Since I’ll be activating the gage cycle while the robot is placing the previously measured part on a rack, I need this gage cycle to be within a thread.
I need to advance the cylinder in a few stages, increasing the pressure at each stage, then read the gage value. This requires pauses at each stage of this process.
I’ve created a simple test program to prove out this part of the process:
The wait on line 9 is apparently necessary, otherwise the thread never recognizes that Gage_trigger has become true.
The wait on line 20 seems to kill the thread - if I turn it off, the rest of the commands work fine. Doesn’t seem to matter how long the wait is - I’ll actually need several 1 ~ 2 second pauses.
edit: I’ve moved the sync() command outside of the If statement, which seems to have gotten rid of the C271A1 error, but doesn’t keep the wait command from killing the thread - if I move the wait command, it runs everything up until that point but nothing after.
And to make this even more interesting, I forgot that Thread_1, which is turned off in the above config, is almost identical (controls a different cylinder), and it works fine!
Here’s the current setup -
Thread_1 works fine with 2 Wait commands, but Thread_3 will stop at the Wait command (line 21). If I move it up or down it still stops at that point. If I suppress that Wait, it works, but of course without the desired wait.
I think you have enabled “Check expression continuously” that will create a new thread that will be killed if “Gage_trigger” changes to something different from “True”. The popup seems to affect it in the moment that the popup call is made.
As long as you only have a sync() the evaluation will me made extremely fast and will let your if scope run to the end every time it is started.
The “Check expression continuously” box doesn’t seem to have any effect in this case.
However, it then occurred to me to doublecheck my “Program Loops Forever” setting - I had that unchecked, as this is just a test program.
So, my main program was running the query on line 8, then when the Gage_trigger variable was enabled, it only had 0.1 second to finish the program and run the thread - enough time to activate any of the outputs, but once it hit a Wait command, the program just ended.
By enabling “Program Loops Forever”, it seems to work (though I get repetitive queries from the Assign node).
A longer wait time on line 9 also solves the problem.
In the final configuration, the robot will busy be doing other things, so I shouldn’t have to worry about this issue.
