Our setup uses Fairino FR5 for tray-to-fixture transfer with a rigid molded spacer in a workshop transfer test station, with 130 planned. I wrote a pick, place and advance sequence that completes uninterrupted runs, but stopping between those actions can leave the saved pocket inconsistent with the physical state.
I need a recovery design before relying on it for normal production.
@AnnaBrown0938 Can you locate the index update against the placement confirmation in the recorded sequence? The actual ordering will help identify what the saved value represents at an interruption.
The trace shows my index update occurs before placement is confirmed. That means the retained number can identify an intended next pocket without establishing that the preceding transfer completed.
@AnnaBrown0938 Use an offline stage model to distinguish transfer progress from confirmed completion.
Your integrator should define reconciliation between retained state and physical tool and pocket conditions, including what happens when those conditions are unknown.