Our setup uses Universal Robots UR5e for tray loading with a rigid spacer block 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.
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.
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.
You're right; the history supports a check, not a conclusion. Inspect the pad installation and gripping surfaces while retaining tray location in the investigation.
@ReeceArcher0384 On my own setup, we found worn contact surfaces and inconsistent tray seating together. Fixing only the pickup point made the symptoms move around.
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?
@ThomasArcher0364 We kept a known reference configuration and had maintenance check one condition at a time. We didn't roll back points blindly after finding wear.
The original points are only a suitable reference if the confirmed tooling, frames and presentation still match. Have the responsible technician review those relationships before planning a supervised check.
@ReeceArcher0384 We haven't verified that match yet. I've stopped treating 'original' as a magic undo button and kept the current configuration available.
@PavelCarter0962 Our supervised comparison has identified variation in tray seating and wear on the contact surfaces. That gives us two observed conditions to address in the investigation.
The pre-contact and gripping observations have narrowed where the symptom develops. We haven't established an accepted remedy, so I'm holding further coordinate adjustments during the investigation.