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Honestly, I don't think there is a way to have a zig-zag infill plus a perimeter that start and end at the same point. I played around for like 15mins, you can find the file attached, maybe there are some pointers that you can use. I guess you could split the infill and have one zig-zag that goes "down" and then another that goes up.
Also, your simulation is very slow because of the huge tool meshes. Join them in Rhino into one mesh, run ReduceMesh and get them down to like 5000 faces and everything will be much nicer and more responsive.

Best,
Johannes

Hello,

Your Rhino file was missing, so I don't know how your geometry looked like. With the contour component the robot would follow one contour and then go in a straight line to the next contour. What would be your goal? That it becomes more like a helix without sudden changes?

Best,
Johannes

Also, here is a simple example on importing G-code!
Best,
Johannes

Hello Carlos,

Sorry, I cannot help you with that, maybe someone else can contribute. While we work with robotic 3D printing, it rarely involves infill. You probably found it as well, but here's a top result from Google that looks helpful: https://discourse.mcneel.com/t/creating-infill-geometry-in-grasshopper/87592
I'll get back to you via email regarding the trial license.

Best,
Johannes

Hello Carlos,

For a temporary license you can contact me at johannes@robotsinarchitecture.org.
However, I am not sure if a slicer developed for small scale printing will help you a lot with your probably much larger nozzle and objects. Don't expect instant success but as is often the case with 3D printing a lot of tuning ;)

Best,
Johannes

Hello,

While we do have some internal tools, there is currently no official way to get any toolpaths onto robots running iiQKA. Also, we cannot share any of our tools as they are derived from an internal collaboration with KUKA.
There is a KUKA techpackage for iiQKA called ExternalAPI that works like RSI (i.e. hard real-time control) however we currently do not have plans to support that through Grasshopper as it needs a real-time capable system.

Best,
Johannes

If nothing comes out of it, please send me the description and I'll follow up with some people at KUKA Germany.

Best,
Johannes

Hello,

We had a polishing process that would repeatedly (software, not hardware) crash (!) the iiwa after like 20mins, apparently some internal countdown expiring or something. We switchted it to a LBR14 and suddently it went away... While I like the iiwa a lot, Sunrise just isn't as mature as KSS (not a surprise) and to my knowledge, it's also no longer getting updates.
My suggestion would be to ask the KUKA hotline about that error, ideally they can provide a reason or at least a troubleshooting strategy.
Let me know if there is anything I can help with from our side!
Best,
Johannes

Great, thanks for the feedback!
Best,
Johannes

Hello,

I assume that the automatic solver keeps the values within a range and does not rotate infinitely. I'll have to look at that in more detail.
I've plugged in the code from the Custom Turntable Strategy example from the forum and it seems to work nicely!

Best,
Johannes

Hmmm... We didn't mill a lot the past year, but I think having a wooden base onto which you can screw your timber objects is a good approach for generic objects! If you do many similar-sized, large objects it would definitely make sense to come up with a specialized solution, e.g., a metal plate with threaded rods onto which you can screw the object.

For our stationary milling, we use a welding table, which is nice with the many mounting options, but I don't think it's super convenient when you cannot access the mounting surface from below.

Best,
Johannes

Excellent! Thank you for the feedback!
Best,
Johannes

Hello,

Does it cause a problem, if the E1 value is repeated? Because if it's repeated, the extruder won't move during the travel move. Or are you using relative values for the extrusion?

Best,
Johannes

Hello Mohammad,

If you cannot attach a file here, please send me a example file (very compact, ideally with annotations what to look for, no plugins except KUKA|prc, please!) via email!

Thanks,
Johannes

Hello Mohammad,

Hmm... Not sure that I can follow. With normal planes, do you mean planes where the Z-axis is parallel to the normal vector of the surface at that point? What would you consider a tangent plane?

I would actually recommend against using splines because splines are not NURBS; they are geometry that is — to my knowledge — robot-specific. In other words, the robot creates an optimized curve based on the current machine state.
The spline preview in KUKA|prc is only a rough approximation.

Best,
Johannes