Virtual boundary system for work machine

A machine (100) includes a frame (110), a plurality of traction devices (116) supporting the frame (110), an engine (118) and an operator room (120) mounted to the frame (110), an implement system (130) configured to move a work tool (150) to a desired position, a position sensor (230), a tilt rotation system (160) to move the work tool (150) to a desired orientation, an orientation sensor (260), an operator interface (220), and a control module (210). The control module (210) is configured to receive a model of a work tool (150), receive a boundary input (250) defining a virtual boundary (300), receive signals from a position sensor (230) and an orientation sensor (260), receive an implement control input (240) from an operator interface (220), determine a position and orientation of the work tool (150) based on the signals and the model, and control the work tool (150) based on the determined position and orientation. Based on the position and orientation, the boundary input (250) and the implement control