thread_run(th_func_name, loop=False)
Features
This function creates and executes a thread. The features executed by the thread are determined by the functions specified in th_func_name.
Note
The following constraints are applied when using the thread command.
- Up to 4 threads can be used.
- The following motion command cannot be used to move the robot in the thread.
- movej, amovej, movejx, amovejx, movel, amovel, movec, amovec, movesj, amovesj,
- movesx, amovesx, moveb, amoveb, move_spiral, amove_spiral,
- move_periodic, amove_periodic, move_home
- The thread commands do not operate normally when the loop=True during thread_run and the block is an indefinite loop within the thread function. (The thread is normally stopped when the stop command is executed through the TP.)
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
th_func_name | callable | - | Name of the function run by the thread |
loop | bool | False | Flag indicates whether the thread will be repeated
|
Return
| Value | Description |
|---|---|
int | Registered thread ID |
Negative value | Failed |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
DR_Error (DR_ERROR_VALUE) | Parameter value is invalid |
DR_Error (DR_ERROR_RUNTIME) | C extension module error occurred |
DR_Error (DR_ERROR_STOP) | Program terminated forcefully |
Example
PY
#----- Thread --------------------------------------
def fn_th_func():
if check_motion()==0: # No motion in action
set_digital_output(1, OFF)
else:
set_digital_output(1, ON)
#----- Main routine ----------------------------------
th_id = thread_run(fn_th_func, loop=True) # Thread run
while 1:
# do something…
wait(0.1)