All settings on the Pally graphical configuration panels are translated into URScript local variables, which - along with some additional variables - determine the final behavior of the palletizer program. To get better control of the program, or change some settings in runtime, it may be necessary to alter one or more of these configuration variables.
Naming conventions
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 structure.
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.
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.