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| Tool | Function | Typical Use‑Case | |------|----------|------------------| | | Scans the entire motion file for unreachable points, joint‑limit breaches, and singularities. | When a new program stalls on the robot controller with “Position not reachable”. | | Dynamic Re‑Mapper | Suggests alternate joint solutions (elbow‑up/down) and automatically rewrites the offending lines. | For 5‑axis robots where the wrist flips cause tool‑collision. | | Cycle‑Time Optimiser (CTO) | Runs a Monte‑Carlo simulation on the program, then proposes speed/acceleration tweaks while keeping safety margins. | When the cell is “too slow” and you need a quick 5‑10 % boost. |

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