We keep nudging pickup points when our Universal Robots UR5e setup gets unreliable at tray loading with a small polymer housing in a compact parts transfer workshop. The tray looks like it's in the same place, but the grip seems less square.
I'm suspicious of all these tweaks. What should I inspect before blaming the arm or reteaching everything?
Look at the relationship between the workpiece and fixture before contact, then during gripping. Can your existing observations show when the change in angle begins?
@SofiaAbbott0021 Reviewing the recording, I can see consistent seating in the checked fixture before pickup. The workpiece changes angle during gripping rather than arriving in that position.
Preserve the current settings and pause further nudges.
Have maintenance inspect finger mounting, contact surfaces and tray seating under the proper isolation procedure, using that observation to guide the checks.
Agreed, I called it too early. Treat the replacement as a lead; verify installation and contact condition alongside tray location before assigning the cause.
The available findings haven't established a sufficiently clear cause or remedy. Further pickup-point changes remain paused while the investigation is unresolved.