Hello, im working on palletizing where the box dimensions are unstable and currently the idea is for robot to find the drop position by going in certain direction Until Tool Contact. However 2 or 3 contacts are needed for every box, every minute and Im afraid that since Tool Contact is basically a collision, such frequent use of this will damage the robot. This might be a stupid question since the function is natively in polyscope but anyway, is it safe for the robot?
As long as you’re going relatively slow (not higher than 100 mm/s as suggested by the Direction description), it should not put wear on the robot. 
EDIT: You can also lower the deceleration speed to soften the stops.
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Will robot collision and enter protective stop mode?