Other/Special variables

Name	Description	Reference
rf_goto_wait	Go through the default waiting position before picking the next box	Default: False
rf_release_strategy	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)
rf_custom_path	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
rf_cpuidle_ticks	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
rf_joint_deviation_err	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)
rf_joint_deviation_max	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)
rf_path_storage	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.
rf_product_selection_strategy	Defines how the program should select the pattern(s) to be palletized.	Default: 0 (product selected by Operator on GUI)
rf_product_selection_predefined	String containing the pattern file name(s) when product selection strategy is set to “predefined”.