I have a new application that involves palletizing 5x5 plastic forms. The stack will be 9x9. We will be utilizing 2 UR 10's, 2 FT 300's and 2 140 grippers. I planned on using Pose trans and and loop commands to get this to work. My problem come on the first move. I planned on using the force mode to seek out the first position and build from there and this would work fine if there are no parts loaded. However if there are parts loaded, How would I start the program at that point? 
 Thank You

@tjcooper use an installation variable and index it with each part loaded. If the value is greater than 0 then don’t do your search routine. When the pallet is full set it back to 0.