Global Variables

These variables are set dynamically by the Pick[+] module and are available throughout your robot program. They are identical for both the URScript and RAPID modules.

• Universal Robots - URScript Module
• ABB - RAPID Module

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State & Output Variables

Variable	Type	Description
PP_FOUND	bool	True when a valid, reachable pick candidate was returned.
PP_FINDING	bool	Set to True while waiting for a result from Pick[+]. Set to False when the search is complete.
PP_FAULT	bool	True if an error occurred during the output request.
PP_POSE	pose	The final calculated pick target pose.
PP_CATEGORY	string	The category name of the detected object.
PP_MODEL	string	The model name of the detected object.
PP_PICK_ID	num	The specific picking-point ID for the selected candidate. Defaults to -1.

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Status & Error Variables

Variable	Type	Description
PP_ROUTINE	num	Indicates the current routine mode. See codes below.
PP_ROUTINE_ERROR	num	Specific error code associated with the current routine.
PP_ERROR	num	Error code from communication with Pick[+].

PP_ROUTINE

Code	State
-1	Unknown / not set
0	Idle / configuration
1	Automatic routine mode
2	Execution mode

PP_ROUTINE_ERROR

Code	Description
0	No error
1	Initialization error
2	Calibration error

PP_ERROR

Code	Origin	Description
0	-	No error
101	Robot	Connection error - could not connect or lost connection to server
102	Robot	Communication error - empty or timed-out response from server
103	Robot	Movement error - target pose is unreachable or outside safety limits
400	Server	Bad request - the server cannot process the request
410	Server	Invalid command structure
411	Server	Invalid process ID. In the robot program, proc_id must be b0_ followed by the application name
412	Server	Invalid command name
413	Server	Invalid command parameters
414	Server	Command issued out of sequence (e.g. OUTPUT before TRIGGER)
500	Server	Server-side error - check Pick[+] server logs

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