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3D printing project UR5e


I have been recently working with RoboDK for a 3D printing project. So far I have created the project that simulates the printing, however, I would need that each time the program executes the call Extruder(),  it would send a digital output to the robot. How can I configure it to do so?

Moreover, I am simulating with the UR5e robot, and using the URsim to upload my RoboDK script file to see if it works in the robot's teach pendant. So far, it does not understand the script commands (shows errors each time I try to run it). I am new to RoboDK and I am not sure if I am missing something. 

Any suggestions?


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