Toolpath quality criteria

A target criteria has been defined by:

an evaluation parameter function that returns the value of the criteria that is being evaluated

a specific setup of quality value ranges for this evaluation parameter.

There are 4 value ranges (maximum) for each criteria.

	Good (green) The value range of the criteria that is defined as good. There is no necessity to improve here.
	Acceptable (yellow) The value range of the criteria that is defined as acceptable. Although the result is acceptable, it is advised to improve here.
	Critical (orange) The value range of the criteria that is defined as critical. It is strongly recommended to modify, to improve the toolpath.
	Invalid (red) The value (and above) of the criteria that is defined as not acceptable. It is mandatory to modify, to improve the toolpath.

The following target criteria are supported, but there presence depends on the applied technology and type of machine or robot:

Criteria	Description	Value range	Remark
Unreachability	Evaluates unreachable situations of the robot or machine.	Good or invalid.	The evaluation against this criteria is always being performed.
Collision	Evaluates collision situations.	Good or invalid.	The evaluation against this criteria is only being executed when the Collision analysis switch in the simulation player toolbar has been activated.
Singularity	Evaluates singularity situations of the robot or machine.	Good or invalid.	The evaluation against this criteria is always being performed.

Process angle deviation	Evaluates the process angle deviation from its reference value.	Angle ranges from good to invalid.
Tool angle deviation (arc welding technology)	Evaluates the tool angle deviation from its reference value.	Angle ranges from good to invalid.	It replaces the process angle deviation criteria. Only applicable when 6-axis robots are being used.
Travel angle deviation (arc welding technology)	Evaluates the travel angle (tangent direction) deviation from its reference value.	Angle ranges from good to invalid.	It replaces the process angle deviation criteria. Only applicable when 6-axis robots are being used.
Work angle deviation (arc welding technology)	Evaluates the work angle (bi-tangent direction) deviation from its reference value.	Angle ranges from good to invalid.	It replaces the process angle deviation criteria. Only applicable when 6-axis robots are being used.

Axis limit proximity	Evaluates the proximity to the limits of the driven axis. Separated evaluation value range for linear and circular joint axis.	Linear distance or angular ranges from good to invalid.
Axis speed	Evaluates the axis speed of all driven axis as a (absolute) difference between the start and the end motion between positions.	Percentage ranges from good to invalid.