Universal Robots+

Detect mounting through URCaps or urscript

Is there a way to programmatically detect the mounting angles of the robot inside the URCaps?
Alternatively is there a way to work in global coordinate system which is independent of the robot’s mounting angles?

I want to calculate a location right beneath the flange. In regular mounting I would just do:
center = p[flange[0], flange[1], flange[2] - 0.1, flange[3], flange[4], flange[5] ]

But if the robot is mounted upside down, this will give me a location above the flange.

I would also be interested. Is there someone from UR who can answer this?
Thank you!
Zoli

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The only workaround I could find for this issue is asking the user to input the direction of “down” through parameters, which is a pretty bad solution.