Speed and acceleration variables

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

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:

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:

rf_speed = 1.0
rf_acceleration = 2.0