Please note that the unit for all speed and acceleration variables are m/s (meters per second) and m/s2 (meters per second per second) - which is a 1000 times higher than the unit used in Robot Program → Pally → Movement → Speed (mm/s and mm/s2, where mm are millimeters) . This is due to the natives units used in the robots from Universal Robots (SI units).
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 |