I'm trying to set up a workspace envelope for a complex part the robot has to work with. Looking at the documentation, it seems to suggest that the workspace monitoring is only for when the tool enters the space defined, so if part of the robot enters the workspace, the program wouldn't know about it? If the program is able to monitor when the robot enters the workspace as well, great, otherwise I have other (complicated) ways in mind to deal with this issue if this is indeed the case...
The robot involved is KR30 with KRC2 controller.
Many thanks in advance