What it is: Tasks with iterative blocks, such as count or grid, can be stopped and restarted without resetting the state of the iterative blocks. For example, if a task is halfway through picking a parts grid with a grid block, the user can stop the task and press "start from selected", and the grid block will pick up where it left off. There are actions that will reset the iterative blocks, however, and knowing when blocks will and will not reset is the best way to avoid confusion.
When a task resets
- If a user stops a task with iterative blocks, those blocks will hold their value. For example, count/timer blocks will keep the count/timer value they were at and pattern/grid blocks will remember which waypoint they last moved to.
- There are several ways to reset all of these values. The most obvious is the "RESET TASK" button on the Execute menu. This will set all count, timer, pattern, and grid blocks back to their initial state.
- The other way to reset all the blocks is to press START TASK. Starting the task from the beginning resets all iterative blocks.
- If you edit an iterative block while a task is stopped, that block will reset to its initial value but other iterative blocks in the task will not. For example, if you change the row value of a grid block, that block will reset to its initial state. In this case, it is recommended that you reset the task entirely so that blocks that should iterate togther are not out of sync.
- Because a blend is not an iterative block, a blend will always perform the entire blend motion when it executes. This means if you stop a task in the middle of a blend motion, the blend will not begin halfway through its motion but will always start at the first waypoint and go through the entire motion.
When a task does not reset
- While a task is stopped, you can pick up where you left off by selecting STEP or START FROM SELECTED from the execute task menu.
- If you edit a non-iterative block while a task is stopped, for example change the speed of a move block or delete a gripper open block, the iterative blocks will not reset.
- When restarting a stopped task with START FROM SELECTED, make sure you select a block that keeps you iterative blocks in sync. If you stopped before a count block executed, don't restart after that block.