I am using a model UR10 Universal Robot, with a dual Robotiq sanding kit attached as tools (sander & buffer). We have added our own proximity sensor in between the tools to measure out each board from a starting zero reference point. With the robot only being able to reach so far in length & width, is there anyway I can add to the program the joint limits of the robot, while letting it continue to run even after it reaches those values?
The end goal for this is to let the robot know that it will not sand the respected edge of the length or width (sanding a radius along each edge of wood board). Also, I would like for the robot to sand & buffer along the top flat surface as far as it can before it reaches the extended limits.

Thanks, 

I create a support ticket so we can help you on this project.