The firmware will interprets the commands that the robot controller will send through the serial port, and execute the different functions. With this code we can set up a desired temperature and heat the nozzle to the target, set the desired motor speed and turn on/off the air to cool down the material printed.
The temperature control use the PID algorithm, in order to obtain good result; after some test, below the best PID parameters founded for the granulo extruder:
List of possible commands:
In order to generate the
COMAU robot code, I have developed an easy to use grasshopper
cluster, based on the previous work done from I and the
digifabturing team; available at the following GitHub.
Starting from curves, line ect... or grasshopper algorithm, the cluster generate the code .pdl that allow to move the robot
and control the extruder.
Starting from an Inverse Kinematics algorithm will calculate the 6 angles one for each axis; after
will format the .pdl code, in order to move the robot.