# Can I program the points of a palletizing pattern?

**URL:** <https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498>\
**Category:** General Application Help: How do I?\
**Created:** [October 22, 2026, 8:30pm UTC](https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498 "2026-10-22T20:30:29Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![ndistefano](https://avatars.discourse-cdn.com/v4/letter/n/858c86/32.png) [@ndistefano](https://forum.universal-robots.com/u/ndistefano)\
**Post date:** [October 22, 2026, 8:30pm UTC](https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498/1 "2026-10-22T20:30:29Z")

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Hi.

We have an UR10, have this process where we set screws through a palletizing process. At each movement the screwdriver is activated and the screw is set before moving to the next. Simple.

 ![20261022_142405](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/f/f496a87136bda497345717ddb52dab03523298f6.jpeg)

The issue is that we use an irregular pattern and every time the station is set, I have to calibrate all 16 holes (2 sets of 8).

I would like to use **pose\_trans** to determine all positions to the first one, but I can’t figure out how to do it.

I have tried doing it inside the pattern, before the pattern, as a thread and even before the program starts.

Is there a way to set the pattern points outside the pattern?

Thank you very much.

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**Author:** ![properInproperizer](https://avatars.discourse-cdn.com/v4/letter/p/7ab992/32.png) [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\
**Post date:** [October 22, 2026, 9:38pm UTC](https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498/2 "2026-10-22T21:38:41Z")

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cant you work with a corresponding coordinate system and just reteach that? (which you can also do with only one point)

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**Author:** ![properInproperizer](https://avatars.discourse-cdn.com/v4/letter/p/7ab992/32.png) [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\
**Post date:** [October 22, 2026, 9:41pm UTC](https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498/3 "2026-10-22T21:41:47Z")

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if you can show us how your pattern looks we can maybe give you a more precise advise

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**Author:** ![digitaljournaletsy](https://avatars.discourse-cdn.com/v4/letter/d/3ec8ea/32.png) [@digitaljournaletsy](https://forum.universal-robots.com/u/digitaljournaletsy)\
**Post date:** [October 26, 2026, 4:25pm UTC](https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498/4 "2026-10-26T16:25:35Z")

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> [@properInproperizer](#):
>
> cant you work with a corresponding coordinate system and just reteach that? (which you can also do with only one point)

That’s a fair point. A corresponding coordinate system should work, and even a single point can be enough to establish the reference and reteach the rest. Why make it more complicated than necessary?

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**Author:** ![ndistefano](https://avatars.discourse-cdn.com/v4/letter/n/858c86/32.png) [@ndistefano](https://forum.universal-robots.com/u/ndistefano)\
**Post date:** [October 27, 2026, 6:37pm UTC](https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498/5 "2026-10-27T18:37:18Z")

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You guys are right, I was complicating it more than necessary. Next time the machine gets worked on, I’ll put them inside a coordinate system.

Thanks.😁