Our application sometimes misses the PLC's brief request for sample verification. I'm reviewing that ordinary, non-safety handshake for Universal Robots UR5e in a workshop inspection station awaiting commissioning, with a reference plate in the setup.
Signal ownership and clearing conditions aren't clearly documented. The safety functions are independently engineered and separate from this job interface.
Who owns clearing the job handshake?
FionaBrooks0847 · 2026年3月28日 19:33 UTC
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10 条回复
Can you compare the request trace with your application's polls? Also note which side clears the request.
9分@DanielBarnes0565 Our trace shows it rising and falling between two polls. The PLC clears it without an observed acknowledgement. No wonder the application misses it.
6分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.
21分Settle it? Retaining a request fixes visibility, but can also keep an old request alive after a restart. Identity and reset rules matter.
-7分回复 SamAli0246
@SamAli0246 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.
25分@DanielBarnes0565 Should I record readers as well as the single writer? Our existing phrase used by PLC doesn't distinguish setting, reading or clearing a field.
19分Yes: writer, readers, meaning, set condition and clear condition. Then give each legal transition a concrete example.
24分My setup had two programs clearing the acknowledgement under different conditions. Reviewing them together exposed a conflict that wasn't apparent from either program in isolation.
9分回复 HazelAli0223
@HazelAli0223 The missed pulse is explained, and I've got an ownership review to work from. Our complete handshake behaviour is still open.
13分The trace gives the review a concrete starting point. Keeping the overall handshake open is fair.
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