Author Topic: How to add digital output for extruder on 3D Printing path?  (Read 102 times)

Jianyou

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Hi,
    I am new to PRC and use a Kuka KR6 R900 for 3D printing.
Ihave a customized extruder, and how can I give a true/false signal into the comand codes to activate the extruder at a specific point on the printing path?
Thanks!

Johannes @ Robots in Architecture

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Re: How to add digital output for extruder on 3D Printing path?
« Reply #1 on: July 25, 2022, 05:46:11 PM »
Hello,

There is a specific component for digital outputs in KUKA|prc, alternatively you can use the Custom KRL component to enter any command to execute.
Where you place the component in your toolpath is mostly a Grasshopper thing - there are components for inserting objects into a list, splitting lists etc. Or you can use Merge List to combine the movement with the IO commands.
Is there any particular pattern you would like to achieve?
I've attached a generic example where the extruder is only on during the toolpath, but not during the approach and retract motion.

BEst,
Johannes

luigipachecoFIU

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Re: How to add digital output for extruder on 3D Printing path?
« Reply #2 on: August 09, 2022, 11:32:25 PM »
It looks like  I have the beckoff module, but I am not sure where to connect to get access to the signals made in the GH file. wich connector is this mapped to?

Johannes @ Robots in Architecture

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Re: How to add digital output for extruder on 3D Printing path?
« Reply #3 on: August 10, 2022, 09:02:01 AM »
Hello Luigi,

There really is no standard way. The Beckhoff module has got LEDs, so if you think that the IOs are configured, then just try out the first 30 or so and see if any LED goes on. Of course make sure that there is nothing else connected to the robot that could cause shorts or activate external machinery.
The proper way would be to start up WorkVisual, load the current project off the controller and then check how the physical and virtual IOs are mapped, or to map them yourself.
I've attached a screenshot below, in that case you can see that toggling $OUT[1] from KRL or KUKA|prc will toggle the physical output 9 on the IO module.

Best,
Johannes

luigipachecoFIU

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Re: How to add digital output for extruder on 3D Printing path?
« Reply #4 on: August 10, 2022, 07:21:25 PM »
Thank you!

I will try this!