Page Comparison

Name

Description

Reference

rf_goto_wait

Go through the default waiting position before picking the next box

Default: False

rf_release_strategy

Bitmask that selects one or more waypoints to be removed from the return path

Bit 0: remove box free

Bit 1: remove target position

Bit 2: use vertical exit path

Bit 3: remove approach point

Bit 4: remove everything after smart-exit point

Default: 7 (remove box free, remove target position, use vertical exit) 

rf_custom_path

Skip path planning completely (use in combination Pally manual 4.5.5 - User-defined path)

Default: False

rf_blend

Blend radius in linear movements as a fraction of the distance between subsequent waypoints

Default: 0.3

Recommended values: 0 - 0.3

rf_safe_reach

Workaround for a UR bug where the inverse kinematics calculations may throw an exception

Default: 0.01

rf_use_movej

The robot uses joint move (movej) to approach the pick position.

Use this option when experiencing "Joint position close to limits" due to wrist 3 winding up during palletizing.

Default: True

rf_cpuidle_ticks

Threshold value for inserting idle instructions to avoid "Runtime is too much behind" and "Lost communication with controller" issues.

Default: 120 on E-series

Default: 100000 on CB-series

Has no effect on CB 3.0

rf_cpuidle_l

Increment for the idle tick counter, variant 1

Default: 2 on E-series

Default: 1 on CB-series

Has no effect on CB 3.0

rf_cpuidle_xl

Increment for the idle tick counter, variant 2

Default: 4 on E-series

Default: 1 on CB-series

Has no effect on CB 3.0

rf_cpuidle_xxl

Increment for the idle tick counter, variant 3

Default: 25 on E-series

Default: 20000 on CB-series

Has no effect on CB 3.0