Universal Robots E Series Original Instructions

23.5. Starting a Program from a Selected Node
When the robot is in Manual Mode (see20.1. Operational Modeson page115), 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.
23.5.1. Using Play from Selection
Tap Play and select Play from Selection to run a program from a node in the program tree.
NOTE
•
The Before start section, if used, is always executed for both Play from
Selection and Play from Beginning.
•
The program stops and displays an error message if an unassigned variable
in encountered.
•
A program can only start from a node in the Robot Program.
•
Play from Selection can be used within a subprogram. The program
execution halts when the subprogram ends.
23.6. Using Breakpoints in a Program
A breakpoint pauses program execution. You can use breakpoints to pause and resume a program
at a specific point to inspect robot position, variables etc. See20.1. Operational Modeson
page115.
User Manual 147 UR5e
23.Program Tab
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Universal Robots E Series Specifications

General

Degrees of Freedom	6
IP Rating	IP54
Programming	Polyscope graphical user interface
Payload	3 kg, 5 kg, 10 kg, 12.5 kg, 16 kg (depending on model)
Reach	500 mm to 1300 mm
Joint Range	± 360º (all joints)
Operating Voltage	100-240 VAC, 50-60 Hz
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1, ISO/TS 15066
Repeatability	+/- 0.03 mm (UR3e, UR5e, UR10e, UR16e)