ZZX130U unclear movement stop

[nuni]

While palletizing a plate on a rack, I'm running a collision subroutine (once a sensor goes on, the collision subroutine is called).

All I do in the collision subroutine is to brake and then I return to the program using a RETURN cmd.

From time to time (with an increasing freq.) the robot will stop its motion once it returns to the main program; the motor stays on, the cycle stays on but the robot is stopped.

To continue I have to abort and to start cycle again.
i'm using a ZZX130U arm with a D-Controller.

Any ideas why this is happening?

[roboperson]

Are you monitoring your signal to call the collision sub routine by a PC program, or is there a If then statement in your program? Are you using a halt command to stop the robot when entering into the collision sub routine?
When it is sitting with motor power on and cycle start, what is the wait condition? If you are using an AS command for signals, remember that they stay in their state (latch) until the condition is met. For example, if you do a wait sig 3, it will continue to wait for signal 3 until it is met. Block step OX/WX signals are more "one shot" or line for line, so if you leave that line, motor power is  dropped, etc. the state changes.

[rdixiemiller]

 Send me the program and let me take a look at it. I do a lot of work with these controllers and am pretty good in AS language.