Comunication plc allen bradley and cobot ur10e

Good Morning

we have a cobot UR10e connecte with ethernet with 1769-l33erm of allen bradley , the plc is the master , we use the eds file to active at plc , we send the severals program to robot through interger output from the plc to robot . at robot program we use a switch commnand to change the program , but we saw the robot stop when change one program to other program and this cause time , some body know what the robot stop .