Path planning variables

Name

Description

Reference

rf_above_pickup

Distance from pickup to above pickup position

Program / Advanced / Path planning

rf_box_free

Distance from pickup to box free position

Program / Movement / Waypoints / Box free height

rf_box_free_auto

Box-free should never be smaller than the product height. Useful for conveyors arriving from left or right.

Program / Movement / Waypoints / Box free “Fixed” checkbox

rf_smart_exit_p1_min_x

Right pallet smart exit X lower limit

Program / Advanced / Path planning

rf_smart_exit_p1_max_x

Right pallet smart exit X upper limit

Program / Advanced / Path planning

rf_smart_exit_p1_min_y

Right pallet smart exit Y lower limit

Program / Advanced / Path planning

rf_smart_exit_p1_max_y

Right pallet smart exit Y upper limit

Program / Advanced / Path planning

rf_smart_exit_p2_min_x

Left pallet smart exit X lower limit

Program / Advanced / Path planning

rf_smart_exit_p2_max_x

Left pallet smart exit X upper limit

Program / Advanced / Path planning

rf_smart_exit_p2_min_y

Left pallet smart exit Y lower limit

Program / Advanced / Path planning

rf_smart_exit_p2_max_y

Left pallet smart exit Y upper limit

Program / Advanced / Path planning

rf_pallet_edge

Pallet lip

Program / Movement / Waypoints / Pallet lip

rf_approach

Approach distance, represented as an [x,y,z] array. NOTE: the x component should be negative. e.g.

rf_approach=[-0.03, 0.03, 0.03]

Program / Movement / Waypoints / Approach

rf_approach_auto

Approach distance can be recalculated to avoid collision of rotating boxes.

Program / Movement / Waypoints / Approach “Fixed” checkbox

rf_high_appr_boost

High approach boost (fractional value should be between 0…1)

Program / Advanced / Path planning / High approach boost

rf_collision_radius_min

Collision radius (in meters) around the Z axis when moving above the shoulder

Default: 0.15

rf_collision_radius_max

Collision radius around the Z axis when moving below the shoulder

Default: 0.35