Our UR5e tray-loading grip no longer holds the polymer housing squarely, although the tray looks unchanged; I'd like to compare the physical setup with its earlier condition before authorising another pickup adjustment.
Our training fixture looked unchanged until we put a straightedge on its mounting plate. I'd start with the tray seating and gripper contacts under the maintenance procedure, and preserve the current offsets before anybody helpfully edits them again.
I'd keep a few troublesome housings aside too. We once blamed a nest for a molded lip that had changed, then spent a pleasing amount of time making a good nest worse.
Lin, did you have earlier parts to compare with? I have seen retained samples used for dimensions, but I do not know how well they represented normal production variation.
I would avoid combining all the pickup edits into a single correction history. If some followed tooling work and others followed tray changes, the dates may help you choose useful comparisons, though they won't prove the cause.
Mia, the tilt becomes visible at closure in our recorded cycle; Zara, two offset changes followed pad replacement, but the notes do not identify the pad version.
Stores may have the issue record even when the maintenance note is thin, although I would compare the fitted markings rather than assume everything issued was installed.
With tilt appearing at closure I'd give the contacts priority over an arm repeatability claim. Still check the seating, Naomi; the fingers can reveal a part that was resting awkwardly before they touched it.
Jo and Dinesh, the pads have matching references and stores confirms the same pair was issued; one contact face is visibly more worn, which maintenance is measuring now.
Matching references at least remove one ambiguity. Could uneven wear come from the housing arriving tilted, rather than being the first cause? I would not know which came first from the worn face alone.
Yes, John, that's why I'd keep the incoming parts in the investigation. A new pair could briefly disguise the same awkward seating and send Naomi back here after another batch.
Mia, manual loading is covering it; Lin and John, we have retained incoming housings and both pads, so replacement will not remove the items needed for the comparison.
A supervised check with the specified new pair held the retained housings squarely; we have not compared multiple trays yet, so I am not treating that as the entire cause established.
That's a useful observation to retain with the part and pad references. I would make the next tray comparison explicit in the handover so that the first good grip doesn't become an undocumented release decision.
And keep the old pads labelled. Ours nearly went in the bin during a tidy-up, which would have left us with a very clean bench and no useful wear comparison.