# Types of pallet positioning systems

This node represents the station where the robot can pick up the pallets to position them on the palletizing station. Generally by mechanical means.

The following types are contemplated:

• Static position. The station has mechanical systems, which allows to keep the set of pallets in a fixed position, allowing the robot to pick them always from the same position.

• Distance sensor. In this case the station has no pallet lifting elements. But the gripper integrates a measurement sensor, which indicates to the PLC the distance to the pallet. For greater reliability of the measurement, the distance will be measured from 3 different points. This value is transmitted to the Robot, and it will move to the indicated position to pick up the pallet.

• Contact sensor. In this case the station lacks elements that lift the pallets, and it also lacks a measurement sensor, which indicates to the PLC the distance to the pallet. For this reason, the robot will make a low speed descent until it meets one of these assumptions:

  • It travels a given maximum distance (Seek Distance) without finding the pallets, giving as a response an error to the PLC.

  • Detect the presence of a pallet (empty, contact sensor, photoelectric sensor, i/o measurement sensor, etc.), pick it up and continue the cycle.