Hi pros,I am working with some UR 10s and we are experiencing what seems to be like completely random protective stops. I will run a program 7 or 8 times flawlessly and then I will run it again without changing anything and I will get a protective stop. I've talked to UR and they suggested reducing the acceleration but 20% each time it happens. They are thinking we might be running it right on the borderline for protective stops so that is why it's only every once in a while. That concerns me a little because there's no way to know if we are right on the border besides running the program many times, and we are on a crunch for time. Has anyone else seen this happen? Also, any tips on how we can avoid this? We could slow it down, but we are pushing it because of cycle time.