erikj Posted January 31, 2011 Share Posted January 31, 2011 Hi, Is there a way to make a motion program thread-safe so that it can be called multiple times simultaneously from gpascii? I want to create a generic program that moves an arbitrary motor to a specified position. I want to be able to pass in the motor number, possibly using a P variable. I can easily use blocks of P variables assigned to each motor number to pass in other information (position, rate, etc), but I don't see a clean way to pass in the motor number while still maintaining thread safety (I don't want a second program invocation to step on the motor number used by the current runnning program). The only solution I can think of is to have a separate motion program for each motor. Thanks, Erik Link to comment Share on other sites More sharing options...
Sina.Sattari Posted January 31, 2011 Share Posted January 31, 2011 Erik, If you use CSGlobal variables (equivalent of Turbo PMAC Q variables) instead of Global variables (Equivalent of Turbo P Variables), as long as your instances of execution are in separate coordinate systems, your motion program would be thread-safe. You can also use sub-programs and pass the motor number and parameters as arguments to it where they will be accessible inside the sub-program as local variables and each instance will have its own set and there won't be any cross-talk. Regards, Link to comment Share on other sites More sharing options...
erikj Posted February 8, 2011 Author Share Posted February 8, 2011 [quote='Sina' pid='1240' dateline='1296493584'] Erik, If you use CSGlobal variables (equivalent of Turbo PMAC Q variables) instead of Global variables (Equivalent of Turbo P Variables), as long as your instances of execution are in separate coordinate systems, your motion program would be thread-safe. You can also use sub-programs and pass the motor number and parameters as arguments to it where they will be accessible inside the sub-program as local variables and each instance will have its own set and there won't be any cross-talk. Regards, [/quote] Hi Sina, A belated thanks for this advice. I have done what you suggested and have a generic move program working. I only have one motor connected now, but we plan on testing with multiple motors soon. regards, Erik Link to comment Share on other sites More sharing options...
Recommended Posts