Thread

Description

The Thread command enables you to control an external machine independently of the robot arm. A thread can communicate with the robot program with variables and output signals.

To access Thread command

  1. Go to the main program screen. See Command Nodes.

  2. Tap the Thread icon in the Commands toolbox.

    A node with a Module field is inserted into the program tree.

  3. Tap the Module field, and two selections are given:

    • Global Functions

    • Module


  4. Select either Global Functions or Module, and a Thread field appears at the right.
 

  1. Note: For the Thread field to be active and selectable, you first have to create new global functions and modules in the Program Structure and marked as thread. See Modules and Global Functions.

    The function/module is now marked as a thread, and tap the Loop always checkbox to make the thread execution loop when done.

     

  2. Tap the Thread field and select the function or module you created. An Action field is inserted further.

  3. Tap the Action field and select Run or Kill to start or stop the thread execution at that point.

    Threads that are meant to run for the entire duration of the program execution can be started from Before Start section of the Main Program.