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RapidStart Method (RegainMode, ExecutionMode, ExecutionCycle)

Note: This API is now obsolete.

Starts RAPID program execution with the settings as in the call.

Namespace:  ABB.Robotics.Controllers.RapidDomain
Assembly:  ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0
Syntax
C#
[ObsoleteAttribute("This method will be removed. ExecutionCycle should be set using the Cycle property. Using this method will change the Execution cycle set on the controller.", 
	false)]
public StartResult Start(
	RegainMode regMode,
	ExecutionMode execMode,
	ExecutionCycle cycle
)

Parameters

regMode
Type: ABB.Robotics.Controllers.RapidDomainRegainMode
How to handle any regain movement requests.
execMode
Type: ABB.Robotics.Controllers.RapidDomainExecutionMode
Which execution mode to set.
cycle
Type: ABB.Robotics.Controllers.RapidDomainExecutionCycle
The number of cycles to execute the program

Return Value

Type: StartResult
The result of the start as a StartResult object.
Exceptions
ExceptionCondition
ResourceHeldExceptionWe are unable to take mastership.
InvalidOperationExceptionThis exception is thrown in Auto when current running mode is Cycle and Start is restricted to Continuous.
Examples
This example starts a rapid program, sets the regain mode to clear, sets the execution mode to continuous and sets the execution cycle to forever.
using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
...
Controller c = new Controller();
Rapid rapid = c.Rapid;
...
rapid.Start(RegainMode.Clear, ExecutionMode.Continuous, ExecutionCycle.Forever);
See Also