The robot feedback interface contains several position values. Most of the values are considered as active tool and two feedback values are reported to the position without the tool offset.
The feedback values that include the offset of an active tool are:
IF_RobotFeedback.rstRefPosition
IF_RobotFeedback.rstRefOrientation
IF_RobotFeedback.ifSpace completely
IF_RobotFeedback.rstLastTarget
IF_RobotFeedback.rstLastTargetOrientation
The feedback values that do not include the offset of an active tool are:
IF_RobotFeedback.rstRefPositionFlange
IF_RobotFeedback rstRefOrientationFlange