[Phillip]

You can modify the approach and retract motions in order to get more complex paths than a simple place down and go back up, in addition on the general tab, set the "Robot Configuration" target to a target where the robot is the desired configuration and when generating the program, the inverse kinematics will use the solution closest to that target.

In order to offer more specifics about where I would place the target, you would need to attach a copy of the station to this thread