Our setup uses Fairino FR10 for tray-to-fixture transfer with a rigid spacer block in a compact parts transfer workshop. 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.
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.
@NoahChan1064 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.
@ZaraAdams0134 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.
Agreed, I called it too early. Treat the replacement as a lead; verify installation and contact condition alongside tray location before assigning the cause.
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.
With multiple point changes already in our history, I'm unsure how to distinguish tooling and tray effects. How did you structure that comparison on your setup?
For my setup, a documented reference configuration anchored the investigation while maintenance assessed individual conditions. Discovering wear didn't mean we automatically restored older pickup coordinates.
Only if they match the verified setup. Tooling, frames or presentation may have changed; your responsible technician should compare the configuration before any supervised validation.
The relationship between the initial points and the present setup hasn't been verified. I'm retaining the current configuration instead of assuming the original positions would restore a known condition.
The pre-contact and gripping observations have narrowed where the symptom develops. We haven't established an accepted remedy, so I'm holding further coordinate adjustments during the investigation.