Universal Robots UR16e

Breakpoints The breakpoint appears as a red line either above or below a node. The
red line appears below a waypoint nodes, and above other nodes.
Most nodes in program pause before they are executed. Adding a
breakpoint changes the behavior of the nodes.
•
You can add a breakpoint to a waypoint to allow the program to
pause at this waypoint. This means the blend in the node is ignored.
•
You can add a breakpoint to an Until node to allow the program to
pause when the Until condition is met. This means the blend in the
node is not ignored.
Add a Breakpoint To add a breakpoint to a program
1. In a Program tree, tap a line number to add a breakpoint.
2. The breakpoint is active until you clear the breakpoint from the robot
program.
Clear a Breakpoint To clear a breakpoint in a program
1. In a Program tree, tap a breakpoint to remove it again.
2. The robot program will run as intended.
User Manual 185 UR16e
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