Puck tilting in one UR5e finger despite repeated point changes

We retained the first-piece puck. Maintenance compared it with a current one in the stationary setup. Both sit evenly in the tray, and both tilt against the same finger.

What did they find on that finger? I have a crooked-block case too; appearance alone has not told us which contact changed.

The replaceable contact on that side sits slightly proud at one end. We have an assembly drawing to compare it with, but nobody has yet checked the locating face underneath.

I'd wait for that check before ordering softer contacts. We bought softer ones for a similar-looking problem and they just bent around the bad seating. Lovely grip marks, same crooked part.

Did the contact get replaced before the first pickup correction, Liam, or are you only now discovering an older assembly issue?

Chen, that is useful. Was your underlying seating issue obvious once the contact came off, or did the drawing comparison expose it?

A trapped chip under the contact. Obvious after removal, invisible from our usual viewing side. We had been admiring the outside finish of the fingers while the problem sat behind it.

Thomas, it was replaced before the first correction. Maintenance found a locating bush not seated as the assembly drawing requires, lifting that end of the contact. They have stopped there to agree the proper restoration with the tooling author.

Have they restored it now, Liam? Interested in whether both pucks then sit square without another point change.

And which saved point set will be used for the handling comparison, since the later ones were taught around the tilted contact?

The contact is restored and both pucks sit square in the stationary check. Thomas, the integrator has selected the identified pre-correction job for the agreed comparison. We are not just picking the oldest file by its name.

That sounds less expensive than a new gripper. Have you also got a way to recognise the properly seated contact next time it is replaced?

Chen's last point is the one I'd take into handover. Otherwise the saved corrected points are waiting to be rediscovered as a convenient fix.

The replacement instruction now shows the locating bush and seating check. We also marked the two compensation versions as superseded, with the reason. The full handling comparison is booked with the integrator, not completed yet.

Will that comparison include the current pucks and ordinary tray positions as well as the retained first piece?

I'd include the release into the receiving pocket too. A square pickup is encouraging, but that is only the start of the transfer.

Completed with the retained puck and current samples across the agreed tray positions, including release at the receiver. No tilting or seating failures in that comparison. We accepted the restored assembly with the identified job; the point changes are out of use. Thanks, Chen, your story made us look behind the contact before buying anything.

Good to hear. Much better ending than my box of unnecessary soft contacts.