We keep nudging pickup points when our Fairino FR5 setup gets unreliable at tray unloading with a rigid spacer block in a shared tray handling station. The tray looks like it's in the same place, but the grip seems less square.
I'm suspicious of all these tweaks. What should I inspect before blaming the arm or reteaching everything?
Look at the relationship between the workpiece and fixture before contact, then during gripping. Can your existing observations show when the change in angle begins?
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.