I have a kuka robot KR210-L150 Series 2000 (KRC 2) with a mounted extruder for 3D printing applications. Everything is connected trough a FieldBus so I can turn on and off the extruder directly in the KRL code.
At the moment I started doing the first printing test at low velocity (100% T2 0.06 m/s) and everything seems fine but I am worried that to achieve high quality printing I need to be able to control the robot TCP speed during the printing process. I read in the forum that I should pair the robot velocity with the feed rate of the extruder. I know that I can call the $VEL_ACT to get the velocity but how do I connected it to the extruder feed rate? And do you think I can read the robot velocity while I am printing to see how much the velocity changes (example on an external screen?