My UR5e bag-to-carton motion works in our supervised test cell, but every new filled-bag shape adds presentation work. I've put a lot into it. How do I judge the remaining upkeep without defending all that past effort?
Separate the bag families first. I stopped a pouch application after its extra guide work swallowed the benefit, but that does not tell you every family in yours is equally difficult. What changes are actually consuming the time?
On a job where only its author could restore the setup, the apparent transfer saving left maintenance carrying the awkward part, so I would record who can prepare and recover each family as well as the elapsed work.
Include the time to decide which route an order uses. A narrow application can be sensible, but not if somebody has to invent the selection rule on every shift.
Then do not hide that cost in the mixed-shape forecast. Can the existing arrangement serve the repeat family under the supervised trial scope, without another development round? That is a smaller decision than continuing the whole proposal.
Who will maintain the retained arrangement when you are unavailable, and does that person have the actual setup information rather than only the successful motion file?