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Please refer to the RapidPlan Control Layout section of the RapidPlan User Reference Manual for more information on how to navigate the interface and use its functions: RapidPlan Control 2.1

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Known Limitations

• RapidPlan 2.1 does not support v10.6 and beyond JT files

• Weld guns with joint dependencies that have no limits is not supported

• RapidPlan 2.1 integration also has some limitations on joint dependencies, such as those used in the kinematics of a weld gun. A list on unsupported functions can be found in the Appendix.

• There are cases when PS can report collision while RTR may not have any collisions. Refer to FAQ for resolution.

• Communication between Process Simulate and Realtime is one-way (i.e. moving the robot from Process Simulate will reflect in Realtime Control webapp, but not the other way around)

• Exporting project relative to the factory origin instead of the workcell origin hangs the YamlConverter process to create RapidPlan project from Process Simulate studies. Additionally, setting the working frame >500m may have a negative impact on the motion planning results. Advise to add a working frame close to the cell.

• RapidPlan 2.1 integration does not support robots with 7-axis and following joint with no variable limits

• Exporting fails from Process Simulate for studies involving appearances/objects without geometries.

• For limitations on the Process Simulate side, please refer to the Tecnomatix Process Simulate 2209 documentation.

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This section provides an overview of certain Realtime Robotics’ RapidPlan terminologies you may need to be familiar with while using RapidPlan software with Tecnomatix Process Simulate 2209. For more Realtime-specific terms, please refer to our Glossary section of the User Manual: RapidPlan 2.1 Glossary of Terms

Appliance

Appliance takes operations exported from Process Simulate to plan and execute robot motions that ensure there are no collisions between robots.

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