Using Rotation Limit Reference Axis

You can use the Rotation Limit Reference Axis command to display the Robot for changing the orientation of the rotation limit axis.

Before you begin: The session data should include a Track on a product in a simulation context.
See Also
Path Planning Context Toolbar
Domain and Rotation Limits Tab
  1. Select a Track and in the Simulation section of the action bar, click Path Planning .
  2. In the Path Planning context toolbar, click Rotation Limit Reference Axis .
    The Robot is displayed.
  3. Change the X-axis to the Y-axis, and the Y-axis to the -X-axis.

    The Z-axis remains the same.

  4. In the Domain and Rotation Limits tab of the Path Finder panel, activate the Bryant Angles mode and lock the Y-axis using the lock button.
  5. Click Find Track in the context toolbar.
    The Track is found without any rotation around the X-axis (in the absolute axis system).



  6. Click OK in the context toolbar.

Notes:
  • when using the Robot to define the rotation limit reference axis, you can set the exact angle value using the displayed ruler or by entering a value in the angle editor.
  • You can define the rotation axis orientation by snapping the Robot on selected geometry.