# Types of interlayer positioning systems

In this case, the robot gripper must be equipped with the electromechanical elements necessary for this purpose. Generally by means of vacuum. The robot will be able to pick up the pallets to position them in the palletizing stations.

The following types are contemplated:

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

• Distance sensor. In this case the station has no elements to lift the interlayers. But the gripper integrates a measurement sensor, which indicates to the PLC the distance to the cardboard. This value is transmitted to the Robot, and it will move to the indicated position to pick up the interlayer.

• Contact sensor. In this case the station lacks elements to lift the interlayers, and it also lacks a measuring sensor to indicate to the PLC the distance to the carton. For this reason, the robot will descend at a low speed until one of these assumptions is fulfilled:

  • It travels a given maximum distance (Seek Distance) without finding the interlayers, giving as a response an error to the PLC.
  • Detect the presence of a interlayer (vacuum, contact sensor, photoelectric sensor, i/o measurement sensor, etc.), pick it up and continue the cycle.