Why does my saved pocket skip a block after a stop?

ZaraArcher0395 · 26 Sept 2025, 00:44 UTC

Closed
ZA
ZaraArcher0395
My UR5e tray program saves the next pocket before placing the current aluminium block. A stop there leaves the block held and the saved pocket ahead. Moving the save later seems to create the opposite problem. How should I think about this?

21 replies

RA
RachelArcher0435
Replying to ZaraArcher0395

Save the transfer's stage, not just the next pocket. A pocket number cannot tell you whether its block is still in the tray, held, or placed. Start by naming those states on paper.

20 points
ZA
ZaraArcher0395
Replying to RachelArcher0435

So the saved pocket should stay the source until placement is confirmed?

11 points
JO
JonasChan1068
Replying to ZaraArcher0395

What if somebody removes the held block during recovery?

12 points
EL
ElliotBrown0944
Replying to ZaraArcher0395

Keeping the source helps, Zara, but it doesn't settle Jonas's question. The physical state may change during an interruption. Recovery needs a way to confirm what is actually present before continuing.

23 points
OL
OliverArcher0363
Replying to ElliotBrown0944

Who is allowed to make that confirmation on your setup? I wouldn't want a screen that asks an operator to accept a part location they can't see.

14 points
NO
NoahArcher0368
Replying to JonasChan1068

We had a teaching exercise with a very tidy recovery chart. Everyone followed it correctly until a student handed the held sample to the tutor and then another student took over the screen. The chart still said held. Neither student was being particularly careless; they just had different pieces of the story. That changed the lesson for us. We practised the handover and the unclear case, not only the nice stop where everything stayed put. A remembered program step is useful evidence, but it cannot replace finding out where the sample went.

3 points
NA
NadiaCarter0987
Replying to ZaraArcher0395

Does your proposed recovery have an explicit option for an unknown location, Zara? That would let the operator stop the decision instead of choosing the nearest-looking answer.

5 points
RA
RachelArcher0435
Replying to NoahArcher0368

Noah's example is why I'd keep the last commanded stage separate from the confirmed recovery state. Otherwise the operator is asked to agree with the software's guess.

9 points
ZA
ZaraArcher0395
Replying to NadiaCarter0987

No unknown option yet. Oliver, the person at the screen can see the tray but not the fixture pocket.

16 points
OL
OliverArcher0363
Replying to ZaraArcher0395

Then a placement confirmation from that position isn't much of a confirmation. Could your recovery arrangement let an authorised person check the fixture before deciding what happens next?

0 points
JO
JonasChan1068
Replying to RachelArcher0435

Does 'placed' mean released, or seated correctly? Those aren't always the same.

15 points
RA
RachelArcher0435
Replying to JonasChan1068

Correct. I used placed too loosely. Define the actual completion evidence your application requires, including the receiving fixture, rather than treating a release command as a successful transfer.

21 points
EL
ElliotBrown0944
Replying to ZaraArcher0395

For the paper exercise, walk through a stop before pickup, while holding, after release and before saving completion. Give each an uncertain version too. You'll find gaps without touching the real tray.

22 points
ZA
ZaraArcher0395
Replying to RachelArcher0435

Thanks, Rachel. Splitting commanded from confirmed makes the problem clearer. I'll try Elliot's paper exercise with our operator.

14 points
NA
NadiaCarter0987
Replying to ElliotBrown0944

Elliot, would you include the application restarting during recovery? A student may assume an unfinished confirmation survives because the screen returns to the same page.

14 points
EL
ElliotBrown0944
Replying to NadiaCarter0987

Yes. Include losing that confirmation before it is saved, and reopening one that was already saved. The page looking familiar should not authorise another transfer.

14 points
NO
NoahArcher0368
Replying to ZaraArcher0395

And let the operator say the chart is confusing. We got more useful criticism from that than from asking whether each box was technically correct.

2 points
ZA
ZaraArcher0395
Replying to ElliotBrown0944

Paper exercise found two meanings of complete: released at the tool, accepted at the fixture. We've renamed both.

12 points
JO
JonasChan1068
Replying to ZaraArcher0395

Good catch. Which one advances the tray now?

20 points
ZA
ZaraArcher0395
Replying to JonasChan1068

Accepted at the fixture in the proposed chart. Unknown location stops recovery. Software change and testing still ahead.

5 points

Discussion closed

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