Is there a way to figure if the robot is inside or outside of an area?
My idea would have been to define a feature plane that defines the limit of the area.
Next I would like to convert the current position of the TCP into the feature plane so that I can determine if z> 0 then the TCP is within the limit, if z <0, then the TCP is out of limit.
How can I calculate the current TCP position in the feature plane like under the tab “Move” in URScript?
You should consider the functions
Maybe this topic is useful to get the position of the TCP in respect to a feature coordinate.