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Path planning variables

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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_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

Program / Movement / Waypoints / Approach

rf_high_appr_boost

High approach boost

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

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