Thank you Johannes. I will try to adapt your suggestions, hope it will work without any problems.
Best,
Michal
Best,
Michal
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#2
Support / Connection with the stepper
July 29, 2024, 10:51:45 AM
Hello everyone,
I am looking for a solution how to control extrusion auger via stepper motor in KUKAprc.
I went through the forums and did not find any relevant answers to my problem, so I would like to ask you for help.
I already run carthesian 3D printer controlled by Arduino and using gcode, generated by Grasshopper. Extrusion auger within the printhead is powered by stepper motor controlled by Arduino. In Gcode and Grasshopper the extrusion rate is set by E variable within range between 0,100 to 0,200.
I want to use this printhead as the end effector of KUKA Quantec KR120, but I cannot solve how to link it in Grasshopper. I created the 3D model of printhead and used it as a Custom tool in KUKAprc and simulation works well, but I am not sure how to create the output for controlling the extrusion rate of stepper motor.
If I use nod Digital Output, I can set external axis, but there is no possibility to set up the variable for controlling extrusion rate (E variable) like I did when generating Gcode in Grasshopper. Maybe it is possible via Analog Output and setting State between -1 and 1?
Maybe I can set up E variable by adding some code directly into the krl by nod KRL code but I dont know how the code should look like.
Should you have any ideas, I would be very thankful.
Michal Kovářík
I am looking for a solution how to control extrusion auger via stepper motor in KUKAprc.
I went through the forums and did not find any relevant answers to my problem, so I would like to ask you for help.
I already run carthesian 3D printer controlled by Arduino and using gcode, generated by Grasshopper. Extrusion auger within the printhead is powered by stepper motor controlled by Arduino. In Gcode and Grasshopper the extrusion rate is set by E variable within range between 0,100 to 0,200.
I want to use this printhead as the end effector of KUKA Quantec KR120, but I cannot solve how to link it in Grasshopper. I created the 3D model of printhead and used it as a Custom tool in KUKAprc and simulation works well, but I am not sure how to create the output for controlling the extrusion rate of stepper motor.
If I use nod Digital Output, I can set external axis, but there is no possibility to set up the variable for controlling extrusion rate (E variable) like I did when generating Gcode in Grasshopper. Maybe it is possible via Analog Output and setting State between -1 and 1?
Maybe I can set up E variable by adding some code directly into the krl by nod KRL code but I dont know how the code should look like.
Should you have any ideas, I would be very thankful.
Michal Kovářík
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