I've got a very large tool on my M900iB robot and I've defined it as DCS's User Model 1. My cartesian zones, like the overall fence and some equipment within reach of the robot include the robot model and user model 1. Normal stuff, works great, no issues.
But because I'm doing a lot work near the base and J2, it occurred to me that it would be a good thing to protect against the user model violating the robot model. Especially for the customer's maintenance folks that may not be watching where they jog the robot. Any thoughts on how this can be done?