# Skipping Waypoints, Waits, and If statements

**URL:** <https://forum.universal-robots.com/t/skipping-waypoints-waits-and-if-statements/21974>\
**Category:** Report a Bug\
**Created:** [June 15, 2022, 9:07am UTC](https://forum.universal-robots.com/t/skipping-waypoints-waits-and-if-statements/21974 "2022-06-15T09:07:39Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon8920440](https://avatars.discourse-cdn.com/v4/letter/a/9dc877/32.png) [@anon8920440](https://forum.universal-robots.com/u/anon8920440)\
**Post date:** [June 15, 2022, 9:07am UTC](https://forum.universal-robots.com/t/skipping-waypoints-waits-and-if-statements/21974/1 "2022-06-15T09:07:39Z")

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I have been having Some issues where a Program will ran flawlessly for hours on end, Then suddenly it starts skipping or failing to activate a digital IO out signal resulting in crashes. I have tried adding If statements looking for Digital out 1 to be false, and waiting for it to be false before proceeding with the next line, but it just skips over this no matter what. I am using the Digital IO out Pulse to activate a relay for 3 seconds, after this the IO shuts off and the relay resets for the next pulse.

Intermittently the program will also skip a URcaps Machine motion code lines resulting in the vention 7th axis not moving.

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**Author:** ![anon507564](https://avatars.discourse-cdn.com/v4/letter/a/e480ec/32.png) [@anon507564](https://forum.universal-robots.com/u/anon507564)\
**Post date:** [June 15, 2022, 1:02pm UTC](https://forum.universal-robots.com/t/skipping-waypoints-waits-and-if-statements/21974/2 "2022-06-15T13:02:49Z")

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Try setting a WAIT node for like half a second before the D/O signal gets read.

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**Author:** ![richard.dorough](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/richard.dorough/32/4294_2.png) [@richard.dorough](https://forum.universal-robots.com/u/richard.dorough)\
**Post date:** [July 12, 2022, 9:07pm UTC](https://forum.universal-robots.com/t/skipping-waypoints-waits-and-if-statements/21974/3 "2022-07-12T21:07:22Z")

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If you have a thread running in the background, you need to add a sync() to the bottom to use up the thread. You can also add this to the loop this is occurring in. A .2 second wait after any I/O is a good idea if you have the time