Hey @TSy,
Thanks for answering. The approach I tried is with ONE single controller (“Servo Controller”) connected to many links, instead of different servo controllers. With more than one, the links move one after another instead of all of them at a time. With my approach, whenever there’s a trigger, I check every signal connected if it’s true or False and I consequently set a target position to each of the links connected to the controller. At the end of the cycle I send the movement command (servo.move()). That works fine, the links I trigger move all at once. The problem is with motion interruptions, same as your approach if I’m not mistaken. To deal with it, I checked the emergency stop thread (Emergency Stop - #20 by hero) and tried to continue the approach they commented, but I reached a dead end.
You sure there isn’t any way to interrupt that movement? Many of my links are moving with a signal and when their encoder reaches a value, another signal should stop the movement (interrupt motion). Therefore, I have to try to find a way to simulate that.
Thank you once again.