AR2 RoboDK

Chris, are you working on a converter for AR3 programming from g-code programming without having to use RoboDK?

It is the same for the AR3, I haven't started on G-Code yet buts it's one of the next things I want to work on.

@chris-annin Thank you Chris for your reply. I really look forward to this functionality. I may try working on my own version but I'd be learning Arduino coding and serial communication between two Arduinos to do it myself.

Hi @Chris Annin I've now done some work on a robodk post for the AR3. I am outputting the properly formatted text (I think...the image of text is of the path in the video), but I'm unsure how to package it for loading into the AR2/ARCS program. When I try the file just gets overwritten. Any suggestions? I have the simulation in Robodk working through Rhino/Grasshopper for more complex toolpaths which is kind of fun but I can't seem to get the code into the interface to send to the machine.

https://anninrobotics.com/wp-content/uploads/2025/07/AR2-RoboDK.avif

https://anninrobotics.com/wp-content/uploads/2025/07/AR2-RoboDK_2.avif

@sandy-curth Hi Friend! Have you already worked with RoboDK and AR4 software? I'm just starting working on this. Wouldn't you know any tutorial showing how to set the AR4 in the RoboDk? Or wouldn't you be able to help us with anything like this?

@Sandy Curth Would love to talk more about what you are working on! Seems like we have the same intent with this robot.

Hi Austen, I've made an improved post processor for RoboDK that deals with serializing the output so it can be opened by ARCS/the AR2 platform. Happy to share and talk about it. I think I'm close to something with real toolpathing capability. What are you hoping to do?

Im wanting to use the arm for free form 3d printing using diagrid structures such as branch technology. I was planing on using Rhino and grasshopper with the Crystallon plugin and the RoboDK plugin to create a diagrid toolpath from a volume. Currently looking at making a pellet extruder from recycled ground PET bottles.

That sounds reasonable. I think managing the flow of pellets to the extruder head while keeping everything light enough for the arm might be a little tricky but I think its totally possible. Have you built an arm yet? On the RoboDK end simulation/ adding a tool to the arm works well but exporting an actual toolpath without collisions/singularities is still pretty challenging. If you feel like could build out some more functionality in RoboDK it would be great to work together. I have basic functionality in that I can send J and L moves with fixed speeds but some work needs to be done establishing a starting/homing routine so robodk sends the machine to the right place. It may actually be easier to use COMPAS Fab in GH/python from ETH Zurich but building out the robot's ROS profile is a little beyond me right now.

Everything for the arm has been ordered and the majority of the parts will be delivered by the beginning of the next week. just waiting on encoders, motors and teensy. I'm hoping to have the arm up and ruinning by the first of the month if time is reasonable. Currently in the process of applying to grad schools and organizing an Architecture portfolio so life is a little hectic but I'm devoted to working on the project all summer to hopefully get some functionality. Chris already said that RoboDk was working on a processor for the AR3 but I have no idea how far they are into it. My knowledge of Python is very basic but I have friends who excel so hopefully I can hire them for some help.

The challenge was in serializing the data from robodk. The ARCS software uses something called python "pickling" to effectively pack and unpack data from a given program without losing its structure. I assume Chris did this so you can call programs from inside other programs (great function!). I just had to add a pickling element to robodk's example processor so ARCS can actually read a file and then adjust all the text output so it matches the ARCS format. I'll put it on github once I've had time to refined things more and add some comments.

Do you have an AR3 to test with? I need to go in and look at the code and see how it correlates. I've always been more for the mechanical / electrical side of projects and not too much on the code side. Things will soon change! Will be looking forward to you posting about it.

Hi sandy. Possible to share your post processor file for AR3 for robotdk?

Hi Sandy, I just finished building my AR3 and would also be interested in your post processor. It woulkd be great if you could share it.