Our setup uses Fairino FR10 for fixture-to-tray transfer with a small polymer housing 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.
@JoBrooks0853 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?
@NoahArcher0368 In the footage, it sits consistently in the checked fixture and turns during gripping. So the crooked position isn't there at the start.
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.