# When the robot is palletizing it will try to straighten out at one point

**URL:** <https://forum.universal-robots.com/t/when-the-robot-is-palletizing-it-will-try-to-straighten-out-at-one-point/40114>\
**Category:** General Application Help: How do I?\
**Created:** [June 5, 2025, 5:37pm UTC](https://forum.universal-robots.com/t/when-the-robot-is-palletizing-it-will-try-to-straighten-out-at-one-point/40114 "2025-06-05T17:37:35Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![cody.rusboldt](https://avatars.discourse-cdn.com/v4/letter/c/258eb7/32.png) [@cody.rusboldt](https://forum.universal-robots.com/u/cody.rusboldt)\
**Post date:** [June 5, 2025, 5:37pm UTC](https://forum.universal-robots.com/t/when-the-robot-is-palletizing-it-will-try-to-straighten-out-at-one-point/40114/1 "2025-06-05T17:37:35Z")

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I am having the robot be off to the side of a 4x4 grid and at the 11th loop, we are wanting the robot to drop off a part in the spot, but the robot wants to straighten out into a protective stop. Before we tell it to drop the item, we have it be above the approach point and to the left in-between the 1st and 2nd columns. None of the joints are close to their limits beforehand. If you were to look and image shown below, the " \* " represents the point in which we are having trouble with, and the red dot is where the robot is before it goes to the point.

 ![table](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/c/cf5b85f7a84671ff77de1dcd1cd9e7f98221ad38.png)

For a partial solution, I had found that in the movej code at the beginning of the palletize code if I were to click the “use joint angles” and then unclick it, it would be able to run through the pallet without problems for 2 times. Then, it would revert back to the robot straightening out at the one point.

Any help would be greatly appreciated since I can’t figure out what could be wrong with this.

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [June 5, 2025, 7:19pm UTC](https://forum.universal-robots.com/t/when-the-robot-is-palletizing-it-will-try-to-straighten-out-at-one-point/40114/2 "2025-06-05T19:19:39Z")

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Are your moves set to “Use Active TCP” or are you explicitly calling out which TCP to use? Often times I find if the robot is doing something you don’t understand, it’s because the Feature or TCP is different at the time you taught the point than what it should be.

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**Author:** ![cody.rusboldt](https://avatars.discourse-cdn.com/v4/letter/c/258eb7/32.png) [@cody.rusboldt](https://forum.universal-robots.com/u/cody.rusboldt)\
**Post date:** [June 5, 2025, 7:57pm UTC](https://forum.universal-robots.com/t/when-the-robot-is-palletizing-it-will-try-to-straighten-out-at-one-point/40114/3 "2025-06-05T19:57:39Z")

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I was calling out a specific TCP for it. I tried mirroring the pallet so it would go backwards from what it was originally going. I ran it three times just going from the above table position to dropping the part and somehow it is working.