Hello,
I came across a problem when using the palet model. If a protection stop happens all the teaching points of the palet model would shifted so in that case I have to do the learning of the 4 drop off points all over again.
Does anyone already had this problem and how know how to solve?
how hard a protective stop did you experience?
the “corner_item” positions, are positions in a coordinate system, usually in the base, so unless the robot has been moved or turned, it should stay the same place.
The protective stop were not so hard, that is why I don’t understand that I have to teach the corner position each time it happens.
does it affect other positions in your program? or only the corner positions of the palletizing wizard? 
When I do the teaching again of the pallet model , I remarked that sometimes only the upper positions ( 1 and )4 are shifted whereas the 2nd and 3rd position are OK.
How much do they deviate? and does the rest of the program, outside the palletizing, get affected by the protective stops?
have you added points or anything besides what the wizard forces you to? it can behabe weirdly when altering the wizard nodes, which should have been fixed with SW 5.24 in case your robot has older software?
They deviate a few millimeters (it could be 5 mm at the most) since we treat small products. I didn’t add any points in the wizard.
Concerning the rest of the program it is not affected by the protective stop.
The version of Polyscope is 5.25 the last one.
sounds weird, maybe contact UR or try remaking the palletizer, or make your own palletizer without the wizard
I don’t understand because I’ve been doing some trials this morning (the robot is not in production yet) and I had a protective stop and the pallet model’s points were OK and not shifted?
Thank you for your concern
Have a nice day