Would you rule out a single pallet position for short runs, or first look at whether the orders can be grouped differently? I am thinking through a compact palletising layout, not choosing an arm yet. The case I keep getting stuck on is changing products before the pallet is full. Moving that partial pallet out still leaves somewhere to store it and someone to deal with it later. An extra position takes space, but rearranging the production schedule is not free either. What would you want to know about the order mix before choosing between those options?