In this example the machining Gcode was obtained with CURA Ultimaker *. The extruder E (the lenght of extruded filament) parameter was converted to an independent external axis (extrusion motor). This is necessary to reset the value of the axis (resolver) whenever necessary
Mapping the axis of the extruder and scaling of part. Adjust of the speed and calibration of the extruded lenght cand also be set by means of speed override and encoder factor
Setting an initial axis position and initial position from data colected on the robot
Simulation of the printing 3d program of the part (Scaled)
* U