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When the UR program reaches a Flexx CNC node, a command is sent to the middle ware box, processed, and used to affect change on the CNC via the ethernet connection. While that information is processed or the CNC is active, the node that sent that command will block, meaning the program will not advance until the middleware is finished processing or the Flexx Wait for CNC node has detected the end of a machining operation. In these cases, the CNC has Control, and will cede control back to the UR when the G-code or CNC operation has completed. The model below visualizes this process:[INSERT COMMAND ARCHITECTURE HERE]

Multitasking with the Flexx CNC