# Preset Node - Pallet Management Station

# Description

This preset represents the station where the robot will pick the pallets, to position them on the palletizing station.

# Types of Distance check method

# Static Position

The station is equipped with mechanical systems, which allows to keep the pals in a fixed position, allowing the robot to pick them always from the same position.

# Distance Sensor

In this case the gripper integrates a measuring sensor, which indicates to the PLC the distance to the pallet. To make the measurement more reliable, 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 to lift the pales, and a measurement sensor, which indicates to the PLC the distance to the pallet.

For this reason...

The robot will perform a slow speed descent until one of the following events is fulfilled:

Travel a given maximum distance (Seek Distance) without finding the pales, giving as a response an error to the PLC.
Detect the presence of a pallet (vacuum, contact sensor, photoelectric sensor, measurement sensor, etc.), pick it up and continue the cycle.

See PLC integration manual for more information.

# Assignment of variables

The variables of this preset will be modified according to the type of Pallet Pick selected.

Parameters Pallet Pick	Static position	Distance sensor	Contact sensor
[X,Y,Z,R]	✔	✔	✔
Overpick offset	✔	✔	✔
Seek distance	❌	❌	✔
Grab offset	❌	✔	❌
Point [A,B,C]	❌	✔	❌

Parameters Pallet Station	Static position	Distance sensor	Contact sensor
[X,Y,Z,R]	✔	✔	✔
Overpack Offset	✔	✔	✔

# Variables

# Name

Name given by the user to the node.

# Distance check method

Selection of the type of integrated station.

# [X,Y,Z,R].

Reference point of the pallet magazine (Point 3).

# Grab Offset

On distance sensor stations, this value indicates the height that the gripper must be lowered to pick up the pallet in addition to the value indicated by the measuring sensor. In millimeters.

# Overpick Offset

Offset of distance over the pallet station, where the gripper will be positioned to activate the integrated systems for picking up the pales. Indicated in millimeters.

# Seek distance

In the case of contact sensor stations, this value indicates the maximum distance traveled to find the pals. If not detected, the robot will send an error message to the PLC. Indicated in millimeters.

# Point [A,B,C]: [X,Y,R]

User-configurable measurement coordinates, for greater reliability of the measurement of the distance at which the pallet is located.

All points will be at the same distance from the target to be measured.

# Pallet Pack Variables

Once the Pallet Pick preset is linked, these fields will appear in the Pallet Station preset.

# Pallet [X,Y,Z,R]

Coordinate of the drop point of the pallet on the pallet station (Point 7).

# Pallet Overpack Offset

The height from which the drop-off approach is made. Indicated in millimeters.