Other/Special variables
Name | Description | Reference |
rf_goto_wait | Go through the default waiting position before picking the next box | Default: False |
Bitmask that selects one or more waypoints to be removed from the return path Bit 0: remove box free Bit 1: remove target position Bit 2: use vertical exit path Bit 3: remove approach point Bit 4: remove everything after smart-exit point | Default: 7 (remove box free, remove target position, use vertical exit) | |
Skip path planning calculations completely | Default: False | |
rf_blend | Blend radius in linear movements as a fraction of the distance between subsequent waypoints | Default: 0.3 Recommended values: 0 - 0.3 |
rf_safe_reach | Workaround for a UR bug where the inverse kinematics calculations may throw an exception | Default: 0.01 |
rf_use_movej | The robot uses joint move (movej) to approach the pick position. Use this option when experiencing "Joint position close to limits" due to wrist 3 winding up during palletizing. | Default: True |
Threshold value for inserting idle instructions to avoid "Runtime is too much behind" and "Lost communication with controller" issues. | Default: 120 on E-series Default: 100000 on CB-series Has no effect on CB 3.0 | |
rf_cpuidle_l | Increment for the idle tick counter, variant 1 | Default: 2 on E-series Default: 1 on CB-series Has no effect on CB 3.0 |
rf_cpuidle_xl | Increment for the idle tick counter, variant 2 | Default: 4 on E-series Default: 1 on CB-series Has no effect on CB 3.0 |
rf_cpuidle_xxl | Increment for the idle tick counter, variant 3 | Default: 25 on E-series Default: 20000 on CB-series Has no effect on CB 3.0 |
Maximum allowed difference (in radians) between actual joint positions and target joint positions before operating the gripper. Before picking and releasing, the robot has to stop completely, and the joint deviation error has to go below the threshold value given here. Setting to 0 will disable joint deviation monitoring at this point. | Default: 0.0001 (in radians) | |
Maximum allowed difference (in radians) between actual joint positions and target joint positions while the gripper is being operated during pickup and release. The program will override the default delays and proceed immediately if the joint deviation error exceeds the threshold given here. Setting to 0 will disable joint deviation monitoring at this point. | Default: 0.0043 (in radians) | |
rf_max_payload | Maximum payload suitable for this robot (in kg.) incl. gripper | Derived from robot serial number. (3, 5, 10, 12.5, 16, 20, 30 kg depending on the robot model) |
Enable pattern verification and waypoint database. | Default: True.
Setting this parameter to False will deactivate the pattern verification module completely, including the popup.
Don’t forget to remove the script line and test your pattern completely at least once during the factory acceptance test, before the Active Plan expires. | |
Defines how the program should select the pattern(s) to be palletized. | Default: 0 (product selected by Operator on GUI) | |
String containing the pattern file name(s) when product selection strategy is set to “predefined”. |
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