Single Step In A Program; Command Tab - Universal Robots E Series Original Instructions Manual

23. Program Tab

23.7. Single Step in a Program

The Single Step button allows one node to be executed at a time, when the robot is in Manual
mode. You can use the Single Step button when the program is paused. Tap the Single Step button
for the program to continue execution, and pause when reaching the following node in the
program. If a node does not support Breakpoints, program execution initiated by tapping the Single
Step button does not pause on that node. Instead, the execution continues until the program
reaches a node that supports Breakpoints.

23.8. Command Tab

This manual does not cover all the details about every type of Program Node. The Robot Program
Node includes three check-boxes controlling the overall behavior of the program.
Add Before Start Sequence
Select this check-box to add a special section to the program which is once when the program
starts.
Set Initial Variables Values
Select this to set initial values of program variables.
1. Select a variable from the dropdown list, or by use the variable selector box.
2. Enter an expression for that variable. This expression is used to set the variable value at
program start.
User Manual 149 UR5e