# Preset Station – Pallet Station

# Description

Corresponds to the palletizing station where the pallet is placed and products are deposited.

# Variables

# Name

User-defined node name.

# Approach Distance

Distance between points 8 and 9 in top view (vector formed by X and Y coordinates), in millimeters.

# Approach Height

Height from which placement approach is performed, for example to avoid bending box flaps. Must always be less than product height, in millimeters.

# Approx Pack

Height from the pack position toward pose 7.

# Pallet Station Z

Z coordinate (height) of the pallet. Defines the height for first-layer movements; subsequent layer heights are generated dynamically by Wepall.

This reference height is provided by the robot Z axis when positioning the gripper over the pallet station conveyor without a pallet present.

For fork grippers, variation in placement height requires taking this value with a product picked.

For bag grippers, this value defines the base height from which bags are released.

# Rear X / Rear Y

Coordinates of the origin point of the pallet coordinate system, represented in pattern design as the top-left corner, in millimeters.

# Front X / Front Y

Coordinates defining the direction of the pallet coordinate system, in millimeters.

# Front–Rear point acquisition process

# Definition criteria

1. The vector formed by Front and Rear must lie along one of the pallet’s long sides.
2. Align the left arm with the pallet long side where Rear and Front points will be located.
3. Rear corresponds to the closest corner; Front to the farthest.

# Point acquisition

1. Equip the robot flange with a reference system (laser pointer, plumb bob, etc.).
2. Align the reference system with the flange center, keeping it parallel to the floor.
3. Move the robot manually in world coordinates without altering reference frames.
4. When positioned over the point (Rear/Front), read X and Y coordinates and enter them into the software.
5. Repeat for the remaining point.

# Configuration verification

1. Create a calibration pattern with 4 boxes at pallet corners, aligned with pallet sides.

2. Load the generated code and verify correct placement of all four boxes.

# Lifter column variables in Pallet Station

# Lift Z

Lifter column position associated with the Pallet Station Z value, in millimeters. Only for collaborative robots.