Planes generated using grasshopper script: 01offsetting method nonplanar rethink simpler shape blend offsets short scaled.gh

Oriented to scan using:

• match scan to wobj.gh based on flexobed2/3dModel.obj (photogrammetry)

Design steps

1. Design shape of desired geometry
2. Create a boolean difference between scanned geometry (massaged to be a closed BRep) and desired geometry.
3. Take the border of the surface left at the bottom of the boolean difference, where the desired geometry met the scanned geometry.
4. Group it with the borders of other horisontal surfaces in the model. In my case there were 3 more, since the model was a rectangle with filleted corners if seen from abovee, with another BRep on top that also had cutouts for a wooden beam.
5. Offset these curves. The non planar curve the bottom needs to be coupled with the surface it was extracted from in order to determine the offset directions properly.
6. Blend the curve pairs, this is done using factors 0.0-1.0 where 0 is one curve and 1 the other. Calculate the factors based on a nominal layer height, by taking the largest distance between the curves and dividing it by the height.

Hacks

(Not a hack) TX_SPEED is now SEMI-STATIC

Meaning it is always running, and starts from where it stopped whenever the IRC5 is booted.

This is needed to be able to stop the extruder motor when the robot is in emergency stop (or the program is stopped some other way).

Flow rate increase

Changed the n_max_speed in TX_SPEED on 0.10. This is a clear hack, since the speed the variable is referencing is the TCP speed of the robot. It works however since the TX_SPEED task remaps from n_min_byte to n_max_byte (0-254) to n_min_speed to n_max_speed (now 0.10-0.250 (mm/s)).

Might make more sense to change value on Controllino Micro or better yet, base it on a virtual group output on the robot that can be set from the flexpendant.

If frame Z were more than 30° degrees from flipped world Z then…

… it was replaced with a frame with Z axis $[0, 0, -1]$.

This made for some quite extreme re-orientations during run

Updates

2025-05-12

No rain since print according to SMHI: Weather data