In case of pipe routing is out of plane X, Y and Z. How to specify restrain if the pipe is only allow to twist?

You need to perpendicular restraints which are both perpendicular to the pipe axis. You can do this by specifying "direction cosines" for the restraint directions. If you're having trouble figuring this out, let CAESAR II do it for you. Code your pipe along the closest global axis, specify the two restraints, then use the "LIST" to "block rotate" the appropriate pipes to the proper orientation. The restraints will also be rotated. When the operation is complete, check to cosines to verify what was done.

Can we know the degree of rotation around pipe axis at that node ?

Well, if your pipe is skewed, say 30 deg up from the XZ plane, code it along X, and then rotate it about Z 30 degrees.

Richard, I have this model. Could you please verify for me?

E-mail it to "techsupport@coade.com". Make sure you explain what you need and what you did, so we know what to check.

Another way, if you only want the pipe to rotate and not move is to install a guide and limit stop with zero gaps. This way you don't need to worry about directional co-sines.