This guide explains how to prepare a robotic 3D print using the Vertical Slicer component in Grasshopper.

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1. Add Your Geometry

Begin by modeling the object you want to print.

Example used in the video: a simple bench
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Steps

• Create your geometry in Rhino
• Connect it to the Vertical Slicer component
• When correctly connected:
  🔸 Orange components → turn gray

That confirms the slicer is receiving valid geometry.
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2. Configure Slicing Parameters

These settings define how the robot prints the object.
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Basic print settings:

• Robot speed
• Module name
  (This becomes both the file name and the RAPID procedure name)
• Initial layer height / total layer height
• Number of surface approximation points (for curved surfaces)
• Start scene position
• Zone data (corner smoothing)
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3. Work Object & Print Bed Setup

This defines the robot’s reference frame and where the print sits.
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Work Object

Represents the robot’s coordinate reference.
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Set:

• Work object name
• Position (typically the left outer corner of the robot workspace)
• X, Y, Z values
  (Usually constant once calibrated)
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Print Bed

Defines the printable area.
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Set:

• Print bed width
• Print bed length
• Exact print location on the bed
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The slicer also supports rotating planes if your setup requires them.
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4. Track Settings (If Using a Linear Track)

Choose how the robot moves along the track.
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Available modes
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Manual position

• Uses a fixed millimeter value
• Updates live
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Automatic position

• Finds an optimal track position
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Moving track

• Track moves during printing

📌 Recommendation:

• Use Manual or Automatic for most prints
• Only use moving track when the object is larger than the print bed
  (track motion reduces accuracy)
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5. Run the Simulation

Before exporting code, validate the motion.
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Setup

• Confirm correct robot model
• Select track (if used)
• Choose print head
  Example: 2K print head
• Set simulation start point → 0 recommended
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Run

• Press Playback
• Use the playback popup controls

⚠️ The simulation is very accurate, but complex prints should still be verified later in RobotStudio with the real controller.
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6. Export the Robot Code (RAPID)

After a successful simulation, generate the printing program.
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Method 1 — Direct Export

• Choose folder
• Write the file
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Method 2 — Manual (shown in video)

• Copy code from the panel
• Paste into Visual Studio Code
• Save as: .mod
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If the ABB RAPID extension is installed → syntax highlighting helps verify errors.
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7. Send to the Robot

• Save the .mod file to a USB
• Upload it to the robot controller
• Start the print
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✔ The robot is now ready to print using the Vertical Slicer workflow.