The UR5e fixture-inspection application misses brief PLC requests. Who sets and clears each ordinary signal is undocumented. What should both authors agree before changing it? Independently engineered safety functions remain separate.
Define one writer per signal, its event meaning and the observation permitting it to clear. Walk through delayed receipt, repeated requests and restart; simply making the pulse longer does not settle ownership.
Both authors have a draft state table now. Receipt and completion are separate; clearing after restart is still disputed. No live interface change approved.