[Sakerfalke]

Dear forum members, dear Albert, dear Jeremy,

On our 3D printing project we try to connect/implement an extruder/duetboard which shell be controlled via RoboDK.
The Duet2-Board controls the stepper motor of the extruder.
RoboDK shell send the E-Value of the G-Code of the 3D printing program to the duetboard via ethernet.

Where and how do we define the ethernet connection in RoboDK?
Probably somewhere here in the Post-processor of the KRC4:

Do we have to change some of the following code of yourinstructions?

Code:

# 3D Printing Extruder Setup Parameters:
PRINT_E_AO = 5 # Analog Output ID to command the extruder flow
PRINT_SPEED_2_SIGNAL = 1.0 # Ratio to convert the speed/flow to an analog output signal
PRINT_FLOW_MAX_SIGNAL = 6000 # Maximum signal to provide to the Extruder
PRINT_ACCEL_MMSS = -1 # Acceleration, -1 assumes constant speed if we use rounding/blending

I also wanted to ask to which output ID this Number 5 refers?
Where and how are these IDs declared?
Where can I find informations about analog/digital connections to RoboDK?

Code:

def setDO(self, io_var, io_value):
"""Set a Digital Output"""
if type(io_var) != str: # set default variable name if io_var is a number
io_var = '$OUT[%s]' % str(io_var)
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'TRUE'
else:
io_value = 'FALSE'

# at this point, io_var and io_value must be string values
self.addline('%s=%s' % (io_var, io_value))

[Albert]

The digital outputs added in our examples are just for you to get an idea of how you can implement the integration of your extruder from RoboDK.

我假设你打算有e extruder connected to the robot. Correct?
What type of interface do you have between the robot controller and the extruder?

I believe there are many options depending on your extruder hardware. From the simplest to a more advanced integration I would say you can do the following:

• A digital output to turn the extruder ON of OFF
  
• An analog output that defines the extruder feed
  
• Ethernet communication (same as Analog output but digital)
  
• External axis setup: the extruder value is a motor controller by the KRC controller via the E1 value. This is already implemented if you set the variable EXTAXIS_EXTRUDER = True of the KUKA KRC2 post processor
  

From RoboDK's point of view it should be simple to integrate one method or another. You should trigger a program call (such as Extruder), which is already done automatically, and convert that into a program call (or the E1 value). Both methods are implemented in the default KUKA KRC2 post processor.

Albert