printing with raft can help sometimes.
I also heard hairspray onto the blue tape can strenghten the bond.
A heated build plate will be the final solution i think.
Needs Tempered glass or Aluminium with kaptontape as buildplattform
i am also working on this. but i didnt found a place yet to buy Tempered or Pyrex glass in flat shape and 21x21 size..
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IRobertI 516
This happens because the plastic shrinks when it cools down. PLA isn't as bad as ABS but it can still be annoying depending on what you're printing. The only way to stop this is to get a heated bed. There isn't any official heated bed for the Ultimaker yet but some people have built their own.
Another alternative that works somewhat is to add an extra edge around your print or discs around corners to help anchor your print to the platform. You would make these very thin and then just slice them off with a razor afterwards.
For more info search for "warp" or "warping" which is what it is normally called.
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