Universal Robots UR16e

7.1. Robot Program Configuration
Description It is possible to create a configuration for the entire robot program.
This type of configuration does not affect individual program nodes, it gives
the entire robot program important behavior.
•
You can add instructions to be executed before the robot program is
started.
•
You can set an initial variable value for the program start.
•
You can make the program loop forever.
Add Before Start
Sequence
Select this checkbox to add instructions or program nodes that are
executed before the main program starts.
These nodes are only executed once even though the robot program is set
to loop forever.
Program Loops
Forever
Select this checkbox to allow the program start again when it reaches the
end of the program.
Example This is for example where you initialize grippers, move the robot to a
"home" position, or reset signals to and from external sources.
UR16e 170 User Manual
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