My Universal Robots UR5e program picks a small aluminum block, places it and advances the pocket during tray-to-tray transfer in a small fixture loading area. Clean runs work. After a stop between actions, the saved pocket sometimes doesn't match reality.
We've 236 planned, and I want recovery sorted before normal production depends on it.
Sorting restart state before running 236
NadiaBaker0465 · 2026年8月29日 00:20 UTC
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4 条回复
Where does the index advance in your trace, relative to placement confirmation? Start with the sequence you've, not where the number ought to change
10分It advances before placement confirmation. So after a stop, the number can describe the next intended pocket rather than a transfer we know finished. That's on my sequence.
13分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.
11分