Motion control in Threads

Technical Questions
1

Is it possible to call stopj(a) in threads to stop the motion running in the main program? I am getting

another thread is already controlling the robot error at stopj(80)

thread ControlCommands():
  
    while True:
      stop = get_digital_out(1)

      if stop:
        textmsg("Stopping Control Commands")
        stopj(80)
        set_digital_out(1, False)
      end  
    end  
  end
2

You can’t control the robot movements from within a thread, so I expect that you will need to set a variable or an output which is monitored from the main program which would then trigger the stop.
In the simple example you’ve shown, your code would basically just be in the main program or subprogram instead of within a thread.

If it’s a more complicated situation where you’re decision making needs to be within a thread, you can still set the output or variable from within the thread and monitor it from the main program or subprogram.

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3

Hi @arism,
you could try as follow:

  • put the movement inside a thread
  • check the stop condition in main thread
  • before using the stopj command, kill the running thread

immagine
immagine1920Ă—1030 249 KB

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4

You can also take a look at “if” expression with “check expression continuously” ticked - it’s made exactly for this purpose.

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5

It appears you are using script so just move the motion to the thread and have the main program start the thread then monitor for your stop condition then kill the thread and issue stopj command.

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