Our UR5e tray transfer stopped after the program advanced its pocket number but before we could confirm the block had reached the fixture. On the restart screen it looked ready for the next one. It wasn't a clever recovery feature; it was my very ordinary counter giving a confident answer to the wrong question. How should I describe the recovery states to our controls person?
Caleb, tray pocket was empty, but we didn't have reliable confirmation for the tool or fixture. That's the hole in my sequence. The counter had already marched on regardless.
Describe pickup requested, pickup confirmed, placement requested and placement confirmed separately, with an unknown case when the available evidence cannot establish where the block is.
Agreed Oliver, I meant states supported by the actual checks, not four extra counters, and the controls person needs to decide which observations can establish each one.
We sketched those states with the controls person and found we cannot distinguish two of them with what we currently capture. Useful, if slightly embarrassing. Unknown now has a proper place in the draft instead of being treated as next pocket.
Not yet, Oliver. I was still picturing the same tray sitting there politely. Added tray identity to the discussion; no automatic restart until the recovery design is reviewed and checked.