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RapidStart Method (RegainMode, ExecutionMode)

Starts RAPID program execution with the settings as in the call and with the current execution cycle as set in the robot controller.

Namespace:  ABB.Robotics.Controllers.RapidDomain
Assembly:  ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0
Syntax
C#
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public StartResult Start(
	RegainMode regMode,
	ExecutionMode execMode
)

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.

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 with regain mode to clear and the execution mode to continuous.
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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);
See Also