We keep nudging pickup points when our Universal Robots UR5e setup gets unreliable at tray loading with a rigid spacer block 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?
@JuliaChan1109 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?
@NaomiBrooks0854 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.
@NaomiBrooks0854 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.
I've settled the inspection route: preserve the settings, stop nudging points and have maintenance check the grip and seating. Any restart of trials depends on that assessment; I haven't pinned this on the arm.
@JuliaChan1109 Your route follows the observed change during gripping while leaving the cause to the maintenance assessment. It provides the next step you were looking for.