# Pick and Place Application With Variable Place Points

**URL:** <https://forum.universal-robots.com/t/pick-and-place-application-with-variable-place-points/13824>\
**Category:** General Application Help: How do I?\
**Created:** [April 21, 2021, 6:30pm UTC](https://forum.universal-robots.com/t/pick-and-place-application-with-variable-place-points/13824 "2021-04-21T18:30:51Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon9057937](https://avatars.discourse-cdn.com/v4/letter/a/49beb7/32.png) [@anon9057937](https://forum.universal-robots.com/u/anon9057937)\
**Post date:** [April 21, 2021, 6:30pm UTC](https://forum.universal-robots.com/t/pick-and-place-application-with-variable-place-points/13824/1 "2021-04-21T18:30:51Z")

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Hello,

I am looking to create a pick and place application with a UR10e. The robot is going to pick from the same location every time and go through same motion except for the placing. I want to drop my small objects into a bin at different locations(50+).  
Refer to this video: [- YouTube](https://www.youtube.com/watch?v=ugxDTtmykE4).  
\*Note for my application, it is even more simple as the pick location is the same. It goes something like:

Activate Gripper  
Waypoint 1 (Start Position)  
Waypoint 2 (Fixed Pick Position)  
Close Gripper  
Waypoint 3 (Fixed Position)  
Waypoint 4 (Variable Position, Object inside bin)  
Open Gripper  
Waypoint 5 (Fixed Position)

Only way I can think of programming it right now is just repeating these commands for every different place location.  
Is there a way to program it using the teach pendant where I can have it in a loop where waypoint 4 changes each iteration. This would simplify the program by reducing it from hundreds of lines to maybe 50. Or is this application more suited for developing a script or program from a source other than the teach pendant.

Thanks.

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**Author:** ![RobH](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/robh/32/2498_2.png) [@RobH](https://forum.universal-robots.com/u/RobH)\
**Post date:** [April 21, 2021, 6:54pm UTC](https://forum.universal-robots.com/t/pick-and-place-application-with-variable-place-points/13824/2 "2021-04-21T18:54:26Z")

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Hi Tsho.

I’m no expert, but I think you want to use the Palletizing wizard. I found this video on Youtube from Cross automation that may be of help, but maybe someone else will chime in with a better answer.

[![](https://img.youtube.com/vi/48nAHHXqf54/maxresdefault.jpg "Palletizing Wizard for the Universal Robot") ](https://www.youtube.com/watch?v=48nAHHXqf54)

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**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\
**Post date:** [April 21, 2021, 8:10pm UTC](https://forum.universal-robots.com/t/pick-and-place-application-with-variable-place-points/13824/3 "2021-04-21T20:10:02Z")

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Hi Taho,

Rob is correct that palletizing is one way to accomplish what you are attempting. There is a learning module in the UR Academy that you can peruse to help figure this out. Here is a link (I believe you will have to register though to access it) :  
[Universal Robots Academy](https://academy.universal-robots.com/modules/e-Series%20application%20track/English/module12/story_html5.html?courseId=2254&language=English)

Here is a link to the top level entry point for this module :  
[e-Series Application Track](https://academy.universal-robots.com/free-e-learning/e-series-e-learning/e-series-application-track/)