--- title: Resource design rules product: e2 type: reference slug: pref-resource-designrules version: latest helpId: Pref_Resource_DesignRules state: published visibility: public source: hm2mdx domain: pages/rb timestamp: false --- # Resource design rules ## Resource design rules To have it operated properly to the intended function, there are some design rules of a resource to be kept in mind. | Class / sub type | Rule | Remark | | ---------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------ | | ![](/media/e2/fastsuite-e2-user-manual/rb_tool.png) Tool | A tool resource needs to have: minimal 1 tool frame, a technology definition (dashboard) | | | ![](/media/e2/fastsuite-e2-user-manual/rb_productionrobot.png) Robot/Machine | To run a reliable inverse kinematic, it is mandatory to locate its first kinematic joint (translation or rotation) at the root frame of the resource. | | ## More resource reference information

Class / sub type	Rule	Remark
Tool	A tool resource needs to have: minimal 1 tool frame, a technology definition (dashboard)
Robot/Machine	To run a reliable inverse kinematic, it is mandatory to locate its first kinematic joint (translation or rotation) at the root frame of the resource.