Trajectory Planning Problem

[r-c-x123]

I am configuring the irb4600 package by referring to the irb1200 robot control package. When I run the command ros2 launch abb_bringup abb_moveit.launch.py robot_xacro_file:=irb4600_60_205.xacro support_package:=abb_irb4600_support moveit_config_package:=abb_irb4600_60_205_moveit_config moveit_config_file:=abb_irb4600_60_205.srdf.xacro, the planning and execution function of MoveIt causes the robot to never reach the target pose, only approach it continuously. What could be the reason for this?