[Mummed]

Dear Community,
After following the instructions in this post, 
I successfully achieved extrusion while the robot was moving. However, I encountered two issues:

1. The robot’s motion appears to lag, resulting in a hiccup-like movement in both RoboDK and real-world tests (see attached videos).

2. Stopping extrusion based on robot speed does not seem to work, despite the inclusion of a Python script (I am not sure if calling setspeed is correct)
 
I would greatly appreciate any insights or suggestions regarding these issues.

[Albert]

Did you activate rounding? This will help the robot smooth the edges to maintain a constant speed.

Can you share your RoboDK project? We can better take a look.

[Mummed]

Did you activate rounding? This will help the robot smooth the edges to maintain a constant speed.

Can you share your RoboDK project? We can better take a look.

Dear Albert, 
Thank you for your response. The lagging occurs even when moving straight lines. I have attached my project.  
I appreciate your help.

[Borgis1]

race condition? Where extruder is trying to keep up with the robot... and failing?

[Mummed]

race condition? Where extruder is trying to keep up with the robot... and failing?

Extruder is working (extruding) and the robot is keeping the gcode direction, but it has a lagging motion (attached video to this post). When I disable Extruder.py, it is working, and of course, not extruding. I think something is not right in the Python script, and I don't know exactly what

[Borgis1]

Yes, well the extruder continues when the robot stops, hence my idea of the race condition

[Mummed]

Yes, well the extruder continues when the robot stops, hence my idea of the race condition

"I'm not an expert in this area. Is there any way to resolve this issue?

[Borgis1]

I don't know how you calculated the toolpath but I would start with a straight line of know length and a known speed for the robot, just to ease in the correct extruder numbers. Right now you have a lot of lines all over, with some extruder code salted inbetween.
I would start with a straight line with known values until I got the code and extruder variables sorted.
Second I would split that line into two or more equal segments lenghts. Same distance and speed just more points.
third, shift segments to see when the async appears and then hopefully know why and when if the problem persists

I have only made milling codes and movements on kuka, and never extruder on robots, but is it not common on robots to have a extruder movement for each line? or is the lines put together to a known lenght and have a calculated extruder value for this lenght?