Singularity when importing G-code

[ziqiuhuang]

Hi, Johannes
I try to import G-code using iiwa LBR14 R820 do 3D printing.
However, when I import the code and adjust the position of printing, it is not working well unless I set Extrusion as 1 (in command E1 shows as 0).
Any solution to this problem?
Two pictures are attached to explain the problem
GH and G-code file have been attached in the end. In the modi.gh, only top left grouped batteries are useful in the file.
Best regards,
Ziqiu

[Johannes @ Robots in Architecture]

Hello,

If you look at the simulation you see that the redundant axis is causing the problems. KUKA|prc uses the "old" pre-iiwa model for managing redundant axis, so rather than going A1-A7 we have got A1-A6 plus E1.
Now you set the G-code import so that the extrusion value would be mapped to E1 - which rotates your A3.
So just change the Extrusion Mode input to E2 instead of E1 and it should look fine!

Best,
Johannes

[ziqiuhuang]

Hi, Johannes,
Thank you very much for your kind help.
I think it is a good way to solve the problem.
Best regards,
Ziqiu