ccl altar 01

CCL-ALTAR-01 — the lab cell

The CCL-ALTAR-01 is the CyberCraft Lab's clay 3D printing cell. Everything in this plugin is tuned to drive it. If you're adapting CCL_Clay3DP to a different cell, this page documents the assumptions you'll need to override.

📷 Wide shot of the CCL-ALTAR-01 cell in the lab — robot + extruder + build plate visible — goes here.

Cell summary

Robot	KUKA KR 10 R1100-2 (10 kg payload, 1100 mm reach)
Controller	KUKA CNC ISG 2.1
End effector	Robot-held build plate (BasePlate02 in RoboDK)
Extruder	Fixed StoneFlower BIG paste extruder — see Extruder
Build volume	400 × 400 × 1000 mm (W × D × H), centered on world origin
Default nozzle	2.5 mm — see Settings reference for the full list

Key design choice — robot-held part

Unlike most desktop printers (extruder moves, part is fixed), CCL-ALTAR-01 inverts that: the robot moves the build plate while the extruder stays still. This is why all RoboDK frames and the post-processor are organized around BasePlate02 as the moving tool and the nozzle TCPs (T10, T11, T12) as the references. Switching this convention is non-trivial — the post-processor's tool-change semantics depend on it.

Frames in the RoboDK station

The bundled robodk_station/3DP_v0.4.rdk ships with a fixed set of named items the plugin assumes:

Name	What	Used for
KUKA KR 10 R1100-2	Robot	The arm itself
BasePlate02	Build plate (tool, robot-held)	Moves the part to the nozzle
T10, T11, T12	Reference frames at the nozzle TCP for each nozzle size	Set as the active reference per print
3DP_Template	Machining project	Holds the curve + post-processor binding

If you rename any of these, the plugin will fail to find them at run time. The set is small on purpose — see RoboDK/RoboDKSubprocess.cs in the code repo for how each is looked up.

📷 RoboDK station tree screenshot showing the frames + machining project listed above goes here.

Build volume

The default 400 × 400 × 1000 mm envelope is set in Settings → Build Volume. The plugin draws a wireframe box on Rhino layer 3DP::Build Volume so you can visually confirm a part fits before sending. See Pipeline 3 — Slice for the build-volume safety checks (pre-slice + post-slice).

Adapting to your own cell

If you're forking this plugin for different hardware, the cell-specific bits live in:

• Models/RobotSettings.cs — default RoboDK paths, station template, nozzle dropdown options
• RoboDK/RoboDKSubprocess.cs — frame names, post-processor filename, machining-project name
• The bundled post-processor .py — KUKA-specific G-code dialect

The slicer (Core/), printability analyzer (Analysis/), and plugin scaffolding (UI/, Settings/) are generic and need no changes.

See also: Software stack for how the layers fit together.