We keep nudging pickup points when our Fairino FR10 setup gets unreliable at tray unloading with a molded plastic sleeve 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?
@EmmaChan1072 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.
Keep a copy of the current configuration and hold off on further coordinate changes. Under the appropriate isolation procedure, maintenance can use the observed rotation to focus inspection on tooling contact, mounting and tray seating.
I've checked the maintenance history and found a pad replacement preceding the initial pickup-point correction. That establishes a relevant sequence of changes to investigate.
The sequence makes pad installation worth investigating, but it doesn't establish causation. Fixture variation remains a possible contributor even with that maintenance history.
You're right; the history supports a check, not a conclusion. Inspect the pad installation and gripping surfaces while retaining tray location in the investigation.
I've settled the inspection route: preserve the settings, stop nudging points and have maintenance check the grip and seating. Any restart of trials depends on that assessment; I haven't pinned this on the arm.
Your route follows the observed change during gripping while leaving the cause to the maintenance assessment. It provides the next step you were looking for.