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In factory tests, everything runs smoothly. But on-site, things change — actuator resistance shifts, travel time lengthens, and stall thresholds no longer fit. Before long, engineers are unpacking laptops, installing drivers, and racing against daylight to finish re-tuning. Even worse, after several years of service,   spring fatigue, linkage wear, and backlash   make original parameters obsolete. Reconnecting communication cables and finding the right software version just t