05 send

5. Send to RoboDK

Click 3. Send to RoboDK in the panel. The plugin launches RoboDK (or attaches to a running instance), loads the bundled 3DP_v0.4.rdk station, adds the toolpath as a Curve Follow object, binds it to the 3DP_Template machining project, and triggers program regeneration — all via a Python subprocess that talks to RoboDK over its API.

📷 RoboDK window after Send: station loaded, toolpath curve visible under BasePlate02, the generated program highlighted in the tree.

The out-of-bounds gate

If the previous slice's post-slice build-volume check armed the overflow flag, Send is hard-blocked. A popup explains that the robot would crash, and the click is refused. Re-slice with the issue resolved (move the part, lower shrinkage %, expand build volume) and the flag clears on the next successful slice.

📷 The "robot would crash, Send blocked" popup.

What happens during Send

1. Combine frames — skirt + base + part frames concatenated into one continuous stream.
2. Serialize to JSON — FrameSerializer writes the frames + RoboDK paths to a temp file.
3. Spawn Python subprocess — cmd.exe launches python <generated script> with the JSON path; stdout/stderr redirected to %TEMP%/ccl_clay3dp_<TIMESTAMP>.log.
4. Python connects to RoboDK — Robolink() auto-launches RoboDK if not running. If RoboDK is already running with a different station, you get a "replace session?" confirmation.
5. Load station — setParam Unsaved=0 (suppress save-prompt), CloseStation, AddFile station_template.rdk.
6. Add curve — AddCurve with the combined skirt+spiral+part curve.
7. Bind — find the 3DP_Template machining project, call setMachiningParameters with the curve.
8. Hand off — Python keeps running while RoboDK regenerates the program. C# returns after a 5 s wait that catches fast failures.

For the full diagram with every gate and call, see ARCHITECTURE.md § 4.

What gets sent — every setting

Plugin setting	RoboDK parameter	Effect
FeedRate	SpeedOperation	Operation speed along the curve
TravelSpeed	SpeedRapid	Approach / retract speed
SpindleSpeed	CallPathStart event	S<value> inserted before first curve point
NozzleTool	PoseFrame	T10 / T11 / T12 frame becomes the active reference
(always 0)	ApproachRetractAll	Disabled — skirt + part are one continuous path
(always S1)	CallPathFinish event	Extruder off after last curve point — see G-code conventions
(always 0)	Rounding / RoundingOn	No blending — KUKA CNC handles via #HSC

If something goes wrong

The Python script's stdout / stderr is captured to %TEMP%/ccl_clay3dp_<TIMESTAMP>.log. The path is logged by the plugin on each Send. If RoboDK opens but no program appears, this log is your first stop — it'll show exactly which API call hung or errored.

📷 Example log file content showing a successful Send sequence.

For first-send issues specifically, see Troubleshooting on the Install page.

Next: 6. Post-process to KUKA.