PRS created a simulation in Robotstudio that allowed clear choices to be made. An ABB, IRC5 / IRB660-250kg, three pick points with integrated pallet tracks and two intermediate sheet warehouses were chosen. The gripper is a so-called “Shuffle implement. This type of gripper has a fork bed which is positioned between the pickpoint rollers. When the forks are under the product through a pneumatic cylinder, a clamping plate is pressed onto the product from above. The difference between the height and lowest product is included in the construction of the gripper. Depending on the position, the robot moves to the correct pallet position and moves to the drop-off position. Here the top plate is depressurized and the forks are pulled out from under the product. The product is now on the pallet. When a layer is full and an intermediate sheet is desired, the robot moves to the intermediate sheet position and positions suction cups under the forks. The robot searches the height of the stack using sensors and takes an intermediate sheet from the magazine. Then the robot moves to the pallet and places the sheet on the pallet. This process repeats until a pallet is full. The full pallet is discharged by a logistics system through communication between the robot and the PLC.