We've kept tray loading going with little pickup changes, but the spacer block is now visibly less square in the UR5e grip. Tray appears unchanged. I'd like to know what to inspect first, with the edit history kept, before another reteach or a claim that the arm is drifting.
Compare the block sitting in its source with the block during and after closure, under the appropriate supervised procedure. Have maintenance inspect tray location, tool mounting and contact condition with the program history. I would not assume a stationary-looking tray is a verified reference.
We've retained the versions and asked maintenance for that comparison. Initial isolated inspection found uneven contact wear, but source seating and the closure view haven't been checked yet. That's a finding to investigate, not our whole answer.
Keep the worn-contact record and have tooling and the integrator agree any repair and program selection together. The eventual verification should include the intended release as well as a square-looking grip, because your tray-loading job doesn't end when the fingers close.
Both owners have the wear record and pickup history. No replacement or program rollback selected yet. Thanks, Chen; I had been treating the receiving tray as outside this inspection when it belongs in the final comparison.