3d printing with kuka

[Johannes @ Robots in Architecture]

Hello,

For these purposes, you can use the "Custom KRL" component. You can simply write "DESLIGAR()" as the input and it will be written into the file at that position. The content will not be simulated, though.

Best,
Johannes

[Carlos Mendes]

Hello Johannes,

I used the extrusion mode "D6" but now i want to change all commands DO6=FALSE for the "Custom KRL" component DESLIGAR_EXTRUSAO() and DO6=TRUE for the "Custom KRL" component LIGAR_EXTRUSAO().

How can i do this?

Best,
Carlos Mendes

[Johannes @ Robots in Architecture]

Here is an example how you could replace a digital output command with Custom KRL.
Best,
Johannes

[Carlos Mendes]

Hello Johannes,

Thanks for your help, I would like to know if there is a way to anticipate "x" seconds a Custom KRL command.

Basically i want to turn off the extruder "x" seconds before the supposed position to avoid excess material extrusion because I have a pellet extruder.

Or there are other strategies for this?

Best,
Carlos Mendes

[Johannes @ Robots in Architecture]

Hello,

Not that I am aware of. You can have the robot trigger an output at a certain event, but as far as I know not before an event. Personally, I would add an extra point before the end of a path, shut down the extruder there, and then continue moving.
You could also try to post your question at places like the robot-forum, as it is not really KUKA|prc specific.

Best,
Johannes