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Universal Robots UR5e: A handshake built from notes and assumptions

JamieBaker0469 · 2026年8月13日 03:57 UTC

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JA
JamieBaker0469
i'm reviewing our non-safety job handshake for sample verification with Universal Robots UR5e in a PLC-coordinated fixture inspection cell, using a fixture-mounted bracket. The PLC sends a brief request, and our application sometimes misses it. i can't find anything clear about who owns each signal or when it gets cleared. Safety functions are independently engineered; this is the ordinary job interface.

12 条回复

HA
HassanBarnes0530

@JamieBaker0469 Can you compare the request trace with your application's polls? Also note which side clears the request.

12
JA
JamieBaker0469

i've compared the trace: the PLC raises and clears the request between consecutive application polls, with no observed acknowledgement before it clears.

1
HA
HassanBarnes0530

@JamieBaker0469 Take an ownership table and a retained-request proposal to the interface owner. A request held until matching acknowledgement should settle the handshake in an offline review.

5
RE
ReeceBarnes0558

Holding the request addresses the missed pulse, but it doesn't settle the interface. A retained request needs identity and restart rules to avoid being mistaken for new work

-5
HA
HassanBarnes0530

@ReeceBarnes0558 Yes, I overstated that. Retention addresses the missed pulse. The offline review also needs matching identity, reset ownership and restart cases before the design is complete.

19
JA
JamieBaker0469

@HassanBarnes0530 Would your table include who reads each field too? Our notes say used by PLC, which could mean practically anything.

17
HA
HassanBarnes0530

@JamieBaker0469 Yes: writer, readers, meaning, set condition and clear condition. Then give each legal transition a concrete example.

3
GR
GraceBell0668

On my interface, both sides cleared acknowledgement for different reasons. Each program looked reasonable alone. Put them together and the answer vanished.

12
JA
JamieBaker0469

@GraceBell0668 i've checked our assignments and found that too: both sides can clear acknowledgement. i'll put both conditions in the review rather than quietly choose one.

-2
RE
ReeceBarnes0558

Good. Renaming the field won't remove the second writer. The agreed ownership needs to match both programs

13
JA
JamieBaker0469

i haven't established reliable request and acknowledgement behaviour for our interface. Finding the missed transient doesn't complete that design.

4
HA
HassanBarnes0530

@JamieBaker0469 Understood. One explained transient doesn't amount to a verified request-and-acknowledgement design.

17

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