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Why does my saved pocket skip a block after a stop?

ZaraArcher0395 · 2025年9月26日 00:44 UTC

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ZA
ZaraArcher0395
My UR5e tray program saves the next pocket before placing the current aluminium block. A stop there leaves the block held and the saved pocket ahead. Moving the save later seems to create the opposite problem. How should I think about this?

21 条回复

RA
RachelArcher0435

Save the transfer's stage, not just the next pocket. A pocket number cannot tell you whether its block is still in the tray, held, or placed. Start by naming those states on paper.

20
ZA
ZaraArcher0395

So the saved pocket should stay the source until placement is confirmed?

11
JO
JonasChan1068

What if somebody removes the held block during recovery?

12
EL
ElliotBrown0944

Keeping the source helps, Zara, but it doesn't settle Jonas's question. The physical state may change during an interruption. Recovery needs a way to confirm what is actually present before continuing.

23
OL
OliverArcher0363

Who is allowed to make that confirmation on your setup? I wouldn't want a screen that asks an operator to accept a part location they can't see.

14
NO
NoahArcher0368

We had a teaching exercise with a very tidy recovery chart. Everyone followed it correctly until a student handed the held sample to the tutor and then another student took over the screen. The chart still said held. Neither student was being particularly careless; they just had different pieces of the story. That changed the lesson for us. We practised the handover and the unclear case, not only the nice stop where everything stayed put. A remembered program step is useful evidence, but it cannot replace finding out where the sample went.

3
NA
NadiaCarter0987

Does your proposed recovery have an explicit option for an unknown location, Zara? That would let the operator stop the decision instead of choosing the nearest-looking answer.

5
RA
RachelArcher0435

Noah's example is why I'd keep the last commanded stage separate from the confirmed recovery state. Otherwise the operator is asked to agree with the software's guess.

9
ZA
ZaraArcher0395

No unknown option yet. Oliver, the person at the screen can see the tray but not the fixture pocket.

16
OL
OliverArcher0363

Then a placement confirmation from that position isn't much of a confirmation. Could your recovery arrangement let an authorised person check the fixture before deciding what happens next?

0
JO
JonasChan1068

Does 'placed' mean released, or seated correctly? Those aren't always the same.

15
RA
RachelArcher0435

Correct. I used placed too loosely. Define the actual completion evidence your application requires, including the receiving fixture, rather than treating a release command as a successful transfer.

21
EL
ElliotBrown0944

For the paper exercise, walk through a stop before pickup, while holding, after release and before saving completion. Give each an uncertain version too. You'll find gaps without touching the real tray.

22
ZA
ZaraArcher0395

Thanks, Rachel. Splitting commanded from confirmed makes the problem clearer. I'll try Elliot's paper exercise with our operator.

14
NA
NadiaCarter0987

Elliot, would you include the application restarting during recovery? A student may assume an unfinished confirmation survives because the screen returns to the same page.

14
EL
ElliotBrown0944

Yes. Include losing that confirmation before it is saved, and reopening one that was already saved. The page looking familiar should not authorise another transfer.

14
NO
NoahArcher0368

And let the operator say the chart is confusing. We got more useful criticism from that than from asking whether each box was technically correct.

2
ZA
ZaraArcher0395

Paper exercise found two meanings of complete: released at the tool, accepted at the fixture. We've renamed both.

12
JO
JonasChan1068

Good catch. Which one advances the tray now?

20
ZA
ZaraArcher0395

Accepted at the fixture in the proposed chart. Unknown location stops recovery. Software change and testing still ahead.

5

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