What evidence does the operator have when it stops: source pocket, held sleeve, destination pocket and active transfer stage? A saved pocket alone cannot tell them which action completed.
How should the FR5 recover when the sleeve and saved pocket disagree?
ReeceBaker0471 · 27 Jul 2026, 12:09 UTC
15 replies
Pocket number and active step. No reliable saved distinction between holding the sleeve and placement completed.
14 pointsMap the possible interrupted states before choosing recovery actions. Record transfer identity, source and destination context, and evidence of the physical state. Where the evidence cannot establish completion, the design needs an unresolved state with an approved reconciliation route.
16 pointsDoes removing or replacing a tray invalidate the saved context? A perfectly preserved pocket number can refer to a different physical tray after somebody intervenes.
20 pointsAnd how will you establish whether the sleeve is actually held? I would not assume the last gripper command proves its physical location. That distinction has to be part of the proposed evidence.
22 pointsI am untangling a similar bookkeeping uncertainty in an inspection request. Retaining an identity helps match evidence, but it doesn't establish the outcome. Reece's pocket record needs that same limit made clear to whoever uses it.
7 pointsWhat happens today if the operator cannot tell where the sleeve is?
17 pointsKeep that case held for the approved review, rather than offering next pocket as a default. The new screen should describe the uncertainty and evidence needed, not simply demand more confidence from the operator.
7 pointsToday they call me. I've drafted separate transfer states and an unresolved hold, with tray identity retained.
7 pointsWho covers that review when you're absent?
11 pointsName the cover before accepting the handover. A hold needs somebody who can resolve it.
19 pointsTest interruption between each physical action and each persisted update, including another restart during reconciliation. Use only the evidence the real system retains. An offline example should not magically know the sleeve location because its author does.
18 pointsControls owns those tests. Shift lead will own approved reconciliation, with escalation when evidence is insufficient. Nothing implemented yet.
8 pointsPlease include authorised manual movement in the context record as well as tray replacement. The operator may legitimately remove a sleeve for inspection while the original saved stage remains unchanged.
13 pointsAdded. Thanks, Farah Bennett; tray identity alone missed manual sleeve movement. Recovery design remains under review before production use.
6 pointsAdd to the discussion
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