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The XY plane of a coordinate system has an implicit joint origin, so if you want to join something flat to that plane, it's an easy joint that you can make in a couple of clicks.
But as far as I can tell, if you want to joint to that same point but with an orientation along one of the other two planes, you can only do it by first creating a separate Joint Origin. But because that Joint Origin's alignment also defaults to the XY plane, you have to turn on Reorient and then manually select "X" and "Z" axes to define the desired plane. It's more trouble, and you have to perform some awkward mental translations (e.g., "If I want this end up, then the former Z axis will actually have to be the X axis and then...").
I had thought you might be able to just use the "intersection of two lines" feature to imply the desired orientation, but unfortunately Fusion 360 doesn't seem to accept axes as "lines" in this context.
The procedure I'm currently using is shown in the video below.
Solved! Go to Solution.