I am looking for a way to check is a given position B: XYZWPR+CONF is reachable under conditions.
The built-in procedure CHECK_EPOS can help but not always.
For example, I want to check if the TCP can move from A to B only in in linear motion or if there will be a stop due to axis limitations.
I am also interested to check if the path from A to B goes through a DCS before sending the TCP to B.
Could you help me please?