My Universal Robots UR5e program picks a rigid molded spacer, places it and advances the pocket during tray-to-tray transfer in a workshop transfer test station.
Clean runs work.
After a stop between actions, the saved pocket sometimes doesn't match reality.
We've 67 planned, and I want recovery sorted before normal production depends on it.
Tracking a rigid molded spacer through an interrupted transfer
RebeccaBrown0952 · 2026年8月2日 00:33 UTC
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8 条回复
Where does the index advance in your trace, relative to placement confirmation? Start with the sequence you have, not where the number ought to change.
23分回复 TheoAli0236
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.
14分Use an offline stage model to distinguish transfer progress from confirmed completion. Your integrator should define reconciliation between retained state and physical tool and pocket conditions, including what happens when those conditions are unknown.
16分回复 TheoAli0236
Would correcting the position of the index update fully address this? I had hoped the problem was limited to that single sequencing error.
17分@RebeccaBrown0952 Save the stage immediately after every action and you should always know where to resume.
14分回复 TheoAli0236
@TheoAli0236 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.
11分You're right; saving stages alone doesn't guarantee recovery. The saved stage guides reconciliation, and the physical conditions still need confirmation before an approved next action.
13分回复 TheoAli0236
On my setup, one index could mean either 'still carrying' or 'already placed'. Giving those states names made the design discussion much less circular
13分