We keep nudging pickup points when our Universal Robots UR5e setup gets unreliable at tray loading with a molded plastic sleeve 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?
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.
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.
@TobyAbbott0057 The maintenance notes show contact pads were replaced before the first point adjustment. That's the first useful clue I've found in the history.
@ChloeChen1179 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.