My Fairino FR10 program picks a rigid molded spacer, places it and advances the pocket during indexed tray loading in a small fixture loading area.
Clean runs work.
After a stop between actions, the saved pocket sometimes doesn't match reality.
We've 90 planned, and I want recovery sorted before normal production depends on it.
Our tray index stops matching reality after a restart
CalebBaker0493 · 2026年4月30日 13:55 UTC
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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.
20分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.
13分@CalebBaker0493 Map the transfer stages offline, with an agreed completion confirmation. Have your integrator define how saved state is reconciled with tool and pocket conditions; unknown conditions need an explicit recovery route.
22分So just moving the increment isn't enough? I'd hoped this was one badly placed line, which would've been embarrassing but convenient.
17分Save the stage immediately after every action and you should always know where to resume.
18分Updating a stage after an action doesn't eliminate the interval between the physical event and persistence. An interruption there can leave the saved stage inconsistent with reality.
12分@CarlaBrooks0836 I overstated what persistence provides. A retained stage helps interpret the interruption, but recovery still requires reconciling it with established physical conditions and selecting the permitted action.
17分On my setup, one index could mean either 'still carrying' or 'already placed'. Giving those states names made the design discussion much less circular.
17分Our test actually stopped with the workpiece held while the display said to start another pickup. The recovery message was confidently wrong.
12分Wouldn't a grip signal settle that? Or can 'gripper closed' mean it's holding nothing?
17分It depends on what your installed sensing actually establishes. A closed indication isn't automatically proof of a held workpiece; document confirmed, empty and unknown conditions with your integrator.
7分The destination worries me too. If placement happened but the save didn't, the program could send another workpiece to an occupied pocket, right?
4分Yes, that's an ambiguity your recovery design must cover. Establish destination condition through suitable evidence or a defined operator procedure, with escalation when it can't be confirmed.
14分The early index update explains part of the mismatch. I still need reviewed recovery handling for uncertain physical states, so this isn't ready for normal production.
10分Finding the early update helps, but the uncertain states still need a recovery decision.
23分