After I program the UR robot and testing one parts, it missing the position I program and moves to the left or right . We use a vacuum gripper to pick and place parts.

@tom24, it would be easier if you'd share the program txt an urp files. If you could also point out which waypoint is skipped.

Almost all the waypoints the program, it moves the waypoint to the left and after re-program gain works good only one part and it moves to the right on the next parts.

pallet
 pattern: corner1_2
   Corner2_2
   corner3_2
   corner4_2
 palletsequence
  Approach_2
  pallet_A
  Set
  Vacuum =on
  Wait:.001
  Exit_2
Movej
  Wait here
  waypoint_5
  waypoint_6
  waypoint_7
moveL
  waypoint_8
movej
  waypoint_9
  Set air_blowing=on
  wait:2
  Set airblowing=off
  waypoint_10
moveL
  waypoint_11
  wait:.5
  waypoint_12
movej
  waypoint_13
  waypoint_14
  air_blow_1
  Set air _blowing=on
moveL
  air_blow_2
  air_blow_1
  Set air blowing=off
  Vacuum =off
  Wait:0.5
movej
  waypoint_15
  waypoint_16
  waypoint_17
  waypoint_18 
  waypoint_19

@tom24, the URP file would allow us to take a look at the program. There is no obvious reason why a waypoint would be skipped.