I am currently working on a project with several KUKA Robots for a typical pick and place routine. The thing is that we are trying to optimize the path of the Robot during the handling of the material (stainless steel sheets).
The program of the Robot is like this:
- Cell program calls a "Main" program
- Main program is scanning for signals from PLC, and calls all the pick/place programs.
- Once a pick/place program is finished, the robot cames back to Main and continues the scanning for another program to be called.
On one of the programs, let's say program "PICK", in the last point of the program the robot reaches a final position, and after this position another program is called for continue with the "PLACE" program. The idea is that if all the conditions for execute the program "PLACE" are "TRUE" the robot should smoothy go from the last point of "PICK" to the first point of "PLACE". But this is not happening... The Robot is stopping for about 1 second on the last point, then it continues with the next program. Is there any reason why this could be happening?.
Any advise will be appreciated.