Universal Robots UR12e User Manual page 115

8.2.5. Using Selected Program Nodes
Description You can start your robot program from any program node in the program tree. This is
useful when you are testing your program.
When the robot is in Manual Mode you can allow a program to start from a selected node
or you can start the entire program from the beginning.
Play From The Play button in the Footer provides options for how to start the program.
In the image below, the Play button is selected and Play from Selection is displayed.
Selection
1.
To play a
program from
2.
a selected
3.
node
Example You can start a stopped program again from a specific node.
User Manual
•
You can start a program only from a node in the robot Program tree. The Play from
Selection stops if a program cannot be run from a selected node.
The program also stops and displays an error message if an unassigned variable in
encountered while playing a program from selected node.
•
You can use Play from Selection in a subprogram. The program execution halts
when the subprogram ends.
•
You cannot use Play from Selection with a thread because threads always start from
the beginning.
In the Program tree, select a node.
In the Footer, tap Play.
Select Play from Selection to run a program from a node in the program tree.
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