We keep nudging pickup points when our Fairino FR10 setup gets unreliable at tray loading with a machined aluminum puck in a supervised production bench. 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?
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.
@RachelBrown0957 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.
@JackChan1124 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.
@MeiChan1125 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.
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.
I can see the angle change during gripping, but I don't have an accepted correction yet. The point tweaks are paused while the inspection work continues.