This master's thesis addresses 3D-printing with a Fanuc industrial robot programmed in the ENCY software. Unlike the desktop Dobot robot, where the material feed is embedded in the G-code (parameter E), the Fanuc robot program contains only the motion path without any material data. First, the extruder control in the Dobot G-code was analysed and a program for a test part was prepared in ENCY. The tool-tip (TCP) speed was then determined directly from the program code. It was found to be a constant 3 mm/s, while the actually set value is 200 mm/min (3.33 mm/s), which the postprocessor rounds; this result was confirmed by simulation. Based on volume conservation, an algorithm for analogue extruder feed was designed, in which the control signal is proportional to the motion speed (U = k·v). By analysing the Dobot code, the equivalence of both approaches was proven, and a numerical verification along the actual path confirmed the correct amount of deposited material (0 % deviation) at both constant and variable speed.
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