...
Name | Description | Reference |
rf_max_acceleration | Maximum acceleration | Program / Movement / Speed / Acceleration |
rf_speed | Maximum tool speed | Program / Movement / Speed / Speed |
rf_precise_acceleration | Approach acceleration | Program / Movement / Speed / Approach Acceleration |
rf_precise_speed | Approach tool speed | Program / Movement / Speed / Approach Speed |
rf_min_grip_quality | Minimum required grip quality for moving with full acceleration | Program / Movement / Speed / Smart acceleration |
Example: using different speed and acceleration values towards the pallet with boxes and back from pallet with empty gripper.
Add new script code in the afterGrab callback:
| Code Block |
|---|
if (ProductName == "MyLargestBox"):
# large boxes will move slowly
rf_speed = 0.5
rf_acceleration = 0.5
else:
# other boxes can move faster
rf_speed = 0.7
rf_acceleration = 1.7
end |
Add new script code in the afterRelease callback:
| Code Block |
|---|
rf_speed = 1.0
rf_acceleration = 2.0 |