[hetansh_lodhiya]

Hello RoboDK Team,
I’ve created a station in RoboDK with the following setup:

• Robot: FAIRINO FR5
  
• Tool: Spray gripper for coating/spraying
  
• A conveyor on which both the robot and hangers are mounted
  
• The hangers are placed parallel to the robot path
  

Goal:
As the conveyor moves, I want:

• The hangers to move along the conveyor
  
• The robot to move in sync, spraying them as they pass
  

I have created separate programs — one for hanger motion and one for the robot motion.
Issue:
In the main program, both motions are not running at the same time. They run one after the other.
I don’t want to use the "Synchronize" option, because it modifies the motion paths and creates dependencies I don’t want.
What I need:

• Run both programs (robot + hanger) independently but simultaneously
  
• Keep motion logic separate
  
• Possibly use a custom Python script or event trigger to start both at once
  

I am attaching my station file for reference. Please guide me on how to achieve true parallel execution of both motions without using synchronization.
Thanks,
Hetansh Lodhiya

[Jonathan L]

Hi Hetansh,

Your station is quite heavy to run, so I had some difficulty reviewing it in detail. However, at first glance, it looks like you could use “Start Thread” instead of “Program Call”. This would allow both programs to start simultaneously.

Alternatively, a more robust approach would be to implement a handshake using I/O signals between the two programs. For example, you could add a :

Code:

WAIT Hanger_Ready = 1

at the beginning of the robot program, and in the hanger program:

Code:

Set Hanger_Ready = 1

Once it’s ready. This ensures proper synchronization between the two processes.

Hope that helps!

Best regards,

Jonathan Lambert
Application Specialist

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I found what was causing the performance issue. It was the tool, so I simplified it. Please find the simplified version attached.

Best regards,

Jonathan Lambert
Application Specialist