a saved pocket is not enough to restart my puck transfer

PriyaCarter1003 · 17 Aug 2026, 22:25 UTC

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PR
PriyaCarter1003
Our UR5e moves machined plastic pucks from fixture to tray. Pick, place, advance pocket works on a clean run, but stopping between actions can leave the saved pocket out of step with the tray. I know an uncertain restart needs review; what should the record distinguish before we rely on this in production?

8 replies

TH
TheoBrooks0845
Replying to PriyaCarter1003

Distinguish intended transfer, observed progress and durable completion. One pocket number cannot describe all three.

18 points
EL
ElliotBrooks0857
Replying to PriyaCarter1003

What physical state did you actually find after the mismatch?

24 points
PR
PriyaCarter1003
Replying to ElliotBrooks0857

Puck in the destination pocket, saved number still pointing there. The place happened before the save. We can't infer from every old pending record that it failed at that same point, though.

21 points
VI
VictorCarter0968
Replying to PriyaCarter1003

How is the tray identified across a restart? Even a correctly retained pocket number needs to refer to the same physical tray and loading arrangement, including any manual changes made while the program was stopped.

21 points
PR
PriyaCarter1003
Replying to VictorCarter0968

Only by the operator's selected job name at present. I've asked the programmer to separate tray identity and transfer identity from the pocket count, with an unresolved state when the physical arrangement can't be reconciled.

18 points
EL
ElliotBrooks0857
Replying to PriyaCarter1003

Has automatic continuation been held for these uncertain cases while that design is reviewed?

16 points
PR
PriyaCarter1003
Replying to ElliotBrooks0857

Yes. Offline restart tests now hold the place-before-save case and an unknown tray instead of advancing or repeating. The recovery procedure and evidence for clearing the hold still need the cell team's agreement.

12 points
VI
VictorCarter0968
Replying to PriyaCarter1003

Please bring back the agreed recovery boundary when available. Include interruption during the recovery decision itself; otherwise the operator may reconcile the puck successfully and still leave the next startup with another ambiguous record.

1 points

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