Hi, I have a problem with the synchronization of threads. In our project the robot communicates with a PC via TCP/IP. The PC sends telegrams to be processed and a ping message to the robot. The messages underrun 4 threads on the side of the robot. The first thread does not receive the message and stores it in an array. The second thread separates the information in the message. Is it a telegram or a ping. If it is a ping it is written directly into the 3 buffer, which the 4 threads reads and sends a ping to the PC. If it is a telegram, it is written into another buffer which reads a 3 thread, executes the corresponding commands and writes the confirmation into the 3 buffer. And is sent by the 4 thread. Thus a parallel processing of Ping commands and telegrams is to be made possible. Should it happen that the processing of the telegram should take longer, a ping message should still be answered with Pong.