# Some questions about Palletizing

**URL:** <https://forum.universal-robots.com/t/some-questions-about-palletizing/24774>\
**Category:** Technical Questions\
**Created:** [November 2, 2022, 2:36pm UTC](https://forum.universal-robots.com/t/some-questions-about-palletizing/24774 "2022-11-02T14:36:22Z")\
**Posts on this page:** 1\
**Showing post:** 10

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**Author:** ![anon31060955](https://avatars.discourse-cdn.com/v4/letter/a/5e9695/32.png) [@anon31060955](https://forum.universal-robots.com/u/anon31060955)\
**Post date:** [November 7, 2022, 12:35pm UTC](https://forum.universal-robots.com/t/some-questions-about-palletizing/24774/10 "2022-11-07T12:35:40Z")

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Thank for the program sample;)

> **[IMG\_5126.HEIC](https://www.dropbox.com/s/16e26vhclsu3l4q/IMG_5126.HEIC?dl=0)**
>
> Shared with Dropbox

It did work in a way, but it did go to DelPos1-5 at once.  
It must first go to Delpos 1 and next time Delpos 2.

I see that from a other post the did it like this.  
Did copy the text:  
I figured out how add multiple layers to a palletize function and we can also brainstorm on how to get the separator sheet in there.  
Here is how i did it.

I have a pallet pattern of the first layer of whatever i need (in my case a list).  
I make 2 variables: LayerHeight (integer) and TotalHeight (integer).

In my pallet function i add an “after end”. In this function i increment LayerHeight and TotalHeight with 1.

Now to have the robot change in height for every layer, i add the following line to the after end function

“pose\_1[2] := pose\_1[2] + ProductHeight”  
ProductHeight here is the height of you product (Not in mm but in meters!!!)  
and pose\_1 is the position variable used by the pallet function. You need to check whether your program uses pose\_1 or some other number

Now to add the separator sheet you can do something like the following:

You want to add a sheet every 2 layers right?  
In the after end function, you check if your layer height = 2, then run a program to pick a separator sheet and place it. You need to make the height variable here again. You can do this the same way, or you use the get\_actual\_tcp() function. be creative 😛

Then at the end of your separator sequence you write LayerHeight back to 0 to reset the.

Obviously the names of variables can be changed to whatever your like and what fits your project.

Let me know if helped you figure it out and if you have things to add for future readers with the same problem, i’m curious!

Kind Regards,  
Jan

And here is the link to the post

> [@Multiple Pallets and slipsheets on the pallets](https://forum.universal-robots.com/t/multiple-pallets-and-slipsheets-on-the-pallets/15035):
>
> Hi everyone, I am trying to make a program using a cell that we already have in place that has positions for two pallets. Can I use the pallet wizard multiple times in the same program to do this? Additionally, how would I go about getting the robot to add a slip sheet every two layers on the pallet? We have programs that are currently doing this but they are very messy and do not use the pallet wizard so I am trying to go in and clean them up. Thank you all!

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