Expression Editor; Starting A Program From A Selected Node - Universal Robots e-Series Original Instructions Manual

7. Program Tab

7.4. Expression Editor

While the expression itself is edited as text, the expression editor has a number of buttons and
functions for inserting the special expression symbols, such as * for multiplication and ≤ for less
than or equal to. The keyboard symbol button in the top left of the screen switches to text-editing
of the expression. All defined variables can be found in the Variable selector, while the names of
the input and output ports can be found in the Input and Output selectors. Some special
functions are found in Function.
The expression is checked for grammatical errors when the Ok button is pressed. The Cancel
button leaves the screen, discarding all changes.
An expression can look like this:
digital_in[1] True and analog_in[0]<0.5

7.5. Starting a Program from a Selected Node

When the robot is in Manual Mode (see 4.1. Operational Modes on page 29), Play from Selection
allows a program to start from a selected node. Play from Beginning runs a program normally. The
Play from Selection option is disabled if a program cannot be run from a particular node. Play from
Selection cannot be enabled with a thread becasue threads always start from the beginning.
e-Series 64 Software Manual