Our setup uses Fairino FR10 for tray unloading with a molded plastic sleeve in a small assembly handling cell. 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.
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?
@AnnaAli0242 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.
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.
@NoahBennett0716 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.
The available findings haven't established a sufficiently clear cause or remedy. Further pickup-point changes remain paused while the investigation is unresolved.