Hi everyone,
I'm new to staubli and I have frequently the error message 0x5401, "application has ended, pending motion was cancelled"
My program is quite simple, it goes to jStart, then it takes something from pPickInit and move it to pPickFinal. The last movej in the code below is not executed. Thank you for your help!
Code
begin
resetMotion ()
movej(jStart,tTool,mFast)
open (tTool)
movej(appro (pPickInit,trShift2), tTool,mSlow)
movel(pPickInit, tTool, mSlow)
waitEndMove ()
close (tTool)
movej(appro (pPickInit,trShift2), tTool,mSlow)
waitEndMove ()
movej(appro (pPickFinal,trShift2), tTool,mSlow)
waitEndMove ()
movel(pPickFinal,tTool,mSlow)
open (tTool)
movej(appro (pPickFinal,trShift2), tTool,mSlow)
waitEndMove ()
end
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