Robot stops abruptly before arriving the last point

General Application Help: How do I?
1

Hello Folks, I am new to the UR World, and I am having trouble with our program.

First I want to describe our Setup. We have a UR10 cb3 and we want to connect it with a Siemens CPU 1500.
The communication between these to works perfectly, I can read and write bits in the PLC and from the PLC in the Robot.

We want to sent an Integer from the PLC to the robot as an Programm number and the Robot should start the considering Sub-program.

Here is a little test script.

Programm
VorStart
Greifer REFERENZIEREN
Roboterprogramm
‘====Kein Programm aktiv====’
If Programm_Nr ≟ 0
FahreAchse
home
‘====WT40 einlegen====’
If Programm_Nr ≟ 1 and Uprog_Starten
Aufruf WT_einlegen

 If Programm_Nr ≟ 5  and Uprog_Starten
   FahreAchse
     home
     VP_Ablage_WT
     GIB WT&Zylgr FREI von Test Techniker

 FahreAchse
   home

Thread_1
If In_Toggle
Einstellen Out_Toggle= True
Warten: 0.2
If not In_Toggle
Einstellen Out_Toggle= False

WT_einlegen
FahreAchse
home
VP_Mag_WT
GIB WT&Zylgr FREI von Test Techniker
FahreLinear
Greifpos_Mag_WT
GREIFE WT&Zylgr mit Test Techniker
Halten
‘Ein Teil wird gehalten’
FahreLinear
VP_Mag_WT
FahreAchse
VP_Ablage_WT
FahreLinear
Ablage_WT
GIB WT&Zylgr FREI von Test Techniker
FahreLinear
VP_Ablage_WT
FahreAchse
home
Einstellen Uprog_beendet=HI:Pulse 1.0
Kein Teil
‘Kein Teil gefunden’
FahreLinear
VP_Mag_WT
FahreAchse
home

Now to the problem, if the robot is in the sub program “WT_einlegen” he doesn’t reach the last waypoint (home).
He simply stops in the movement and don’t reach the home position.

Does anyone have an idea what I did wrong?

Greetings

1 Like