo dati pinze
      local MinAccPinze = 0.3
      local MaxAccPinze = 4
      local KgMtCubo= WoodDensity or 550           -- densità legno in Kg / metro cubo
      local Massa = ( HTrave * STrave * LBarra * KgMtCubo ) / 1000000000
      local FMaxPinze = EMT.FMAXPINZE
      local ForzaAtrito = 700 / 2   -- Serve per regolare P32 (700 valore reale pistone)
      local TempoAcc = ( ( Massa * FMaxPinze) / ( 60 * ForzaAtrito) / 1000)
-      if ( TempoAcc < MinAccPinze) then TempoAcc = MinAccPinze end
+      local AccPinze = EgtClamp( FMaxPinze / ( 60 * TempoAcc), EMT.MINACC, EMT.MAXACC)
      if ( TempoAcc > MaxAccPinze) then TempoAcc = MaxAccPinze end
      local AccPinze = FMaxPinze / ( 60 * TempoAcc)
      local RidFeed = 100 / Massa * 100
      if ( RidFeed > 100) then RidFeed = 100 end
      if IdTrave >= 0 then
@@ -250,9 +250,9 @@ function OnDispositionEnd()
         EmtOutput( sOut)
      -- altrimenti recupero rimanenza   
      else
-         EmtOutput( 'G112 EC1'..' Y'..EmtLenToString( LoadT, 3).. ' EY'..EmtLenToString( EMT.YPOS, 3)..' EV'..EmtLenToString( ParkV, 3) ..' EF'..GetFmaxClamp())
+         EmtOutput( 'G112 EC1'..' Y'..EmtLenToString( EMT.TPOS, 3).. ' EY'..EmtLenToString( EMT.YPOS, 3)..' EV'..EmtLenToString( ParkV, 3) ..' EF'..GetFmaxClamp())
         -- aggiorno dati aggancio carrelli alla trave
-         EMT.YDELTA = EMT.YPOS - LoadT
+         EMT.YDELTA = EMT.YPOS - EMT.TPOS
         EMT.VDELTA = nil
      end
      -- eventuale preparazione per rotazione immediata
@@ -496,6 +496,7 @@ function OnMachiningEnd()
   EMT.U_STD = nil
   EMT.PREVTOOL = EMT.TOOL
   EMT.PREVHEAD = EMT.HEAD
   EMT.PREVET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
 end
 ---------------------------------------------------------------------
@@ -626,15 +627,26 @@ function OnRapid()
         end
      end
      local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
      local bGoToHome = false
      -- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio 
      if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and sET == EMT.PREVET and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25)  then
         bGoToHome = true
      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' and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.FLAG2 == 1 then
         local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EmtLenToString( EMT.R2pp, 3) .. ' C' .. EmtLenToString( EMT.R1pp, 3) .. 
                                       ' EE' .. EgtIf( bZmax, '3', '4') .. EMT.PREVsEL .. EMT.PREVsER .. EMT.PREVsET .. EMT.PREVsES
         EmtOutput( sOutPreMove)
         sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1pp, 3) .. sEE .. sEL .. sER .. sET .. sES
         EmtOutput( sOutPreMove)
         EmtOutput( 'G101 ET1001')
         EmtOutput( 'G101 ET2001')
      end
@@ -648,14 +660,23 @@ function OnRapid()
      local sEE = ' EE' .. EgtIf( bZmax, '3', '4')
      local sEL = ' EL' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TLEN, ( EMT.TDIST or ChSawLen)), 3)
      local sER = ' ER' .. EmtLenToString( EgtIf( EMT.HEAD ~= 'H3', EMT.TDIAM / 2, EMT.TLEN), 3)
      local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
      local sES = ' ES'..EgtNumToString( EMT.S, 0)
      -- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
-      if ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and
         ( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350) or bGoToHome) and EMT.FLAG2 == 1 then
         local sEEPreMove = ' EE' .. EgtIf( bZmax, '3', '4')
-         local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
+         local sOutPreMove
-                                       EmtGetAxis( 'R2') .. EmtGetAxis( 'R1') .. sEE .. sEL .. sER .. sET .. sES
+         if EMT.HEAD == 'H3' and bGoToHome then
            sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1pp, 3) .. sEE .. sEL .. sER .. sET .. sES
            EmtOutput( sOutPreMove)
            sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
            EmtOutput( sOutPreMove)
         end
         sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EgtNumToString( EMT.R2, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
         EmtOutput( sOutPreMove)
         EmtOutput( 'G101 ET1001')
         EmtOutput( 'G101 ET2001')
@@ -1538,7 +1559,7 @@ function MyAdjustLinearAxes()
      elseif EMT.HEAD ~= 'H3' then
         local Len = EMT.TLEN + EgtIf( EMT.HEAD == 'H1', MillOffs, abs( SawOffs))
         local LenRef = MillOffs
-         vtE = Vector3d( EMT.EXTR) * Len - Z_AX() * LenRef
+         vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
      else
         local LenAux = ( EMT.TDIST or ChSawLen) + MillOffs
         local LenRef = MillOffs
@@ -6,7 +6,7 @@ local INFO_STD_PP = require( 'Version')
 local BD = require( 'BeamData')
 -- Variabili di modulo
-local CSP_INFO =     INFO_STD_PP.NAME..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
+local CSP_INFO =     INFO_STD_PP.NAME..'_'..NumericalControl..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
 local MACHINE_INFO = MACH_NAME..'  ver.'..PP_VER
 local TEST_USE = false
@@ -27,7 +27,9 @@ function OnStart()
   --EMT.LINEINC = 1        -- incremento numerazione linee
   --EMT.Ft = 'F'           -- token per feed
   --EMT.St = 'S'           -- token per speed
-   EMT.FMAXPINZE = 154000 -- feed massima pinze
+   EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
   EMT.MAXACC = MaxAcc or ( EMT.FMAXPINZE / ( 60 * 0.3))  -- accelerazione massima pinze
   EMT.MINACC = MinAcc or ( EMT.FMAXPINZE / ( 60 * 4))    -- accelerazione minima pinze
 end
 ---------------------------------------------------------------------
@@ -53,6 +55,7 @@ function OnProgramStart()
   end
   EmtOutput( sPrefixCommentLine..'('.. CSP_INFO..')')
   EmtOutput( sPrefixCommentLine..'('.. MACHINE_INFO..')\n')
   EmtOutput( '(HEADER)')
   -- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
   if TEST_USE then
      EmtOutput( 'M28')
@@ -108,6 +111,7 @@ function OnProgramEnd()
   EMT.FALL = nil
   EMT.RELOAD = nil
   EMT.RELOAD2 = nil
   EmtOutput( '(FOOTER)')
   -- Se modalità test, termino il programma
   if TEST_USE then
      EmtOutput( 'M02')
@@ -203,9 +207,9 @@ function OnDispositionEnd()
      local BtlInfoId = EgtGetFirstNameInGroup( GDB_ID.ROOT, 'BtlInfo') or EgtGetCurrMachGroup() or GDB_ID.NULL
      local nLoad90 = EgtGetInfo( BtlInfoId, 'LOAD90', 'i') or 0
      -- calcolo dati pinze
-      local AccPinze, AccMaxPinze, RidFeed, TempoAcc = CalcDinamicaPinze( HTrave, STrave, LBarra)
+      local AccPinze, AccMaxPinze, RidFeed, TempoAcc = CalcDinamicaPinze_NUM( HTrave, STrave, LBarra)
-      local AccPinz1, AccMaxPinz1, RidFeed1, TempoAcc1 = CalcDinamicaPinze( HTrave, STrave, LBarra - LTrave)
+      local AccPinz1, AccMaxPinz1, RidFeed1, TempoAcc1 = CalcDinamicaPinze_NUM( HTrave, STrave, LBarra - LTrave)
-      local AccPinz2, AccMaxPinz2, RidFeed2, TempoAcc2 = CalcDinamicaPinze( HTrave, STrave, LTrave)
+      local AccPinz2, AccMaxPinz2, RidFeed2, TempoAcc2 = CalcDinamicaPinze_NUM( HTrave, STrave, LTrave)
      if IdTrave >= 0 then
         local sOut = '( SN='..IdTrave..' LBarra='..EmtLenToString( LBarra, 3)..' L='..EmtLenToString( LTrave, 3)..
                      ' H='..EmtLenToString( HTrave, 3)..' S='..EmtLenToString( STrave, 3)..' Acc='..EgtNumToString( TempoAcc, 1)..
@@ -269,9 +273,9 @@ function OnDispositionEnd()
         EmtOutput( sOut)
      -- altrimenti recupero rimanenza   
      else
-         EmtOutput( 'G112 EC1'..' Y'..EmtLenToString( LoadT, 3).. ' EY'..EmtLenToString( EMT.YPOS, 3)..' EV'..EmtLenToString( ParkV, 3) ..' EF'..GetFmaxClamp())
+         EmtOutput( 'G112 EC1'..' Y'..EmtLenToString( EMT.TPOS, 3).. ' EY'..EmtLenToString( EMT.YPOS, 3)..' EV'..EmtLenToString( ParkV, 3) ..' EF'..GetFmaxClamp())
         -- aggiorno dati aggancio carrelli alla trave
-         EMT.YDELTA = EMT.YPOS - LoadT
+         EMT.YDELTA = EMT.YPOS - EMT.TPOS
         EMT.VDELTA = nil
      end
      -- eventuale preparazione per rotazione immediata
@@ -540,6 +544,7 @@ function OnMachiningEnd()
   EMT.PREVTOOL = EMT.TOOL
   EMT.PREVHEAD = EMT.HEAD
   EMT.PREVR3 = EMT.R3
   EMT.PREVET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
 end
 ---------------------------------------------------------------------
@@ -671,15 +676,26 @@ function OnRapid()
         end
      end
      local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
      local bGoToHome = false
      -- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio 
      if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and sET == EMT.PREVET and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25)  then
         bGoToHome = true
      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' and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.FLAG2 == 1 then
         local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EmtLenToString( EMT.R2pp, 3) .. ' C' .. EmtLenToString( EMT.R1pp, 3) .. 
                                       ' EE' .. EgtIf( bZmax, '3', '4') .. EMT.PREVsEL .. EMT.PREVsER .. EMT.PREVsET .. EMT.PREVsES
         EmtOutput( sOutPreMove)
         sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
         EmtOutput( sOutPreMove)
         EmtOutput( 'G101 ET1001')
         EmtOutput( 'G101 ET2001')
      end
@@ -716,14 +732,23 @@ function OnRapid()
         sER = sER..EmtLenToString( EMT.TDIAM / 2, 3)
      end
      local sET = GetET( EMT.HEAD, EMT.TCPOS, EMT.R3)
      local sES = ' ES'..EgtNumToString( EMT.S, 0)
      -- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
-      if ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and 
         ( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350) or bGoToHome) and EMT.FLAG2 == 1 then
         local sEEPreMove = ' EE' .. EgtIf( bZmax, '3', '4')
-         local sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
+         local sOutPreMove
-                                       EmtGetAxis( 'R2') .. EmtGetAxis( 'R1') .. sEE .. sEL .. sER .. sET .. sES
+         if EMT.HEAD == 'H3' and bGoToHome then
            sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1pp, 3) .. sEE .. sEL .. sER .. sET .. sES
            EmtOutput( sOutPreMove)
            sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EgtNumToString( 0, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
            EmtOutput( sOutPreMove)
         end
         sOutPreMove = 'G101' .. ' X' .. EmtLenToString( -SafeXRotAxes, 3) .. ' Z' .. EmtLenToString( MyZHome, 3) ..
                                       ' B' .. EgtNumToString( EMT.R2, 3) .. ' C' .. EgtNumToString( EMT.R1, 3) .. sEE .. sEL .. sER .. sET .. sES
         EmtOutput( sOutPreMove)
         EmtOutput( 'G101 ET1001')
         EmtOutput( 'G101 ET2001')
@@ -1091,28 +1116,6 @@ function FindNextTool()
   return sTool, sHead, sTcPos
 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 AccPinze, AccMaxPinze, RidFeed, TempoAcc
 end
 ---------------------------------------------------------------------
 function CalcCharStatus( sCmd, bSkipPress)
   -- aperto
@@ -1640,7 +1643,7 @@ function MyAdjustLinearAxes()
      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
+         vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
      elseif EMT.HEAD == 'H3' then
         local LenAux = ( EMT.TDIST or ChSawLen) + MillOffs
         local LenRef = MillOffs
@@ -6,7 +6,7 @@ local INFO_STD_PP = require( 'Version')
 local BD = require( 'BeamData')
 -- Variabili di modulo
-local CSP_INFO =     INFO_STD_PP.NAME..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
+local CSP_INFO =     INFO_STD_PP.NAME..'_'..NumericalControl..'  ver.'..INFO_STD_PP.VERSION..' by EgalWare s.r.l.'
 local MACHINE_INFO = MACH_NAME..'  ver.'..PP_VER
 local TEST_USE = false
@@ -21,14 +21,19 @@ function OnStart()
   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.DECNUM = 4         -- numero di decimali dopo la virgola
   EMT.DECVERS = 6        -- numero di decimali dopo la virgola per versori
   EMT.DECRAD = 4         -- numero di decimali dopo la virgola per raggio
   EMT.DECMACRO = 3       -- numero di decimali dopo la virgola per macro
   EMT.NUM = false        -- abilitazione numerazione linee
-   --EMT.Nt = 'N'           -- token per la numerazione di linea
+   --EMT.Nt = 'N'         -- token per la numerazione di linea
-   --EMT.LINENBR = 0        -- numero di linea
+   --EMT.LINENBR = 0      -- numero di linea
-   --EMT.LINEINC = 1        -- incremento numerazione linee
+   --EMT.LINEINC = 1      -- incremento numerazione linee
-   --EMT.Ft = 'F'           -- token per feed
+   --EMT.Ft = 'F'         -- token per feed
-   --EMT.St = 'S'           -- token per speed
+   --EMT.St = 'S'         -- token per speed
-   EMT.FMAXPINZE = 154000 -- feed massima pinze
+   EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
   EMT.MAXACC = MaxAcc or 4000    -- accelerazione massima pinze. In realtà è il tempo in millisecondi, quindi MAXACC corrisponde al tempo massimo per raggiungere la velocità desiderata
   EMT.MINACC = MinAcc or 300     -- accelerazione minima pinze. In realtà è il tempo in millisecondi, quindi MINACC corrisponde al tempo massimo per raggiungere la velocità desiderata
 end
 ---------------------------------------------------------------------
@@ -51,6 +56,7 @@ function OnProgramStart()
   end
   ParkLine( sPrefixCommentLine..'('.. CSP_INFO..')')
   ParkLine( sPrefixCommentLine..'('.. MACHINE_INFO..')')
   ParkLine( '(HEADER)')
   -- Se modalità test, aggiungo linee per muovere tappeto e alzare la testa (in automatico viene fatto dal main residente)
   if TEST_USE then
@@ -108,6 +114,7 @@ function OnProgramEnd()
   EMT.FALL = nil
   EMT.RELOAD = nil
   EMT.RELOAD2 = nil
   EmtOutput( '(FOOTER)')
   -- Termino il programma
   EmtOutput( 'M02')
 end
@@ -116,8 +123,8 @@ 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) ..
+      local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( EMT.TLEN, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( EMT.TDIAM, EMT.DECMACRO) ..
-                   ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
+                   ' P4=' .. EmtLenToString( EMT.SMAX, EMT.DECMACRO) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, EMT.DECMACRO)
      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
@@ -125,14 +132,14 @@ function OnToolData()
      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) ..
+      local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( EMT.TLEN, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( EMT.TDIAM, EMT.DECMACRO) ..
-                   ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
+                   ' P4=' .. EmtLenToString( EMT.SMAX, EMT.DECMACRO) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, EMT.DECMACRO)
      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) ..
+      local sData = ' P2=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), EMT.DECMACRO) .. ' P3=' .. EmtLenToString( EMT.TLEN, EMT.DECMACRO) ..
-                    ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), 3)
+                    ' P4=' .. EmtLenToString( EMT.SMAX, EMT.DECMACRO) .. ' P5=' .. EmtLenToString( ( EMT.TDIST or ChSawLen), EMT.DECMACRO)
      if EMT.TCPOS == 'T101' then
         ParkLine( 'M992 P1=101' .. sData)
         ParkLine( 'M992 P1=102' .. sData)
@@ -148,13 +155,13 @@ function OnToolData()
   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) ..
+      local sOut = 'M992 P1=' .. EgtNumToString( nPos, 0) .. ' P2=' .. EmtLenToString( EMT.TLEN, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( EMT.TDIAM, EMT.DECMACRO) ..
-                   ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
+                   ' P4=' .. EmtLenToString( EMT.SMAX, EMT.DECMACRO) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, EMT.DECMACRO)
      ParkLine( sOut)
   -- emissione dati sega a catena
   elseif EMT.HEAD == 'H7' then
-      local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( EMT.TLEN, 3) .. ' P3=' .. EmtLenToString( EMT.TDIAM, 3) ..
+      local sOut = 'M992 P1=' .. EMT.TCPOS:gsub( 'T', '') .. ' P2=' .. EmtLenToString( EMT.TLEN, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( EMT.TDIAM, EMT.DECMACRO) ..
-                   ' P4=' .. EmtLenToString( EMT.SMAX, 3) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, 3)
+                   ' P4=' .. EmtLenToString( EMT.SMAX, EMT.DECMACRO) .. ' P5=' .. EmtLenToString( EMT.TTOTLEN, EMT.DECMACRO)
      ParkLine( sOut)
 -- altro non previsto
   else
@@ -218,14 +225,14 @@ function OnDispositionEnd()
      local HOverM = EMT.HOVM
      -- calcolo dati pinze
-      local TempAccPinze, TempMinAccPinze, RidFeed = CalcDinamicaPinze( HTrave, STrave, LBarra)
+      local TempAccPinze, TempMinAccPinze, RidFeed = CalcDinamicaPinze_TPA( HTrave, STrave, LBarra)
-      local TempAccPinz1, TempMinAccPinz1, RidFeed1 = CalcDinamicaPinze( HTrave, STrave, LBarra - LTrave)
+      local TempAccPinz1, TempMinAccPinz1, RidFeed1 = CalcDinamicaPinze_TPA( HTrave, STrave, LBarra - LTrave)
-      local TempAccPinz2, TempMinAccPinz2, RidFeed2 = CalcDinamicaPinze( HTrave, STrave, LTrave)
+      local TempAccPinz2, TempMinAccPinz2, RidFeed2 = CalcDinamicaPinze_TPA( 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) ..
+         local sOut = '( SN=' .. IdTrave .. ' LBarra=' .. EmtLenToString( LBarra, EMT.DECMACRO) .. ' L='..EmtLenToString( LTrave, EMT.DECMACRO) ..
-                      ' H=' .. EmtLenToString( HTrave, 3) .. ' S=' .. EmtLenToString( STrave, 3) .. ' )'
+                      ' H=' .. EmtLenToString( HTrave, EMT.DECMACRO) .. ' S=' .. EmtLenToString( STrave, EMT.DECMACRO) .. ' )'
         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
@@ -268,9 +275,9 @@ function OnDispositionEnd()
                ' 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())
+         EmtOutput( 'M112'..' P1='..EmtLenToString( EMT.TPOS, 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.YDELTA = EMT.YPOS - EMT.TPOS
         EMT.VDELTA = nil
      end
      -- eventuale preparazione per rotazione immediata
@@ -651,14 +658,26 @@ function OnRapid()
            bHeadFirst = false
         end
      end
      local bGoToHome = false
      -- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio 
      if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and EMT.TCPOS == EMT.PREVTCPOS and ( abs( EMT.R2pp - EMT.R2) > 25 or abs( EMT.R1pp - EMT.R1) > 25)  then
         bGoToHome = true
      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' and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and EMT.PREVHEAD == 'H3' and EMT.FLAG2 == 1 then
-         local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, 3) .. ' P3=' .. EmtLenToString( MyZHome, 3) ..
+         local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
-                                 ' P4=' .. EgtNumToString( EMT.R2pp, 3) .. ' P5=' .. EgtNumToString( EMT.R1pp, 3) .. 
+                                 ' P4=' .. EgtNumToString( EMT.R2pp, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1pp, EMT.DECMACRO) .. 
-                                 ' P6=' .. EgtNumToString( EMT.PREVTCPOS, 3) .. ' P7=' .. EgtNumToString( EMT.PREVS, 0) ..
+                                 ' P6=' .. EgtNumToString( EMT.PREVTCPOS, EMT.DECMACRO) .. ' P7=' .. EgtNumToString( EMT.PREVS, 0) ..
                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
         EmtOutput( sOutPreMove)
         sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
                                 ' P4=' .. EgtNumToString( 0, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1pp, EMT.DECMACRO) .. 
                                 ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
         EmtOutput( sOutPreMove)
         EmtOutput( 'M101 P1=2')
@@ -671,9 +690,23 @@ function OnRapid()
      end
      -- se carico motosega, ruoto in zona sicura prima di approcciare la lavorazione
-      if ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and EMT.ST > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and ( EMT.HEAD == 'H3' or ( bZmax and EMT.TTOTLEN > 200)) and 
-         local sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, 3) .. ' P3=' .. EmtLenToString( MyZHome, 3) ..
+         ( EMT.ST > BeamHeightForFixRot or ( EMT.HEAD == 'H1' and EMT.TTOTLEN > 350) or bGoToHome) and EMT.FLAG2 == 1 then
-                                 ' P4=' .. EgtNumToString( EMT.R2, 3) .. ' P5=' .. EgtNumToString( EMT.R1, 3) .. 
+         local sOutPreMove
         if EMT.HEAD == 'H3' and bGoToHome then
            sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
                                 ' P4=' .. EgtNumToString( 0, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1pp, EMT.DECMACRO) .. 
                                 ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
            EmtOutput( sOutPreMove)
            sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
                                 ' P4=' .. EgtNumToString( 0, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1, EMT.DECMACRO) .. 
                                 ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
            EmtOutput( sOutPreMove)
         end
         sOutPreMove = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZHome, EMT.DECMACRO) ..
                                 ' P4=' .. EgtNumToString( EMT.R2, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1, EMT.DECMACRO) .. 
                                 ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                                 ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
         EmtOutput( sOutPreMove)
@@ -687,8 +720,8 @@ function OnRapid()
      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) ..
+      local sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( EMT.L2, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( MyZPos, EMT.DECMACRO) ..
-                       ' P4=' .. EgtNumToString( EMT.R2, 3) .. ' P5=' .. EgtNumToString( EMT.R1, 3) .. 
+                       ' P4=' .. EgtNumToString( EMT.R2, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1, EMT.DECMACRO) .. 
                       ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                       ' P8=0' .. ' P9=0' .. ' P10=' .. EgtIf( bZmax, '3', '4')
      if EMT.LOAD then
@@ -738,7 +771,7 @@ function OnRapid()
            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()
+         sOut = 'M112 P1='..EmtLenToString( EMT.L1, EMT.DECMACRO)..' P3='..sA..' P4='..sB..' P5=0 P6='..sY..' P7='..sV..' P9='..GetFmaxClamp()
         ParkLine( sOut)
         EMT.LOAD = false
         -- emissione prime linee speciali e linee parcheggiate
@@ -789,7 +822,7 @@ function OnRapid()
            sOut = 'M101 P1=3'
            EmtOutput( sOut)
         end
-         sOut = 'M112 P1=' .. EmtLenToString( EMT.L1, 3) ..' P3='..sA..' P4='..sB..' P6='..sY..' P7='..sV..' P9=' .. GetFmaxClamp()
+         sOut = 'M112 P1=' .. EmtLenToString( EMT.L1, EMT.DECMACRO) ..' P3='..sA..' P4='..sB..' P6='..sY..' P7='..sV..' P9=' .. GetFmaxClamp()
         EmtOutput( sOut)
         if not bHeadFirst then
            sOut = 'M101 P1=2'
@@ -861,15 +894,15 @@ function OnRapid()
      if EMT.ST > BeamHeightForFixRot  and  EMT.HEAD == 'H1' and  EMT.TOOL ~= EMT.NEXTTOOL  and  EMT.NEXTHEAD ~= 'H2' then
         local dBAxis = 90
         local dCAxis = EgtIf( BD.RIGHT_LOAD, 90, -90)
-         local sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( EMT.L2, 3) .. ' P3=' .. EmtLenToString( EMT.L3, 3) ..
+         local sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( EMT.L2, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( EMT.L3, EMT.DECMACRO) ..
-                      ' P4=' .. EgtNumToString( dBAxis, 3) .. ' P5=' .. EgtNumToString( dCAxis, 3) .. 
+                      ' P4=' .. EgtNumToString( dBAxis, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( dCAxis, EMT.DECMACRO) .. 
                      ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                      ' P8=0' .. ' P9=0' .. ' P10=3'
         EmtOutput( sOut)
         EmtOutput( 'M101 P1=2')
         EmtOutput( 'M101 P1=3')
-         sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, 3) .. ' P3=' .. EmtLenToString( EMT.L3, 3) ..
+         sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( -SafeXRotAxes, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( EMT.L3, EMT.DECMACRO) ..
-                      ' P4=' .. EgtNumToString( dBAxis, 3) .. ' P5=' .. EgtNumToString( dCAxis, 3) .. 
+                      ' P4=' .. EgtNumToString( dBAxis, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( dCAxis, EMT.DECMACRO) .. 
                      ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                      ' P8=0' .. ' P9=0' .. ' P10=3'
         EmtOutput( sOut)
@@ -886,8 +919,8 @@ function OnRapid()
      MyAdjustLinearAxes()
      EmtAdjustRotaryAxes()
      EmtResetPrev()
-      local sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( EMT.L2, 3) .. ' P3=' .. EmtLenToString( EMT.L3, 3) ..
+      local sOut = 'M101 P1=1' .. ' P2=' .. EmtLenToString( EMT.L2, EMT.DECMACRO) .. ' P3=' .. EmtLenToString( EMT.L3, EMT.DECMACRO) ..
-                   ' P4=' .. EgtNumToString( EMT.R2, 3) .. ' P5=' .. EgtNumToString( EMT.R1, 3) .. 
+                   ' P4=' .. EgtNumToString( EMT.R2, EMT.DECMACRO) .. ' P5=' .. EgtNumToString( EMT.R1, EMT.DECMACRO) .. 
                   ' P6=' .. AdjustTcPos( false) .. ' P7=' .. EgtNumToString( EMT.S, 0) ..
                   ' P8=0' .. ' P9=0' .. ' P10=3'
      EmtOutput( sOut)
@@ -1007,7 +1040,7 @@ function OnArc()
   --local sCen = ' ' .. EMT.C1t .. EmtLenToString(EMT.C1,3) ..
   --             ' ' .. EMT.C2t .. EmtLenToString(EMT.C2,3)
   -- raggio
-   local sRad = ' ' .. EMT.RRt .. EmtLenToString( EMT.RR, EMT.DECNUM)
+   local sRad = ' ' .. EMT.RRt .. EmtLenToString( EMT.RR, EMT.DECRAD)
   -- aggiungo feed
   local sFeed = EmtGetFeed()
   -- tipo arco
@@ -1048,28 +1081,6 @@ function FindNextTool()
   return sTool, sHead, sTcPos
 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
@@ -1639,7 +1650,7 @@ function MyAdjustLinearAxes()
      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
+         vtE = Vector3d( EMT.TDIR) * Len - Z_AX() * LenRef
      elseif EMT.HEAD == 'H3' then
         local LenAux = ( EMT.TDIST or ChSawLen) + MillOffs
         local LenRef = MillOffs
@@ -1650,13 +1661,13 @@ function MyAdjustLinearAxes()
         local LenAux = MillOffs + AngTr1Offs
         local LenRef = MillOffs
         local vtAux = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2)
-         vtE = Vector3d( EMT.EXTR) * Len + vtAux * LenAux - Z_AX() * LenRef
+         vtE = Vector3d( EMT.TDIR) * Len + vtAux * LenAux - Z_AX() * LenRef
      elseif  EMT.HEAD == 'H7' then
         local Len = EMT.TLEN + AngTrBHLen
         local LenAux = MillOffs + AngTrBHOffs
         local LenRef = MillOffs
         local vtAux = EgtGetCalcAuxDirFromAngles( EMT.R1, EMT.R2)
-         vtE = Vector3d( EMT.EXTR) * Len + vtAux * LenAux - Z_AX() * LenRef
+         vtE = Vector3d( EMT.TDIR) * Len + vtAux * LenAux - Z_AX() * LenRef
      else
         EmtSetLastError( 1211, 'Head not allowed ' .. EMT.HEAD)
      end
@@ -1767,9 +1778,9 @@ function CalcInterpPlane()
   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) ..
+                  ' A' .. EgtNumToString( - vtX:getY(), EMT.DECVERS) .. ' B' .. EgtNumToString( vtX:getX(), EMT.DECVERS) .. ' C' .. EgtNumToString( vtX:getZ(), EMT.DECVERS) ..
-                  ' I' .. EgtNumToString( - vtY:getY(), 6) .. ' J' .. EgtNumToString( vtY:getX(), 6) .. ' K' .. EgtNumToString( vtY:getZ(), 6) ..
+                  ' I' .. EgtNumToString( - vtY:getY(), EMT.DECVERS) .. ' J' .. EgtNumToString( vtY:getX(), EMT.DECVERS) .. ' K' .. EgtNumToString( vtY:getZ(), EMT.DECVERS) ..
-                  ' P' .. EgtNumToString( - vtZ:getY(), 6) .. ' Q' .. EgtNumToString( vtZ:getX(), 6) .. ' R' .. EgtNumToString( vtZ:getZ(), 6)
+                  ' P' .. EgtNumToString( - vtZ:getY(), EMT.DECVERS) .. ' Q' .. EgtNumToString( vtZ:getX(), EMT.DECVERS) .. ' R' .. EgtNumToString( vtZ:getZ(), EMT.DECVERS)
   EMT.IPLGL = true
 end
@@ -7,9 +7,6 @@ EgtEnableDebug( false)
 -- carico librerie
 local BD = require( 'BeamData')
 LONG_TOOL_MINLEN = 221
 BIG_TOOL_DIAM = 300
 ---------------------------------------------------------------------
 -- *** GENERATION ***
 ---------------------------------------------------------------------
@@ -168,13 +165,13 @@ function OnSimulDispositionStart()
      -- Determino dimensioni del grezzo
      local nSolId = EgtGetFirstNameInGroup( EgtGetFirstRawPart() or GDB_ID.NULL, 'RawSolid') or GDB_ID.NULL
      local b3Sol = EgtGetBBoxGlob( nSolId, GDB_BB.STANDARD)
-      EMT.LB = 0
+      EMT.LT = 0
-      EMT.SB = 0
+      EMT.ST = 0
-      EMT.HB = 0
+      EMT.HT = 0
      if b3Sol then
-         EMT.LB = b3Sol:getDimX()
+         EMT.LT = b3Sol:getDimX()
-         EMT.SB = b3Sol:getDimY()
+         EMT.ST = b3Sol:getDimY()
-         EMT.HB = b3Sol:getDimZ()
+         EMT.HT = b3Sol:getDimZ()
      end
      -- Carico primo utensile sulla testa 1
      local sTool, nTlen = FindFirstToolOnHead( 'H1')
@@ -466,8 +463,10 @@ function OnSimulToolSelect( dPosA)
   EMT.TOTDIAM = EgtTdbGetCurrToolParam( MCH_TP.TOTDIAM)
   -- se non è chiamato da altro script (non c'è parametro)
   if not dPosA then
-      -- se attivo Vmill
+      -- se utensile non flottante, abilito per Vmill
-      SetToolForVmill( EMT.TOOL, EMT.HEAD, EMT.EXIT, EMT.VMILL)
+      if not EMT.TFLOAT then
         EmtSetToolForVmill( EMT.TOOL, EMT.HEAD, EMT.EXIT, EMT.VMILL)
      end
      -- se attivo Collision Check
      EMT.SAFEDIST = COLL_SAFE_DIST
      if EMT.COLLOBJ then
@@ -520,14 +519,21 @@ function OnSimulToolSelect( dPosA)
      elseif EMT.HEAD == 'H7' then
         EgtSetAxisPos( 'C', EgtIf( BD.RIGHT_LOAD, 180, 0))
      end
      -- se TC 1
      if GetTCSet( EMT.TCPOS) == 1 then
         EgtSetAxisPos( 'B', 90)
      else
         if EMT.HEAD ~= 'H3' then
            EgtSetAxisPos( 'B', -90)
         end
      end
      -- se punta lunga
      if EMT.TOTLEN > LONG_TOOL_MINLEN then
         -- se su cambio utensile T111
         if EMT.TCPOS == 'T111' then
            EgtSetAxisPos( 'B', 0)
         end
-      end
+      end      -- breve pausa
      -- breve pausa
      EgtPause( 100)
      EgtOutText( '')
      EMT.TOOL_1 = EMT.TOOL
@@ -549,14 +555,14 @@ function OnSimulToolDeselect()
      -- movimento scarico sega a catena
      if EMT.HEAD == 'H3' then
         -- se avevo motosega, torno in zona sicura senza ruotare assi rotanti
-         if  EMT.HB > BeamHeightForFixRot then
+         SimulMoveAxis( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID)
-            SimulMoveAxis( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID)
+         -- raddrizzo asse B prima di ruotare il C
-         end
+         SimulMoveAxis( 'B', 0, MCH_SIM_STEP.COLLROT)
         local dPosA = EgtGetAxisPos( 'A')
         if abs( dPosA) < 0.1 then
-            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 180, 0), MCH_SIM_STEP.COLLROT)
+            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, -180, 0), MCH_SIM_STEP.COLLROT)
         else
-            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.COLLROT)
+            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, 270), MCH_SIM_STEP.COLLROT)
         end
         SimulMoveAxis( 'X', 0, MCH_SIM_STEP.RAPID)
      -- movimento scarico rinvio
@@ -576,7 +582,11 @@ function OnSimulToolDeselect()
         -- altrimenti posizioni standard rastrelliera
         else
            SimulMoveAxis( 'X', 0, MCH_SIM_STEP.RAPID)
-            SimulMoveAxes( 'B', 90, MCH_SIM_STEP.COLLROT, 'C', -90, MCH_SIM_STEP.COLLROT)
+            if GetTCSet( EMT.TCPOS) == 1 then
               SimulMoveAxes( 'B', 90, MCH_SIM_STEP.COLLROT, 'C', -90, MCH_SIM_STEP.COLLROT)
            else
               SimulMoveAxes( 'B', -90, MCH_SIM_STEP.COLLROT, 'C', -90, MCH_SIM_STEP.COLLROT)
            end
         end
      -- movimento scarico utensile di grosso diametro (su T111)
      else
@@ -590,18 +600,34 @@ function OnSimulToolDeselect()
      -- nascondo utensile su testa e lo visualizzo su TcPos
      EgtSetMode( EgtGetHeadId( EMT.HEAD), GDB_MD.HIDDEN)
      ShowToolInTcPos( EMT.TCPOS_1, true)
      -- movimento per carico utensile
      if EMT.NEXTHEAD ~= 'H3' and EMT.NEXTHEAD ~= 'H5' and EMT.NEXTHEAD ~= 'H6' then
-         SimulMoveAxes( 'B', 90, MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.RAPROT)
+         SimulMoveAxes( 'B', EgtIf( GetTCSet( EMT.TCPOS) == 1, 90, -90), MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.RAPROT)
      else
-         SimulMoveAxes( 'B', 0, MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.RAPROT)
+         if EMT.NEXTHEAD == 'H3' then
            local dPosA = EgtGetAxisPos( 'A')
            if abs( dPosA) < 0.1 then
               SimulMoveAxes( 'B', 0, MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, 270), MCH_SIM_STEP.RAPROT)
            else
               SimulMoveAxes( 'B', 0, MCH_SIM_STEP.COLLROT, 'C', EgtIf( BD.RIGHT_LOAD, -180, 0), MCH_SIM_STEP.COLLROT)
            end
         else
            SimulMoveAxes( 'B', 0, MCH_SIM_STEP.RAPROT, 'C', EgtIf( BD.RIGHT_LOAD, 90, -90), MCH_SIM_STEP.RAPROT)
         end
      end
      -- se segue lama, carico utensile di default
      if EMT.NEXTHEAD == 'H2' then
         local sDefTool = GetDefaultToolName()
         EgtLoadTool( 'H1', 1, sDefTool)
         EMT.TOOL_1 = sDefTool
         EMT.TCPOS_1 = GetToolTcPos( EMT.TOOL_1)
         -- se TC 1
         if GetTCSet( EMT.TCPOS_1) == 1 then
            EgtSetAxisPos( 'B', 90)
         else
            EgtSetAxisPos( 'B', -90)
         end
         EgtLoadTool( 'H1', 1, sDefTool)
         -- lo nascondo sul portautensili
         ShowToolInTcPos( EMT.TCPOS_1, false)
      end
@@ -765,33 +791,83 @@ function OnSimulMoveStart()
   VerifyVStroke( EMT.A2)
   -- se inizio lavorazione
   if EMT.MCHFIRST then
      local bGoToHome = false
      -- se gli assi rotanti cambiano parecchio, con motosega si va in parcheggio 
      if EMT.PREVHEAD == 'H3' and EMT.HEAD == 'H3' and EMT.TOOL == EMT.PREVTOOL and abs( EMT.R3p - EMT.R3) < 100 * GEO.EPS_SMALL and ( abs( EMT.R2p - EMT.R2) > 25 or abs( EMT.R1p - EMT.R1) > 25)  then
         bGoToHome = true
      end
      EgtOutText( '')
      EMT.MCHFIRST = false
      local bZmax = ( EMT.TOOL ~= EMT.PREVTOOL  or EMT.L3 > -1)
      -- con pezzi alti aggiorno gli assi rotanti prima di muovermi sopra il pezzo
-      if not EMT.LOAD and EMT.MOVE == 0 and EMT.HB > BeamHeightForFixRot and EMT.FLAG2 == 1 then
+      if not EMT.LOAD and EMT.MOVE == 0 and ( EMT.HEAD == 'H3' or ( EMT.HEAD == 'H1' and EMT.TOTLEN > 350) or bGoToHome) and EMT.FLAG2 == 1 then
-         -- se motosega mi muovo a X di sicurezza per ruotare
+         -- se motosega mi muovo a X di sicurezza per ruotare, prima si raddrizza B e poi C in posizione
-         if ( EMT.HEAD == 'H3' or ( bZmax and EMT.TOTLEN > 200)) then
+         if EMT.HEAD == 'H3' or bGoToHome then
            SimulMoveAxis( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID)
            SimulMoveAxis( 'B', 0, MCH_SIM_STEP.COLLROT)
            SimulMoveAxis( 'C', EMT.R1, MCH_SIM_STEP.COLLROT)
            SimulMoveAxis( 'B', EMT.R2, MCH_SIM_STEP.COLLROT)
         elseif ( bZmax and EMT.TOTLEN > 200) then
            SimulMoveAxes( 'X', SafeXRotAxes, MCH_SIM_STEP.RAPID, 'C', EMT.R1, MCH_SIM_STEP.COLLROT, 'B', EMT.R2, MCH_SIM_STEP.COLLROT)
         end
      end
      EMT.POSTROT = nil
   end
   -- se aggregato flottante su inizio attacco va compresso
   if EMT.TFLOAT and not EMT.TFLOAT_CMP and EMT.MOVE == 1 and EgtGetName( EMT.MOVEID) == 'LI' then
      -- recupero lunghezza 
      local dOffsL = - EgtGetMachiningParam( MCH_MP.OFFSL)
      -- imposto compressione della parte flottante
      SetFloatPos( EMT.HEAD, dOffsL)
      -- imposto dati utensile in posizione compressa
      EmtSetToolForVmill( EMT.TOOL, EMT.HEAD, EMT.EXIT, EMT.VMILL, 2, -dOffsL)
      -- dichiaro che è compresso (assegnando Id entità di movimento)
      EMT.TFLOAT_CMP = EMT.MOVEID
   end
 end
 ---------------------------------------------------------------------
 function OnSimulMoveEnd()
   -- se termine di passata con lama
   if EMT.FLAG == 301 then 
      -- rimozione eventuali sfridi
      ExecRemoveScraps()
   end
   -- se utensile flottante e movimento di compressione
   if EMT.TFLOAT and EMT.MOVEID == EMT.TFLOAT_CMP then
      -- verifico ci sia stata collisione tra ghiera flottante (portautensile e pezzo)
      if not EMT.TFLOAT_TH_COMPR_COLL then
         local sErr = 'CUTID='..tostring( EMT.CUTID)..'; TASKID='..tostring( EMT.TASKID)..'; Mach='..EMT.MCHNAME..'; Floating Ring not compressed on approach'
         EmtSetLastError( 1222, sErr)
         EgtOutLog( 'Error : ' .. sErr, 1)
      else
         EgtOutLog( 'Floating Ring compressed on approach (MOVEID='..EgtNumToString( EMT.MOVEID)..')', 1)
      end
      EMT.TFLOAT_TH_COMPR_COLL = nil
   end
   -- se aggregato flottante su fine uscita va rilasciato
   if EMT.TFLOAT and EMT.TFLOAT_CMP and EMT.MOVE == 1 and EgtGetName( EMT.MOVEID) == 'LO' and EgtGetName( EgtGetNext( EMT.MOVEID) or GDB_ID.NULL) ~= 'LO' then
      -- reset compressione della parte flottante
      SetFloatPos( EMT.HEAD, 0)
      -- dichiaro che è rilasciato
      EMT.TFLOAT_CMP = nil
   end
 end
 ---------------------------------------------------------------------
 function OnSimulCollision()
   -- se prima collisione della lavorazione, la segnalo
   if EMT.MCHNAME ~= EMT.LAST_MCHNAME_COLLIDE then
      -- speciale per utensile flottante (suo holder contro il grezzo)
      if EMT.TFLOAT and EMT.TFLOAT_CMP and EMT.SIMCOBIND == 1002 and EMT.SIMVMID == EMT.VMILL[1] then
         if EMT.MOVEID == EMT.TFLOAT_CMP then
            EMT.TFLOAT_TH_COMPR_COLL = true
         end
         return
      end
      -- standard
      local Class = ''
      if EMT.SIMCOBIND == 1001 then
         Class = 'T_H1'
@@ -858,14 +934,14 @@ function ExecAuxCmd( sCmd)
   elseif Cmd[1] == '11' then
      local dPY = MaxOpen
      if Cmd[2] ~= '0' then
-         dPY = EgtIf( EMT.ROT == -1, EMT.HB, EMT.SB)
+         dPY = EgtIf( EMT.ROT == -1, EMT.HT, EMT.ST)
      end
      SimulMoveAxis( 'PY', dPY, MCH_SIM_STEP.RAPID)
      SetPYLight( Cmd[2] ~= '0')
   elseif Cmd[1] == '12' then
      local dPV = MaxOpen
      if Cmd[2] ~= '0' then
-         dPV = EgtIf( EMT.ROT == -1, EMT.HB, EMT.SB)
+         dPV = EgtIf( EMT.ROT == -1, EMT.HT, EMT.ST)
      end
      SimulMoveAxis( 'PV', dPV, MCH_SIM_STEP.RAPID)
      SetPVLight( Cmd[2] ~= '0')
@@ -912,7 +988,7 @@ function ExecRemoveScraps()
         for i = nPart, 1, -1 do
            if i ~= nPartMax then
               local b3Vmill = EgtVolZmapGetPartBBoxGlob( vMillId, i - 1, GDB_BB.STANDARD)
-               if b3Vmill:getDimX() < 1200 then
+               if b3Vmill:getDimX() < 1250 then
                  EgtRemoveVolZmapPart( vMillId, i - 1)
               end
            end
@@ -932,7 +1008,7 @@ function ExecUnloading()
      -- li sposto per lasciare spazio al nuovo pezzo
      local nId = EgtGetFirstInGroup( nVmGrpId)
      while nId do
-         EgtMove( nId, Vector3d( 0, EgtIf( BD.RIGHT_LOAD, ( EMT.SB + 50.0), -( EMT.SB + 50.0)), 0), GDB_RT.GLOB)
+         EgtMove( nId, Vector3d( 0, EgtIf( BD.RIGHT_LOAD, ( EMT.ST + 50.0), -( EMT.ST + 50.0)), 0), GDB_RT.GLOB)
         nId = EgtGetNext( nId)
      end
      -- creo un nuovo layer e vi inserisco il nuovo pezzo
@@ -1150,6 +1226,18 @@ local FALL_T = 2  * ESTIMATION_RAPID_COEFF              -- s
 ---------------------------------------------------------------------
 function OnEstimStart()
   EMT.INCHES = not EgtUiUnitsAreMM()      -- unità di misura mm/inches
   -- TPA
   if NumericalControl == 'TPA' then
      EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
      EMT.MAXACC = MaxAcc or 4000    -- accelerazione massima pinze. In realtà è il tempo in millisecondi, quindi MAXACC corrisponde al tempo massimo per raggiungere la velocità desiderata
      EMT.MINACC = MinAcc or 300     -- accelerazione minima pinze. In realtà è il tempo in millisecondi, quindi MINACC corrisponde al tempo massimo per raggiungere la velocità desiderata
   -- NUM_PLUS e NUM
   else
      EMT.FMAXPINZE = EgtClamp( MaxFeedPinze or 154000, 20000, 160000)  -- feed massima pinze
      EMT.MAXACC = MaxAcc or ( EMT.FMAXPINZE / ( 60 * 0.3))  -- accelerazione massima pinze
      EMT.MINACC = MinAcc or ( EMT.FMAXPINZE / ( 60 * 4))    -- accelerazione minima pinze
   end
 end
 ---------------------------------------------------------------------
@@ -1235,6 +1323,15 @@ function OnEstimDispositionEnd()
   EMT.OPEISDISP = false
 end
 ---------------------------------------------------------------------
 function OnEstimRawMoveData()
   -- se start del pezzo
   if IsStartOrRestPhase( EMT.PHASE) then
      EMT.SPLIT = false
   end
   OnRawMoveData()
 end
 ---------------------------------------------------------------------
 function OnEstimToolSelect()
   -- reset indice utensile in tabella lunghezze
@@ -1291,6 +1388,12 @@ function OnEstimMachiningEnd()
      EMT.TLE_NAME = nil
      EMT.TLE_TIME = nil
   end
   EMT.MCHUSERNOTES = EgtGetMachiningParam( MCH_MP.USERNOTES) or ''
   EMT.MCHSPLIT = ( EMT.MCHUSERNOTES:find( 'Split;', 1, true) ~= nil)
   if EMT.MCHSPLIT then
      EMT.SPLIT = true
   end
 end
 ---------------------------------------------------------------------
@@ -1421,11 +1524,11 @@ function OnEstimRapid()
   EMT.MCHEXTLEN = EMT.MCHEXTLEN + dLen
   -- calcolo tempo
   local dTime = RAPID_MIN_T
-   local dT1 = abs( dL1) / RAPID_X_FEED * 60
+   local dT1 = CalcMoveTime( abs( dL1), RAPID_X_FEED, EMT.SPLIT)
   if dT1 > dTime then dTime = dT1 end
-   local dT2 = abs( dL2) / RAPID_Y_FEED * 60
+   local dT2 = CalcMoveTime( abs( dL2), EMT.FMAXPINZE, EMT.SPLIT)
   if dT2 > dTime then dTime = dT2 end
-   local dT3 = abs( dL3) / RAPID_Z_FEED * 60
+   local dT3 = CalcMoveTime( abs( dL3), RAPID_Z_FEED, EMT.SPLIT)
   if dT3 > dTime then dTime = dT3 end
   local dT4 = abs( dR1) / RAPID_C_FEED * 60
   if dT4 > dTime then dTime = dT4 end
@@ -1447,7 +1550,7 @@ function OnEstimLinear()
   local dLen = sqrt( dL1 * dL1 + dL2 * dL2 + dL3 * dL3)
   EMT.MCHCUTLEN = EMT.MCHCUTLEN + dLen
   -- calcolo tempo
-   local dTime = dLen / EMT.F * 60
+   local dTime = CalcMoveTime( dLen, EMT.F, EMT.SPLIT)
   EMT.MCHCUTTIME = EMT.MCHCUTTIME + dTime
   EgtOutLog( string.format( '  G1 Len=%.0f Time=%.2f', dLen, dTime), 5)
   -- aggiorno valori come precedenti
@@ -1594,6 +1697,70 @@ function GetParkT()
   end
 end
 ---------------------------------------------------------------------
 function CalcDinamicaPinze_TPA( dH, dS, dL)
   local MinTempoAcc = EMT.MINACC        -- [ms] ~300
   local MaxTempoAcc = EMT.MAXACC        -- [ms] ~4000
   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 = EgtClamp( ( Massa * FMaxPinze) / ( 60 * ForzaAttrito), MinTempoAcc, MaxTempoAcc)
   local RidFeed = 100 / Massa * 100
   if RidFeed > 100 then
      RidFeed = 100
   elseif RidFeed < 10 then
      RidFeed = 10
   end
   return TempoAcc, MinTempoAcc, RidFeed
 end
 ---------------------------------------------------------------------
 function CalcDinamicaPinze_NUM( dH, dS, dL)
   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)
   local AccMaxPinze = EMT.MAXACC
   local AccPinze = EgtClamp( FMaxPinze / ( 60 * TempoAcc), EMT.MINACC, EMT.MAXACC)
   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 CalcMoveTime( dPathLen, dFeed, bIsSplitted)
   local dTime
   local dFeedInSec = dFeed / 60
   if NumericalControl == 'TPA' then
      local dTempoAcc, _, _ = CalcDinamicaPinze_TPA( EMT.HT, EMT.ST, EgtIf( bIsSplitted, EMT.LT, EMT.LB))
      dTempoAcc = dTempoAcc / 1000
      -- se si raggiunge la velocità massima
      if dPathLen >= dFeedInSec * dTempoAcc then
         dTime = dTempoAcc * 2 + ( ( dPathLen - dFeedInSec * dTempoAcc) / dFeedInSec)
      else
         dTime = 2 * sqrt( (dPathLen * dTempoAcc) / dFeedInSec)
      end
   else
      local dAcc, _, _, _ = CalcDinamicaPinze_NUM( EMT.HT, EMT.ST, EgtIf( bIsSplitted, EMT.LT, EMT.LB))
      -- Caso 1: dFeed raggiunta
      if dPathLen >= ( dFeedInSec ^ 2) / dAcc then
         dTime = ( dFeedInSec / dAcc) + ( dPathLen / dFeedInSec)
      -- Caso 2: dFeed non raggiunta
      else
         dTime = 2 * sqrt( dPathLen / dAcc)
      end
   end
   return dTime
 end
 ---------------------------------------------------------------------
 -- *** END GENERAL ***
 ---------------------------------------------------------------------
@@ -7,6 +7,12 @@ EgtEnableDebug( false)
 -- carico librerie
 local BD = require( 'BeamData')
 ---------------------------------------------------------------------
 -- *** Generic Machinings ***
 ---------------------------------------------------------------------
 pcall( require, 'EmtGenMachining')  -- si fa una require con PCALL perchè la libreria è opzionale
 ---------------------- OnSpecialMoveZup -----------------------------
 ---------------------------------------------------------------------
 function OnSpecialMoveZup()
@@ -925,7 +931,7 @@ function SpecCalcEncumbrance( vtTool, vtArm, ptMin, ptMax, bSaw, bChain, dTLen,
   local dHeadBack = 350
   if bSaw then
      if vtTool:getX() > 0 and abs( vtTool:getY()) < 0.088 and abs( vtTool:getZ()) < 0.088 then
-         dHeadBack = 50 + 0.5 * dTDiam * sqrt( 1 - vtTool:getX() * vtTool:getX())
+         dHeadBack = 50 + 0.5 * dTDiam * sqrt( 1 - vtTool:getX() * vtTool:getX()) + EgtIf( EMC.CNT == 1, 10, 0)
      elseif abs( vtTool:getZ()) < 0.26 and abs( vtTool:getX()) < 0.35 then
         dHeadBack = EgtIf( vtArm:getX() < 0, 540, 350)
      elseif abs( vtTool:getZ()) < 0.26 and abs( vtTool:getX()) < 0.71 then
@@ -1016,7 +1022,7 @@ function SpecCalcEncumbrance( vtTool, vtArm, ptMin, ptMax, bSaw, bChain, dTLen,
   local dHeadFront = 350
   if bSaw then
      if vtTool:getX() < 0 and abs( vtTool:getY()) < 0.088 and abs( vtTool:getZ()) < 0.088 then
-         dHeadFront = 50 + 0.5 * dTDiam * sqrt( 1 - vtTool:getX() * vtTool:getX())
+         dHeadFront = 50 + 0.5 * dTDiam * sqrt( 1 - vtTool:getX() * vtTool:getX()) + EgtIf( EMC.CNT == 1, 10, 0)
      elseif abs( vtTool:getZ()) < 0.26 and abs( vtTool:getX()) < 0.35 then
         dHeadFront = EgtIf( vtArm:getX() > 0, 540, 350)
      elseif abs( vtTool:getZ()) < 0.26 and abs( vtTool:getX()) < 0.71 then
@@ -1636,7 +1642,9 @@ function SpecAdjustCarriages( vCmd, dTPosI, dYDeltaI, dVDeltaI, dTPosF, dYDeltaF
      --    * deve effettivamente spostarsi
      --    * non si arriva da gestione passo del pellegrino
      --    * se riesce a raggiungere la posizione con le corse a disposizione per come sono posizionate le morse attualmente
-      if ( dYDeltaI - dVDeltaF) + 10 * GEO.EPS_SMALL >= MyMinY - MaxV and abs( dVDeltaF - dVDeltaI) > 10 * GEO.EPS_SMALL and  not EMC.PILGRIMSTEP and
+      if ( dYDeltaI - dVDeltaF) + 10 * GEO.EPS_SMALL >= MyMinY - MaxV and
         ( abs( dVDeltaF - dVDeltaI) > 10 * GEO.EPS_SMALL or not EMC.VDELTA) and
         not EMC.PILGRIMSTEP and
         ( dVDeltaF - dVDeltaI > MinV - dVPosI + MyMinY - dYPosI) then
         table.insert( vCmd, { 0, 'Direct-V-Y'})
         -- se l'altra morsa non era in presa, vado a pinzare il pezzo
@@ -1741,7 +1749,9 @@ function SpecAdjustCarriages( vCmd, dTPosI, dYDeltaI, dVDeltaI, dTPosF, dYDeltaF
      --    * deve effettivamente spostarsi
      --    * non si arriva da gestione passo del pellegrino
      --    * se riesce a raggiungere la posizione con le corse a disposizione per come sono posizionate le morse attualmente
-      elseif ( dYDeltaF - dVDeltaI) + 10 * GEO.EPS_SMALL >= MyMinY - MaxV and abs( dYDeltaF - dYDeltaI) > 10 * GEO.EPS_SMALL and  not EMC.PILGRIMSTEP and
+      elseif ( dYDeltaF - dVDeltaI) + 10 * GEO.EPS_SMALL >= MyMinY - MaxV and 
             ( abs( dYDeltaF - dYDeltaI) > 10 * GEO.EPS_SMALL or not EMC.YDELTA) and
             not EMC.PILGRIMSTEP and
             ( dYDeltaF - dYDeltaI < MaxY - dYPosI + MaxV - dVPosI) then
         table.insert( vCmd, { 0, 'Direct-Y-V'})
         -- se l'altra morsa non era in presa, vado a pinzare il pezzo
@@ -76,6 +76,7 @@ SurfFinishing=1
 [5AxMilling]
 5AxScript1=5AxProject
 5AxScript2=5AxPocketProject
 5AxScript3=5AxCylProject
 [Machining]
 InitScript=InitMach.lua
@@ -24,10 +24,10 @@
 require( 'EmtGenerator')
 EgtEnableDebug( false)
-PP_VER = '2.7a3_DEV1'
+PP_VER = '2.7j2'
-PP_NVER = '2.7.1.3'
+PP_NVER = '2.7.10.2'
 MIN_MACH_VER = '2.5k1'
-MACH_NAME = 'Essetre-FAST'
+MACH_NAME = string.match( EgtGetCurrMachineDir(), "[^\\]+$")  -- si ricava il nome della macchina dal direttorio
 -- Carico i dati globali
 local sMachDir = EgtGetCurrMachineDir()
@@ -90,8 +90,13 @@ BeamHeightForFixRot = 9999                     -- per abilitare assegnare 500
 NewTopC = true
 SafeXRotAxes = 150
 AggreBlockHaus = false
 SecondToolChanger = false
 EstimationRapidMultiplier = 1
 -- costanti dimensioni utensili
 LONG_TOOL_MINLEN = 221
 BIG_TOOL_DIAM = 300
 -- leggo e aggiorno con parametri da BeamData
 if BD then
   BeamHeightForFixRot = BD.MAX_HEIGHT_ROT_B_ABOVE or BeamHeightForFixRot
@@ -157,14 +162,23 @@ if EgtExistsFile( sData) then
         if Machine.Offsets.MIN_JOIN_LS then MinJoinLS = Machine.Offsets.MIN_JOIN_LS end
         if Machine.Offsets.MIN_JOIN_SL then MinJoinSL = Machine.Offsets.MIN_JOIN_SL end
         if Machine.Offsets.MIN_JOIN_LL then MinJoinLL = Machine.Offsets.MIN_JOIN_LL end
         if Machine.Offsets.MAXFEEDPINZE then MaxFeedPinze = Machine.Offsets.MAXFEEDPINZE end
         if Machine.Offsets.MAXACC then MaxAcc = Machine.Offsets.MAXACC end
         if Machine.Offsets.MINACC then MinAcc = Machine.Offsets.MINACC end
         if Machine.Offsets.NEWTOPC then NewTopC = ( Machine.Offsets.NEWTOPC == 1) end
         if Machine.Offsets.AGGRE_BH then AggreBlockHaus = ( Machine.Offsets.AGGRE_BH == 1) end
         if Machine.Offsets.SEC_TC then SecondToolChanger = ( Machine.Offsets.SEC_TC == 1) end
         if Machine.Offsets.COEFF_STIMATEMPI and Machine.Offsets.COEFF_STIMATEMPI > 0 then EstimationRapidMultiplier = Machine.Offsets.COEFF_STIMATEMPI end
         if Machine.Offsets.MAX_HEIGHT_ROT_B_ABOVE then BeamHeightForFixRot = Machine.Offsets.MAX_HEIGHT_ROT_B_ABOVE end
      end
   end
 end
 if SpecialBH then SecondSupport = 0 end
 -- compongo i gruppi appartenenti alla base
 local sBaseAux = {'BASE/SOLID', 'BASE/TC', 'BASE/SIGN', 'BASE/COLLISION'}
 if SecondToolChanger then table.insert( sBaseAux, 5, 'BASE/TC2') end
 EmtGeneral {
      File='Essetre-FAST.nge',
      Offset = Vector3d( 0, 1150.16, -1500.0),
@@ -178,7 +192,8 @@ EmtGeneral {
 local BaseId = EmtBase {
      Name = 'Base',
      Geo='BASE/GEO',
-      Aux={'BASE/SOLID', 'BASE/TC', 'BASE/SIGN', 'BASE/COLLISION'}}
+      Aux = sBaseAux}
 local XId = EmtAxis {
      Name = 'X',
      Parent = 'Base',
@@ -338,6 +353,7 @@ if AggreBlockHaus then
      Geo = 'H7_HEAD/GEO',
      Aux = {'H7_HEAD/SOLID', 'H7_HEAD/COLLISION'}}
 end
 -- Morse
 local YId = EmtAxis {
      Name = 'Y',
@@ -468,22 +484,83 @@ EmtTcPos {
      TDir = -X_AX(),
      ADir = -Y_AX(),
      Geo = 'BASE/T10'}
-EmtTcPos {
+if AggreBlockHaus then
-      Name = 'T11',
+   local TcpSsId = EmtTcPos {
-      Parent = 'Base',
+         Name = 'T11',
      Pos = Point3d( 523.8, 88.0, -877.5),
      TDir = -X_AX(),
      ADir = -Y_AX(),
      Geo = 'BASE/T11'}
 if not SpecialBH then
   EmtTcPos {
         Name = 'T101',
         Parent = 'Base',
-         Pos = Point3d( -510.4, 113.2, -160.8),
+         Pos = Point3d( 678.3, -1.963, -877.5),
-         TDir = X_AX(),
+         TDir = Y_AX(),
-         ADir = Z_AX(),
+         ADir = -X_AX(),
-         Geo = 'BASE/T101'}
+         Geo = 'BASE/T121',
         Aux = 'BASE/T121_HS'}
 else
   EmtTcPos {
         Name = 'T11',
         Parent = 'Base',
         Pos = Point3d( 523.8, 88.0, -877.5),
         TDir = -X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T11'}
 end
 -- ToolChanger 2
 if SecondToolChanger then
   EmtTcPos {
         Name = 'T21',
         Parent = 'Base',
         Pos = Point3d( -503.2, 88.0, 172.5),
         TDir = X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T21'}
   EmtTcPos {
         Name = 'T22',
         Parent = 'Base',
         Pos = Point3d( -503.2, 88.0, 67.5),
         TDir = X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T22'}
   EmtTcPos {
         Name = 'T23',
         Parent = 'Base',
         Pos = Point3d( -503.2, 88.0, -37.5),
         TDir = X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T23'}
   EmtTcPos {
         Name = 'T24',
         Parent = 'Base',
         Pos = Point3d( -503.2, 88.0, -142.5),
         TDir = X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T24'}
   EmtTcPos {
         Name = 'T25',
         Parent = 'Base',
         Pos = Point3d( -503.2, 88.0, -247.5),
         TDir = X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T25'}
   EmtTcPos {
         Name = 'T26',
         Parent = 'Base',
         Pos = Point3d( -503.2, 88.0, -352.5),
         TDir = X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T26'}
   EmtTcPos {
         Name = 'T27',
         Parent = 'Base',
         Pos = Point3d( -503.2, 88.0, -457.5),
         TDir = X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T27'}
   EmtTcPos {
         Name = 'T28',
         Parent = 'Base',
         Pos = Point3d( -503.2, 88.0, -562.5),
         TDir = X_AX(),
         ADir = -Y_AX(),
         Geo = 'BASE/T28'}
   EmtTcPos {
         Name = 'T101',
         Parent = 'Base',
@@ -491,59 +568,66 @@ else
         TDir = X_AX(),
         ADir = Z_AX(),
         Geo = 'BASE/T101S'}
-end
+else
-if SecondSupport == 1 then
+   if not SpecialBH then
-   -- supporto per punta
+      EmtTcPos {
-   EmtTcPos {
+            Name = 'T101',
-         Name = 'T111',
+            Parent = 'Base',
-         Parent = 'Base',
+            Pos = Point3d( -510.4, 113.2, -160.8),
-         Pos = Point3d( -510.4, 113.2, -329.8),
+            TDir = X_AX(),
-         TDir = Z_AX(),
+            ADir = Z_AX(),
-         ADir = X_AX(),
+            Geo = 'BASE/T101'}
-         Geo = 'BASE/T111'}
+   else
-elseif SecondSupport == 2 then
+      EmtTcPos {
-   -- supporto per mortasatrice
+            Name = 'T101',
-   local TcpSsId = EmtTcPos {
+            Parent = 'Base',
-                        Name = 'T111',
+            Pos = Point3d( -510.4, 113.2, -1160.8),
-                        Parent = 'Base',
+            TDir = X_AX(),
-                        Pos = Point3d( -510.4, 113.2, -430.8),
+            ADir = Z_AX(),
-                        TDir = X_AX(),
+            Geo = 'BASE/T101S'}
-                        ADir = Z_AX(),
+   end
-                        Geo = 'BASE/T111M'}
+   if SecondSupport == 1 then
-   EgtSetInfo( TcpSsId, 'Mortiser', true)
+      -- supporto per punta
-elseif SecondSupport == 3 then
+      EmtTcPos {
-   -- supporto per rinvio angolare
+            Name = 'T111',
-   local TcpSsId = EmtTcPos {
+            Parent = 'Base',
-                        Name = 'T91',
+            Pos = Point3d( -510.4, 113.2, -329.8),
-                        Parent = 'Base',
+            TDir = Z_AX(),
-                        ExitNbr = 2,
+            ADir = X_AX(),
-                        Pos1 = Point3d( -710.4-150, 113.2, -329.8-170),
+            Geo = 'BASE/T111'}
-                        TDir1 = X_AX(),
+   elseif SecondSupport == 2 then
-                        Pos2 = Point3d( -710.4+150, 113.2, -329.8-170),
+      -- supporto per mortasatrice
-                        TDir2 = -X_AX(),
+      local TcpSsId = EmtTcPos {
-                        ADir = Z_AX(),
+                           Name = 'T111',
-                        Geo = 'BASE/T91',
+                           Parent = 'Base',
-                        Aux = 'BASE/T91_HS'}
+                           Pos = Point3d( -510.4, 113.2, -430.8),
-end
+                           TDir = X_AX(),
-if SpecialBH then
+                           ADir = Z_AX(),
-   EmtTcPos {
+                           Geo = 'BASE/T111M'}
-         Name = 'T111',
+      EgtSetInfo( TcpSsId, 'Mortiser', true)
-         Parent = 'Base',
+   elseif SecondSupport == 3 then
-         Pos = Point3d( -810.4, 113.2, -329.8),
+      -- supporto per rinvio angolare
-         TDir = Y_AX(),
+      local TcpSsId = EmtTcPos {
-         ADir = X_AX(),
+                           Name = 'T91',
-         Geo = 'BASE/T111S'}
+                           Parent = 'Base',
-end
+                           ExitNbr = 2,
-
+                           Pos1 = Point3d( -710.4-150, 113.2, -329.8-170),
-if AggreBlockHaus then
+                           TDir1 = X_AX(),
-   local TcpSsId = EmtTcPos {
+                           Pos2 = Point3d( -710.4+150, 113.2, -329.8-170),
-      Name = 'T121',
+                           TDir2 = -X_AX(),
-      Parent = 'Base',
+                           ADir = Z_AX(),
-      Pos = Point3d( 678.3, -1.963, -877.5),
+                           Geo = 'BASE/T91',
-      TDir = Y_AX(),
+                           Aux = 'BASE/T91_HS'}
-      ADir = -X_AX(),
+   end
-      Geo = 'BASE/T121',
+   if SpecialBH then
-      Aux = 'BASE/T121_HS'}
+      EmtTcPos {
            Name = 'T111',
            Parent = 'Base',
            Pos = Point3d( -810.4, 113.2, -329.8),
            TDir = Y_AX(),
            ADir = X_AX(),
            Geo = 'BASE/T111S'}
   end
 end
 -- Aggiusto posizioni geometriche
@@ -575,18 +659,27 @@ PVLightId = EgtGetFirstNameInGroup( EgtGetFirstNameInGroup( PVId, 'SOLID') or GD
 ---------------------------------------------------------------------
 function OnSetHead()
   -- se testa lama
-   if EMC.HEAD == 'H2' then
+   if EMC.HEAD == 'H1' then
-      EmtModifyAxisDirection( 'B', VectorFromRotated( X_AX(), Z_AX(), -SawCOffs))
+      if EMC.TOTLEN and EMC.TOTLEN < LONG_TOOL_MINLEN then
-   -- altrimenti
+         EmtModifyAxisStroke( 'B', {MinB, MaxB})
      else
         EmtModifyAxisStroke( 'B', {-140, 140})
      end
   else
-      EmtModifyAxisDirection( 'B', X_AX())
+      EmtModifyAxisStroke( 'B', {MinB, MaxB})
-      if EMC.HEAD == 'H3' then
+      if EMC.HEAD == 'H2' then
-         local dDist = EgtIf( EMC.DIST and abs( EMC.DIST) > 1, EMC.DIST, ChSawLen)
+         EmtModifyAxisDirection( 'B', VectorFromRotated( X_AX(), Z_AX(), -SawCOffs))
-         EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -dDist))
+      -- altrimenti
-         if not EMC.VER or EMC.VER < '2.5h2' then
+      else
-            local vtMove = Point3d( 0, 0, -dDist) - Point3d( EMC.EXITPOS)
+         EmtModifyAxisDirection( 'B', X_AX())
-            local ExitId = EgtGetFirstNameInGroup( EgtGetHeadId( EMC.HEAD), 'T'..tostring( EMC.EXIT))
+         if EMC.HEAD == 'H3' then
-            EgtMove( ExitId, vtMove)
+            local dDist = EgtIf( EMC.DIST and abs( EMC.DIST) > 1, EMC.DIST, ChSawLen)
            EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -dDist))
            if not EMC.VER or EMC.VER < '2.5h2' then
               local vtMove = Point3d( 0, 0, -dDist) - Point3d( EMC.EXITPOS)
               local ExitId = EgtGetFirstNameInGroup( EgtGetHeadId( EMC.HEAD), 'T'..tostring( EMC.EXIT))
               EgtMove( ExitId, vtMove)
            end
         end
      end
   end
@@ -596,7 +689,7 @@ end
 -- Funzione per impostare spia stato morsa carrello Y
 function SetPYLight( bClosed)
   if not PYLightId then return end
-   EgtSetColor( PYLightId, EgtIf( bClosed, 'RED', 'LIME')) 
+   EgtSetColor( PYLightId, EgtIf( bClosed, 'RED', 'LIME'))
   if bClosed then
      EgtSetInfo( PYLightId, 'On', '1')
   else
@@ -630,6 +723,52 @@ function GetPVLight()
   return ( EgtGetInfo( PVLightId, 'On') == '1')
 end
 ---------------------------------------------------------------------
 ---------------------------- Cambio Utensile ------------------------
 function GetTCSet( sTcPos)
   -- TC 1
   if sTcPos == 'T1' or sTcPos == 'T2' or sTcPos == 'T3' or sTcPos == 'T4' or sTcPos == 'T5' or
      sTcPos == 'T6' or sTcPos == 'T7' or sTcPos == 'T8' or sTcPos == 'T9' or sTcPos == 'T10' or sTcPos == 'T11' then
      return 1
   -- TC 2
   elseif sTcPos == 'T21' or sTcPos == 'T22' or sTcPos == 'T23' or sTcPos == 'T24' or
          sTcPos == 'T25' or sTcPos == 'T26' or sTcPos == 'T27' or sTcPos == 'T28' then
      return 2
   end
 end
 ---------------------------------------------------------------------
 -- Funzione per impostare la posizione del rinvio flottante
 function SetFloatPos( sHead, dPos)
   -- recupero Id testa
   local nHeadId = EgtGetHeadId( sHead)
   if not nHeadId then return false end
   -- se ci sono entità flottanti nel ToolHolder
   local nRefId = EgtGetFirstNameInGroup( nHeadId, '_T1')
   local vtTool = EgtFR( nRefId, GDB_ID.ROOT):getVersZ() 
   local nObjId =  EgtGetFirstGroupInGroup( EgtGetFirstNameInGroup( nHeadId, 'T1'))
   local FloatEntities = EgtGetInfoInGroup( nObjId, 'Float')
   if FloatEntities and #FloatEntities > 0 then
      -- il porta-utensile flottante non può comprimersi più di 10mm
      if dPos > 10 then
         local sErr = 'Floating Ring compressed more than 10mm'
         EmtSetLastError( 1222, sErr)
         EgtOutLog( 'Error : ' .. sErr, 1)
      end
      local dFloat = EgtGetInfo( FloatEntities[1], 'Float', 'd')
      if abs( dPos - dFloat) > 10 * GEO.EPS_SMALL then
         local vtMove = ( dPos - dFloat) * vtTool
         -- sposto tutte le entità flottanti
         for i = 1, #FloatEntities do
            EgtMove( FloatEntities[i], vtMove, GDB_RT.GLOB)
            EgtSetInfo( FloatEntities[i], 'Float', dPos)
         end
      end
      return true
   end
   return false
 end
 ---------------------------------------------------------------------
 -- Funzione per resettare tutte le attivazioni della macchina
 function OnResetMachine()
@@ -637,6 +776,7 @@ function OnResetMachine()
   EmtUnlinkAllFixturesFromGroups()
   SetPYLight( false)
   SetPVLight( false)
   SetFloatPos( 'H1', 0)
   -- nascondo Vmill
   local nRawId = EgtGetFirstRawPart()
   while nRawId do
@@ -7,27 +7,34 @@
 [Sawing]
 [Milling]
-0=d,MaxElev,0
+0=l,MaxElev,0
 1=d,OutRaw,0
-2=d,SideElev,0
+2=l,SideElev,0
 3=d,TrimExt,0
-4=sr,VtFaceUse,0,0,0
+4=s,VtFaceUse,0,0,0
 5=s,EdgesFaceUse,0
 [Pocketing]
-0=d,MaxElev,0
+0=l,MaxElev,0
 1=b,Open,0
-2=d,OpenMinSave,0
+2=d,OpenMinSafe,0
 3=d,OpenOutRaw,0
-4=d,MaxOptSize,0
+4=l,MaxOptSize,0
 [Mortising]
 0=d,MaxElev,0
 [Chiseling]
 [SawRoughing]
 [SawFinishing]
 [GenMachining]
 [SurfRoughing]
 0=l,MaxElev,1000
 1=b,PlaneZ,0
 [SurfFinishing]
 0=b,SkipMaxDown,1
@@ -38,11 +45,14 @@
 2=s,Type,ZigZag
 3=d,SideAng,90
 4=l,Step,10
-5=l,OffsProj,0
+5=d,AngIni,-90
-6=l,LiTang,0
+6=d,AngFin,90
-7=l,LiOrth,0
+7=l,LiTang,0
-8=l,LiElev,0
+8=l,LiOrth,0
-9=l,LoTang,0
+9=l,LiElev,0
-10=l,LoOrth,0
+10=l,LoTang,0
-11=l,LoElev,0
+11=l,LoOrth,0
-12=b,DirFromGuide,1
+12=l,LoElev,0
 13=b,DirFromGuide,0
 14=b,SurfAvoid,0
@@ -24,9 +24,7 @@ local INVALIDPOS = ""
 local POS = "Pos"
 -- Geom Set
-local GS = {}
+local GS = {{"H1", "H7"}}
 local bAggreBlockHaus = ( EgtGetHeadId( 'H7') ~= nil)
 -- Configurazione posizioni
 local PositionTable={{Pos = "Pos1",  TcPos = "T1",  Head = "H1", Group = "G1"},
@@ -39,23 +37,37 @@ local PositionTable={{Pos = "Pos1",  TcPos = "T1",  Head = "H1", Group = "G1"},
                     {Pos = "Pos8",  TcPos = "T8",  Head = "H1", Group = "G1"},
                     {Pos = "Pos9",  TcPos = "T9",  Head = "H1", Group = "G1"},
                     {Pos = "Pos10", TcPos = "T10", Head = "H1", Group = "G1"},
-                     {Pos = "Pos11", TcPos = EgtIf( bAggreBlockHaus, "T121", "T11"), Head = EgtIf( bAggreBlockHaus, "H7", "H1"), Group = "G1"},
+                     {Pos = "Pos11", TcPos = "T11", Head = "H1", Group = "G1"},
                     {Pos = "Pos12", TcPos = "T42", Head = "H2", Group = "G1"},
                     {Pos = "Pos13", TcPos = "T101", Head = "H3", Group = "G2"}}
-local SecSuppId = EgtGetTcPosId( 'T111')
+
-if SecSuppId then
+local IsTC2Active = ( EgtGetFirstNameInGroup( EgtGetBaseId( 'Base'), 'TC2') ~= nil)
-   local bMortiser = EgtGetInfo( SecSuppId, 'Mortiser', 'b')
+if IsTC2Active then
-   if bMortiser then
+   local PositionTableTC2={{Pos = "Pos14",  TcPos = "T21",  Head = "H1", Group = "G3"},
-      table.insert( PositionTable, {Pos = "Pos14", TcPos = "T111", Head = "H3", Group = "G2"})
+                           {Pos = "Pos15",  TcPos = "T22",  Head = "H1", Group = "G3"},
-   else
+                           {Pos = "Pos16",  TcPos = "T23",  Head = "H1", Group = "G3"},
-      table.insert( PositionTable, {Pos = "Pos14", TcPos = "T111", Head = "H1", Group = "G2"})
+                           {Pos = "Pos17",  TcPos = "T24",  Head = "H1", Group = "G3"},
                           {Pos = "Pos18",  TcPos = "T25",  Head = "H1", Group = "G3"},
                           {Pos = "Pos19",  TcPos = "T26",  Head = "H1", Group = "G3"},
                           {Pos = "Pos20",  TcPos = "T27",  Head = "H1", Group = "G3"},
                           {Pos = "Pos21",  TcPos = "T28",  Head = "H1", Group = "G3"}}
   EgtJoinTables( PositionTable, PositionTableTC2)
 else
   local SecSuppId = EgtGetTcPosId( 'T111')
   if SecSuppId then
      local bMortiser = EgtGetInfo( SecSuppId, 'Mortiser', 'b')
      if bMortiser then
         table.insert( PositionTable, {Pos = "Pos14", TcPos = "T111", Head = "H3", Group = "G2"})
      else
         table.insert( PositionTable, {Pos = "Pos14", TcPos = "T111", Head = "H1", Group = "G2"})
      end
   end
   if EgtGetHeadId( 'H5') then
      table.insert( PositionTable, {Pos = "Pos14", TcPos = "T91", Head = "H5", Group = "G2"})
   end
 end
 if EgtGetHeadId( 'H5') then
   table.insert( PositionTable, {Pos = "Pos14", TcPos = "T91", Head = "H5", Group = "G2"})
 end
-local UsePositionHead = true
+local UsePositionHead = false
 local function IsInGeomSet( ToolHead, PosHead)
   for GsIndex = 1, #GS do
@@ -27,6 +27,7 @@
 2=d,SIDESTEP
 3=d,SIDEDEPTH
 4=s,DOUBLE
 5=dr,TOOL_OVERHANG
 [MILL_NOTIP]
 0=th,TH,
@@ -34,6 +35,7 @@
 2=d,SIDESTEP
 3=d,SIDEDEPTH
 4=s,DOUBLE
 5=dr,TOOL_OVERHANG
 [MORTISE_STD]
 0=b,MORTISE
@@ -1,13 +1,61 @@
           ==== Common_FAST Update Log ====
-Versione 2.7a3 (08/01/2024)
+Versione 2.7j2 (08/10/2025)
 - (SIM-GEN) Quando si scarica motosega, si raddrizza prima l'asse B e poi si muove il C. Ora sempre e non solo se pezzo alto.
 Versione 2.7j1 (06/10/2025)
 - (SIM-GEN) Quando si scarica motosega, si raddrizza prima l'asse B e poi si muove il C.
 Versione 2.7i3 (23/09/2025)
 - (MLDE-ALL) Spostate costanti dimensioni utensili in MLDE.
 Versione 2.7i2 (17/09/2025)
 - (EST) Stima tempi considerando accelerazioni
 - (SIM) Prelievo e deposito motosega con gli angoli comunicati da Essetre
 Versione 2.7i1 (08/09/2025)
 - (SIM-GEN) Se lavorazione precedente e successiva con motosega e si cambiano assi rotanti, vado in parcheggio per ruotare. Ticket#1844
 - (SIM-GEN) Per NEWCLAMPING, corretto un caso di riposizionemento allo scarico dove la pinza V poteva andare in posizione direttamente, ma cercava di fare passo pellegrino. Ticket#2572
 Versione 2.7g1 (01/07/2025)
 - (GEN) Aggiunti parametri FMAXPINZE, MAXACC, MINACC configurabili da TS3. Ticket#2052
 Versione 2.7f3 (26/06/2025)
 - (SIM-GEN) Aggiunti 10mm di sicurezza in caso di primo pinzaggio per stare oltre tolleranza riqualifica laser di 50mm. Ticket#2504
 Versione 2.7f2 (19/06/2025)
 - (GEN) Se in separazione il pezzo è andato più lontano della posizione standard, viene riletta. Ticket#2498
 Versione 2.7f1 (18/06/2025)
 - (SIM-GEN) Se utensile più lungo di 350mm, si va in posizione sicurezza come per la motosega. Ticket#2438
 Versione 2.7e1 (26/05/2025)
 - (SIM) Aumentata dimensione massima per la quale si rimuove uno scarto dal VMILL. Ticket#1438
 - (SIM) In simulazione, corretto selezione utensile per punte lunghe. Ticket#2438
 Versione 2.7d1 (14/04/2025)
 - (GEN) Corretto movimento iniziale in caso di motosega, si controlla solo se non è il carico. Ticket#2385
 Versione 2.7c1 (26/03/2025)
 - (GEN) All'inizio del codice ISO si scrive nel commento anche il controllo numerico utilizzato per la generazione.
 - (GEN) Aggiunta commenti HEADER e FOOTER per comunicazione con linea o altre macchine, da parte di Essetre.
 - (GEN) In MyAdjustLinearAxes si utilizza TDIR per calcolarsi gli offset per compatibilità con lavorazioni a 5 assi.
 Versione 2.7b1 (20/02/2025)
 - (SIM-GEN) Aggiunta possibilità di settare HCING/TCING nelle note di ogni singola lavorazione per gestire parte non pinzabile del pezzo. Funziona solo con nuovo pinzaggio.
 - (SIM-GEN) Piccola correzione calcolo posizione carrelli con nuova strategia di pinzaggio.
 - (SIM-GEN) Caricamento libreria EmtGenMachining. Si fa una require con PCALL perchè la libreria è opzionale e non è detto che ci sia. In installazione CAM5 dalla 2.7a1
 - (GEN) Per controllo TPA, modifica al numero di decimali.
 - (SIM) Aggiunta gestione per ToolHolder flottante
 Versione 2.7a3 (08/01/2025)
 - (GEN) Dopo separazione, in NUM_PLUS, si srive EH1 solo se macro G101, perchè altrimenti non è prevista. Ticket#2239
-Versione 2.7a2 (08/01/2024)
+Versione 2.7a2 (08/01/2025)
 - (MLDE-SIM) Aggiunta gestione FACOLTATIVA 'EstimationRapidMultiplier' in MLDE per regolare il tempo stimato. Se non presente in MLDE, default 1.
 - (SIM) Aggiunta gestione qualità VMILL da impostazioni macchina
-Versione 2.7a1 (07/01/2024)
+Versione 2.7a1 (07/01/2025)
 - (MLDE-SIM-GEN) Nuovo aggregato 90° (H7) per fresa tipo BlockHaus. Ticket#2142
 - (SIM-GEN) Aumentati limiti massimi di pinzaggio minimo
@@ -3,7 +3,7 @@
 local InfoCommon_STD_PP = {
   NAME = 'Common_FAST',            -- nome script PP standard
-   VERSION = '2.7a3',                 -- versione script
+   VERSION = '2.7j2',                 -- versione script
   MIN_MACH_VER_PP_COMMON = '2.5k1'   -- versione minima kernel
 }
Author	SHA1	Message	Date
andrea.villa	87b6fad2d9	Aggiornata versione macchina	2025-10-08 16:12:47 +02:00
andrea.villa	ea0abe4368	Allineamento con common ver. 2.7j2	2025-10-08 16:12:25 +02:00
andrea.villa	eca719326b	Allineamento con common ver. 2.7j1	2025-10-06 15:58:47 +02:00
andrea.villa	898df3626f	Aggiunta lettura parametro MAX_HEIGHT_ROT_B_ABOVE da TS3	2025-09-23 14:39:58 +02:00
andrea.villa	7caf93246b	Allineamento con common ver. 2.7i3	2025-09-23 11:31:12 +02:00
andrea.villa	110b9f66cf	Allineamento con common ver. 2.7i2	2025-09-17 09:23:46 +02:00
andrea.villa	8fd55f9c29	Cambio versione macchina	2025-09-08 08:47:22 +02:00
andrea.villa	e6e1863ed9	Merge branch 'master' of https://gitlab.steamware.net/egalware-machines/essetre/Essetre-FAST	2025-09-08 08:46:57 +02:00
andrea.villa	4ae1f93e9e	- Allineamento con common ver. 2.7i1 - Aggiunto tipo di alvorazione per automatismo	2025-09-08 08:46:53 +02:00
luca.mazzoleni	1260407fec	- update versione	2025-07-14 10:24:31 +02:00
luca.mazzoleni	6cabd0eb44	Merge branch 'master' of https://gitlab.steamware.net/egalware-machines/essetre/Essetre-FAST	2025-07-14 10:23:24 +02:00
luca.mazzoleni	8561a31e3e	- in BeamData migliorata GetMinNzDownUp	2025-07-14 10:22:36 +02:00
andrea.villa	ab037d28c2	Aggiunto lettura accelerazioni	2025-07-01 08:45:48 +02:00
andrea.villa	66070d5572	Allineamento a common ver. 2.7g1	2025-07-01 08:13:36 +02:00
andrea.villa	3ff5eff1c4	Allineamento con common ver. 2.7f3	2025-06-26 08:50:18 +02:00
andrea.villa	44c99bb9c0	Allineamento con common ver. 2.7f2	2025-06-19 16:51:11 +02:00
andrea.villa	a20def92b8	Allineamento con common ver. 2.7f1	2025-06-18 17:57:48 +02:00
andrea.villa	d53ee46d01	Allineamento con common ver. 2.7e1	2025-05-26 09:51:29 +02:00
andrea.villa	a4428dfc7e	Allineamento con common ver. 2.7d1	2025-04-14 08:44:43 +02:00
Dario Sassi	dee48eaa84	Merge branch 'master' of https://gitlab.steamware.net/egalware-machines/Essetre/Essetre-FAST	2025-04-07 12:21:57 +02:00
Dario Sassi	0c98a3b342	Essetre-FAST : - altre migliorie a configurazione Note Utente in Lavorazioni.	2025-04-07 12:21:25 +02:00
andrea.villa	4663adcc5c	Merge branch 'master' of https://gitlab.steamware.net/egalware-machines/essetre/Essetre-FAST	2025-04-07 12:08:17 +02:00
andrea.villa	dace2e7321	Aggiunto STRATEGIES_SCRIPT in BeamData	2025-04-07 12:08:12 +02:00
Dario Sassi	c7c9d4be20	Essetre-FAST : - sistemazione configurazione NoteUtente.	2025-04-07 12:05:32 +02:00
luca.mazzoleni	632c28c667	update versione in mlde	2025-04-02 15:14:04 +02:00
luca.mazzoleni	feb0f12b61	Merge branch 'develop'	2025-04-02 15:08:43 +02:00
luca.mazzoleni	e6fb6380cb	- in BeamData modificata GetNzLimDownUp - in MachData aggiunta MIN_JOIN_VV	2025-04-02 15:08:29 +02:00
andrea.villa	f7c241163c	Allineamento con common ver. 2.7c1 Aggiunte info per lavorazioni a 5 assi	2025-03-26 12:17:49 +01:00
luca.mazzoleni	e42381e231	Merge branch 'develop'	2025-03-13 10:45:58 +01:00
luca.mazzoleni	5636d35be5	update versione	2025-03-13 10:45:29 +01:00
luca.mazzoleni	562416f232	Merge branch 'temp' into develop	2025-03-13 10:44:25 +01:00
luca.mazzoleni	5a584431cb	Merge remote-tracking branch 'origin/master' into temp	2025-03-13 10:44:01 +01:00
luca.mazzoleni	07a004f18d	- in BeamData aggiunti angoli limite per nuovo automatismo	2025-03-13 10:43:56 +01:00
andrea.villa	c332eccef2	Cambio versione	2025-03-10 08:28:26 +01:00
andrea.villa	cdcfb0b053	Aggiunto parametro MAX_DIM_HTCUT_HBEAM a BeamData	2025-03-10 08:27:58 +01:00
andrea.villa	09efa2d462	Merge branch 'master' of https://gitlab.steamware.net/egalware-machines/essetre/Essetre-FAST	2025-03-05 11:42:24 +01:00
andrea.villa	6a0d00e10b	- in BeamData corretta GetChainsaWInitAngs. La funzione è adesso corretta, diversa dalla FASTrl.	2025-03-05 11:40:02 +01:00
luca.mazzoleni	4d773f5bfa	- modificata GetSetupInfo	2025-02-28 09:21:59 +01:00
luca.mazzoleni	cb0c293fd7	- in BeamData GetSetupInfo aggiornate informazioni teste	2025-02-25 17:48:20 +01:00
andrea.villa	b4235bcc9b	- Tolta vecchia testa H8 - Tolto chiamata debug	2025-02-20 17:03:24 +01:00
andrea.villa	c5e0c1124d	Merge remote-tracking branch 'origin/develop'	2025-02-20 16:46:32 +01:00
andrea.villa	52e9ec6286	Allineamento con common ver. 2.7b1	2025-02-20 16:46:20 +01:00
andrea.villa	36f393ab79	- in BeamData riportata GetChainsaWInitAngs a versione precedente	2025-02-20 15:39:00 +01:00
andrea.villa	ad8091e168	Merge branch 'Modification_HCING-TCING' into develop	2025-02-20 12:21:03 +01:00
andrea.villa	d738334a57	Tolto testa H8 (non più utilizzata) da script SetUp.	2025-02-03 10:17:53 +01:00
andrea.villa	3100e615f7	Cambio di versione per i test da parte di Essetre	2025-01-23 15:56:41 +01:00
andrea.villa	a6d54ac40d	Merge branch 'NewFloatingAggregate' into develop	2025-01-23 15:55:43 +01:00
andrea.villa	785e4490ea	Gestione aggregato flottante completata	2025-01-23 15:52:58 +01:00
andrea.villa	971fcc0c07	Cambio nome parametro creazione utensile	2025-01-14 09:50:49 +01:00
andrea.villa	db7cb8c1b1	- Gestione HCING/TCING da riportare nei prossimi common - Piccola modifica ad aggregato flottante	2025-01-14 08:49:32 +01:00
andrea.villa	80fdaf23f4	Corretta simulazione del cambio utensile in caso di magazzino 2	2025-01-08 11:51:55 +01:00
andrea.villa	b832df5767	Merge remote-tracking branch 'origin/master' into NewFloatingAggregate	2025-01-08 08:31:24 +01:00
andrea.villa	793fe00cc9	Prima versione aggregato flottante	2025-01-07 14:43:07 +01:00