I'm reviewing our non-safety job handshake for sample verification with Universal Robots UR5e in a workshop inspection station awaiting commissioning, using an inspection coupon.
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.
@DineshChan1082 Does your trace show when the PLC request is raised and cleared relative to application polls, including which side performs the clearing?
I've compared the trace: the PLC raises and clears the request between consecutive application polls, with no observed acknowledgement before it clears.
Draft one writer and clear conditions for each field, then review a request retained until matching acknowledgement with the interface owner. That should settle the handshake offline.
@OliverBaker0450 The missed-request diagnosis is settled for this trace. Completing the handshake fix still depends on the interface owner's assessment of signal ownership and the offline transition cases.