...
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 with user-defined path - 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 |
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 |
...