Our setup uses Fairino FR10 for tray loading with a molded plastic sleeve 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.
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.