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
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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