We keep nudging pickup points when our Fairino FR5 setup gets unreliable at tray loading with a rigid spacer block in a small assembly handling cell. 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?
Holding a rigid spacer block less squarely than before
LeoArcher0362 · 2026年9月2日 18:54 UTC
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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?
17分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.
21分@LeoArcher0362 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.
15分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.
11分The timing suggests the replacement is responsible. I'd check whether the pads were installed in the specified configuration.
5分The sequence makes pad installation worth investigating, but it doesn't establish causation. Fixture variation remains a possible contributor even with that maintenance history
-5分@GabrielAbbott0018 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.
4分@DavidArcher0432 My separate handling setup had both worn gripping surfaces and variation in tray seating. Coordinate corrections alone gave inconsistent results because they didn't address either underlying condition.
15分