Our setup uses Universal Robots UR5e for tray unloading with a machined aluminum puck in a shared tray handling station. 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.
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.
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.
Agreed, I called it too early. Treat the replacement as a lead; verify installation and contact condition alongside tray location before assigning the cause.
My separate handling setup had both worn gripping surfaces and variation in tray seating. Coordinate corrections alone gave inconsistent results because they didn't address either underlying condition
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.
@AishaBell0692 The observed rotation gives us an inspection plan: retain the configuration and have maintenance assess tooling and seating before further point changes or trials. I'm keeping attribution to the arm open pending that work.