Palletizer micro(PALM) is one module of a whole assembly line which can continuous work to move pallets into right position and meanwhile control the gripper to grab customer products from the pallet or workpiece carrier onto workpiece carrier(load) or pallet(unload). Two trolleys below makes the construction more compact and the machine will never stop working with changeable trolleys. By utilizing quick exchange grippers, several types of products are feasible during the assembling period. For many years’ improvement, PALM is now reliable, efficient, and economical. To sum up, PALM is a standard module in XENON with experience and wisdom.