# \#palletizing **URL:** https://forum.universal-robots.com/tag/palletizing/158.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [Palletizing moving to wrong position in program](https://forum.universal-robots.com/t/palletizing-moving-to-wrong-position-in-program/18820)
**Author:** [@oliver.ege](https://forum.universal-robots.com/u/oliver.ege)\ **Replies:** 5\ **Last updated:** [January 28, 2026, 2:54pm UTC](https://forum.universal-robots.com/t/palletizing-moving-to-wrong-position-in-program/18820 "2026-01-28T14:54:37Z")
Hello, we’ve been having issues with the palletizing function moving to different positions in program vs. when pressing the move to button. This seems to be caused by the fact that the palletizing node stores the coor… --- ## [Pallet program, start with Wong number](https://forum.universal-robots.com/t/pallet-program-start-with-wong-number/12000)
**Author:** [@anon50916983](https://forum.universal-robots.com/u/anon50916983)\ **Replies:** 6\ **Last updated:** [December 4, 2025, 11:06pm UTC](https://forum.universal-robots.com/t/pallet-program-start-with-wong-number/12000 "2025-12-04T23:06:48Z")
Hi I have to type zero for it to start with No. 1, if i type 1 it starts with no. 2 and so on. it is always counts incorrectly, how do I get it to take the number that I type? (see the program via the link below) Sorry… --- ## [Setting an unreachable pose as a reference point in the pallet wizard](https://forum.universal-robots.com/t/setting-an-unreachable-pose-as-a-reference-point-in-the-pallet-wizard/21443)
**Author:** [@anon14633334](https://forum.universal-robots.com/u/anon14633334)\ **Replies:** 1\ **Last updated:** [July 30, 2025, 5:11pm UTC](https://forum.universal-robots.com/t/setting-an-unreachable-pose-as-a-reference-point-in-the-pallet-wizard/21443 "2025-07-30T17:11:29Z")
Hello, I have been running this same robotic cell with a pallet wizard based program for about 4 months. The program runs 3 products on already by using the SKF LIFTKIT Cap to set a high point to stack the second half o… --- ## [Feature Request - Palletizing: Allow existing variable in Item Counter](https://forum.universal-robots.com/t/feature-request-palletizing-allow-existing-variable-in-item-counter/6346)
**Author:** [@anon67937580](https://forum.universal-robots.com/u/anon67937580)\ **Replies:** 1\ **Last updated:** [July 23, 2025, 8:38pm UTC](https://forum.universal-robots.com/t/feature-request-palletizing-allow-existing-variable-in-item-counter/6346 "2025-07-23T20:38:07Z")
I would like the URCaps Palletizing template to allow the use of an existing variable for the Item Counter. This would provide a more consistent user experience, compared to many other functions which allow or even requ… --- ## [Java Null Pointer Error on Palletizing Node After Restart](https://forum.universal-robots.com/t/java-null-pointer-error-on-palletizing-node-after-restart/17547)
**Author:** [@ebraun](https://forum.universal-robots.com/u/ebraun)\ **Replies:** 2\ **Last updated:** [June 7, 2024, 5:26am UTC](https://forum.universal-robots.com/t/java-null-pointer-error-on-palletizing-node-after-restart/17547 "2024-06-07T05:26:41Z")
Hi, I’m having a strange problem where every time my robot (ur10e) gets rebooted or is otherwise turned off and turned back on (not estop) I lose my palletizing node and get the following null pointer error: The pal… --- ## [Possible bug - 5.4.0 Palletizing](https://forum.universal-robots.com/t/possible-bug-5-4-0-palletizing/4704)
**Author:** [@anon67937580](https://forum.universal-robots.com/u/anon67937580)\ **Replies:** 8\ **Last updated:** [May 24, 2024, 6:57pm UTC](https://forum.universal-robots.com/t/possible-bug-5-4-0-palletizing/4704 "2024-05-24T18:57:03Z")
Software version 5.4.0 UR10-e Greetings from a first-time user of this forum! I’m chasing down a bug in the Palletizing template, and I wonder if anyone else has any insight on the issue. Here is what I’m observing: … --- ## [Interrupt, then Resume de-Palletizing program?](https://forum.universal-robots.com/t/interrupt-then-resume-de-palletizing-program/17357)
**Author:** [@bruce2](https://forum.universal-robots.com/u/bruce2)\ **Replies:** 9\ **Last updated:** [February 8, 2024, 2:03pm UTC](https://forum.universal-robots.com/t/interrupt-then-resume-de-palletizing-program/17357 "2024-02-08T14:03:41Z")
Is there a way to setup a de-palletizing program so that it can be interrupted and then resumed at the correct next part in the operation? We have a pick table that holds 240 parts (setup as 24 stacks of 10 parts) which … --- ## [Palletizing not following updated waypoints](https://forum.universal-robots.com/t/palletizing-not-following-updated-waypoints/17123)
**Author:** [@anon82484413](https://forum.universal-robots.com/u/anon82484413)\ **Replies:** 3\ **Last updated:** [July 11, 2023, 4:30am UTC](https://forum.universal-robots.com/t/palletizing-not-following-updated-waypoints/17123 "2023-07-11T04:30:57Z")
I have programmed an UR5e with one palletize and one depalletize. After a collision I had to adjust the corners, approach, exit and anchor point. But when I run the program it continues to use all the old positions. Goi… --- ## [Palletizing with a Ewellix LIFTKIT](https://forum.universal-robots.com/t/palletizing-with-a-ewellix-liftkit/17332)
**Author:** [@anon14633334](https://forum.universal-robots.com/u/anon14633334)\ **Replies:** 5\ **Last updated:** [March 3, 2023, 8:53am UTC](https://forum.universal-robots.com/t/palletizing-with-a-ewellix-liftkit/17332 "2023-03-03T08:53:22Z")
Hi all, So I am fairly new to UR Robotics and robotics in general. We have a UR10e on the Ewellix lift kit with the UR Cap. I am using the pallet wizard to make a pallet that is 8 layers tall with boxes 160mm tall. Howe… --- ## [How can I turn the opposite direction 180 degrees when approaching a position?](https://forum.universal-robots.com/t/how-can-i-turn-the-opposite-direction-180-degrees-when-approaching-a-position/20021)
**Author:** [@anon95489825](https://forum.universal-robots.com/u/anon95489825)\ **Replies:** 8\ **Last updated:** [February 3, 2023, 12:47pm UTC](https://forum.universal-robots.com/t/how-can-i-turn-the-opposite-direction-180-degrees-when-approaching-a-position/20021 "2023-02-03T12:47:50Z")
Hello everyone I have a problem when I want to approach a position rotated 180 degrees with the TCP with my UR10. The problem, I want it to turn exactly 180 degrees the other way wen i move to my position. It doesn’t ma… --- ## [Palletizing subprogram gives error when clicked on 'Keep subprogram updated'](https://forum.universal-robots.com/t/palletizing-subprogram-gives-error-when-clicked-on-keep-subprogram-updated/17583)
**Author:** [@anon46313925](https://forum.universal-robots.com/u/anon46313925)\ **Replies:** 2\ **Last updated:** [September 1, 2022, 7:37pm UTC](https://forum.universal-robots.com/t/palletizing-subprogram-gives-error-when-clicked-on-keep-subprogram-updated/17583 "2022-09-01T19:37:33Z")
Hello everyone, I am currently facing a problem with subprogram. When I click on ‘Keep Subprogram File Updated With this Program’ and then save and close the main program. And again when I open the main program. It show… --- ## [UR10 Pallet Feature](https://forum.universal-robots.com/t/ur10-pallet-feature/23050)
**Author:** [@anon7079088](https://forum.universal-robots.com/u/anon7079088)\ **Replies:** 0\ **Last updated:** [August 2, 2022, 5:49pm UTC](https://forum.universal-robots.com/t/ur10-pallet-feature/23050 "2022-08-02T17:49:02Z")
As per the above subject, I was wondering how to implement the said “Pallet” feature for a skid that isn’t full and therefore start the robot from a different position? Thank you. --- ## [Palletizing Help](https://forum.universal-robots.com/t/palletizing-help/22923)
**Author:** [@wsciambra](https://forum.universal-robots.com/u/wsciambra)\ **Replies:** 0\ **Last updated:** [July 26, 2022, 3:57pm UTC](https://forum.universal-robots.com/t/palletizing-help/22923 "2022-07-26T15:57:44Z")
Steps to reproduce and Actual Behavior: So the problem is with the Palletizing Software. Whenever you make a pallet and have it all situated. If you cut/copy and paste it somewhere else after deleting the original it wi… --- ## [How to create pattern not using Palletizing?](https://forum.universal-robots.com/t/how-to-create-pattern-not-using-palletizing/22373)
**Author:** [@anon38028446](https://forum.universal-robots.com/u/anon38028446)\ **Replies:** 1\ **Last updated:** [July 1, 2022, 2:55pm UTC](https://forum.universal-robots.com/t/how-to-create-pattern-not-using-palletizing/22373 "2022-07-01T14:55:38Z")
Is it feasible? I want the locations data and I want to command the robot go to those locations by PLC. --- ## [Palletizing with condition](https://forum.universal-robots.com/t/palletizing-with-condition/22372)
**Author:** [@anon38028446](https://forum.universal-robots.com/u/anon38028446)\ **Replies:** 0\ **Last updated:** [June 30, 2022, 5:14pm UTC](https://forum.universal-robots.com/t/palletizing-with-condition/22372 "2022-06-30T17:14:12Z")
My workpieces are PCBA, they are on trays. I have a vision system to monitor the presence of the PCBA. I just tried to set up the Universal robot palletizing. The idea is to have the robot go to the tray PCBA location… --- ## [Using palletizing template in switch case](https://forum.universal-robots.com/t/using-palletizing-template-in-switch-case/21965)
**Author:** [@anon90156852](https://forum.universal-robots.com/u/anon90156852)\ **Replies:** 3\ **Last updated:** [June 17, 2022, 1:13pm UTC](https://forum.universal-robots.com/t/using-palletizing-template-in-switch-case/21965 "2022-06-17T13:13:59Z")
I’m trying to build a program using the switch function to allow for changing of pallet configuration without having to change the program. I’m using an assignment to select the case but everytime I run it, the program w… --- ## [Column tracking when palletizing](https://forum.universal-robots.com/t/column-tracking-when-palletizing/21850)
**Author:** [@anon43197506](https://forum.universal-robots.com/u/anon43197506)\ **Replies:** 0\ **Last updated:** [June 8, 2022, 1:48pm UTC](https://forum.universal-robots.com/t/column-tracking-when-palletizing/21850 "2022-06-08T13:48:35Z")
Hello, I’m programming a robot with the palatizing template in PolyScope. What is the best way to incorporate a lifting column. I get a voltage as the height as feedback from the column. Maybe I should use conveyor trac… --- ## [Pallet variables in installation variables is not incrementing](https://forum.universal-robots.com/t/pallet-variables-in-installation-variables-is-not-incrementing/21405)
**Author:** [@Krishna](https://forum.universal-robots.com/u/Krishna)\ **Replies:** 3\ **Last updated:** [May 26, 2022, 4:54am UTC](https://forum.universal-robots.com/t/pallet-variables-in-installation-variables-is-not-incrementing/21405 "2022-05-26T04:54:43Z")
hello, I created a pallet sequence in UR-10e series. Pallet- Grid(4x4) Remember last item location in pallet sequence was checked. Now the problem is, pallet variable in installation screen is not getting incremented… --- ## [Pallet Count Reset](https://forum.universal-robots.com/t/pallet-count-reset/21497)
**Author:** [@anon81256102](https://forum.universal-robots.com/u/anon81256102)\ **Replies:** 4\ **Last updated:** [May 24, 2022, 8:07pm UTC](https://forum.universal-robots.com/t/pallet-count-reset/21497 "2022-05-24T20:07:09Z")
Hello. How do you reset the Pallet Template Counter to 0 if the count needs to be reset due to not being able to finish pallet in production. I have tried assigning the variable (Pallet\_1\_cnt\_1) to 0 in the Before Start… --- ## [Is it possible to enable/disable safety planes in the running program?](https://forum.universal-robots.com/t/is-it-possible-to-enable-disable-safety-planes-in-the-running-program/21068)
**Author:** [@anon12908007](https://forum.universal-robots.com/u/anon12908007)\ **Replies:** 2\ **Last updated:** [May 5, 2022, 10:49am UTC](https://forum.universal-robots.com/t/is-it-possible-to-enable-disable-safety-planes-in-the-running-program/21068 "2022-05-05T10:49:54Z")
Hello everyone, I’m working on a palletization installation composed of two pallets on each side of an UR10. While the robot is palletizing one pallet, the operator should be able to remove and insert the other pallet. … --- ## [Can Force be used in Palletizing Operation?](https://forum.universal-robots.com/t/can-force-be-used-in-palletizing-operation/19319)
**Author:** [@bruce2](https://forum.universal-robots.com/u/bruce2)\ **Replies:** 12\ **Last updated:** [February 23, 2022, 3:42pm UTC](https://forum.universal-robots.com/t/can-force-be-used-in-palletizing-operation/19319 "2022-02-23T15:42:07Z")
We are using a UR10e with a vacuum fixture mounted on the tool end. We are “picking” parts from a grid of stacked parts. The parts are thermoformed, therefor there are slight variations in the thickness of the stacks. It… --- ## [Shift the location of a pallet to fallow a conveyor](https://forum.universal-robots.com/t/shift-the-location-of-a-pallet-to-fallow-a-conveyor/19263)
**Author:** [@anon36772609](https://forum.universal-robots.com/u/anon36772609)\ **Replies:** 7\ **Last updated:** [February 18, 2022, 10:09pm UTC](https://forum.universal-robots.com/t/shift-the-location-of-a-pallet-to-fallow-a-conveyor/19263 "2022-02-18T22:09:08Z")
I am using a pendant running URSoftware 5.11.1010327 to control a UR5e with a vacuum gripper. I have the system successfully picking up parts and loading them onto a pallet, but the end goal is to have the robot track an… --- ## [How do I create and use a Pallet Plane](https://forum.universal-robots.com/t/how-do-i-create-and-use-a-pallet-plane/19256)
**Author:** [@doneal](https://forum.universal-robots.com/u/doneal)\ **Replies:** 1\ **Last updated:** [February 14, 2022, 9:51pm UTC](https://forum.universal-robots.com/t/how-do-i-create-and-use-a-pallet-plane/19256 "2022-02-14T21:51:05Z")
How do I program a pallet plane? I current lift straight up from -Z but need to do it a 10° angle instead for clearance. --- ## [Palletizing and Layers](https://forum.universal-robots.com/t/palletizing-and-layers/18984)
**Author:** [@jordanlambright](https://forum.universal-robots.com/u/jordanlambright)\ **Replies:** 4\ **Last updated:** [February 2, 2022, 12:35am UTC](https://forum.universal-robots.com/t/palletizing-and-layers/18984 "2022-02-02T00:35:06Z")
We are using a UR10e for loading small parts into a Haas vf2 mill. We would like to load up more parts on the table for some repeat jobs. I want to stack them in a 6x6 arrangement 3 high, leaving an open space to place… --- ## [Palletizing Wizard](https://forum.universal-robots.com/t/palletizing-wizard/18338)
**Author:** [@tolp](https://forum.universal-robots.com/u/tolp)\ **Replies:** 4\ **Last updated:** [December 27, 2021, 5:46pm UTC](https://forum.universal-robots.com/t/palletizing-wizard/18338 "2021-12-27T17:46:59Z")
So currently we are trying to unload a table of parts, and place everything onto a standard pallet. The table that the robot is on is 18 in off the ground and the pallet is directly next to the robot. We have a UR10e and… --- ## [Palletizzing with List, more levels of parts?](https://forum.universal-robots.com/t/palletizzing-with-list-more-levels-of-parts/17291)
**Author:** [@werkzeugbau](https://forum.universal-robots.com/u/werkzeugbau)\ **Replies:** 8\ **Last updated:** [November 3, 2021, 11:42am UTC](https://forum.universal-robots.com/t/palletizzing-with-list-more-levels-of-parts/17291 "2021-11-03T11:42:58Z")
We do have a UR10, Sofware version is 3.14. We want to palletize rings into a box, left and right each 4 rings, and in the middle, like a hexagon shape. So i progammed a list in the palletizing wizard, but im not able… --- ## [Relative/ variable waypoint in the pallet wizard](https://forum.universal-robots.com/t/relative-variable-waypoint-in-the-pallet-wizard/17362)
**Author:** [@anon14633334](https://forum.universal-robots.com/u/anon14633334)\ **Replies:** 1\ **Last updated:** [November 2, 2021, 2:02pm UTC](https://forum.universal-robots.com/t/relative-variable-waypoint-in-the-pallet-wizard/17362 "2021-11-02T14:02:48Z")
Hi, I am trying to figure out how to use the “Approach” point generated in the pallet wizard to make a variable or relative waypoint. I am doing a multilayer pallet using an Ewellix lift kit and I have it set to raise … --- ## [Depalletizing from fixtures to palletizing in different assembly fixtures](https://forum.universal-robots.com/t/depalletizing-from-fixtures-to-palletizing-in-different-assembly-fixtures/17092)
**Author:** [@anon71960104](https://forum.universal-robots.com/u/anon71960104)\ **Replies:** 1\ **Last updated:** [October 19, 2021, 11:37am UTC](https://forum.universal-robots.com/t/depalletizing-from-fixtures-to-palletizing-in-different-assembly-fixtures/17092 "2021-10-19T11:37:19Z")
Hello all, I’m having a little trouble understanding how I can use the palletizing template to depalletize from the storage fixtures, to palletizing into a assembly fixture, directly all in one motion. The fixtures are … --- ## [Alternating between multiple palletizing functions](https://forum.universal-robots.com/t/alternating-between-multiple-palletizing-functions/16950)
**Author:** [@carter.beeman](https://forum.universal-robots.com/u/carter.beeman)\ **Replies:** 1\ **Last updated:** [October 14, 2021, 11:34pm UTC](https://forum.universal-robots.com/t/alternating-between-multiple-palletizing-functions/16950 "2021-10-14T23:34:21Z")
Hello, I am trying to implement a program that will pick and place different parts from multiple trays into a single fixture. So far, I have used the palletizing template to get the robot to empty each tray, however, I … --- ## [Creating different pallet sequences from Qr Code information given](https://forum.universal-robots.com/t/creating-different-pallet-sequences-from-qr-code-information-given/15408)
**Author:** [@anon1947322](https://forum.universal-robots.com/u/anon1947322)\ **Replies:** 1\ **Last updated:** [July 14, 2021, 10:51pm UTC](https://forum.universal-robots.com/t/creating-different-pallet-sequences-from-qr-code-information-given/15408 "2021-07-14T22:51:39Z")
Hi we are just finalising our collaborative robot coding station. The process is it will pick up a outer ring place it onto a gauge, the gauge measures the o/d then the computer sends the relevant information to the ro… [Next page](https://forum.universal-robots.com/tag/palletizing/158.md?match_all_tags=true&page=1&tags%5B%5D=palletizing)