Our setup uses Universal Robots UR5e for tray loading with a rigid spacer block in a supervised production bench. We've repeatedly adjusted pickup points as handling becomes unreliable.
Although the tray appears unchanged, the grip no longer looks as square. I'd like an inspection sequence that helps us identify the cause before making further teaching changes or attributing it to the arm.
@RobinBrown0947 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.
@RobinBrown0947 The maintenance notes show contact pads were replaced before the first point adjustment. That's the first useful clue I've found in the history.
Agreed, I called it too early. Treat the replacement as a lead; verify installation and contact condition alongside tray location before assigning the cause.
@RobinBrown0947 On my own setup, we found worn contact surfaces and inconsistent tray seating together. Fixing only the pickup point made the symptoms move around.
@MeiBaker0516 With multiple point changes already in our history, I'm unsure how to distinguish tooling and tray effects. How did you structure that comparison on your setup?
For my setup, a documented reference configuration anchored the investigation while maintenance assessed individual conditions. Discovering wear didn't mean we automatically restored older pickup coordinates.
Only if they match the verified setup. Tooling, frames or presentation may have changed; your responsible technician should compare the configuration before any supervised validation.
@RobinBrown0947 The relationship between the initial points and the present setup hasn't been verified. I'm retaining the current configuration instead of assuming the original positions would restore a known condition.
@ReeceArcher0384 Our supervised comparison has identified variation in tray seating and wear on the contact surfaces. That gives us two observed conditions to address in the investigation.
@AmaraBarnes0600 Use the tool maker's maintenance criteria and a qualified inspection. Appearance alone won't tell you whether cleaning restores an acceptable contact surface.
For my own tooling, photographs attached to the maintenance history made condition changes easier to compare. They provided a more useful reference than recollections about how the grip once looked.
@MeiBaker0516 The pre-contact and gripping observations have narrowed where the symptom develops. We haven't established an accepted remedy, so I'm holding further coordinate adjustments during the investigation.