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3D Printing with ABB

Has anyone used an ABB Robot for 3D printing? If so what was your setup?

We are currently using RoboDK and printing via LAN-Connection. The problem is that RoboDK cannot send IO Pins via LAN, so we cannot control the extruder (Arduino+Ramps). We are starting the extruder on a fixed speed and then the RoboDK program. The problem is with complex geometries or multiple perimeters, as the extruder doesn't stop and keeps extruding.

We tried to upload the program to the IRC5 but it completely froze and we had to reset/reprogram the whole controller. 

I am open to suggestions! Thanks!

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