&ACCESS RVO4
DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
   DECL REAL R_offset
   DECL BOOL b_Pok
   DECL E6POS ACT_Point
   DECL E6POS EndPos
   BAS(#BASE,1)
   BAS(#TOOL,1)   
   
   ACT_Point = $POS_ACT   
   IF (ABS(ACT_Point.X - EndPos.X) > R_offset) OR (ABS(ACT_Point.Y - EndPos.Y) > R_offset) OR (ABS(ACT_Point.Z - EndPos.Z) > R_offset)  OR (ABS(ACT_Point.A - EndPos.A) > 0.5)  OR (ABS(ACT_Point.B - EndPos.B) > 0.5)  OR (ABS(ACT_Point.C - EndPos.C) > 0.5)  OR (ABS(ACT_Point.E1 - EndPos.E1) > R_offset) THEN
      b_Pok=FALSE
   ELSE
      b_Pok=TRUE 
   ENDIF         
   RETURN b_Pok 
ENDFCT