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Pickup tweaks keep following the same tray round the room

OmarChen1187 · 2025年2月8日 07:35 UTC

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OmarChen1187
Our UR5e sleeve transfer needed another pickup correction today. I noticed the troublesome tray had also needed correction at the other station. Or perhaps that is coincidence; its grip looks less square now.

5 条回复

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NathanChen1156

Can I ask what locates that tray at each station? Check those contact surfaces and the tray itself with the equipment safely isolated. Repeatedly teaching around a moving reference is a fine way to accumulate nonsense.

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OmarChen1187

Two pins and a side stop at both stations. The tray label identifies it, so I can compare the adjustment history without moving equipment around for a test.

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NathanChen1156

What did the physical inspection find? Shared adjustment history points toward the tray, but does not establish whether it is dirty, damaged or merely different from the reference tray.

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OmarChen1187

Maintenance found a loose locating insert in that tray. They repaired it and the integrator restored the approved pickup setup, then checked transfer. We have not needed another adjustment since.

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NathanChen1156

Add that insert to the tray inspection and give the repaired tray its own record. Otherwise the point edits will survive in someone's backup and return as a helpful improvement later.

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