# Preset Station – Interlayer Station

# Description

This preset represents the station where the robot picks up interlayer sheets (usually cardboard), providing greater pallet stability.

# Distance check method types

# Static position

The station includes mechanical systems that keep the interlayers at a fixed position, allowing the robot to always pick them from the same location.

# Distance sensor

In this case, the station does not include mechanical lifting systems. Instead, the gripper integrates a distance sensor that indicates to the PLC how far the cardboard is. This value is transmitted to the robot, which moves to the indicated position to pick the interlayer.

# Contact sensor

In this case, the station has no mechanical lifting systems and no distance measurement sensor.

For this reason, the robot performs a slow downward movement until one of the following conditions is met:

The robot travels a maximum defined distance (Seek Distance) without finding interlayers, returning an error to the PLC.
The presence of an interlayer is detected (vacuum, contact sensor, photoelectric sensor, distance sensor I/O, etc.), the interlayer is picked, and the cycle continues.

For more information, refer to the PLC interaction manual.

# Variable assignment

Preset variables depend on the selected Interlayer Pick type.

Interlayer Pick parameters	Static position	Distance sensor	Contact sensor
[X,Y,Z,R]	✔	✔	✔
Overpick Offset	✔	✔	✔
Seek Distance	❌	❌	✔

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

# Variables

# Name

User-defined node name.

# Distance check method

Selection of the integrated station type.

# [X,Y,Z]

Coordinates of the interlayer station reference point (point 3).

# [R]

Rotation coordinate Z of the interlayer station reference point (point 3).

Verify in the robot technical documentation which parameter corresponds to rotation around the Z axis. For more information, contact the Wepall technical department.

# [W]

Rotation coordinate X of the interlayer station reference point (point 3). Only for collaborative robots.

Verify in the robot technical documentation which parameter corresponds to rotation around the X axis. For more information, contact the Wepall technical department.

# [P]

Rotation coordinate Y of the interlayer station reference point (point 3). Only for collaborative robots.

Verify in the robot technical documentation which parameter corresponds to rotation around the Y axis. For more information, contact the Wepall technical department.

# Overpick Offset

Distance offset above the interlayer station where the gripper positions itself to activate the integrated systems for picking interlayers, in millimeters.

# Seek Distance

For contact sensor stations, this value defines the maximum distance traveled to find interlayers. If none are detected, the robot returns an error to the PLC, in millimeters.

# Interlayer Pack variables

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

# Interlayer [X,Y,Z,R]

Coordinates of the interlayer placement point on the palletizing station (point 7).

# Interlayer Overpack Offset

Height from which the interlayer placement approach is performed, in millimeters.

# Lifter column variables in Interlayer Station

Once the lifter column is enabled in the Robot Preset, these fields will appear in the Interlayer Station Preset.

# Lift Z

Lifter column position associated with the Pick coordinates of the Interlayer Station preset, in millimeters. Only for collaborative robots.

The Lift Z value of the Interlayer Station preset differs from the values used in the Pallet Station and Pick Station presets.

# Pack Lift Z

Lifter column position associated with the Pack coordinates of the Interlayer Station preset, in millimeters. Only for collaborative robots.