[OpenArm Troubleshooting] Jog Works but Pick Height Is Off After Shift Handoff (Intermediate)
OpenArm jog works but pick height fails after shift handoff: stale reference detection, handoff baseline checks, and first-part yield protection.
A tricky OpenArm handoff problem appears when the robot jogs normally, but the first real pick after a shift change misses height by enough to scrape, hover, or fail contact. Motion looks healthy, yet the operational reference is no longer trusted.
How are you diagnosing OpenArm cases where jog commands work but fixture pick height is off after a shift change?
Please share how you separate robot health from fixture-reference drift, which handoff checks catch the issue before production or demos resume, and what changeover routine keeps the next operator from inheriting a bad reference.
If you reply, include one exact pick-height symptom and one exact shift-change or fixture check that exposed it.
Intermediate context: We saw this right after night-shift handoff: jog looked perfect, but first tray pick was consistently 2.1 mm high and vacuum never sealed. The miss was uniform across three pockets, so we suspected reference carryover instead of random motion error.
Intermediate context: Fastest check for us was a shift-start gauge block touch at two fixture corners plus center. Z delta was +2.0 to +2.2 mm on all three points, which ruled out single-pocket drift and immediately pointed to a stale handoff reference.
Intermediate context: Our release rule now is simple: 15 consecutive first-part picks after handoff, no scrape, and pocket-height residual under 0.3 mm. We also save the shift baseline with operator name and timestamp so the next shift can verify in under 60 seconds.
Intermediate context follow-up: Follow-up question: what handoff artifact do you store now (fixture snapshot, baseline vector, or checklist), and which one reduced first-part misses the most?