Advance run stop in Submit interrupt

    Hello,

    I have a question that is probably very simple, but I am unable to find anything through the documentation.

    In my program I use Submit Interpreter to set certain $OUT signals. Setting of the signals triggers advance run stop in Robot Interpreter.

    My question is, does it also do advance run stop in Submit Interpreter? I.e. does a code like $OUT[1] = TRUE stop Submit interpreter from running until the robot has completed its current motion?

    Thank you all!

    The Advance Run Pointer is AFAIK entirely rooted in the motion planner, which is only in the Robot Interpreter -- motion commands are essentially "blocking", so the Main Run Pointer cannot get ahead of the actual motion command being executed. But to do CONT type motions or TRIGGER commands, there needs to be a "look-ahead", which need is filled by the ARP. But the ARP has specific rules and limitations that need to be addressed carefully.

    In the Submit Interpreter, there's no motion involved, and so no ARP to be broken.

    This does lead to some slightly odd things when you have a Submit program that's actually controlling Asynchronous external axes. In this case, the Submit does not suddenly gain an ARP -- instead, commands like ASYPTP are non-blocking, which means that the SPS can fire an ASYPTP command and just keep running the next line of code without any concern for how the ASYPTP command is going. Which leads to needing state machines that cyclically monitor the status of the ASY motion and branch the SPS program accordingly.

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