https://help.byte-robotics.com/en/einstieg/erste-schritte/index.html Info Prerequisite: One of the following simulation environments is installed: KUKA.Sim Visual Components iiQWorks.Sim The OCP plug-in is enabled and licensed for the simulation environment. Your first collision-free path in 5 minutes Load scene Open your project inyour simulation environment and ensure that the desired robot is present in the scene. Check robot Check the status in the OCP tab: ‘Support Info’. Activate collision detectors In the OCP tab ‘Collision Checking’: Switch on ‘Enable Detectors’. If necessary, activate ‘Workspace only’ and update the A/B lists via ‘Update lists’. Set Minimum Clearance A useful starting value for ‘Minimum Clearance’ is 2–5 mm. Higher values increase the calculation time. Plan 1:1 Path Planning [Sequence] Select two points in the Program Editor → context menu ‘1:1 Path Planning [Sequence]’ or ‘Path planning commands’ in the OCP tab. Validate Activate collision checking in the simulation environment and play back the path; collisions are marked in yellow. Save/export Name and save sequences in the Program Editor; export according to your process. Tip For large CAD assemblies, reduce the tessellation level and hide unnecessary geometry to improve performance. Hugo en