We keep nudging pickup points when our Fairino FR10 setup gets unreliable at tray loading with a rigid spacer block in a compact parts transfer workshop. 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?
@OwenChan1095 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?
@OwenChan1095 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.
@KaiBrown0889 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.
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.