My Universal Robots UR5e program picks a small aluminum block, places it and advances the pocket during tray-to-tray transfer in a small fixture loading area. Clean runs work. After a stop between actions, the saved pocket sometimes doesn't match reality.
We've 236 planned, and I want recovery sorted before normal production depends on it.
It advances before placement confirmation. So after a stop, the number can describe the next intended pocket rather than a transfer we know finished. That's on my sequence.
Map the transfer stages offline, with an agreed completion confirmation.
Have your integrator define how saved state is reconciled with tool and pocket conditions; unknown conditions need an explicit recovery route