Source: Teach pendant / robot log extract(익명 cell)
Filter: payload, inertia, following error, speed override
Reader note: log이지 tuning sermon 아님
12:01:14 PAYLOAD SET m=4.2 kg (comment: "temp gripper")
12:01:22 INERTIA default (unchanged)
12:18:03 SPEED 100% production try
12:18:11 FOL_ERR Axis J5 (recoverable)
12:18:11 OP "increase gain?"
12:19:40 GAIN +15% (unauthorized)
12:19:55 FOL_ERR J5 again + J4
12:20:02 E-STOP
Interpretation block (after the fact)
EOAT was revision B (heavier jaws). Pendant still revision A mass. Inertia default. Following error was honesty. Gain bump was denial.
Mass wrong이면 every gain story fan fiction.
Earlier same shift (missed)
09:14:02 TOOL CHANGE EOAT-B installed
09:14:10 CHECKLIST "payload updated?" → blank
09:14:11 RELEASE to production queue
Blank checklist box는 log가 scrap 되는 방법.
Required log events going forward
| Event | Must write | Block if missing | | --- | --- | --- | | EOAT install | mass + inertia ID | yes | | Path release to takt | teach@100% proof | yes | | Gain change | MoC ID | yes | | Following error | payload dump snapshot | yes |
Contra-log (what we will not do)
- EOAT weigh 전 “tune it out”
- Different tooling sister cell에서 gain copy
- Pendant comment를 CMMS로 treat
Scale은 servo funeral보다 cheap.
Adjacent fences
Commissioning punch list는 open safety item. Dress-pack / grease guide는 cable·seal environment. Tool-changer brief는 dock air. Muting protocol은 scanner proof. 아무도 motion model payload/inertia truth 소유 아님. Heavier jaw hide하려 gain raise 금지.
Final log line
13:02:44 PAYLOAD SET m=6.1 kg inertia=EOAT-B
13:03:10 SPEED 100% FOL_ERR clear
13:03:11 NOTE "gain reverted; physics restored"