https://help.byte-robotics.com/en/workflows/automatischepfadplanung/index.html Use Automatic collision free planning to plan multiple connections in one program run. Mark the required transitions with HALT statements. During simulation, planning requests are captured with their respective scene state, and collision-free paths are calculated after the program run. 1. Prepare the scene and program Select the robot and the program to execute. The program must be able to run to completion in simulation. Prepare the scene, including tools, workpieces and obstacles. Configure the collision lists to be considered, particularly for self-collisions. Check the tool and base coordinate systems. For external axes, follow the base initialization workflow. Ensure that the backend is connected and a valid license is available. Select the required path planning settings, such as motion type, minimum clearance and termination condition. 2. Mark transitions with HALT In the program editor, insert a HALT statement between the start and goal positions of each connection to plan. Hugo en