Hello all,

I have a question if it is possible to stop the execution of the main Robot program when a specific condition goes true and execute a secondary program.

I would like to check this condition parallelly when the robot executes the main routine, stop it execution, finish the secondary program and then resume with the left out part of main routine.

Thanks and Regards
Anand Gopalan

 Does the secondary program contain any motion?

Hello Matthew,

Yes, it contains some motion commands which I expect the robot to perform when a particular condition is satisfied.

After completing this secondary program, I would like to resume the old program movements.

Thanks and Regards
Anand

Secondary programs cannot contain motion or any commands which consume physical time. 

Is it possible to achieve the parallelism through Threads? If I create a thread that can keep checking for the condition would that work?