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.
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.
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.
@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.
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.
@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.
On my setup, one index could mean either 'still carrying' or 'already placed'. Giving those states names made the design discussion much less circular.
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.
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.
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.