Test if a position is reachable

Are there any functions to test if a point is reachable? I've looked through the rapid documentation, but I can't find anything that fits the bill.

The robot I am programming runs vision right on the edge of its work envelope, and I would like to test if the offset vision position is reachable before attempting to move to it.

I was able to find a solution over on the robotstudio forums. Here is a link to the thread.

Here is the code, with some slight modifications.

FUNC bool IsReachable(robtarget pReach,PERS tooldata tReach\PERS wobjdata wobjReach)
        VAR bool bReachable:=TRUE;
        VAR jointtarget jntReach;
        jntReach:=CalcJointT(pReach,tReach\Wobj ?wobjReach);
        RETURN bReachable;
    ERROR
        IF ERRNO=ERR_ROBLIMIT THEN
            SkipWarn;
            bReachable:=FALSE;
            TRYNEXT;
        ENDIF
    ENDFUNC

Edit: Cleaned up the code a bit more.