The model Robotex IMP.A.C. 125 APT is a compact machine (4000×2400 Footprint), designed for low production rates up to 300 bags/h. The key component is the plier, which picks up the bags. It is designed to completely enfold the bag, making it possible to handle floppy bags, or bags filled with fluidised products. The pliers also incorporate an integral bag-flattening device. Each incoming bag is pressed and transferred to a pick-up position. The pliers then picks up the bag, orientates it and presses it onto the pallet in accordance with the preset program. This cycle is repeated for each bag until the pallet is filled. The filled pallet is then removed manually, and an empty pallet is placed in the loading position. The Cartesian movement and positioning of the pliers is controlled by digital encoders, and the vertical movement is controlled by an air cylinder. The palletising operation is controlled by a PLC, which can be programmed to handle bags of different dimensions, formations and number of layers.