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All configuration variables have names beginning with "rf_". The variables are visible only under the Pally program node, but can be enforced to be globally visible by declaring global variables with the same name above the Pally program node in the program structurein case the variables are referenced in other threads or subroutines.
Changing configuration variables at startup
In this scenario, the configuration variables are changed once at startup, before entering the main loop of the palletizer program. To change any configuration variable, use the initial MoveJ program node under the Pally program node to enter script lines or script files that modify the variables. The global keyword is not required in this case.
Changing configuration at runtime
It might be necessary to modify some configuration variables from a Pally callback, e.g. change the approach distance for some specific products only. Due to limitations in the URScript program structure, the rf-variables are not visible in the callbacks. In this case it is necessary to enforce the corresponding variable to be global. we recommend using the OnNextTask callback, which is called before all calculations start.
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Note: Changing some configuration variables such as the pallet calibration points in runtime won't have any effect on the current pallet as the values are only used once after product selection. |
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Note: Changing configuration variables may have no effect until pattern verification database is cleared. |
Developer’s tip
To make sure you write the variable name properly, it is a good idea to print out the old value before changing. If the variable name is incorrect, the program will fail.
Instead of this:
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rf_max_speed = 0.3 # <---- will have NO effect. The variable name is "rf_speed" |
Try this:
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textmsg("rf_max_speed old value:", rf_max_speed) # <----- The program will STOP here
rf_max_speed = 0.3
textmsg("rf_max_speed new value:", rf_max_speed) |
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List of available variables
See the list of available variables, categorized by their functionality:
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