Our UR5e pickup edits are clustering around one pocket now. I first blamed the whole tray position, but most pucks still lift squarely. I want to inspect the pocket and tool together before another offset becomes the new normal.
Compare that pocket's actual seating surfaces with a good one and inspect the matching tool contacts, because a puck perched in one corner can make a perfectly consistent pickup look random.
Yes, Naomi. With handling stopped for inspection, two identified pucks both rock there and sit normally in the adjacent pocket. I have not changed their pickup points again.
A raised sliver along the replaceable pocket insert. Maintenance found damage there, not on the pucks. They are checking how it happened before putting another insert into the same job.
Three are local to this pocket, one was copied to the whole tray. That last change needs sorting with the programmer as well as the insert. Thanks, Jo; I would have missed the copied one.