I'm reviewing the proposed FR10 lathe interface. The machine team's ready response means its sequence has accepted our request, while the robot flowchart treats that response as permission to begin loading. Neither document describes the interval while the machine prepares. This needs resolving before implementation.
Write the event sequence without the word ready: request received, preparation in progress, access condition established, transfer completed; which of those does each supplier actually provide?
The machine team confirms it currently provides request received only. Its preparation-complete condition is internal. I've marked the robot's proposed transition as unsupported and asked both teams to define the missing interface, including timeouts and interrupted transfers. Ordinary sequence signals also need to remain distinct from the safety functions.
Include what clears each response, otherwise an old preparation-complete state can look like permission for a new request; I mean request-specific sequence permission, not a substitute for the safety system.
On an inherited cell we found both suppliers waiting for the other to clear a completion flag after an interruption. Ask them to walk through that interrupted case together and name who owns each transition. Thanks for spelling out the difference between acknowledgement and access in your update.