You can override normal pipe routing mode using the keyboard CTRL key to route either a 2D or 3D skew.
Create a 2D Skew that Runs N/S and U/D
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In the Detail window, click once to place the end point for the last orthogonal section of pipe.
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While pressing CTRL, click some distance away from the end point of the orthogonal section of pipe to create the N/S skew component.
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Release the CTRL key, and click again in the same plane but some distance away from the previous point to place the end point of the skew and the U/D skew component.
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Click in the Detail window again to place the end point of the next orthogonal section of pipe and continue routing.
Create a 3D Skew that Runs N/S and U/D
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Use the same technique as when routing a 2D skew to place the first two skew components.
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Release the CTRL key when you click to place the third skew component.