Singularity when importing G-code

Started by ziqiuhuang, August 07, 2023, 07:50:41 AM

Previous topic - Next topic


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, only top left grouped batteries are useful in the file.
Best regards,

Johannes @ Robots in Architecture


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!



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