The Commander core utilizes four independent processors that can run simultaneously. Therefore, it is possible to run multiple programs at the same time with or without coordination. 

While multiple programs may be running independently, global variable settings can cause unintended consequences between individual programs.  As an example, a thread that changes the position mode to incremental could inadvertently cause the position moves of a second thread to respond incorrectly, if it was based on absolute position mode.  As such it is recommended that all motion activities be written in one thread, which will prevent unintended interactions between axes, utilizing the other threads to manage I/O and other monitoring operations. 5.4.8 Standalone Example Program 8 – Multi-thread, through 5.4.10 Standalone Example Program 10 – Multi-thread with subroutine contains examples of using multi-threads in a program.


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