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extruder
The CCL-ALTAR-01 cell uses the 2.5 L "BIG" ram version of the StoneFlower paste extruder — fixed in space, with the robot moving the build plate underneath the nozzle. This page documents what the plugin assumes about the extruder, and the firmware-side knobs that interact with it.
📷 Side-on photo of the StoneFlower BIG extruder mounted in the cell, showing the ram body, auger section, and nozzle.
| Parameter | Value |
|---|---|
| Ram volume | 2.5 L |
| Ram driver | NEMA 23 stepper |
| Outlet | 1" NPT |
| Default nozzle | 2.5 mm (also stock: 1.5, 2.0, 3.0, 4.0) |
| Microsteps per revolution |
62.5 (M92 E62.5) |
| StoneFlower kit version | Ceramic 3DP KIT v3 |
The microsteps value is computed from the kit geometry: Ne = D · p / (r · df) with D=80, p=2.5, r=50, df=2.5 → 62.5. See the StoneFlower v3 manual for the derivation.
The StoneFlower controller has two pots and an SPD signal input the plugin drives indirectly through the post-processor:
| Control | Range | Effect |
|---|---|---|
| Auger / ram ratio pot | 0.25, 0.5, 1, 2, 4 | Multiplies auger turns per ram turn |
| Microstepping pot (A6) | hardware-specific | Sets stepper resolution |
| Speed pot (A7) | hardware-specific | Sets baseline speed |
| SPD signal | 0–1023 | Plugin-driven extrusion rate (S-value in G-code) |
⚠ Lab convention: ratio pot stays at
1. The calibration data on this wiki (Calibration) was measured at ratio 1. Other positions are valid but uncharacterized — flag any change in the lab study log.
📷 Close-up of the StoneFlower front panel showing both pots labeled and the ratio pot indicator at "1".
The StoneFlower v4 firmware (control_v4_SPI_HighPower.ino, March 2020) is publicly documented and treats the STP input as an enable gate — the actual extrusion rate is set by the front-panel pots, not by pulse counting. The CCL unit does NOT run that firmware — a flash dump showed something different, not yet reverse-engineered. If you're tuning extrusion behavior, treat the SPD→flow relationship as empirical, not theoretical, and rely on the calibration curve measured on this specific unit.
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Settings → Robot → Spindle Speed maps to the
Svalue in generated G-code, which the post-processor emits as the SPD command at the start of each curve. -
S1is the convention for extruder off (idle / true zero flow), per the dead-zone in the calibration curve. See G-code conventions. - The plugin does not write to
M92— that's a one-time KUKA-side firmware setup.
See also: Calibration for the empirical SPD→RPM curve and the workflow to recalibrate after firmware or hardware changes.