@EmmaChan1072 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 timing suggests the replacement is responsible. I'd check whether the pads were installed in the specified configuration.

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.

On my own setup, we found worn contact surfaces and inconsistent tray seating together. Fixing only the pickup point made the symptoms move around.

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.

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.