Robot

The arm. A project usually has one.

Adding a robot

Choose the model from the list. The model carries its geometry, its axis limits and its reach, so choosing correctly matters more than anything you will set afterwards.

Place it where it really is. Everything else in the project is measured from it.

Reach and configuration

A position is reachable if the arm can hold it in a valid configuration without exceeding an axis limit. The software can preview this: select a position and it will show the robot standing in it, or tell you it cannot.

Use it while designing. A pallet corner that is reachable only in a different configuration from the rest is a cell that will fail on the last box of a layer, not on the first.

The HOME position

HOME is where the robot waits and where recovery brings it back. Choose one that is clear of everything, reachable from anywhere the robot works, and comfortable to look at — an operator will see it more than any other.

Axes and limits

Each axis has a range, and the software will not plan through it. Where a cell is tight, that limit is what a trajectory fails on: the position is reachable, and the route to it is not.