Our setup uses Fairino FR10 for tray loading with a molded plastic sleeve 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.
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?
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.
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
@AmaraAllen0339 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.