Hi Pros,we are about to elaborate a program for a specific application and I was curious to see how you would handle the following production sequence.We are looking at a project where the UR will be set on a table. It will continuously run a certain task on one side of the table deburing a plastic part in three different zones. Once in a while, the operator will be able to come in, on the other side of the table, to run a single part that we call the 'express part', because the first deburing pass was not correctly done or for a different part to be deburred immediately. There would be one express station where there will be one proximity sensor to tell the robot when an express part has been loaded. So the question is, how would you have a robot program, running continuously, deburing parts on one side of the table a jump to another section in the program when it senses a high signal from one of the proximity switch. We are running different model of parts to debur in the cell. Identification is made via Barcode reading.Overall, the way we thought of doing it is to have subprograms containing deburing trajectories for the different part models. Then the main program loop simply alternate between the three normal stations and calls the appropriate subprogram based on the barcode reading. We also have a thread running which is constantly monitoring the express station sensor. In that thread loop we are monitoring change in the proximity sensor signal to see when a piece has been placed in the station and when it happens this changes a variable in our main program called is_express_rdy which is checked at the end of each loop to see if the robot needs to do the express station before moving on to next part. Any tips, or anyone else have a different idea?