We keep nudging pickup points when our Fairino FR10 setup gets unreliable at tray loading with a machined aluminum puck in a small assembly handling cell. 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?
@AnnaArcher0416 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?
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.
@AnnaArcher0416 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
@FionaBrown0934 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