Hi Tom,

Im running into an occasional mechanical issue with my toolchanger and its triggering an Estop. My toolchange program is still running and In order to recover I need to open up kmotion and halt that thread.

I would like to be able to recover the machine just by restarting init file. Have the beginning of the init file stop all running threads. Looks like I need to use the Kill command for whatever threads Im using? Like this:

Kill4
Kill6

Or would it be

Kill4;
Kill6;

Or something else? Should I add a delay after this to be sure those threads are stopped before clearing bits to be sure all the toolchanger outputs are off? Thanks.

Mark