Application setup
Teaching a Palletizing Pattern on a Robot
For integrators and technicians programming a repeating pick-and-place pattern to build a pallet using the palletizing instruction, with rows, columns, layers, order, and interval spacing.
- Step 1.
Confirm the pallet pattern layout
Review the layer diagram showing case orientation, spacing, and the number of cases per layer, plus the total layer count.
- Step 2.
Teach the pick position
Program the pick point at the infeed conveyor or case erector, including approach and retract positions clear of surrounding equipment. Teach points in T1 low speed with the deadman held and the cell clear of other people.
- Step 3.
Set up the palletizing instruction
Open the palletizing instruction and enter the rows, columns, and layers for the stacking pattern, along with the order the positions will be filled.
- Step 4.
Choose the teaching method for stack points
Pick 2-point, all-point, or interval teaching for the stacking pattern based on how regular the layout is (10.3.3 Teaching a Stacking Pattern).
- Step 5.
Teach the stacking reference points
Jog to the corner or reference positions the chosen method requires and record them. Set interval spacing in mm for row, column, and layer as needed.
- Step 6.
Configure posture control
Set the posture control option so the tool orientation stays correct across the pattern positions.
- Step 7.
Set place approach and retract paths
Program clear approach and retract motions for each place position to avoid collision with previously placed cases.
- Step 8.
Run the full pallet cycle
Execute a complete pallet build with sample cases and verify placement accuracy and pattern completeness.
- Step 9.
Adjust and finalize
Correct any offset or collision issue found during the test run, then document the finalized pattern parameters.
Common questions
- How long does Teaching a Palletizing Pattern on a Robot take?
- Teaching a Palletizing Pattern on a Robot is rated Intermediate and takes about 75 minutes across 9 steps.
- What tools do I need?
- You will need Teach pendant, Sample cases or boxes matching production dimensions.
- What should I do before starting?
- Gripper sized and tested for the case or box being handled. Pallet position and layer count defined by the process.
- What is the first step?
- Confirm the pallet pattern layout. Review the layer diagram showing case orientation, spacing, and the number of cases per layer, plus the total layer count.