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Between points is hard to recover.
You could be very close to point A or you could be very close to point B and both are completely different.
On your recovery program . Are you using register to indicate the step that you are in or are you Using LPos then do some math ?
You can write pretty sophisticated logic using register for location. I believe there some example on the forum.
Reading your comments, seems to me that you are "palletizing". It should be easier to recover
I'm using LPOS. Yes, it is a palletizing cell. Two of the part types are picked from Z direction, the third is picked from the X (we go in and scoop them up, then place them in the z, standing on their edge)
When you say use a register to indicate the step, what do you mean?