# \[PC SDK\] 'step over' on an interval.

**URL:** <https://tech-community.robotics.abb.com/t/pc-sdk-step-over-on-an-interval/7819>\
**Category:** Developer Tools\
**Tags:** pc-sdk\
**Created:** [July 19, 2017, 2:08pm UTC](https://tech-community.robotics.abb.com/t/pc-sdk-step-over-on-an-interval/7819 "2017-07-19T14:08:45Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![robotmaker](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/robotmaker/32/2531_2.png) [@robotmaker](https://tech-community.robotics.abb.com/u/robotmaker)\
**Post date:** [July 19, 2017, 2:08pm UTC](https://tech-community.robotics.abb.com/t/pc-sdk-step-over-on-an-interval/7819/1 "2017-07-19T14:08:45Z")

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Hello,

My goal is to execute a single line of the selected rapid task on a certain interval (\>20ms). as if you clicked the ‘step over’ button every 20ms.  
I’m not sure however how to achieve this using the PC SDK (or within Robotstudio preferably). I can start rapid tasks and start rapid tasks from a certain row but I can’t execute a single command at the time like you can with the ‘step over’ button. I also tried to using the “ProgramPositionEventArgs” event handler to start/stop the task every time the PP position changes but the event didn’t trigger after each command.  
Therefore, I was wondering if there is a way to achieve this using the PC SDK or if this can be done within robotstudio.

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<div class="post-metadata">

**Author:** ![John\_Verheij](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/john_verheij/32/1724_2.png) [@John\_Verheij](https://tech-community.robotics.abb.com/u/John_Verheij)\
**Post date:** [July 24, 2017, 10:29am UTC](https://tech-community.robotics.abb.com/t/pc-sdk-step-over-on-an-interval/7819/2 "2017-07-24T10:29:50Z")

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If you have a look in the documentation about the “Start Method”, then you will see that one of the parameters is the “ExecutionMode”. As “ExecutionMode” you can choose from the following items:

| **Continuous** | Continuous execution.  
 |
| --- | --- |
| **StepIn** | Stepwise execution.  
 |
| **StepOver** | Step over instruction.  
 |
| **StepOut** | Step out of routine.  
 |
| **StepBack** | Backward stepwise execution.  
 |
| **StepLast** | Same as last time.  
 |
| **StepMotion** | Execute to next motion instruction.  
 |
| **Undefined** | Undefined. |

I think “StepIn” or “StepOver” is what you are looking for. Furthermore the 20 milliseconds…, maybe you can solve this with a timer in your C# code.