Our setup uses Universal Robots UR5e for tray loading with a machined aluminum puck in a shared tray handling station.
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.
@FarahAllen0330 In the footage, it sits consistently in the checked fixture and turns during gripping. So the crooked position isn't there at the start.
@AnilBrooks0810 Preserve the current settings and pause further nudges.
Have maintenance inspect finger mounting, contact surfaces and tray seating under the proper isolation procedure, using that observation to guide the checks.
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 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.