Checking if position is reachable under conditions

  • Hello,

    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?

  • AD

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