Pick item orientation change pick position

PickMaster
1

We have 2 robots with one camera. First robots picks fine all items in all orientations.
Second robot changes the pick position depend item angle. We check and item have the point in the middle. Also we check count per meter, and frame calibration. (with different parameters for 2 robots, don’t mounted in the same position respect the conveyor).

Another equal machine run perfect.

Any idea where to check,

2

Solved, A mecanical problem. Some strange thing happens with belt tension and this moves items with 90º.

Etipome: relies on software. Only when you are 100% sure of the mechanics looking for a software problem or electronic problem.