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 |
The rf_collision_radius_min/max could be changed to set the correct collision radius for your specific project. The dark blue and light blue column below illustrate the collision radiuses.
The rf_collision_radius_max column goes up to the top of the shoulder on the robot
The rf_collision_radius_min colums starts from the top of the shoulder
Example on where to put the code
